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Update mLib and Eigen to fix compile errors #2

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bebc35e
Removed original mLib submodule and add Eigen 3.2.10 submodule
ybh1998 May 19, 2020
de21bb6
Update include path for external eigen and update mLib
ybh1998 May 19, 2020
23c2645
Remove DirectX SDK include and library path in FriedLiver.vcxproj. If…
ybh1998 May 19, 2020
795909c
add HDR support
ybh1998 Jun 4, 2020
927f834
Update README
ybh1998 Jun 4, 2020
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6 changes: 5 additions & 1 deletion .gitmodules
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@@ -1,3 +1,7 @@
[submodule "external/eigen"]
path = external/eigen
url = https://gitlab.com/libeigen/eigen.git
branch = 3.2.10
[submodule "external/mLib"]
path = external/mLib
url = https://github.com/niessner/mLib.git
url = https://github.com/ybh1998/mLib.git
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26 changes: 10 additions & 16 deletions FriedLiver/FriedLiver.vcxproj
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Expand Up @@ -15,25 +15,24 @@
<Keyword>Win32Proj</Keyword>
<RootNamespace>DepthWithColor.D3D</RootNamespace>
<ProjectName>FriedLiver</ProjectName>
<WindowsTargetPlatformVersion>10.0.16299.0</WindowsTargetPlatformVersion>
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
</PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<CharacterSet>Unicode</CharacterSet>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
</PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
<ImportGroup Label="ExtensionSettings">
<Import Project="$(VCTargetsPath)\BuildCustomizations\CUDA 10.1.props" />
<Import Project="$(VCTargetsPath)\BuildCustomizations\CUDA 10.2.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 @@ -44,17 +43,15 @@
<PropertyGroup Label="UserMacros" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
<LinkIncremental>true</LinkIncremental>
<ExecutablePath>$(WindowsSDK_ExecutablePath_x86);$(WindowsSDK_ExecutablePath_x64);$(ExecutablePath)</ExecutablePath>
<IncludePath>$(IncludePath);$(WindowsSDK_IncludePath);$(KINECTSDK10_DIR)\inc;$(KINECTSDK20_DIR)\inc;$(OPENNI2_INCLUDE64);$(DXSDK_DIR)Include;./Source/;./Source/SiftGPU/;./Include;./Include/Intel;./Include/cutil/inc;./Include/Uplink;../external/mlib/include;../../mlibExternal/include</IncludePath>
<LibraryPath>$(LibraryPath);$(DXSDK_DIR)Lib\x64;$(KINECTSDK10_DIR)\lib\amd64;$(CUDA_LIB_PATH);$(KINECTSDK20_DIR)\lib\x64;$(OPENNI2_LIB64);Libs;../../mlibExternal/libsWindows/lib64</LibraryPath>
<ExecutablePath>$(WindowsSDK_ExecutablePath_x64);$(ExecutablePath)</ExecutablePath>
<IncludePath>$(IncludePath);$(WindowsSDK_IncludePath);$(KINECTSDK10_DIR)\inc;$(KINECTSDK20_DIR)\inc;$(OPENNI2_INCLUDE64);./Source/;./Source/SiftGPU/;./Include;./Include/Intel;./Include/cutil/inc;./Include/Uplink;../external/mlib/include;../external/eigen;../../mlibExternal/include</IncludePath>
<LibraryPath>$(LibraryPath);$(KINECTSDK10_DIR)\lib\amd64;$(CUDA_LIB_PATH);$(KINECTSDK20_DIR)\lib\x64;$(OPENNI2_LIB64);Libs;../../mlibExternal/libsWindows/lib64</LibraryPath>
<SourcePath>$(VC_SourcePath);</SourcePath>
</PropertyGroup>
<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);$(DXSDK_DIR)Include;./Source/;./Source/SiftGPU/;./Include;./Include/Intel;./Include/cutil/inc;./Include/Uplink;../external/mlib/include;../../mlibExternal/include</IncludePath>
<LibraryPath>$(LibraryPath);$(DXSDK_DIR)Lib\x64;$(KINECTSDK10_DIR)\lib\amd64;$(CUDA_LIB_PATH);$(KINECTSDK20_DIR)\lib\x64;$(OPENNI2_LIB64);Libs;../../mlibExternal/libsWindows/lib64</LibraryPath>
<SourcePath>$(VC_SourcePath);</SourcePath>
<IncludePath>$(IncludePath);$(WindowsSDK_IncludePath);$(KINECTSDK10_DIR)\inc;$(KINECTSDK20_DIR)\inc;$(OPENNI2_INCLUDE64);./Source/;./Source/SiftGPU/;./Include;./Include/Intel;./Include/cutil/inc;./Include/Uplink;../external/mlib/include;../external/eigen;../../mlibExternal/include</IncludePath>
<LibraryPath>$(LibraryPath);$(KINECTSDK10_DIR)\lib\amd64;$(CUDA_LIB_PATH);$(KINECTSDK20_DIR)\lib\x64;$(OPENNI2_LIB64);Libs;../../mlibExternal/libsWindows/lib64</LibraryPath>
</PropertyGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
<ClCompile>
Expand Down Expand Up @@ -92,10 +89,7 @@
</ItemDefinitionGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
<ClCompile>
<WarningLevel>Level3</WarningLevel>
<Optimization>MaxSpeed</Optimization>
<RuntimeLibrary>MultiThreaded</RuntimeLibrary>
<OpenMPSupport>false</OpenMPSupport>
<FunctionLevelLinking>true</FunctionLevelLinking>
<IntrinsicFunctions>true</IntrinsicFunctions>
<FloatingPointModel>Fast</FloatingPointModel>
Expand Down Expand Up @@ -402,6 +396,6 @@
</ItemGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets">
<Import Project="$(VCTargetsPath)\BuildCustomizations\CUDA 10.1.targets" />
<Import Project="$(VCTargetsPath)\BuildCustomizations\CUDA 10.2.targets" />
</ImportGroup>
</Project>
4 changes: 0 additions & 4 deletions FriedLiver/FriedLiver.vcxproj.user
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4 changes: 3 additions & 1 deletion FriedLiver/Source/BinaryDumpReader.cpp
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Expand Up @@ -128,12 +128,14 @@ bool BinaryDumpReader::processDepth()
if(GlobalAppState::get().s_playData) {

