void D3D11RenderTarget::bind()
{
MLIB_ASSERT(m_targets != nullptr);
auto &context = m_graphics->getContext();
context.OMSetRenderTargets(getNumTargets(), m_targetsRTV, m_depthStencilDSV);
D3D11_VIEWPORT viewport;
viewport.Width = (FLOAT)m_width;
viewport.Height = (FLOAT)m_height;
viewport.MinDepth = 0.0f;
viewport.MaxDepth = 1.0f;
viewport.TopLeftX = 0;
viewport.TopLeftY = 0;
context.RSSetViewports(1, &viewport);
}
void CUDASolverBundling::solve(EntryJ* d_correspondences, unsigned int numberOfCorrespondences, const int* d_validImages, unsigned int numberOfImages,
unsigned int nNonLinearIterations, unsigned int nLinearIterations, const CUDACache* cudaCache,
const std::vector<float>& weightsSparse, const std::vector<float>& weightsDenseDepth, const std::vector<float>& weightsDenseColor, bool usePairwiseDense,
float3* d_rotationAnglesUnknowns, float3* d_translationUnknowns,
bool rebuildJT, bool findMaxResidual, unsigned int revalidateIdx)
{
nNonLinearIterations = std::min(nNonLinearIterations, (unsigned int)weightsSparse.size());
MLIB_ASSERT(numberOfImages > 1 && nNonLinearIterations > 0);
if (numberOfCorrespondences > m_maxCorrPerImage*m_maxNumberOfImages) {
//warning: correspondences will be invalidated AT RANDOM!
std::cerr << "WARNING: #corr (" << numberOfCorrespondences << ") exceeded limit (" << m_maxCorrPerImage << "*" << m_maxNumberOfImages << "), please increase max #corr per image in the GAS" << std::endl;
}
float* convergence = NULL;
if (m_bRecordConvergence) {
m_convergence.resize(nNonLinearIterations + 1, -1.0f);
convergence = m_convergence.data();
}
m_solverState.d_xRot = d_rotationAnglesUnknowns;
m_solverState.d_xTrans = d_translationUnknowns;
SolverParameters parameters = m_defaultParams;
parameters.nNonLinearIterations = nNonLinearIterations;
parameters.nLinIterations = nLinearIterations;
parameters.verifyOptDistThresh = m_verifyOptDistThresh;
parameters.verifyOptPercentThresh = m_verifyOptPercentThresh;
parameters.highResidualThresh = std::numeric_limits<float>::infinity();
parameters.weightSparse = weightsSparse.front();
parameters.weightDenseDepth = weightsDenseDepth.front();
parameters.weightDenseColor = weightsDenseColor.front();
parameters.useDense = (parameters.weightDenseDepth > 0 || parameters.weightDenseColor > 0);
parameters.useDenseDepthAllPairwise = usePairwiseDense;
SolverInput solverInput;
solverInput.d_correspondences = d_correspondences;
solverInput.d_variablesToCorrespondences = d_variablesToCorrespondences;
solverInput.d_numEntriesPerRow = d_numEntriesPerRow;
solverInput.numberOfImages = numberOfImages;
solverInput.numberOfCorrespondences = numberOfCorrespondences;
solverInput.maxNumberOfImages = m_maxNumberOfImages;
solverInput.maxCorrPerImage = m_maxCorrPerImage;
solverInput.maxNumDenseImPairs = m_maxNumDenseImPairs;
solverInput.weightsSparse = weightsSparse.data();
solverInput.weightsDenseDepth = weightsDenseDepth.data();
solverInput.weightsDenseColor = weightsDenseColor.data();
solverInput.d_validImages = d_validImages;
if (cudaCache) {
solverInput.d_cacheFrames = cudaCache->getCacheFramesGPU();
solverInput.denseDepthWidth = cudaCache->getWidth(); //TODO constant buffer for this?
solverInput.denseDepthHeight = cudaCache->getHeight();
mat4f intrinsics = cudaCache->getIntrinsics();
solverInput.intrinsics = make_float4(intrinsics(0, 0), intrinsics(1, 1), intrinsics(0, 2), intrinsics(1, 2));
MLIB_ASSERT(solverInput.denseDepthWidth / parameters.denseOverlapCheckSubsampleFactor > 8); //need enough samples
}
else {
solverInput.d_cacheFrames = NULL;
solverInput.denseDepthWidth = 0;
solverInput.denseDepthHeight = 0;
solverInput.intrinsics = make_float4(-std::numeric_limits<float>::infinity());
}
#ifdef NEW_GUIDED_REMOVE
convertLiePosesToMatricesCU(m_solverState.d_xRot, m_solverState.d_xTrans, solverInput.numberOfImages, d_transforms, m_solverState.d_xTransformInverses); //debugging only (store transforms before opt)
#endif
#ifdef DEBUG_PRINT_SPARSE_RESIDUALS
if (findMaxResidual) {
float residualBefore = EvalResidual(solverInput, m_solverState, parameters, NULL);
computeMaxResidual(solverInput, parameters, (unsigned int)-1);
vec2ui beforeMaxImageIndices; float beforeMaxRes; unsigned int curFrame = (revalidateIdx == (unsigned int)-1) ? solverInput.numberOfImages - 1 : revalidateIdx;
getMaxResidual(curFrame, d_correspondences, beforeMaxImageIndices, beforeMaxRes);
std::cout << "\tbefore: (" << solverInput.numberOfImages << ") sumres = " << residualBefore << " / " << solverInput.numberOfCorrespondences << " = " << residualBefore / (float)solverInput.numberOfCorrespondences << " | maxres = " << beforeMaxRes << " images (" << beforeMaxImageIndices << ")" << std::endl;
}
#endif
if (rebuildJT) {
buildVariablesToCorrespondencesTable(d_correspondences, numberOfCorrespondences);
}
//if (cudaCache) {
// cudaCache->printCacheImages("debug/cache/");
// int a = 5;
//}
solveBundlingStub(solverInput, m_solverState, parameters, m_solverExtra, convergence, m_timer);
if (findMaxResidual) {
computeMaxResidual(solverInput, parameters, revalidateIdx);
#ifdef DEBUG_PRINT_SPARSE_RESIDUALS
float residualAfter = EvalResidual(solverInput, m_solverState, parameters, NULL);
vec2ui afterMaxImageIndices; float afterMaxRes; unsigned int curFrame = (revalidateIdx == (unsigned int)-1) ? solverInput.numberOfImages - 1 : revalidateIdx;
getMaxResidual(curFrame, d_correspondences, afterMaxImageIndices, afterMaxRes);
std::cout << "\tafter: (" << solverInput.numberOfImages << ") sumres = " << residualAfter << " / " << solverInput.numberOfCorrespondences << " = " << residualAfter / (float)solverInput.numberOfCorrespondences << " | maxres = " << afterMaxRes << " images (" << afterMaxImageIndices << ")" << std::endl;
#endif
}
}
