From 5e1763965b680f1b8dad3fcf79e98cdb49113f03 Mon Sep 17 00:00:00 2001
From: tsm <shimei820@gmail.com>
Date: Mon, 31 Oct 2022 15:38:14 +0800
Subject: [PATCH 01/55] add multi thread for relocalisation without compiling

---
 .vscode/settings.json                         | 69 ++++++++++++++++
 .../CollaborativeComponent.h                  |  7 ++
 .../CollaborativeComponent.cpp                | 80 ++++++++++++-------
 3 files changed, 129 insertions(+), 27 deletions(-)
 create mode 100644 .vscode/settings.json

diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..24412e1
--- /dev/null
+++ b/.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"
+    }
+}
\ No newline at end of file
diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index 407029a..497d1a6 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -21,6 +21,9 @@
 
 namespace spaint {
 
+const int relocalisationThreadsCount = 5;
+const int bestCandidateMaxCount = 5;
+
 /**
  * \brief An instance of this pipeline component can be used to determine the relative poses between agents participating in collaborative SLAM.
  */
@@ -31,6 +34,8 @@ class CollaborativeComponent
   /** The best relocalisation candidate, as chosen by the scheduler. This will be the next relocalisation attempted. */
   boost::shared_ptr<CollaborativeRelocalisation> m_bestCandidate;
 
+  std::queue<boost::shared_ptr<CollaborativeRelocalisation>> m_bestCandidates = std::queue<boost::shared_ptr<CollaborativeRelocalisation>>();
+
   /** The timer used to compute the time spent collaborating. */
   boost::optional<boost::timer::cpu_timer> m_collaborationTimer;
 
@@ -61,6 +66,8 @@ class CollaborativeComponent
   /** The thread on which relocalisations should be attempted. */
   boost::thread m_relocalisationThread;
 
+  std::vector<boost::thread> m_relocalisationThreads = std::vector<boost::thread>(relocalisationThreadsCount);
+
   /** The results of every relocalisation that has been attempted. */
   std::deque<CollaborativeRelocalisation> m_results;
 
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 7676af3..7785e18 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -21,6 +21,8 @@ using boost::bind;
 #include <orx/relocalisation/Relocaliser.h>
 using namespace orx;
 
+#include <thread>
+
 #define DEBUGGING 0
 
 namespace spaint {
@@ -42,7 +44,10 @@ CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& c
   m_stopAtFirstConsistentReconstruction = settings->get_first_value<bool>(settingsNamespace + "stopAtFirstConsistentReconstruction", false);
   m_timeCollaboration = settings->get_first_value<bool>(settingsNamespace + "timeCollaboration", false);
 
-  m_relocalisationThread = boost::thread(boost::bind(&CollaborativeComponent::run_relocalisation, this));
+  for (int i=0; i<relocalisationThreadsCount; i++) {
+    m_relocalisationThreads[i] = boost::thread(boost::bind(&CollaborativeComponent::run_relocalisation, this));
+  }
+  // m_relocalisationThread = boost::thread(boost::bind(&CollaborativeComponent::run_relocalisation, this));
 
   const std::string globalPosesSpecifier = settings->get_first_value<std::string>("globalPosesSpecifier", "");
   m_context->get_collaborative_pose_optimiser()->start(globalPosesSpecifier);
@@ -53,8 +58,12 @@ CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& c
 CollaborativeComponent::~CollaborativeComponent()
 {
   m_stopRelocalisationThread = true;
-  m_readyToRelocalise.notify_one();
-  m_relocalisationThread.join();
+  // m_readyToRelocalise.notify_one();
+  m_readyToRelocalise.notify_all();
+  for (int i=0; i<relocalisationThreadsCount; i++) {
+    m_relocalisationThread[i].join();
+  }
+  // m_relocalisationThread.join();
 
   // If we're computing the time spent collaborating:
   if(m_collaborationTimer)
@@ -357,12 +366,16 @@ void CollaborativeComponent::output_results() const
 
 void CollaborativeComponent::run_relocalisation()
 {
+  auto tid = std::this_thread::get_id();
+  std::cout << "this is " << tid << " thread\n";
+
   while(!m_stopRelocalisationThread)
   {
     // Wait for a relocalisation to be scheduled.
     {
       boost::unique_lock<boost::mutex> lock(m_mutex);
-      while(!m_bestCandidate)
+      // while(!m_bestCandidate)
+      while (m_bestCandidates.empty())
       {
         m_readyToRelocalise.wait(lock);
 
@@ -370,27 +383,32 @@ void CollaborativeComponent::run_relocalisation()
         if(m_stopRelocalisationThread) return;
       }
     }
-	
-    std::cout << "Attempting to relocalise frame " << m_bestCandidate->m_frameIndexJ << " of " << m_bestCandidate->m_sceneJ << " against " << m_bestCandidate->m_sceneI << "...";
+    m_mutex.lock();
+    auto now_bestCandidate = m_bestCandidates.front();
+    m_bestCandidates.pop();
+    m_mutex.unlock();
+
+    std::cout << "Attempting to relocalise frame " << now_bestCandidate->m_frameIndexJ << " of " << now_bestCandidate->m_sceneJ << " against " << now_bestCandidate->m_sceneI << "...";
+    // std::cout << "Attempting to relocalise frame " << m_bestCandidate->m_frameIndexJ << " of " << m_bestCandidate->m_sceneJ << " against " << m_bestCandidate->m_sceneI << "...";
 
     // Render synthetic images of the source scene from the relevant pose and copy them across to the GPU for use by the relocaliser.
     // The synthetic images have the size of the images in the target scene and are generated using the target scene's intrinsics.
-    const SLAMState_CPtr slamStateI = m_context->get_slam_state(m_bestCandidate->m_sceneI);
-    const SLAMState_CPtr slamStateJ = m_context->get_slam_state(m_bestCandidate->m_sceneJ);
+    const SLAMState_CPtr slamStateI = m_context->get_slam_state(now_bestCandidate->m_sceneI);
+    const SLAMState_CPtr slamStateJ = m_context->get_slam_state(now_bestCandidate->m_sceneJ);
     const View_CPtr viewI = slamStateI->get_view();
 
     ORFloatImage_Ptr depth(new ORFloatImage(slamStateI->get_depth_image_size(), true, true));
     ORUChar4Image_Ptr rgb(new ORUChar4Image(slamStateI->get_rgb_image_size(), true, true));
 
-    VoxelRenderState_Ptr& renderStateD = m_depthRenderStates[m_bestCandidate->m_sceneI];
+    VoxelRenderState_Ptr& renderStateD = m_depthRenderStates[now_bestCandidate->m_sceneI];
     m_visualisationGenerator->generate_depth_from_voxels(
-      depth, slamStateJ->get_voxel_scene(), m_bestCandidate->m_localPoseJ, viewI->calib.intrinsics_d,
+      depth, slamStateJ->get_voxel_scene(), now_bestCandidate->m_localPoseJ, viewI->calib.intrinsics_d,
       renderStateD, DepthVisualiser::DT_ORTHOGRAPHIC
     );
 
-    VoxelRenderState_Ptr& renderStateRGB = m_rgbRenderStates[m_bestCandidate->m_sceneI];
+    VoxelRenderState_Ptr& renderStateRGB = m_rgbRenderStates[now_bestCandidate->m_sceneI];
     m_visualisationGenerator->generate_voxel_visualisation(
-      rgb, slamStateJ->get_voxel_scene(), m_bestCandidate->m_localPoseJ, viewI->calib.intrinsics_rgb,
+      rgb, slamStateJ->get_voxel_scene(), now_bestCandidate->m_localPoseJ, viewI->calib.intrinsics_rgb,
       renderStateRGB, VisualisationGenerator::VT_SCENE_COLOUR, boost::none
     );
 
@@ -410,12 +428,12 @@ void CollaborativeComponent::run_relocalisation()
 #endif
 
     // Attempt to relocalise the synthetic images using the relocaliser for the target scene.
-    Relocaliser_CPtr relocaliserI = m_context->get_relocaliser(m_bestCandidate->m_sceneI);
-    std::vector<Relocaliser::Result> results = relocaliserI->relocalise(rgb.get(), depth.get(), m_bestCandidate->m_depthIntrinsicsI);
+    Relocaliser_CPtr relocaliserI = m_context->get_relocaliser(now_bestCandidate->m_sceneI);
+    std::vector<Relocaliser::Result> results = relocaliserI->relocalise(rgb.get(), depth.get(), now_bestCandidate->m_depthIntrinsicsI);
     boost::optional<Relocaliser::Result> result = results.empty() ? boost::none : boost::optional<Relocaliser::Result>(results[0]);
 
     // If the relocaliser returned a result, store the initial relocalisation quality for later examination.
-    if(result) m_bestCandidate->m_initialRelocalisationQuality = result->quality;
+    if(result) now_bestCandidate->m_initialRelocalisationQuality = result->quality;
 
     // If relocalisation succeeded, verify the result by thresholding the difference between the
     // source depth image and a rendered depth image of the target scene at the relevant pose.
@@ -465,19 +483,20 @@ void CollaborativeComponent::run_relocalisation()
     #endif
 
       // Determine the average depth difference for valid pixels in the source and target depth images.
-      m_bestCandidate->m_meanDepthDiff = cv::mean(cvMaskedDepthDiff);
+      now_bestCandidate->m_meanDepthDiff = cv::mean(cvMaskedDepthDiff);
     #if DEBUGGING
-      std::cout << "\nMean Depth Difference: " << m_bestCandidate->m_meanDepthDiff << std::endl;
+      std::cout << "\nMean Depth Difference: " << now_bestCandidate->m_meanDepthDiff << std::endl;
     #endif
 
       // Compute the fraction of the target depth image that is valid.
-      m_bestCandidate->m_targetValidFraction = static_cast<float>(cv::countNonZero(cvTargetMask == 255)) / (cvTargetMask.size().width * cvTargetMask.size().height);
+      now_bestCandidate->m_targetValidFraction = static_cast<float>(cv::countNonZero(cvTargetMask == 255)) / (cvTargetMask.size().width * cvTargetMask.size().height);
     #if DEBUGGING
       std::cout << "Valid Target Pixels: " << cv::countNonZero(cvTargetMask == 255) << std::endl;
     #endif
 
       // Decide whether or not to verify the relocalisation, based on the average depth difference and the fraction of the target depth image that is valid.
-      verified = is_verified(*m_bestCandidate);
+      // verified = is_verified(*m_bestCandidate);
+      verified = is_verified(*now_bestCandidate);
 #else
       // If we didn't build with OpenCV, we can't do any verification, so just mark the relocalisation as verified and hope for the best.
       verified = true;
@@ -489,8 +508,8 @@ void CollaborativeComponent::run_relocalisation()
     if(verified)
     {
       // cjTwi^-1 * cjTwj = wiTcj * cjTwj = wiTwj
-      m_bestCandidate->m_relativePose = ORUtils::SE3Pose(result->pose.GetInvM() * m_bestCandidate->m_localPoseJ.GetM());
-      m_context->get_collaborative_pose_optimiser()->add_relative_transform_sample(m_bestCandidate->m_sceneI, m_bestCandidate->m_sceneJ, *m_bestCandidate->m_relativePose, m_mode);
+      now_bestCandidate->m_relativePose = ORUtils::SE3Pose(result->pose.GetInvM() * now_bestCandidate->m_localPoseJ.GetM());
+      m_context->get_collaborative_pose_optimiser()->add_relative_transform_sample(now_bestCandidate->m_sceneI, now_bestCandidate->m_sceneJ, *now_bestCandidate->m_relativePose, m_mode);
       std::cout << "succeeded!" << std::endl;
 
 #if defined(WITH_OPENCV) && DEBUGGING
@@ -512,7 +531,7 @@ void CollaborativeComponent::run_relocalisation()
 #if DEBUGGING
       m_results.push_back(*m_bestCandidate);
 #endif
-      m_bestCandidate.reset();
+      // m_bestCandidate.reset();
     }
 
     // In live mode, allow a bit of extra time for training before running the next relocalisation.
@@ -569,8 +588,11 @@ void CollaborativeComponent::try_schedule_relocalisation()
     boost::unique_lock<boost::mutex> lock(m_mutex);
 
     // If an existing relocalisation attempt is in progress, early out.
-    if(m_bestCandidate) return;
-
+    // if(m_bestCandidate) return;
+    if (m_bestCandidates.size()>=bestCandidateMaxCount) {
+      m_readyToRelocalise.notify_one();
+      return;
+    }
 #if 1
     // Randomly generate a list of candidate relocalisations.
     const size_t desiredCandidateCount = 10;
@@ -599,13 +621,17 @@ void CollaborativeComponent::try_schedule_relocalisation()
 #endif
 
     // Schedule the best candidate for relocalisation.
-    m_bestCandidate.reset(new CollaborativeRelocalisation(candidates.back()));
+    // m_bestCandidate.reset(new CollaborativeRelocalisation(candidates.back()));
+    auto now_bestCandidate = new CollaborativeRelocalisation(candidates.back())
+    m_bestCandidates.push_back(now_bestCandidate);
 
     // If we're in batch mode, record the index of the frame we're trying in case we want to avoid frames with similar poses later.
     if(m_mode == CM_BATCH)
     {
-      std::set<int>& triedFrameIndices = m_triedFrameIndices[std::make_pair(m_bestCandidate->m_sceneI, m_bestCandidate->m_sceneJ)];
-      triedFrameIndices.insert(m_bestCandidate->m_frameIndexJ);
+      // std::set<int>& triedFrameIndices = m_triedFrameIndices[std::make_pair(m_bestCandidate->m_sceneI, m_bestCandidate->m_sceneJ)];
+      // triedFrameIndices.insert(m_bestCandidate->m_frameIndexJ);
+      std::set<int>& triedFrameIndices = m_triedFrameIndices[std::make_pair(now_bestCandidate->m_sceneI, now_bestCandidate->m_sceneJ)];
+      triedFrameIndices.insert(now_bestCandidate->m_frameIndexJ);
     }
   }
 

From 1330f8d783795cd9bcc9d361c55ffaff73b0b994 Mon Sep 17 00:00:00 2001
From: tsm <shimei820@gmail.com>
Date: Mon, 31 Oct 2022 18:45:35 +0800
Subject: [PATCH 02/55] fixed bugs in collaborativeComponent

---
 .../include/spaint/pipelinecomponents/CollaborativeComponent.h  | 2 ++
 .../spaint/src/pipelinecomponents/CollaborativeComponent.cpp    | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index 497d1a6..4f1244f 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -6,6 +6,8 @@
 #ifndef H_SPAINT_COLLABORATIVECOMPONENT
 #define H_SPAINT_COLLABORATIVECOMPONENT
 
+#include <queue>
+
 #include <boost/atomic.hpp>
 #include <boost/thread.hpp>
 #include <boost/timer/timer.hpp>
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 7785e18..1673387 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -61,7 +61,7 @@ CollaborativeComponent::~CollaborativeComponent()
   // m_readyToRelocalise.notify_one();
   m_readyToRelocalise.notify_all();
   for (int i=0; i<relocalisationThreadsCount; i++) {
-    m_relocalisationThread[i].join();
+    m_relocalisationThreads[i].join();
   }
   // m_relocalisationThread.join();
 

From fb2e385aef8805292cb87be76678b1e741f5929e Mon Sep 17 00:00:00 2001
From: tsm <shimei820@gmail.com>
Date: Mon, 31 Oct 2022 18:49:21 +0800
Subject: [PATCH 03/55] fixed bug

---
 .../spaint/src/pipelinecomponents/CollaborativeComponent.cpp    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 1673387..93b1fcf 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -622,7 +622,7 @@ void CollaborativeComponent::try_schedule_relocalisation()
 
     // Schedule the best candidate for relocalisation.
     // m_bestCandidate.reset(new CollaborativeRelocalisation(candidates.back()));
-    auto now_bestCandidate = new CollaborativeRelocalisation(candidates.back())
+    auto now_bestCandidate = new CollaborativeRelocalisation(candidates.back());
     m_bestCandidates.push_back(now_bestCandidate);
 
     // If we're in batch mode, record the index of the frame we're trying in case we want to avoid frames with similar poses later.

From c13b695165385ec56ec55b64bbd9030009434879 Mon Sep 17 00:00:00 2001
From: tsm <shimei820@gmail.com>
Date: Mon, 31 Oct 2022 18:50:11 +0800
Subject: [PATCH 04/55] fixed bug

---
 .../spaint/src/pipelinecomponents/CollaborativeComponent.cpp    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 93b1fcf..8294cd4 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -623,7 +623,7 @@ void CollaborativeComponent::try_schedule_relocalisation()
     // Schedule the best candidate for relocalisation.
     // m_bestCandidate.reset(new CollaborativeRelocalisation(candidates.back()));
     auto now_bestCandidate = new CollaborativeRelocalisation(candidates.back());
-    m_bestCandidates.push_back(now_bestCandidate);
+    m_bestCandidates.push(now_bestCandidate);
 
     // If we're in batch mode, record the index of the frame we're trying in case we want to avoid frames with similar poses later.
     if(m_mode == CM_BATCH)

From 0a8e71167dbe65907192badcfd8082ea6a5ab3cb Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Mon, 31 Oct 2022 06:38:05 -0400
Subject: [PATCH 05/55] build success for multi thread

---
 .../pipelinecomponents/CollaborativeComponent.cpp    | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 8294cd4..c8d3725 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -8,6 +8,9 @@ using namespace ITMLib;
 using namespace ORUtils;
 using namespace itmx;
 
+#include <unistd.h>
+#include <sys/syscall.h>
+
 #include <algorithm>
 
 #include <boost/bind.hpp>
@@ -366,8 +369,8 @@ void CollaborativeComponent::output_results() const
 
 void CollaborativeComponent::run_relocalisation()
 {
-  auto tid = std::this_thread::get_id();
-  std::cout << "this is " << tid << " thread\n";
+  int tid = syscall(SYS_gettid);
+  std::cout << tid << "\n";
 
   while(!m_stopRelocalisationThread)
   {
@@ -388,7 +391,7 @@ void CollaborativeComponent::run_relocalisation()
     m_bestCandidates.pop();
     m_mutex.unlock();
 
-    std::cout << "Attempting to relocalise frame " << now_bestCandidate->m_frameIndexJ << " of " << now_bestCandidate->m_sceneJ << " against " << now_bestCandidate->m_sceneI << "...";
+    std::cout << tid <<" : Attempting to relocalise frame " << now_bestCandidate->m_frameIndexJ << " of " << now_bestCandidate->m_sceneJ << " against " << now_bestCandidate->m_sceneI << "...";
     // std::cout << "Attempting to relocalise frame " << m_bestCandidate->m_frameIndexJ << " of " << m_bestCandidate->m_sceneJ << " against " << m_bestCandidate->m_sceneI << "...";
 
     // Render synthetic images of the source scene from the relevant pose and copy them across to the GPU for use by the relocaliser.
@@ -622,7 +625,8 @@ void CollaborativeComponent::try_schedule_relocalisation()
 
     // Schedule the best candidate for relocalisation.
     // m_bestCandidate.reset(new CollaborativeRelocalisation(candidates.back()));
-    auto now_bestCandidate = new CollaborativeRelocalisation(candidates.back());
+    // auto now_bestCandidate = new CollaborativeRelocalisation(candidates.back());
+	boost::shared_ptr<CollaborativeRelocalisation> now_bestCandidate(new CollaborativeRelocalisation(candidates.back()));
     m_bestCandidates.push(now_bestCandidate);
 
     // If we're in batch mode, record the index of the frame we're trying in case we want to avoid frames with similar poses later.

From aa8a165b9709d362afb69bdb702dc22f1d62bf61 Mon Sep 17 00:00:00 2001
From: tsm <shimei820@gmail.com>
Date: Tue, 1 Nov 2022 14:44:50 +0800
Subject: [PATCH 06/55] print candidate usecount

---
 .../spaint/src/pipelinecomponents/CollaborativeComponent.cpp   | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index c8d3725..35fdcbc 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -534,6 +534,7 @@ void CollaborativeComponent::run_relocalisation()
 #if DEBUGGING
       m_results.push_back(*m_bestCandidate);
 #endif
+      std::cout << "this is use_count: " << now_bestCandidate.use_count() << "\n";
       // m_bestCandidate.reset();
     }
 
@@ -626,7 +627,7 @@ void CollaborativeComponent::try_schedule_relocalisation()
     // Schedule the best candidate for relocalisation.
     // m_bestCandidate.reset(new CollaborativeRelocalisation(candidates.back()));
     // auto now_bestCandidate = new CollaborativeRelocalisation(candidates.back());
-	boost::shared_ptr<CollaborativeRelocalisation> now_bestCandidate(new CollaborativeRelocalisation(candidates.back()));
+	  boost::shared_ptr<CollaborativeRelocalisation> now_bestCandidate(new CollaborativeRelocalisation(candidates.back()));
     m_bestCandidates.push(now_bestCandidate);
 
     // If we're in batch mode, record the index of the frame we're trying in case we want to avoid frames with similar poses later.

From bec3d7e48e7074521b2886d5d220342385f999d4 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Tue, 1 Nov 2022 02:35:18 -0400
Subject: [PATCH 07/55] add reset for candidate pointer

---
 .../spaint/src/pipelinecomponents/CollaborativeComponent.cpp    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 35fdcbc..43def1e 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -534,7 +534,7 @@ void CollaborativeComponent::run_relocalisation()
 #if DEBUGGING
       m_results.push_back(*m_bestCandidate);
 #endif
-      std::cout << "this is use_count: " << now_bestCandidate.use_count() << "\n";
+	  now_bestCandidate.reset();
       // m_bestCandidate.reset();
     }
 

From b7d82ed6aeb2be42bd919678c53bc98dc2144281 Mon Sep 17 00:00:00 2001
From: tsm <shimei820@gmail.com>
Date: Tue, 1 Nov 2022 15:14:03 +0800
Subject: [PATCH 08/55] change queue to list

---
 .../spaint/pipelinecomponents/CollaborativeComponent.h        | 4 +---
 .../spaint/src/pipelinecomponents/CollaborativeComponent.cpp  | 4 ++--
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index 4f1244f..206b06f 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -6,8 +6,6 @@
 #ifndef H_SPAINT_COLLABORATIVECOMPONENT
 #define H_SPAINT_COLLABORATIVECOMPONENT
 
-#include <queue>
-
 #include <boost/atomic.hpp>
 #include <boost/thread.hpp>
 #include <boost/timer/timer.hpp>
@@ -36,7 +34,7 @@ class CollaborativeComponent
   /** The best relocalisation candidate, as chosen by the scheduler. This will be the next relocalisation attempted. */
   boost::shared_ptr<CollaborativeRelocalisation> m_bestCandidate;
 
-  std::queue<boost::shared_ptr<CollaborativeRelocalisation>> m_bestCandidates = std::queue<boost::shared_ptr<CollaborativeRelocalisation>>();
+  std::list<boost::shared_ptr<CollaborativeRelocalisation>> m_bestCandidates = std::list<boost::shared_ptr<CollaborativeRelocalisation>>();
 
   /** The timer used to compute the time spent collaborating. */
   boost::optional<boost::timer::cpu_timer> m_collaborationTimer;
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 43def1e..7083a8c 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -388,7 +388,7 @@ void CollaborativeComponent::run_relocalisation()
     }
     m_mutex.lock();
     auto now_bestCandidate = m_bestCandidates.front();
-    m_bestCandidates.pop();
+    m_bestCandidates.pop_front();
     m_mutex.unlock();
 
     std::cout << tid <<" : Attempting to relocalise frame " << now_bestCandidate->m_frameIndexJ << " of " << now_bestCandidate->m_sceneJ << " against " << now_bestCandidate->m_sceneI << "...";
@@ -628,7 +628,7 @@ void CollaborativeComponent::try_schedule_relocalisation()
     // m_bestCandidate.reset(new CollaborativeRelocalisation(candidates.back()));
     // auto now_bestCandidate = new CollaborativeRelocalisation(candidates.back());
 	  boost::shared_ptr<CollaborativeRelocalisation> now_bestCandidate(new CollaborativeRelocalisation(candidates.back()));
-    m_bestCandidates.push(now_bestCandidate);
+    m_bestCandidates.push_back(now_bestCandidate);
 
     // If we're in batch mode, record the index of the frame we're trying in case we want to avoid frames with similar poses later.
     if(m_mode == CM_BATCH)

From 4d167cf1db154089d9afb4d195a3450350b837ab Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Tue, 1 Nov 2022 04:13:15 -0400
Subject: [PATCH 09/55] inspect some memory part

---
 .../CollaborativeComponent.h                  |  4 +-
 .../CollaborativeComponent.cpp                | 40 +++++++++++++++++--
 2 files changed, 38 insertions(+), 6 deletions(-)

diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index 206b06f..2645616 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -21,8 +21,8 @@
 
 namespace spaint {
 
-const int relocalisationThreadsCount = 5;
-const int bestCandidateMaxCount = 5;
+const int relocalisationThreadsCount = 7;
+const int bestCandidateMaxCount = 7;
 
 /**
  * \brief An instance of this pipeline component can be used to determine the relative poses between agents participating in collaborative SLAM.
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 7083a8c..a457bd8 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -24,10 +24,45 @@ using boost::bind;
 #include <orx/relocalisation/Relocaliser.h>
 using namespace orx;
 
-#include <thread>
+#include <string>
+#include <cstdio>
+#include <cstring>
 
 #define DEBUGGING 0
 
+int parseLine(char *line) {
+    // This assumes that a digit will be found and the line ends in " Kb".
+    int i = strlen(line);
+    const char *p = line;
+    while (*p < '0' || *p > '9') p++;
+    line[i - 3] = '\0';
+    i = atoi(p);
+    return i;
+}
+typedef struct {
+    uint32_t virtualMem;
+    uint32_t physicalMem;
+} processMem_t;
+processMem_t GetProcessMemory() {
+    FILE *file = fopen("/proc/self/status", "r");
+    char line[128];
+    processMem_t processMem;
+
+    while (fgets(line, 128, file) != NULL) {
+        if (strncmp(line, "VmSize:", 7) == 0) {
+            processMem.virtualMem = parseLine(line);
+            break;
+        }
+
+        if (strncmp(line, "VmRSS:", 6) == 0) {
+            processMem.physicalMem = parseLine(line);
+            break;
+        }
+    }
+    fclose(file);
+    return processMem;
+}
+
 namespace spaint {
 
 //#################### CONSTRUCTORS ####################
@@ -390,7 +425,6 @@ void CollaborativeComponent::run_relocalisation()
     auto now_bestCandidate = m_bestCandidates.front();
     m_bestCandidates.pop_front();
     m_mutex.unlock();
-
     std::cout << tid <<" : Attempting to relocalise frame " << now_bestCandidate->m_frameIndexJ << " of " << now_bestCandidate->m_sceneJ << " against " << now_bestCandidate->m_sceneI << "...";
     // std::cout << "Attempting to relocalise frame " << m_bestCandidate->m_frameIndexJ << " of " << m_bestCandidate->m_sceneJ << " against " << m_bestCandidate->m_sceneI << "...";
 
@@ -537,7 +571,6 @@ void CollaborativeComponent::run_relocalisation()
 	  now_bestCandidate.reset();
       // m_bestCandidate.reset();
     }
-
     // In live mode, allow a bit of extra time for training before running the next relocalisation.
     // FIXME: This is a bit hacky - we might want to improve this in the future.
     if(m_mode == CM_LIVE) boost::this_thread::sleep_for(boost::chrono::milliseconds(100));
@@ -629,7 +662,6 @@ void CollaborativeComponent::try_schedule_relocalisation()
     // auto now_bestCandidate = new CollaborativeRelocalisation(candidates.back());
 	  boost::shared_ptr<CollaborativeRelocalisation> now_bestCandidate(new CollaborativeRelocalisation(candidates.back()));
     m_bestCandidates.push_back(now_bestCandidate);
-
     // If we're in batch mode, record the index of the frame we're trying in case we want to avoid frames with similar poses later.
     if(m_mode == CM_BATCH)
     {

From d704a825c4ccdf99ed7600db3a0d5f9e11baa358 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Mon, 14 Nov 2022 03:51:32 -0500
Subject: [PATCH 10/55] debug for multi thread

---
 .../src/ransac/interface/PreemptiveRansac.cpp | 28 +++++++++++++++++--
 1 file changed, 26 insertions(+), 2 deletions(-)

diff --git a/modules/grove/src/ransac/interface/PreemptiveRansac.cpp b/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
index d6ba86f..c1375af 100644
--- a/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
+++ b/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
@@ -13,11 +13,17 @@ using namespace tvgutil;
 #include <boost/lexical_cast.hpp>
 #include <boost/timer/timer.hpp>
 
+#include <boost/atomic.hpp>
+#include <boost/thread.hpp>
+#include <unordered_set>
+
 #include <Eigen/Dense>
 
 #ifdef WITH_OPENMP
 #include <omp.h>
 #endif
+#include <unistd.h>
+#include <sys/syscall.h>
 
 #include <orx/base/MemoryBlockFactory.h>
 #include <orx/geometry/GeometryUtil.h>
@@ -126,15 +132,26 @@ void PreemptiveRansac::update_candidate_poses()
   // Note: This is a default implementation of the abstract function - it is intended to be called / overridden by derived classes.
   const int nbPoseCandidates = static_cast<int>(m_poseCandidates->dataSize);
 
+  std::unordered_set<int> threadCnt{};
+  boost::mutex m;
 #ifdef WITH_OPENMP
   #pragma omp parallel for schedule(dynamic)
 #endif
   for(int i = 0; i < nbPoseCandidates; ++i)
   {
+	  int tid = syscall(SYS_gettid);
+	  std::cout << "break 1\n";
+	  m.lock();
+	  threadCnt.insert(tid);
+	  m.unlock();
+	  // std::cout << tid << ": in update_candidate_poses openmp\n";
     update_candidate_pose(i);
   }
+  std::cout << "this is cnt size in update_candidate_poses: " <<threadCnt.size() <<"\n";
+	sleep(35);
 }
 
+
 //#################### PUBLIC MEMBER FUNCTIONS ####################
 
 boost::optional<PoseCandidate> PreemptiveRansac::estimate_pose(const Keypoint3DColourImage_CPtr& keypointsImage, const ScorePredictionsImage_CPtr& predictionsImage)
@@ -322,7 +339,8 @@ void PreemptiveRansac::compute_candidate_poses_kabsch()
 #if 0
   std::cout << "Generated " << nbPoseCandidates << " candidates." << std::endl;
 #endif
-
+	boost::mutex m;
+	std::unordered_set<int> threadCnt{};
   // For each candidate:
 #ifdef WITH_OPENMP
   #pragma omp parallel for
@@ -336,13 +354,19 @@ void PreemptiveRansac::compute_candidate_poses_kabsch()
     Eigen::Matrix3f worldPoints;
     for(int i = 0; i < PoseCandidate::KABSCH_CORRESPONDENCES_NEEDED; ++i)
     {
+		int tid = syscall(SYS_gettid);
+		m.lock();
+		threadCnt.insert(tid);
+		m.unlock();
+		//std::cout << tid << ": in compute_candidate_poses_kabsch openmp\n";
       cameraPoints.col(i) = Eigen::Map<const Eigen::Vector3f>(candidate.pointsCamera[i].v);
       worldPoints.col(i) = Eigen::Map<const Eigen::Vector3f>(candidate.pointsWorld[i].v);
     }
-
     // Run the Kabsch algorithm and store the resulting camera -> world transformation in the candidate's cameraPose matrix.
     Eigen::Map<Eigen::Matrix4f>(candidate.cameraPose.m) = GeometryUtil::estimate_rigid_transform(cameraPoints, worldPoints);
   }
+  std::cout << "this is cnt size in compute_candidate_poses_kabsch: " << threadCnt.size() <<"\n";
+  sleep(35);
 }
 
 void PreemptiveRansac::reset_inliers(bool resetMask)

From 73b16875d1e21e50126307c8142109d632dc86c8 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Tue, 15 Nov 2022 00:34:18 -0500
Subject: [PATCH 11/55] parallelCandidate debug

---
 modules/grove/src/ransac/interface/PreemptiveRansac.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/modules/grove/src/ransac/interface/PreemptiveRansac.cpp b/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
index c1375af..6e2fc8a 100644
--- a/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
+++ b/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
@@ -134,20 +134,20 @@ void PreemptiveRansac::update_candidate_poses()
 
   std::unordered_set<int> threadCnt{};
   boost::mutex m;
+  int ttid = syscall(SYS_gettid);
 #ifdef WITH_OPENMP
   #pragma omp parallel for schedule(dynamic)
 #endif
   for(int i = 0; i < nbPoseCandidates; ++i)
   {
 	  int tid = syscall(SYS_gettid);
-	  std::cout << "break 1\n";
 	  m.lock();
 	  threadCnt.insert(tid);
 	  m.unlock();
 	  // std::cout << tid << ": in update_candidate_poses openmp\n";
     update_candidate_pose(i);
   }
-  std::cout << "this is cnt size in update_candidate_poses: " <<threadCnt.size() <<"\n";
+  std::cout << ttid <<  ": this is cnt size in update_candidate_poses: " <<threadCnt.size() <<"\n";
 	sleep(35);
 }
 
@@ -341,6 +341,7 @@ void PreemptiveRansac::compute_candidate_poses_kabsch()
 #endif
 	boost::mutex m;
 	std::unordered_set<int> threadCnt{};
+	int ttid = syscall(SYS_gettid);
   // For each candidate:
 #ifdef WITH_OPENMP
   #pragma omp parallel for
@@ -365,7 +366,7 @@ void PreemptiveRansac::compute_candidate_poses_kabsch()
     // Run the Kabsch algorithm and store the resulting camera -> world transformation in the candidate's cameraPose matrix.
     Eigen::Map<Eigen::Matrix4f>(candidate.cameraPose.m) = GeometryUtil::estimate_rigid_transform(cameraPoints, worldPoints);
   }
-  std::cout << "this is cnt size in compute_candidate_poses_kabsch: " << threadCnt.size() <<"\n";
+  std::cout << ttid << ": this is cnt size in compute_candidate_poses_kabsch: " << threadCnt.size() <<"\n";
   sleep(35);
 }
 

From 39eacfca03b1e7848354d1e4b0f14685f4716763 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Mon, 21 Nov 2022 01:15:33 -0500
Subject: [PATCH 12/55] change relocaliser number

---
 .../src/ransac/interface/PreemptiveRansac.cpp  | 18 +++++++++---------
 .../interface/ScoreRelocaliser.cpp             |  7 +++++--
 .../CollaborativeComponent.h                   |  4 ++--
 .../CollaborativeComponent.cpp                 |  1 +
 4 files changed, 17 insertions(+), 13 deletions(-)

diff --git a/modules/grove/src/ransac/interface/PreemptiveRansac.cpp b/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
index 6e2fc8a..d88ef85 100644
--- a/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
+++ b/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
@@ -141,14 +141,14 @@ void PreemptiveRansac::update_candidate_poses()
   for(int i = 0; i < nbPoseCandidates; ++i)
   {
 	  int tid = syscall(SYS_gettid);
-	  m.lock();
-	  threadCnt.insert(tid);
-	  m.unlock();
+	  // m.lock();
+	  // threadCnt.insert(tid);
+	  // m.unlock();
 	  // std::cout << tid << ": in update_candidate_poses openmp\n";
     update_candidate_pose(i);
   }
   std::cout << ttid <<  ": this is cnt size in update_candidate_poses: " <<threadCnt.size() <<"\n";
-	sleep(35);
+  // sleep(35);
 }
 
 
@@ -355,10 +355,10 @@ void PreemptiveRansac::compute_candidate_poses_kabsch()
     Eigen::Matrix3f worldPoints;
     for(int i = 0; i < PoseCandidate::KABSCH_CORRESPONDENCES_NEEDED; ++i)
     {
-		int tid = syscall(SYS_gettid);
-		m.lock();
-		threadCnt.insert(tid);
-		m.unlock();
+//		int tid = syscall(SYS_gettid);
+// 		m.lock();
+// 		threadCnt.insert(tid);
+// 		m.unlock();
 		//std::cout << tid << ": in compute_candidate_poses_kabsch openmp\n";
       cameraPoints.col(i) = Eigen::Map<const Eigen::Vector3f>(candidate.pointsCamera[i].v);
       worldPoints.col(i) = Eigen::Map<const Eigen::Vector3f>(candidate.pointsWorld[i].v);
@@ -367,7 +367,7 @@ void PreemptiveRansac::compute_candidate_poses_kabsch()
     Eigen::Map<Eigen::Matrix4f>(candidate.cameraPose.m) = GeometryUtil::estimate_rigid_transform(cameraPoints, worldPoints);
   }
   std::cout << ttid << ": this is cnt size in compute_candidate_poses_kabsch: " << threadCnt.size() <<"\n";
-  sleep(35);
+  //sleep(35);
 }
 
 void PreemptiveRansac::reset_inliers(bool resetMask)
diff --git a/modules/grove/src/relocalisation/interface/ScoreRelocaliser.cpp b/modules/grove/src/relocalisation/interface/ScoreRelocaliser.cpp
index 9c0204e..b5f2296 100644
--- a/modules/grove/src/relocalisation/interface/ScoreRelocaliser.cpp
+++ b/modules/grove/src/relocalisation/interface/ScoreRelocaliser.cpp
@@ -8,6 +8,8 @@ using namespace ORUtils;
 using namespace tvgutil;
 
 #include <boost/filesystem.hpp>
+#include <unistd.h>
+#include <sys/syscall.h>
 namespace bf = boost::filesystem;
 
 #include <orx/base/MemoryBlockFactory.h>
@@ -129,6 +131,7 @@ std::vector<Relocaliser::Result> ScoreRelocaliser::relocalise(const ORUChar4Imag
 
   std::vector<Result> results;
 
+  int tid = syscall(SYS_gettid);
   // Iff we have enough valid depth values, try to estimate the camera pose:
   if(m_preemptiveRansac->count_valid_depths(depthImage) > m_preemptiveRansac->get_min_nb_required_points())
   {
@@ -138,10 +141,10 @@ std::vector<Relocaliser::Result> ScoreRelocaliser::relocalise(const ORUChar4Imag
 
     // Step 2: Create a single SCoRe prediction (a single set of clusters) for each keypoint.
     make_predictions(colourImage);
-
+	std::cout << tid << ": b9 after make_predictions\n";
     // Step 3: Perform P-RANSAC to try to estimate the camera pose.
     boost::optional<PoseCandidate> poseCandidate = m_preemptiveRansac->estimate_pose(m_keypointsImage, m_predictionsImage);
-
+	std::cout << tid << ": b10 after estimate_pose\n";
     // Step 4: If we succeeded in estimating a camera pose:
     if(poseCandidate)
     {
diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index 2645616..d91087a 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -21,8 +21,8 @@
 
 namespace spaint {
 
-const int relocalisationThreadsCount = 7;
-const int bestCandidateMaxCount = 7;
+const int relocalisationThreadsCount = 3;
+const int bestCandidateMaxCount = 3;
 