float* depth = getDepthFloat();
vec4uc color;
memcpy(depth, m_data.m_DepthImages[m_CurrFrame], sizeof(float)*getDepthWidth()*getDepthHeight());

incrementRingbufIdx();

if (m_bHasColorData) {
memcpy(m_colorRGBX, m_data.m_ColorImages[m_CurrFrame], sizeof(vec4uc)*getColorWidth()*getColorHeight());
memcpy(&color, m_data.m_ColorImages[m_CurrFrame], sizeof(vec4uc)*getColorWidth()*getColorHeight());
*m_colorRGBX = color / 255.0f;
}

m_CurrFrame++;
Expand Down
2 changes: 1 addition & 1 deletion FriedLiver/Source/Bundler.cpp
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Expand Up @@ -276,7 +276,7 @@ bool Bundler::optimize(unsigned int numNonLinIterations, unsigned int numLinIter
return ret;
}

void Bundler::storeCachedFrame(unsigned int depthWidth, unsigned int depthHeight, const uchar4* d_inputColor, unsigned int colorWidth, unsigned int colorHeight, const float* d_inputDepthRaw)
void Bundler::storeCachedFrame(unsigned int depthWidth, unsigned int depthHeight, const float4* d_inputColor, unsigned int colorWidth, unsigned int colorHeight, const float* d_inputDepthRaw)
{
m_cudaCache->storeFrame(d_inputDepthRaw, depthWidth, depthHeight, d_inputColor, colorWidth, colorHeight);
}
Expand Down
2 changes: 1 addition & 1 deletion FriedLiver/Source/Bundler.h
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Expand Up @@ -36,7 +36,7 @@ class Bundler
//TODO should this live outside?
void detectFeatures(float* d_intensitySift, const float* d_inputDepthFilt);

