Align by DGPS positions in images in SfmTransform - test with DJI drone images for example

CMakeLists.txt

@@ -26,6 +26,7 @@ option(AV_BUILD_CLP "Enable building an embedded Clp" ON)
 option(AV_BUILD_FLANN "Enable building an embedded Flann" ON)
 option(AV_BUILD_PCL "Enable building an embedded PointCloud library" OFF)
 option(AV_BUILD_USD "Enable building an embedded USD library" OFF)
+option(AV_BUILD_GEOGRAPHIC "Enable building an embedded Geographic library" ON)
 option(AV_BUILD_ALICEVISION "Enable building of AliceVision" ON)
 option(AV_EIGEN_MEMORY_ALIGNMENT "Enable Eigen memory alignment" ON)
 
@@ -89,6 +90,7 @@ message(STATUS "AV_BUILD_CLP: ${AV_BUILD_CLP}")
 message(STATUS "AV_BUILD_FLANN: ${AV_BUILD_FLANN}")
 message(STATUS "AV_BUILD_PCL: ${AV_BUILD_PCL}")
 message(STATUS "AV_BUILD_USD: ${AV_BUILD_USD}")
+message(STATUS "AV_BUILD_GEOGRAPHIC: ${AV_BUILD_GEOGRAPHIC}")
 message(STATUS "AV_BUILD_DEPENDENCIES_PARALLEL: ${AV_BUILD_DEPENDENCIES_PARALLEL}")
 message(STATUS "")
 message(STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
@@ -1099,6 +1101,30 @@ if(AV_BUILD_USD)
     set(USD_CMAKE_FLAGS -Dpxr_DIR:PATH=${CMAKE_INSTALL_PREFIX})
 endif()
 
+IF(AV_BUILD_GEOGRAPHIC)
+    set(GEOGRAPHIC_TARGET GeographicLib)
+        ExternalProject_Add(${GEOGRAPHIC_TARGET}
+            GIT_REPOSITORY https://github.com/geographiclib/geographiclib.git
+            GIT_TAG v2.3
+            PREFIX ${BUILD_DIR}
+            BUILD_IN_SOURCE 0
+            BUILD_ALWAYS 0
+            UPDATE_COMMAND ""
+            CONFIGURE_COMMAND ""
+            INSTALL_COMMAND ""
+            SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/geographic
+            BINARY_DIR ${BUILD_DIR}/geographic_build
+            INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
+            CONFIGURE_COMMAND ${CMAKE_COMMAND} ${CMAKE_CORE_BUILD_FLAGS}
+                -DBUILD_DOCUMENTATION=OFF 
+                -DBUILD_MANPAGES=OFF
+                -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> <SOURCE_DIR>
+            BUILD_COMMAND $(MAKE) -j${AV_BUILD_DEPENDENCIES_PARALLEL}
+            INSTALL_COMMAND $(MAKE) -j${AV_BUILD_DEPENDENCIES_PARALLEL} install
+        )
+        set(GEOGRAPHIC_CMAKE_FLAGS -DGeographic_DIR:PATH=${CMAKE_INSTALL_PREFIX})
+endif()
+
 set(AV_DEPS
   ${ZLIB_TARGET}
   ${ASSIMP_TARGET}
@@ -1128,6 +1154,7 @@ set(AV_DEPS
   ${OSI_TARGET}
   ${CLP_TARGET}
   ${USD_TARGET}
+  ${GEOGRAPHIC_TARGET}
   ${FLANN_TARGET}
   ${LZ4_TARGET}
 )

