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Commit98712fe

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small updates
1 parent6ade4a9 commit98712fe

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4 files changed

+5
-145
lines changed

4 files changed

+5
-145
lines changed

‎FriedLiver/FriedLiver.vcxproj‎

Lines changed: 0 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -195,7 +195,6 @@
195195
<ClIncludeInclude="Source\PoseHelper.h" />
196196
<ClIncludeInclude="Source\PrimeSenseSensor.h" />
197197
<ClIncludeInclude="Source\RGBDSensor.h" />
198-
<ClIncludeInclude="Source\RunOpt.h" />
199198
<ClIncludeInclude="Source\SBA.h" />
200199
<ClIncludeInclude="Source\SensorDataReader.h" />
201200
<ClIncludeInclude="Source\SiftGPU\CUDATimer.h" />
@@ -228,8 +227,6 @@
228227
<ClIncludeInclude="Source\Solver\SolverBundlingUtil.h" />
229228
<ClIncludeInclude="Source\stdafx.h" />
230229
<ClIncludeInclude="Source\StructureSensor.h" />
231-
<ClIncludeInclude="Source\testMatching.h" />
232-
<ClIncludeInclude="Source\testSIFT.h" />
233230
<ClIncludeInclude="Source\TimingLog.h" />
234231
<ClIncludeInclude="Source\TrajectoryManager.h" />
235232
</ItemGroup>
@@ -307,7 +304,6 @@
307304
<ClCompileInclude="Source\OnlineBundler.cpp" />
308305
<ClCompileInclude="Source\PrimeSenseSensor.cpp" />
309306
<ClCompileInclude="Source\RGBDSensor.cpp" />
310-
<ClCompileInclude="Source\RunOpt.cpp" />
311307
<ClCompileInclude="Source\SBA.cpp" />
312308
<ClCompileInclude="Source\SensorDataReader.cpp" />
313309
<ClCompileInclude="Source\SiftGPU\CuTexImage.cpp" />
@@ -324,8 +320,6 @@
324320
<PrecompiledHeaderCondition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
325321
</ClCompile>
326322
<ClCompileInclude="Source\StructureSensor.cpp" />
327-
<ClCompileInclude="Source\testMatching.cpp" />
328-
<ClCompileInclude="Source\testSIFT.cpp" />
329323
<ClCompileInclude="Source\TimingLog.cpp" />
330324
<ClCompileInclude="Source\TrajectoryManager.cpp" />
331325
<ClCompileInclude="Source\uplink.cpp" />

‎FriedLiver/FriedLiver.vcxproj.filters‎

Lines changed: 0 additions & 21 deletions
Original file line numberDiff line numberDiff line change
@@ -138,15 +138,6 @@
138138
<ClCompileInclude="Source\SensorDataReader.cpp">
139139
<Filter>Sensors</Filter>
140140
</ClCompile>
141-
<ClCompileInclude="Source\testMatching.cpp">
142-
<Filter>Testing</Filter>
143-
</ClCompile>
144-
<ClCompileInclude="Source\testSIFT.cpp">
145-
<Filter>Testing</Filter>
146-
</ClCompile>
147-
<ClCompileInclude="Source\RunOpt.cpp">
148-
<Filter>Testing</Filter>
149-
</ClCompile>
150141
<ClCompileInclude="Source\CUDAImageCalibrator.cpp">
151142
<Filter>Sensors</Filter>
152143
</ClCompile>
@@ -390,15 +381,6 @@
390381
<Filter>SolverBundling</Filter>
391382
</ClInclude>
392383
<ClIncludeInclude="Source\CUDACameraUtil.h" />
393-
<ClIncludeInclude="Source\testSIFT.h">
394-
<Filter>Testing</Filter>
395-
</ClInclude>
396-
<ClIncludeInclude="Source\testMatching.h">
397-
<Filter>Testing</Filter>
398-
</ClInclude>
399-
<ClIncludeInclude="Source\RunOpt.h">
400-
<Filter>Testing</Filter>
401-
</ClInclude>
402384
<ClIncludeInclude="Source\CUDAImageCalibrator.h">
403385
<Filter>Sensors</Filter>
404386
</ClInclude>
@@ -428,9 +410,6 @@
428410
<FilterInclude="SBA">
429411
<UniqueIdentifier>{c3dc0052-729c-4526-b930-a469d7d017a9}</UniqueIdentifier>
430412
</Filter>
431-
<FilterInclude="Testing">
432-
<UniqueIdentifier>{59055ef3-aacc-44d4-8dd5-079c7f280f78}</UniqueIdentifier>
433-
</Filter>
434413
</ItemGroup>
435414
<ItemGroup>
436415
<CudaCompileInclude="Source\CUDAImageUtil.cu">