void storeCachedFrame(unsigned int depthWidth, unsigned int depthHeight, const uchar4* d_inputColor,
void storeCachedFrame(unsigned int depthWidth, unsigned int depthHeight, const float4* d_inputColor,
unsigned int colorWidth, unsigned int colorHeight, const float* d_inputDepthRaw);
void copyFrame(const Bundler* b, unsigned int frame);
void addInvalidFrame();
Expand Down
2 changes: 1 addition & 1 deletion FriedLiver/Source/CUDACache.cpp
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Expand Up @@ -43,7 +43,7 @@ CUDACache::CUDACache(unsigned int widthDepthInput, unsigned int heightDepthInput


void CUDACache::storeFrame(const float* d_depth, unsigned int inputDepthWidth, unsigned int inputDepthHeight,
const uchar4* d_color, unsigned int inputColorWidth, unsigned int inputColorHeight)
const float4* d_color, unsigned int inputColorWidth, unsigned int inputColorHeight)
{
CUDACachedFrame& frame = m_cache[m_currentFrame];
//depth
Expand Down
10 changes: 5 additions & 5 deletions FriedLiver/Source/CUDACache.h
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Expand Up @@ -12,7 +12,7 @@ class CUDACache {
}

void storeFrame(const float* d_depth, unsigned int inputDepthWidth, unsigned int inputDepthHeight,
const uchar4* d_color, unsigned int inputColorWidth, unsigned int inputColorHeight);
const float4* d_color, unsigned int inputColorWidth, unsigned int inputColorHeight);

void reset() {
m_currentFrame = 0;
Expand All @@ -23,7 +23,7 @@ class CUDACache {

void copyCacheFrameFrom(CUDACache* other, unsigned int frameFrom) {
MLIB_CUDA_SAFE_CALL(cudaMemcpy(m_cache[m_currentFrame].d_depthDownsampled, other->m_cache[frameFrom].d_depthDownsampled, sizeof(float) * m_width * m_height, cudaMemcpyDeviceToDevice));
//MLIB_CUDA_SAFE_CALL(cudaMemcpy(m_cache[m_currentFrame].d_colorDownsampled, other->m_cache[frameFrom].d_colorDownsampled, sizeof(uchar4) * m_width * m_height, cudaMemcpyDeviceToDevice));
//MLIB_CUDA_SAFE_CALL(cudaMemcpy(m_cache[m_currentFrame].d_colorDownsampled, other->m_cache[frameFrom].d_colorDownsampled, sizeof(float4) * m_width * m_height, cudaMemcpyDeviceToDevice));
MLIB_CUDA_SAFE_CALL(cudaMemcpy(m_cache[m_currentFrame].d_cameraposDownsampled, other->m_cache[frameFrom].d_cameraposDownsampled, sizeof(float4) * m_width * m_height, cudaMemcpyDeviceToDevice));

