mapmap_cpu
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dthuerck
<opencv2/opencv.hpp> can influence the optimize( std::vector<_iv_st<COSTTYPE, SIMDWIDTH>>& solution,const mapMAP_control& control_flow) in mapmap/source/mapmap.impl.h.
Hello! I use the open source code mvs-texturing, and it can use this code mapmap_cpu. I found a very strange question! I only add #include <opencv2/opencv.hpp> in texrecon.cpp, and I haven't used any functions about opencv yet. It would influence the result of solver.optimize(solution, ctr) in "view_selection.cpp". I found it can call optimize( std::vector<_iv_st<COSTTYPE, SIMDWIDTH>>& solution,const mapMAP_control& control_flow) in mapmap/source/mapmap.impl.h. And I add a print log message. Like this:
template<typename COSTTYPE, uint_t SIMDWIDTH>
FORCEINLINE
_s_t<COSTTYPE, SIMDWIDTH>
mapMAP<COSTTYPE, SIMDWIDTH>::
optimize(
std::vector<_iv_st<COSTTYPE, SIMDWIDTH>>& solution,
const mapMAP_control& control_flow)
throw()
{
_s_t<COSTTYPE, SIMDWIDTH> obj;
/* copy some options from control structure */
m_tree_sampler_algo = control_flow.tree_algorithm;
m_sample_deterministic = control_flow.sample_deterministic;
/* initialize seed generator */
m_seeder.seed(control_flow.initial_seed);
/* create std modules for uninitialized fields */
create_std_modules();
/* check inputs for completeness and various sanity checks */
if(!check_data_complete())
throw std::runtime_error("Input data for optimization "
"incomplete or not sane.");
/* report on starting the optimization process */
if(!m_use_callback)
std::cout << "[mapMAP] "
<< UNIX_COLOR_GREEN
<< "Starting optimization..."
<< UNIX_COLOR_RESET
<< std::endl;
/* start timer */
m_time_start = std::chrono::system_clock::now();
/* initialize current solution */
const luint_t num_nodes = m_graph->num_nodes();
m_solution.resize(num_nodes);
std::fill(m_solution.begin(), m_solution.end(), 0);
/* find initial solution by tree-optimization w/o dependencies */
m_objective = initial_labelling();
record_time_from_start();
std::cout << "first print" << std::endl;
print_status();
/* check for termination */
if(check_termination())
{
solution.assign(m_solution.begin(), m_solution.end());
return m_objective;
}
/* rapid initial descent by multilevel */
if(control_flow.use_multilevel)
{
m_objective = opt_step_multilevel();
record_time_from_start();
std::cout << "second print" << std::endl;
print_status();
}
/* take spanning tree steps until no more improvements occur */
luint_t sp_it = 0;
_s_t<COSTTYPE, SIMDWIDTH> old_objective = m_objective;
while(control_flow.use_spanning_tree)
{
++sp_it;
std::cout << "control_flow.use_spanning_tree: " << control_flow.use_spanning_tree << std::endl;
/* check if algorithm needs to terminate this mode */
if(check_termination())
break;
std::cout << "check_termin" << std::endl;
/* execute spanning tree step */
obj = opt_step_spanning_tree();
record_time_from_start();
std::cout << "old_objective: " << old_objective << std::endl;
std::cout << "obj: " << obj << std::endl;
if(obj < old_objective)
old_objective = obj;
else
break;
std::cout << "third print" << std::endl;
print_status();
if(control_flow.use_multilevel && sp_it %
control_flow.spanning_tree_multilevel_after_n_iterations == 0)
{
m_objective = opt_step_multilevel();
record_time_from_start();
std::cout << "forth print" << std::endl;
print_status();
}
}
/* lastly, execute (forced) acyclic steps until termination */
luint_t ac_it = 0;
while(control_flow.use_acyclic &&
(!check_termination() || (control_flow.force_acyclic &&
ac_it < control_flow.min_acyclic_iterations)))
{
++ac_it;
m_objective = opt_step_acyclic(control_flow.relax_acyclic_maximal);
record_time_from_start();
std::cout << "fifth print" << std::endl;
print_status();
}
/* output solution */
solution.assign(m_solution.begin(), m_solution.end());
/* report on starting the optimization process */
if(!m_use_callback)
std::cout << "[mapMAP] "
<< UNIX_COLOR_GREEN
<< "Finished optimization."
