viewer: switch to OpenGL v3 and add UI

Author: cdcseacave

.github/copilot-instructions.md

@@ -0,0 +1,143 @@
+# OpenMVS Copilot Instructions
+
+OpenMVS is a multi-view stereo reconstruction library implementing a complete photogrammetry pipeline from camera poses + sparse point-cloud to textured mesh. The codebase is mature C++ with custom framework patterns.
+
+## Project Architecture
+
+### Core Namespaces & Structure
+- **MVS namespace**: Core reconstruction algorithms (`libs/MVS/`)
+- **VIEWER namespace**: 3D visualization application (`apps/Viewer/`)
+- **SEACAVE namespace**: Low-level utilities (`libs/Common/`)
+
+### Key Libraries (libs/)
+- `Common/`: Custom framework (types, logging, containers, math utilities)
+- `MVS/`: Core MVS algorithms (Scene, Image, Camera, Mesh, PointCloud, etc.)
+- `IO/`: File format support (PLY, OBJ, MVS formats)
+- `Math/`: Mathematical primitives and operations
+
+### Applications (apps/)
+Each app is a standalone executable for specific pipeline stages:
+- `DensifyPointCloud`: Dense reconstruction from sparse points
+- `ReconstructMesh`: Surface reconstruction from dense points
+- `RefineMesh`: Mesh quality improvement
+- `TextureMesh`: Apply textures to meshes
+- `Viewer`: Interactive 3D visualization with OpenGL
+- `Interface*`: Import/export to other pipelines (COLMAP, OpenMVG, etc.)
+
+## Build System & Workflows
+
+### Building
+```bash
+# Standard build (uses vcpkg for dependencies)
+mkdir make && cd make
+cmake ..
+cmake --build . -j4  # or ninja (generates ninja files)
+```
+
+### Key Build Tools
+- **vcpkg**: Automatic dependency management (see `vcpkg.json`)
+- **CMake**: Primary build system with custom utilities in `build/Utils.cmake`
+- **ninja**: Preferred generator (faster than make)
+
+### Development Builds
+- Debug builds in `make/bin/Debug/`
+- Built executables: `./bin/Debug/Viewer`, `./bin/Debug/DensifyPointCloud`, etc.
+- Use `cmake --build . -j4` from `make/` directory for incremental builds
+
+## Code Patterns & Conventions
+
+### Memory Management
+- Reference counting with automatic cleanup
+- RAII patterns throughout
+
+### Logging & Debugging
+```cpp
+DEBUG("Message");           // Level 0 (always shown in debug)
+DEBUG_EXTRA("Details");     // Level 1 (verbose)
+VERBOSE("Info: %s", str);   // General logging
+```
+
+### Error Handling
+- `ASSERT(condition)` for debug checks
+- Return false/NULL for failures
+
+### Common Typedefs
+```cpp
+typedef uint32_t IDX;              // Array indices
+typedef SEACAVE::Point3f Point3f;  // 3D points
+typedef SEACAVE::String String;    // String type
+#define NO_ID ((IDX)-1)           // Invalid index
+```
+Most of OpenMVS code uses custom point and matrix types derived from OpenCV types, e.g., `SEACAVE::Point3f`, `SEACAVE::Matrix4f`. Hoewever, some components use Eigen3 types, e.g. `SEACAVE::AABB3d` and `SEACAVE::Ray3d` classes. There custom types support convertion operation to and from Eigen3 types.
+
+### Configuration
+- Build-time config in `ConfigLocal.h` (generated)
+- Runtime options via boost::program_options pattern
+- Feature flags like `OpenMVS_USE_CUDA`, `OpenMVS_USE_CERES`
+- Each library uses a precompiled header (`Common.h`) for common includes, like Eigen, OpenCV, etc.
+
+## Viewer Application Specifics
+
+### Key Classes
+- `Scene`: Main data container (MVS::Scene + rendering state)
+- `Window`: GLFW window management + input handling
+- `Renderer`: OpenGL rendering (points, meshes, cameras)
+- `Camera`: View/projection matrices + navigation
+- `UI`: ImGui interface components
+
+### Rendering Pipeline
+```cpp
+window.Run(scene) → 
+  Render(scene) → 
+    renderer->RenderPointCloud/RenderMesh → 
+      OpenGL draw calls
+```
+
+### Event System
+- GLFW events → Window callbacks → Control system updates
+- Render-only-on-change optimization uses `glfwWaitEventsTimeout()`
+- `Window::RequestRedraw()` triggers frame updates
+
+## Integration Points
+
+### File Formats
+- `.mvs`: Native binary format (boost serialization)
+- `.ply`: Point clouds and meshes (ASCII/binary)
+- `.obj`: Mesh export with MTL materials
+- Interface apps handle external formats (COLMAP, etc.)
+
+### External Dependencies
+- **Eigen3**: Linear algebra (matrices, vectors)
+- **OpenCV**: Image processing and I/O
+- **CGAL**: Computational geometry
+- **Boost**: Serialization, program options, containers
+- **CUDA**: GPU acceleration (optional)
+- **GLFW/OpenGL**: Viewer rendering
+
+### Cross-Component Communication
+- `MVS::Scene` is the central data exchange format
+- Applications typically: load scene → process → save scene
+- Viewer loads and visualizes any stage of the pipeline
+
+## Testing & Debugging
+
+### Running Tests
+```bash
+# From make/ directory
+ctest                    # Run all tests
+./bin/Debug/Tests        # Direct test executable
+```
+
+### Common Debugging
+- Use `DEBUG()` macros liberally
+- Check `ASSERT()` failures for logic errors
+- Viewer: Use F1 for help dialog, check console output
+- Memory issues: Build with `_DEBUG` for additional checks
+
+## Performance Considerations
+
+- Multi-threading via OpenMP (`#pragma omp parallel`)
+- CUDA kernels for GPU acceleration (when enabled)
+- Memory-mapped files for large datasets
+- Spatial data structures (octrees) for efficient queries
+- Viewer optimizations: frustum culling, render-only-on-change mode

apps/ReconstructMesh/ReconstructMesh.cpp

@@ -452,7 +452,7 @@ int main(int argc, LPCTSTR* argv)
 				scene.pointcloud.pointWeights.Release();
 			if (!scene.ReconstructMesh(OPT::fDistInsert, OPT::bUseFreeSpaceSupport, OPT::bUseOnlyROI, 4, OPT::fThicknessFactor, OPT::fQualityFactor))
 				return EXIT_FAILURE;
-			VERBOSE("Mesh reconstruction completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
+			VERBOSE("Mesh reconstruction completed: %u vertices, %u faces (%s)", scene.mesh.vertices.size(), scene.mesh.faces.size(), TD_TIMER_GET_FMT().c_str());
 			#if TD_VERBOSE != TD_VERBOSE_OFF
 			if (VERBOSITY_LEVEL > 2) {
 				// dump raw mesh