Process voxel

.gitignore

@@ -17,6 +17,7 @@ libraries/setup/boost_1_58_0/
 libraries/tbb43_20150611oss/
 libraries/vicon/
 libraries/*.log
+modules/infinitam/
 *.tags
 tags
 tests/mike/

.vscode/settings.json

@@ -0,0 +1,69 @@
+{
+    "files.associations": {
+        "xstring": "cpp",
+        "memory": "cpp",
+        "*.tpp": "cpp",
+        "*.tcu": "cpp",
+        "algorithm": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "deque": "cpp",
+        "exception": "cpp",
+        "fstream": "cpp",
+        "functional": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "ios": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "iterator": "cpp",
+        "limits": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "new": "cpp",
+        "numeric": "cpp",
+        "ostream": "cpp",
+        "queue": "cpp",
+        "set": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "string": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "typeinfo": "cpp",
+        "unordered_map": "cpp",
+        "utility": "cpp",
+        "vector": "cpp",
+        "xfacet": "cpp",
+        "xhash": "cpp",
+        "xiosbase": "cpp",
+        "xlocale": "cpp",
+        "xlocinfo": "cpp",
+        "xlocmon": "cpp",
+        "xlocnum": "cpp",
+        "xloctime": "cpp",
+        "xmemory": "cpp",
+        "xstddef": "cpp",
+        "xtr1common": "cpp",
+        "xtree": "cpp",
+        "xutility": "cpp",
+        "ratio": "cpp",
+        "stop_token": "cpp",
+        "thread": "cpp"
+    }
+}

apps/spaintgui/Application.cpp

@@ -51,8 +51,9 @@ using namespace tvgutil;
 
 //#################### CONSTRUCTORS ####################
 
-Application::Application(const MultiScenePipeline_Ptr& pipeline, bool renderFiducials)
-: m_activeSubwindowIndex(0),
+Application::Application(const MultiScenePipeline_Ptr& pipeline, bool renderFiducials, std::string name)
+: m_name(name),
+  m_activeSubwindowIndex(0),
   m_batchModeEnabled(false),
   m_commandManager(10),
   m_pauseBetweenFrames(true),
@@ -141,7 +142,9 @@ bool Application::run()
   if(m_saveMeshOnExit) save_mesh();
 
   // If desired, save a model of each scene before the application terminates.
-  if(m_saveModelsOnExit) save_models();
+  // if(m_saveModelsOnExit) save_models();
+  // set save model as default to save voxel scene for relocalisation later
+  save_models();
 
   return true;
 }
@@ -1032,14 +1035,8 @@ void Application::save_mesh() const
 
 void Application::save_models() const
 {
-  // Find the models directory and make sure it exists.
-  boost::filesystem::path modelsSubdir = find_subdir_from_executable("models");
-  boost::filesystem::create_directories(modelsSubdir);
-
-  // Determine the directory to use for saving the models, based on either the experiment tag (if specified) or the current timestamp (otherwise).
-  const Settings_CPtr& settings = m_pipeline->get_model()->get_settings();
-  std::string modelName = settings->get_first_value<std::string>("experimentTag", TimeUtil::get_iso_timestamp());
-  boost::filesystem::path outputDir = modelsSubdir / modelName;
+  std::string modelName = m_name;
+  boost::filesystem::path outputDir = modelName;
 
   // Save the models to disk.
   m_pipeline->save_models(outputDir);

apps/spaintgui/Application.h

@@ -45,6 +45,9 @@ class Application
 
   //#################### PRIVATE VARIABLES ####################
 private:
+  /** Save model and relocalisation to this file. */
+  std::string m_name;
+
   /** The index of the sub-window with which the user is interacting. */
   size_t m_activeSubwindowIndex;
 
@@ -113,7 +116,7 @@ class Application
    * \param pipeline        The multi-scene pipeline that the application should use.
    * \param renderFiducials Whether or not to render the fiducials (if any) that have been detected in the 3D scene.
    */
-  Application(const MultiScenePipeline_Ptr& pipeline, bool renderFiducials = false);
+  Application(const MultiScenePipeline_Ptr& pipeline, bool renderFiducials = false, std::string name = "");
 
   //#################### PUBLIC MEMBER FUNCTIONS ####################
 public:

apps/spaintgui/core/CollaborativePipeline.cpp

@@ -51,26 +51,6 @@ CollaborativePipeline::CollaborativePipeline(const Settings_Ptr& settings, const
     }
   }
 
-  // Finally, we add a collaborative component to handle relocalisation between the different scenes.
- /* std::cout << "after SLAMComponent allocate\n";
-  for(int i = 0; i < 3; ++i)
-  {
-    // Set the GPU as active.
-    ORcudaSafeCall(cudaSetDevice(i));
-
-    // Look up its memory usage.
-    size_t freeMemory, totalMemory;
-    ORcudaSafeCall(cudaMemGetInfo(&freeMemory, &totalMemory));
-
-    // Convert the memory usage to MB.
-    const size_t bytesPerMb = 1024 * 1024;
-    const size_t freeMb = freeMemory / bytesPerMb;
-    const size_t usedMb = (totalMemory - freeMemory) / bytesPerMb;
-    const size_t totalMb = totalMemory / bytesPerMb;
-
-    // Save the memory usage to the output stream.
-    std::cout << i << " freeMb: " << freeMb << ";" << " usedMb: " << usedMb << ";" << " totalMb: "<< totalMb << "\n";
-  }*/
   m_collaborativeComponent.reset(new CollaborativeComponent(m_model, collaborationMode));
 }
 

apps/spaintgui/core/MultiScenePipeline.cpp

@@ -132,7 +132,7 @@ void MultiScenePipeline::save_models(const bf::path& outputDir) const
   // Save the models for each scene into a separate subdirectory.
   for(std::map<std::string,SLAMComponent_Ptr>::const_iterator it = m_slamComponents.begin(), iend = m_slamComponents.end(); it != iend; ++it)
   {
-    const bf::path scenePath = outputDir / it->first;
+    const bf::path scenePath = outputDir / "model"; 
     std::cout << "Saving models for " << it->first << " in: " << scenePath << '\n';
     it->second->save_models(scenePath.string());
   }