‎FriedLiver/Source/GlobalBundlingState.h‎

Lines changed: 1 addition & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -6,14 +6,12 @@
66
#include<string>
77
#include<list>
88

9-
//#define USE_GLOBAL_DENSE_AT_END
9+
#defineUSE_GLOBAL_DENSE_AT_END
1010

1111
//#define EVALUATE_SPARSE_CORRESPONDENCES
1212
//#define PRINT_MEM_STATS
1313

1414

15-
//#define USE_GLOBAL_DENSE_EVERY_FRAME
16-
1715
#defineX_GLOBAL_BUNDLING_APP_STATE_FIELDS \
1816
X(bool, s_enableGlobalTimings) \
1917
X(bool, s_enablePerFrameTimings) \

‎FriedLiver/Source/SBA.cpp‎

Lines changed: 4 additions & 115 deletions
Original file line numberDiff line numberDiff line change
@@ -29,23 +29,13 @@ SBA::SBA()
2929
m_localWeightsSparse.resize(maxNumIts,1.0f);
3030
m_localWeightsDenseDepth.resize(maxNumIts);
3131
for (unsignedint i =0; i < maxNumIts; i++) m_localWeightsDenseDepth[i] = (i +1.0f);
32-
m_localWeightsDenseColor.resize(maxNumIts,0.0f);//no color
33-
//for (unsigned int i = 2; i < maxNumIts; i++) m_localWeightsDenseColor[i] = 1.0f;//fr3_nstn
34-
//// for tum data
35-
//std::cout << "using FR2 params" << std::endl;
36-
//m_localWeightsSparse.resize(maxNumIts, 1.0f);
37-
//m_localWeightsDenseDepth.resize(maxNumIts, 1.0f); //for (unsigned int i = 1; i < maxNumIts; i++) m_localWeightsDenseDepth[i] = 1.0f;
38-
//m_localWeightsDenseColor.resize(maxNumIts, 0.0f); //for (unsigned int i = 2; i < maxNumIts; i++) m_localWeightsDenseColor[i] = 1.0f;
39-
////for (unsigned int i = 0; i < 2; i++) m_localWeightsSparse[maxNumIts - i - 1] = 0.0f; // turn off sparse at end
32+
m_localWeightsDenseColor.resize(maxNumIts,0.0f);
4033

4134
m_globalWeightsMutex.lock();
4235
m_globalWeightsSparse.resize(maxNumIts,1.0f);
4336
m_globalWeightsDenseDepth.resize(maxNumIts,1.0f);
44-
m_globalWeightsDenseColor.resize(maxNumIts,0.0f);//off
45-
//// for tum data
46-
//m_globalWeightsSparse.resize(maxNumIts, 1.0f);
47-
//m_globalWeightsDenseDepth.resize(maxNumIts, 0.0f);
48-
//m_globalWeightsDenseColor.resize(maxNumIts, 0.1f); //off
37+
for (unsignedint i =2; i < maxNumIts; i++) m_globalWeightsDenseDepth[i] = i;
38+
m_globalWeightsDenseColor.resize(maxNumIts,0.1f);
4939

5040
m_maxResidual = -1.0f;
5141

@@ -145,7 +135,7 @@ bool SBA::alignCUDA(SIFTImageManager* siftManager, const CUDACache* cudaCache, b
145135
return removed;
146136
}
147137

148-
//!!!debugging
138+
//tododebugging
149139
#include"GlobalAppState.h"
150140

151141
#include"MatrixConversion.h"
@@ -176,78 +166,13 @@ struct std::hash<vec2ui> : public std::unary_function < vec2ui, size_t > {
176166
}
177167
};
178168

179-
//!!!debugging
180169
boolSBA::removeMaxResidualCUDA(SIFTImageManager* siftManager,unsignedint numImages,unsignedint curFrame)
181170
{
182171
ml::vec2ui imageIndices;
183172
bool remove = m_solver->getMaxResidual(curFrame, siftManager->getGlobalCorrespondencesGPU(), imageIndices, m_maxResidual);
184173
if (remove) {
185174
if (GlobalBundlingState::get().s_verbose) std::cout <<"\timages (" << imageIndices <<"): invalid match" << m_maxResidual << std::endl;
186175