 /**
  * \brief An instance of this pipeline component can be used to determine the relative poses between agents participating in collaborative SLAM.
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index a457bd8..e642949 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -466,6 +466,7 @@ void CollaborativeComponent::run_relocalisation()
 
     // Attempt to relocalise the synthetic images using the relocaliser for the target scene.
     Relocaliser_CPtr relocaliserI = m_context->get_relocaliser(now_bestCandidate->m_sceneI);
+	std::cout << "b5\n";
     std::vector<Relocaliser::Result> results = relocaliserI->relocalise(rgb.get(), depth.get(), now_bestCandidate->m_depthIntrinsicsI);
     boost::optional<Relocaliser::Result> result = results.empty() ? boost::none : boost::optional<Relocaliser::Result>(results[0]);
 

From aacf2adc7219937bc0fef858dfa7741ef390c3d5 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Mon, 21 Nov 2022 04:54:12 -0500
Subject: [PATCH 13/55] evaluate time cost in relocaliser

---
 .../src/ransac/interface/PreemptiveRansac.cpp |  4 +-
 .../interface/ScoreRelocaliser.cpp            | 54 ++++++++++++++++---
 .../CollaborativeComponent.h                  |  4 +-
 tmp                                           | 47 ++++++++++++++++
 4 files changed, 97 insertions(+), 12 deletions(-)
 create mode 100644 tmp

diff --git a/modules/grove/src/ransac/interface/PreemptiveRansac.cpp b/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
index d88ef85..b00bc59 100644
--- a/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
+++ b/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
@@ -147,7 +147,7 @@ void PreemptiveRansac::update_candidate_poses()
 	  // std::cout << tid << ": in update_candidate_poses openmp\n";
     update_candidate_pose(i);
   }
-  std::cout << ttid <<  ": this is cnt size in update_candidate_poses: " <<threadCnt.size() <<"\n";
+  // std::cout << ttid <<  ": this is cnt size in update_candidate_poses: " <<threadCnt.size() <<"\n";
   // sleep(35);
 }
 
@@ -366,7 +366,7 @@ void PreemptiveRansac::compute_candidate_poses_kabsch()
     // Run the Kabsch algorithm and store the resulting camera -> world transformation in the candidate's cameraPose matrix.
     Eigen::Map<Eigen::Matrix4f>(candidate.cameraPose.m) = GeometryUtil::estimate_rigid_transform(cameraPoints, worldPoints);
   }
-  std::cout << ttid << ": this is cnt size in compute_candidate_poses_kabsch: " << threadCnt.size() <<"\n";
+  // std::cout << ttid << ": this is cnt size in compute_candidate_poses_kabsch: " << threadCnt.size() <<"\n";
   //sleep(35);
 }
 
diff --git a/modules/grove/src/relocalisation/interface/ScoreRelocaliser.cpp b/modules/grove/src/relocalisation/interface/ScoreRelocaliser.cpp
index b5f2296..cf2523e 100644
--- a/modules/grove/src/relocalisation/interface/ScoreRelocaliser.cpp
+++ b/modules/grove/src/relocalisation/interface/ScoreRelocaliser.cpp
@@ -10,6 +10,7 @@ using namespace tvgutil;
 #include <boost/filesystem.hpp>
 #include <unistd.h>
 #include <sys/syscall.h>
+#include <sys/time.h>
 namespace bf = boost::filesystem;
 
 #include <orx/base/MemoryBlockFactory.h>
@@ -70,8 +71,25 @@ ScoreRelocaliser::ScoreRelocaliser(const SettingsContainer_CPtr& settings, const
 }
 
 //#################### DESTRUCTOR ####################
-
-ScoreRelocaliser::~ScoreRelocaliser() {}
+int totalRelocalise = 0;
+double totalRelocaliset0 = 0.0;
+double totalRelocaliset1 = 0.0;
+double totalRelocaliset2 = 0.0;
+int totalGetBestPose = 0;
+double totalGetBestPoset = 0.0;
+ScoreRelocaliser::~ScoreRelocaliser() {
+	std::cout << "in ~ScoreRelocaliser()\n";
+	if (totalRelocalise!=0) {
+		std::cout << "totalRelocalise: " << totalRelocalise << "\n";
+		std::cout << "average t0: " << totalRelocaliset0/(double)totalRelocalise << "ms\n";
+		std::cout << "average t1: " << totalRelocaliset1/(double)totalRelocalise << "ms\n";
+		std::cout << "average t2: " << totalRelocaliset2/(double)totalRelocalise << "ms\n";
+	}
+	if (totalGetBestPose!=0) {
+		std::cout << "totalGetBestPose: " << totalGetBestPose << "\n"; 
+		std::cout << "average t3: " << totalGetBestPoset/(double)totalGetBestPose << "ms\n";
+	}
+}
 
 //#################### PUBLIC MEMBER FUNCTIONS ####################
 
@@ -125,26 +143,41 @@ void ScoreRelocaliser::load_from_disk(const std::string& inputFolder)
   m_relocaliserState->load_from_disk(inputFolder);
 }
 
+
 std::vector<Relocaliser::Result> ScoreRelocaliser::relocalise(const ORUChar4Image *colourImage, const ORFloatImage *depthImage, const Vector4f& depthIntrinsics) const
 {
   boost::lock_guard<boost::recursive_mutex> lock(m_mutex);
 
   std::vector<Result> results;
 
-  int tid = syscall(SYS_gettid);
   // Iff we have enough valid depth values, try to estimate the camera pose:
   if(m_preemptiveRansac->count_valid_depths(depthImage) > m_preemptiveRansac->get_min_nb_required_points())
   {
     // Step 1: Extract keypoints from the RGB-D image and compute descriptors for them.
     // FIXME: We only need to compute the descriptors if we're using the forest.
+	totalRelocalise++;
+	struct timeval t0, t1;
+	double t_cost;
+    gettimeofday(&t0,NULL);
     m_featureCalculator->compute_keypoints_and_features(colourImage, depthImage, depthIntrinsics, m_keypointsImage.get(), m_descriptorsImage.get());
-
+	gettimeofday(&t1,NULL);
+	t_cost = (t1.tv_sec - t0.tv_sec)*1000.0 + (double)(t1.tv_usec - t0.tv_usec)/1000.0;
+	std::cout << "1. compute_keypoints_and_features time cost: " << t_cost << "ms\n";
+	totalRelocaliset0 += t_cost;
     // Step 2: Create a single SCoRe prediction (a single set of clusters) for each keypoint.
+	gettimeofday(&t0,NULL);
     make_predictions(colourImage);
-	std::cout << tid << ": b9 after make_predictions\n";
+	gettimeofday(&t1,NULL);
+	t_cost = (t1.tv_sec - t0.tv_sec)*1000.0 + (double)(t1.tv_usec - t0.tv_usec)/1000.0;
+	std::cout << "2. make_predictions time cost: " << t_cost << "ms\n";
+	totalRelocaliset1 += t_cost;
     // Step 3: Perform P-RANSAC to try to estimate the camera pose.
+	gettimeofday(&t0,NULL);
     boost::optional<PoseCandidate> poseCandidate = m_preemptiveRansac->estimate_pose(m_keypointsImage, m_predictionsImage);
-	std::cout << tid << ": b10 after estimate_pose\n";
+	gettimeofday(&t1,NULL);
+	t_cost = (t1.tv_sec - t0.tv_sec)*1000.0 + (double)(t1.tv_usec - t0.tv_usec)/1000.0;
+	std::cout << "3. estimate_pose time cost: " << t_cost << "ms\n";
+	totalRelocaliset2 += t_cost;
     // Step 4: If we succeeded in estimating a camera pose:
     if(poseCandidate)
     {
@@ -160,8 +193,13 @@ std::vector<Relocaliser::Result> ScoreRelocaliser::relocalise(const ORUChar4Imag
       {
         // Get all of the candidates that survived the initial culling process during P-RANSAC.
         std::vector<PoseCandidate> candidates;
-        m_preemptiveRansac->get_best_poses(candidates);
-
+		totalGetBestPose++;
+		gettimeofday(&t0,NULL);
+		m_preemptiveRansac->get_best_poses(candidates);
+		gettimeofday(&t1,NULL);
+		t_cost = (t1.tv_sec - t0.tv_sec)*1000.0 + (double)(t1.tv_usec - t0.tv_usec)/1000.0;
+		std::cout << "4. get_best_poses time cost: " << t_cost << "ms\n";
+		totalGetBestPoset += t_cost;
         // Add the best candidates to the results (skipping the first one, since it's the same one returned by estimate_pose above).
         const size_t maxElements = std::min<size_t>(candidates.size(), m_maxRelocalisationsToOutput);
         for(size_t i = 1; i < maxElements; ++i)
diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index d91087a..47f07c7 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -21,8 +21,8 @@
 
 namespace spaint {
 
-const int relocalisationThreadsCount = 3;
-const int bestCandidateMaxCount = 3;
+const int relocalisationThreadsCount = 2;
+const int bestCandidateMaxCount = 2;
 
 /**
  * \brief An instance of this pipeline component can be used to determine the relative poses between agents participating in collaborative SLAM.
diff --git a/tmp b/tmp
new file mode 100644
index 0000000..70054d2
--- /dev/null
+++ b/tmp
@@ -0,0 +1,47 @@
+#include <sys/time.h>
+int totalRelocalise = 0;
+double totalRelocaliset0 = 0.0;
+double totalRelocaliset1 = 0.0;
+double totalRelocaliset2 = 0.0;
+int totalGetBestPose = 0;
+double totalGetBestPoset = 0.0;
+std::cout << "in ~ScoreRelocaliser()\n";
+    if (totalRelocalise!=0) {
+        std::cout << "totalRelocalise: " << totalRelocalise << "\n";
+        std::cout << "average t0: " << totalRelocaliset0/(double)totalRelocalise << "ms\n";
+        std::cout << "average t1: " << totalRelocaliset1/(double)totalRelocalise << "ms\n";
+        std::cout << "average t2: " << totalRelocaliset2/(double)totalRelocalise << "ms\n";
+    }
+    if (totalGetBestPose!=0) {
+        std::cout << "totalGetBestPose: " << totalGetBestPose << "\n";
+        std::cout << "average t3: " << totalGetBestPoset/(double)totalGetBestPose << "ms\n";
+    }
+
+	totalRelocalise++;
+	struct timeval t0, t1;
+    double t_cost;
+    gettimeofday(&t0,NULL);
+	
+	t_cost = (t1.tv_sec - t0.tv_sec)*1000.0 + (double)(t1.tv_usec - t0.tv_usec)/1000.0;
+    std::cout << "1. compute_keypoints_and_features time cost: " << t_cost << "ms\n";
+    totalRelocaliset0 += t_cost;
+
+
+	gettimeofday(&t1,NULL);
+    t_cost = (t1.tv_sec - t0.tv_sec)*1000.0 + (double)(t1.tv_usec - t0.tv_usec)/1000.0;
+    std::cout << "2. make_predictions time cost: " << t_cost << "ms\n";
+    totalRelocaliset1 += t_cost;
+
+
+	gettimeofday(&t1,NULL);
+    t_cost = (t1.tv_sec - t0.tv_sec)*1000.0 + (double)(t1.tv_usec - t0.tv_usec)/1000.0;
+    std::cout << "3. estimate_pose time cost: " << t_cost << "ms\n";
+    totalRelocaliset2 += t_cost;
+
+
+		totalGetBestPose++;
+        gettimeofday(&t0,NULL);
+		 gettimeofday(&t1,NULL);
+        t_cost = (t1.tv_sec - t0.tv_sec)*1000.0 + (double)(t1.tv_usec - t0.tv_usec)/1000.0;
+        std::cout << "4. get_best_poses time cost: " << t_cost << "ms\n";
+        totalGetBestPoset += t_cost;

From 028d43d99e0a6b89c47aeaa10a4d8762e8ee7b9b Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Tue, 22 Nov 2022 21:42:32 -0500
Subject: [PATCH 14/55] change args

---
 modules/grove/src/ransac/interface/PreemptiveRansac.cpp     | 4 ++--
 .../grove/src/relocalisation/interface/ScoreRelocaliser.cpp | 6 +++---
 .../spaint/pipelinecomponents/CollaborativeComponent.h      | 4 ++--
 .../src/pipelinecomponents/CollaborativeComponent.cpp       | 3 ++-
 4 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/modules/grove/src/ransac/interface/PreemptiveRansac.cpp b/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
index b00bc59..423c6b4 100644
--- a/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
+++ b/modules/grove/src/ransac/interface/PreemptiveRansac.cpp
@@ -136,7 +136,7 @@ void PreemptiveRansac::update_candidate_poses()
   boost::mutex m;
   int ttid = syscall(SYS_gettid);
 #ifdef WITH_OPENMP
-  #pragma omp parallel for schedule(dynamic)
+  #pragma omp parallel for schedule(dynamic) num_threads(24)
 #endif
   for(int i = 0; i < nbPoseCandidates; ++i)
   {
@@ -344,7 +344,7 @@ void PreemptiveRansac::compute_candidate_poses_kabsch()
 	int ttid = syscall(SYS_gettid);
   // For each candidate:
 #ifdef WITH_OPENMP
-  #pragma omp parallel for
+  #pragma omp parallel for num_threads(16)
 #endif
   for(int candidateIdx = 0; candidateIdx < nbPoseCandidates; ++candidateIdx)
   {
diff --git a/modules/grove/src/relocalisation/interface/ScoreRelocaliser.cpp b/modules/grove/src/relocalisation/interface/ScoreRelocaliser.cpp
index cf2523e..a3f5f09 100644
--- a/modules/grove/src/relocalisation/interface/ScoreRelocaliser.cpp
+++ b/modules/grove/src/relocalisation/interface/ScoreRelocaliser.cpp
@@ -162,21 +162,21 @@ std::vector<Relocaliser::Result> ScoreRelocaliser::relocalise(const ORUChar4Imag
     m_featureCalculator->compute_keypoints_and_features(colourImage, depthImage, depthIntrinsics, m_keypointsImage.get(), m_descriptorsImage.get());
 	gettimeofday(&t1,NULL);
 	t_cost = (t1.tv_sec - t0.tv_sec)*1000.0 + (double)(t1.tv_usec - t0.tv_usec)/1000.0;
-	std::cout << "1. compute_keypoints_and_features time cost: " << t_cost << "ms\n";
+	// std::cout << "1. compute_keypoints_and_features time cost: " << t_cost << "ms\n";
 	totalRelocaliset0 += t_cost;
     // Step 2: Create a single SCoRe prediction (a single set of clusters) for each keypoint.
 	gettimeofday(&t0,NULL);
     make_predictions(colourImage);
 	gettimeofday(&t1,NULL);
 	t_cost = (t1.tv_sec - t0.tv_sec)*1000.0 + (double)(t1.tv_usec - t0.tv_usec)/1000.0;
-	std::cout << "2. make_predictions time cost: " << t_cost << "ms\n";
+	// std::cout << "2. make_predictions time cost: " << t_cost << "ms\n";
 	totalRelocaliset1 += t_cost;
     // Step 3: Perform P-RANSAC to try to estimate the camera pose.
 	gettimeofday(&t0,NULL);
     boost::optional<PoseCandidate> poseCandidate = m_preemptiveRansac->estimate_pose(m_keypointsImage, m_predictionsImage);
 	gettimeofday(&t1,NULL);
 	t_cost = (t1.tv_sec - t0.tv_sec)*1000.0 + (double)(t1.tv_usec - t0.tv_usec)/1000.0;
-	std::cout << "3. estimate_pose time cost: " << t_cost << "ms\n";
+	//std::cout << "3. estimate_pose time cost: " << t_cost << "ms\n";
 	totalRelocaliset2 += t_cost;
     // Step 4: If we succeeded in estimating a camera pose:
     if(poseCandidate)
diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index 47f07c7..40fff0e 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -21,8 +21,8 @@
 
 namespace spaint {
 
-const int relocalisationThreadsCount = 2;
-const int bestCandidateMaxCount = 2;
+const int relocalisationThreadsCount = 1;
+const int bestCandidateMaxCount = 1;
 
 /**
  * \brief An instance of this pipeline component can be used to determine the relative poses between agents participating in collaborative SLAM.
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index e642949..93dc3c1 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -80,7 +80,8 @@ CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& c
   const std::string settingsNamespace = "CollaborativeComponent.";
   m_considerPoorRelocalisations = settings->get_first_value<bool>(settingsNamespace + "considerPoorRelocalisations", mode == CM_LIVE);
   m_stopAtFirstConsistentReconstruction = settings->get_first_value<bool>(settingsNamespace + "stopAtFirstConsistentReconstruction", false);
-  m_timeCollaboration = settings->get_first_value<bool>(settingsNamespace + "timeCollaboration", false);
+  // m_timeCollaboration = settings->get_first_value<bool>(settingsNamespace + "timeCollaboration", false);
+  m_timeCollaboration = true;
 
   for (int i=0; i<relocalisationThreadsCount; i++) {
     m_relocalisationThreads[i] = boost::thread(boost::bind(&CollaborativeComponent::run_relocalisation, this));

From fae124d1c777c22529a8753ba98568cc8dda6a72 Mon Sep 17 00:00:00 2001
From: tsm <shimei820@gmail.com>
Date: Wed, 23 Nov 2022 12:43:49 +0800
Subject: [PATCH 15/55] bind cpu core for relocalisation thread

---
 .../CollaborativeComponent.h                  |  6 +++++-
 .../CollaborativeComponent.cpp                | 19 ++++++++++++++++---
 2 files changed, 21 insertions(+), 4 deletions(-)

diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index d91087a..e7b41d0 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -10,6 +10,9 @@
 #include <boost/thread.hpp>
 #include <boost/timer/timer.hpp>
 
+#include <string.h>
+#include <sched.h>
+
 #include <orx/relocalisation/Relocaliser.h>
 
 #include <tvgutil/numbers/RandomNumberGenerator.h>
@@ -155,7 +158,8 @@ class CollaborativeComponent
   /**
    * \brief Runs the relocalisation thread, repeatedly attempting scheduled relocalisations until the collaborative component is destroyed.
    */
-  void run_relocalisation();
+  // void run_relocalisation();
+  void run_relocalisation(cpu_set_t *mask);
 
   /**
    * \brief Scores all of the specified candidate relocalisations to allow one of them to be chosen for a relocalisation attempt.
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index e642949..a7e8eb6 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -82,8 +82,15 @@ CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& c
   m_stopAtFirstConsistentReconstruction = settings->get_first_value<bool>(settingsNamespace + "stopAtFirstConsistentReconstruction", false);
   m_timeCollaboration = settings->get_first_value<bool>(settingsNamespace + "timeCollaboration", false);
 
+  int cpuCnt = sysconf(_SC_NPROCESSORS_CONF);
+  int average = cpuCnt/relocalisationThreadsCount;
   for (int i=0; i<relocalisationThreadsCount; i++) {
-    m_relocalisationThreads[i] = boost::thread(boost::bind(&CollaborativeComponent::run_relocalisation, this));
+    cpu_set_t mask;
+    CPU_ZERO(&mask);
+    for (int j=i*average; j<cpuCnt&&j<(i+1)*average; j++) {
+      CPU_SET(j, &mask);
+    }
+    m_relocalisationThreads[i] = boost::thread(boost::bind(&CollaborativeComponent::run_relocalisation, this, &mask));
   }
   // m_relocalisationThread = boost::thread(boost::bind(&CollaborativeComponent::run_relocalisation, this));
 
@@ -402,11 +409,17 @@ void CollaborativeComponent::output_results() const
   }
 }
 
-void CollaborativeComponent::run_relocalisation()
+// void CollaborativeComponent::run_relocalisation()
+void CollaborativeComponent::run_relocalisation(cpu_set_t *mask)
 {
-  int tid = syscall(SYS_gettid);
+  auto tid = syscall(SYS_gettid);
   std::cout << tid << "\n";
 
+  if (sched_setaffinity(tid, sizeof(mask), mask) < 0) {
+    std::cout << "set thread affinity failed\n";
+  }else {
+    std::cout << "set " << tid << "to cpu set: " << mask << "\n";
+  }
   while(!m_stopRelocalisationThread)
   {
     // Wait for a relocalisation to be scheduled.

From 827ed9bd0e15a83a6f7cfcad070dab5d3468f956 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Wed, 23 Nov 2022 00:50:50 -0500
Subject: [PATCH 16/55] add output info

---
 .../spaint/pipelinecomponents/CollaborativeComponent.h     | 6 +++---
 .../src/pipelinecomponents/CollaborativeComponent.cpp      | 7 ++++---
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index e7b41d0..899fea7 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -24,8 +24,8 @@
 
 namespace spaint {
 
-const int relocalisationThreadsCount = 3;
-const int bestCandidateMaxCount = 3;
+const int relocalisationThreadsCount = 4;
+const int bestCandidateMaxCount = 4;
 
 /**
  * \brief An instance of this pipeline component can be used to determine the relative poses between agents participating in collaborative SLAM.
@@ -159,7 +159,7 @@ class CollaborativeComponent
    * \brief Runs the relocalisation thread, repeatedly attempting scheduled relocalisations until the collaborative component is destroyed.
    */
   // void run_relocalisation();
-  void run_relocalisation(cpu_set_t *mask);
+  void run_relocalisation(cpu_set_t mask);
 
   /**
    * \brief Scores all of the specified candidate relocalisations to allow one of them to be chosen for a relocalisation attempt.
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index a7e8eb6..ff1f2f9 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -87,10 +87,11 @@ CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& c
   for (int i=0; i<relocalisationThreadsCount; i++) {
     cpu_set_t mask;
     CPU_ZERO(&mask);
+	std::cout << "for " << i << "relocalisationThread: " << i*average << "~" << (i+1)*average-1 << "\n"; 
     for (int j=i*average; j<cpuCnt&&j<(i+1)*average; j++) {
       CPU_SET(j, &mask);
     }
-    m_relocalisationThreads[i] = boost::thread(boost::bind(&CollaborativeComponent::run_relocalisation, this, &mask));
+    m_relocalisationThreads[i] = boost::thread(boost::bind(&CollaborativeComponent::run_relocalisation, this, mask));
   }
   // m_relocalisationThread = boost::thread(boost::bind(&CollaborativeComponent::run_relocalisation, this));
 
@@ -410,12 +411,12 @@ void CollaborativeComponent::output_results() const
 }
 
 // void CollaborativeComponent::run_relocalisation()
-void CollaborativeComponent::run_relocalisation(cpu_set_t *mask)
+void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
 {
   auto tid = syscall(SYS_gettid);
   std::cout << tid << "\n";
 
-  if (sched_setaffinity(tid, sizeof(mask), mask) < 0) {
+  if (sched_setaffinity(tid, sizeof(mask), &mask) < 0) {
     std::cout << "set thread affinity failed\n";
   }else {
     std::cout << "set " << tid << "to cpu set: " << mask << "\n";

From cd6d99a566312e6ab4e246e01d3e88b36e3608e3 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Sun, 8 Jan 2023 02:44:16 -0500
Subject: [PATCH 17/55] fix cout mask bug

---
 .../spaint/src/pipelinecomponents/CollaborativeComponent.cpp    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 374f090..366725a 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -420,7 +420,7 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
   if (sched_setaffinity(tid, sizeof(mask), &mask) < 0) {
     std::cout << "set thread affinity failed\n";
   }else {
-    std::cout << "set " << tid << "to cpu set: " << mask << "\n";
+    std::cout << "set " << tid << "to cpu set \n";
   }
   while(!m_stopRelocalisationThread)
   {

From d5125885edaa8d81a8f8684124976ec25ea13a55 Mon Sep 17 00:00:00 2001
From: tsm <shimei820@gmail.com>
Date: Thu, 2 Feb 2023 14:39:39 +0800
Subject: [PATCH 18/55] renew relocalise

---
 .gitignore                                    |   1 +
 apps/spaintgui/core/CollaborativePipeline.cpp | 104 ++-
 apps/spaintgui/core/CollaborativePipeline.h   |   4 +
 apps/spaintgui/main.cpp                       | 596 ++++++++++--------
 apps/spaintgui/sequences/SpaintSequence.cpp   |   7 +-
 .../CollaborativeComponent.h                  |   4 +-
 .../spaint/pipelinecomponents/SLAMComponent.h |   7 +
 .../src/pipelinecomponents/SLAMComponent.cpp  | 198 ++++++
 8 files changed, 590 insertions(+), 331 deletions(-)

diff --git a/.gitignore b/.gitignore
index 362e2ed..956361b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -17,6 +17,7 @@ libraries/setup/boost_1_58_0/
 libraries/tbb43_20150611oss/
 libraries/vicon/
 libraries/*.log
+modules/infinitam/
 *.tags
 tags
 tests/mike/
diff --git a/apps/spaintgui/core/CollaborativePipeline.cpp b/apps/spaintgui/core/CollaborativePipeline.cpp
index 7e651f0..87b67cf 100644
--- a/apps/spaintgui/core/CollaborativePipeline.cpp
+++ b/apps/spaintgui/core/CollaborativePipeline.cpp
@@ -11,66 +11,45 @@ using namespace spaint;
 
 //#################### CONSTRUCTORS ####################
 
-CollaborativePipeline::CollaborativePipeline(const Settings_Ptr& settings, const std::string& resourcesDir,
-                                             const std::vector<CompositeImageSourceEngine_Ptr>& imageSourceEngines,
-                                             const std::vector<std::string>& trackerConfigs,
-                                             const std::vector<SLAMComponent::MappingMode>& mappingModes,
-                                             const std::vector<SLAMComponent::TrackingMode>& trackingModes,
-                                             bool detectFiducials, const MappingServer_Ptr& mappingServer,
-                                             CollaborationMode collaborationMode)
+CollaborativePipeline::CollaborativePipeline(const Settings_Ptr &settings,
+                                             const std::string &resourcesDir,
+                                             const std::vector<CompositeImageSourceEngine_Ptr> &imageSourceEngines,
+                                             const std::vector<std::string> &trackerConfigs,
+                                             const std::vector<SLAMComponent::MappingMode> &mappingModes,
+                                             const std::vector<SLAMComponent::TrackingMode> &trackingModes,
+                                             bool detectFiducials,
+                                             const MappingServer_Ptr &mappingServer,
+                                             CollaborationMode collaborationMode,
+                                             const std::map<std::string, std::string> &sceneDirs)
   // Note: A minimum of 2 labels is required (background and foreground).
-: MultiScenePipeline("collaborative", settings, resourcesDir, 2, mappingServer),
-  m_collaborationStarted(false),
-  m_detectFiducials(detectFiducials),
-  m_worldIsRemote(imageSourceEngines.empty())
+  : MultiScenePipeline("collaborative", settings, resourcesDir, 2, mappingServer), 
+    m_collaborationStarted(false), 
+    m_detectFiducials(detectFiducials),
+    // m_worldIsRemote(imageSourceEngines.empty())
+    m_worldIsRemote(false),
+    m_sceneDirs(sceneDirs)
 {
-  if(imageSourceEngines.empty())
+  // If local scenes were specified when the pipeline was instantiated, we add a SLAM component for each such scene.
+  /* for(size_t i = 0, size = imageSourceEngines.size(); i < size; ++i)
   {
-    // The current implementation of spaintgui relies on the existence of a scene called "World".
-    // If no local scenes were specified when the pipeline was instantiated, then we check to
-    // see if a mapping server exists:
-    if(mappingServer)
-    {
-      // If it does, we wait for the first remote client to join instead, and call its scene "World" when it
-      // connects. The creation of the SLAM component for the remote client will block until it does so.
-      add_remote_slam_component(Model::get_world_scene_id(), 0);
-    }
-    else
-    {
-      // Otherwise, no scene called "World" will ever exist, so we throw.
-      throw std::runtime_error("Error: Cannot run a collaborative pipeline without a scene called 'World' (did you mean to specify --runServer?)");
-    }
-  }
-  else
+    const std::string sceneID = i == 0 ? Model::get_world_scene_id() : "Local" + boost::lexical_cast<std::string>(i);
+    m_slamComponents[sceneID].reset(new SLAMComponent(m_model,
+                                                      sceneID,
+                                                      imageSourceEngines[i],
+                                                      trackerConfigs[i],
+                                                      mappingModes[i],
+                                                      trackingModes[i],
+                                                      detectFiducials));
+  }*/
+  for(size_t i = 0, size = imageSourceEngines.size(); i < size; ++i)
   {
-    // If local scenes were specified when the pipeline was instantiated, we add a SLAM component for each such scene.
-    for(size_t i = 0, size = imageSourceEngines.size(); i < size; ++i)
-    {
-      const std::string sceneID = i == 0 ? Model::get_world_scene_id() : "Local" + boost::lexical_cast<std::string>(i);
-      m_slamComponents[sceneID].reset(new SLAMComponent(m_model, sceneID, imageSourceEngines[i], trackerConfigs[i], mappingModes[i], trackingModes[i], detectFiducials));
-    }
+    const std::string sceneID = i == 0 ? Model::get_world_scene_id() : "Local" + boost::lexical_cast<std::string>(i);
+    m_slamComponents[sceneID].reset(new SLAMComponent(
+        m_model, sceneID, imageSourceEngines[i], trackerConfigs[i], mappingModes[i], trackingModes[i], detectFiducials));
+    load_models(m_slamComponents[sceneID], m_sceneDirs[sceneID]);
   }
 
   // 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));
 }
 
@@ -79,7 +58,7 @@ CollaborativePipeline::CollaborativePipeline(const Settings_Ptr& settings, const
 std::set<std::string> CollaborativePipeline::run_main_section()
 {
   // If we're running a mapping server, add SLAM components for any newly-connected remote clients.
-  if(m_model->get_mapping_server()) check_for_new_clients();
+  // if(m_model->get_mapping_server()) check_for_new_clients();
 
   // Run the main section of the pipeline.
   const std::set<std::string> scenesProcessed = MultiScenePipeline::run_main_section();
@@ -99,17 +78,20 @@ void CollaborativePipeline::set_mode(Mode mode)
 
 //#################### PRIVATE MEMBER FUNCTIONS ####################
 
-void CollaborativePipeline::add_remote_slam_component(const std::string& sceneID, int remoteClientID)
+void CollaborativePipeline::add_remote_slam_component(const std::string &sceneID, int remoteClientID)
 {
-  std::cout << "Instantiating a SLAM component for client '" << remoteClientID << "', with local scene ID '" << sceneID << "'" << std::endl;
+  std::cout << "Instantiating a SLAM component for client '" << remoteClientID << "', with local scene ID '" << sceneID
+            << "'" << std::endl;
 
   // Note: We create remote clients that are voxel-only and have no support for fiducials.
-  const MappingServer_Ptr& mappingServer = m_model->get_mapping_server();
+  const MappingServer_Ptr &mappingServer = m_model->get_mapping_server();
   const ImageSourceEngine_Ptr imageSourceEngine(new RemoteImageSourceEngine(mappingServer, remoteClientID));
-  const std::string trackerConfig = "<tracker type='remote'><params>" + boost::lexical_cast<std::string>(remoteClientID) + "</params></tracker>";
+  const std::string trackerConfig =
+      "<tracker type='remote'><params>" + boost::lexical_cast<std::string>(remoteClientID) + "</params></tracker>";
   const SLAMComponent::MappingMode mappingMode = SLAMComponent::MAP_VOXELS_ONLY;
   const SLAMComponent::TrackingMode trackingMode = SLAMComponent::TRACK_VOXELS;
-  m_slamComponents[sceneID].reset(new SLAMComponent(m_model, sceneID, imageSourceEngine, trackerConfig, mappingMode, trackingMode, m_detectFiducials));
+  m_slamComponents[sceneID].reset(new SLAMComponent(
+      m_model, sceneID, imageSourceEngine, trackerConfig, mappingMode, trackingMode, m_detectFiducials));
   mappingServer->set_scene_id(remoteClientID, sceneID);
 }
 
@@ -122,7 +104,9 @@ void CollaborativePipeline::check_for_new_clients()
     const int clientID = activeClients[i];
 
     // Determine what the scene for this client should be called.
-    const std::string sceneID = m_worldIsRemote && clientID == 0 ? Model::get_world_scene_id() : "Remote" + boost::lexical_cast<std::string>(clientID);
+    const std::string sceneID = m_worldIsRemote && clientID == 0
+                                    ? Model::get_world_scene_id()
+                                    : "Remote" + boost::lexical_cast<std::string>(clientID);
 
     // If a SLAM component for this client does not yet exist, add one now.
     if(m_slamComponents.find(sceneID) == m_slamComponents.end())
diff --git a/apps/spaintgui/core/CollaborativePipeline.h b/apps/spaintgui/core/CollaborativePipeline.h
index 8ffeb62..e64d2cc 100644
--- a/apps/spaintgui/core/CollaborativePipeline.h
+++ b/apps/spaintgui/core/CollaborativePipeline.h
@@ -8,6 +8,7 @@
 
 #include <spaint/fiducials/FiducialDetector.h>
 #include <spaint/pipelinecomponents/CollaborativeComponent.h>
+#include <map>
 
 #include "MultiScenePipeline.h"
 
@@ -18,6 +19,9 @@ class CollaborativePipeline : public MultiScenePipeline
 {
   //#################### PRIVATE VARIABLES ####################
 private:
+  /** A map for scene model dir and scene id */
+  std::map <std::string, std::string> m_sceneDirs;
+
   /** A flag indicating whether or not we should start running collaborative pose estimation. */
   bool m_collaborationStarted;
 
diff --git a/apps/spaintgui/main.cpp b/apps/spaintgui/main.cpp
index 3ffd613..7bcbc78 100644
--- a/apps/spaintgui/main.cpp
+++ b/apps/spaintgui/main.cpp
@@ -10,21 +10,22 @@
 #include <boost/program_options.hpp>
 #include <boost/tokenizer.hpp>
 
-// Note: This must appear before anything that could include SDL.h, since it includes boost/asio.hpp, a header that has a WinSock conflict with SDL.h.
+// Note: This must appear before anything that could include SDL.h, since it includes boost/asio.hpp, a header that has
+// a WinSock conflict with SDL.h.
 #include "Application.h"
 
 #if defined(WITH_ARRAYFIRE) && defined(WITH_CUDA)
-  #ifdef _MSC_VER
-    // Suppress a VC++ warning that is produced when including ArrayFire headers.
-    #pragma warning(disable:4275)
-  #endif
+#ifdef _MSC_VER
+// Suppress a VC++ warning that is produced when including ArrayFire headers.
+#pragma warning(disable : 4275)
+#endif
 
-  #include <af/cuda.h>
+#include <af/cuda.h>
 
-  #ifdef _MSC_VER
-    // Reenable the suppressed warning for the rest of the translation unit.
-    #pragma warning(default:4275)
-  #endif
+#ifdef _MSC_VER
+// Reenable the suppressed warning for the rest of the translation unit.
+#pragma warning(default : 4275)
+#endif
 #endif
 
 #include <InputSource/IdleImageSourceEngine.h>
@@ -57,8 +58,8 @@
 
 #include "core/CollaborativePipeline.h"
 #include "core/ObjectivePipeline.h"
-#include "core/SemanticPipeline.h"
 #include "core/SLAMPipeline.h"
+#include "core/SemanticPipeline.h"
 #include "sequences/SpaintSequence.h"
 
 using namespace InputSource;
@@ -81,6 +82,7 @@ struct CommandLineArguments
   //~~~~~~~~~~~~~~~~~~~~ PUBLIC VARIABLES ~~~~~~~~~~~~~~~~~~~~
 
   // User-specifiable arguments
+  std::string scene1, scene2;
   bool batch;
   std::string calibrationFilename;
   bool cameraAfterDisk;
@@ -133,7 +135,7 @@ struct CommandLineArguments
    *
    * \param settings  The settings object.
    */
-  void add_to_settings(const Settings_Ptr& settings)
+  void add_to_settings(const Settings_Ptr &settings)
   {
     std::vector<std::string> diskTrackerConfigs;
     for(size_t i = 0, size = sequences.size(); i < size; ++i)
@@ -141,50 +143,54 @@ struct CommandLineArguments
       diskTrackerConfigs.push_back(sequences[i]->make_disk_tracker_config());
     }
 
