numValidTransforms =PoseHelper::countNumValidTransforms(trajectory);numTransforms = (unsignedint)trajectory.size();

if (numValidTransforms < (unsignedint)std::round(0.5f * numTransforms)) valid =false;// not enough valid transforms

std::cout <<"#VALID TRANSFORMS =" << numValidTransforms << std::endl;

((SensorDataReader*)g_depthSensingRGBDSensor)->saveToFile(saveFile, trajectory);//overwrite the original file //TODO UNCOMMENT

std::cout <<"[marching cubes]";

StopScanningAndExtractIsoSurfaceMC(util::removeExtensions(GlobalAppState::get().s_binaryDumpSensorFile) +".ply",true);//force overwrite and existing plys

if (GlobalBundlingState::get().s_enableGlobalTimings) {GlobalAppState::get().WaitForGPU();cudaDeviceSynchronize(); t.start(); }

bool validTransform =true;

bool validTransform =true;bool bGlobalTrackingLost =false;

if (bGotDepth) {

mat4f transformation =mat4f::zero();

unsignedint frameIdx;

validTransform = g_depthSensingBundler->getCurrentIntegrationFrame(transformation, frameIdx);

validTransform = g_depthSensingBundler->getCurrentIntegrationFrame(transformation, frameIdx, bGlobalTrackingLost);

#ifdef RUN_MULTITHREADED

g_depthSensingBundler->confirmProcessedInputFrame();

g_depthSensingBundler->getTrajectoryManager()->addFrame(TrajectoryManager::TrajectoryFrame::Integrated, transformation, g_CudaImageManager->getCurrFrameNumber());

}

else {

g_depthSensingBundler->getTrajectoryManager()->addFrame(TrajectoryManager::TrajectoryFrame::NotIntegrated_NoTransform,mat4f::zero(), g_CudaImageManager->getCurrFrameNumber());

g_depthSensingBundler->getTrajectoryManager()->addFrame(TrajectoryManager::TrajectoryFrame::NotIntegrated_NoTransform,mat4f::zero(-std::numeric_limits<float>::infinity()), g_CudaImageManager->getCurrFrameNumber());

}

if (GlobalBundlingState::get().s_enableGlobalTimings) { t.start(); }// just sync-ed //{ GlobalAppState::get().WaitForGPU(); cudaDeviceSynchronize(); t.start(); }

bool trackingLost = bGotDepth && !validTransform;

bool trackingLost = bGotDepth &&(!validTransform || bGlobalTrackingLost);//tracking lost when local frame has tracking lost or global frame has tracking lost

visualizeFrame(pd3dImmediateContext, pd3dDevice, g_transformWorld * g_lastRigidTransform, trackingLost);

if (GlobalBundlingState::get().s_enableGlobalTimings) {GlobalAppState::get().WaitForGPU();cudaDeviceSynchronize(); t.stop();TimingLog::getFrameTiming(true).timeVisualize = t.getElapsedTimeMS(); }

if (!out.is_open())throwMLIB_EXCEPTION("unable to open log file" +util::removeExtensions(filename) +".friedliver.log");

std::cout.rdbuf(out.rdbuf());//redirect std::cout to out.txt!

std::cout <<VAR_NAME(fileNameDescGlobalApp) <<" =" << fileNameDescGlobalApp << std::endl;//log the param file used

std::cout <<VAR_NAME(fileNameDescGlobalBundling) <<" =" << fileNameDescGlobalBundling << std::endl;

std::cout << std::endl;

}

GlobalAppState::getInstance().readMembers(parameterFileGlobalApp);

m_frames.reserve(numMaxImage);

m_framesSort.reserve(numMaxImage);

for (unsignedint i =0; i < numMaxImage; i++) {

m_frames.push_back(TrajectoryFrame{ TrajectoryFrame::NotIntegrated_NoTransform, (unsignedint)-1,mat4f::zero(), m_optmizedTransforms[i] });

m_frames.push_back(TrajectoryFrame{ TrajectoryFrame::NotIntegrated_NoTransform, (unsignedint)-1,mat4f::zero(-std::numeric_limits<float>::infinity()), m_optmizedTransforms[i] });

}

m_numAddedFrames =0;

m_numOptimizedFrames =0;