1) Fix a bug of VoxelGrid::Clear() 2) Supress warnings

unclearness · Oct 10, 2023 · deed29d · deed29d
1 parent ec2c402
commit deed29d
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Showing 5 changed files with 42 additions and 6 deletions.
diff --git a/include/ugu/image.h b/include/ugu/image.h
@@ -225,6 +225,8 @@ using Scalar_ = Vec_<TT, 4>;
 
 using Scalar = Scalar_<double>;
 
+#ifndef OPENCV_CORE_HAL_INTERFACE_H
+
 #define CV_CN_MAX 512
 #define CV_CN_SHIFT 3
 #define CV_DEPTH_MAX (1 << CV_CN_SHIFT)
@@ -292,6 +294,8 @@ using Scalar = Scalar_<double>;
 #define CV_16FC4 CV_MAKETYPE(CV_16F, 4)
 #define CV_16FC(n) CV_MAKETYPE(CV_16F, (n))
 
+#endif
+
 #define CV_GETCN(type) ((type >> CV_CN_SHIFT) + 1)
 
 int GetBitsFromCvType(int cv_type);

diff --git a/src/image_io.cc b/src/image_io.cc
@@ -159,19 +159,19 @@ bool WriteJpg(const ImageBase& img, const std::string& path) {
 }
 #else
 bool LoadByStb(ImageBase& img, const std::string& path) {
-  (void)path;
+  (void)img, path;
   LOGE("can't load image with this configuration\n");
   return false;
 }
 
 bool WritePng(const ImageBase& img, const std::string& path) {
-  (void)path;
+  (void)img, path;
   LOGE("can't write image with this configuration\n");
   return false;
 }
 
 bool WriteJpg(const ImageBase& img, const std::string& path) {
-  (void)path;
+  (void)img, path;
   LOGE("can't write image with this configuration\n");
   return false;
 }

diff --git a/src/renderable_mesh.cc b/src/renderable_mesh.cc
@@ -280,6 +280,7 @@ void RenderableMesh::SetupMesh(int geo_id) {
 }
 
 void RenderableMesh::Draw(const Shader &shader) const {
+  (void)shader;
   LOGE("Not supported with this configuration\n");
 }
 }  // namespace ugu

diff --git a/src/util/image_util.cc b/src/util/image_util.cc
@@ -56,7 +56,8 @@ void eigen2cv(const Eigen::MatrixXd& mat, ugu::Image1d& img) {
     mat_ = mat.transpose();
   }
 
-  img = ugu::Image1d::zeros(mat_.rows(), mat_.cols());
+  img = ugu::Image1d::zeros(static_cast<int>(mat_.rows()),
+                            static_cast<int>(mat_.cols()));
   std::memcpy(img.data, mat.data(), sizeof(double) * img.cols * img.rows);
 }
 
@@ -1126,6 +1127,9 @@ std::pair<std::vector<Image4b>, std::vector<int>> LoadGif(
     std::memcpy(images[i].data, data.data() + i * bytes_per_image,
                 bytes_per_image);
   }
+#else
+  (void)path;
+  LOGE("can't load image with this configuration\n");
 #endif
   return {images, delays};
 }

diff --git a/src/voxel/voxel.cc b/src/voxel/voxel.cc
@@ -7,6 +7,12 @@
 
 #include <array>
 
+// #define ENSURE_UPDATE
+
+#ifdef ENSURE_UPDATE
+#include <unordered_set>
+#endif
+
 #include "ugu/timer.h"
 #include "ugu/util/image_util.h"
 #include "ugu/util/rgbd_util.h"
@@ -75,9 +81,25 @@ inline void FusePointBase(const Eigen::Vector3f& p, const Eigen::Vector3f& n,
   } else {
     float step = voxel_grid.resolution();
     // Sample along with normal direction
+
+#ifdef ENSURE_UPDATE
+    std::unordered_set<Eigen::Vector3i> updated_idxs;
+    const float step_scale = std::sqrt(2.f);
+#endif
     for (int k = -sample_num; k < sample_num + 1; k++) {
+#ifdef ENSURE_UPDATE
       Eigen::Vector3f offset = n * k * step;
+      auto voxel_idx_ = voxel_grid.get_index(p + offset);
+      if (updated_idxs.find(voxel_idx_) != updated_idxs.end()) {
+        offset = n * k * step * step_scale;
+        voxel_idx_ = voxel_grid.get_index(p + offset);
+        // std::cout << "try again..." << std::endl;
+      }
+      updated_idxs.insert(voxel_idx_);
+#else
+      const Eigen::Vector3f offset = n * k * step;
       const auto& voxel_idx_ = voxel_grid.get_index(p + offset);
+#endif
       if (voxel_idx_[0] < 0 || voxel_idx_[1] < 0 || voxel_idx_[2] < 0) {
         return;
       }
@@ -280,9 +302,11 @@ Eigen::Vector3i VoxelGrid::get_index(const Eigen::Vector3f& p) const {
 }
 
 void VoxelGrid::Clear() {
-#pragma omp parallel for
+#if defined(_OPENMP) && defined(UGU_USE_OPENMP)
+#pragma omp parallel for schedule(dynamic, 1)
+#endif
   for (int64_t i = 0; i < static_cast<int64_t>(voxels_.size()); i++) {
-    voxels_[i].sdf = 0.f;
+    voxels_[i].sdf = InvalidSdf::kVal;
     voxels_[i].update_num = 0;
   }
 }
@@ -394,6 +418,9 @@ bool FuseDepth(const Camera& camera, const Image1f& depth,
   Eigen::Affine3f c2w = camera.c2w().cast<float>();
   Eigen::Matrix3f c2w_R = c2w.rotation();
 
+#if defined(_OPENMP) && defined(UGU_USE_OPENMP)
+#pragma omp parallel for schedule(dynamic, 1)
+#endif
   for (int y = 0; y < camera.height(); y++) {
     for (int x = 0; x < camera.width(); x++) {
       const float& d = depth.at<float>(y, x);