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Commitcdebbba

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small updates
1 parent9882eab commitcdebbba

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7 files changed

+164
-42
lines changed

7 files changed

+164
-42
lines changed

‎FriedLiver/Source/Bundler.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -16,7 +16,7 @@
1616
//for debugging
1717
#include"SiftVisualization.h"
1818

19-
Bundler::Bundler(unsignedint maxNumImages,unsignedint maxNumKeysPerImage,
19+
Bundler::Bundler(unsignedint maxNumImages,unsignedint maxNumKeysPerImage,
2020
const mat4f& siftIntrinsicsInv,const CUDAImageManager* manager,bool isLocal)
2121
{
2222
//initialize sift
@@ -236,7 +236,7 @@ unsigned int Bundler::matchAndFilter()
236236
}
237237
}
238238
}//global only
239-
239+
240240
////debugging
241241
//if (usedebug) {
242242
//std::vector<EntryJ> corrs(m_siftManager->getNumGlobalCorrespondences());

‎FriedLiver/Source/Bundler.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@ class CUDACache;
1212
classCUDAImageManager;
1313

1414

15-
//#define USE_RETRY //TODO MOVE OUT TO PARAMS
15+
#defineUSE_RETRY//TODO MOVE OUT TO PARAMS??
1616

1717
classBundler
1818
{

‎FriedLiver/Source/DepthSensing/DepthSensing.cpp‎

Lines changed: 5 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -931,7 +931,10 @@ void StopScanningAndExit(bool aborted = false)
931931
numValidTransforms =PoseHelper::countNumValidTransforms(trajectory);numTransforms = (unsignedint)trajectory.size();
932932
if (numValidTransforms < (unsignedint)std::round(0.5f * numTransforms)) valid =false;// not enough valid transforms
933933
std::cout <<"#VALID TRANSFORMS =" << numValidTransforms << std::endl;
934-
//((SensorDataReader*)g_depthSensingRGBDSensor)->saveToFile(saveFile, trajectory); //overwrite the original file //TODO UNCOMMENT
934+
((SensorDataReader*)g_depthSensingRGBDSensor)->saveToFile(saveFile, trajectory);//overwrite the original file
935+
936+
//if (GlobalAppState::get().s_sensorIdx == 8) ((SensorDataReader*)g_depthSensingRGBDSensor)->evaluateTrajectory(trajectory);
937+
935938
//save ply
936939
std::cout <<"[marching cubes]";
937940
StopScanningAndExtractIsoSurfaceMC(util::removeExtensions(GlobalAppState::get().s_binaryDumpSensorFile) +".ply",true);//force overwrite and existing plys
@@ -1000,7 +1003,7 @@ void CALLBACK OnD3D11FrameRender(ID3D11Device* pd3dDevice, ID3D11DeviceContext*
10001003
// Fix old frames
10011004
///////////////////////////////////////
10021005
if (GlobalBundlingState::get().s_enableGlobalTimings) {GlobalAppState::get().WaitForGPU();cudaDeviceSynchronize(); t.start(); }
1003-
reintegrate();
1006+
reintegrate();
10041007
if (GlobalBundlingState::get().s_enableGlobalTimings) {GlobalAppState::get().WaitForGPU();cudaDeviceSynchronize(); t.stop();TimingLog::getFrameTiming(true).timeReIntegrate = t.getElapsedTimeMS(); }
10051008

10061009

‎FriedLiver/Source/FriedLiver.cpp‎

Lines changed: 6 additions & 30 deletions
Original file line numberDiff line numberDiff line change
@@ -150,14 +150,14 @@ void bundlingThreadFunc() {
150150
tOpt =std::thread(bundlingOptimizationThreadFunc);
151151
}
152152
//wait for a new input frame (LOCK IMAGE MANAGER)
153-
ConditionManager::lockImageManagerFrameReady(ConditionManager::Bundling);
153+
ConditionManager::lockImageManagerFrameReady(ConditionManager::Bundling);
154154
while (!g_imageManager->hasBundlingFrameRdy()) {
155-
ConditionManager::waitImageManagerFrameReady(ConditionManager::Bundling);
155+
ConditionManager::waitImageManagerFrameReady(ConditionManager::Bundling);
156156
}
157-
{
157+
{
158158
ConditionManager::lockBundlerProcessedInput(ConditionManager::Bundling);
159159
while (g_bundler->hasProcssedInputFrame()) {//wait until depth sensing has confirmed the last one (WAITING THAT DEPTH SENSING RELEASES ITS LOCK)
160-
ConditionManager::waitBundlerProcessedInput(ConditionManager::Bundling);
160+
ConditionManager::waitBundlerProcessedInput(ConditionManager::Bundling);
161161
}
162162
{
163163
if (g_bundler->getExitBundlingThread()) {
@@ -211,6 +211,8 @@ int main(int argc, char** argv)
211211