-    #define ADD_SETTING(arg) settings->add_value(#arg, boost::lexical_cast<std::string>(arg))
-    #define ADD_SETTINGS(arg) for(size_t i = 0; i < arg.size(); ++i) { settings->add_value(#arg, boost::lexical_cast<std::string>(arg[i])); }
-      ADD_SETTING(batch);
-      ADD_SETTING(calibrationFilename);
-      ADD_SETTING(collaborationMode);
-      ADD_SETTINGS(depthImageMasks);
-      ADD_SETTINGS(depthNoiseSigmas);
-      ADD_SETTING(detectFiducials);
-      ADD_SETTINGS(diskTrackerConfigs);
-      ADD_SETTING(experimentTag);
-      ADD_SETTING(fiducialDetectorType);
-      ADD_SETTING(globalPosesSpecifier);
-      ADD_SETTING(headless);
-      ADD_SETTING(host);
-      ADD_SETTINGS(initialFrameNumbers);
-      ADD_SETTING(leapFiducialID);
-      ADD_SETTING(mapSurfels);
-      ADD_SETTINGS(missingDepthFractions);
-      ADD_SETTING(modelSpecifier);
-      ADD_SETTING(noRelocaliser);
-      ADD_SETTING(openNIDeviceURI);
-      ADD_SETTING(pipelineType);
-      ADD_SETTING(port);
-      ADD_SETTINGS(poseFileMasks);
-      ADD_SETTING(prefetchBufferCapacity);
-      ADD_SETTING(profileMemory);
-      ADD_SETTING(relocaliserType);
-      ADD_SETTING(renderFiducials);
-      ADD_SETTINGS(rgbImageMasks);
-      ADD_SETTING(runServer);
-      ADD_SETTING(saveMeshOnExit);
-      ADD_SETTING(saveModelsOnExit);
-      ADD_SETTINGS(semanticImageMasks);
-      ADD_SETTINGS(sequenceSpecifiers);
-      ADD_SETTINGS(sequenceTypes);
-      ADD_SETTING(subwindowConfigurationIndex);
-      ADD_SETTINGS(trackerSpecifiers);
-      ADD_SETTING(trackObject);
-      ADD_SETTING(trackSurfels);
-      ADD_SETTING(useVicon);
-      ADD_SETTING(verbose);
-      ADD_SETTING(viconHost);
-    #undef ADD_SETTINGS
-    #undef ADD_SETTING
+#define ADD_SETTING(arg) settings->add_value(#arg, boost::lexical_cast<std::string>(arg))
+#define ADD_SETTINGS(arg)                                                                                              \
+  for(size_t i = 0; i < arg.size(); ++i)                                                                               \
+  {                                                                                                                    \
+    settings->add_value(#arg, boost::lexical_cast<std::string>(arg[i]));                                               \
+  }
+    ADD_SETTING(batch);
+    ADD_SETTING(calibrationFilename);
+    ADD_SETTING(collaborationMode);
+    ADD_SETTINGS(depthImageMasks);
+    ADD_SETTINGS(depthNoiseSigmas);
+    ADD_SETTING(detectFiducials);
+    ADD_SETTINGS(diskTrackerConfigs);
+    ADD_SETTING(experimentTag);
+    ADD_SETTING(fiducialDetectorType);
+    ADD_SETTING(globalPosesSpecifier);
+    ADD_SETTING(headless);
+    ADD_SETTING(host);
+    ADD_SETTINGS(initialFrameNumbers);
+    ADD_SETTING(leapFiducialID);
+    ADD_SETTING(mapSurfels);
+    ADD_SETTINGS(missingDepthFractions);
+    ADD_SETTING(modelSpecifier);
+    ADD_SETTING(noRelocaliser);
+    ADD_SETTING(openNIDeviceURI);
+    ADD_SETTING(pipelineType);
+    ADD_SETTING(port);
+    ADD_SETTINGS(poseFileMasks);
+    ADD_SETTING(prefetchBufferCapacity);
+    ADD_SETTING(profileMemory);
+    ADD_SETTING(relocaliserType);
+    ADD_SETTING(renderFiducials);
+    ADD_SETTINGS(rgbImageMasks);
+    ADD_SETTING(runServer);
+    ADD_SETTING(saveMeshOnExit);
+    ADD_SETTING(saveModelsOnExit);
+    ADD_SETTINGS(semanticImageMasks);
+    ADD_SETTINGS(sequenceSpecifiers);
+    ADD_SETTINGS(sequenceTypes);
+    ADD_SETTING(subwindowConfigurationIndex);
+    ADD_SETTINGS(trackerSpecifiers);
+    ADD_SETTING(trackObject);
+    ADD_SETTING(trackSurfels);
+    ADD_SETTING(useVicon);
+    ADD_SETTING(verbose);
+    ADD_SETTING(viconHost);
+#undef ADD_SETTINGS
+#undef ADD_SETTING
   }
 };
 
@@ -196,11 +202,11 @@ struct CommandLineArguments
  * \param parsedOptions The set of parsed options.
  * \param settings      The settings object.
  */
-void add_unregistered_options_to_settings(const po::parsed_options& parsedOptions, const Settings_Ptr& settings)
+void add_unregistered_options_to_settings(const po::parsed_options &parsedOptions, const Settings_Ptr &settings)
 {
   for(size_t i = 0, optionCount = parsedOptions.options.size(); i < optionCount; ++i)
   {
-    const po::basic_option<char>& option = parsedOptions.options[i];
+    const po::basic_option<char> &option = parsedOptions.options[i];
     if(option.unregistered)
     {
       // Add all the specified values for the option in the correct order.
@@ -227,17 +233,20 @@ ImageSourceEngine *check_camera_subengine(ImageSourceEngine *cameraSubengine)
     delete cameraSubengine;
     return NULL;
   }
-  else return cameraSubengine;
+  else
+    return cameraSubengine;
 }
 
 /**
- * \brief Copies any (voxel) scene parameters that have been specified in the configuration file across to the actual scene parameters object.
+ * \brief Copies any (voxel) scene parameters that have been specified in the configuration file across to the actual
+ * scene parameters object.
  *
  * \param settings  The settings for the application.
  */
-void copy_scene_params(const Settings_Ptr& settings)
+void copy_scene_params(const Settings_Ptr &settings)
 {
-#define COPY_PARAM(type, name, defaultValue) settings->sceneParams.name = settings->get_first_value<type>("SceneParams."#name, defaultValue)
+#define COPY_PARAM(type, name, defaultValue)                                                                           \
+  settings->sceneParams.name = settings->get_first_value<type>("SceneParams." #name, defaultValue)
 
   // Note: The default values are taken from InfiniTAM.
   COPY_PARAM(int, maxW, 100);
@@ -251,13 +260,15 @@ void copy_scene_params(const Settings_Ptr& settings)
 }
 
 /**
- * \brief Copies any surfel scene parameters that have been specified in the configuration file across to the actual surfel scene parameters object.
+ * \brief Copies any surfel scene parameters that have been specified in the configuration file across to the actual
+ * surfel scene parameters object.
  *
  * \param settings  The settings for the application.
  */
-void copy_surfel_scene_params(const Settings_Ptr& settings)
+void copy_surfel_scene_params(const Settings_Ptr &settings)
 {
-#define COPY_PARAM(type, name, defaultValue) settings->surfelSceneParams.name = settings->get_first_value<type>("SurfelSceneParams."#name, defaultValue)
+#define COPY_PARAM(type, name, defaultValue)                                                                           \
+  settings->surfelSceneParams.name = settings->get_first_value<type>("SurfelSceneParams." #name, defaultValue)
 
   // Note: The default values are taken from InfiniTAM.
   COPY_PARAM(float, deltaRadius, 0.5f);
@@ -279,12 +290,13 @@ void copy_surfel_scene_params(const Settings_Ptr& settings)
 }
 
 /**
- * \brief Determines the sequences (if any) that the user wants to load from disk, based on the program's command-line arguments.
+ * \brief Determines the sequences (if any) that the user wants to load from disk, based on the program's command-line
+ * arguments.
  *
  * \param args  The program's command-line arguments.
  * \return      The sequences (if any) that the user wants to load from disk.
  */
-std::vector<Sequence_CPtr> determine_sequences(const CommandLineArguments& args)
+std::vector<Sequence_CPtr> determine_sequences(const CommandLineArguments &args)
 {
   std::vector<Sequence_CPtr> sequences;
 
@@ -301,7 +313,7 @@ std::vector<Sequence_CPtr> determine_sequences(const CommandLineArguments& args)
     double missingDepthFraction = i < args.missingDepthFractions.size() ? args.missingDepthFractions[i] : 0.0;
     float depthNoiseSigma = i < args.depthNoiseSigmas.size() ? args.depthNoiseSigmas[i] : 0.0f;
 
-    const std::string& sequenceSpecifier = args.sequenceSpecifiers[i];
+    const std::string &sequenceSpecifier = args.sequenceSpecifiers[i];
     if(!bf::is_regular_file(sequenceSpecifier))
     {
       // Determine the sequence type.
@@ -309,13 +321,16 @@ std::vector<Sequence_CPtr> determine_sequences(const CommandLineArguments& args)
 
       // Determine the directory containing the sequence.
       bf::path dir = bf::is_directory(sequenceSpecifier)
-        ? sequenceSpecifier
-        : find_subdir_from_executable(sequenceType + "s") / sequenceSpecifier;
+                         ? sequenceSpecifier
+                         : find_subdir_from_executable(sequenceType + "s") / sequenceSpecifier;
 
       // Add the sequence to the list.
-      sequences.push_back(Sequence_CPtr(new SpaintSequence(dir, initialFrameNumber, missingDepthFraction, depthNoiseSigma)));
+      sequences.push_back(
+          Sequence_CPtr(new SpaintSequence(dir, initialFrameNumber, missingDepthFraction, depthNoiseSigma)));
     }
-    else throw std::runtime_error("Error: The sequence specifier '" + sequenceSpecifier + "' denotes a file rather than a directory");
+    else
+      throw std::runtime_error("Error: The sequence specifier '" + sequenceSpecifier +
+                               "' denotes a file rather than a directory");
   }
 
   // Add any sequence that the user specifies implicitly via depth/RGB/pose masks.
@@ -331,7 +346,13 @@ std::vector<Sequence_CPtr> determine_sequences(const CommandLineArguments& args)
     double missingDepthFraction = j < args.missingDepthFractions.size() ? args.missingDepthFractions[j] : 0.0;
     float depthNoiseSigma = j < args.depthNoiseSigmas.size() ? args.depthNoiseSigmas[j] : 0.0f;
 
-    sequences.push_back(Sequence_CPtr(new SpaintSequence(depthImageMask, rgbImageMask, poseFileMask, semanticImageMask, initialFrameNumber, missingDepthFraction, depthNoiseSigma)));
+    sequences.push_back(Sequence_CPtr(new SpaintSequence(depthImageMask,
+                                                         rgbImageMask,
+                                                         poseFileMask,
+                                                         semanticImageMask,
+                                                         initialFrameNumber,
+                                                         missingDepthFraction,
+                                                         depthNoiseSigma)));
   }
 
   return sequences;
@@ -343,13 +364,15 @@ std::vector<Sequence_CPtr> determine_sequences(const CommandLineArguments& args)
  * \param globalPosesSpecifier  The global poses specifier.
  * \return                      The global poses from the file, if possible, or an empty map otherwise.
  */
-std::map<std::string,DualQuatd> load_global_poses(const std::string& globalPosesSpecifier)
+std::map<std::string, DualQuatd> load_global_poses(const std::string &globalPosesSpecifier)
 {
-  std::map<std::string,DualQuatd> globalPoses;
+  std::map<std::string, DualQuatd> globalPoses;
 
   // Determine the file from which to load the global poses.
   const std::string dirName = "global_poses";
-  const bf::path p = bf::is_regular(globalPosesSpecifier) ? globalPosesSpecifier : find_subdir_from_executable(dirName) / (globalPosesSpecifier + ".txt");
+  const bf::path p = bf::is_regular(globalPosesSpecifier)
+                         ? globalPosesSpecifier
+                         : find_subdir_from_executable(dirName) / (globalPosesSpecifier + ".txt");
 
   // Try to read the poses from the file. If we can't, throw.
   std::ifstream fs(p.string().c_str());
@@ -371,7 +394,7 @@ std::map<std::string,DualQuatd> load_global_poses(const std::string& globalPoses
  * \param args  The program's command-line arguments.
  * \return      The camera subengine, if a suitable camera is attached, or NULL otherwise.
  */
-ImageSourceEngine *make_camera_subengine(const CommandLineArguments& args)
+ImageSourceEngine *make_camera_subengine(const CommandLineArguments &args)
 {
   ImageSourceEngine *cameraSubengine = NULL;
 
@@ -380,14 +403,19 @@ ImageSourceEngine *make_camera_subengine(const CommandLineArguments& args)
   if(cameraSubengine == NULL)
   {
     std::cout << "[spaint] Probing OpenNI camera: " << args.openNIDeviceURI << '\n';
-    boost::optional<std::string> uri = args.openNIDeviceURI == "Default" ? boost::none : boost::optional<std::string>(args.openNIDeviceURI);
+    boost::optional<std::string> uri =
+        args.openNIDeviceURI == "Default" ? boost::none : boost::optional<std::string>(args.openNIDeviceURI);
     bool useInternalCalibration = !uri; // if reading from a file, assume that the provided calibration is to be used
-    cameraSubengine = check_camera_subengine(new OpenNIEngine(args.calibrationFilename.c_str(), uri ? uri->c_str() : NULL, useInternalCalibration
+    cameraSubengine = check_camera_subengine(new OpenNIEngine(
+        args.calibrationFilename.c_str(),
+        uri ? uri->c_str() : NULL,
+        useInternalCalibration
 #if USE_LOW_USB_BANDWIDTH_MODE
-      // If there is insufficient USB bandwidth available to support 640x480 RGB input, use 320x240 instead.
-      , Vector2i(320, 240)
+        // If there is insufficient USB bandwidth available to support 640x480 RGB input, use 320x240 instead.
+        ,
+        Vector2i(320, 240)
 #endif
-    ));
+            ));
   }
 #endif
 
@@ -421,11 +449,12 @@ ImageSourceEngine *make_camera_subengine(const CommandLineArguments& args)
   return cameraSubengine;
 }
 
-boost::shared_ptr<CompositeImageSourceEngine> make_image_source_engine(const CommandLineArguments& args)
+boost::shared_ptr<CompositeImageSourceEngine> make_image_source_engine(const CommandLineArguments &args)
 {
   boost::shared_ptr<CompositeImageSourceEngine> imageSourceEngine(new CompositeImageSourceEngine);
 
-  // If a model was specified without either a disk sequence or the camera following it, add an idle subengine to allow the model to still be viewed.
+  // If a model was specified without either a disk sequence or the camera following it, add an idle subengine to allow
+  // the model to still be viewed.
   if(args.modelDir && args.sequences.empty() && !args.cameraAfterDisk)
   {
     const std::string calibrationFilename = (*args.modelDir / "calib.txt").string();
@@ -439,13 +468,17 @@ boost::shared_ptr<CompositeImageSourceEngine> make_image_source_engine(const Com
     // FIXME: It would be better to use the correct calibration file for each disk sequence, but our pipeline doesn't
     //        yet support changing the camera calibration parameters during reconstruction.
     const bf::path calibrationPath = args.sequences[0]->default_calib_path();
-    const std::string calibrationFilename = (args.calibrationFilename != "" || !bf::exists(calibrationPath)) ? args.calibrationFilename : calibrationPath.string();
+    const std::string calibrationFilename = (args.calibrationFilename != "" || !bf::exists(calibrationPath))
+                                                ? args.calibrationFilename
+                                                : calibrationPath.string();
 
     std::cout << "[spaint] Reading images from disk: " << *args.sequences[i] << '\n';
-    imageSourceEngine->addSubengine(new AsyncImageSourceEngine(args.sequences[i]->make_image_source_engine(calibrationFilename), args.prefetchBufferCapacity));
+    imageSourceEngine->addSubengine(new AsyncImageSourceEngine(
+        args.sequences[i]->make_image_source_engine(calibrationFilename), args.prefetchBufferCapacity));
   }
 
-  // If no model and no disk sequences were specified, or we want to switch to the camera once all the disk sequences finish, add a camera subengine.
+  // If no model and no disk sequences were specified, or we want to switch to the camera once all the disk sequences
+  // finish, add a camera subengine.
   if((!args.modelDir && args.sequences.empty()) || args.cameraAfterDisk)
   {
     ImageSourceEngine *cameraSubengine = make_camera_subengine(args);
@@ -455,18 +488,37 @@ boost::shared_ptr<CompositeImageSourceEngine> make_image_source_engine(const Com
   return imageSourceEngine;
 }
 
+std::vector<CompositeImageSourceEngine_Ptr> make_image_source_engines(const CommandLineArguments &args)
+{
+  std::vector<CompositeImageSourceEngine_Ptr> imageSourceEngines;
+  if(args.scene1 && args.scene2)
+  {
+    CompositeImageSourceEngine_Ptr imageSourceEngine1(new CompositeImageSourceEngine);
+    const std::string calibrationFilename1 = ("./" + args.scene1 / "calib.txt").string();
+    imageSourceEngine1->addSubengine(new IdleImageSourceEngine(calibrationFilename1.c_str()));
+    ImageSourceEngines.push_back(ImageSourceEngine1);
+
+    CompositeImageSourceEngine_Ptr imageSourceEngine2(new CompositeImageSourceEngine);
+    const std::string calibrationFilename2 = ("./" + args.scene2 / "calib.txt").string();
+    imageSourceEngine2->addSubengine(new IdleImageSourceEngine(calibrationFilename2.c_str()));
+    ImageSourceEngines.push_back(ImageSourceEngine2);
+  }
+  return imageSourceEngines;
+}
+
 /**
- * \brief Makes the overall tracker configuration based on any tracker specifiers that were passed in on the command line.
+ * \brief Makes the overall tracker configuration based on any tracker specifiers that were passed in on the command
+ * line.
  *
  * \param args  The program's command-line arguments.
  * \return      The overall tracker configuration.
  */
-std::string make_tracker_config(const CommandLineArguments& args)
+std::string make_tracker_config(const CommandLineArguments &args)
 {
   std::string result;
 
   // If the user wants to use global poses for the scenes, load them from disk.
-  std::map<std::string,DualQuatd> globalPoses;
+  std::map<std::string, DualQuatd> globalPoses;
   if(args.globalPosesSpecifier != "") globalPoses = load_global_poses(args.globalPosesSpecifier);
   // Determine the number of different trackers that will be needed.
   size_t trackerCount = args.sequences.size();
@@ -478,7 +530,8 @@ std::string make_tracker_config(const CommandLineArguments& args)
   // For each tracker that is needed:
   for(size_t i = 0; i < trackerCount; ++i)
   {
-    // Look to see if the user specified an explicit tracker specifier for it on the command line; if not, use a default tracker specifier.
+    // Look to see if the user specified an explicit tracker specifier for it on the command line; if not, use a default
+    // tracker specifier.
     const std::string trackerSpecifier = i < args.trackerSpecifiers.size() ? args.trackerSpecifiers[i] : "InfiniTAM";
     // Separate the tracker specifier into chunks.
     typedef boost::char_separator<char> sep;
@@ -506,19 +559,23 @@ std::string make_tracker_config(const CommandLineArguments& args)
           // Try to find the global pose for this scene based on the sequence ID.
           const std::string sequenceID = args.sequences[i]->id();
 
-          std::map<std::string,DualQuatd>::const_iterator it = globalPoses.find(sequenceID);
+          std::map<std::string, DualQuatd>::const_iterator it = globalPoses.find(sequenceID);
 
           // If that doesn't work, try to find the global pose based on the scene ID.
           if(it == globalPoses.end())
           {
-            // FIXME: We shouldn't hard-code "Local" here - it's based on knowing how CollaborativePipeline assigns scene names.
-            const std::string sceneID = i == 0 ? Model::get_world_scene_id() : "Local" + boost::lexical_cast<std::string>(i);
+            // FIXME: We shouldn't hard-code "Local" here - it's based on knowing how CollaborativePipeline assigns
+            // scene names.
+            const std::string sceneID =
+                i == 0 ? Model::get_world_scene_id() : "Local" + boost::lexical_cast<std::string>(i);
             it = globalPoses.find(sceneID);
           }
 
           // If we now have a global pose, specify the creation of a global tracker that uses it. If not, throw.
-          if(it != globalPoses.end()) result += "<tracker type='global'><params>" + boost::lexical_cast<std::string>(it->second) + "</params>";
-          else throw std::runtime_error("Error: Global pose for sequence '" + sequenceID + "' not found");
+          if(it != globalPoses.end())
+            result += "<tracker type='global'><params>" + boost::lexical_cast<std::string>(it->second) + "</params>";
+          else
+            throw std::runtime_error("Error: Global pose for sequence '" + sequenceID + "' not found");
         }
 
         // Specify the creation of a disk-based tracker that reads poses from disk.
@@ -551,7 +608,10 @@ std::string make_tracker_config(const CommandLineArguments& args)
  * \param vm        The variables map for the application.
  * \param settings  The settings for the application.
  */
-void parse_configuration_file(const std::string& filename, const po::options_description& options, po::variables_map& vm, const Settings_Ptr& settings)
+void parse_configuration_file(const std::string &filename,
+                              const po::options_description &options,
+                              po::variables_map &vm,
+                              const Settings_Ptr &settings)
 {
   // Parse the options in the configuration file.
   po::parsed_options parsedConfigFileOptions = po::parse_config_file<char>(filename.c_str(), options, true);
@@ -571,15 +631,22 @@ void parse_configuration_file(const std::string& filename, const po::options_des
  * \param vm        The variables map for the application.
  * \param settings  The settings for the application.
  */
-void postprocess_arguments(CommandLineArguments& args, const po::options_description& options, po::variables_map& vm, const Settings_Ptr& settings)
+void postprocess_arguments(CommandLineArguments &args,
+                           const po::options_description &options,
+                           po::variables_map &vm,
+                           const Settings_Ptr &settings)
 {
-  // Determine the sequences (if any) that the user wants to load from disk, based on the program's command-line arguments.
+  // Determine the sequences (if any) that the user wants to load from disk, based on the program's command-line
+  // arguments.
   args.sequences = determine_sequences(args);
 
-  // If the user specified a model to load, determine the model directory and parse the model's configuration file (if present).
+  // If the user specified a model to load, determine the model directory and parse the model's configuration file (if
+  // present).
   if(args.modelSpecifier != "")
   {
-    args.modelDir = bf::is_directory(args.modelSpecifier) ? args.modelSpecifier : find_subdir_from_executable("models") / args.modelSpecifier / Model::get_world_scene_id();
+    args.modelDir = bf::is_directory(args.modelSpecifier)
+                        ? args.modelSpecifier
+                        : find_subdir_from_executable("models") / args.modelSpecifier / Model::get_world_scene_id();
 
     const bf::path configPath = *args.modelDir / "settings.ini";
     if(bf::is_regular_file(configPath))
@@ -590,7 +657,8 @@ void postprocess_arguments(CommandLineArguments& args, const po::options_descrip
     }
   }
 
-  // If the user wants to use global poses for the scenes, make sure that each disk sequence has a tracker specifier set to Disk.
+  // If the user wants to use global poses for the scenes, make sure that each disk sequence has a tracker specifier set
+  // to Disk.
   if(args.globalPosesSpecifier != "")
   {
     args.trackerSpecifiers.resize(args.sequenceSpecifiers.size());
@@ -614,7 +682,8 @@ void postprocess_arguments(CommandLineArguments& args, const po::options_descrip
   // (there is no way to control the application without the UI anyway).
   if(args.headless) args.batch = true;
 
-  // If the user wants to use a Vicon fiducial detector or a Vicon-based tracker, make sure that the Vicon system it needs is enabled.
+  // If the user wants to use a Vicon fiducial detector or a Vicon-based tracker, make sure that the Vicon system it
+  // needs is enabled.
   if(args.fiducialDetectorType == "vicon")
   {
     args.useVicon = true;
@@ -660,65 +729,82 @@ void postprocess_arguments(CommandLineArguments& args, const po::options_descrip
  * \param settings  The application settings.
  * \return          true, if the program should continue after parsing the command-line arguments, or false otherwise.
  */
-bool parse_command_line(int argc, char *argv[], CommandLineArguments& args, const Settings_Ptr& settings)
+bool parse_command_line(int argc, char *argv[], CommandLineArguments &args, const Settings_Ptr &settings)
 {
   // Specify the possible options.
   po::options_description genericOptions("Generic options");
-  genericOptions.add_options()
-    ("help", "produce help message")
-    ("batch", po::bool_switch(&args.batch), "enable batch mode")
-    ("calib,c", po::value<std::string>(&args.calibrationFilename)->default_value(""), "calibration filename")
-    ("cameraAfterDisk", po::bool_switch(&args.cameraAfterDisk), "switch to the camera after a disk sequence")
-    ("collaborationMode", po::value<std::string>(&args.collaborationMode)->default_value("batch"), "collaboration mode (batch|live)")
-    ("configFile,f", po::value<std::string>(), "additional parameters filename")
-    ("depthNoiseSigma", po::value<std::vector<float> >(&args.depthNoiseSigmas)->multitoken(), "depth noise sigma")
-    ("detectFiducials", po::bool_switch(&args.detectFiducials), "enable fiducial detection")
-    ("experimentTag", po::value<std::string>(&args.experimentTag)->default_value(Settings::NOT_SET), "experiment tag")
-    ("fiducialDetectorType", po::value<std::string>(&args.fiducialDetectorType)->default_value("aruco"), "fiducial detector type (aruco|vicon)")
-    ("globalPosesSpecifier,g", po::value<std::string>(&args.globalPosesSpecifier)->default_value(""), "global poses specifier")
-    ("headless", po::bool_switch(&args.headless), "run in headless mode")
-    ("host,h", po::value<std::string>(&args.host)->default_value(""), "remote mapping host")
-    ("leapFiducialID", po::value<std::string>(&args.leapFiducialID)->default_value(""), "the ID of the fiducial to use for the Leap Motion")
-    ("mapSurfels", po::bool_switch(&args.mapSurfels), "enable surfel mapping")
-    ("missingDepthFraction", po::value<std::vector<double> >(&args.missingDepthFractions)->multitoken(), "missing depth fraction [0,1]")
-    ("modelSpecifier,m", po::value<std::string>(&args.modelSpecifier)->default_value(""), "model specifier")
-    ("noRelocaliser", po::bool_switch(&args.noRelocaliser), "don't use the relocaliser")
-    ("pipelineType", po::value<std::string>(&args.pipelineType)->default_value("semantic"), "pipeline type")
-    ("port", po::value<std::string>(&args.port)->default_value("7851"), "remote mapping port")
-    ("profileMemory", po::bool_switch(&args.profileMemory)->default_value(false), "whether or not to profile the memory usage")
-    ("relocaliserType", po::value<std::string>(&args.relocaliserType)->default_value("forest"), "relocaliser type")
-    ("renderFiducials", po::bool_switch(&args.renderFiducials), "enable fiducial rendering")
-    ("runServer", po::bool_switch(&args.runServer), "run a remote mapping server")
-    ("saveMeshOnExit", po::bool_switch(&args.saveMeshOnExit), "save a mesh of the scene on exiting the application")
-    ("saveModelsOnExit", po::bool_switch(&args.saveModelsOnExit), "save a model of each voxel scene on exiting the application")
-    ("subwindowConfigurationIndex", po::value<std::string>(&args.subwindowConfigurationIndex)->default_value("1"), "subwindow configuration index")
-    ("trackerSpecifier,t", po::value<std::vector<std::string> >(&args.trackerSpecifiers)->multitoken(), "tracker specifier")
-    ("trackSurfels", po::bool_switch(&args.trackSurfels), "enable surfel mapping and tracking")
-    ("useVicon", po::bool_switch(&args.useVicon)->default_value(false), "whether or not to use the Vicon system")
-    ("verbose,v", po::bool_switch(&args.verbose), "enable verbose output")
-    ("viconHost", po::value<std::string>(&args.viconHost)->default_value("192.168.0.101"), "Vicon host")
-  ;
+  genericOptions.add_options()("help", "produce help message")(
+      "scene1", po::value<std::string>(&args.scene1), "the one scene prepare to relocalise")(
+      "scene2", po::value<std::string>(&args.scene2), "the other scene prepare to relocalise")(
+      "batch", po::bool_switch(&args.batch), "enable batch mode")(
+      "calib,c", po::value<std::string>(&args.calibrationFilename)->default_value(""), "calibration filename")(
+      "cameraAfterDisk", po::bool_switch(&args.cameraAfterDisk), "switch to the camera after a disk sequence")(
+      "collaborationMode",
+      po::value<std::string>(&args.collaborationMode)->default_value("batch"),
+      "collaboration mode (batch|live)")("configFile,f", po::value<std::string>(), "additional parameters filename")(
+      "depthNoiseSigma", po::value<std::vector<float>>(&args.depthNoiseSigmas)->multitoken(), "depth noise sigma")(
+      "detectFiducials", po::bool_switch(&args.detectFiducials), "enable fiducial detection")(
+      "experimentTag", po::value<std::string>(&args.experimentTag)->default_value(Settings::NOT_SET), "experiment tag")(
+      "fiducialDetectorType",
+      po::value<std::string>(&args.fiducialDetectorType)->default_value("aruco"),
+      "fiducial detector type (aruco|vicon)")("globalPosesSpecifier,g",
+                                              po::value<std::string>(&args.globalPosesSpecifier)->default_value(""),
+                                              "global poses specifier")(
+      "headless", po::bool_switch(&args.headless)->default_value(true), "run in headless mode")(
+      "host,h", po::value<std::string>(&args.host)->default_value(""), "remote mapping host")(
+      "leapFiducialID",
+      po::value<std::string>(&args.leapFiducialID)->default_value(""),
+      "the ID of the fiducial to use for the Leap Motion")(
+      "mapSurfels", po::bool_switch(&args.mapSurfels), "enable surfel mapping")(
+      "missingDepthFraction",
+      po::value<std::vector<double>>(&args.missingDepthFractions)->multitoken(),
+      "missing depth fraction [0,1]")(
+      "modelSpecifier,m", po::value<std::string>(&args.modelSpecifier)->default_value(""), "model specifier")(
+      "noRelocaliser", po::bool_switch(&args.noRelocaliser), "don't use the relocaliser")(
+      "pipelineType", po::value<std::string>(&args.pipelineType)->default_value("semantic"), "pipeline type")(
+      "port", po::value<std::string>(&args.port)->default_value("7851"), "remote mapping port")(
+      "profileMemory",
+      po::bool_switch(&args.profileMemory)->default_value(false),
+      "whether or not to profile the memory usage")(
+      "relocaliserType", po::value<std::string>(&args.relocaliserType)->default_value("forest"), "relocaliser type")(
+      "renderFiducials", po::bool_switch(&args.renderFiducials), "enable fiducial rendering")(
+      "runServer", po::bool_switch(&args.runServer), "run a remote mapping server")(
+      "saveMeshOnExit", po::bool_switch(&args.saveMeshOnExit), "save a mesh of the scene on exiting the application")(
+      "saveModelsOnExit",
+      po::bool_switch(&args.saveModelsOnExit),
+      "save a model of each voxel scene on exiting the application")(
+      "subwindowConfigurationIndex",
+      po::value<std::string>(&args.subwindowConfigurationIndex)->default_value("1"),
+      "subwindow configuration index")("trackerSpecifier,t",
+                                       po::value<std::vector<std::string>>(&args.trackerSpecifiers)->multitoken(),
+                                       "tracker specifier")(
+      "trackSurfels", po::bool_switch(&args.trackSurfels), "enable surfel mapping and tracking")(
+      "useVicon", po::bool_switch(&args.useVicon)->default_value(false), "whether or not to use the Vicon system")(
+      "verbose,v", po::bool_switch(&args.verbose), "enable verbose output")(
+      "viconHost", po::value<std::string>(&args.viconHost)->default_value("192.168.0.101"), "Vicon host");
 
   po::options_description cameraOptions("Camera options");
-  cameraOptions.add_options()
-    ("uri,u", po::value<std::string>(&args.openNIDeviceURI)->default_value("Default"), "OpenNI device URI")
-  ;
+  cameraOptions.add_options()(
+      "uri,u", po::value<std::string>(&args.openNIDeviceURI)->default_value("Default"), "OpenNI device URI");
 
   po::options_description diskSequenceOptions("Disk sequence options");
-  diskSequenceOptions.add_options()
-    ("depthMask,d", po::value<std::vector<std::string> >(&args.depthImageMasks)->multitoken(), "depth image mask")
-    ("initialFrame,n", po::value<std::vector<size_t> >(&args.initialFrameNumbers)->multitoken(), "initial frame numbers")
-    ("poseMask,p", po::value<std::vector<std::string> >(&args.poseFileMasks)->multitoken(), "pose file mask")
-    ("prefetchBufferCapacity,b", po::value<size_t>(&args.prefetchBufferCapacity)->default_value(60), "capacity of the prefetch buffer")
-    ("rgbMask,r", po::value<std::vector<std::string> >(&args.rgbImageMasks)->multitoken(), "RGB image mask")
-    ("sequenceSpecifier,s", po::value<std::vector<std::string> >(&args.sequenceSpecifiers)->multitoken(), "sequence specifier")
-    ("sequenceType", po::value<std::vector<std::string> >(&args.sequenceTypes)->multitoken(), "sequence type")
-  ;
+  diskSequenceOptions.add_options()(
+      "depthMask,d", po::value<std::vector<std::string>>(&args.depthImageMasks)->multitoken(), "depth image mask")(
+      "initialFrame,n",
+      po::value<std::vector<size_t>>(&args.initialFrameNumbers)->multitoken(),
+      "initial frame numbers")("poseMask,p",
+                               po::value<std::vector<std::string>>(&args.poseFileMasks)->multitoken(),
+                               "pose file mask")("prefetchBufferCapacity,b",
+                                                 po::value<size_t>(&args.prefetchBufferCapacity)->default_value(60),
+                                                 "capacity of the prefetch buffer")(
+      "rgbMask,r", po::value<std::vector<std::string>>(&args.rgbImageMasks)->multitoken(), "RGB image mask")(
+      "sequenceSpecifier,s",
+      po::value<std::vector<std::string>>(&args.sequenceSpecifiers)->multitoken(),
+      "sequence specifier")(
+      "sequenceType", po::value<std::vector<std::string>>(&args.sequenceTypes)->multitoken(), "sequence type");
 
   po::options_description objectivePipelineOptions("Objective pipeline options");
-  objectivePipelineOptions.add_options()
-    ("trackObject", po::bool_switch(&args.trackObject), "track the object")
-  ;
+  objectivePipelineOptions.add_options()("trackObject", po::bool_switch(&args.trackObject), "track the object");
 
   po::options_description options;
   options.add(genericOptions);
@@ -763,7 +849,7 @@ bool parse_command_line(int argc, char *argv[], CommandLineArguments& args, cons
  * \param message The error message.
  * \param code    The exit code.
  */
-void quit(const std::string& message, int code = EXIT_FAILURE)
+void quit(const std::string &message, int code = EXIT_FAILURE)
 {
   std::cerr << message << '\n';
   SDL_Quit();
@@ -795,15 +881,15 @@ try
       quit("Error: Failed to initialise SDL.");
     }
 
-  #ifdef WITH_GLUT
+#ifdef WITH_GLUT
     // Initialise GLUT (used for text rendering only).
     glutInit(&argc, argv);
-  #endif
+#endif
 
-  #ifdef WITH_OVR
+#ifdef WITH_OVR
     // If we built with Rift support, initialise the Rift SDK.
     ovr_Initialize();
-  #endif
+#endif
   }
 
   // Find all available joysticks and report the number found to the user.
@@ -827,7 +913,8 @@ try
   afcu::setNativeId(0);
 #endif
 
-  // Copy any scene parameters that have been set in the configuration file across to the actual scene parameters objects.
+  // Copy any scene parameters that have been set in the configuration file across to the actual scene parameters
+  // objects.
   copy_scene_params(settings);
   copy_surfel_scene_params(settings);
 
@@ -841,18 +928,20 @@ try
   MappingServer_Ptr mappingServer;
   if(args.runServer)
   {
-    const MappingServer::Mode mode = args.pipelineType == "collaborative" ? MappingServer::SM_MULTI_CLIENT : MappingServer::SM_SINGLE_CLIENT;
+    const MappingServer::Mode mode =
+        args.pipelineType == "collaborative" ? MappingServer::SM_MULTI_CLIENT : MappingServer::SM_SINGLE_CLIENT;
     mappingServer.reset(new MappingServer(mode));
     mappingServer->start();
   }
 
   // Construct the pipeline.
   MultiScenePipeline_Ptr pipeline;
-  if(args.pipelineType != "collaborative")
+  /*if(args.pipelineType != "collaborative")
   {
     const size_t maxLabelCount = 10;
     SLAMComponent::MappingMode mappingMode = args.mapSurfels ? SLAMComponent::MAP_BOTH : SLAMComponent::MAP_VOXELS_ONLY;
-    SLAMComponent::TrackingMode trackingMode = args.trackSurfels ? SLAMComponent::TRACK_SURFELS : SLAMComponent::TRACK_VOXELS;
+    SLAMComponent::TrackingMode trackingMode = args.trackSurfels ? SLAMComponent::TRACK_SURFELS :
+  SLAMComponent::TRACK_VOXELS;
 
     if(args.pipelineType == "slam")
     {
@@ -867,131 +956,102 @@ try
         args.detectFiducials
       ));
     }
-    else if(args.pipelineType == "semantic")
-    {
-      const unsigned int seed = 12345;
-      pipeline.reset(new SemanticPipeline(
-        settings,
-        Application::resources_dir().string(),
-        maxLabelCount,
-        make_image_source_engine(args),
-        seed,
-        make_tracker_config(args),
-        mappingMode,
-        trackingMode,
-        args.modelDir,
-        args.detectFiducials
-      ));
-    }
-    else if(args.pipelineType == "objective")
-    {
-      pipeline.reset(new ObjectivePipeline(
-        settings,
-        Application::resources_dir().string(),
-        maxLabelCount,
-        make_image_source_engine(args),
-        make_tracker_config(args),
-        mappingMode,
-        trackingMode,
-        args.detectFiducials,
-        !args.trackObject
-      ));
-    }
-    else throw std::runtime_error("Unknown pipeline type: " + args.pipelineType);
   }
   else
+  {*/
+  // Set a reasonable default for the voxel size (this can be overridden using a configuration file).
+  if(!settings->has_values("SceneParams.voxelSize"))
   {
-    // Set a reasonable default for the voxel size (this can be overridden using a configuration file).
-    if(!settings->has_values("SceneParams.voxelSize"))
-    {
-      settings->sceneParams.voxelSize = 0.015f;
-      settings->sceneParams.mu = settings->sceneParams.voxelSize * 4;
-    }
-
-    // Set up the image source engines, mapping modes, tracking modes and tracker configurations.
-    std::vector<CompositeImageSourceEngine_Ptr> imageSourceEngines;
-    std::vector<SLAMComponent::MappingMode> mappingModes;
-    std::vector<SLAMComponent::TrackingMode> trackingModes;
-    std::vector<std::string> trackerConfigs;
-
-    // Add an image source engine for each disk sequence specified.
-    for(size_t i = 0; i < args.sequences.size(); ++i)
-    {
-      const bf::path calibrationPath = args.sequences[i]->default_calib_path();
-      const std::string calibrationFilename = bf::exists(calibrationPath) ? calibrationPath.string() : args.calibrationFilename;
-
-      std::cout << "[spaint] Adding local agent for disk sequence: " << *args.sequences[i] << '\n';
-      CompositeImageSourceEngine_Ptr imageSourceEngine(new CompositeImageSourceEngine);
-      imageSourceEngine->addSubengine(new AsyncImageSourceEngine(args.sequences[i]->make_image_source_engine(calibrationFilename), args.prefetchBufferCapacity));
+    settings->sceneParams.voxelSize = 0.015f;
+    settings->sceneParams.mu = settings->sceneParams.voxelSize * 4;
+  }
 
-      imageSourceEngines.push_back(imageSourceEngine);
-    }
+  // Set up the image source engines, mapping modes, tracking modes and tracker configurations.
+  std::vector<CompositeImageSourceEngine_Ptr> imageSourceEngines = make_image_source_engines(args);
+  std::vector<SLAMComponent::MappingMode> mappingModes;
+  std::vector<SLAMComponent::TrackingMode> trackingModes;
+  std::vector<std::string> trackerConfigs;
 
