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New input format reader #17

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782b666
Add new input format reader
Oct 28, 2020
78e1994
Minor flag fixes
Oct 28, 2020
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14 changes: 14 additions & 0 deletions .gitignore
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@@ -0,0 +1,14 @@
.vs/
*.user
CompiledShaders/
*.pdb
*.deps
*.cache
*.log
*.tlog
*FileListAbsolute.txt
*.obj
*.exe
*.ipdb
*.pch
*.iobj
20 changes: 12 additions & 8 deletions DepthSensingCUDA/DepthSensing.vcxproj
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Expand Up @@ -21,18 +21,18 @@
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<CharacterSet>Unicode</CharacterSet>
<PlatformToolset>v120</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
<PlatformToolset>v120</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
</PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
<ImportGroup Label="ExtensionSettings">
<Import Project="$(VCTargetsPath)\BuildCustomizations\CUDA 7.5.props" />
<Import Project="$(VCTargetsPath)\BuildCustomizations\CUDA 10.1.props" />
</ImportGroup>
<ImportGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="PropertySheets">
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
Expand All @@ -50,8 +50,8 @@
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
<LinkIncremental>false</LinkIncremental>
<ExecutablePath>$(DXSDK_DIR)Utilities\bin\x64;$(DXSDK_DIR)Utilities\bin\x86;$(ExecutablePath)</ExecutablePath>
<IncludePath>$(IncludePath);$(WindowsSDK_IncludePath);$(KINECTSDK10_DIR)\inc;$(KINECTSDK20_DIR)\inc;$(OPENNI2_INCLUDE64);$(DXSDK_DIR)Include;./Source/;./Include;./Include/Intel;./Include/cutil/inc;./Include/Uplink</IncludePath>
<LibraryPath>$(LibraryPath);$(DXSDK_DIR)Lib\x64;$(KINECTSDK10_DIR)\lib\amd64;$(CUDA_LIB_PATH);$(KINECTSDK20_DIR)\lib\x64;$(OPENNI2_LIB64);Libs</LibraryPath>
<IncludePath>$(IncludePath);$(WindowsSDK_IncludePath);$(KINECTSDK10_DIR)\inc;$(KINECTSDK20_DIR)\inc;$(OPENNI2_INCLUDE64);$(DXSDK_DIR)Include;./Source/;./Include;./Include/Intel;./Include/cutil/inc;./Include/Uplink;C:\Users\14109\Downloads\opencv\build\include</IncludePath>
<LibraryPath>$(LibraryPath);$(DXSDK_DIR)Lib\x64;$(KINECTSDK10_DIR)\lib\amd64;$(CUDA_LIB_PATH);$(KINECTSDK20_DIR)\lib\x64;$(OPENNI2_LIB64);Libs;C:\Users\14109\Downloads\opencv\build\x64\vc15\lib</LibraryPath>
</PropertyGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
<ClCompile>
Expand Down Expand Up @@ -103,12 +103,12 @@
<DisableSpecificWarnings>4819</DisableSpecificWarnings>
</ClCompile>
<Link>
<AdditionalDependencies>d3d11.lib;d3dcompiler.lib;d3dx11.lib;d3dx9.lib;dxerr.lib;dxguid.lib;winmm.lib;comctl32.lib;Shlwapi.lib;cudart.lib;cublas.lib;FreeImage.lib;zlib64.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalDependencies>d3d11.lib;d3dcompiler.lib;d3dx11.lib;d3dx9.lib;dxerr.lib;dxguid.lib;winmm.lib;comctl32.lib;Shlwapi.lib;cudart.lib;cublas.lib;FreeImage.lib;zlib64.lib;opencv_world440.lib;opencv_world440d.lib;%(AdditionalDependencies)</AdditionalDependencies>
<GenerateDebugInformation>true</GenerateDebugInformation>
<EnableCOMDATFolding>true</EnableCOMDATFolding>
<SubSystem>Console</SubSystem>
<OptimizeReferences>true</OptimizeReferences>
<AdditionalLibraryDirectories>../opencv/lib/;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalLibraryDirectories>../opencv/lib/;C:\Users\14109\Downloads\opencv\build\x64\vc15\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
</Link>
<Manifest>
<EnableDPIAwareness>true</EnableDPIAwareness>
Expand Down Expand Up @@ -203,6 +203,8 @@
<ClCompile Include="Source\RealSenseSensor.cpp" />
<ClCompile Include="Source\RGBDSensor.cpp" />
<ClCompile Include="Source\SensorDataReader.cpp" />
<ClCompile Include="Source\SensorDataReaderZhou.cpp" />
<ClCompile Include="Source\sensordatazhou.cpp" />
<ClCompile Include="Source\stdafx.cpp">
<PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
<PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
Expand Down Expand Up @@ -269,6 +271,8 @@
<ClInclude Include="Source\Resource.h" />
<ClInclude Include="Source\RGBDSensor.h" />
<ClInclude Include="Source\SensorDataReader.h" />
<ClInclude Include="Source\SensorDataReaderZhou.h" />
<ClInclude Include="Source\sensordatazhou.h" />
<ClInclude Include="Source\stdafx.h" />
<ClInclude Include="Source\StdOutputLogger.h" />
<ClInclude Include="Source\StructureSensor.h" />
Expand Down Expand Up @@ -310,6 +314,6 @@
</ItemGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets">
<Import Project="$(VCTargetsPath)\BuildCustomizations\CUDA 7.5.targets" />
<Import Project="$(VCTargetsPath)\BuildCustomizations\CUDA 10.1.targets" />
</ImportGroup>
</Project>
12 changes: 12 additions & 0 deletions DepthSensingCUDA/DepthSensing.vcxproj.filters
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Expand Up @@ -167,6 +167,12 @@
<ClCompile Include="Source\StructureSensor.cpp">
<Filter>Sensors</Filter>
</ClCompile>
<ClCompile Include="Source\sensordatazhou.cpp">
<Filter>Sensors</Filter>
</ClCompile>
<ClCompile Include="Source\SensorDataReaderZhou.cpp">
<Filter>Sensors</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<ClInclude Include="Source\CameraParams.h" />
Expand Down Expand Up @@ -333,6 +339,12 @@
<ClInclude Include="Source\CUDATimer.h">
<Filter>CUDA</Filter>
</ClInclude>
<ClInclude Include="Source\sensordatazhou.h">
<Filter>Sensors</Filter>
</ClInclude>
<ClInclude Include="Source\SensorDataReaderZhou.h">
<Filter>Sensors</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<None Include="Shaders\QuadDrawer.hlsl">
Expand Down
13 changes: 12 additions & 1 deletion DepthSensingCUDA/Include/mLib/include/core-mesh/meshData.cpp
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Expand Up @@ -477,7 +477,18 @@ void MeshData<FloatType>::merge( const MeshData<FloatType>& other )
return;
}
if (isEmpty()) {
*this = other;