212212
//fileNameDescGlobalApp = "zParametersTUM.txt";
213213
//fileNameDescGlobalBundling = "zParametersBundlingTUM.txt";
214+
//fileNameDescGlobalApp = "zParametersICL.txt"; //TODO HERE ANGIE
215+
//fileNameDescGlobalBundling = "zParametersBundlingTUM.txt";
214216

215217
//fileNameDescGlobalApp = "zParametersAug.txt";
216218
//fileNameDescGlobalBundling = "zParametersBundlingAug.txt";
@@ -248,32 +250,6 @@ int main(int argc, char** argv)
248250
ParameterFileparameterFileGlobalBundling(fileNameDescGlobalBundling);
249251
GlobalBundlingState::getInstance().readMembers(parameterFileGlobalBundling);
250252

251-
//!!!DEBUGGING
252-
if (false) {
253-
//const std::string runoptDataDir = "../data/runOpt/";
254-
//RunOpt::run(runoptDataDir + "recording15.sens", runoptDataDir + "71.sift", runoptDataDir + "71-initial.trajectory");
255-
RunOpt::run("../data/sens/copyroom200.sens","debug/logs/100.sift","debug/logs/100.trajectory");
256-
std::cout <<"done!" << std::endl;
257-
getchar();
258-
return0;
259-
}
260-
if (GlobalAppState::get().s_generateVideo) { std::cout <<"remember to change raycast for top-down rendering!" << std::endl;getchar(); }
261-
if (GlobalAppState::get().s_numSolveFramesBeforeExit != (unsignedint)-1 &&GlobalAppState::get().s_sensorIdx !=8) std::cout <<"warning: overwrite trajectory/save ply not implemented for non-SensorData type sensors" << std::endl;
262-
if (false) {
263-
TestMatching test;
264-
//test.analyzeLocalOpts();
265-
//test.testGlobalDense();
266-
//test.compareDEBUG();
267-
test.debug();
268-
269-
std::cout <<"done!" << std::endl;
270-
getchar();
271-
return0;
272-
}
273-
//!!!DEBUGGING
274-
275-
//SIFTMatchFilter::init(); //TODO this is obsolete
276-
277253
DualGPU& dualGPU =DualGPU::get();//needs to be called to initialize devices
278254
dualGPU.setDevice(DualGPU::DEVICE_RECONSTRUCTION);//main gpu
279255
ConditionManager::init();

‎FriedLiver/Source/SiftGPU/SIFTMatchFilter.cpp‎

Lines changed: 131 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -717,7 +717,7 @@ void SIFTMatchFilter::filterKeyPointMatchesDEBUG(unsigned int curFrame, SIFTImag
717717
voidSIFTMatchFilter::visualizeProjError(SIFTImageManager* siftManager,const vec2ui& imageIndices,const std::vector<CUDACachedFrame>& cachedFrames,
718718
const float4x4& depthIntrinsics,const float4x4& transformCurToPrv,float depthMin,float depthMax)
719719
{
720-
#ifdefCUDACACHE_UCHAR_NORMALS
720+
#if defined(CUDACACHE_UCHAR_NORMALS) && !defined(CUDACACHE_FLOAT_NORMALS)
721721
throwMLIB_EXCEPTION("need to update to uchar4 normals");
722722
#else
723723
constunsignedint numImages = siftManager->getNumImages();
@@ -802,7 +802,7 @@ void SIFTMatchFilter::computeCorrespondencesDEBUG(unsigned int width, unsigned i
802802
constfloat* modelDepth,const float4* model,const float4* modelNormals,constfloat* modelColor,const float4x4& transform,float distThres,float normalThres,float colorThresh,
803803
const float4x4& depthIntrinsics,float depthMin,float depthMax,float& sumResidual,float& sumWeight,unsignedint& numCorr)
804804
{
805-
PointCloudf pcSrc, pcTgt;
805+
PointCloudf pcSrc, pcTgt, pcTransform;//debug vis
806806

