Fix point cloud densification with non-NVIDIA cards

CMakeLists.txt

@@ -1,18 +0,0 @@
-cmake_minimum_required(VERSION 2.8)
-
-project(OpenDroneMap C CXX)
-
-# TODO(edgar): add option in order to point to CMAKE_PREFIX_PATH
-# if we want to build SuperBuild in an external directory.
-# It is assumed that SuperBuild have been compiled.
-
-# Set third party libs location
-set(CMAKE_PREFIX_PATH "${CMAKE_CURRENT_SOURCE_DIR}/SuperBuild/install")
-
-# move binaries to the same bin directory
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
-
-option(ODM_BUILD_SLAM "Build SLAM module" OFF)
-
-# Add ODM sub-modules
-add_subdirectory(modules)

SuperBuild/cmake/External-OpenMVS.cmake

@@ -35,6 +35,13 @@ if(UNIX)
     endif()
 endif()
 
+if(WIN32)
+  SET(NVDRIVER "$ENV{SystemRoot}\\System32\\nvcuda.dll")
+  if (EXISTS ${NVDRIVER})
+    file(COPY ${NVDRIVER} DESTINATION "${SB_INSTALL_DIR}/bin")
+  endif()
+endif()
+
 ExternalProject_Add(${_proj_name}
   DEPENDS           ceres opencv vcg eigen34
   PREFIX            ${_SB_BINARY_DIR}

opendm/gpu.py

@@ -24,3 +24,20 @@ def has_gpus():
         return len(platforms) > 0
     except Exception as e:
         return False
+
+@lru_cache(maxsize=None)
+def windows_no_cuda():
+    """
+    Check if CUDA lib is available on Windows
+    Returns true if OS is windows and CUDA is not found.
+    """
+    if sys.platform == 'win32':
+        nvcuda_path = os.path.join(os.environ.get('SYSTEMROOT'), 'system32', 'nvcuda.dll')
+        if os.path.isfile(nvcuda_path):
+            return False
+        else:
+            log.ODM_INFO("No CUDA drivers detected, using CPU")
+            return True
+    else:
+        return False
+

stages/openmvs.py

@@ -6,7 +6,7 @@ from opendm import system
 from opendm import context
 from opendm import point_cloud
 from opendm import types
-from opendm.gpu import gpu_disabled_by_user
+from opendm.gpu import gpu_disabled_by_user, windows_no_cuda
 from opendm.utils import get_depthmap_resolution
 from opendm.osfm import OSFMContext
 from opendm.multispectral import get_primary_band_name
@@ -71,8 +71,10 @@ class ODMOpenMVSStage(types.ODM_Stage):
                 "-v 0"
             ]
 
-            if gpu_disabled_by_user():
-                config.append("--cuda-device -1")
+            gpu_config = []
+
+            if gpu_disabled_by_user() or windows_no_cuda():
+                gpu_config.append("--cuda-device -1")
 
             if args.pc_tile:
                 config.append("--fusion-mode 1")
@@ -82,7 +84,7 @@ class ODMOpenMVSStage(types.ODM_Stage):
 
             system.run('%s "%s" %s' % (context.omvs_densify_path, 
                                        openmvs_scene_file,
-                                      ' '.join(config)))
+                                      ' '.join(config + gpu_config)))
 
             self.update_progress(85)
             files_to_remove = []
@@ -98,7 +100,7 @@ class ODMOpenMVSStage(types.ODM_Stage):
                 ]
                 system.run('%s "%s" %s' % (context.omvs_densify_path, 
                                         openmvs_scene_file,
-                                        ' '.join(config)))
+                                        ' '.join(config + gpu_config)))
                 
                 scene_files = glob.glob(os.path.join(tree.openmvs, "scene_[0-9][0-9][0-9][0-9].mvs"))
                 if len(scene_files) == 0:
@@ -130,10 +132,10 @@ class ODMOpenMVSStage(types.ODM_Stage):
                         ]
 
                         try:
-                            system.run('%s "%s" %s' % (context.omvs_densify_path, sf, ' '.join(config)))
+                            system.run('%s "%s" %s' % (context.omvs_densify_path, sf, ' '.join(config + gpu_config)))
 
                             # Filter
-                            system.run('%s "%s" --filter-point-cloud -1 -v 0' % (context.omvs_densify_path, scene_dense_mvs))
+                            system.run('%s "%s" --filter-point-cloud -1 -v 0 %s' % (context.omvs_densify_path, scene_dense_mvs, ' '.join(gpu_config)))
                         except:
                             log.ODM_WARNING("Sub-scene %s could not be reconstructed, skipping..." % sf)
 
@@ -162,7 +164,7 @@ class ODMOpenMVSStage(types.ODM_Stage):
                         '-i "%s"' % scene_dense,
                         "-v 0"
                     ]
-                    system.run('%s %s' % (context.omvs_densify_path, ' '.join(config)))
+                    system.run('%s %s' % (context.omvs_densify_path, ' '.join(config + gpu_config)))
                 else:
                     raise system.ExitException("Cannot find scene_dense.mvs, dense reconstruction probably failed. Exiting...")