m_Vertices = std::move(other.m_Vertices);
m_Normals = std::move(other.m_Normals);
m_TextureCoords = std::move(other.m_TextureCoords);
m_Colors = std::move(other.m_Colors);
m_FaceIndicesVertices = std::move(other.m_FaceIndicesVertices);
m_FaceIndicesNormals = std::move(other.m_FaceIndicesNormals);
m_FaceIndicesTextureCoords = std::move(other.m_FaceIndicesTextureCoords);
m_FaceIndicesColors = std::move(other.m_FaceIndicesColors);
m_MaterialFile = std::move(other.m_MaterialFile);
m_MaterialIndices = std::move(other.m_MaterialIndices);
//*this = other;
return;
}

Expand Down
39 changes: 35 additions & 4 deletions DepthSensingCUDA/Source/DepthSensing.cpp
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Expand Up @@ -3,6 +3,7 @@
#include "DepthSensing.h"
#include "StructureSensor.h"
#include "SensorDataReader.h"
#include "SensorDataReaderZhou.h"

//--------------------------------------------------------------------------------------
// Global variables
Expand Down Expand Up @@ -119,7 +120,15 @@ RGBDSensor* getRGBDSensor()
g_sensor = new SensorDataReader;
return g_sensor;
#else
throw MLIB_EXCEPTION("Requires STRUCTURE_SENSOR macro");
throw MLIB_EXCEPTION("Requires SENSOR_DATA_READER macro");
#endif
}
if (GlobalAppState::get().s_sensorIdx == GlobalAppState::Sensor_SensorDataFileReader) {
#ifdef SENSOR_DATA_FILE_READER
g_sensor = new SensorDataReaderZhou(1, GlobalAppState::get().s_nVideoFrame, GlobalAppState::get().s_startFrame);
return g_sensor;
#else
throw MLIB_EXCEPTION("Requires SENSOR_DATA_FILE_READER macro");
#endif
}

Expand Down Expand Up @@ -652,7 +661,7 @@ void reconstruction()
{

//only if binary dump
if (GlobalAppState::get().s_sensorIdx == GlobalAppState::Sensor_BinaryDumpReader || GlobalAppState::get().s_sensorIdx == GlobalAppState::Sensor_SensorDataReader) {
if (GlobalAppState::get().s_sensorIdx == GlobalAppState::Sensor_BinaryDumpReader || GlobalAppState::get().s_sensorIdx == GlobalAppState::Sensor_SensorDataReader || GlobalAppState::get().s_sensorIdx == GlobalAppState::Sensor_SensorDataFileReader) {
unsigned int heapFreeCount = g_sceneRep->getHeapFreeCount();
std::cout << "[ frame " << g_RGBDAdapter.getFrameNumber() << " ] " << " [Free SDFBlocks " << heapFreeCount << " ] " << std::endl;
if (heapFreeCount < 5000) std::cout << "WARNING: Heap Free Count is low! if crash, increase s_hashNumSDFBlocks" << std::endl;
Expand Down Expand Up @@ -733,6 +742,28 @@ void reconstruction()
&& GlobalAppState::get().s_binaryDumpSensorUseTrajectoryOnlyInit) {
//deltaTransformEstimate = lastTransform.getInverse() * transformation; //simple case; not ideal in case of drift
//deltaTransformEstimate = g_RGBDAdapter.getRigidTransform(-1).getInverse() * transformation;