807807
s_debugCorr.allocate(width, height);
808808
s_debugCorr.setPixels(-std::numeric_limits<float>::infinity());
@@ -859,13 +859,14 @@ void SIFTMatchFilter::computeCorrespondencesDEBUG(unsigned int width, unsigned i
859859
s_debugCorr(x, y) =length(pTransInput - pTarget);
860860
pcSrc.m_points.push_back(vec3f(pTransInput.x, pTransInput.y, pTransInput.z));
861861
pcTgt.m_points.push_back(vec3f(pTarget.x, pTarget.y, pTarget.z));
862+
vec4f debugColor =BaseImageHelper::convertDepthToRGBA(std::sqrt(x*x + y*y),0.0f,std::sqrt(width*width + height*height));//distance from top left
862863
if (d > distThres) {
863-
pcSrc.m_colors.push_back(vec4f(1.0f,0.0f,0.0f,1.0f));
864-
pcTgt.m_colors.push_back(vec4f(0.0f,1.0f,0.0f,1.0f));
864+
pcSrc.m_colors.push_back(vec4f(0.5f,0.5f,0.5f,1.0f));//vec4f(1.0f, 0.0f, 0.0f, 1.0f));
865+
pcTgt.m_colors.push_back(vec4f(0.5f,0.5f,0.5f,1.0f));//(vec4f(0.0f, 1.0f, 0.0f, 1.0f));
865866
}
866867
else {
867-
pcSrc.m_colors.push_back(vec4f(cInput));
868-
pcTgt.m_colors.push_back(vec4f(cTarget));
868+
pcSrc.m_colors.push_back(debugColor);//vec4f(cInput));
869+
pcTgt.m_colors.push_back(debugColor);//vec4f(cTarget));
869870
}
870871
}
871872
}// target depth within depth min/max
@@ -882,3 +883,127 @@ void SIFTMatchFilter::computeCorrespondencesDEBUG(unsigned int width, unsigned i
882883
//getchar();
883884
int a =5;
884885
}
886+
887+
voidSIFTMatchFilter::debugVis(const SensorData& sd,const vec2ui& imageIndices,const mat4f& transform,unsignedint subsampleFactor/*= 4*/)
888+
{
889+
constunsignedint width = sd.m_depthWidth;
890+
constunsignedint height = sd.m_depthHeight;
891+
constfloat distThres =0.15f;constfloat normalThres =0.97f;
892+
constfloat depthMin =0.4f;constfloat depthMax =4.0f;
893+
894+
PointCloudf pcSrc, pcTgt, pcTransform;//debug vis
895+
PointCloudf pcSrcColor, pcTgtColor, pcTransformColor;// debug vis
896+
897+
const mat4f depthIntrinsic = sd.m_calibrationDepth.m_intrinsic;
898+
const mat4f depthIntrinsicInv = depthIntrinsic.getInverse();
899+
DepthImage32 curDepth = sd.computeDepthImage(imageIndices.y);
900+
DepthImage32 prvDepth = sd.computeDepthImage(imageIndices.x);
901+
PointImage curCamPos = sd.computeCameraSpacePositions(depthIntrinsicInv, curDepth);
902+
PointImage prvCamPos = sd.computeCameraSpacePositions(depthIntrinsicInv, prvDepth);
903+
PointImage curNormal = sd.computeNormals(curCamPos);
904+
PointImage prvNormal = sd.computeNormals(prvCamPos);
905+
906+
ColorImageR8G8B8 curColor = sd.computeColorImage(imageIndices.y);
907+
ColorImageR8G8B8 prvColor = sd.computeColorImage(imageIndices.x);
908+
909+
Grid2<bool>marker(width, height); marker.setValues(false);
910+
911+
constfloat INVALID = -std::numeric_limits<float>::infinity();
912+
for (unsignedint y =0; y < height; y += subsampleFactor) {
913+
for (unsignedint x =0; x < width; x += subsampleFactor) {
914+
915+
const vec3f pInput =curCamPos(x, y);
916+
const vec3f nInput =curNormal(x, y);
917+
float dInput =curDepth(x, y);
918+
const vec3uc& cInput =curColor(x, y);
919+
920+
if (pInput.x != INVALID && nInput.x != INVALID && dInput >= depthMin && dInput <= depthMax) {
921+
const vec3f pTransInput = transform * pInput;
922+
const vec3f nTransInput = transform.getRotation() * nInput;
923+
924+
vec2f screenPosf =cameraToDepth(depthIntrinsic, pTransInput);
925+
vec2i screenPos =math::round(screenPosf);
926+
927+
if (screenPos.x >=0 && screenPos.y >=0 && screenPos.x < (int)width && screenPos.y < (int)height) {
928+
vec3f pTarget; vec3f nTarget; vec3uc cTarget;
929+
getBestCorrespondence1x1(screenPos, pTarget, nTarget, cTarget, prvCamPos, prvNormal, prvColor);
930+
931+
if (pTarget.x != INVALID && nTarget.x != INVALID) {
932+
float d =vec3f::dist(pTransInput, pTarget);
933+
float dNormal = nTransInput | nTarget;