187-
/*if (false) {
188-
static SensorData sd;
189-
if (sd.m_frames.empty()) sd.loadFromFile(GlobalAppState::get().s_binaryDumpSensorFile);
190-
//get residual corrs
191-
std::vector<EntryJ> correspondences(siftManager->getNumGlobalCorrespondences());
192-
MLIB_CUDA_SAFE_CALL(cudaMemcpy(correspondences.data(), siftManager->getGlobalCorrespondencesGPU(), sizeof(EntryJ)*correspondences.size(), cudaMemcpyDeviceToHost));
193-
//get transforms
194-
float4x4* d_transforms = NULL;
195-
MLIB_CUDA_SAFE_CALL(cudaMalloc(&d_transforms, sizeof(float4x4)*numImages))
196-
convertPosesToMatricesCU(d_xRot, d_xTrans, numImages, d_transforms, siftManager->getValidImagesGPU());
197-
std::vector<mat4f> transforms(numImages);
198-
MLIB_CUDA_SAFE_CALL(cudaMemcpy(transforms.data(), d_transforms, sizeof(float4x4)*numImages, cudaMemcpyDeviceToHost));
199-
MLIB_CUDA_SAFE_FREE(d_transforms);
200-
//get residuals
201-
std::vector< std::pair<float, vec2ui> > residuals;
202-
for (unsigned int i = 0; i < correspondences.size(); i++) {
203-
const EntryJ& corr = correspondences[i];
204-
if (corr.isValid()) {
205-
vec3f res = transforms[corr.imgIdx_i] * vec3f(corr.pos_i.x, corr.pos_i.y, corr.pos_i.z) - transforms[corr.imgIdx_j] * vec3f(corr.pos_j.x, corr.pos_j.y, corr.pos_j.z);
206-
res = math::abs(res);
207-
float r = std::max(res.x, std::max(res.y, res.z));
208-
residuals.push_back(std::make_pair(r, vec2ui(corr.imgIdx_i, corr.imgIdx_j)));
209-
}
210-
} //correspondences
211-
std::sort(residuals.begin(), residuals.end(), [](const std::pair<float, vec2ui> &left, const std::pair<float, vec2ui> &right) {
212-
return fabs(left.first) > fabs(right.first);
213-
});
214-
//find image-image
215-
const float thresh = 0.05f;
216-
std::unordered_map<vec2ui, float> imageImageResidualsSet;
217-
for (unsigned int i = 0; i < residuals.size(); i++) {
218-
if (residuals[i].first < thresh) break;
219-
auto it = imageImageResidualsSet.find(residuals[i].second);
220-
if (it == imageImageResidualsSet.end()) imageImageResidualsSet[residuals[i].second] = residuals[i].first;
221-
else it->second = std::max(it->second, residuals[i].first);
222-
}//residuals
223-
const unsigned int maxToPrint = 10;
224-
residuals.clear();
225-
for (const auto& a : imageImageResidualsSet) residuals.push_back(std::make_pair(a.second, a.first));
226-
std::sort(residuals.begin(), residuals.end(), [](const std::pair<float, vec2ui> &left, const std::pair<float, vec2ui> &right) {
227-
return fabs(left.first) > fabs(right.first);
228-
});
229-
if (residuals.size() > maxToPrint) residuals.resize(maxToPrint);
230-
std::cout << "printing " << residuals.size() << " high residual" << std::endl;
231-
for (const auto& impair : residuals) {
232-
vec3uc* im1 = sd.decompressColorAlloc(impair.second.x * 10);
233-
vec3uc* im2 = sd.decompressColorAlloc(impair.second.y * 10);
234-
ColorImageR8G8B8 image1(sd.m_colorWidth, sd.m_colorHeight, im1);
235-
ColorImageR8G8B8 image2(sd.m_colorWidth, sd.m_colorHeight, im2);
236-
std::free(im1);std::free(im2);
237-
SiftVisualization::printMatch("debug/maxres/" + std::to_string((int)(100 * impair.first)) + "_" + std::to_string(impair.second.x) + "-" + std::to_string(impair.second.y) + ".png",
238-
impair.second, correspondences, image1, image2, sd.m_calibrationColor.m_intrinsic);
239-
unsigned short* d1 = sd.decompressDepthAlloc(impair.second.x * 10);
240-
unsigned short* d2 = sd.decompressDepthAlloc(impair.second.y * 10);
241-
DepthImage32 depth1(DepthImage16(sd.m_depthWidth, sd.m_depthHeight, d1));
242-
DepthImage32 depth2(DepthImage16(sd.m_depthWidth, sd.m_depthHeight, d2));
243-
std::free(d1);std::free(d2);
244-
image1.resize(depth1.getWidth(), depth1.getHeight());image2.resize(depth2.getWidth(), depth2.getHeight());
245-
SiftVisualization::saveKeyMatchToPointCloud("debug/maxres/" + std::to_string((int)(100 * impair.first)) + "_" + std::to_string(impair.second.x) + "-" + std::to_string(impair.second.y),
246-
impair.second, correspondences, depth1, image1, depth2, image2, transforms, sd.m_calibrationDepth.m_intrinsic.getInverse());
247-
} //print
248-
std::cout << "waiting..." << std::endl;
249-
getchar();
250-
}*/
251176
#ifdef NEW_GUIDED_REMOVE
252177
const std::vector<vec2ui>& imPairsToRemove = m_solver->getGuidedMaxResImagesToRemove();
253178
if (imPairsToRemove.empty()) {
@@ -263,29 +188,6 @@ bool SBA::removeMaxResidualCUDA(SIFTImageManager* siftManager, unsigned int numI
263188
}
264189
}
265190
#else
266-
////!!!debugging
267-
//{
268-
////std::ofstream s("debug/logs/" + std::to_string(siftManager->getNumImages()) + "-" + std::to_string(siftManager->getCurrentFrame()) + ".txt");
269-
////s << imageIndices << " : " << m_maxResidual << std::endl;
270-
////if (siftManager->getCurrentFrame() >= 70) {
271-
////float4x4* d_transforms = NULL;
272-
////MLIB_CUDA_SAFE_CALL(cudaMalloc(&d_transforms, sizeof(float4x4)*numImages));
273-
////convertPosesToMatricesCU(d_xRot, d_xTrans, numImages, d_transforms, siftManager->getValidImagesGPU());
274-
////std::vector<mat4f> transforms(numImages);
275-
////MLIB_CUDA_SAFE_CALL(cudaMemcpy(transforms.data(), d_transforms, sizeof(float4x4)*numImages, cudaMemcpyDeviceToHost));
276-
////const std::vector<int>& valid = siftManager->getValidImages();
277-
////for (unsigned int i = 0; i < numImages; i++) if (valid[i] == 0) transforms[i].setZero(-std::numeric_limits<float>::infinity());
278-
////BinaryDataStreamFile ofs("debug/logs/" + std::to_string(siftManager->getCurrentFrame()) + ".trajectory", true);
279-
////ofs << transforms; ofs.closeStream();
280-
////MLIB_CUDA_SAFE_FREE(d_transforms);
281-
////siftManager->saveToFile("debug/logs/" + std::to_string(siftManager->getCurrentFrame()) + ".sift");
282-
////}
283-
////if (siftManager->getCurrentFrame() == 71) {
284-
////std::cout << "waiting..." << std::endl;
285-
////getchar();
286-
////}
287-
//}
288-
////!!!debugging
289191