/*mat4f lastTransform = g_sceneRep->getLastRigidTransform();
mat4f deltaTransformEstimate = mat4f::identity();

transformation = g_cameraTracking->applyCT(
g_CudaDepthSensor.getCameraSpacePositionsFloat4(), g_CudaDepthSensor.getNormalMapFloat4(), g_CudaDepthSensor.getColorMapFilteredFloat4(),
//g_rayCast->getRayCastData().d_depth4Transformed, g_CudaDepthSensor.getNormalMapNoRefinementFloat4(), g_CudaDepthSensor.getColorMapFilteredFloat4(),
g_rayCast->getRayCastData().d_depth4, g_rayCast->getRayCastData().d_normals, g_rayCast->getRayCastData().d_colors,
lastTransform,
GlobalCameraTrackingState::getInstance().s_maxInnerIter, GlobalCameraTrackingState::getInstance().s_maxOuterIter,
GlobalCameraTrackingState::getInstance().s_distThres, GlobalCameraTrackingState::getInstance().s_normalThres,
100.0f, 3.0f,
deltaTransformEstimate,
GlobalCameraTrackingState::getInstance().s_residualEarlyOut,
g_RGBDAdapter.getDepthIntrinsics(), g_CudaDepthSensor.getDepthCameraData(),
NULL);

transformation = g_RGBDAdapter.getRigidTransform();
if (transformation[0] == -std::numeric_limits<float>::infinity()) {
std::cout << "INVALID FRAME" << std::endl;
return;
}*/
}

const bool useRGBDTracking = false; //Depth vs RGBD
Expand Down Expand Up @@ -846,9 +877,9 @@ void CALLBACK OnD3D11FrameRender( ID3D11Device* pd3dDevice, ID3D11DeviceContext*
pd3dImmediateContext->ClearRenderTargetView(pRTV, ClearColor);
pd3dImmediateContext->ClearDepthStencilView(pDSV, D3D11_CLEAR_DEPTH, 1.0f, 0);

#ifdef SENSOR_DATA_READER
#if defined(SENSOR_DATA_READER) || defined(SENSOR_DATA_FILE_READER)
//only if sensor data reader
if (GlobalAppState::get().s_sensorIdx == GlobalAppState::Sensor_SensorDataReader && GlobalAppState::get().s_playData) {
if ((GlobalAppState::get().s_sensorIdx == GlobalAppState::Sensor_SensorDataReader || GlobalAppState::get().s_sensorIdx == GlobalAppState::Sensor_SensorDataFileReader) && GlobalAppState::get().s_playData) {
SensorDataReader* sensor = (SensorDataReader*)getRGBDSensor();

if (sensor->getCurrFrame() >= sensor->getNumFrames()) {
Expand Down
1 change: 1 addition & 0 deletions DepthSensingCUDA/Source/DepthSensing.h
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Expand Up @@ -43,6 +43,7 @@
#include "CUDASceneRepChunkGrid.h"

#include <iomanip>
#pragma comment(lib, "legacy_stdio_definitions.lib")

#ifdef KINECT
#pragma comment(lib, "Kinect10.lib")
Expand Down
8 changes: 6 additions & 2 deletions DepthSensingCUDA/Source/GlobalAppState.h
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Expand Up @@ -8,6 +8,7 @@
//#define REAL_SENSE
//#define STRUCTURE_SENSOR
#define SENSOR_DATA_READER
#define SENSOR_DATA_FILE_READER

//#define OBJECT_SENSING

Expand Down Expand Up @@ -97,7 +98,9 @@
X(bool, s_reconstructionEnabled) \
X(bool, s_renderToFile) \
X(std::string, s_renderToFileDir) \
X(bool, s_offlineProcessing)
X(bool, s_offlineProcessing) \
X(int, s_nVideoFrame) \
X(int, s_startFrame)


#ifndef VAR_NAME
Expand All @@ -119,7 +122,8 @@ class GlobalAppState
Sensor_IntelSensor = 5,
Sensor_RealSense = 6,
Sensor_StructureSensor = 7,
Sensor_SensorDataReader = 8
Sensor_SensorDataReader = 8,
Sensor_SensorDataFileReader = 9
};

#define X(type, name) type name;
Expand Down
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