-    // Set up the mapping modes, tracking modes and tracker configurations.
-    for(size_t i = 0, size = imageSourceEngines.size(); i < size; ++i)
-    {
-      mappingModes.push_back(args.mapSurfels ? SLAMComponent::MAP_BOTH : SLAMComponent::MAP_VOXELS_ONLY);
-      trackingModes.push_back(args.trackSurfels ? SLAMComponent::TRACK_SURFELS : SLAMComponent::TRACK_VOXELS);
+  // Add an image source engine for each disk sequence specified.
+  /*for(size_t i = 0; i < args.sequences.size(); ++i)
+  {
+    const bf::path calibrationPath = args.sequences[i]->default_calib_path();
+    const std::string calibrationFilename = bf::exists(calibrationPath) ? calibrationPath.string() :
+  args.calibrationFilename;
 
-      // FIXME: We don't always want to read the poses from disk - make it possible to run the normal tracker instead.
-      trackerConfigs.push_back(args.sequences[i]->make_disk_tracker_config());
-    }
+    std::cout << "[spaint] Adding local agent for disk sequence: " << *args.sequences[i] << '\n';
+    CompositeImageSourceEngine_Ptr imageSourceEngine(new CompositeImageSourceEngine);
+    imageSourceEngine->addSubengine(new
+  AsyncImageSourceEngine(args.sequences[i]->make_image_source_engine(calibrationFilename),
+  args.prefetchBufferCapacity));
 
-    // Construct the pipeline itself.
-    const CollaborationMode collaborationMode = args.collaborationMode == "batch" ? CM_BATCH : CM_LIVE;
-    pipeline.reset(new CollaborativePipeline(
-      settings,
-      Application::resources_dir().string(),
-      imageSourceEngines,
-      trackerConfigs,
-      mappingModes,
-      trackingModes,
-      args.detectFiducials,
-      mappingServer,
-      collaborationMode
-    ));
-  }
+    imageSourceEngines.push_back(imageSourceEngine);
+  }*/
 
-  // If a remote host was specified, set up a mapping client for the world scene.
-  if(args.host != "")
+  // Set up the mapping modes, tracking modes and tracker configurations.
+  for(size_t i = 0, size = imageSourceEngines.size(); i < size; ++i)
   {
-    std::cout << "Setting mapping client for host '" << args.host << "' and port '" << args.port << "'\n";
-    const pooled_queue::PoolEmptyStrategy poolEmptyStrategy = settings->get_first_value<pooled_queue::PoolEmptyStrategy>("MappingClient.poolEmptyStrategy", pooled_queue::PES_DISCARD);
-    pipeline->set_mapping_client(Model::get_world_scene_id(), MappingClient_Ptr(new MappingClient(args.host, args.port, poolEmptyStrategy)));
+    mappingModes.push_back(args.mapSurfels ? SLAMComponent::MAP_BOTH : SLAMComponent::MAP_VOXELS_ONLY);
+    trackingModes.push_back(args.trackSurfels ? SLAMComponent::TRACK_SURFELS : SLAMComponent::TRACK_VOXELS);
+
+    // FIXME: We don't always want to read the poses from disk - make it possible to run the normal tracker instead.
+    trackerConfigs.push_back(args.sequences[i]->make_disk_tracker_config());
+    // trackerConfigs.push_back(make_tracker_config(args));
   }
 
+  // Construct the pipeline itself.
+  // const CollaborationMode collaborationMode = args.collaborationMode == "batch" ? CM_BATCH : CM_LIVE;
+  // set batch mode as default
+  const CollaborationMode collaborationMode = CM_BATCH;
+
+  map<std::string, std::string> sceneDirs;
+  sceneDirs.insert(pair<std::string, std::string>("World", ("./" + args.scene1 / "model").string()));
+  sceneDirs.insert(pair<std::string, std::string>("Local1", ("./" + args.scene2 / "model").string()));
+
+  pipeline.reset(new CollaborativePipeline(settings,
+                                           Application::resources_dir().string(),
+                                           imageSourceEngines,
+                                           trackerConfigs,
+                                           mappingModes,
+                                           trackingModes,
+                                           args.detectFiducials,
+                                           mappingServer,
+                                           collaborationMode,
+                                           sceneDirs));
+    // }
+  
 #ifdef WITH_LEAP
-  // Set the ID of the fiducial to use for the Leap Motion (if any).
-  pipeline->get_model()->set_leap_fiducial_id(args.leapFiducialID);
+    // Set the ID of the fiducial to use for the Leap Motion (if any).
+    pipeline->get_model()->set_leap_fiducial_id(args.leapFiducialID);
 #endif
 
-  // Configure and run the application.
-  Application app(pipeline, args.renderFiducials);
-  if(args.batch) app.set_batch_mode_enabled(true);
-  if(args.runServer) app.set_server_mode_enabled(true);
-  app.set_save_memory_usage(args.profileMemory);
-  app.set_save_mesh_on_exit(args.saveMeshOnExit);
-  app.set_save_models_on_exit(args.saveModelsOnExit);
-  bool runSucceeded = app.run();
+    // Configure and run the application.
+    Application app(pipeline, args.renderFiducials);
+    if(args.batch) app.set_batch_mode_enabled(true);
+    if(args.runServer) app.set_server_mode_enabled(true);
+    app.set_save_memory_usage(args.profileMemory);
+    app.set_save_mesh_on_exit(args.saveMeshOnExit);
+    app.set_save_models_on_exit(args.saveModelsOnExit);
+    bool runSucceeded = app.run();
 
-  // Close all open joysticks.
-  joysticks.clear();
+    // Close all open joysticks.
+    joysticks.clear();
 
-  // If we're not running in headless mode, shut down the GUI-only subsystems.
-  if(!args.headless)
-  {
-  #ifdef WITH_OVR
-    // If we built with Rift support, shut down the Rift SDK.
-    ovr_Shutdown();
-  #endif
+    // If we're not running in headless mode, shut down the GUI-only subsystems.
+    if(!args.headless)
+    {
+    #ifdef WITH_OVR
+      // If we built with Rift support, shut down the Rift SDK.
+      ovr_Shutdown();
+    #endif
 
-    // Shut down SDL.
-    SDL_Quit();
-  }
+      // Shut down SDL.
+      SDL_Quit();
+    }
 
-  return runSucceeded ? EXIT_SUCCESS : EXIT_FAILURE;
+    return runSucceeded ? EXIT_SUCCESS : EXIT_FAILURE;
 }
-catch(std::exception& e)
+catch(std::exception &e)
 {
   std::cerr << e.what() << '\n';
   return EXIT_FAILURE;
diff --git a/apps/spaintgui/sequences/SpaintSequence.cpp b/apps/spaintgui/sequences/SpaintSequence.cpp
index aeefd44..c8ca35d 100644
--- a/apps/spaintgui/sequences/SpaintSequence.cpp
+++ b/apps/spaintgui/sequences/SpaintSequence.cpp
@@ -45,7 +45,12 @@ SpaintSequence::SpaintSequence(const bf::path& dir, size_t initialFrameNumber, d
   }
   else
   {
-    throw std::runtime_error("Error: The directory '" + dir.string() + "' does not contain depth images that follow a known naming convention.");
+    // throw std::runtime_error("Error: The directory '" + dir.string() + "' does not contain depth images that follow a known naming convention.");
+    //only need pose file
+    m_depthImageMask = "";
+    m_poseFileMask = (dir / "frame-%06i.pose.txt").string();
+    m_rgbImageMask = "";
+    m_semanticImageMask = "";
   }
 }
 
diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index 899fea7..9062f86 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -24,8 +24,8 @@
 
 namespace spaint {
 
-const int relocalisationThreadsCount = 4;
-const int bestCandidateMaxCount = 4;
+const int relocalisationThreadsCount = 1;
+const int bestCandidateMaxCount = 1;
 
 /**
  * \brief An instance of this pipeline component can be used to determine the relative poses between agents participating in collaborative SLAM.
diff --git a/modules/spaint/include/spaint/pipelinecomponents/SLAMComponent.h b/modules/spaint/include/spaint/pipelinecomponents/SLAMComponent.h
index 81a2dae..210b786 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/SLAMComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/SLAMComponent.h
@@ -194,6 +194,13 @@ class SLAMComponent
    */
   bool process_frame();
 
+  /**
+  * \brief Attempts to run the SLAM component for a single frame pose.
+  *
+  * \return  true, if a frame was processed, or false otherwise.
+  */
+  bool process_frame_pose();
+
   /**
    * \brief Resets the reconstructed scene.
    */
diff --git a/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp b/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
index 82e8b08..19dc409 100644
--- a/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
@@ -363,6 +363,204 @@ bool SLAMComponent::process_frame()
   return true;
 }
 
+bool SLAMComponent::process_frame_pose()
+{
+  const SLAMState_Ptr& slamState = m_context->get_slam_state(m_sceneID);
+  std::cout << "m_imageSourceEngine->hasImagesNow(): " << m_imageSourceEngine->hasImagesNow() << "\n";
+  if(m_imageSourceEngine->hasImagesNow())
+  {
+    slamState->set_input_status(SLAMState::IS_ACTIVE);
+  }
+  else
+  {
+    const SLAMState::InputStatus inputStatus = m_imageSourceEngine->hasMoreImages() ? SLAMState::IS_IDLE : SLAMState::IS_TERMINATED;
+
+    // If finish training is enabled and no more images are expected, let the relocaliser know that no more calls will be made to its train or update functions.
+    if(m_finishTrainingEnabled && inputStatus == SLAMState::IS_TERMINATED && slamState->get_input_status() != SLAMState::IS_TERMINATED)
+    {
+      m_context->get_relocaliser(m_sceneID)->finish_training();
+    }
+
+    slamState->set_input_status(inputStatus);
+
+    return false;
+  }
+  /*
+  const ORShortImage_Ptr& inputRawDepthImage = slamState->get_input_raw_depth_image();
+  const ORUChar4Image_Ptr& inputRGBImage = slamState->get_input_rgb_image();
+  const SurfelRenderState_Ptr& liveSurfelRenderState = slamState->get_live_surfel_render_state();
+  const VoxelRenderState_Ptr& liveVoxelRenderState = slamState->get_live_voxel_render_state();
+  const SpaintSurfelScene_Ptr& surfelScene = slamState->get_surfel_scene();
+  */
+
+  const TrackingState_Ptr& trackingState = slamState->get_tracking_state();
+  const View_Ptr& view = slamState->get_view();
+  const SpaintVoxelScene_Ptr& voxelScene = slamState->get_voxel_scene();
+
+  // Get the next frame.
+  ITMView *newView = view.get();
+  m_imageSourceEngine->getImages(inputRGBImage.get(), inputRawDepthImage.get());
+  const bool useBilateralFilter = m_trackingMode == TRACK_SURFELS;
+  m_viewBuilder->UpdateView(&newView, inputRGBImage.get(), inputRawDepthImage.get(), useBilateralFilter);
+  slamState->set_view(newView);
+
+  // If there's an active input mask of the right size, apply it to the depth image.
+  ORFloatImage_Ptr maskedDepthImage;
+  ORUCharImage_CPtr inputMask = m_context->get_slam_state(m_sceneID)->get_input_mask();
+  if(inputMask && inputMask->noDims == view->depth->noDims)
+  {
+    view->depth->UpdateHostFromDevice();
+    maskedDepthImage = SegmentationUtil::apply_mask(inputMask, ORFloatImage_CPtr(view->depth, boost::serialization::null_deleter()), -1.0f);
+    maskedDepthImage->UpdateDeviceFromHost();
+    view->depth->Swap(*maskedDepthImage);
+  }
+
+  // Make a note of the current pose in case tracking fails.
+  SE3Pose oldPose(*trackingState->pose_d);
+
+  // If we're mirroring the pose of another scene, copy the pose from that scene's tracking state.
+  // If not, use our own tracker to estimate the pose.
+  if(m_mirrorSceneID != "")
+  {
+    *trackingState->pose_d = m_context->get_slam_state(m_mirrorSceneID)->get_pose();
+    trackingState->trackerResult = ITMTrackingState::TRACKING_GOOD;
+  }
+  else
+  {
+    // Note: When using a normal tracker, it's safe to call this even before we've started fusion (it will be a no-op).
+    //       When using a file-based tracker, we *must* call it in order to correctly set the pose for the first frame.
+    std::cout << "this is m_trackingController\n";
+    m_trackingController->Track(trackingState.get(), view.get());
+  }
+
+  // If there was an active input mask, restore the original depth image after tracking.
+  if(maskedDepthImage) view->depth->Swap(*maskedDepthImage);
+
+  // Determine the tracking quality, taking into account the failure mode being used.
+
+  switch(m_context->get_settings()->behaviourOnFailure)
+  {
+    case ITMLibSettings::FAILUREMODE_RELOCALISE:
+    {
+      // Allow the relocaliser to either improve the pose, store a new keyframe or update its model.
+      process_relocalisation();
+      break;
+    }
+    case ITMLibSettings::FAILUREMODE_STOP_INTEGRATION:
+    {
+      // Since we're not using relocalisation, treat tracking failures like poor tracking,
+      // on the basis that it's better to try to keep going than to fail completely.
+      if(trackingState->trackerResult == ITMTrackingState::TRACKING_FAILED)
+      {
+        trackingState->trackerResult = ITMTrackingState::TRACKING_POOR;
+      }
+      break;
+    }
+    case ITMLibSettings::FAILUREMODE_IGNORE:
+    default:
+    {
+      // If we're completely ignoring poor or failed tracking, treat the tracking quality as good.
+      trackingState->trackerResult = ITMTrackingState::TRACKING_GOOD;
+      break;
+    }
+  }
+
+  // Decide whether or not fusion should be run.
+  bool runFusion = m_fusionEnabled;
+  std::cout << "this is runFuision: " << runFusion << "\n";
+  if(trackingState->trackerResult == ITMTrackingState::TRACKING_FAILED ||
+     (trackingState->trackerResult == ITMTrackingState::TRACKING_POOR && m_fusedFramesCount >= m_initialFramesToFuse) ||
+     (m_fallibleTracker && m_fallibleTracker->lost_tracking()))
+  {
+    runFusion = false;
+  }
+
+  // Decide whether or not we need to reset the visible list. This is necessary if we won't be rendering
+  // point clouds during tracking, since otherwise space carving won't work.
+  const bool resetVisibleList = !m_tracker->requiresPointCloudRendering();
+
+  if(runFusion)
+  {
+    // Run the fusion process.
+    m_denseVoxelMapper->ProcessFrame(view.get(), trackingState.get(), voxelScene.get(), liveVoxelRenderState.get(), resetVisibleList);
+    if(m_mappingMode != MAP_VOXELS_ONLY)
+    {
+      m_denseSurfelMapper->ProcessFrame(view.get(), trackingState.get(), surfelScene.get(), liveSurfelRenderState.get());
+    }
+
+    // If a mapping client is active:
+    const MappingClient_Ptr& mappingClient = m_context->get_mapping_client(m_sceneID);
+    if(mappingClient)
+    {
+      // Send the current frame to the remote mapping server.
+      MappingClient::RGBDFrameMessageQueue::PushHandler_Ptr pushHandler = mappingClient->begin_push_frame_message();
+      boost::optional<RGBDFrameMessage_Ptr&> elt = pushHandler->get();
+      if(elt)
+      {
+        RGBDFrameMessage& msg = **elt;
+        msg.set_frame_index(static_cast<int>(m_fusedFramesCount));
+        msg.set_pose(*trackingState->pose_d);
+        msg.set_rgb_image(inputRGBImage);
+        msg.set_depth_image(inputRawDepthImage);
+      }
+    }
+
+    ++m_fusedFramesCount;
+  }
+  else if(trackingState->trackerResult != ITMTrackingState::TRACKING_FAILED)
+  {
+    // If we're not fusing, but the tracking has not completely failed, update the list of visible blocks so that things are kept up to date.
+    m_denseVoxelMapper->UpdateVisibleList(view.get(), trackingState.get(), voxelScene.get(), liveVoxelRenderState.get(), resetVisibleList);
+  }
+  else
+  {
+    // If the tracking has completely failed, restore the pose from the previous frame.
+    *trackingState->pose_d = oldPose;
+  }
+
+  // Render from the live camera position to prepare for tracking in the next frame.
+  prepare_for_tracking(m_trackingMode);
+
+  // If we're using surfel mapping, render a supersampled index image to use when finding surfel correspondences in the next frame.
+  if(m_mappingMode != MAP_VOXELS_ONLY)
+  {
+    m_context->get_surfel_visualisation_engine()->FindSurfaceSuper(surfelScene.get(), trackingState->pose_d, &view->calib.intrinsics_d, USR_RENDER, liveSurfelRenderState.get());
+  }
+
+  // If we're using a composite image source engine, the current sub-engine has run out of images and we're not using global poses, disable fusion.
+  CompositeImageSourceEngine_CPtr compositeImageSourceEngine = boost::dynamic_pointer_cast<const CompositeImageSourceEngine>(m_imageSourceEngine);
+  const bool usingGlobalPoses = m_context->get_settings()->get_first_value<std::string>("globalPosesSpecifier", "") != "";
+  if(compositeImageSourceEngine && !compositeImageSourceEngine->getCurrentSubengine()->hasMoreImages() && !usingGlobalPoses) m_fusionEnabled = false;
+
+  // If we're using a fiducial detector and the user wants to detect fiducials and the tracking is good, try to detect fiducial markers
+  // in the current view of the scene and update the current set of fiducials that we're maintaining accordingly.
+  FiducialDetector_CPtr fiducialDetector = m_context->get_fiducial_detector(m_sceneID);
+  if(fiducialDetector && m_detectFiducials && trackingState->trackerResult == ITMTrackingState::TRACKING_GOOD)
+  {
+    slamState->update_fiducials(fiducialDetector->detect_fiducials(view, *trackingState->pose_d));
+  }
+
+#ifdef WITH_VICON
+  // If we're using a Vicon fiducial detector to calibrate the Vicon system, and a stable pose for the Vicon origin has newly been determined,
+  // store the relative transformation from world space to Vicon space.
+  const ViconInterface_Ptr& vicon = m_context->get_vicon();
+  if(vicon && !vicon->get_world_to_vicon_transform(m_sceneID) && boost::dynamic_pointer_cast<const ViconFiducialDetector>(fiducialDetector))
+  {
+    const std::map<std::string,Fiducial_Ptr>& fiducials = slamState->get_fiducials();
+    if(!fiducials.empty())
+    {
+      Fiducial_CPtr fiducial = fiducials.begin()->second;
+      if(fiducial->confidence() >= Fiducial::stable_confidence())
+      {
+        vicon->set_world_to_vicon_transform(m_sceneID, fiducial->pose().GetM());
+      }
+    }
+  }
+#endif
+
+  return true;
+}
+
 void SLAMComponent::reset_scene()
 {
   // Reset the scene.

From a7888eb3147636cdcaf9417418b088fa16981d2a Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Thu, 2 Feb 2023 03:48:42 -0500
Subject: [PATCH 19/55] successful build

---
 CMakeLists.txt.bak                            | 62 +++++++++++++++++++
 apps/spaintgui/core/CollaborativePipeline.cpp |  2 +-
 apps/spaintgui/core/CollaborativePipeline.h   |  6 +-
 apps/spaintgui/main.cpp                       | 25 +++++---
 4 files changed, 82 insertions(+), 13 deletions(-)
 create mode 100644 CMakeLists.txt.bak

diff --git a/CMakeLists.txt.bak b/CMakeLists.txt.bak
new file mode 100644
index 0000000..cf39e1c
--- /dev/null
+++ b/CMakeLists.txt.bak
@@ -0,0 +1,62 @@
+#######################################
+# Top-level CMakeLists.txt for spaint #
+#######################################
+
+cmake_minimum_required(VERSION 2.8)
+
+PROJECT(spaint)
+
+#############################
+# Enable C++11 if requested #
+#############################
+
+INCLUDE(cmake/OfferC++11Support.cmake)
+
+#################################
+# Add additional compiler flags #
+#################################
+
+IF(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-unused-local-typedefs")
+ENDIF(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+
+# If on Mac OS X 10.9 (Mavericks), disable the annoying deprecation warnings (e.g. for GLU).
+IF(${CMAKE_SYSTEM} MATCHES "Darwin-13.")
+  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
+ENDIF()
+
+#########################################
+# Specify the default install directory #
+#########################################
+
+IF(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+  SET(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR}/install CACHE PATH "" FORCE)
+ENDIF()
+
+##########################
+# Specify subdirectories #
+##########################
+
+ADD_SUBDIRECTORY(modules)
+
+OPTION(BUILD_APPS "Build the applications?" ON)
+OPTION(BUILD_AUXILIARY_APPS "Build the auxiliary applications?" ON)
+OPTION(BUILD_EVALUATION_MODULES "Build the evaluation modules?" ON)
+OPTION(BUILD_GROVE "Build grove?" OFF)
+OPTION(BUILD_GROVE_APPS "Build the applications associated with grove?" OFF)
+OPTION(BUILD_INFERMOUS "Build infermous?" OFF)
+OPTION(BUILD_RAFL_APPS "Build the applications associated with rafl?" OFF)
+OPTION(BUILD_RELOCVIS "Build relocvis?" OFF)
+OPTION(BUILD_SPAINT "Build spaint?" ON)
+OPTION(BUILD_SPAINT_APPS "Build the applications associated with spaint?" ON)
+OPTION(BUILD_SPAINTGUI_DEBUGHOOKS "Build the debug hooks in spaintgui?" OFF)
+OPTION(BUILD_TESTS "Build the tests?" ON)
+
+IF(BUILD_APPS)
+  ADD_SUBDIRECTORY(apps)
+ENDIF(BUILD_APPS)
+
+IF(BUILD_TESTS)
+  ENABLE_TESTING()
+  ADD_SUBDIRECTORY(tests)
+ENDIF()
diff --git a/apps/spaintgui/core/CollaborativePipeline.cpp b/apps/spaintgui/core/CollaborativePipeline.cpp
index 87b67cf..771a288 100644
--- a/apps/spaintgui/core/CollaborativePipeline.cpp
+++ b/apps/spaintgui/core/CollaborativePipeline.cpp
@@ -25,7 +25,7 @@ CollaborativePipeline::CollaborativePipeline(const Settings_Ptr &settings,
   : MultiScenePipeline("collaborative", settings, resourcesDir, 2, mappingServer), 
     m_collaborationStarted(false), 
     m_detectFiducials(detectFiducials),
-    // m_worldIsRemote(imageSourceEngines.empty())
+    // m_worldIsRemote(imageSourceEngines.empty()),
     m_worldIsRemote(false),
     m_sceneDirs(sceneDirs)
 {
diff --git a/apps/spaintgui/core/CollaborativePipeline.h b/apps/spaintgui/core/CollaborativePipeline.h
index e64d2cc..ab6caff 100644
--- a/apps/spaintgui/core/CollaborativePipeline.h
+++ b/apps/spaintgui/core/CollaborativePipeline.h
@@ -36,13 +36,15 @@ class CollaborativePipeline : public MultiScenePipeline
 
   //#################### CONSTRUCTORS ####################
 public:
-  CollaborativePipeline(const Settings_Ptr& settings, const std::string& resourcesDir,
+  CollaborativePipeline(const Settings_Ptr& settings, 
+						const std::string& resourcesDir,
                         const std::vector<CompositeImageSourceEngine_Ptr>& imageSourceEngines,
                         const std::vector<std::string>& trackerConfigs,
                         const std::vector<spaint::SLAMComponent::MappingMode>& mappingModes,
                         const std::vector<spaint::SLAMComponent::TrackingMode>& trackingModes,
                         bool detectFiducials = false, const itmx::MappingServer_Ptr& mappingServer = itmx::MappingServer_Ptr(),
-                        spaint::CollaborationMode collaborationMode = spaint::CM_LIVE);
+                        spaint::CollaborationMode collaborationMode = spaint::CM_LIVE, 
+						const std::map<std::string, std::string> &sceneDirs = std::map<std::string, std::string>());
 
   //#################### PUBLIC MEMBER FUNCTIONS ####################
 public:
diff --git a/apps/spaintgui/main.cpp b/apps/spaintgui/main.cpp
index 7bcbc78..e3baab2 100644
--- a/apps/spaintgui/main.cpp
+++ b/apps/spaintgui/main.cpp
@@ -6,6 +6,8 @@
 #include <cstdlib>
 #include <iostream>
 #include <string>
+#include <map>
+#include <utility>
 
 #include <boost/program_options.hpp>
 #include <boost/tokenizer.hpp>
@@ -490,20 +492,22 @@ boost::shared_ptr<CompositeImageSourceEngine> make_image_source_engine(const Com
 
 std::vector<CompositeImageSourceEngine_Ptr> make_image_source_engines(const CommandLineArguments &args)
 {
-  std::vector<CompositeImageSourceEngine_Ptr> imageSourceEngines;
-  if(args.scene1 && args.scene2)
+  std::vector<CompositeImageSourceEngine_Ptr> ImageSourceEngines;
+  if(args.scene1!="" && args.scene2!="")
   {
+	boost::filesystem::path current_path = boost::filesystem::current_path();
+
     CompositeImageSourceEngine_Ptr imageSourceEngine1(new CompositeImageSourceEngine);
-    const std::string calibrationFilename1 = ("./" + args.scene1 / "calib.txt").string();
+    const std::string calibrationFilename1 = ( current_path / args.scene1 / "calib.txt").string();
     imageSourceEngine1->addSubengine(new IdleImageSourceEngine(calibrationFilename1.c_str()));
-    ImageSourceEngines.push_back(ImageSourceEngine1);
+    ImageSourceEngines.push_back(imageSourceEngine1);
 
     CompositeImageSourceEngine_Ptr imageSourceEngine2(new CompositeImageSourceEngine);
-    const std::string calibrationFilename2 = ("./" + args.scene2 / "calib.txt").string();
+    const std::string calibrationFilename2 = (current_path / args.scene2 / "calib.txt").string();
     imageSourceEngine2->addSubengine(new IdleImageSourceEngine(calibrationFilename2.c_str()));
-    ImageSourceEngines.push_back(ImageSourceEngine2);
+    ImageSourceEngines.push_back(imageSourceEngine2);
   }
-  return imageSourceEngines;
+  return ImageSourceEngines;
 }
 
 /**
@@ -1004,9 +1008,10 @@ try
   // set batch mode as default
   const CollaborationMode collaborationMode = CM_BATCH;
 
-  map<std::string, std::string> sceneDirs;
-  sceneDirs.insert(pair<std::string, std::string>("World", ("./" + args.scene1 / "model").string()));
-  sceneDirs.insert(pair<std::string, std::string>("Local1", ("./" + args.scene2 / "model").string()));
+  std::map<std::string, std::string> sceneDirs;
+  boost::filesystem::path current_path = boost::filesystem::current_path();
+  sceneDirs.insert(std::pair<std::string, std::string>("World", (current_path / args.scene1 / "model").string()));
+  sceneDirs.insert(std::pair<std::string, std::string>("Local1", (current_path / args.scene2 / "model").string()));
 
   pipeline.reset(new CollaborativePipeline(settings,
                                            Application::resources_dir().string(),

From adca38db0ab12437dbf8fe93899f305858f64077 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Thu, 2 Feb 2023 03:49:26 -0500
Subject: [PATCH 20/55] rm unused file

---
 CMakeLists.txt.bak | 62 ----------------------------------------------
 1 file changed, 62 deletions(-)
 delete mode 100644 CMakeLists.txt.bak

diff --git a/CMakeLists.txt.bak b/CMakeLists.txt.bak
deleted file mode 100644
index cf39e1c..0000000
--- a/CMakeLists.txt.bak
+++ /dev/null
@@ -1,62 +0,0 @@
-#######################################
-# Top-level CMakeLists.txt for spaint #
-#######################################
-
-cmake_minimum_required(VERSION 2.8)
-
-PROJECT(spaint)
-
-#############################
-# Enable C++11 if requested #
-#############################
-
-INCLUDE(cmake/OfferC++11Support.cmake)
-
-#################################
-# Add additional compiler flags #
-#################################
-
-IF(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
-  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-unused-local-typedefs")
-ENDIF(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
-
-# If on Mac OS X 10.9 (Mavericks), disable the annoying deprecation warnings (e.g. for GLU).
-IF(${CMAKE_SYSTEM} MATCHES "Darwin-13.")
-  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
-ENDIF()
-
-#########################################
-# Specify the default install directory #
-#########################################
-
-IF(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
-  SET(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR}/install CACHE PATH "" FORCE)
-ENDIF()
-
-##########################
-# Specify subdirectories #
-##########################
-
-ADD_SUBDIRECTORY(modules)
-
-OPTION(BUILD_APPS "Build the applications?" ON)
-OPTION(BUILD_AUXILIARY_APPS "Build the auxiliary applications?" ON)
-OPTION(BUILD_EVALUATION_MODULES "Build the evaluation modules?" ON)
-OPTION(BUILD_GROVE "Build grove?" OFF)
-OPTION(BUILD_GROVE_APPS "Build the applications associated with grove?" OFF)
-OPTION(BUILD_INFERMOUS "Build infermous?" OFF)
-OPTION(BUILD_RAFL_APPS "Build the applications associated with rafl?" OFF)
-OPTION(BUILD_RELOCVIS "Build relocvis?" OFF)
-OPTION(BUILD_SPAINT "Build spaint?" ON)
-OPTION(BUILD_SPAINT_APPS "Build the applications associated with spaint?" ON)
-OPTION(BUILD_SPAINTGUI_DEBUGHOOKS "Build the debug hooks in spaintgui?" OFF)
-OPTION(BUILD_TESTS "Build the tests?" ON)
-
-IF(BUILD_APPS)
-  ADD_SUBDIRECTORY(apps)
-ENDIF(BUILD_APPS)
-
-IF(BUILD_TESTS)
-  ENABLE_TESTING()
-  ADD_SUBDIRECTORY(tests)
-ENDIF()

From 88bfcd99b39148ffabe11adc1ef587a3fe5cfb2c Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Thu, 2 Feb 2023 09:12:35 -0500
Subject: [PATCH 21/55] fixed calib file location

---
 apps/spaintgui/main.cpp                     | 7 +++++--
 apps/spaintgui/sequences/SpaintSequence.cpp | 1 -
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/apps/spaintgui/main.cpp b/apps/spaintgui/main.cpp
index e3baab2..0ceb149 100644
--- a/apps/spaintgui/main.cpp
+++ b/apps/spaintgui/main.cpp
@@ -498,12 +498,15 @@ std::vector<CompositeImageSourceEngine_Ptr> make_image_source_engines(const Comm
 	boost::filesystem::path current_path = boost::filesystem::current_path();
 
     CompositeImageSourceEngine_Ptr imageSourceEngine1(new CompositeImageSourceEngine);
-    const std::string calibrationFilename1 = ( current_path / args.scene1 / "calib.txt").string();
+	boost::filesystem::path calibrationPath = args.sequences[0]->default_calib_path();
+	const std::string calibrationFilename1 = calibrationPath.string();
+	std::cout << "this is calibrationFilename1: " << calibrationFilename1 << "\n";
     imageSourceEngine1->addSubengine(new IdleImageSourceEngine(calibrationFilename1.c_str()));
     ImageSourceEngines.push_back(imageSourceEngine1);
 
     CompositeImageSourceEngine_Ptr imageSourceEngine2(new CompositeImageSourceEngine);
-    const std::string calibrationFilename2 = (current_path / args.scene2 / "calib.txt").string();
+	calibrationPath = args.sequences[1]->default_calib_path();
+	const std::string calibrationFilename2 = calibrationPath.string();
     imageSourceEngine2->addSubengine(new IdleImageSourceEngine(calibrationFilename2.c_str()));
     ImageSourceEngines.push_back(imageSourceEngine2);
   }
diff --git a/apps/spaintgui/sequences/SpaintSequence.cpp b/apps/spaintgui/sequences/SpaintSequence.cpp
index c8ca35d..5932470 100644
--- a/apps/spaintgui/sequences/SpaintSequence.cpp
+++ b/apps/spaintgui/sequences/SpaintSequence.cpp
@@ -23,7 +23,6 @@ SpaintSequence::SpaintSequence(const bf::path& dir, size_t initialFrameNumber, d
   // Try to figure out the format of the sequence stored in the directory (we only check the depth images, since the colour ones might be missing).
   const bool sevenScenesNaming = bf::is_regular_file(dir / "frame-000000.depth.png");
   const bool spaintNaming = bf::is_regular_file(dir / "depthm000000.pgm");
-
   // Determine the depth/RGB/pose masks.
   if(sevenScenesNaming && spaintNaming)
   {

From fa00c749d97fe13467cf5ec842585308adcad96b Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Thu, 2 Feb 2023 09:59:31 -0500
Subject: [PATCH 22/55] begin debug

---
 apps/spaintgui/core/MultiScenePipeline.cpp    |     3 +-
 apps/spaintgui/sequences/SpaintSequence.cpp   |     4 +-
 .../src/pipelinecomponents/SLAMComponent.cpp  |    27 +-
 result                                        | 10834 ++++++++++++++++
 4 files changed, 10849 insertions(+), 19 deletions(-)
 create mode 100644 result

diff --git a/apps/spaintgui/core/MultiScenePipeline.cpp b/apps/spaintgui/core/MultiScenePipeline.cpp
index 46a2611..1b67efc 100644
--- a/apps/spaintgui/core/MultiScenePipeline.cpp
+++ b/apps/spaintgui/core/MultiScenePipeline.cpp
@@ -79,7 +79,8 @@ std::set<std::string> MultiScenePipeline::run_main_section()
   std::set<std::string> result;
   for(std::map<std::string,SLAMComponent_Ptr>::const_iterator it = m_slamComponents.begin(), iend = m_slamComponents.end(); it != iend; ++it)
   {
-    if(it->second->process_frame()) result.insert(it->first);
+    // if(it->second->process_frame()) result.insert(it->first);
+	if(it->second->process_frame_pose()) result.insert(it->first);
   }
   return result;
 }
diff --git a/apps/spaintgui/sequences/SpaintSequence.cpp b/apps/spaintgui/sequences/SpaintSequence.cpp
index 5932470..05dd086 100644
--- a/apps/spaintgui/sequences/SpaintSequence.cpp
+++ b/apps/spaintgui/sequences/SpaintSequence.cpp
@@ -21,6 +21,7 @@ SpaintSequence::SpaintSequence(const bf::path& dir, size_t initialFrameNumber, d
 : Sequence(initialFrameNumber), m_depthNoiseSigma(depthNoiseSigma), m_dir(dir), m_missingDepthFraction(missingDepthFraction)
 {
   // Try to figure out the format of the sequence stored in the directory (we only check the depth images, since the colour ones might be missing).
+  /*
   const bool sevenScenesNaming = bf::is_regular_file(dir / "frame-000000.depth.png");
   const bool spaintNaming = bf::is_regular_file(dir / "depthm000000.pgm");
   // Determine the depth/RGB/pose masks.
@@ -44,13 +45,14 @@ SpaintSequence::SpaintSequence(const bf::path& dir, size_t initialFrameNumber, d
   }
   else
   {
+  */
     // throw std::runtime_error("Error: The directory '" + dir.string() + "' does not contain depth images that follow a known naming convention.");
     //only need pose file
     m_depthImageMask = "";
     m_poseFileMask = (dir / "frame-%06i.pose.txt").string();
     m_rgbImageMask = "";
     m_semanticImageMask = "";
-  }
+  //}
 }
 
 SpaintSequence::SpaintSequence(const std::string& depthImageMask, const std::string& rgbImageMask, const std::string& poseFileMask, const std::string& semanticImageMask,
diff --git a/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp b/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
index 19dc409..f7d85a5 100644
--- a/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
@@ -388,23 +388,26 @@ bool SLAMComponent::process_frame_pose()
   /*
   const ORShortImage_Ptr& inputRawDepthImage = slamState->get_input_raw_depth_image();
   const ORUChar4Image_Ptr& inputRGBImage = slamState->get_input_rgb_image();
+  */
   const SurfelRenderState_Ptr& liveSurfelRenderState = slamState->get_live_surfel_render_state();
   const VoxelRenderState_Ptr& liveVoxelRenderState = slamState->get_live_voxel_render_state();
   const SpaintSurfelScene_Ptr& surfelScene = slamState->get_surfel_scene();
-  */
 
   const TrackingState_Ptr& trackingState = slamState->get_tracking_state();
   const View_Ptr& view = slamState->get_view();
   const SpaintVoxelScene_Ptr& voxelScene = slamState->get_voxel_scene();
 
   // Get the next frame.
+  /*
   ITMView *newView = view.get();
   m_imageSourceEngine->getImages(inputRGBImage.get(), inputRawDepthImage.get());
   const bool useBilateralFilter = m_trackingMode == TRACK_SURFELS;
   m_viewBuilder->UpdateView(&newView, inputRGBImage.get(), inputRawDepthImage.get(), useBilateralFilter);
   slamState->set_view(newView);
+  */
 
   // If there's an active input mask of the right size, apply it to the depth image.
+  /*
   ORFloatImage_Ptr maskedDepthImage;
   ORUCharImage_CPtr inputMask = m_context->get_slam_state(m_sceneID)->get_input_mask();
   if(inputMask && inputMask->noDims == view->depth->noDims)
@@ -414,12 +417,14 @@ bool SLAMComponent::process_frame_pose()
     maskedDepthImage->UpdateDeviceFromHost();
     view->depth->Swap(*maskedDepthImage);
   }
+  */
 
   // Make a note of the current pose in case tracking fails.
   SE3Pose oldPose(*trackingState->pose_d);
 
   // If we're mirroring the pose of another scene, copy the pose from that scene's tracking state.
   // If not, use our own tracker to estimate the pose.
+
   if(m_mirrorSceneID != "")
   {
     *trackingState->pose_d = m_context->get_slam_state(m_mirrorSceneID)->get_pose();
@@ -434,7 +439,7 @@ bool SLAMComponent::process_frame_pose()
   }
 
   // If there was an active input mask, restore the original depth image after tracking.
-  if(maskedDepthImage) view->depth->Swap(*maskedDepthImage);
+  // if(maskedDepthImage) view->depth->Swap(*maskedDepthImage);
 
   // Determine the tracking quality, taking into account the failure mode being used.
 