MLIB_CUDA_SAFE_CALL(cudaMemcpy(m_cache[m_currentFrame].d_intensityDownsampled, other->m_cache[frameFrom].d_intensityDownsampled, sizeof(float) * m_width * m_height, cudaMemcpyDeviceToDevice));
Expand Down Expand Up @@ -72,7 +72,7 @@ class CUDACache {
const CUDACachedFrame& f = m_cache[i];
MLIB_CUDA_SAFE_CALL(cudaMemcpy(depth.getData(), f.d_depthDownsampled, sizeof(float)*depth.getNumPixels(), cudaMemcpyDeviceToHost));
MLIB_CUDA_SAFE_CALL(cudaMemcpy(camPos.getData(), f.d_cameraposDownsampled, sizeof(float4)*camPos.getNumPixels(), cudaMemcpyDeviceToHost));
//MLIB_CUDA_SAFE_CALL(cudaMemcpy(color.getData(), f.d_colorDownsampled, sizeof(uchar4)*color.getNumPixels(), cudaMemcpyDeviceToHost));
//MLIB_CUDA_SAFE_CALL(cudaMemcpy(color.getData(), f.d_colorDownsampled, sizeof(float4)*color.getNumPixels(), cudaMemcpyDeviceToHost));
MLIB_CUDA_SAFE_CALL(cudaMemcpy(intensity.getData(), f.d_intensityDownsampled, sizeof(float)*intensity.getNumPixels(), cudaMemcpyDeviceToHost));
MLIB_CUDA_SAFE_CALL(cudaMemcpy(intensityDerivative.getData(), f.d_intensityDerivsDownsampled, sizeof(float2)*intensityDerivative.getNumPixels(), cudaMemcpyDeviceToHost));
#ifdef CUDACACHE_UCHAR_NORMALS
Expand Down Expand Up @@ -128,7 +128,7 @@ class CUDACache {
s >> intensityOrig;
MLIB_CUDA_SAFE_CALL(cudaMemcpy(f.d_depthDownsampled, depth.getData(), sizeof(float)*depth.getNumPixels(), cudaMemcpyHostToDevice));
MLIB_CUDA_SAFE_CALL(cudaMemcpy(f.d_cameraposDownsampled, camPos.getData(), sizeof(float4)*camPos.getNumPixels(), cudaMemcpyHostToDevice));
//MLIB_CUDA_SAFE_CALL(cudaMemcpy(f.d_colorDownsampled, color.getData(), sizeof(uchar4)*color.getNumPixels(), cudaMemcpyHostToDevice));
//MLIB_CUDA_SAFE_CALL(cudaMemcpy(f.d_colorDownsampled, color.getData(), sizeof(float4)*color.getNumPixels(), cudaMemcpyHostToDevice));
MLIB_CUDA_SAFE_CALL(cudaMemcpy(f.d_intensityDownsampled, intensity.getData(), sizeof(float)*intensity.getNumPixels(), cudaMemcpyHostToDevice));
MLIB_CUDA_SAFE_CALL(cudaMemcpy(f.d_intensityDerivsDownsampled, intensityDerivative.getData(), sizeof(float2)*intensityDerivative.getNumPixels(), cudaMemcpyHostToDevice));
#ifdef CUDACACHE_UCHAR_NORMALS
Expand Down Expand Up @@ -182,7 +182,7 @@ class CUDACache {
MLIB_ASSERT(cachedFrames.size() <= m_cache.size());
for (unsigned int i = 0; i < cachedFrames.size(); i++) {
MLIB_CUDA_SAFE_CALL(cudaMemcpy(m_cache[i].d_depthDownsampled, cachedFrames[i].d_depthDownsampled, sizeof(float) * m_width * m_height, cudaMemcpyDeviceToDevice));
//MLIB_CUDA_SAFE_CALL(cudaMemcpy(m_cache[i].d_colorDownsampled, cachedFrames[i].d_colorDownsampled, sizeof(uchar4) * m_width * m_height, cudaMemcpyDeviceToDevice));
//MLIB_CUDA_SAFE_CALL(cudaMemcpy(m_cache[i].d_colorDownsampled, cachedFrames[i].d_colorDownsampled, sizeof(float4) * m_width * m_height, cudaMemcpyDeviceToDevice));
MLIB_CUDA_SAFE_CALL(cudaMemcpy(m_cache[i].d_cameraposDownsampled, cachedFrames[i].d_cameraposDownsampled, sizeof(float4) * m_width * m_height, cudaMemcpyDeviceToDevice));

MLIB_CUDA_SAFE_CALL(cudaMemcpy(m_cache[i].d_intensityDownsampled, cachedFrames[i].d_intensityDownsampled, sizeof(float) * m_width * m_height, cudaMemcpyDeviceToDevice));
Expand Down
17 changes: 7 additions & 10 deletions FriedLiver/Source/CUDAImageManager.cpp
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Expand Up @@ -9,7 +9,7 @@ unsigned int CUDAImageManager::ManagedRGBDInputFrame::s_width = 0;
unsigned int CUDAImageManager::ManagedRGBDInputFrame::s_height = 0;

float* CUDAImageManager::ManagedRGBDInputFrame::s_depthIntegrationGlobal = NULL;
uchar4* CUDAImageManager::ManagedRGBDInputFrame::s_colorIntegrationGlobal = NULL;
float4* CUDAImageManager::ManagedRGBDInputFrame::s_colorIntegrationGlobal = NULL;

CUDAImageManager::ManagedRGBDInputFrame* CUDAImageManager::ManagedRGBDInputFrame::s_activeColorGPU = NULL;
CUDAImageManager::ManagedRGBDInputFrame* CUDAImageManager::ManagedRGBDInputFrame::s_activeDepthGPU = NULL;
Expand Down Expand Up @@ -39,24 +39,23 @@ bool CUDAImageManager::process()
////////////////////////////////////////////////////////////////////////////////////

const unsigned int bufferDimColorInput = m_RGBDSensor->getColorWidth()*m_RGBDSensor->getColorHeight();
MLIB_CUDA_SAFE_CALL(cudaMemcpy(d_colorInput, m_RGBDSensor->getColorRGBX(), sizeof(uchar4)*bufferDimColorInput, cudaMemcpyHostToDevice));

