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////////////////////////////////////////////////////////////////////////////
// File: ConfigBA.h
// Author: Changchang Wu (ccwu@cs.washington.edu)
// Description : configuration object class
//
// Copyright (c) 2011 Changchang Wu (ccwu@cs.washington.edu)
// and the University of Washington at Seattle
//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public
// License as published by the Free Software Foundation; either
// Version 3 of the License, or (at your option) any later version.
//
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
////////////////////////////////////////////////////////////////////////////////
#ifndef CONFIG_BA_H
#define CONFIG_BA_H
#include <vector>
namespace pba {
class ConfigBA {
protected:
enum {
TIMER_OVERALL = 0,
TIMER_OPTIMIZATION,
TIMER_GPU_ALLOCATION,
TIMER_GPU_UPLOAD,
TIMER_PREPROCESSING,
TIMER_GPU_DOWNLOAD,
TIMER_CG_ITERATION,
TIMER_LM_ITERATION,
TIMER_FUNCTION_JJ,
TIMER_FUNCTION_PJ,
TIMER_FUNCTION_DD,
TIMER_FUNCTION_JX,
TIMER_FUNCTION_JTE,
TIMER_FUNCTION_BC,
TIMER_FUNCTION_MP,
TIMER_FUNCTION_UP,
TIMER_PROFILE_STEP,
NUM_TIMER,
FUNC_JX = 0,
FUNC_JX_,
FUNC_JTEC_JCT,
FUNC_JTEC_JCO,
FUNC_JTEP,
FUNC_JTE_,
FUNC_JJ_JCO_JCT_JP,
FUNC_JJ_JCO_JP,
FUNC_JJ_JCT_JP,
FUNC_JJ_JP,
FUNC_PJ,
FUNC_BCC_JCT,
FUNC_BCC_JCO,
FUNC_BCP,
FUNC_MPC,
FUNC_MPP,
FUNC_VS,
FUNC_VV,
NUM_FUNC
};
class TimerBA {
ConfigBA* _config;
int _timer;
public:
TimerBA(ConfigBA* config, int timer) {
(_config = config)->BundleTimerStart(_timer = timer);
}
TimerBA(ConfigBA* config, int timer, bool) {
(_config = config)->BundleTimerSwitch(_timer = timer);
}
~TimerBA() { _config->BundleTimerSwitch(_timer); }
};
friend class TimerBA;
public:
//////////////////////////////
int __lm_max_iteration; //(default 50)
int __cg_max_iteration; //(default 100)
int __cg_min_iteration; //(default 10)
int __cg_recalculate_freq; //(default 0)
bool __accurate_gain_ratio; //(default true) accurate gain ratio for
//approximate solutions
//////////////////////////////
float __lm_delta_threshold; //(default 1e-6)|dx|_2, I use absolute (not
//relative) change
float __lm_gradient_threshold; //(default 1e-10)|Jt * e|_inf
float __lm_mse_threshold; //(default 0.25) quit if MSE is equal to or smaller
//than this
float __lm_initial_damp; //(default 0.001)initial damping factor
float __lm_minimum_damp; //(default 1e-10)minimum damping factor
float __lm_maximum_damp;
float __cg_norm_threshold; //(default 0.1)terminate CG if norm ratio is less
//than threshold
float __cg_norm_guard; //(default 1.0)abort cg when norm increases to
int __pba_experimental;
bool __cg_schur_complement;
//////////////////////////////
bool __lm_check_gradient; //(default false) check g_inf for convergence
float __lm_damping_auto_switch;
bool __lm_use_diagonal_damp; //(default true)use (Jt*J + lambda * diag(Jt*J))
//= Jt * e
// or use (Jt*J + lambda * I) = Jt * e
bool __fixed_intrinsics; //(default false) set true for calibrated camera
//system
int __use_radial_distortion; //(default 0, 1 for projection distortion, 2 for
//measurement distortion)
bool __reset_initial_distortion; //(default false) reset the initial
//distortio to 0
////////////////////////////
int __verbose_level; //(default 2) how many messages to print out
bool __abort_flag; //(default false)abort the bundle adjustment loop if set
//true
bool __verbose_cg_iteration; //(default false)print out details of Conjugate
//Gradients
bool __verbose_function_time; //(default false)print timing of some key
//functions
bool __save_gradient_norm; //(default false)save |Jt * e|_2 of each iteration
bool __verbose_allocation; //(default false)whether print out allocation
//details
bool __verbose_sse; //(default false) show mse or sse
///////////////////////////////////
bool __jc_store_transpose; //(default true) whether store transpose of JC
bool __no_jacobian_store; //(default false) whether use memory saving mode
bool __jc_store_original; //(default true) whether store original JC
///////////////////////////////////
bool __jacobian_normalize; //(default true) scaling the jacobians according
//to initial jacobians
bool __focal_normalize; //(default true) data normalization
bool __depth_normalize; //(default true) data normalization
bool __depth_degeneracy_fix;
float __data_normalize_median;
float __depth_check_epsilon;
/////////////////////////////
protected:
bool __multiply_jx_usenoj; // for debug purpose
protected:
/////////////////////////////
int __selected_device;
int __cpu_data_precision;
int __bundle_time_budget;
int __bundle_mode_next;
int __bundle_current_mode;
//////////////////////////////
float __initial_mse;
float __final_mse;
float __final_mse_x;
float __focal_scaling;
float __depth_scaling;
int __current_device;
int __current_iteration;
int __num_cg_iteration;
int __num_lm_success;
int __num_lm_iteration;
int __num_projection_eval;
int __num_jacobian_eval;
int __num_camera_modified;
int __num_point_behind;
int __pba_return_code;
int __recent_cg_status;
int __profile_pba;
bool __cpu_thread_profile;
bool __debug_pba;
bool __warmup_device;
size_t __memory_usage;
/////////////////////////////////////
bool __matlab_format_stat;
char* __stat_filename;
const char* __driver_output;
std::vector<float> __bundle_records;
double __timer_record[NUM_TIMER];
int __num_cpu_thread_all;
int __num_cpu_thread[NUM_FUNC];
protected:
ConfigBA();
///////////////////////////////
void ResetTemporarySetting();
void ResetBundleStatistics();
void PrintBundleStatistics();
void SaveBundleStatistics(int ncam, int npt, int nproj);
///////////////////////////////////////
void BundleTimerStart(int timer);
void BundleTimerSwitch(int timer);
float BundleTimerGet(int timer);
void BundleTimerSwap(int timer1, int timer2);
float BundleTimerGetNow(int timer = TIMER_OPTIMIZATION);
/////////////////////////////////
void SaveBundleRecord(int iter, float res, float damping, float gn, float gi);
bool IsTimeBudgetAvailable();
double MyClock();
public:
void ParseParam(int argc, char** argv);
public:
// the following are to be called after finishing BA
const char* GetOutputParam() { return __driver_output; }
float GetInitialMSE() { return __initial_mse; }
float GetFinalMSE() { return __final_mse; }
double GetBundleTiming(int timer = TIMER_OVERALL) {
return __timer_record[timer];
}
int GetIterationsLM() { return __num_lm_iteration; }
int GetIterationsCG() { return __num_cg_iteration; }
int GetCurrentDevice() { return __current_device; }
int GetBundleReturnCode() { return __pba_return_code; }
int GetActiveDevice() { return __selected_device; }
};
} // namespace pba
#endif
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