@@ -468,6 +473,7 @@ bool SLAMComponent::process_frame_pose()
   // Decide whether or not fusion should be run.
   bool runFusion = m_fusionEnabled;
   std::cout << "this is runFuision: " << runFusion << "\n";
+  std::cout << "this is trackingState->trackerResult: " << trackingState->trackerResult << "\n";
   if(trackingState->trackerResult == ITMTrackingState::TRACKING_FAILED ||
      (trackingState->trackerResult == ITMTrackingState::TRACKING_POOR && m_fusedFramesCount >= m_initialFramesToFuse) ||
      (m_fallibleTracker && m_fallibleTracker->lost_tracking()))
@@ -490,21 +496,6 @@ bool SLAMComponent::process_frame_pose()
 
     // If a mapping client is active:
     const MappingClient_Ptr& mappingClient = m_context->get_mapping_client(m_sceneID);
-    if(mappingClient)
-    {
-      // Send the current frame to the remote mapping server.
-      MappingClient::RGBDFrameMessageQueue::PushHandler_Ptr pushHandler = mappingClient->begin_push_frame_message();
-      boost::optional<RGBDFrameMessage_Ptr&> elt = pushHandler->get();
-      if(elt)
-      {
-        RGBDFrameMessage& msg = **elt;
-        msg.set_frame_index(static_cast<int>(m_fusedFramesCount));
-        msg.set_pose(*trackingState->pose_d);
-        msg.set_rgb_image(inputRGBImage);
-        msg.set_depth_image(inputRawDepthImage);
-      }
-    }
-
     ++m_fusedFramesCount;
   }
   else if(trackingState->trackerResult != ITMTrackingState::TRACKING_FAILED)
@@ -517,6 +508,8 @@ bool SLAMComponent::process_frame_pose()
     // If the tracking has completely failed, restore the pose from the previous frame.
     *trackingState->pose_d = oldPose;
   }
+  auto matrix = trackingState->pose_d->GetM();
+  std::cout << "matrix: " << matrix << "\n";
 
   // Render from the live camera position to prepare for tracking in the next frame.
   prepare_for_tracking(m_trackingMode);
diff --git a/result b/result
new file mode 100644
index 0000000..86766f6
--- /dev/null
+++ b/result
@@ -0,0 +1,10834 @@
+Binary file ./.git/index matches
+./modules/spaint/src/pipelinecomponents/SLAMComponent.cpp:  std::string trackerConfig = "<tracker type='infinitam'>";
+./modules/itmx/src/trackers/TrackerFactory.cpp:  if(trackerType == "infinitam")
+./README:  c) Build the infinitam_v3.5 branch of InfiniTAM using CMake (using <root>/InfiniTAM/InfiniTAM/build as your build directory).
+Binary file ./install/lib/liborx.a matches
+Binary file ./install/lib/libitmx.a matches
+Binary file ./install/lib/libspaint.a matches
+Binary file ./install/bin/apps/spaintgui/spaintgui matches
+./install/bin/apps/spaintgui/resources/trackerconfigs/ViconAbsolute.xml:  <tracker type='infinitam'/>
+./install/bin/apps/spaintgui/resources/trackerconfigs/ForceFail.xml:<tracker type='infinitam'>
+./install/bin/apps/spaintgui/resources/trackerconfigs/Rift.xml:  <tracker type='infinitam'/>
+./apps/spaintgui/resources/trackerconfigs/ViconAbsolute.xml:  <tracker type='infinitam'/>
+./apps/spaintgui/resources/trackerconfigs/ForceFail.xml:<tracker type='infinitam'>
+./apps/spaintgui/resources/trackerconfigs/Rift.xml:  <tracker type='infinitam'/>
+./apps/spaintgui/sequences/SpaintSequence.cpp:  return "<tracker type='infinitam'><params>type=file,mask=" + m_poseFileMask + ",initialFrameNo=" +
+./apps/spaintgui/main.cpp:        result += "<tracker type='infinitam'/>";
+./README.md:Our framework is built on top of [InfiniTAM v3.5](http://www.robots.ox.ac.uk/~victor/infinitam/index.html), a highly efficient, open-source 3D reconstruction engine developed by Oxford's [Active Vision Group](http://www.robots.ox.ac.uk/OxVisionLib). Anyone interested in InfiniTAM should contact [Victor Adrian Prisacariu](mailto:victor@viprad.net).
+./README.md:  3. Build the infinitam_v3.5 branch of InfiniTAM using CMake (using `<root>/InfiniTAM/InfiniTAM/build` as your build directory).
+./tests/scratch/infinitam/CMakeLists.txt:# CMakeLists.txt for scratch/infinitam #
+./tests/scratch/infinitam/CMakeLists.txt:SET(targetname scratchtest_infinitam)
+./tests/scratch/CMakeLists.txt:ADD_SUBDIRECTORY(infinitam)
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From f01802426a3a6cf26be3188a162613a6e4b30e09 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Thu, 2 Feb 2023 09:59:48 -0500
Subject: [PATCH 23/55] remove result

---
 result | 10834 -------------------------------------------------------
 1 file changed, 10834 deletions(-)
 delete mode 100644 result

diff --git a/result b/result
deleted file mode 100644
index 86766f6..0000000
--- a/result
+++ /dev/null
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-./build/CMakeFiles/Makefile.cmake:  "tests/scratch/infinitam/CMakeFiles/scratchtest_infinitam.dir/DependInfo.cmake"
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-./build/CMakeCache.txt:InfiniTAM_FernRelocLib_LIBRARY_DEBUG:FILEPATH=/home/tangshimei/reconstruction/infinitam/build/FernRelocLib/libFernRelocLib.a
-./build/CMakeCache.txt:InfiniTAM_FernRelocLib_LIBRARY_RELEASE:FILEPATH=/home/tangshimei/reconstruction/infinitam/build/FernRelocLib/libFernRelocLib.a
-./build/CMakeCache.txt:InfiniTAM_INCLUDE_DIR:PATH=/home/tangshimei/reconstruction/spaint/../infinitam
-./build/CMakeCache.txt:InfiniTAM_ITMLib_LIBRARY_DEBUG:FILEPATH=/home/tangshimei/reconstruction/infinitam/build/ITMLib/libITMLib.a
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-./build/CMakeCache.txt:InfiniTAM_InputSource_LIBRARY_DEBUG:FILEPATH=/home/tangshimei/reconstruction/infinitam/build/InputSource/libInputSource.a
-./build/CMakeCache.txt:InfiniTAM_InputSource_LIBRARY_RELEASE:FILEPATH=/home/tangshimei/reconstruction/infinitam/build/InputSource/libInputSource.a
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-./build/CMakeCache.txt:InfiniTAM_MiniSlamGraphLib_LIBRARY_RELEASE:FILEPATH=/home/tangshimei/reconstruction/infinitam/build/MiniSlamGraphLib/libMiniSlamGraphLib.a
-./build/CMakeCache.txt:InfiniTAM_ORUtils_LIBRARY_DEBUG:FILEPATH=/home/tangshimei/reconstruction/infinitam/build/ORUtils/libORUtils.a
-./build/CMakeCache.txt:InfiniTAM_ORUtils_LIBRARY_RELEASE:FILEPATH=/home/tangshimei/reconstruction/infinitam/build/ORUtils/libORUtils.a
-./cmake/UseGLUT.cmake:    FIND_PATH(GLUT_ROOT Readme.txt HINTS "${PROJECT_SOURCE_DIR}/../infinitam/freeglut")
-./cmake/UseRealSense.cmake:  FIND_PATH(RealSense_ROOT librealsense.vc12 HINTS "${PROJECT_SOURCE_DIR}/../infinitam/librealsense")
-./cmake/UseInfiniTAM.cmake:SET(InfiniTAM_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/../infinitam" CACHE PATH "The InfiniTAM include directory")
-./cmake/UseInfiniTAM.cmake:SET(InfiniTAM_BUILD_DIR "${PROJECT_SOURCE_DIR}/../infinitam/build" CACHE PATH "The InfiniTAM build directory")

From 4b782d38a174bcf67e7e432b73158df6ef2706bb Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Fri, 3 Feb 2023 03:17:48 -0500
Subject: [PATCH 24/55] begin to add pose cnt in tracker

---
 apps/spaintgui/core/MultiScenePipeline.cpp    |  1 +
 .../src/pipelinecomponents/SLAMComponent.cpp  | 29 +++++++++++++++----
 2 files changed, 24 insertions(+), 6 deletions(-)

diff --git a/apps/spaintgui/core/MultiScenePipeline.cpp b/apps/spaintgui/core/MultiScenePipeline.cpp
index 1b67efc..fb52d74 100644
--- a/apps/spaintgui/core/MultiScenePipeline.cpp
+++ b/apps/spaintgui/core/MultiScenePipeline.cpp
@@ -79,6 +79,7 @@ std::set<std::string> MultiScenePipeline::run_main_section()
   std::set<std::string> result;
   for(std::map<std::string,SLAMComponent_Ptr>::const_iterator it = m_slamComponents.begin(), iend = m_slamComponents.end(); it != iend; ++it)
   {
+	std::cout << "this is slamcomponent first: " << it->first << "\n";
     // if(it->second->process_frame()) result.insert(it->first);
 	if(it->second->process_frame_pose()) result.insert(it->first);
   }
diff --git a/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp b/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
index f7d85a5..4710edf 100644
--- a/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
@@ -6,6 +6,7 @@
 #include "pipelinecomponents/SLAMComponent.h"
 using namespace orx;
 
+#include <typeinfo>
 #include <boost/filesystem.hpp>
 #include <boost/serialization/extended_type_info.hpp>
 #include <boost/serialization/singleton.hpp>
@@ -373,16 +374,32 @@ bool SLAMComponent::process_frame_pose()
   }
   else
   {
-    const SLAMState::InputStatus inputStatus = m_imageSourceEngine->hasMoreImages() ? SLAMState::IS_IDLE : SLAMState::IS_TERMINATED;
-
+    // const SLAMState::InputStatus inputStatus = m_imageSourceEngine->hasMoreImages() ? SLAMState::IS_IDLE : SLAMState::IS_TERMINATED;
+	const SLAMState::InputStatus inputStatus = SLAMState::IS_TERMINATED;
     // If finish training is enabled and no more images are expected, let the relocaliser know that no more calls will be made to its train or update functions.
     if(m_finishTrainingEnabled && inputStatus == SLAMState::IS_TERMINATED && slamState->get_input_status() != SLAMState::IS_TERMINATED)
     {
       m_context->get_relocaliser(m_sceneID)->finish_training();
     }
-
-    slamState->set_input_status(inputStatus);
-
+	const SLAMState_Ptr& slamState = m_context->get_slam_state(m_sceneID);
+	auto pose = slamState->get_tracking_state()->pose_d->GetM();
+	std::cout << "this is " << m_sceneID << " pose: \n" << pose << "\n";
+    
+	slamState->set_input_status(inputStatus);
+
+	const TrackingState_Ptr& trackingState = slamState->get_tracking_state();
+	const View_Ptr& view = slamState->get_view();
+
+	SE3Pose oldPose(*trackingState->pose_d);
+
+	m_trackingController->Track(trackingState.get(), view.get());
+	std::cout << "1 this is " << m_sceneID << " pose: \n" << trackingState->pose_d->GetM() << "\n";
+	m_trackingController->Track(trackingState.get(), view.get());
+    std::cout << "2 this is " << m_sceneID << " pose: \n" << trackingState->pose_d->GetM() << "\n";
+	m_trackingController->Track(trackingState.get(), view.get());
+    std::cout << "3 this is " << m_sceneID << " pose: \n" << trackingState->pose_d->GetM() << "\n";
+	m_trackingController->Track(trackingState.get(), view.get());
+    std::cout << "4 this is " << m_sceneID << " pose: \n" << trackingState->pose_d->GetM() << "\n";
     return false;
   }
   /*
@@ -854,7 +871,7 @@ void SLAMComponent::setup_tracker()
   const SLAMState_Ptr& slamState = m_context->get_slam_state(m_sceneID);
   const Vector2i& depthImageSize = slamState->get_depth_image_size();
   const Vector2i& rgbImageSize = slamState->get_rgb_image_size();
-
+  
   m_imuCalibrator.reset(new ITMIMUCalibrator_iPad);
   m_tracker = m_context->get_tracker_factory().make_tracker_from_string(
     m_trackerConfig, m_sceneID, m_trackingMode == TRACK_SURFELS, rgbImageSize, depthImageSize, m_lowLevelEngine, m_imuCalibrator, settings, m_fallibleTracker, mappingServer

From 16f565441c8ca6bbe9fc589ae3e71264c3a8ab3e Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Fri, 3 Feb 2023 23:37:45 +0800
Subject: [PATCH 25/55] read pose from file to update tracjectory

---
 .vscode/settings.json                         |   6 +-
 apps/spaintgui/core/CollaborativePipeline.cpp |  15 +-
 apps/spaintgui/core/CollaborativePipeline.h   |   3 +-
 apps/spaintgui/main.cpp                       |  23 +-
 .../CollaborativeComponent.h                  |   3 +-
 .../spaint/pipelinecomponents/SLAMComponent.h |  13 +-
 .../include/spaint/slamstate/SLAMState.h      |  17 +
 .../CollaborativeComponent.cpp                |  20 +-
 .../src/pipelinecomponents/SLAMComponent.cpp  | 544 ++++++++++--------
 modules/spaint/src/slamstate/SLAMState.cpp    |  15 +
 10 files changed, 406 insertions(+), 253 deletions(-)

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 24412e1..e72afc6 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -64,6 +64,10 @@
         "xutility": "cpp",
         "ratio": "cpp",
         "stop_token": "cpp",
-        "thread": "cpp"
+        "thread": "cpp",
+        "condition_variable": "cpp",
+        "cstdarg": "cpp",
+        "mutex": "cpp",
+        "unordered_set": "cpp"
     }
 }
\ No newline at end of file
diff --git a/apps/spaintgui/core/CollaborativePipeline.cpp b/apps/spaintgui/core/CollaborativePipeline.cpp
index 771a288..8230f94 100644
--- a/apps/spaintgui/core/CollaborativePipeline.cpp
+++ b/apps/spaintgui/core/CollaborativePipeline.cpp
@@ -13,6 +13,7 @@ using namespace spaint;
 
 CollaborativePipeline::CollaborativePipeline(const Settings_Ptr &settings,
                                              const std::string &resourcesDir,
+                                             const std::map<std::string, int> &scenesPoseCnt,
                                              const std::vector<CompositeImageSourceEngine_Ptr> &imageSourceEngines,
                                              const std::vector<std::string> &trackerConfigs,
                                              const std::vector<SLAMComponent::MappingMode> &mappingModes,
@@ -45,10 +46,22 @@ CollaborativePipeline::CollaborativePipeline(const Settings_Ptr &settings,
   {
     const std::string sceneID = i == 0 ? Model::get_world_scene_id() : "Local" + boost::lexical_cast<std::string>(i);
     m_slamComponents[sceneID].reset(new SLAMComponent(
-        m_model, sceneID, imageSourceEngines[i], trackerConfigs[i], mappingModes[i], trackingModes[i], detectFiducials));
+        m_model, sceneID, imageSourceEngines[i], trackerConfigs[i], scenesPoseCnt[sceneID], mappingModes[i], trackingModes[i], detectFiducials));
     load_models(m_slamComponents[sceneID], m_sceneDirs[sceneID]);
   }
+  // load pose
+  /*
+    const TrackingController_Ptr &trackingController = m_slamComponents[sceneID].get_tracking_controller();
 
+    const SLAMState_Ptr &slamState = m_model->get_slam_state(sceneID);
+    const TrackingState_Ptr &trackingState = slamState->get_tracking_state();
+    const View_Ptr &view = slamState->get_view();
+
+    for (size_t j = 0, poseSize = scenesPoseCnt.size(); j<poseSize; ++j)
+    {
+      m_trackingController->Track(trackingState.get(), view.get());
+    }
+  */
   // Finally, we add a collaborative component to handle relocalisation between the different scenes.
   m_collaborativeComponent.reset(new CollaborativeComponent(m_model, collaborationMode));
 }
diff --git a/apps/spaintgui/core/CollaborativePipeline.h b/apps/spaintgui/core/CollaborativePipeline.h
index ab6caff..ad1e2ae 100644
--- a/apps/spaintgui/core/CollaborativePipeline.h
+++ b/apps/spaintgui/core/CollaborativePipeline.h
@@ -37,7 +37,8 @@ class CollaborativePipeline : public MultiScenePipeline
   //#################### CONSTRUCTORS ####################
 public:
   CollaborativePipeline(const Settings_Ptr& settings, 
-						const std::string& resourcesDir,
+						            const std::string& resourcesDir,
+                        const std::map<std::string, int>& scenesPoseCnt,
                         const std::vector<CompositeImageSourceEngine_Ptr>& imageSourceEngines,
                         const std::vector<std::string>& trackerConfigs,
                         const std::vector<spaint::SLAMComponent::MappingMode>& mappingModes,
diff --git a/apps/spaintgui/main.cpp b/apps/spaintgui/main.cpp
index 0ceb149..f30011f 100644
--- a/apps/spaintgui/main.cpp
+++ b/apps/spaintgui/main.cpp
@@ -1010,14 +1010,33 @@ try
   // const CollaborationMode collaborationMode = args.collaborationMode == "batch" ? CM_BATCH : CM_LIVE;
   // set batch mode as default
   const CollaborationMode collaborationMode = CM_BATCH;
+  std::vector<std::string> sceneIDs;
+  sceneIDs.push_back("World");
+  sceneIDs.push_back("Local1");
 
   std::map<std::string, std::string> sceneDirs;
   boost::filesystem::path current_path = boost::filesystem::current_path();
-  sceneDirs.insert(std::pair<std::string, std::string>("World", (current_path / args.scene1 / "model").string()));
-  sceneDirs.insert(std::pair<std::string, std::string>("Local1", (current_path / args.scene2 / "model").string()));
+  sceneDirs.insert(std::pair<std::string, std::string>(sceneIDs[0], (current_path / args.scene1 / "model").string()));
+  sceneDirs.insert(std::pair<std::string, std::string>(sceneIDs[1], (current_path / args.scene2 / "model").string()));
+
+  // only two scene to relocalise
+  std::map<std::string, int> scenesPoseCnt;
+  for(size_t i = 0, size = args.sequenceSpecifiers.size(); i < size; ++i)
+  {
+    const std::string &sequenceSpecifier = args.sequenceSpecifiers[i];
+    bf::path dir = sequenceSpecifier;
+    bf::directory_iterator endIter;
+    int count = 0;
+    for (bf::directory_iterator iter(dir); iter!=endIter; iter++) 
+    {
+      count++;
+    }
+    scenesPoseCnt.insert(std::pair<std::string, int>(sceneIDs[i], count-1));
+  }
 
   pipeline.reset(new CollaborativePipeline(settings,
                                            Application::resources_dir().string(),
+                                           
                                            imageSourceEngines,
                                            trackerConfigs,
                                            mappingModes,
diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index 9062f86..7e79620 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -106,7 +106,8 @@ class CollaborativeComponent
    * \param context The shared context needed for collaborative SLAM.
    * \param mode    The mode in which the collaborative reconstruction should run.
    */
-  CollaborativeComponent(const CollaborativeContext_Ptr& context, CollaborationMode mode);
+  CollaborativeComponent(const CollaborativeContext_Ptr& context, CollaborationMode mode, 
+                         const std::map<std::string, int> &scenesPoseCnt);
 
   //#################### DESTRUCTOR ####################
 public:
diff --git a/modules/spaint/include/spaint/pipelinecomponents/SLAMComponent.h b/modules/spaint/include/spaint/pipelinecomponents/SLAMComponent.h
index 210b786..597524e 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/SLAMComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/SLAMComponent.h
@@ -58,6 +58,9 @@ class SLAMComponent
   /** The shared context needed for SLAM. */
   SLAMContext_Ptr m_context;
 
+  /** Pose count for tracker*/
+  int m_poseCnt;
+
   /** The dense surfel mapper. */
   DenseSurfelMapper_Ptr m_denseSurfelMapper;
 
@@ -150,7 +153,8 @@ class SLAMComponent
    * \param trackingMode      The tracking mode to use.
    * \param detectFiducials   Whether or not to initially detect fiducials in the scene.
    */
-  SLAMComponent(const SLAMContext_Ptr& context, const std::string& sceneID, const ImageSourceEngine_Ptr& imageSourceEngine, const std::string& trackerConfig,
+  SLAMComponent(const SLAMContext_Ptr& context, const std::string& sceneID, 
+                const ImageSourceEngine_Ptr& imageSourceEngine, const std::string& trackerConfig,
                 MappingMode mappingMode = MAP_VOXELS_ONLY, TrackingMode trackingMode = TRACK_VOXELS, bool detectFiducials = false);
 
   //#################### PUBLIC MEMBER FUNCTIONS ####################
@@ -169,6 +173,13 @@ class SLAMComponent
    */
   const std::string& get_scene_id() const;
 
+   /**
+   * \brief Gets tracking controller of this SLAM component.
+   *
+   * \return  The tracking controller of this SLAM component.
+   */
+  const TrackingController_Ptr& get_tracking_controller() const;
+
   /**
    * \brief Replaces the SLAM component's voxel (and surfel model, if available) with ones loaded from the specified directory on disk.
    *
diff --git a/modules/spaint/include/spaint/slamstate/SLAMState.h b/modules/spaint/include/spaint/slamstate/SLAMState.h
index 131a298..2ef9e61 100644
--- a/modules/spaint/include/spaint/slamstate/SLAMState.h
+++ b/modules/spaint/include/spaint/slamstate/SLAMState.h
@@ -66,6 +66,9 @@ class SLAMState
   /** The current reconstructed surfel scene. */
   SpaintSurfelScene_Ptr m_surfelScene;
 
+  /** The tracking controller. */
+  TrackingController_Ptr m_trackingController;
+
   /** The current tracking state (containing the camera pose and additional tracking information used by InfiniTAM). */
   TrackingState_Ptr m_trackingState;
 
@@ -189,6 +192,13 @@ class SLAMState
    */
   SpaintSurfelScene_CPtr get_surfel_scene() const;
 
+  /**
+   * \brief Gets the current tracking state for the scene.
+   *
+   * \return  The current tracking state for the scene.
+   */
+  const TrackingController_Ptr& get_tracking_controller();
+
   /**
    * \brief Gets the current tracking state for the scene.
    *
@@ -287,6 +297,13 @@ class SLAMState
    */
   void set_surfel_scene(const SpaintSurfelScene_Ptr& surfelScene);
 
+    /**
+   * \brief Sets the current tracking controller.
+   *
+   * \param trackingState The new current tracking controller.
+   */
+  void set_tracking_controller(const TrackingController_Ptr& trackingController);
+
   /**
    * \brief Sets the current tracking state.
    *
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 366725a..d10e025 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -67,7 +67,8 @@ namespace spaint {
 
 //#################### CONSTRUCTORS ####################
 
-CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& context, CollaborationMode mode)
+CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& context, CollaborationMode mode, 
+                                               const std::map<std::string, int> &scenesPoseCnt)
 : m_context(context),
   m_frameIndex(0),
   m_mode(mode),
@@ -88,14 +89,27 @@ CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& c
   for (int i=0; i<relocalisationThreadsCount; i++) {
     cpu_set_t mask;
     CPU_ZERO(&mask);
-	std::cout << "for " << i << "relocalisationThread: " << i*average << "~" << (i+1)*average-1 << "\n"; 
+	  std::cout << "for " << i << "relocalisationThread: " << i*average << "~" << (i+1)*average-1 << "\n"; 
     for (int j=i*average; j<cpuCnt&&j<(i+1)*average; j++) {
       CPU_SET(j, &mask);
     }
     m_relocalisationThreads[i] = boost::thread(boost::bind(&CollaborativeComponent::run_relocalisation, this, mask));
   }
   // m_relocalisationThread = boost::thread(boost::bind(&CollaborativeComponent::run_relocalisation, this));
-
+  
+  // load pose from file
+  for (auto it : scenesPoseCnt) {
+    std::string sceneID = it->first;
+    const SLAMState_Ptr &slamState = m_context->get_slam_state(sceneID);
+    const TrackingState_Ptr &trackingState = slamState->get_tracking_state();
+    const View_Ptr &view = slamState->get_view();
+    const TrackingController_Ptr &trackingController = slamState->get_tracking_controller();
+    for (size_t i = 0, poseSize = it->second; i<poseSize; ++i) {
+      trackingController->Track(trackingState.get(), view.get());
+      m_trajectories[sceneIDs[i]].push_back(*trackingState->pose_d);
+    }
+  }
+  
   const std::string globalPosesSpecifier = settings->get_first_value<std::string>("globalPosesSpecifier", "");
   m_context->get_collaborative_pose_optimiser()->start(globalPosesSpecifier);
 }
diff --git a/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp b/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
index 4710edf..ade772a 100644
--- a/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
@@ -6,11 +6,11 @@
 #include "pipelinecomponents/SLAMComponent.h"
 using namespace orx;
 
-#include <typeinfo>
 #include <boost/filesystem.hpp>
 #include <boost/serialization/extended_type_info.hpp>
-#include <boost/serialization/singleton.hpp>
 #include <boost/serialization/shared_ptr.hpp>
+#include <boost/serialization/singleton.hpp>
+#include <typeinfo>
 namespace bf = boost::filesystem;
 
 #include <ITMLib/Engines/LowLevel/ITMLowLevelEngineFactory.h>
@@ -44,20 +44,26 @@ namespace spaint {
 
 //#################### CONSTRUCTORS ####################
 
-SLAMComponent::SLAMComponent(const SLAMContext_Ptr& context, const std::string& sceneID, const ImageSourceEngine_Ptr& imageSourceEngine,
-                             const std::string& trackerConfig, MappingMode mappingMode, TrackingMode trackingMode, bool detectFiducials)
-: m_context(context),
-  m_detectFiducials(detectFiducials),
-  m_fallibleTracker(NULL),
-  m_imageSourceEngine(imageSourceEngine),
-  m_initialFramesToFuse(50), // FIXME: This value should be passed in rather than hard-coded.
-  m_mappingMode(mappingMode),
-  m_relocaliserTrainingCount(0),
-  m_relocaliserTrainingSkip(0),
-  m_sceneID(sceneID),
-  m_settingsNamespace("SLAMComponent."),
-  m_trackerConfig(trackerConfig),
-  m_trackingMode(trackingMode)
+SLAMComponent::SLAMComponent(const SLAMContext_Ptr &context,
+                             const std::string &sceneID,
+                             const ImageSourceEngine_Ptr &imageSourceEngine,
+                             const std::string &trackerConfig,
+                             MappingMode mappingMode,
+                             TrackingMode trackingMode,
+                             bool detectFiducials)
+  : m_context(context)
+  , m_detectFiducials(detectFiducials)
+  , m_fallibleTracker(NULL)
+  , m_imageSourceEngine(imageSourceEngine)
+  , m_initialFramesToFuse(50)
+  , // FIXME: This value should be passed in rather than hard-coded.
+  m_mappingMode(mappingMode)
+  , m_relocaliserTrainingCount(0)
+  , m_relocaliserTrainingSkip(0)
+  , m_sceneID(sceneID)
+  , m_settingsNamespace("SLAMComponent.")
+  , m_trackerConfig(trackerConfig)
+  , m_trackingMode(trackingMode)
 {
   // Determine the RGB and depth image sizes.
   Vector2i rgbImageSize = m_imageSourceEngine->getRGBImageSize();
@@ -65,12 +71,12 @@ SLAMComponent::SLAMComponent(const SLAMContext_Ptr& context, const std::string&
   if(depthImageSize.x == -1 || depthImageSize.y == -1) depthImageSize = rgbImageSize;
 
   // Set up the RGB and raw depth images into which input is to be read each frame.
-  const SLAMState_Ptr& slamState = context->get_slam_state(sceneID);
+  const SLAMState_Ptr &slamState = context->get_slam_state(sceneID);
   slamState->set_input_rgb_image(ORUChar4Image_Ptr(new ORUChar4Image(rgbImageSize, true, true)));
   slamState->set_input_raw_depth_image(ORShortImage_Ptr(new ORShortImage(depthImageSize, true, true)));
 
   // Set up the low-level engine.
-  const Settings_CPtr& settings = context->get_settings();
+  const Settings_CPtr &settings = context->get_settings();
   m_lowLevelEngine.reset(ITMLowLevelEngineFactory::MakeLowLevelEngine(settings->deviceType));
 
   // Set up the view builder.
@@ -78,15 +84,16 @@ SLAMComponent::SLAMComponent(const SLAMContext_Ptr& context, const std::string&
 
   // Set up the scenes.
   MemoryDeviceType memoryType = settings->GetMemoryType();
-  slamState->set_voxel_scene(SpaintVoxelScene_Ptr(new SpaintVoxelScene(&settings->sceneParams, settings->swappingMode == ITMLibSettings::SWAPPINGMODE_ENABLED, memoryType)));
+  slamState->set_voxel_scene(SpaintVoxelScene_Ptr(new SpaintVoxelScene(
+      &settings->sceneParams, settings->swappingMode == ITMLibSettings::SWAPPINGMODE_ENABLED, memoryType)));
   if(mappingMode != MAP_VOXELS_ONLY)
   {
     slamState->set_surfel_scene(SpaintSurfelScene_Ptr(new SpaintSurfelScene(&settings->surfelSceneParams, memoryType)));
   }
 
   // Set up the dense mappers.
-  const SpaintVoxelScene_Ptr& voxelScene = slamState->get_voxel_scene();
-  m_denseVoxelMapper.reset(new ITMDenseMapper<SpaintVoxel,ITMVoxelIndex>(settings.get()));
+  const SpaintVoxelScene_Ptr &voxelScene = slamState->get_voxel_scene();
+  m_denseVoxelMapper.reset(new ITMDenseMapper<SpaintVoxel, ITMVoxelIndex>(settings.get()));
   if(mappingMode != MAP_VOXELS_ONLY)
   {
     m_denseSurfelMapper.reset(new ITMDenseSurfelMapper<SpaintSurfel>(depthImageSize, settings->deviceType));
@@ -96,16 +103,19 @@ SLAMComponent::SLAMComponent(const SLAMContext_Ptr& context, const std::string&
   setup_tracker();
   m_trackingController.reset(new ITMTrackingController(m_tracker.get(), settings.get()));
   const Vector2i trackedImageSize = m_trackingController->GetTrackedImageSize(rgbImageSize, depthImageSize);
+  slamState->set_tracking_controller(m_trackingController);
   slamState->set_tracking_state(TrackingState_Ptr(new ITMTrackingState(trackedImageSize, memoryType)));
 
   // Set up the relocaliser.
   setup_relocaliser();
 
   // Set up the live render states.
-  slamState->set_live_voxel_render_state(VoxelRenderState_Ptr(ITMRenderStateFactory<ITMVoxelIndex>::CreateRenderState(trackedImageSize, voxelScene->sceneParams, memoryType)));
+  slamState->set_live_voxel_render_state(VoxelRenderState_Ptr(
+      ITMRenderStateFactory<ITMVoxelIndex>::CreateRenderState(trackedImageSize, voxelScene->sceneParams, memoryType)));
   if(mappingMode != MAP_VOXELS_ONLY)
   {
-    slamState->set_live_surfel_render_state(SurfelRenderState_Ptr(new ITMSurfelRenderState(trackedImageSize, settings->surfelSceneParams.supersamplingFactor)));
+    slamState->set_live_surfel_render_state(SurfelRenderState_Ptr(
+        new ITMSurfelRenderState(trackedImageSize, settings->surfelSceneParams.supersamplingFactor)));
   }
 
   // Set up the scene.
@@ -123,36 +133,31 @@ SLAMComponent::SLAMComponent(const SLAMContext_Ptr& context, const std::string&
 
 //#################### PUBLIC MEMBER FUNCTIONS ####################
 
-bool SLAMComponent::get_fusion_enabled() const
-{
-  return m_fusionEnabled;
-}
+bool SLAMComponent::get_fusion_enabled() const { return m_fusionEnabled; }
 
-const std::string& SLAMComponent::get_scene_id() const
-{
-  return m_sceneID;
-}
+const std::string &SLAMComponent::get_scene_id() const { return m_sceneID; }
 
-void SLAMComponent::load_models(const std::string& inputDir)
+void SLAMComponent::load_models(const std::string &inputDir)
 {
   // Reset the scene.
   reset_scene();
 
   // Load the voxel model. Note that we have to add '/' to the directory in order to force
   // InfiniTAM's loading function to load the files from *inside* the specified folder.
-  const SLAMState_Ptr& slamState = m_context->get_slam_state(m_sceneID);
+  const SLAMState_Ptr &slamState = m_context->get_slam_state(m_sceneID);
   slamState->get_voxel_scene()->LoadFromDirectory(inputDir + "/");
 
-  // TODO: If we support surfel model loading at some point in the future, the surfel model should be loaded here as well.
+  // TODO: If we support surfel model loading at some point in the future, the surfel model should be loaded here as
+  // well.
 
   // Load the relocaliser.
   m_context->get_relocaliser(m_sceneID)->load_from_disk(inputDir);
 
   // Set up the view to allow the scene to be rendered without any frames needing to be processed.
   // We are aiming to roughly mirror what would happen if we reconstructed the scene frame-by-frame.
-  const ORShortImage_Ptr& inputRawDepthImage = slamState->get_input_raw_depth_image();
-  const ORUChar4Image_Ptr& inputRGBImage = slamState->get_input_rgb_image();
-  const View_Ptr& view = slamState->get_view();
+  const ORShortImage_Ptr &inputRawDepthImage = slamState->get_input_raw_depth_image();
+  const ORUChar4Image_Ptr &inputRGBImage = slamState->get_input_rgb_image();
+  const View_Ptr &view = slamState->get_view();
 
   ITMView *newView = view.get();
   inputRGBImage->Clear();
@@ -166,14 +171,11 @@ void SLAMComponent::load_models(const std::string& inputDir)
   set_fusion_enabled(false);
 }
 
-void SLAMComponent::mirror_pose_of(const std::string& mirrorSceneID)
-{
-  m_mirrorSceneID = mirrorSceneID;
-}
+void SLAMComponent::mirror_pose_of(const std::string &mirrorSceneID) { m_mirrorSceneID = mirrorSceneID; }
 
 bool SLAMComponent::process_frame()
 {
-  const SLAMState_Ptr& slamState = m_context->get_slam_state(m_sceneID);
+  const SLAMState_Ptr &slamState = m_context->get_slam_state(m_sceneID);
 
   if(m_imageSourceEngine->hasImagesNow())
   {
@@ -181,10 +183,13 @@ bool SLAMComponent::process_frame()
   }
   else
   {
-    const SLAMState::InputStatus inputStatus = m_imageSourceEngine->hasMoreImages() ? SLAMState::IS_IDLE : SLAMState::IS_TERMINATED;
+    const SLAMState::InputStatus inputStatus =
+        m_imageSourceEngine->hasMoreImages() ? SLAMState::IS_IDLE : SLAMState::IS_TERMINATED;
 
-    // If finish training is enabled and no more images are expected, let the relocaliser know that no more calls will be made to its train or update functions.
-    if(m_finishTrainingEnabled && inputStatus == SLAMState::IS_TERMINATED && slamState->get_input_status() != SLAMState::IS_TERMINATED)
+    // If finish training is enabled and no more images are expected, let the relocaliser know that no more calls will
+    // be made to its train or update functions.
+    if(m_finishTrainingEnabled && inputStatus == SLAMState::IS_TERMINATED &&
+       slamState->get_input_status() != SLAMState::IS_TERMINATED)
     {
       m_context->get_relocaliser(m_sceneID)->finish_training();
     }
@@ -194,14 +199,14 @@ bool SLAMComponent::process_frame()
     return false;
   }
 
-  const ORShortImage_Ptr& inputRawDepthImage = slamState->get_input_raw_depth_image();
-  const ORUChar4Image_Ptr& inputRGBImage = slamState->get_input_rgb_image();
-  const SurfelRenderState_Ptr& liveSurfelRenderState = slamState->get_live_surfel_render_state();
-  const VoxelRenderState_Ptr& liveVoxelRenderState = slamState->get_live_voxel_render_state();
-  const SpaintSurfelScene_Ptr& surfelScene = slamState->get_surfel_scene();
-  const TrackingState_Ptr& trackingState = slamState->get_tracking_state();
-  const View_Ptr& view = slamState->get_view();
-  const SpaintVoxelScene_Ptr& voxelScene = slamState->get_voxel_scene();
+  const ORShortImage_Ptr &inputRawDepthImage = slamState->get_input_raw_depth_image();
+  const ORUChar4Image_Ptr &inputRGBImage = slamState->get_input_rgb_image();
+  const SurfelRenderState_Ptr &liveSurfelRenderState = slamState->get_live_surfel_render_state();
+  const VoxelRenderState_Ptr &liveVoxelRenderState = slamState->get_live_voxel_render_state();
+  const SpaintSurfelScene_Ptr &surfelScene = slamState->get_surfel_scene();
+  const TrackingState_Ptr &trackingState = slamState->get_tracking_state();
+  const View_Ptr &view = slamState->get_view();
+  const SpaintVoxelScene_Ptr &voxelScene = slamState->get_voxel_scene();
 
   // Get the next frame.
   ITMView *newView = view.get();
@@ -216,7 +221,8 @@ bool SLAMComponent::process_frame()
   if(inputMask && inputMask->noDims == view->depth->noDims)
   {
     view->depth->UpdateHostFromDevice();
-    maskedDepthImage = SegmentationUtil::apply_mask(inputMask, ORFloatImage_CPtr(view->depth, boost::serialization::null_deleter()), -1.0f);
+    maskedDepthImage = SegmentationUtil::apply_mask(
+        inputMask, ORFloatImage_CPtr(view->depth, boost::serialization::null_deleter()), -1.0f);
     maskedDepthImage->UpdateDeviceFromHost();
     view->depth->Swap(*maskedDepthImage);
   }
@@ -244,29 +250,26 @@ bool SLAMComponent::process_frame()
   // Determine the tracking quality, taking into account the failure mode being used.
   switch(m_context->get_settings()->behaviourOnFailure)
   {
-    case ITMLibSettings::FAILUREMODE_RELOCALISE:
-    {
-      // Allow the relocaliser to either improve the pose, store a new keyframe or update its model.
-      process_relocalisation();
-      break;
-    }
-    case ITMLibSettings::FAILUREMODE_STOP_INTEGRATION:
-    {
-      // Since we're not using relocalisation, treat tracking failures like poor tracking,
-      // on the basis that it's better to try to keep going than to fail completely.
-      if(trackingState->trackerResult == ITMTrackingState::TRACKING_FAILED)
-      {
-        trackingState->trackerResult = ITMTrackingState::TRACKING_POOR;
-      }
-      break;
-    }
-    case ITMLibSettings::FAILUREMODE_IGNORE:
-    default:
+  case ITMLibSettings::FAILUREMODE_RELOCALISE: {
+    // Allow the relocaliser to either improve the pose, store a new keyframe or update its model.
+    process_relocalisation();
+    break;
+  }
+  case ITMLibSettings::FAILUREMODE_STOP_INTEGRATION: {
+    // Since we're not using relocalisation, treat tracking failures like poor tracking,
+    // on the basis that it's better to try to keep going than to fail completely.
+    if(trackingState->trackerResult == ITMTrackingState::TRACKING_FAILED)
     {
-      // If we're completely ignoring poor or failed tracking, treat the tracking quality as good.
-      trackingState->trackerResult = ITMTrackingState::TRACKING_GOOD;
-      break;
+      trackingState->trackerResult = ITMTrackingState::TRACKING_POOR;
     }
+    break;
+  }
+  case ITMLibSettings::FAILUREMODE_IGNORE:
+  default: {
+    // If we're completely ignoring poor or failed tracking, treat the tracking quality as good.
+    trackingState->trackerResult = ITMTrackingState::TRACKING_GOOD;
+    break;
+  }
   }
 