src/CMakeLists.txt

@@ -64,6 +64,7 @@ trilean_option(ALICEVISION_USE_ALEMBIC "Enable Alembic I/O" AUTO)
 trilean_option(ALICEVISION_USE_UNCERTAINTYTE "Enable Uncertainty computation" AUTO)
 trilean_option(ALICEVISION_USE_ONNX "Enable ONNX Runtime" AUTO)
 trilean_option(ALICEVISION_USE_CUDA "Enable CUDA" ON)
+trilean_option(ALICEVISION_USE_GEOGRAPHIC "Enable GeographicLib" ON)
 trilean_option(ALICEVISION_USE_OPENCV "Enable use of OpenCV algorithms" OFF)
 trilean_option(ALICEVISION_USE_OPENCV_CONTRIB "Enable use of OpenCV algorithms from extra modules" AUTO)
 option(ALICEVISION_USE_OCVSIFT "Add or not OpenCV SIFT in available features" OFF)
@@ -267,7 +268,7 @@ set(ALICEVISION_BOOST_COMPONENTS atomic container date_time filesystem graph jso
 if(ALICEVISION_BUILD_TESTS)
     set(ALICEVISION_BOOST_COMPONENT_UNITTEST unit_test_framework)
 endif()
-find_package(Boost 1.60.0 QUIET COMPONENTS ${ALICEVISION_BOOST_COMPONENTS} ${ALICEVISION_BOOST_COMPONENT_UNITTEST})
+find_package(Boost 1.80.0 QUIET COMPONENTS ${ALICEVISION_BOOST_COMPONENTS} ${ALICEVISION_BOOST_COMPONENT_UNITTEST})
 
 if(Boost_FOUND)
   message(STATUS "Boost ${Boost_LIB_VERSION} found.")
@@ -573,6 +574,23 @@ if(NOT ALICEVISION_USE_USD STREQUAL "OFF")
   endif()
 endif()
 
+# ==============================================================================
+# GeographicLib
+# ==============================================================================
+# - optional, used to convert to UTM coordinate system in SfmTransform
+# ==============================================================================
+set(ALICEVISION_HAVE_GEOGRAPHIC 0)
+
+if(NOT ALICEVISION_USE_GEOGRAPHIC STREQUAL "OFF")
+  find_library(GeographicLib_LIBRARY NAMES Geographic GeographicLib DOC "GeographicLib library")
+  if(GeographicLib_LIBRARY)
+    set(ALICEVISION_HAVE_GEOGRAPHIC 1)
+    message(STATUS "GeographicLib found.")
+  elseif(ALICEVISION_USE_GEOGRAPHIC STREQUAL "ON")
+    message(SEND_ERROR "Failed to find GeographicLib.")
+  endif()
+endif()
+
 # ==============================================================================
 # OpenGV
 # ==============================================================================
@@ -941,6 +959,7 @@ message("** Use PopSift feature extractor: " ${ALICEVISION_HAVE_POPSIFT})
 message("** Use CCTAG markers: " ${ALICEVISION_HAVE_CCTAG})
 message("** Use AprilTag markers: " ${ALICEVISION_HAVE_APRILTAG})
 message("** Use OpenGV for rig localization: " ${ALICEVISION_HAVE_OPENGV})
+message("** Use GeographicLib for Coordinate System Transformations: " ${ALICEVISION_HAVE_GEOGRAPHIC})
 message("\n")
 
 message(STATUS "EIGEN: " ${EIGEN_VERSION} "")

src/cmake/AliceVisionConfig.cmake.in

@@ -88,6 +88,8 @@ if(ALICEVISION_HAVE_OPENCV)
   find_dependency(OpenCV)
 endif()
 
+SET(ALICEVISION_HAVE_GEOGRAPHIC @ALICEVISION_HAVE_GEOGRAPHIC@)
+
 set(ALICEVISION_HAVE_OPENMP @ALICEVISION_HAVE_OPENMP@)
 
 if(ALICEVISION_HAVE_OPENMP)

src/cmake/config.hpp.in

@@ -24,3 +24,5 @@
 #define ALICEVISION_HAVE_OPENGV() @ALICEVISION_HAVE_OPENGV@
 
 #define ALICEVISION_HAVE_CUDA() @ALICEVISION_HAVE_CUDA@
+
+#define ALICEVISION_HAVE_GEOGRAPHIC() @ALICEVISION_HAVE_GEOGRAPHIC@

src/software/utils/CMakeLists.txt

@@ -4,7 +4,6 @@
 # Software PROPERTY FOLDER is 'Software/Utils'
 set(FOLDER_SOFTWARE_UTILS "Software/Utils")
 
-
 if(ALICEVISION_HAVE_CUDA)
 alicevision_add_software(aliceVision_hardwareResources
   SOURCE main_hardwareResources.cpp
@@ -194,6 +193,7 @@ alicevision_add_software(aliceVision_sfmTransform
         aliceVision_sfmData
         aliceVision_sfmDataIO
         Boost::program_options
+	      ${GeographicLib_LIBRARY}
 )
 
 # SfM Regression