extern"C"intcountHighResiduals(SolverInput& input, SolverState& state, SolverParameters& parameters, CUDATimer* timer);

extern"C"voidBuildDenseSystem(const SolverInput& input, SolverState& state, SolverParameters& parameters, CUDATimer* timer);

extern"C"voidconvertLiePosesToMatricesCU(const float3* d_rot,const float3* d_trans,unsignedint numTransforms, float4x4* d_transforms, float4x4* d_transformInvs);

extern"C"voidcollectHighResiduals(SolverInput& input, SolverState& state, SolverStateAnalysis& analysis, SolverParameters& parameters, CUDATimer* timer);

}// valid image pixel

}

voidBuildDenseSystem(const SolverInput& input, SolverState& state, SolverParameters& parameters, CUDATimer* timer)

boolBuildDenseSystem(const SolverInput& input, SolverState& state, SolverParameters& parameters, CUDATimer* timer)

{

constunsignedint N = input.numberOfImages;

constint sizeJtr =6 * N;

cutilSafeCall(cudaMemcpy(&numOverlapImagePairs, state.d_numDenseOverlappingImages,sizeof(int), cudaMemcpyDeviceToHost));

if (numOverlapImagePairs ==0) {

printf("warning: no overlapping images for dense solve\n");

return;

returnfalse;

}

constint reductionGlobal = (input.denseDepthWidth*input.denseDepthHeight + THREADS_PER_BLOCK_DENSE_DEPTH -1) / THREADS_PER_BLOCK_DENSE_DEPTH;

dim3grid(numOverlapImagePairs, reductionGlobal);

cutilCheckMsg(__FUNCTION__);

#endif

if (timer) timer->endEvent();

returntrue;

}

#ifdef USE_LIE_SPACE

convertLiePosesToMatricesCU(state.d_xRot, state.d_xTrans, input.numberOfImages, state.d_xTransforms, state.d_xTransformInverses);

#endif

if (parameters.useDense)BuildDenseSystem(input, state, parameters, timer);

if (parameters.useDense)parameters.useDense =BuildDenseSystem(input, state, parameters, timer);//don't solve dense if no overlapping frames found

Initialization(input, state, parameters, timer);

if (parameters.weightSparse >0.0f) {