   // Decide whether or not fusion should be run.
@@ -285,22 +288,24 @@ bool SLAMComponent::process_frame()
   if(runFusion)
   {
     // Run the fusion process.
-    m_denseVoxelMapper->ProcessFrame(view.get(), trackingState.get(), voxelScene.get(), liveVoxelRenderState.get(), resetVisibleList);
+    m_denseVoxelMapper->ProcessFrame(
+        view.get(), trackingState.get(), voxelScene.get(), liveVoxelRenderState.get(), resetVisibleList);
     if(m_mappingMode != MAP_VOXELS_ONLY)
     {
-      m_denseSurfelMapper->ProcessFrame(view.get(), trackingState.get(), surfelScene.get(), liveSurfelRenderState.get());
+      m_denseSurfelMapper->ProcessFrame(
+          view.get(), trackingState.get(), surfelScene.get(), liveSurfelRenderState.get());
     }
 
     // If a mapping client is active:
-    const MappingClient_Ptr& mappingClient = m_context->get_mapping_client(m_sceneID);
+    const MappingClient_Ptr &mappingClient = m_context->get_mapping_client(m_sceneID);
     if(mappingClient)
     {
       // Send the current frame to the remote mapping server.
       MappingClient::RGBDFrameMessageQueue::PushHandler_Ptr pushHandler = mappingClient->begin_push_frame_message();
-      boost::optional<RGBDFrameMessage_Ptr&> elt = pushHandler->get();
+      boost::optional<RGBDFrameMessage_Ptr &> elt = pushHandler->get();
       if(elt)
       {
-        RGBDFrameMessage& msg = **elt;
+        RGBDFrameMessage &msg = **elt;
         msg.set_frame_index(static_cast<int>(m_fusedFramesCount));
         msg.set_pose(*trackingState->pose_d);
         msg.set_rgb_image(inputRGBImage);
@@ -312,8 +317,10 @@ bool SLAMComponent::process_frame()
   }
   else if(trackingState->trackerResult != ITMTrackingState::TRACKING_FAILED)
   {
-    // If we're not fusing, but the tracking has not completely failed, update the list of visible blocks so that things are kept up to date.
-    m_denseVoxelMapper->UpdateVisibleList(view.get(), trackingState.get(), voxelScene.get(), liveVoxelRenderState.get(), resetVisibleList);
+    // If we're not fusing, but the tracking has not completely failed, update the list of visible blocks so that things
+    // are kept up to date.
+    m_denseVoxelMapper->UpdateVisibleList(
+        view.get(), trackingState.get(), voxelScene.get(), liveVoxelRenderState.get(), resetVisibleList);
   }
   else
   {
@@ -324,19 +331,27 @@ bool SLAMComponent::process_frame()
   // Render from the live camera position to prepare for tracking in the next frame.
   prepare_for_tracking(m_trackingMode);
 
-  // If we're using surfel mapping, render a supersampled index image to use when finding surfel correspondences in the next frame.
+  // If we're using surfel mapping, render a supersampled index image to use when finding surfel correspondences in the
+  // next frame.
   if(m_mappingMode != MAP_VOXELS_ONLY)
   {
-    m_context->get_surfel_visualisation_engine()->FindSurfaceSuper(surfelScene.get(), trackingState->pose_d, &view->calib.intrinsics_d, USR_RENDER, liveSurfelRenderState.get());
+    m_context->get_surfel_visualisation_engine()->FindSurfaceSuper(
+        surfelScene.get(), trackingState->pose_d, &view->calib.intrinsics_d, USR_RENDER, liveSurfelRenderState.get());
   }
 
-  // If we're using a composite image source engine, the current sub-engine has run out of images and we're not using global poses, disable fusion.
-  CompositeImageSourceEngine_CPtr compositeImageSourceEngine = boost::dynamic_pointer_cast<const CompositeImageSourceEngine>(m_imageSourceEngine);
-  const bool usingGlobalPoses = m_context->get_settings()->get_first_value<std::string>("globalPosesSpecifier", "") != "";
-  if(compositeImageSourceEngine && !compositeImageSourceEngine->getCurrentSubengine()->hasMoreImages() && !usingGlobalPoses) m_fusionEnabled = false;
+  // If we're using a composite image source engine, the current sub-engine has run out of images and we're not using
+  // global poses, disable fusion.
+  CompositeImageSourceEngine_CPtr compositeImageSourceEngine =
+      boost::dynamic_pointer_cast<const CompositeImageSourceEngine>(m_imageSourceEngine);
+  const bool usingGlobalPoses =
+      m_context->get_settings()->get_first_value<std::string>("globalPosesSpecifier", "") != "";
+  if(compositeImageSourceEngine && !compositeImageSourceEngine->getCurrentSubengine()->hasMoreImages() &&
+     !usingGlobalPoses)
+    m_fusionEnabled = false;
 
-  // If we're using a fiducial detector and the user wants to detect fiducials and the tracking is good, try to detect fiducial markers
-  // in the current view of the scene and update the current set of fiducials that we're maintaining accordingly.
+  // If we're using a fiducial detector and the user wants to detect fiducials and the tracking is good, try to detect
+  // fiducial markers in the current view of the scene and update the current set of fiducials that we're maintaining
+  // accordingly.
   FiducialDetector_CPtr fiducialDetector = m_context->get_fiducial_detector(m_sceneID);
   if(fiducialDetector && m_detectFiducials && trackingState->trackerResult == ITMTrackingState::TRACKING_GOOD)
   {
@@ -344,12 +359,13 @@ bool SLAMComponent::process_frame()
   }
 
 #ifdef WITH_VICON
-  // If we're using a Vicon fiducial detector to calibrate the Vicon system, and a stable pose for the Vicon origin has newly been determined,
-  // store the relative transformation from world space to Vicon space.
-  const ViconInterface_Ptr& vicon = m_context->get_vicon();
-  if(vicon && !vicon->get_world_to_vicon_transform(m_sceneID) && boost::dynamic_pointer_cast<const ViconFiducialDetector>(fiducialDetector))
+  // If we're using a Vicon fiducial detector to calibrate the Vicon system, and a stable pose for the Vicon origin has
+  // newly been determined, store the relative transformation from world space to Vicon space.
+  const ViconInterface_Ptr &vicon = m_context->get_vicon();
+  if(vicon && !vicon->get_world_to_vicon_transform(m_sceneID) &&
+     boost::dynamic_pointer_cast<const ViconFiducialDetector>(fiducialDetector))
   {
-    const std::map<std::string,Fiducial_Ptr>& fiducials = slamState->get_fiducials();
+    const std::map<std::string, Fiducial_Ptr> &fiducials = slamState->get_fiducials();
     if(!fiducials.empty())
     {
       Fiducial_CPtr fiducial = fiducials.begin()->second;
@@ -366,7 +382,7 @@ bool SLAMComponent::process_frame()
 
 bool SLAMComponent::process_frame_pose()
 {
-  const SLAMState_Ptr& slamState = m_context->get_slam_state(m_sceneID);
+  const SLAMState_Ptr &slamState = m_context->get_slam_state(m_sceneID);
   std::cout << "m_imageSourceEngine->hasImagesNow(): " << m_imageSourceEngine->hasImagesNow() << "\n";
   if(m_imageSourceEngine->hasImagesNow())
   {
@@ -374,45 +390,47 @@ bool SLAMComponent::process_frame_pose()
   }
   else
   {
-    // const SLAMState::InputStatus inputStatus = m_imageSourceEngine->hasMoreImages() ? SLAMState::IS_IDLE : SLAMState::IS_TERMINATED;
-	const SLAMState::InputStatus inputStatus = SLAMState::IS_TERMINATED;
-    // If finish training is enabled and no more images are expected, let the relocaliser know that no more calls will be made to its train or update functions.
-    if(m_finishTrainingEnabled && inputStatus == SLAMState::IS_TERMINATED && slamState->get_input_status() != SLAMState::IS_TERMINATED)
+    // const SLAMState::InputStatus inputStatus = m_imageSourceEngine->hasMoreImages() ? SLAMState::IS_IDLE :
+    // SLAMState::IS_TERMINATED;
+    const SLAMState::InputStatus inputStatus = SLAMState::IS_TERMINATED;
+    // If finish training is enabled and no more images are expected, let the relocaliser know that no more calls will
+    // be made to its train or update functions.
+    if(m_finishTrainingEnabled && inputStatus == SLAMState::IS_TERMINATED &&
+       slamState->get_input_status() != SLAMState::IS_TERMINATED)
     {
       m_context->get_relocaliser(m_sceneID)->finish_training();
     }
-	const SLAMState_Ptr& slamState = m_context->get_slam_state(m_sceneID);
-	auto pose = slamState->get_tracking_state()->pose_d->GetM();
-	std::cout << "this is " << m_sceneID << " pose: \n" << pose << "\n";
-    
-	slamState->set_input_status(inputStatus);
+    const SLAMState_Ptr &slamState = m_context->get_slam_state(m_sceneID);
+    auto pose = slamState->get_tracking_state()->pose_d->GetM();
+    std::cout << "this is " << m_sceneID << " pose: \n" << pose << "\n";
 
-	const TrackingState_Ptr& trackingState = slamState->get_tracking_state();
-	const View_Ptr& view = slamState->get_view();
-
-	SE3Pose oldPose(*trackingState->pose_d);
+    slamState->set_input_status(inputStatus);
+    /*
+    const TrackingState_Ptr &trackingState = slamState->get_tracking_state();
+    const View_Ptr &view = slamState->get_view();
 
-	m_trackingController->Track(trackingState.get(), view.get());
-	std::cout << "1 this is " << m_sceneID << " pose: \n" << trackingState->pose_d->GetM() << "\n";
-	m_trackingController->Track(trackingState.get(), view.get());
+    std::cout << "1 this is " << m_sceneID << " pose: \n" << trackingState->pose_d->GetM() << "\n";
+    m_trackingController->Track(trackingState.get(), view.get());
     std::cout << "2 this is " << m_sceneID << " pose: \n" << trackingState->pose_d->GetM() << "\n";
-	m_trackingController->Track(trackingState.get(), view.get());
+    m_trackingController->Track(trackingState.get(), view.get());
     std::cout << "3 this is " << m_sceneID << " pose: \n" << trackingState->pose_d->GetM() << "\n";
-	m_trackingController->Track(trackingState.get(), view.get());
+    m_trackingController->Track(trackingState.get(), view.get());
     std::cout << "4 this is " << m_sceneID << " pose: \n" << trackingState->pose_d->GetM() << "\n";
+    */
+
     return false;
   }
   /*
   const ORShortImage_Ptr& inputRawDepthImage = slamState->get_input_raw_depth_image();
   const ORUChar4Image_Ptr& inputRGBImage = slamState->get_input_rgb_image();
   */
-  const SurfelRenderState_Ptr& liveSurfelRenderState = slamState->get_live_surfel_render_state();
-  const VoxelRenderState_Ptr& liveVoxelRenderState = slamState->get_live_voxel_render_state();
-  const SpaintSurfelScene_Ptr& surfelScene = slamState->get_surfel_scene();
+  const SurfelRenderState_Ptr &liveSurfelRenderState = slamState->get_live_surfel_render_state();
+  const VoxelRenderState_Ptr &liveVoxelRenderState = slamState->get_live_voxel_render_state();
+  const SpaintSurfelScene_Ptr &surfelScene = slamState->get_surfel_scene();
 
-  const TrackingState_Ptr& trackingState = slamState->get_tracking_state();
-  const View_Ptr& view = slamState->get_view();
-  const SpaintVoxelScene_Ptr& voxelScene = slamState->get_voxel_scene();
+  const TrackingState_Ptr &trackingState = slamState->get_tracking_state();
+  const View_Ptr &view = slamState->get_view();
+  const SpaintVoxelScene_Ptr &voxelScene = slamState->get_voxel_scene();
 
   // Get the next frame.
   /*
@@ -430,8 +448,8 @@ bool SLAMComponent::process_frame_pose()
   if(inputMask && inputMask->noDims == view->depth->noDims)
   {
     view->depth->UpdateHostFromDevice();
-    maskedDepthImage = SegmentationUtil::apply_mask(inputMask, ORFloatImage_CPtr(view->depth, boost::serialization::null_deleter()), -1.0f);
-    maskedDepthImage->UpdateDeviceFromHost();
+    maskedDepthImage = SegmentationUtil::apply_mask(inputMask, ORFloatImage_CPtr(view->depth,
+  boost::serialization::null_deleter()), -1.0f); maskedDepthImage->UpdateDeviceFromHost();
     view->depth->Swap(*maskedDepthImage);
   }
   */
@@ -462,29 +480,26 @@ bool SLAMComponent::process_frame_pose()
 
   switch(m_context->get_settings()->behaviourOnFailure)
   {
-    case ITMLibSettings::FAILUREMODE_RELOCALISE:
-    {
-      // Allow the relocaliser to either improve the pose, store a new keyframe or update its model.
-      process_relocalisation();
-      break;
-    }
-    case ITMLibSettings::FAILUREMODE_STOP_INTEGRATION:
-    {
-      // Since we're not using relocalisation, treat tracking failures like poor tracking,
-      // on the basis that it's better to try to keep going than to fail completely.
-      if(trackingState->trackerResult == ITMTrackingState::TRACKING_FAILED)
-      {
-        trackingState->trackerResult = ITMTrackingState::TRACKING_POOR;
-      }
-      break;
-    }
-    case ITMLibSettings::FAILUREMODE_IGNORE:
-    default:
+  case ITMLibSettings::FAILUREMODE_RELOCALISE: {
+    // Allow the relocaliser to either improve the pose, store a new keyframe or update its model.
+    process_relocalisation();
+    break;
+  }
+  case ITMLibSettings::FAILUREMODE_STOP_INTEGRATION: {
+    // Since we're not using relocalisation, treat tracking failures like poor tracking,
+    // on the basis that it's better to try to keep going than to fail completely.
+    if(trackingState->trackerResult == ITMTrackingState::TRACKING_FAILED)
     {
-      // If we're completely ignoring poor or failed tracking, treat the tracking quality as good.
-      trackingState->trackerResult = ITMTrackingState::TRACKING_GOOD;
-      break;
+      trackingState->trackerResult = ITMTrackingState::TRACKING_POOR;
     }
+    break;
+  }
+  case ITMLibSettings::FAILUREMODE_IGNORE:
+  default: {
+    // If we're completely ignoring poor or failed tracking, treat the tracking quality as good.
+    trackingState->trackerResult = ITMTrackingState::TRACKING_GOOD;
+    break;
+  }
   }
 
   // Decide whether or not fusion should be run.
@@ -505,20 +520,24 @@ bool SLAMComponent::process_frame_pose()
   if(runFusion)
   {
     // Run the fusion process.
-    m_denseVoxelMapper->ProcessFrame(view.get(), trackingState.get(), voxelScene.get(), liveVoxelRenderState.get(), resetVisibleList);
+    m_denseVoxelMapper->ProcessFrame(
+        view.get(), trackingState.get(), voxelScene.get(), liveVoxelRenderState.get(), resetVisibleList);
     if(m_mappingMode != MAP_VOXELS_ONLY)
     {
-      m_denseSurfelMapper->ProcessFrame(view.get(), trackingState.get(), surfelScene.get(), liveSurfelRenderState.get());
+      m_denseSurfelMapper->ProcessFrame(
+          view.get(), trackingState.get(), surfelScene.get(), liveSurfelRenderState.get());
     }
 
     // If a mapping client is active:
-    const MappingClient_Ptr& mappingClient = m_context->get_mapping_client(m_sceneID);
+    const MappingClient_Ptr &mappingClient = m_context->get_mapping_client(m_sceneID);
     ++m_fusedFramesCount;
   }
   else if(trackingState->trackerResult != ITMTrackingState::TRACKING_FAILED)
   {
-    // If we're not fusing, but the tracking has not completely failed, update the list of visible blocks so that things are kept up to date.
-    m_denseVoxelMapper->UpdateVisibleList(view.get(), trackingState.get(), voxelScene.get(), liveVoxelRenderState.get(), resetVisibleList);
+    // If we're not fusing, but the tracking has not completely failed, update the list of visible blocks so that things
+    // are kept up to date.
+    m_denseVoxelMapper->UpdateVisibleList(
+        view.get(), trackingState.get(), voxelScene.get(), liveVoxelRenderState.get(), resetVisibleList);
   }
   else
   {
@@ -531,19 +550,27 @@ bool SLAMComponent::process_frame_pose()
   // Render from the live camera position to prepare for tracking in the next frame.
   prepare_for_tracking(m_trackingMode);
 
-  // If we're using surfel mapping, render a supersampled index image to use when finding surfel correspondences in the next frame.
+  // If we're using surfel mapping, render a supersampled index image to use when finding surfel correspondences in the
+  // next frame.
   if(m_mappingMode != MAP_VOXELS_ONLY)
   {
-    m_context->get_surfel_visualisation_engine()->FindSurfaceSuper(surfelScene.get(), trackingState->pose_d, &view->calib.intrinsics_d, USR_RENDER, liveSurfelRenderState.get());
+    m_context->get_surfel_visualisation_engine()->FindSurfaceSuper(
+        surfelScene.get(), trackingState->pose_d, &view->calib.intrinsics_d, USR_RENDER, liveSurfelRenderState.get());
   }
 
-  // If we're using a composite image source engine, the current sub-engine has run out of images and we're not using global poses, disable fusion.
-  CompositeImageSourceEngine_CPtr compositeImageSourceEngine = boost::dynamic_pointer_cast<const CompositeImageSourceEngine>(m_imageSourceEngine);
-  const bool usingGlobalPoses = m_context->get_settings()->get_first_value<std::string>("globalPosesSpecifier", "") != "";
-  if(compositeImageSourceEngine && !compositeImageSourceEngine->getCurrentSubengine()->hasMoreImages() && !usingGlobalPoses) m_fusionEnabled = false;
+  // If we're using a composite image source engine, the current sub-engine has run out of images and we're not using
+  // global poses, disable fusion.
+  CompositeImageSourceEngine_CPtr compositeImageSourceEngine =
+      boost::dynamic_pointer_cast<const CompositeImageSourceEngine>(m_imageSourceEngine);
+  const bool usingGlobalPoses =
+      m_context->get_settings()->get_first_value<std::string>("globalPosesSpecifier", "") != "";
+  if(compositeImageSourceEngine && !compositeImageSourceEngine->getCurrentSubengine()->hasMoreImages() &&
+     !usingGlobalPoses)
+    m_fusionEnabled = false;
 
-  // If we're using a fiducial detector and the user wants to detect fiducials and the tracking is good, try to detect fiducial markers
-  // in the current view of the scene and update the current set of fiducials that we're maintaining accordingly.
+  // If we're using a fiducial detector and the user wants to detect fiducials and the tracking is good, try to detect
+  // fiducial markers in the current view of the scene and update the current set of fiducials that we're maintaining
+  // accordingly.
   FiducialDetector_CPtr fiducialDetector = m_context->get_fiducial_detector(m_sceneID);
   if(fiducialDetector && m_detectFiducials && trackingState->trackerResult == ITMTrackingState::TRACKING_GOOD)
   {
@@ -551,12 +578,13 @@ bool SLAMComponent::process_frame_pose()
   }
 
 #ifdef WITH_VICON
-  // If we're using a Vicon fiducial detector to calibrate the Vicon system, and a stable pose for the Vicon origin has newly been determined,
-  // store the relative transformation from world space to Vicon space.
-  const ViconInterface_Ptr& vicon = m_context->get_vicon();
-  if(vicon && !vicon->get_world_to_vicon_transform(m_sceneID) && boost::dynamic_pointer_cast<const ViconFiducialDetector>(fiducialDetector))
+  // If we're using a Vicon fiducial detector to calibrate the Vicon system, and a stable pose for the Vicon origin has
+  // newly been determined, store the relative transformation from world space to Vicon space.
+  const ViconInterface_Ptr &vicon = m_context->get_vicon();
+  if(vicon && !vicon->get_world_to_vicon_transform(m_sceneID) &&
+     boost::dynamic_pointer_cast<const ViconFiducialDetector>(fiducialDetector))
   {
-    const std::map<std::string,Fiducial_Ptr>& fiducials = slamState->get_fiducials();
+    const std::map<std::string, Fiducial_Ptr> &fiducials = slamState->get_fiducials();
     if(!fiducials.empty())
     {
       Fiducial_CPtr fiducial = fiducials.begin()->second;
@@ -574,7 +602,7 @@ bool SLAMComponent::process_frame_pose()
 void SLAMComponent::reset_scene()
 {
   // Reset the scene.
-  const SLAMState_Ptr& slamState = m_context->get_slam_state(m_sceneID);
+  const SLAMState_Ptr &slamState = m_context->get_slam_state(m_sceneID);
   m_denseVoxelMapper->ResetScene(slamState->get_voxel_scene().get());
   if(m_mappingMode != MAP_VOXELS_ONLY)
   {
@@ -593,7 +621,7 @@ void SLAMComponent::reset_scene()
   m_fusionEnabled = true;
 }
 
-void SLAMComponent::save_models(const std::string& outputDir) const
+void SLAMComponent::save_models(const std::string &outputDir) const
 {
   // If reconstruction hasn't started yet, early out.
   SLAMState_CPtr slamState = m_context->get_slam_state(m_sceneID);
@@ -608,7 +636,7 @@ void SLAMComponent::save_models(const std::string& outputDir) const
 
   // Save relevant settings to a configuration file.
   Settings_CPtr settings = m_context->get_settings();
-  const ITMSceneParams& sceneParams = settings->sceneParams;
+  const ITMSceneParams &sceneParams = settings->sceneParams;
   const std::string configFilename = outputDir + "/settings.ini";
   {
     std::ofstream fs(configFilename.c_str());
@@ -631,17 +659,11 @@ void SLAMComponent::save_models(const std::string& outputDir) const
   m_context->get_relocaliser(m_sceneID)->save_to_disk(outputDir);
 }
 
-void SLAMComponent::set_detect_fiducials(bool detectFiducials)
-{
-  m_detectFiducials = detectFiducials;
-}
+void SLAMComponent::set_detect_fiducials(bool detectFiducials) { m_detectFiducials = detectFiducials; }
 
-void SLAMComponent::set_fusion_enabled(bool fusionEnabled)
-{
-  m_fusionEnabled = fusionEnabled;
-}
+void SLAMComponent::set_fusion_enabled(bool fusionEnabled) { m_fusionEnabled = fusionEnabled; }
 
-void SLAMComponent::set_mapping_client(const MappingClient_Ptr& mappingClient)
+void SLAMComponent::set_mapping_client(const MappingClient_Ptr &mappingClient)
 {
   m_context->get_mapping_client(m_sceneID) = mappingClient;
 
@@ -673,8 +695,9 @@ std::vector<SE3Pose> SLAMComponent::load_ground_truth_relocalisation_trajectory(
 {
   std::vector<SE3Pose> groundTruthTrajectory;
 
-  // Detect any sequences for which we're using force-fail tracking, create a disk-based tracker for each of them, and wrap them into a composite tracker.
-  const Settings_CPtr& settings = m_context->get_settings();
+  // Detect any sequences for which we're using force-fail tracking, create a disk-based tracker for each of them, and
+  // wrap them into a composite tracker.
+  const Settings_CPtr &settings = m_context->get_settings();
   std::vector<std::string> diskTrackerConfigs = settings->get_values<std::string>("diskTrackerConfigs");
   std::vector<std::string> trackerSpecifiers = settings->get_values<std::string>("trackerSpecifiers");
 
@@ -691,11 +714,18 @@ std::vector<SE3Pose> SLAMComponent::load_ground_truth_relocalisation_trajectory(
   trackerConfig += "</tracker>";
 
   const bool trackSurfels = false;
-  const SLAMState_Ptr& slamState = m_context->get_slam_state(m_sceneID);
+  const SLAMState_Ptr &slamState = m_context->get_slam_state(m_sceneID);
   FallibleTracker *dummy;
-  Tracker_Ptr groundTruthTracker = m_context->get_tracker_factory().make_tracker_from_string(
-    trackerConfig, m_sceneID, trackSurfels, slamState->get_rgb_image_size(), slamState->get_depth_image_size(), m_lowLevelEngine, m_imuCalibrator, settings, dummy
-  );
+  Tracker_Ptr groundTruthTracker =
+      m_context->get_tracker_factory().make_tracker_from_string(trackerConfig,
+                                                                m_sceneID,
+                                                                trackSurfels,
+                                                                slamState->get_rgb_image_size(),
+                                                                slamState->get_depth_image_size(),
+                                                                m_lowLevelEngine,
+                                                                m_imuCalibrator,
+                                                                settings,
+                                                                dummy);
 
   // Read in all of the poses from the composite tracker and return the trajectory.
   ITMTrackingState groundTruthTrackingState(slamState->get_depth_image_size(), MEMORYDEVICE_CUDA);
@@ -710,37 +740,43 @@ std::vector<SE3Pose> SLAMComponent::load_ground_truth_relocalisation_trajectory(
 
 void SLAMComponent::prepare_for_tracking(TrackingMode trackingMode)
 {
-  const SLAMState_Ptr& slamState = m_context->get_slam_state(m_sceneID);
-  const TrackingState_Ptr& trackingState = slamState->get_tracking_state();
-  const View_Ptr& view = slamState->get_view();
+  const SLAMState_Ptr &slamState = m_context->get_slam_state(m_sceneID);
+  const TrackingState_Ptr &trackingState = slamState->get_tracking_state();
+  const View_Ptr &view = slamState->get_view();
 
   switch(trackingMode)
   {
-    case TRACK_SURFELS:
-    {
-      const SpaintSurfelScene_Ptr& surfelScene = slamState->get_surfel_scene();
-      const SurfelRenderState_Ptr& liveSurfelRenderState = slamState->get_live_surfel_render_state();
-      m_trackingController->Prepare(trackingState.get(), surfelScene.get(), view.get(), m_context->get_surfel_visualisation_engine().get(), liveSurfelRenderState.get());
-      break;
-    }
-    case TRACK_VOXELS:
-    default:
-    {
-      const SpaintVoxelScene_Ptr& voxelScene = slamState->get_voxel_scene();
-      const VoxelRenderState_Ptr& liveVoxelRenderState = slamState->get_live_voxel_render_state();
-      m_trackingController->Prepare(trackingState.get(), voxelScene.get(), view.get(), m_context->get_voxel_visualisation_engine().get(), liveVoxelRenderState.get());
-      break;
-    }
+  case TRACK_SURFELS: {
+    const SpaintSurfelScene_Ptr &surfelScene = slamState->get_surfel_scene();
+    const SurfelRenderState_Ptr &liveSurfelRenderState = slamState->get_live_surfel_render_state();
+    m_trackingController->Prepare(trackingState.get(),
+                                  surfelScene.get(),
+                                  view.get(),
+                                  m_context->get_surfel_visualisation_engine().get(),
+                                  liveSurfelRenderState.get());
+    break;
+  }
+  case TRACK_VOXELS:
+  default: {
+    const SpaintVoxelScene_Ptr &voxelScene = slamState->get_voxel_scene();
+    const VoxelRenderState_Ptr &liveVoxelRenderState = slamState->get_live_voxel_render_state();
+    m_trackingController->Prepare(trackingState.get(),
+                                  voxelScene.get(),
+                                  view.get(),
+                                  m_context->get_voxel_visualisation_engine().get(),
+                                  liveVoxelRenderState.get());
+    break;
+  }
   }
 }
 
 void SLAMComponent::process_relocalisation()
 {
-  const Relocaliser_Ptr& relocaliser = m_context->get_relocaliser(m_sceneID);
-  const SLAMState_Ptr& slamState = m_context->get_slam_state(m_sceneID);
-  const TrackingState_Ptr& trackingState = slamState->get_tracking_state();
-  const View_Ptr& view = slamState->get_view();
-  const Vector4f& depthIntrinsics = view->calib.intrinsics_d.projectionParamsSimple.all;
+  const Relocaliser_Ptr &relocaliser = m_context->get_relocaliser(m_sceneID);
+  const SLAMState_Ptr &slamState = m_context->get_slam_state(m_sceneID);
+  const TrackingState_Ptr &trackingState = slamState->get_tracking_state();
+  const View_Ptr &view = slamState->get_view();
+  const Vector4f &depthIntrinsics = view->calib.intrinsics_d.projectionParamsSimple.all;
 
   // Save the current pose in case we need to restore it later.
   const SE3Pose oldPose(*trackingState->pose_d);
@@ -749,11 +785,9 @@ void SLAMComponent::process_relocalisation()
   // - Relocalising every frame is enabled
   // - The tracking succeeded and the current frame is not one we should skip
   const bool performTraining =
-    m_relocaliseEveryFrame ||
-    (
-      trackingState->trackerResult == ITMTrackingState::TRACKING_GOOD &&
-      (m_relocaliserTrainingSkip == 0 || (m_relocaliserTrainingCount++ % m_relocaliserTrainingSkip == 0))
-    );
+      m_relocaliseEveryFrame ||
+      (trackingState->trackerResult == ITMTrackingState::TRACKING_GOOD &&
+       (m_relocaliserTrainingSkip == 0 || (m_relocaliserTrainingCount++ % m_relocaliserTrainingSkip == 0)));
 
   // If we're not training in this frame, allow the relocaliser to perform any necessary internal bookkeeping.
   // Note that we prevent training and bookkeeping from both running in the same frame for performance reasons.
@@ -762,17 +796,22 @@ void SLAMComponent::process_relocalisation()
     relocaliser->update();
   }
 
-  // Relocalise if either (a) the tracking has failed, or (b) we're forcibly relocalising every frame for evaluation purposes.
-  const bool performRelocalisation = m_relocaliseEveryFrame || trackingState->trackerResult == ITMTrackingState::TRACKING_FAILED;
+  // Relocalise if either (a) the tracking has failed, or (b) we're forcibly relocalising every frame for evaluation
+  // purposes.
+  const bool performRelocalisation =
+      m_relocaliseEveryFrame || trackingState->trackerResult == ITMTrackingState::TRACKING_FAILED;
   if(performRelocalisation)
   {
-    std::vector<Relocaliser::Result> relocalisationResults = relocaliser->relocalise(view->rgb, view->depth, depthIntrinsics);
+    std::vector<Relocaliser::Result> relocalisationResults =
+        relocaliser->relocalise(view->rgb, view->depth, depthIntrinsics);
 
     if(!relocalisationResults.empty())
     {
-      const Relocaliser::Result& bestRelocalisationResult = relocalisationResults[0];
+      const Relocaliser::Result &bestRelocalisationResult = relocalisationResults[0];
       trackingState->pose_d->SetFrom(&bestRelocalisationResult.pose);
-      trackingState->trackerResult = bestRelocalisationResult.quality == Relocaliser::RELOCALISATION_GOOD ? ITMTrackingState::TRACKING_GOOD : ITMTrackingState::TRACKING_POOR;
+      trackingState->trackerResult = bestRelocalisationResult.quality == Relocaliser::RELOCALISATION_GOOD
+                                         ? ITMTrackingState::TRACKING_GOOD
+                                         : ITMTrackingState::TRACKING_POOR;
     }
   }
 
@@ -792,33 +831,45 @@ void SLAMComponent::process_relocalisation()
   }
 }
 
-Relocaliser_Ptr SLAMComponent::refine_with_icp(const Relocaliser_Ptr& relocaliser) const
+Relocaliser_Ptr SLAMComponent::refine_with_icp(const Relocaliser_Ptr &relocaliser) const
 {
   const Vector2i depthImageSize = m_imageSourceEngine->getDepthImageSize();
   const Vector2i rgbImageSize = m_imageSourceEngine->getRGBImageSize();
-  const Settings_CPtr& settings = m_context->get_settings();
-  const SpaintVoxelScene_Ptr& voxelScene = m_context->get_slam_state(m_sceneID)->get_voxel_scene();
+  const Settings_CPtr &settings = m_context->get_settings();
+  const SpaintVoxelScene_Ptr &voxelScene = m_context->get_slam_state(m_sceneID)->get_voxel_scene();
 
   std::string trackerConfig = "<tracker type='infinitam'>";
-  std::string trackerParams = settings->get_first_value<std::string>(m_settingsNamespace + "refinementTrackerParams", "");
+  std::string trackerParams =
+      settings->get_first_value<std::string>(m_settingsNamespace + "refinementTrackerParams", "");
   if(trackerParams != "") trackerConfig += "<params>" + trackerParams + "</params>";
   trackerConfig += "</tracker>";
 
   const bool trackSurfels = false;
   FallibleTracker *dummy;
-  Tracker_Ptr tracker = m_context->get_tracker_factory().make_tracker_from_string(
-    trackerConfig, m_sceneID, trackSurfels, rgbImageSize, depthImageSize, m_lowLevelEngine, m_imuCalibrator, settings, dummy
-  );
-
-  return Relocaliser_Ptr(new ICPRefiningRelocaliser<SpaintVoxel,ITMVoxelIndex>(
-    relocaliser, tracker, rgbImageSize, depthImageSize, m_imageSourceEngine->getCalib(), voxelScene, m_denseVoxelMapper, settings
-  ));
+  Tracker_Ptr tracker = m_context->get_tracker_factory().make_tracker_from_string(trackerConfig,
+                                                                                  m_sceneID,
+                                                                                  trackSurfels,
+                                                                                  rgbImageSize,
+                                                                                  depthImageSize,
+                                                                                  m_lowLevelEngine,
+                                                                                  m_imuCalibrator,
+                                                                                  settings,
+                                                                                  dummy);
+
+  return Relocaliser_Ptr(new ICPRefiningRelocaliser<SpaintVoxel, ITMVoxelIndex>(relocaliser,
+                                                                                tracker,
+                                                                                rgbImageSize,
+                                                                                depthImageSize,
+                                                                                m_imageSourceEngine->getCalib(),
+                                                                                voxelScene,
+                                                                                m_denseVoxelMapper,
+                                                                                settings));
 }
 
 void SLAMComponent::setup_fiducial_detector()
 {
   const SpaintVoxelScene_CPtr scene = m_context->get_slam_state(m_sceneID)->get_voxel_scene();
-  const Settings_CPtr& settings = m_context->get_settings();
+  const Settings_CPtr &settings = m_context->get_settings();
 
   const std::string type = m_context->get_settings()->get_first_value<std::string>("fiducialDetectorType");
   FiducialDetector_CPtr fiducialDetector;
@@ -834,7 +885,8 @@ void SLAMComponent::setup_fiducial_detector()
     ViconInterface_CPtr vicon = m_context->get_vicon();
     if(vicon)
     {
-      FiducialDetector_CPtr calibratingDetector(new ArUcoFiducialDetector(scene, settings, ArUcoFiducialDetector::PEM_RAYCAST));
+      FiducialDetector_CPtr calibratingDetector(
+          new ArUcoFiducialDetector(scene, settings, ArUcoFiducialDetector::PEM_RAYCAST));
       fiducialDetector.reset(new ViconFiducialDetector(vicon, calibratingDetector));
     }
 #endif
@@ -847,7 +899,7 @@ void SLAMComponent::setup_relocaliser()
 {
   // Look up the non-relocaliser-specific settings, such as the type of relocaliser to construct.
   // Note that the relocaliser type is a primary setting, so is not in the SLAMComponent namespace.
-  const Settings_CPtr& settings = m_context->get_settings();
+  const Settings_CPtr &settings = m_context->get_settings();
   m_relocaliserType = settings->get_first_value<std::string>("relocaliserType");
 
   m_finishTrainingEnabled = settings->get_first_value<bool>(m_settingsNamespace + "finishTrainingEnabled", false);
@@ -855,27 +907,33 @@ void SLAMComponent::setup_relocaliser()
   m_relocaliserTrainingSkip = settings->get_first_value<size_t>(m_settingsNamespace + "relocaliserTrainingSkip", 0);
 
   m_context->get_relocaliser(m_sceneID) = RelocaliserFactory::make_relocaliser(
-    m_relocaliserType,
-    m_imageSourceEngine->getDepthImageSize(),
-    m_relocaliseEveryFrame,
-    boost::bind(&SLAMComponent::refine_with_icp, this, _1),
-    boost::bind(&SLAMComponent::load_ground_truth_relocalisation_trajectory, this),
-    settings
-  );
+      m_relocaliserType,
+      m_imageSourceEngine->getDepthImageSize(),
+      m_relocaliseEveryFrame,
+      boost::bind(&SLAMComponent::refine_with_icp, this, _1),
+      boost::bind(&SLAMComponent::load_ground_truth_relocalisation_trajectory, this),
+      settings);
 }
 
 void SLAMComponent::setup_tracker()
 {
-  const MappingServer_Ptr& mappingServer = m_context->get_mapping_server();
-  const Settings_CPtr& settings = m_context->get_settings();
-  const SLAMState_Ptr& slamState = m_context->get_slam_state(m_sceneID);
-  const Vector2i& depthImageSize = slamState->get_depth_image_size();
-  const Vector2i& rgbImageSize = slamState->get_rgb_image_size();
-  
+  const MappingServer_Ptr &mappingServer = m_context->get_mapping_server();
+  const Settings_CPtr &settings = m_context->get_settings();
+  const SLAMState_Ptr &slamState = m_context->get_slam_state(m_sceneID);
+  const Vector2i &depthImageSize = slamState->get_depth_image_size();
+  const Vector2i &rgbImageSize = slamState->get_rgb_image_size();
+
   m_imuCalibrator.reset(new ITMIMUCalibrator_iPad);
-  m_tracker = m_context->get_tracker_factory().make_tracker_from_string(
-    m_trackerConfig, m_sceneID, m_trackingMode == TRACK_SURFELS, rgbImageSize, depthImageSize, m_lowLevelEngine, m_imuCalibrator, settings, m_fallibleTracker, mappingServer
-  );
+  m_tracker = m_context->get_tracker_factory().make_tracker_from_string(m_trackerConfig,
+                                                                        m_sceneID,
+                                                                        m_trackingMode == TRACK_SURFELS,
+                                                                        rgbImageSize,
+                                                                        depthImageSize,
+                                                                        m_lowLevelEngine,
+                                                                        m_imuCalibrator,
+                                                                        settings,
+                                                                        m_fallibleTracker,
+                                                                        mappingServer);
 }
 