<< UNIX_COLOR_RESET
<< std::endl;
return m_objective;
}
When I don't add #include <opencv2/opencv.hpp> , result of texturing is good. Like this:
And the log message:
m_num_nodes: 198131
Optimizing:
Time[s] Energy
first print
0 175136
second print
0 173408
control_flow.use_spanning_tree: 1
check_termin
old_objective: 173408
obj: 171636
third print
0 171636
control_flow.use_spanning_tree: 1
check_termin
old_objective: 171636
obj: 170673
third print
0 170672
control_flow.use_spanning_tree: 1
check_termin
old_objective: 170673
obj: 170211
third print
1 170211
control_flow.use_spanning_tree: 1
check_termin
old_objective: 170211
obj: 169933
third print
1 169932
control_flow.use_spanning_tree: 1
check_termin
old_objective: 169933
obj: 169738
third print
1 169737
forth print
1 169678
control_flow.use_spanning_tree: 1
check_termin
old_objective: 169738
obj: 169586
third print
1 169586
control_flow.use_spanning_tree: 1
fifth print
2 169527
fifth print
2 169480
fifth print
2 169435
fifth print
2 169401
fifth print
2 169367
6008 faces have not been seen
When I add #include <opencv2/opencv.hpp> , result of texturing is bad. Like this:
The log message:
m_num_nodes: 198131
Optimizing:
Time[s] Energy
first print
0 163685
second print
0 163685
control_flow.use_spanning_tree: 1
check_termin
old_objective: 163686
obj: 163668
third print
0 163668
control_flow.use_spanning_tree: 1
check_termin
old_objective: 163668
obj: 163661
third print
0 163660
control_flow.use_spanning_tree: 1
check_termin
old_objective: 163661
obj: 163671
fifth print
1 163670
fifth print
1 163670
fifth print
1 163670
fifth print
1 163670
fifth print
1 163670
6008 faces have not been seen
Comparison of the two log information, I found that it reduce the number of optimization iterations when add #include <opencv2/opencv.hpp>, and it doesn't jump into
if(control_flow.use_multilevel && sp_it %
control_flow.spanning_tree_multilevel_after_n_iterations == 0)
{
m_objective = opt_step_multilevel();
record_time_from_start();
std::cout << "forth print" << std::endl;
print_status();
}
I don't know why the head file <opencv2/opencv.hpp> can influence the optimize( std::vector<_iv_st<COSTTYPE, SIMDWIDTH>>& solution,const mapMAP_control& control_flow) in mapmap/source/mapmap.impl.h. Can you explain the reason? Thank you!
Hi,
thanks, I'll look into it. In the meantime, can you scan opencv2.hpp for typedefs? Are they typedef'ing stuff that I do, such as luint_t, for example?
I am sorry to reply so late. There are not any typedefs in opencv. In addition, I use opencv3.4 to instead of opencv3.2, and the calculation is normal.
Are linking any other libraries as well? Just by including opencv.hpp, the mapmap_demo build process fails:
/tmp/ccAPiZJb.ltrans4.ltrans.o: In function `cvflann::anyimpl::big_any_policy<cv::String>::static_delete(void**)':
<artificial>:(.text+0xfe5): undefined reference to `cv::String::deallocate()'
/tmp/ccAPiZJb.ltrans4.ltrans.o: In function `cvflann::anyimpl::big_any_policy<cv::String>::move(void* const*, void**)':
<artificial>:(.text+0x1010): undefined reference to `cv::String::deallocate()'
<artificial>:(.text+0x1024): undefined reference to `cv::String::deallocate()'
collect2: error: ld returned 1 exit status
CMakeFiles/mapmap_demo.dir/build.make:97: recipe for target 'mapmap_demo' failed
make[2]: *** [mapmap_demo] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/mapmap_demo.dir/all' failed
make[1]: *** [CMakeFiles/mapmap_demo.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
So I'm guessing there might be other problems involved than just a header file?
I don't link other libraries. And I have not tested the mapmap_demo. I use directly the open source code mvs-texturing.