934+
935+
float projInputDepth = pTransInput.z;//cameraToDepthZ(pTransInput);
936+
float tgtDepth =prvDepth(screenPos.x, screenPos.y);
937+
938+
marker((screenPos.x/subsampleFactor)*subsampleFactor, (screenPos.y/subsampleFactor)*subsampleFactor) =true;
939+
if (tgtDepth >= depthMin && tgtDepth <= depthMax) {
940+
bool b = ((tgtDepth != INVALID && projInputDepth < tgtDepth) && d > distThres);// bad matches that are known
941+
if ((dNormal >= normalThres && d <= distThres/*&& c <= colorThresh*/) || b) {// if normal/pos/color correspond or known bad match
942+
943+
pcSrc.m_points.push_back(pTransInput);
944+
pcTgt.m_points.push_back(pTarget);
945+
pcSrcColor.m_points.push_back(pTransInput);
946+
pcTgtColor.m_points.push_back(pTarget);
947+
vec4f debugColor =BaseImageHelper::convertDepthToRGBA(std::sqrt(x*x + y*y),0.0f,std::sqrt(width*width + height*height));//distance from top left
948+
if (d > distThres) {
949+
pcSrc.m_colors.push_back(vec4f(0.5f,0.5f,0.5f,1.0f));//vec4f(1.0f, 0.0f, 0.0f, 1.0f));
950+
pcTgt.m_colors.push_back(vec4f(0.5f,0.5f,0.5f,1.0f));//(vec4f(0.0f, 1.0f, 0.0f, 1.0f));
951+
pcSrcColor.m_colors.push_back(vec4f(0.5f,0.5f,0.5f,1.0f));
952+
pcTgtColor.m_colors.push_back(vec4f(0.5f,0.5f,0.5f,1.0f));
953+
}
954+
else {
955+
pcSrc.m_colors.push_back(debugColor);//vec4f(cInput));
956+
pcTgt.m_colors.push_back(debugColor);//vec4f(cTarget));
957+
pcSrcColor.m_colors.push_back(vec4f(vec3f(cInput)/255.0f));
958+
pcTgtColor.m_colors.push_back(vec4f(vec3f(cTarget)/255.0f));
959+
}
960+
}
961+
}// target depth within depth min/max
962+
}// projected to valid depth
963+
}// inside image
964+
else {
965+
pcSrc.m_points.push_back(pTransInput);
966+
pcSrc.m_colors.push_back(vec4f(0.5f,0.5f,0.5f,1.0f));
967+
pcSrcColor.m_points.push_back(pTransInput);
968+
pcSrcColor.m_colors.push_back(vec4f(0.5f,0.5f,0.5f,1.0f));
969+
}
970+
}
971+
}// x
972+
}// y
973+
974+
for (unsignedint y =0; y < height; y += subsampleFactor) {
975+
for (unsignedint x =0; x < width; x += subsampleFactor) {
976+
if (!marker(x, y)) {
977+
const vec3f& pTarget =prvCamPos(x, y);
978+
pcTgt.m_points.push_back(pTarget);
979+
pcTgt.m_colors.push_back(vec4f(0.5f,0.5f,0.5f,1.0f));
980+
pcTgtColor.m_points.push_back(pTarget);
981+
pcTgtColor.m_colors.push_back(vec4f(0.5f,0.5f,0.5f,1.0f));
982+
}
983+
}
984+
}
985+
986+
//PointCloudIOf::saveToFile("debug/src.ply", pcSrc);
987+
//PointCloudIOf::saveToFile("debug/tgt.ply", pcTgt);
988+
//PointCloudIOf::saveToFile("debug/src-color.ply", pcSrcColor);
989+
//PointCloudIOf::saveToFile("debug/tgt-color.ply", pcTgtColor);
990+
991+
MeshDataf mdSrc, mdTgt, mdSrcColor, mdTgtColor;
992+
unsignedint numSlice =8;
993+
for (unsignedint i =0; i < pcSrc.m_points.size(); i++)
994+
mdSrc.merge(Shapesf::sphere(0.01f, pcSrc.m_points[i], numSlice, numSlice, pcSrc.m_colors[i]).computeMeshData());
995+
MeshIOf::saveToFile("debug/m_src.ply", mdSrc);
996+
for (unsignedint i =0; i < pcTgt.m_points.size(); i++)
997+
mdTgt.merge(Shapesf::sphere(0.01f, pcTgt.m_points[i], numSlice, numSlice, pcTgt.m_colors[i]).computeMeshData());
998+
MeshIOf::saveToFile("debug/m_tgt.ply", mdTgt);
999+
for (unsignedint i =0; i < pcSrcColor.m_points.size(); i++)
1000+
mdSrcColor.merge(Shapesf::sphere(0.01f, pcSrcColor.m_points[i], numSlice, numSlice, pcSrcColor.m_colors[i]).computeMeshData());
1001+
MeshIOf::saveToFile("debug/m_src-color.ply", mdSrcColor);
1002+
for (unsignedint i =0; i < pcTgtColor.m_points.size(); i++)
1003+
mdTgtColor.merge(Shapesf::sphere(0.01f, pcTgtColor.m_points[i], numSlice, numSlice, pcTgtColor.m_colors[i]).computeMeshData());
1004+
MeshIOf::saveToFile("debug/m_tgt-color.ply", mdTgtColor);
1005+
1006+
//std::cout << "press key" << std::endl;
1007+
//getchar();
1008+
int a =5;
1009+
}