-}
+} // namespace spaint
diff --git a/modules/spaint/src/slamstate/SLAMState.cpp b/modules/spaint/src/slamstate/SLAMState.cpp
index 4628885..301b189 100644
--- a/modules/spaint/src/slamstate/SLAMState.cpp
+++ b/modules/spaint/src/slamstate/SLAMState.cpp
@@ -98,6 +98,16 @@ SpaintSurfelScene_CPtr SLAMState::get_surfel_scene() const
   return m_surfelScene;
 }
 
+const TrackingController_Ptr& SLAMState::get_tracking_controller()
+{
+  return m_trackingController;
+}
+
+TrackingController_Ptr SLAMState::get_tracking_controller() const
+{
+  return m_trackingController;
+}
+
 const TrackingState_Ptr& SLAMState::get_tracking_state()
 {
   return m_trackingState;
@@ -168,6 +178,11 @@ void SLAMState::set_surfel_scene(const SpaintSurfelScene_Ptr& surfelScene)
   m_surfelScene = surfelScene;
 }
 
+void SLAMState::set_tracking_controller(const TrackingController_Ptr& trackingController)
+{
+  m_trackingController = trackingController;
+}
+
 void SLAMState::set_tracking_state(const TrackingState_Ptr& trackingState)
 {
   m_trackingState = trackingState;

From bc8208429bbab957fe96f55864d595a78faeb2b0 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Fri, 3 Feb 2023 10:11:48 -0500
Subject: [PATCH 26/55] change to const function

---
 .../spaint/include/spaint/slamstate/SLAMState.h    |  7 +++++++
 .../pipelinecomponents/CollaborativeComponent.cpp  | 14 +++++++-------
 modules/spaint/src/slamstate/SLAMState.cpp         |  2 +-
 3 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/modules/spaint/include/spaint/slamstate/SLAMState.h b/modules/spaint/include/spaint/slamstate/SLAMState.h
index 2ef9e61..5003b37 100644
--- a/modules/spaint/include/spaint/slamstate/SLAMState.h
+++ b/modules/spaint/include/spaint/slamstate/SLAMState.h
@@ -199,6 +199,13 @@ class SLAMState
    */
   const TrackingController_Ptr& get_tracking_controller();
 
+    /**
+   * \brief Gets the current tracking state for the scene.
+   *
+   * \return  The current tracking state for the scene.
+   */
+  TrackingController_CPtr& get_tracking_controller() const;
+
   /**
    * \brief Gets the current tracking state for the scene.
    *
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index d10e025..52ebe17 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -99,14 +99,14 @@ CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& c
   
   // load pose from file
   for (auto it : scenesPoseCnt) {
-    std::string sceneID = it->first;
-    const SLAMState_Ptr &slamState = m_context->get_slam_state(sceneID);
-    const TrackingState_Ptr &trackingState = slamState->get_tracking_state();
-    const View_Ptr &view = slamState->get_view();
-    const TrackingController_Ptr &trackingController = slamState->get_tracking_controller();
-    for (size_t i = 0, poseSize = it->second; i<poseSize; ++i) {
+    std::string sceneID = it.first;
+    const SLAMState_CPtr &slamState = m_context->get_slam_state(sceneID);
+    const TrackingState_CPtr &trackingState = slamState->get_tracking_state();
+	const View_CPtr &view = slamState->get_view();
+    const TrackingController_CPtr &trackingController = slamState->get_tracking_controller();
+    for (size_t i = 0, poseSize = it.second; i<poseSize; ++i) {
       trackingController->Track(trackingState.get(), view.get());
-      m_trajectories[sceneIDs[i]].push_back(*trackingState->pose_d);
+      m_trajectories[sceneID].push_back(*trackingState->pose_d);
     }
   }
   
diff --git a/modules/spaint/src/slamstate/SLAMState.cpp b/modules/spaint/src/slamstate/SLAMState.cpp
index 301b189..74bc782 100644
--- a/modules/spaint/src/slamstate/SLAMState.cpp
+++ b/modules/spaint/src/slamstate/SLAMState.cpp
@@ -103,7 +103,7 @@ const TrackingController_Ptr& SLAMState::get_tracking_controller()
   return m_trackingController;
 }
 
-TrackingController_Ptr SLAMState::get_tracking_controller() const
+TrackingController_CPtr SLAMState::get_tracking_controller() const
 {
   return m_trackingController;
 }

From aaea66d250f36e9f5ba352219e768d796ef8cf83 Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Sat, 4 Feb 2023 00:25:54 +0800
Subject: [PATCH 27/55] reconstruct tracker controller

---
 apps/spaintgui/Application.cpp                  |  3 ++-
 apps/spaintgui/core/CollaborativePipeline.cpp   | 17 +++--------------
 .../pipelinecomponents/CollaborativeComponent.h |  6 +++++-
 .../spaint/pipelinecomponents/SLAMComponent.h   |  8 ++++----
 .../spaint/include/spaint/slamstate/SLAMState.h | 14 --------------
 .../CollaborativeComponent.cpp                  | 16 ++++++++++------
 .../src/pipelinecomponents/SLAMComponent.cpp    |  2 ++
 modules/spaint/src/slamstate/SLAMState.cpp      | 10 ----------
 8 files changed, 26 insertions(+), 50 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 9caa1b9..06f0bc3 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -98,7 +98,8 @@ bool Application::run()
 
     // Take action as relevant based on the current input state.
     process_input();
-
+    std::cout << "this is process_input: " << i << "\n";
+    
     // If the application is unpaused, process a new frame.
     if(!m_paused)
     {
diff --git a/apps/spaintgui/core/CollaborativePipeline.cpp b/apps/spaintgui/core/CollaborativePipeline.cpp
index 8230f94..a47fc63 100644
--- a/apps/spaintgui/core/CollaborativePipeline.cpp
+++ b/apps/spaintgui/core/CollaborativePipeline.cpp
@@ -42,28 +42,17 @@ CollaborativePipeline::CollaborativePipeline(const Settings_Ptr &settings,
                                                       trackingModes[i],
                                                       detectFiducials));
   }*/
+  std::map<std::string, TrackingController_Ptr> trackingControllers;
   for(size_t i = 0, size = imageSourceEngines.size(); i < size; ++i)
   {
     const std::string sceneID = i == 0 ? Model::get_world_scene_id() : "Local" + boost::lexical_cast<std::string>(i);
     m_slamComponents[sceneID].reset(new SLAMComponent(
         m_model, sceneID, imageSourceEngines[i], trackerConfigs[i], scenesPoseCnt[sceneID], mappingModes[i], trackingModes[i], detectFiducials));
     load_models(m_slamComponents[sceneID], m_sceneDirs[sceneID]);
+    trackingControllers[sceneID] = m_slamComponents[sceneID].get_tracking_controller();
   }
-  // load pose
-  /*
-    const TrackingController_Ptr &trackingController = m_slamComponents[sceneID].get_tracking_controller();
 
-    const SLAMState_Ptr &slamState = m_model->get_slam_state(sceneID);
-    const TrackingState_Ptr &trackingState = slamState->get_tracking_state();
-    const View_Ptr &view = slamState->get_view();
-
-    for (size_t j = 0, poseSize = scenesPoseCnt.size(); j<poseSize; ++j)
-    {
-      m_trackingController->Track(trackingState.get(), view.get());
-    }
-  */
-  // Finally, we add a collaborative component to handle relocalisation between the different scenes.
-  m_collaborativeComponent.reset(new CollaborativeComponent(m_model, collaborationMode));
+  m_collaborativeComponent.reset(new CollaborativeComponent(m_model, collaborationMode, scenesPoseCnt, trackingControllers));
 }
 
 //#################### PUBLIC MEMBER FUNCTIONS ####################
diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index 7e79620..45b0840 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -89,6 +89,9 @@ class CollaborativeComponent
   /** Whether or not to compute the time spent collaborating. */
   bool m_timeCollaboration;
 
+  /** Tracking controller to update pose */
+  std::map<std::string, TrackingController_Ptr> m_trackingControllers;
+
   /** The trajectories followed by the cameras that reconstructed each of the different scenes (only poses where tracking succeeded are stored). */
   std::map<std::string,std::deque<ORUtils::SE3Pose> > m_trajectories;
 
@@ -107,7 +110,8 @@ class CollaborativeComponent
    * \param mode    The mode in which the collaborative reconstruction should run.
    */
   CollaborativeComponent(const CollaborativeContext_Ptr& context, CollaborationMode mode, 
-                         const std::map<std::string, int> &scenesPoseCnt);
+                         const std::map<std::string, int> &scenesPoseCnt, 
+                         const std::map<std::string, TrackingController_Ptr> &trackingControllers);
 
   //#################### DESTRUCTOR ####################
 public:
diff --git a/modules/spaint/include/spaint/pipelinecomponents/SLAMComponent.h b/modules/spaint/include/spaint/pipelinecomponents/SLAMComponent.h
index 597524e..c92cc5d 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/SLAMComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/SLAMComponent.h
@@ -173,12 +173,12 @@ class SLAMComponent
    */
   const std::string& get_scene_id() const;
 
-   /**
-   * \brief Gets tracking controller of this SLAM component.
+    /**
+   * \brief Gets the ID of the scene being reconstructed by this SLAM component.
    *
-   * \return  The tracking controller of this SLAM component.
+   * \return  The ID of the scene being reconstructed by this SLAM component.
    */
-  const TrackingController_Ptr& get_tracking_controller() const;
+  TrackingController_Ptr& get_tracking_controller();
 
   /**
    * \brief Replaces the SLAM component's voxel (and surfel model, if available) with ones loaded from the specified directory on disk.
diff --git a/modules/spaint/include/spaint/slamstate/SLAMState.h b/modules/spaint/include/spaint/slamstate/SLAMState.h
index 5003b37..e270598 100644
--- a/modules/spaint/include/spaint/slamstate/SLAMState.h
+++ b/modules/spaint/include/spaint/slamstate/SLAMState.h
@@ -192,20 +192,6 @@ class SLAMState
    */
   SpaintSurfelScene_CPtr get_surfel_scene() const;
 
-  /**
-   * \brief Gets the current tracking state for the scene.
-   *
-   * \return  The current tracking state for the scene.
-   */
-  const TrackingController_Ptr& get_tracking_controller();
-
-    /**
-   * \brief Gets the current tracking state for the scene.
-   *
-   * \return  The current tracking state for the scene.
-   */
-  TrackingController_CPtr& get_tracking_controller() const;
-
   /**
    * \brief Gets the current tracking state for the scene.
    *
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 52ebe17..6a655f9 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -68,8 +68,10 @@ namespace spaint {
 //#################### CONSTRUCTORS ####################
 
 CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& context, CollaborationMode mode, 
-                                               const std::map<std::string, int> &scenesPoseCnt)
+                                               const std::map<std::string, int> &scenesPoseCnt, 
+                                               const std::map<std::string, TrackingController_Ptr> &trackingControllers)
 : m_context(context),
+  m_trackingControllers(trackingControllers),
   m_frameIndex(0),
   m_mode(mode),
   m_reconstructionIsConsistent(false),
@@ -100,12 +102,14 @@ CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& c
   // load pose from file
   for (auto it : scenesPoseCnt) {
     std::string sceneID = it.first;
-    const SLAMState_CPtr &slamState = m_context->get_slam_state(sceneID);
-    const TrackingState_CPtr &trackingState = slamState->get_tracking_state();
-	const View_CPtr &view = slamState->get_view();
-    const TrackingController_CPtr &trackingController = slamState->get_tracking_controller();
+
+    const SLAMState_Ptr &slamState = m_context->get_slam_state(sceneID);
+	  const View_Ptr &view = slamState->get_view();
+    const TrackingState_Ptr &trackingState = slamState->get_tracking_state();
+
+    TrackingController_Ptr tracker = m_trackingControllers[sceneID];
     for (size_t i = 0, poseSize = it.second; i<poseSize; ++i) {
-      trackingController->Track(trackingState.get(), view.get());
+      tracker->Track(trackingState.get(), view.get());
       m_trajectories[sceneID].push_back(*trackingState->pose_d);
     }
   }
diff --git a/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp b/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
index ade772a..49add4e 100644
--- a/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
@@ -137,6 +137,8 @@ bool SLAMComponent::get_fusion_enabled() const { return m_fusionEnabled; }
 
 const std::string &SLAMComponent::get_scene_id() const { return m_sceneID; }
 
+TrackingController_Ptr& get_tracking_controller() { return m_trackingController; }
+
 void SLAMComponent::load_models(const std::string &inputDir)
 {
   // Reset the scene.
diff --git a/modules/spaint/src/slamstate/SLAMState.cpp b/modules/spaint/src/slamstate/SLAMState.cpp
index 74bc782..b18cdad 100644
--- a/modules/spaint/src/slamstate/SLAMState.cpp
+++ b/modules/spaint/src/slamstate/SLAMState.cpp
@@ -98,16 +98,6 @@ SpaintSurfelScene_CPtr SLAMState::get_surfel_scene() const
   return m_surfelScene;
 }
 
-const TrackingController_Ptr& SLAMState::get_tracking_controller()
-{
-  return m_trackingController;
-}
-
-TrackingController_CPtr SLAMState::get_tracking_controller() const
-{
-  return m_trackingController;
-}
-
 const TrackingState_Ptr& SLAMState::get_tracking_state()
 {
   return m_trackingState;

From f49fe22d98535e674f842d120e01a47714694108 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Fri, 3 Feb 2023 10:57:30 -0500
Subject: [PATCH 28/55] pass compile

---
 apps/spaintgui/core/CollaborativePipeline.cpp                 | 4 ++--
 apps/spaintgui/main.cpp                                       | 2 +-
 .../include/spaint/pipelinecomponents/CollaborativeContext.h  | 1 +
 modules/spaint/src/pipelinecomponents/SLAMComponent.cpp       | 2 +-
 4 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/apps/spaintgui/core/CollaborativePipeline.cpp b/apps/spaintgui/core/CollaborativePipeline.cpp
index a47fc63..715dc5a 100644
--- a/apps/spaintgui/core/CollaborativePipeline.cpp
+++ b/apps/spaintgui/core/CollaborativePipeline.cpp
@@ -47,9 +47,9 @@ CollaborativePipeline::CollaborativePipeline(const Settings_Ptr &settings,
   {
     const std::string sceneID = i == 0 ? Model::get_world_scene_id() : "Local" + boost::lexical_cast<std::string>(i);
     m_slamComponents[sceneID].reset(new SLAMComponent(
-        m_model, sceneID, imageSourceEngines[i], trackerConfigs[i], scenesPoseCnt[sceneID], mappingModes[i], trackingModes[i], detectFiducials));
+        m_model, sceneID, imageSourceEngines[i], trackerConfigs[i], mappingModes[i], trackingModes[i], detectFiducials));
     load_models(m_slamComponents[sceneID], m_sceneDirs[sceneID]);
-    trackingControllers[sceneID] = m_slamComponents[sceneID].get_tracking_controller();
+    trackingControllers[sceneID] = m_slamComponents[sceneID]->get_tracking_controller();
   }
 
   m_collaborativeComponent.reset(new CollaborativeComponent(m_model, collaborationMode, scenesPoseCnt, trackingControllers));
diff --git a/apps/spaintgui/main.cpp b/apps/spaintgui/main.cpp
index f30011f..d26c2b8 100644
--- a/apps/spaintgui/main.cpp
+++ b/apps/spaintgui/main.cpp
@@ -1036,7 +1036,7 @@ try
 
   pipeline.reset(new CollaborativePipeline(settings,
                                            Application::resources_dir().string(),
-                                           
+                                           scenesPoseCnt,
                                            imageSourceEngines,
                                            trackerConfigs,
                                            mappingModes,
diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeContext.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeContext.h
index 2d3ba26..69f6ca4 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeContext.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeContext.h
@@ -36,6 +36,7 @@ class CollaborativeContext
   virtual orx::Relocaliser_CPtr get_relocaliser(const std::string& sceneID) const = 0;
   virtual const std::vector<std::string>& get_scene_ids() const = 0;
   virtual const Settings_CPtr& get_settings() const = 0;
+  virtual const SLAMState_Ptr& get_slam_state(const std::string& sceneID) = 0;
   virtual SLAMState_CPtr get_slam_state(const std::string& sceneID) const = 0;
 
   //#################### PUBLIC MEMBER FUNCTIONS ####################
diff --git a/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp b/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
index 49add4e..0c6a42c 100644
--- a/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/SLAMComponent.cpp
@@ -137,7 +137,7 @@ bool SLAMComponent::get_fusion_enabled() const { return m_fusionEnabled; }
 
 const std::string &SLAMComponent::get_scene_id() const { return m_sceneID; }
 
-TrackingController_Ptr& get_tracking_controller() { return m_trackingController; }
+TrackingController_Ptr& SLAMComponent::get_tracking_controller() { return m_trackingController; }
 
 void SLAMComponent::load_models(const std::string &inputDir)
 {

From d14b689febdcae70111ce299a394e5d65a499931 Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Sat, 4 Feb 2023 12:16:36 +0800
Subject: [PATCH 29/55] modify application.cpp, only deals with relocalisation

---
 apps/spaintgui/Application.cpp                |  4 +-
 apps/spaintgui/core/CollaborativePipeline.cpp | 17 +++++--
 apps/spaintgui/core/MultiScenePipeline.cpp    |  4 +-
 .../CollaborativeComponent.h                  |  5 ++-
 .../CollaborativeComponent.cpp                | 45 ++++++++++++++++++-
 5 files changed, 67 insertions(+), 8 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 06f0bc3..29b18d5 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -99,7 +99,7 @@ bool Application::run()
     // Take action as relevant based on the current input state.
     process_input();
     std::cout << "this is process_input: " << i << "\n";
-    
+
     // If the application is unpaused, process a new frame.
     if(!m_paused)
     {
@@ -121,6 +121,7 @@ bool Application::run()
     }
 
     // Render the scene.
+    /*
     m_renderer->render(m_fracWindowPos, m_renderFiducials);
 
     // If we're running a mapping server and we want to render any scene images requested by remote clients, do so.
@@ -136,6 +137,7 @@ bool Application::run()
 
     // If desired, pause at the end of each frame for debugging purposes.
     if(m_pauseBetweenFrames) m_paused = true;
+    */
   }
 
   // If desired, save a mesh of the scene before the application terminates.
diff --git a/apps/spaintgui/core/CollaborativePipeline.cpp b/apps/spaintgui/core/CollaborativePipeline.cpp
index 715dc5a..0c8f583 100644
--- a/apps/spaintgui/core/CollaborativePipeline.cpp
+++ b/apps/spaintgui/core/CollaborativePipeline.cpp
@@ -60,7 +60,8 @@ CollaborativePipeline::CollaborativePipeline(const Settings_Ptr &settings,
 std::set<std::string> CollaborativePipeline::run_main_section()
 {
   // If we're running a mapping server, add SLAM components for any newly-connected remote clients.
-  // if(m_model->get_mapping_server()) check_for_new_clients();
+  /*
+  if(m_model->get_mapping_server()) check_for_new_clients();
 
   // Run the main section of the pipeline.
   const std::set<std::string> scenesProcessed = MultiScenePipeline::run_main_section();
@@ -68,8 +69,18 @@ std::set<std::string> CollaborativePipeline::run_main_section()
   // Provided at least one of the scenes has started fusion, run the collaborative pose estimation process.
   m_collaborationStarted = m_collaborationStarted || !scenesProcessed.empty();
   if(m_collaborationStarted) m_collaborativeComponent->run_collaborative_pose_estimation();
-
-  return scenesProcessed;
+  */
+  std::set<std::string> result;
+  for(std::map<std::string,SLAMComponent_Ptr>::const_iterator it = m_slamComponents.begin(), iend = m_slamComponents.end(); it != iend; ++it)
+  {
+    std::cout << "this is slamcomponent first: " << it->first << "\n";
+    isConsistent = m_collaborativeComponent->run_collaborative_pose_estimation();
+    if (!isConsistent) 
+    {
+      result.insert(it->first);
+    }
+  }
+  return result;
 }
 
 void CollaborativePipeline::set_mode(Mode mode)
diff --git a/apps/spaintgui/core/MultiScenePipeline.cpp b/apps/spaintgui/core/MultiScenePipeline.cpp
index fb52d74..dfb084e 100644
--- a/apps/spaintgui/core/MultiScenePipeline.cpp
+++ b/apps/spaintgui/core/MultiScenePipeline.cpp
@@ -80,8 +80,8 @@ std::set<std::string> MultiScenePipeline::run_main_section()
   for(std::map<std::string,SLAMComponent_Ptr>::const_iterator it = m_slamComponents.begin(), iend = m_slamComponents.end(); it != iend; ++it)
   {
 	std::cout << "this is slamcomponent first: " << it->first << "\n";
-    // if(it->second->process_frame()) result.insert(it->first);
-	if(it->second->process_frame_pose()) result.insert(it->first);
+  if(it->second->process_frame()) result.insert(it->first);
+	// if(it->second->process_frame_pose()) result.insert(it->first);
   }
   return result;
 }
diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index 45b0840..a2a2f25 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -54,6 +54,9 @@ class CollaborativeComponent
   /** The current frame index (in practice, the number of times that run_collaborative_pose_estimation has been called). */
   int m_frameIndex;
 
+  /** The number of times that run_collaborative_pose_estimation has been called. */
+  int m_collaborativeCnt;
+
   /** The mode in which the collaboration reconstruction should run. */
   CollaborationMode m_mode;
 
@@ -125,7 +128,7 @@ class CollaborativeComponent
   /**
    * \brief Attempts to estimate the poses of the different scenes involved in the collaborative reconstruction.
    */
-  void run_collaborative_pose_estimation();
+  bool run_collaborative_pose_estimation();
 
   //#################### PRIVATE MEMBER FUNCTIONS ####################
 private:
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 6a655f9..7f7fcd1 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -73,6 +73,7 @@ CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& c
 : m_context(context),
   m_trackingControllers(trackingControllers),
   m_frameIndex(0),
+  m_collaborativeCnt(0),
   m_mode(mode),
   m_reconstructionIsConsistent(false),
   m_rng(12345),
@@ -147,8 +148,49 @@ CollaborativeComponent::~CollaborativeComponent()
 
 //#################### PUBLIC MEMBER FUNCTIONS ####################
 
-void CollaborativeComponent::run_collaborative_pose_estimation()
+bool CollaborativeComponent::run_collaborative_pose_estimation()
 {
+  // Start the collaboration timer if required.
+  if(m_timeCollaboration && !m_collaborationTimer)
+  {
+    std::cout << "Collaboration starting at frame: " << m_frameIndex << '\n';
+    m_collaborationTimer.reset(boost::timer::cpu_timer());
+  }
+  // Check to see whether the reconstruction has just become consistent.
+  if(!m_reconstructionIsConsistent)
+  {
+    const std::vector<std::string> sceneIDs = m_context->get_scene_ids();
+    m_reconstructionIsConsistent = true;
+    for(size_t sceneIdx = 0; sceneIdx < sceneIDs.size(); ++sceneIdx)
+    {
+      if(!m_context->get_collaborative_pose_optimiser()->try_get_estimated_global_pose(sceneIDs[sceneIdx]))
+      {
+        m_reconstructionIsConsistent = false;
+        break;
+      }
+    }
+
+    if(m_reconstructionIsConsistent) std::cout << "The reconstruction became consistent at frame: " << m_frameIndex << '\n';
+  }
+
+  // If the reconstruction is consistent and we're stopping at the first consistent reconstruction:
+  if(m_reconstructionIsConsistent && m_stopAtFirstConsistentReconstruction)
+  {
+    // Stop the collaboration timer if necessary.
+    if(m_collaborationTimer) m_collaborationTimer->stop();
+
+    // Early out to prevent any more relocalisation attempts being scheduled.
+    return;
+  }
+
+  // Otherwise, try to schedule a relocalisation attempt.
+  try_schedule_relocalisation();
+
+  ++m_frameIndex;
+
+  std::cout << "this is m_reconstructionIsConsistent: " << m_reconstructionIsConsistent << "\n";
+  return m_reconstructionIsConsistent;
+  /*
   bool fusionMayStillRun = update_trajectories();
   if(!fusionMayStillRun) m_mode = CM_BATCH;
   if(m_frameIndex > 0 && (!fusionMayStillRun || (m_mode == CM_LIVE && m_frameIndex % 50 == 0)))
@@ -196,6 +238,7 @@ void CollaborativeComponent::run_collaborative_pose_estimation()
 #if defined(WITH_OPENCV) && 0
   cv::waitKey(1);
 #endif
+  */
 }
 
 //#################### PRIVATE MEMBER FUNCTIONS ####################

From ef1f193a73c0d82988fb87815c9ce0ff67c561b5 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Fri, 3 Feb 2023 22:33:58 -0500
Subject: [PATCH 30/55] pass compile

---
 apps/spaintgui/core/CollaborativePipeline.cpp                   | 2 +-
 .../spaint/src/pipelinecomponents/CollaborativeComponent.cpp    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/apps/spaintgui/core/CollaborativePipeline.cpp b/apps/spaintgui/core/CollaborativePipeline.cpp
index 0c8f583..b907866 100644
--- a/apps/spaintgui/core/CollaborativePipeline.cpp
+++ b/apps/spaintgui/core/CollaborativePipeline.cpp
@@ -74,7 +74,7 @@ std::set<std::string> CollaborativePipeline::run_main_section()
   for(std::map<std::string,SLAMComponent_Ptr>::const_iterator it = m_slamComponents.begin(), iend = m_slamComponents.end(); it != iend; ++it)
   {
     std::cout << "this is slamcomponent first: " << it->first << "\n";
-    isConsistent = m_collaborativeComponent->run_collaborative_pose_estimation();
+    bool isConsistent = m_collaborativeComponent->run_collaborative_pose_estimation();
     if (!isConsistent) 
     {
       result.insert(it->first);
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 7f7fcd1..c2eb8af 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -180,7 +180,7 @@ bool CollaborativeComponent::run_collaborative_pose_estimation()
     if(m_collaborationTimer) m_collaborationTimer->stop();
 
     // Early out to prevent any more relocalisation attempts being scheduled.
-    return;
+    return m_reconstructionIsConsistent;
   }
 
   // Otherwise, try to schedule a relocalisation attempt.

From 31a3d938ce9e8013299c8364566a333d6ee9c01c Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Sat, 4 Feb 2023 01:42:41 -0500
Subject: [PATCH 31/55] begin to debug function

---
 apps/spaintgui/Application.cpp                |  5 +++--
 apps/spaintgui/core/CollaborativePipeline.cpp |  2 +-
 .../CollaborativeComponent.cpp                | 20 +++++++++++--------
 3 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 29b18d5..901ac5e 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -6,6 +6,8 @@
 #include "Application.h"
 using namespace tvginput;
 
+#include <unistd.h>
+
 #include <fstream>
 #include <stdexcept>
 
@@ -98,7 +100,6 @@ bool Application::run()
 
     // Take action as relevant based on the current input state.
     process_input();
-    std::cout << "this is process_input: " << i << "\n";
 
     // If the application is unpaused, process a new frame.
     if(!m_paused)
@@ -119,7 +120,7 @@ bool Application::run()
         break;
       }
     }
-
+	sleep(1);
     // Render the scene.
     /*
     m_renderer->render(m_fracWindowPos, m_renderFiducials);
diff --git a/apps/spaintgui/core/CollaborativePipeline.cpp b/apps/spaintgui/core/CollaborativePipeline.cpp
index b907866..9796b72 100644
--- a/apps/spaintgui/core/CollaborativePipeline.cpp
+++ b/apps/spaintgui/core/CollaborativePipeline.cpp
@@ -73,7 +73,7 @@ std::set<std::string> CollaborativePipeline::run_main_section()
   std::set<std::string> result;
   for(std::map<std::string,SLAMComponent_Ptr>::const_iterator it = m_slamComponents.begin(), iend = m_slamComponents.end(); it != iend; ++it)
   {
-    std::cout << "this is slamcomponent first: " << it->first << "\n";
+    std::cout << "[pipeline] this is slamcomponent first: " << it->first << "\n";
     bool isConsistent = m_collaborativeComponent->run_collaborative_pose_estimation();
     if (!isConsistent) 
     {
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index c2eb8af..d608dc3 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -156,6 +156,7 @@ bool CollaborativeComponent::run_collaborative_pose_estimation()
     std::cout << "Collaboration starting at frame: " << m_frameIndex << '\n';
     m_collaborationTimer.reset(boost::timer::cpu_timer());
   }
+
   // Check to see whether the reconstruction has just become consistent.
   if(!m_reconstructionIsConsistent)
   {
@@ -166,25 +167,27 @@ bool CollaborativeComponent::run_collaborative_pose_estimation()
       if(!m_context->get_collaborative_pose_optimiser()->try_get_estimated_global_pose(sceneIDs[sceneIdx]))
       {
         m_reconstructionIsConsistent = false;
+		std::cout << "1111\n";
         break;
       }
     }
 
     if(m_reconstructionIsConsistent) std::cout << "The reconstruction became consistent at frame: " << m_frameIndex << '\n';
   }
-
+  std::cout << "m_reconstructionIsConsistent: " << m_reconstructionIsConsistent << "\n";
   // If the reconstruction is consistent and we're stopping at the first consistent reconstruction:
   if(m_reconstructionIsConsistent && m_stopAtFirstConsistentReconstruction)
   {
     // Stop the collaboration timer if necessary.
     if(m_collaborationTimer) m_collaborationTimer->stop();
-
     // Early out to prevent any more relocalisation attempts being scheduled.
     return m_reconstructionIsConsistent;
   }
 
   // Otherwise, try to schedule a relocalisation attempt.
-  try_schedule_relocalisation();
+  if (m_bestCandidates.size() < bestCandidateMaxCount) {
+	try_schedule_relocalisation();
+  }
 
   ++m_frameIndex;
 
@@ -481,7 +484,7 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
   if (sched_setaffinity(tid, sizeof(mask), &mask) < 0) {
     std::cout << "set thread affinity failed\n";
   }else {
-    std::cout << "set " << tid << "to cpu set \n";
+    std::cout << "set " << tid << " to cpu set \n";
   }
   while(!m_stopRelocalisationThread)
   {
@@ -492,7 +495,6 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       while (m_bestCandidates.empty())
       {
         m_readyToRelocalise.wait(lock);
-
         // If the collaborative component is terminating, stop attempting relocalisations and let the thread terminate.
         if(m_stopRelocalisationThread) return;
       }
@@ -532,7 +534,7 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
     // Make OpenCV copies of the synthetic images we're trying to relocalise (these may be needed later).
     cv::Mat3b cvSourceRGB = OpenCVUtil::make_rgb_image(rgb->GetData(MEMORYDEVICE_CPU), rgb->noDims.x, rgb->noDims.y);
     cv::Mat1b cvSourceDepth = OpenCVUtil::make_greyscale_image(depth->GetData(MEMORYDEVICE_CPU), depth->noDims.x, depth->noDims.y, OpenCVUtil::ROW_MAJOR, 100.0f);
-
+	cv::imwrite("source.png", cvSourceRGB);
   #if DEBUGGING
     // If we're debugging, show the synthetic images of the source scene to the user.
     cv::imshow("Source Depth", cvSourceDepth);
@@ -542,7 +544,6 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
 
     // Attempt to relocalise the synthetic images using the relocaliser for the target scene.
     Relocaliser_CPtr relocaliserI = m_context->get_relocaliser(now_bestCandidate->m_sceneI);
-	std::cout << "b5\n";
     std::vector<Relocaliser::Result> results = relocaliserI->relocalise(rgb.get(), depth.get(), now_bestCandidate->m_depthIntrinsicsI);
     boost::optional<Relocaliser::Result> result = results.empty() ? boost::none : boost::optional<Relocaliser::Result>(results[0]);
 
@@ -569,7 +570,8 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       // Make OpenCV copies of the synthetic images of the target scene.
       cv::Mat3b cvTargetRGB = OpenCVUtil::make_rgb_image(rgb->GetData(MEMORYDEVICE_CPU), rgb->noDims.x, rgb->noDims.y);
       cv::Mat1b cvTargetDepth = OpenCVUtil::make_greyscale_image(depth->GetData(MEMORYDEVICE_CPU), depth->noDims.x, depth->noDims.y, OpenCVUtil::ROW_MAJOR, 100.0f);
-
+	  cv::imwrite("target.png", cvTargetRGB);
+	  std::cout << "save target png\n";
     #if DEBUGGING
       // If we're debugging, show the synthetic images of the target scene to the user.
       cv::imshow("Target RGB", cvTargetRGB);
@@ -703,6 +705,7 @@ void CollaborativeComponent::try_schedule_relocalisation()
 
     // If an existing relocalisation attempt is in progress, early out.
     // if(m_bestCandidate) return;
+	std::cout << "try_schedule_relocalisation: " << "m_bestCandidates.size() " << m_bestCandidates.size() << " bestCandidateMaxCount " << bestCandidateMaxCount << "\n";	
     if (m_bestCandidates.size()>=bestCandidateMaxCount) {
       m_readyToRelocalise.notify_one();
       return;
@@ -711,6 +714,7 @@ void CollaborativeComponent::try_schedule_relocalisation()
     // Randomly generate a list of candidate relocalisations.
     const size_t desiredCandidateCount = 10;
     std::list<CollaborativeRelocalisation> candidates = generate_random_candidates(desiredCandidateCount);
+	std::cout << "this is candidates length: " << candidates.size() << "\n";
 #else
     // Generate the frames from the source scene in order, for evaluation purposes.
     std::list<CollaborativeRelocalisation> candidates = generate_sequential_candidate();

From 9810e62781afe9d63df65dfa6c944e2710a3e238 Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Wed, 8 Feb 2023 14:54:44 +0800
Subject: [PATCH 32/55] change randomforest directory and global pose save
 content

---
 apps/spaintgui/core/CollaborativePipeline.cpp       |  3 ++-
 apps/spaintgui/core/CollaborativePipeline.h         |  1 +
 apps/spaintgui/main.cpp                             |  6 +++++-
 .../interface/ScoreForestRelocaliser.cpp            |  3 ++-
 .../collaboration/CollaborativePoseOptimiser.h      | 10 ++++++++++
 .../pipelinecomponents/CollaborativeComponent.h     |  3 ++-
 .../collaboration/CollaborativePoseOptimiser.cpp    | 11 +++++++++--
 .../pipelinecomponents/CollaborativeComponent.cpp   | 13 ++++++++-----
 8 files changed, 39 insertions(+), 11 deletions(-)

diff --git a/apps/spaintgui/core/CollaborativePipeline.cpp b/apps/spaintgui/core/CollaborativePipeline.cpp
index 9796b72..1738b52 100644
--- a/apps/spaintgui/core/CollaborativePipeline.cpp
+++ b/apps/spaintgui/core/CollaborativePipeline.cpp
@@ -14,6 +14,7 @@ using namespace spaint;
 CollaborativePipeline::CollaborativePipeline(const Settings_Ptr &settings,
                                              const std::string &resourcesDir,
                                              const std::map<std::string, int> &scenesPoseCnt,
+                                             const std::map<std::string, std::string> &sceneID2Name,
                                              const std::vector<CompositeImageSourceEngine_Ptr> &imageSourceEngines,
                                              const std::vector<std::string> &trackerConfigs,
                                              const std::vector<SLAMComponent::MappingMode> &mappingModes,
@@ -52,7 +53,7 @@ CollaborativePipeline::CollaborativePipeline(const Settings_Ptr &settings,
     trackingControllers[sceneID] = m_slamComponents[sceneID]->get_tracking_controller();
   }
 
-  m_collaborativeComponent.reset(new CollaborativeComponent(m_model, collaborationMode, scenesPoseCnt, trackingControllers));
+  m_collaborativeComponent.reset(new CollaborativeComponent(m_model, collaborationMode, scenesPoseCnt, trackingControllers, sceneID2Name));
 }
 
 //#################### PUBLIC MEMBER FUNCTIONS ####################
diff --git a/apps/spaintgui/core/CollaborativePipeline.h b/apps/spaintgui/core/CollaborativePipeline.h
index ad1e2ae..c02fe4f 100644
--- a/apps/spaintgui/core/CollaborativePipeline.h
+++ b/apps/spaintgui/core/CollaborativePipeline.h
@@ -39,6 +39,7 @@ class CollaborativePipeline : public MultiScenePipeline
   CollaborativePipeline(const Settings_Ptr& settings, 
 						            const std::string& resourcesDir,
                         const std::map<std::string, int>& scenesPoseCnt,
+                        const std::map<std::string, std::string> &sceneID2Name,
                         const std::vector<CompositeImageSourceEngine_Ptr>& imageSourceEngines,
                         const std::vector<std::string>& trackerConfigs,
                         const std::vector<spaint::SLAMComponent::MappingMode>& mappingModes,
diff --git a/apps/spaintgui/main.cpp b/apps/spaintgui/main.cpp
index d26c2b8..ecfda49 100644
--- a/apps/spaintgui/main.cpp
+++ b/apps/spaintgui/main.cpp
@@ -1003,7 +1003,6 @@ try
 
     // FIXME: We don't always want to read the poses from disk - make it possible to run the normal tracker instead.
     trackerConfigs.push_back(args.sequences[i]->make_disk_tracker_config());
-    // trackerConfigs.push_back(make_tracker_config(args));
   }
 
   // Construct the pipeline itself.
@@ -1034,9 +1033,14 @@ try
     scenesPoseCnt.insert(std::pair<std::string, int>(sceneIDs[i], count-1));
   }
 