290192
// invalidate correspondence
291193
siftManager->InvalidateImageToImageCU(make_uint2(imageIndices.x, imageIndices.y));
@@ -298,24 +200,11 @@ bool SBA::removeMaxResidualCUDA(SIFTImageManager* siftManager, unsigned int numI
298200

299201
returntrue;
300202
}
301-
//else std::cout << "\thighest residual " << m_maxResidual << " from images (" << imageIndices << ")" << std::endl;
302203
returnfalse;
303204
}
304205

305206
voidSBA::printConvergence(const std::string& filename)const
306207
{
307-
//if (m_recordedConvergence.empty()) return;
308-
//std::ofstream s(filename);
309-
//s << m_recordedConvergence.size() << " optimizations" << std::endl;
310-
//s << std::endl;
311-
//for (unsigned int i = 0; i < m_recordedConvergence.size(); i++) {
312-
//s << "[ opt# " << i << " ]" << std::endl;
313-
//for (unsigned int k = 0; k < m_recordedConvergence[i].size(); k++)
314-
//s << "\titer " << k << ": " << m_recordedConvergence[i][k] << std::endl;
315-
//s << std::endl;
316-
//}
317-
//s.close();
318-
319208
if (m_recordedConvergence.empty())return;
320209
std::ofstreams(filename);
321210
for (unsignedint i =0; i < m_recordedConvergence.size(); i++) {

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