‎FriedLiver/Source/SiftGPU/SIFTMatchFilter.h‎

Lines changed: 15 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -33,6 +33,8 @@ class SIFTMatchFilter
3333
//generateKCombinations(20, 4, s_combinations, 128);
3434
s_bInit =true;
3535
}
36+
37+
staticvoiddebugVis(const SensorData& sd,const vec2ui& imageIndices,const mat4f& transform,unsignedint subsampleFactor =4);
3638
private:
3739
staticbool s_bInit;
3840
static std::vector<std::vector<unsignedint>> s_combinations;
@@ -92,7 +94,19 @@ class SIFTMatchFilter
9294
staticinlinefloatcameraToKinectProjZ(float z,float depthMin,float depthMax) {
9395
return (z - depthMin) / (depthMax - depthMin);
9496
}
95-
97+
static vec2fcameraToDepth(const mat4f& depthIntrinsics,const vec3f& pos)
98+
{
99+
vec3f p = depthIntrinsics * pos;
100+
returnvec2f(p.x / p.z, p.y / p.z);
101+
}
102+
staticinlinevoidgetBestCorrespondence1x1(
103+
const vec2i& screenPos, vec3f& pTarget, vec3f& nTarget, vec3uc& cTarget,
104+
const PointImage& target,const PointImage& targetNormals,const ColorImageR8G8B8& targetColor)
105+
{
106+
pTarget =target(screenPos.x, screenPos.y);
107+
nTarget =targetNormals(screenPos.x, screenPos.y);
108+
cTarget =targetColor(screenPos.x, screenPos.y);
109+
}
96110

97111
staticinlinevoidgetBestCorrespondence1x1(
98112
const int2& screenPos, float4& pTarget, float4& nTarget,float& cTarget,

‎FriedLiver/Source/Solver/CUDASolverBundling.cpp‎

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -266,6 +266,10 @@ void CUDASolverBundling::solve(EntryJ* d_correspondences, unsigned int numberOfC
266266
buildVariablesToCorrespondencesTable(d_correspondences, numberOfCorrespondences);
267267
}
268268

269+
//if (cudaCache) {
270+
//cudaCache->printCacheImages("debug/cache/");
271+
//int a = 5;
272+
//}
269273
solveBundlingStub(solverInput, m_solverState, parameters, m_solverExtra, convergence, m_timer);
270274

271275
if (findMaxResidual) {

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