MLIB_CUDA_SAFE_CALL(cudaMemcpy(d_colorInput, m_RGBDSensor->getColorRGBX(), sizeof(float4)*bufferDimColorInput, cudaMemcpyHostToDevice));
if ((m_RGBDSensor->getColorWidth() == m_widthIntegration) && (m_RGBDSensor->getColorHeight() == m_heightIntegration)) {
if (ManagedRGBDInputFrame::s_bIsOnGPU) {
CUDAImageUtil::copy<uchar4>(frame.m_colorIntegration, d_colorInput, m_widthIntegration, m_heightIntegration);
CUDAImageUtil::copy<float4>(frame.m_colorIntegration, d_colorInput, m_widthIntegration, m_heightIntegration);
//std::swap(frame.m_colorIntegration, d_colorInput);
}
else {
memcpy(frame.m_colorIntegration, m_RGBDSensor->getColorRGBX(), sizeof(uchar4)*bufferDimColorInput);
memcpy(frame.m_colorIntegration, m_RGBDSensor->getColorRGBX(), sizeof(float4)*bufferDimColorInput);
}
}
else {
if (ManagedRGBDInputFrame::s_bIsOnGPU) {
CUDAImageUtil::resampleUCHAR4(frame.m_colorIntegration, m_widthIntegration, m_heightIntegration, d_colorInput, m_RGBDSensor->getColorWidth(), m_RGBDSensor->getColorHeight());
CUDAImageUtil::resampleFloat4(frame.m_colorIntegration, m_widthIntegration, m_heightIntegration, d_colorInput, m_RGBDSensor->getColorWidth(), m_RGBDSensor->getColorHeight());
}
else {
CUDAImageUtil::resampleUCHAR4(frame.s_colorIntegrationGlobal, m_widthIntegration, m_heightIntegration, d_colorInput, m_RGBDSensor->getColorWidth(), m_RGBDSensor->getColorHeight());
MLIB_CUDA_SAFE_CALL(cudaMemcpy(frame.m_colorIntegration, frame.s_colorIntegrationGlobal, sizeof(uchar4)*m_widthIntegration*m_heightIntegration, cudaMemcpyDeviceToHost));
CUDAImageUtil::resampleFloat4(frame.s_colorIntegrationGlobal, m_widthIntegration, m_heightIntegration, d_colorInput, m_RGBDSensor->getColorWidth(), m_RGBDSensor->getColorHeight());
MLIB_CUDA_SAFE_CALL(cudaMemcpy(frame.m_colorIntegration, frame.s_colorIntegrationGlobal, sizeof(float4)*m_widthIntegration*m_heightIntegration, cudaMemcpyDeviceToHost));
frame.s_activeColorGPU = &frame;
}
}
Expand All @@ -67,7 +66,6 @@ bool CUDAImageManager::process()

const unsigned int bufferDimDepthInput = m_RGBDSensor->getDepthWidth()*m_RGBDSensor->getDepthHeight();
MLIB_CUDA_SAFE_CALL(cudaMemcpy(d_depthInputRaw, m_RGBDSensor->getDepthFloat(), sizeof(float)*m_RGBDSensor->getDepthWidth()* m_RGBDSensor->getDepthHeight(), cudaMemcpyHostToDevice));

////////////////////////////////////////////////////////////////////////////////////
// Render to Color Space
////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -152,7 +150,6 @@ bool CUDAImageManager::process()
//CUDAImageUtil::resampleToIntensity(d_intensitySIFT, m_widthSIFT, m_heightSIFT, d_colorInput, m_RGBDSensor->getColorWidth(), m_RGBDSensor->getColorHeight());

if (GlobalBundlingState::get().s_enableGlobalTimings) { cudaDeviceSynchronize(); s_timer.stop(); TimingLog::getFrameTiming(true).timeSensorProcess = s_timer.getElapsedTimeMS(); }

m_currFrame++;
return true;
}
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