+  std::map<std::string, std::string> sceneID2Name;
+  sceneID2Name.insert(std::pair<std::string, std::string>("World", args.scene1));
+  sceneID2Name.insert(std::pair<std::string, std::string>("Local1", args.scene2));
+
   pipeline.reset(new CollaborativePipeline(settings,
                                            Application::resources_dir().string(),
                                            scenesPoseCnt,
+                                           sceneID2Name,
                                            imageSourceEngines,
                                            trackerConfigs,
                                            mappingModes,
diff --git a/modules/grove/src/relocalisation/interface/ScoreForestRelocaliser.cpp b/modules/grove/src/relocalisation/interface/ScoreForestRelocaliser.cpp
index 0436a24..293ae57 100644
--- a/modules/grove/src/relocalisation/interface/ScoreForestRelocaliser.cpp
+++ b/modules/grove/src/relocalisation/interface/ScoreForestRelocaliser.cpp
@@ -37,7 +37,8 @@ ScoreForestRelocaliser::ScoreForestRelocaliser(const SettingsContainer_CPtr& set
   }
   else
   {
-    const std::string modelFilename = m_settings->get_first_value<std::string>(settingsNamespace + "modelFilename", (find_subdir_from_executable("resources") / "DefaultRelocalisationForest.rf").string());
+    // const std::string modelFilename = m_settings->get_first_value<std::string>(settingsNamespace + "modelFilename", (find_subdir_from_executable("resources") / "DefaultRelocalisationForest.rf").string());
+    const std::string modelFilename =  ("randomForest" / "DefaultRelocalisationForest.rf").string());
     std::cout << "Loading relocalisation forest from: " << modelFilename << '\n';
     m_scoreForest = DecisionForestFactory<DescriptorType,FOREST_TREE_COUNT>::make_forest(modelFilename, deviceType);
   }
diff --git a/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h b/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h
index 314db90..0e8bbae 100644
--- a/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h
+++ b/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h
@@ -30,6 +30,9 @@ class CollaborativePoseOptimiser
 
   //#################### PRIVATE VARIABLES ####################
 private:
+  /** The map of the scene ID and Scene Name*/
+  std::map<std::string, std::string> m_sceneID2Name;
+
   /** Estimates of the poses of the different scenes in the global coordinate system. */
   std::map<std::string,ORUtils::SE3Pose> m_estimatedGlobalPoses;
 
@@ -90,6 +93,13 @@ class CollaborativePoseOptimiser
 
   //#################### PUBLIC MEMBER FUNCTIONS ####################
 public:
+  /**
+   * \brief set map for SceneID and its name
+   *
+   * \param sceneID2Name The map to set.
+   */
+  void set_sceneID2Name(const std::map& sceneID2Name);
+
   /**
    * \brief Adds a sample of the transformation from the coordinate system of scene j to that of scene i.
    *
diff --git a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
index a2a2f25..15b4bd4 100644
--- a/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
+++ b/modules/spaint/include/spaint/pipelinecomponents/CollaborativeComponent.h
@@ -114,7 +114,8 @@ class CollaborativeComponent
    */
   CollaborativeComponent(const CollaborativeContext_Ptr& context, CollaborationMode mode, 
                          const std::map<std::string, int> &scenesPoseCnt, 
-                         const std::map<std::string, TrackingController_Ptr> &trackingControllers);
+                         const std::map<std::string, TrackingController_Ptr> &trackingControllers,
+                         const std::map<std::string, std::string> &sceneID2Name);
 
   //#################### DESTRUCTOR ####################
 public:
diff --git a/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp b/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp
index 9c2727f..5a3cd93 100644
--- a/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp
+++ b/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp
@@ -91,6 +91,11 @@ void CollaborativePoseOptimiser::add_relative_transform_sample(const std::string
 #endif
 }
 
+void CollaborativePoseOptimiser::set_sceneID2Name(const std::map& sceneID2Name)
+{
+  m_sceneID2Name = sceneID2Name;
+}
+
 void CollaborativePoseOptimiser::start(const std::string& globalPosesSpecifier)
 {
   m_globalPosesSpecifier = globalPosesSpecifier;
@@ -399,7 +404,9 @@ void CollaborativePoseOptimiser::save_global_poses() const
   // Determine the file to which to save the poses.
   const std::string dirName = "global_poses";
   const std::string globalPosesSpecifier = m_globalPosesSpecifier != "" ? m_globalPosesSpecifier : TimeUtil::get_iso_timestamp();
-  const bf::path p = find_subdir_from_executable(dirName) / (globalPosesSpecifier + ".txt");
+  // const bf::path p = find_subdir_from_executable(dirName) / (globalPosesSpecifier + ".txt");
+  const bf::path p = (dirName / globalPosesSpecifier+".txt");
+  std::cout << "this is global pose file name: " << p << "\n";
 
   // Try to ensure that the directory into which we want to save the file exists. If we can't, early out.
   try
@@ -423,7 +430,7 @@ void CollaborativePoseOptimiser::save_global_poses() const
   for(std::map<std::string,SE3Pose>::const_iterator it = m_estimatedGlobalPoses.begin(), iend = m_estimatedGlobalPoses.end(); it != iend; ++it)
   {
     DualQuatd dq = GeometryUtil::pose_to_dual_quat<double>(it->second);
-    fs << it->first << ' ' << dq << '\n';
+    fs << m_sceneID2Name[it->first] << ' ' << dq << '\n';
   }
 }
 
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index d608dc3..3afb19b 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -69,7 +69,8 @@ namespace spaint {
 
 CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& context, CollaborationMode mode, 
                                                const std::map<std::string, int> &scenesPoseCnt, 
-                                               const std::map<std::string, TrackingController_Ptr> &trackingControllers)
+                                               const std::map<std::string, TrackingController_Ptr> &trackingControllers,
+                                               const std::map<std::string, std::string> &sceneID2Name)
 : m_context(context),
   m_trackingControllers(trackingControllers),
   m_frameIndex(0),
@@ -114,9 +115,12 @@ CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& c
       m_trajectories[sceneID].push_back(*trackingState->pose_d);
     }
   }
-  
-  const std::string globalPosesSpecifier = settings->get_first_value<std::string>("globalPosesSpecifier", "");
-  m_context->get_collaborative_pose_optimiser()->start(globalPosesSpecifier);
+
+  m_context->get_collaborative_pose_optimiser()->set_sceneID2Name(sceneID2Name);
+  std::string scene1 = sceneID2Name["World"];
+  std::string scene2 = sceneID2Name["Local1"];
+  // const std::string globalPosesSpecifier = settings->get_first_value<std::string>("globalPosesSpecifier", "");
+  m_context->get_collaborative_pose_optimiser()->start(scene1 + "-" + scene2);
 }
 
 //#################### DESTRUCTOR ####################
@@ -167,7 +171,6 @@ bool CollaborativeComponent::run_collaborative_pose_estimation()
       if(!m_context->get_collaborative_pose_optimiser()->try_get_estimated_global_pose(sceneIDs[sceneIdx]))
       {
         m_reconstructionIsConsistent = false;
-		std::cout << "1111\n";
         break;
       }
     }

From 2b76b681edb735e5a01f4fb60236d7eeaec0be70 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Wed, 8 Feb 2023 02:59:45 -0500
Subject: [PATCH 33/55] modify modelFilename

---
 .../src/relocalisation/interface/ScoreForestRelocaliser.cpp     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/grove/src/relocalisation/interface/ScoreForestRelocaliser.cpp b/modules/grove/src/relocalisation/interface/ScoreForestRelocaliser.cpp
index 293ae57..00408a1 100644
--- a/modules/grove/src/relocalisation/interface/ScoreForestRelocaliser.cpp
+++ b/modules/grove/src/relocalisation/interface/ScoreForestRelocaliser.cpp
@@ -38,7 +38,7 @@ ScoreForestRelocaliser::ScoreForestRelocaliser(const SettingsContainer_CPtr& set
   else
   {
     // const std::string modelFilename = m_settings->get_first_value<std::string>(settingsNamespace + "modelFilename", (find_subdir_from_executable("resources") / "DefaultRelocalisationForest.rf").string());
-    const std::string modelFilename =  ("randomForest" / "DefaultRelocalisationForest.rf").string());
+    const std::string modelFilename = "randomForest/DefaultRelocalisationForest.rf";
     std::cout << "Loading relocalisation forest from: " << modelFilename << '\n';
     m_scoreForest = DecisionForestFactory<DescriptorType,FOREST_TREE_COUNT>::make_forest(modelFilename, deviceType);
   }

From b231a95a7f59eb0172a3856fc0af15f29d46df72 Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Wed, 8 Feb 2023 16:04:34 +0800
Subject: [PATCH 34/55] modify modelFilename

---
 .../src/relocalisation/interface/ScoreForestRelocaliser.cpp     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/grove/src/relocalisation/interface/ScoreForestRelocaliser.cpp b/modules/grove/src/relocalisation/interface/ScoreForestRelocaliser.cpp
index 293ae57..00408a1 100644
--- a/modules/grove/src/relocalisation/interface/ScoreForestRelocaliser.cpp
+++ b/modules/grove/src/relocalisation/interface/ScoreForestRelocaliser.cpp
@@ -38,7 +38,7 @@ ScoreForestRelocaliser::ScoreForestRelocaliser(const SettingsContainer_CPtr& set
   else
   {
     // const std::string modelFilename = m_settings->get_first_value<std::string>(settingsNamespace + "modelFilename", (find_subdir_from_executable("resources") / "DefaultRelocalisationForest.rf").string());
-    const std::string modelFilename =  ("randomForest" / "DefaultRelocalisationForest.rf").string());
+    const std::string modelFilename = "randomForest/DefaultRelocalisationForest.rf";
     std::cout << "Loading relocalisation forest from: " << modelFilename << '\n';
     m_scoreForest = DecisionForestFactory<DescriptorType,FOREST_TREE_COUNT>::make_forest(modelFilename, deviceType);
   }

From 2b2cfd10b7554e8ce4bfed70d9b7ffcf225802e2 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Wed, 8 Feb 2023 03:35:54 -0500
Subject: [PATCH 35/55] pass compile

---
 .../spaint/collaboration/CollaborativePoseOptimiser.h      | 3 ++-
 .../src/collaboration/CollaborativePoseOptimiser.cpp       | 7 ++++---
 .../src/pipelinecomponents/CollaborativeComponent.cpp      | 4 ++--
 3 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h b/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h
index 0e8bbae..864f2d8 100644
--- a/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h
+++ b/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h
@@ -7,6 +7,7 @@
 #define H_SPAINT_COLLABORATIVEPOSEOPTIMISER
 
 #include <set>
+#include <map>
 
 #include <boost/atomic.hpp>
 #include <boost/optional.hpp>
@@ -98,7 +99,7 @@ class CollaborativePoseOptimiser
    *
    * \param sceneID2Name The map to set.
    */
-  void set_sceneID2Name(const std::map& sceneID2Name);
+  void set_sceneID2Name(const std::map<std::string, std::string>& sceneID2Name);
 
   /**
    * \brief Adds a sample of the transformation from the coordinate system of scene j to that of scene i.
diff --git a/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp b/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp
index 5a3cd93..6ab4481 100644
--- a/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp
+++ b/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp
@@ -91,7 +91,7 @@ void CollaborativePoseOptimiser::add_relative_transform_sample(const std::string
 #endif
 }
 
-void CollaborativePoseOptimiser::set_sceneID2Name(const std::map& sceneID2Name)
+void CollaborativePoseOptimiser::set_sceneID2Name(const std::map<std::string, std::string>& sceneID2Name)
 {
   m_sceneID2Name = sceneID2Name;
 }
@@ -405,7 +405,7 @@ void CollaborativePoseOptimiser::save_global_poses() const
   const std::string dirName = "global_poses";
   const std::string globalPosesSpecifier = m_globalPosesSpecifier != "" ? m_globalPosesSpecifier : TimeUtil::get_iso_timestamp();
   // const bf::path p = find_subdir_from_executable(dirName) / (globalPosesSpecifier + ".txt");
-  const bf::path p = (dirName / globalPosesSpecifier+".txt");
+  const bf::path p("global_poses/" + globalPosesSpecifier + ".txt");
   std::cout << "this is global pose file name: " << p << "\n";
 
   // Try to ensure that the directory into which we want to save the file exists. If we can't, early out.
@@ -429,8 +429,9 @@ void CollaborativePoseOptimiser::save_global_poses() const
 
   for(std::map<std::string,SE3Pose>::const_iterator it = m_estimatedGlobalPoses.begin(), iend = m_estimatedGlobalPoses.end(); it != iend; ++it)
   {
+	auto sceneName = m_sceneID2Name.find(it->first);
     DualQuatd dq = GeometryUtil::pose_to_dual_quat<double>(it->second);
-    fs << m_sceneID2Name[it->first] << ' ' << dq << '\n';
+    fs << sceneName->second << ' ' << dq << '\n';
   }
 }
 
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 3afb19b..7512c02 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -117,8 +117,8 @@ CollaborativeComponent::CollaborativeComponent(const CollaborativeContext_Ptr& c
   }
 
   m_context->get_collaborative_pose_optimiser()->set_sceneID2Name(sceneID2Name);
-  std::string scene1 = sceneID2Name["World"];
-  std::string scene2 = sceneID2Name["Local1"];
+  std::string scene1 = sceneID2Name.find("World")->second;
+  std::string scene2 = sceneID2Name.find("Local1")->second;
   // const std::string globalPosesSpecifier = settings->get_first_value<std::string>("globalPosesSpecifier", "");
   m_context->get_collaborative_pose_optimiser()->start(scene1 + "-" + scene2);
 }

From d920bf545cae9eb0c29d44f9934a4a41e7ef4aca Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Thu, 9 Feb 2023 09:19:53 -0500
Subject: [PATCH 36/55] remove some debug info

---
 apps/spaintgui/Application.cpp                           | 4 ++--
 apps/spaintgui/core/CollaborativePipeline.cpp            | 1 -
 apps/spaintgui/core/MultiScenePipeline.cpp               | 1 -
 .../src/pipelinecomponents/CollaborativeComponent.cpp    | 9 +++------
 4 files changed, 5 insertions(+), 10 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 901ac5e..fdcf75b 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -100,10 +100,10 @@ bool Application::run()
 
     // Take action as relevant based on the current input state.
     process_input();
-
     // If the application is unpaused, process a new frame.
     if(!m_paused)
     {
+	  std::cout << "in m_paused i: " << i << "\n";
       // Run the main section of the pipeline.
       const std::set<std::string> scenesProcessed = m_pipeline->run_main_section();
       if(!scenesProcessed.empty())
@@ -120,7 +120,7 @@ bool Application::run()
         break;
       }
     }
-	sleep(1);
+	usleep(500000);
     // Render the scene.
     /*
     m_renderer->render(m_fracWindowPos, m_renderFiducials);
diff --git a/apps/spaintgui/core/CollaborativePipeline.cpp b/apps/spaintgui/core/CollaborativePipeline.cpp
index 1738b52..a118684 100644
--- a/apps/spaintgui/core/CollaborativePipeline.cpp
+++ b/apps/spaintgui/core/CollaborativePipeline.cpp
@@ -74,7 +74,6 @@ std::set<std::string> CollaborativePipeline::run_main_section()
   std::set<std::string> result;
   for(std::map<std::string,SLAMComponent_Ptr>::const_iterator it = m_slamComponents.begin(), iend = m_slamComponents.end(); it != iend; ++it)
   {
-    std::cout << "[pipeline] this is slamcomponent first: " << it->first << "\n";
     bool isConsistent = m_collaborativeComponent->run_collaborative_pose_estimation();
     if (!isConsistent) 
     {
diff --git a/apps/spaintgui/core/MultiScenePipeline.cpp b/apps/spaintgui/core/MultiScenePipeline.cpp
index dfb084e..85951fe 100644
--- a/apps/spaintgui/core/MultiScenePipeline.cpp
+++ b/apps/spaintgui/core/MultiScenePipeline.cpp
@@ -79,7 +79,6 @@ std::set<std::string> MultiScenePipeline::run_main_section()
   std::set<std::string> result;
   for(std::map<std::string,SLAMComponent_Ptr>::const_iterator it = m_slamComponents.begin(), iend = m_slamComponents.end(); it != iend; ++it)
   {
-	std::cout << "this is slamcomponent first: " << it->first << "\n";
   if(it->second->process_frame()) result.insert(it->first);
 	// if(it->second->process_frame_pose()) result.insert(it->first);
   }
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 7512c02..8f52633 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -177,7 +177,6 @@ bool CollaborativeComponent::run_collaborative_pose_estimation()
 
     if(m_reconstructionIsConsistent) std::cout << "The reconstruction became consistent at frame: " << m_frameIndex << '\n';
   }
-  std::cout << "m_reconstructionIsConsistent: " << m_reconstructionIsConsistent << "\n";
   // If the reconstruction is consistent and we're stopping at the first consistent reconstruction:
   if(m_reconstructionIsConsistent && m_stopAtFirstConsistentReconstruction)
   {
@@ -194,7 +193,6 @@ bool CollaborativeComponent::run_collaborative_pose_estimation()
 
   ++m_frameIndex;
 
-  std::cout << "this is m_reconstructionIsConsistent: " << m_reconstructionIsConsistent << "\n";
   return m_reconstructionIsConsistent;
   /*
   bool fusionMayStillRun = update_trajectories();
@@ -537,7 +535,7 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
     // Make OpenCV copies of the synthetic images we're trying to relocalise (these may be needed later).
     cv::Mat3b cvSourceRGB = OpenCVUtil::make_rgb_image(rgb->GetData(MEMORYDEVICE_CPU), rgb->noDims.x, rgb->noDims.y);
     cv::Mat1b cvSourceDepth = OpenCVUtil::make_greyscale_image(depth->GetData(MEMORYDEVICE_CPU), depth->noDims.x, depth->noDims.y, OpenCVUtil::ROW_MAJOR, 100.0f);
-	cv::imwrite("source.png", cvSourceRGB);
+	// cv::imwrite("source.png", cvSourceRGB);
   #if DEBUGGING
     // If we're debugging, show the synthetic images of the source scene to the user.
     cv::imshow("Source Depth", cvSourceDepth);
@@ -573,8 +571,8 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       // Make OpenCV copies of the synthetic images of the target scene.
       cv::Mat3b cvTargetRGB = OpenCVUtil::make_rgb_image(rgb->GetData(MEMORYDEVICE_CPU), rgb->noDims.x, rgb->noDims.y);
       cv::Mat1b cvTargetDepth = OpenCVUtil::make_greyscale_image(depth->GetData(MEMORYDEVICE_CPU), depth->noDims.x, depth->noDims.y, OpenCVUtil::ROW_MAJOR, 100.0f);
-	  cv::imwrite("target.png", cvTargetRGB);
-	  std::cout << "save target png\n";
+	  // cv::imwrite("target.png", cvTargetRGB);
+	  // std::cout << "save target png\n";
     #if DEBUGGING
       // If we're debugging, show the synthetic images of the target scene to the user.
       cv::imshow("Target RGB", cvTargetRGB);
@@ -708,7 +706,6 @@ void CollaborativeComponent::try_schedule_relocalisation()
 
     // If an existing relocalisation attempt is in progress, early out.
     // if(m_bestCandidate) return;
-	std::cout << "try_schedule_relocalisation: " << "m_bestCandidates.size() " << m_bestCandidates.size() << " bestCandidateMaxCount " << bestCandidateMaxCount << "\n";	
     if (m_bestCandidates.size()>=bestCandidateMaxCount) {
       m_readyToRelocalise.notify_one();
       return;

From a6a74c3d3855afc0a4f168bae7004af83cdcf179 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Thu, 9 Feb 2023 10:01:45 -0500
Subject: [PATCH 37/55] add timeout for relocalise

---
 apps/spaintgui/Application.cpp                    | 15 ++++++++++++---
 .../pipelinecomponents/CollaborativeComponent.cpp |  5 +++--
 2 files changed, 15 insertions(+), 5 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index fdcf75b..ea855f7 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -5,7 +5,9 @@
 
 #include "Application.h"
 using namespace tvginput;
+#include <time.h>  
 
+#include <stdio.h>
 #include <unistd.h>
 
 #include <fstream>
@@ -86,8 +88,16 @@ Application::Application(const MultiScenePipeline_Ptr& pipeline, bool renderFidu
 
 bool Application::run()
 {
+  time_t start, end;
+  double cost = 0;
+  time(&start);
   for(int i=0;;i++)
-  {
+  { 
+	time(&end);
+	cost = difftime(end, start);
+	if (cost>30.0) {
+		break;
+	}
     // Check to see if the user wants to quit the application, and quit if necessary. Note that if we
     // are running in batch mode, we quit directly, rather than saving a mesh of the scene on exit.
     bool eventQuit = !process_events();
@@ -103,7 +113,6 @@ bool Application::run()
     // If the application is unpaused, process a new frame.
     if(!m_paused)
     {
-	  std::cout << "in m_paused i: " << i << "\n";
       // Run the main section of the pipeline.
       const std::set<std::string> scenesProcessed = m_pipeline->run_main_section();
       if(!scenesProcessed.empty())
@@ -120,7 +129,7 @@ bool Application::run()
         break;
       }
     }
-	usleep(500000);
+	usleep(100000);
     // Render the scene.
     /*
     m_renderer->render(m_fracWindowPos, m_renderFiducials);
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 8f52633..0fd4e4d 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -487,6 +487,7 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
   }else {
     std::cout << "set " << tid << " to cpu set \n";
   }
+  int run_times = 0;
   while(!m_stopRelocalisationThread)
   {
     // Wait for a relocalisation to be scheduled.
@@ -501,10 +502,11 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       }
     }
     m_mutex.lock();
+	run_times++; 
     auto now_bestCandidate = m_bestCandidates.front();
     m_bestCandidates.pop_front();
     m_mutex.unlock();
-    std::cout << tid <<" : Attempting to relocalise frame " << now_bestCandidate->m_frameIndexJ << " of " << now_bestCandidate->m_sceneJ << " against " << now_bestCandidate->m_sceneI << "...";
+    std::cout << tid <<" : " << run_times << " Attempting to relocalise frame " << now_bestCandidate->m_frameIndexJ << " of " << now_bestCandidate->m_sceneJ << " against " << now_bestCandidate->m_sceneI << "...";
     // std::cout << "Attempting to relocalise frame " << m_bestCandidate->m_frameIndexJ << " of " << m_bestCandidate->m_sceneJ << " against " << m_bestCandidate->m_sceneI << "...";
 
     // Render synthetic images of the source scene from the relevant pose and copy them across to the GPU for use by the relocaliser.
@@ -714,7 +716,6 @@ void CollaborativeComponent::try_schedule_relocalisation()
     // Randomly generate a list of candidate relocalisations.
     const size_t desiredCandidateCount = 10;
     std::list<CollaborativeRelocalisation> candidates = generate_random_candidates(desiredCandidateCount);
-	std::cout << "this is candidates length: " << candidates.size() << "\n";
 #else
     // Generate the frames from the source scene in order, for evaluation purposes.
     std::list<CollaborativeRelocalisation> candidates = generate_sequential_candidate();

From ef936dd515965fd1f71aad74fc8a5f2ffb012c5c Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Tue, 14 Feb 2023 23:46:25 -0500
Subject: [PATCH 38/55] change relocalise time

---
 apps/spaintgui/Application.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index ea855f7..7881202 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -95,7 +95,7 @@ bool Application::run()
   { 
 	time(&end);
 	cost = difftime(end, start);
-	if (cost>30.0) {
+	if (cost>25.0) {
 		break;
 	}
     // Check to see if the user wants to quit the application, and quit if necessary. Note that if we

From 5eeabba93cc268a616b9920ca2c7552c0b9aaa63 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Wed, 15 Feb 2023 03:30:13 -0500
Subject: [PATCH 39/55] modify the parameter of verified candidate and timeout
 time

---
 apps/spaintgui/Application.cpp                                  | 2 +-
 .../spaint/src/pipelinecomponents/CollaborativeComponent.cpp    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 7881202..83eb74a 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -95,7 +95,7 @@ bool Application::run()
   { 
 	time(&end);
 	cost = difftime(end, start);
-	if (cost>25.0) {
+	if (cost>40.0) {
 		break;
 	}
     // Check to see if the user wants to quit the application, and quit if necessary. Note that if we
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index 0fd4e4d..d221963 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -334,7 +334,7 @@ bool CollaborativeComponent::is_verified(const CollaborativeRelocalisation& cand
   // FIXME: This is a bit hacky - we might want to improve this in the future.
   const float depthDiffThreshold = m_mode == CM_LIVE ? 10.0f : 5.0f;
 
-  return candidate.m_meanDepthDiff(0) < depthDiffThreshold && candidate.m_targetValidFraction >= 0.5f;
+  return candidate.m_meanDepthDiff(0) < 2.5f && candidate.m_targetValidFraction >= 0.75f;
 #else
   return true;
 #endif

From 2fa0ef72f0fce092c692bf2828f8b3ba74c41081 Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Sun, 19 Feb 2023 15:29:54 +0800
Subject: [PATCH 40/55] change mesh save name

---
 apps/spaintgui/Application.cpp | 6 ++++--
 apps/spaintgui/Application.h   | 9 ++++++++-
 apps/spaintgui/main.cpp        | 2 +-
 3 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 83eb74a..6564a05 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -55,13 +55,14 @@ using namespace tvgutil;
 
 //#################### CONSTRUCTORS ####################
 
-Application::Application(const MultiScenePipeline_Ptr& pipeline, bool renderFiducials)
+Application::Application(const MultiScenePipeline_Ptr& pipeline, const std::map<std::string, std::string> &sceneID2Name, bool renderFiducials)
 : m_activeSubwindowIndex(0),
   m_batchModeEnabled(false),
   m_commandManager(10),
   m_pauseBetweenFrames(true),
   m_paused(true),
   m_pipeline(pipeline),
+  m_sceneID2Name(sceneID2Name),
   m_renderFiducials(renderFiducials),
   m_saveModelsOnExit(false),
   m_usePoseMirroring(true),
@@ -1037,7 +1038,8 @@ void Application::save_mesh() const
     }
 
     // Save the mesh to disk.
-    const boost::filesystem::path meshPath = dir / (meshBaseName + "_" + sceneID + ".ply");
+    // const boost::filesystem::path meshPath = dir / (meshBaseName + "_" + sceneID + ".ply");
+    const boost::filesystem::path meshPath = m_sceneID2Name[sceneID] + ".ply";
     std::cout << "Saving mesh to: " << meshPath << '\n';
     mesh->WritePLY(meshPath.string().c_str());
   }
diff --git a/apps/spaintgui/Application.h b/apps/spaintgui/Application.h
index 6599b78..affd7f7 100644
--- a/apps/spaintgui/Application.h
+++ b/apps/spaintgui/Application.h
@@ -6,6 +6,8 @@
 #ifndef H_SPAINTGUI_APPLICATION
 #define H_SPAINTGUI_APPLICATION
 
+#include <map>
+
 #include <tvgutil/boost/WrappedAsio.h>
 #include <boost/function.hpp>
 
@@ -105,6 +107,9 @@ class Application
   /** The stream of commands being sent from the voice command server. */
   boost::asio::ip::tcp::iostream m_voiceCommandStream;
 
+  /** scene name and scene ID map*/
+  std::map<std::string, std::string> m_sceneID2Name;
+
   //#################### CONSTRUCTORS ####################
 public:
   /**
@@ -113,7 +118,9 @@ 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, 
+              const std::map<std::string, std::string> &sceneID2Name
+              bool renderFiducials = false);
 
   //#################### PUBLIC MEMBER FUNCTIONS ####################
 public:
diff --git a/apps/spaintgui/main.cpp b/apps/spaintgui/main.cpp
index ecfda49..bc27f3f 100644
--- a/apps/spaintgui/main.cpp
+++ b/apps/spaintgui/main.cpp
@@ -1057,7 +1057,7 @@ try
 #endif
 
     // Configure and run the application.
-    Application app(pipeline, args.renderFiducials);
+    Application app(pipeline, sceneID2Name, args.renderFiducials);
     if(args.batch) app.set_batch_mode_enabled(true);
     if(args.runServer) app.set_server_mode_enabled(true);
     app.set_save_memory_usage(args.profileMemory);

From 21dae942dbacc893737a0e8c887d306153b921fc Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Sun, 19 Feb 2023 20:43:03 -0500
Subject: [PATCH 41/55] fixed compile bug

---
 apps/spaintgui/Application.cpp | 10 +++++++---
 apps/spaintgui/Application.h   | 10 +++++++++-
 apps/spaintgui/main.cpp        |  3 ++-
 3 files changed, 18 insertions(+), 5 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 83eb74a..641fd2f 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -55,13 +55,14 @@ using namespace tvgutil;
 
 //#################### CONSTRUCTORS ####################
 
-Application::Application(const MultiScenePipeline_Ptr& pipeline, bool renderFiducials)
+Application::Application(const MultiScenePipeline_Ptr& pipeline, const std::map<std::string, std::string> &sceneID2Name, bool renderFiducials)
 : m_activeSubwindowIndex(0),
   m_batchModeEnabled(false),
   m_commandManager(10),
   m_pauseBetweenFrames(true),
   m_paused(true),
   m_pipeline(pipeline),
+  m_sceneID2Name(sceneID2Name),
   m_renderFiducials(renderFiducials),
   m_saveModelsOnExit(false),
   m_usePoseMirroring(true),
@@ -1037,8 +1038,10 @@ void Application::save_mesh() const
     }
 
     // Save the mesh to disk.
-    const boost::filesystem::path meshPath = dir / (meshBaseName + "_" + sceneID + ".ply");
-    std::cout << "Saving mesh to: " << meshPath << '\n';
+    // const boost::filesystem::path meshPath = dir / (meshBaseName + "_" + sceneID + ".ply");
+    auto sceneName = m_sceneID2Name.find(sceneID);
+    const boost::filesystem::path meshPath = sceneName->second + ".ply";
+	std::cout << "Saving mesh to: " << meshPath << '\n';
     mesh->WritePLY(meshPath.string().c_str());
   }
 }
@@ -1183,3 +1186,4 @@ void Application::toggle_recording(const std::string& type, boost::optional<tvgu
     std::cout << "[spaint] Started saving " << type << " to " << pathGenerator->get_base_dir() << "...\n";
   }
 }
+
diff --git a/apps/spaintgui/Application.h b/apps/spaintgui/Application.h
index 6599b78..eeba3e0 100644
--- a/apps/spaintgui/Application.h
+++ b/apps/spaintgui/Application.h
@@ -6,6 +6,8 @@
 #ifndef H_SPAINTGUI_APPLICATION
 #define H_SPAINTGUI_APPLICATION
 
+#include <map>
+
 #include <tvgutil/boost/WrappedAsio.h>
 #include <boost/function.hpp>
 
@@ -105,6 +107,9 @@ class Application
   /** The stream of commands being sent from the voice command server. */
   boost::asio::ip::tcp::iostream m_voiceCommandStream;
 
+  /** scene name and scene ID map*/
+  std::map<std::string, std::string> m_sceneID2Name;
+
   //#################### CONSTRUCTORS ####################
 public:
   /**
@@ -113,7 +118,9 @@ 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, 
+              const std::map<std::string, std::string> &sceneID2Name,
+              bool renderFiducials = false);
 
   //#################### PUBLIC MEMBER FUNCTIONS ####################
 public:
@@ -356,3 +363,4 @@ class Application
 };
 
 #endif
+
diff --git a/apps/spaintgui/main.cpp b/apps/spaintgui/main.cpp
index ecfda49..c1fbd0c 100644
--- a/apps/spaintgui/main.cpp
+++ b/apps/spaintgui/main.cpp
@@ -1057,7 +1057,7 @@ try
 #endif
 
     // Configure and run the application.
-    Application app(pipeline, args.renderFiducials);
+    Application app(pipeline, sceneID2Name, args.renderFiducials);
     if(args.batch) app.set_batch_mode_enabled(true);
     if(args.runServer) app.set_server_mode_enabled(true);
     app.set_save_memory_usage(args.profileMemory);
@@ -1087,3 +1087,4 @@ catch(std::exception &e)
   std::cerr << e.what() << '\n';
   return EXIT_FAILURE;
 }
+

From abf85ffa3b3a53b8ab21a4f253e85d466c8e8999 Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Mon, 20 Feb 2023 09:50:00 +0800
Subject: [PATCH 42/55] fixed compile bug

---
 apps/spaintgui/Application.cpp | 3 ++-
 apps/spaintgui/Application.h   | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 6564a05..53a077d 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -1039,7 +1039,8 @@ void Application::save_mesh() const
 
     // Save the mesh to disk.
     // const boost::filesystem::path meshPath = dir / (meshBaseName + "_" + sceneID + ".ply");
-    const boost::filesystem::path meshPath = m_sceneID2Name[sceneID] + ".ply";
+    auto sceneName = m_sceneID2Name.find(sceneID);
+    const boost::filesystem::path meshPath = sceneName->second + ".ply";
     std::cout << "Saving mesh to: " << meshPath << '\n';
     mesh->WritePLY(meshPath.string().c_str());
   }
diff --git a/apps/spaintgui/Application.h b/apps/spaintgui/Application.h
index affd7f7..b015b19 100644
--- a/apps/spaintgui/Application.h
+++ b/apps/spaintgui/Application.h
@@ -119,7 +119,7 @@ class Application
    * \param renderFiducials Whether or not to render the fiducials (if any) that have been detected in the 3D scene.
    */
   Application(const MultiScenePipeline_Ptr& pipeline, 
-              const std::map<std::string, std::string> &sceneID2Name
+              const std::map<std::string, std::string> &sceneID2Name,
               bool renderFiducials = false);
 
   //#################### PUBLIC MEMBER FUNCTIONS ####################

From ca6683d6ff0b3bdd4ecf8b5bf1989b2839e3c923 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Mon, 20 Feb 2023 04:53:51 -0500
Subject: [PATCH 43/55] debugging

---
 apps/spaintgui/Application.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 641fd2f..1f9f13b 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -1026,6 +1026,7 @@ void Application::save_mesh() const
       // Next, transform each triangle using the relative transform determined above.
       const Matrix4f transform = *relativeTransform;
       Triangle *trianglesData = triangles->GetData(MEMORYDEVICE_CPU);
+	  std::cout << "this is transform:\n" << transform << "\n";
       for(size_t triangleIdx = 0; triangleIdx < mesh->noTotalTriangles; ++triangleIdx)
       {
         trianglesData[triangleIdx].p0  = transform * trianglesData[triangleIdx].p0;

From 4a3a32c101801020129faf1889cd95da1fae79b8 Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Mon, 20 Feb 2023 18:01:07 +0800
Subject: [PATCH 44/55] if global pose not exist, do not generate mesh

---
 apps/spaintgui/Application.cpp                             | 7 ++++++-
 .../spaint/collaboration/CollaborativePoseOptimiser.h      | 5 +++++
 .../src/collaboration/CollaborativePoseOptimiser.cpp       | 6 ++++++
 3 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 53a077d..ddfb924 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -973,12 +973,17 @@ void Application::save_mesh() const
   const std::vector<std::string> sceneIDs = model->get_scene_ids();
 
   // Determine the (base) filename to use for the mesh, based on either the experiment tag (if specified) or the current timestamp (otherwise).
-  std::string meshBaseName = settings->get_first_value<std::string>("experimentTag", "spaint-" + TimeUtil::get_iso_timestamp());
+  // std::string meshBaseName = settings->get_first_value<std::string>("experimentTag", "spaint-" + TimeUtil::get_iso_timestamp());
 
   // Determine the directory into which to save the meshes, and make sure that it exists.
+  /* 
   boost::filesystem::path dir = find_subdir_from_executable("meshes");
   if(sceneIDs.size() > 1) dir = dir / meshBaseName;
   boost::filesystem::create_directories(dir);
+  */
+  if (!(model->get_collaborative_pose_optimiser()->isSuccess())) {
+    return;
+  }
 
   // Mesh each scene independently.
   for(size_t sceneIdx = 0; sceneIdx < sceneIDs.size(); ++sceneIdx)
diff --git a/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h b/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h
index 864f2d8..21360f1 100644
--- a/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h
+++ b/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h
@@ -126,6 +126,11 @@ class CollaborativePoseOptimiser
    */
   void terminate();
 
+  /**
+   * \brief Terminates the pose graph optimiser.
+   */
+  bool isSuccess();
+
   /**
    * \brief Attempts to get the estimated global pose (if any) of the specified scene.
    *
diff --git a/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp b/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp
index 6ab4481..f92245b 100644
--- a/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp
+++ b/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp
@@ -116,6 +116,12 @@ void CollaborativePoseOptimiser::terminate()
   save_global_poses();
 }
 
+bool CollaborativePoseOptimiser::isSuccess() 
+{
+  if(m_estimatedGlobalPoses.empty()) return false;
+  return true;
+}
+
 boost::optional<SE3Pose> CollaborativePoseOptimiser::try_get_estimated_global_pose(const std::string& sceneID) const
 {
   boost::lock_guard<boost::mutex> lock(m_mutex);

From 94e94b9665a7954ee4b0ab9d9772ac31239fb33f Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Mon, 20 Feb 2023 18:06:40 +0800
Subject: [PATCH 45/55] change to const

---
 .../include/spaint/collaboration/CollaborativePoseOptimiser.h   | 2 +-
 modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h b/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h
index 21360f1..186bb19 100644
--- a/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h
+++ b/modules/spaint/include/spaint/collaboration/CollaborativePoseOptimiser.h
@@ -129,7 +129,7 @@ class CollaborativePoseOptimiser
   /**
    * \brief Terminates the pose graph optimiser.
    */
-  bool isSuccess();
+  bool isSuccess() const;
 
   /**
    * \brief Attempts to get the estimated global pose (if any) of the specified scene.
diff --git a/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp b/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp
index f92245b..f37193f 100644
--- a/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp
+++ b/modules/spaint/src/collaboration/CollaborativePoseOptimiser.cpp
@@ -116,7 +116,7 @@ void CollaborativePoseOptimiser::terminate()
   save_global_poses();
 }
 
-bool CollaborativePoseOptimiser::isSuccess() 
+bool CollaborativePoseOptimiser::isSuccess() const
 {
   if(m_estimatedGlobalPoses.empty()) return false;
   return true;

From 51569c48780ebcece9f5518c2ba19dc61d4b088e Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Tue, 21 Feb 2023 02:04:29 -0500
Subject: [PATCH 46/55] add merge ply file in python

---
 apps/spaintgui/Application.cpp | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 57bc7c8..721bb35 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -155,7 +155,7 @@ 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();
 
   return true;
 }
@@ -986,6 +986,8 @@ void Application::save_mesh() const
   }
 
   // Mesh each scene independently.
+  std::vector<std::string> mergeFilesName;
+  std::vector<std::string> filesRootName;
   for(size_t sceneIdx = 0; sceneIdx < sceneIDs.size(); ++sceneIdx)
   {
     const std::string& sceneID = sceneIDs[sceneIdx];
@@ -1031,7 +1033,6 @@ void Application::save_mesh() const
       // Next, transform each triangle using the relative transform determined above.
       const Matrix4f transform = *relativeTransform;
       Triangle *trianglesData = triangles->GetData(MEMORYDEVICE_CPU);
-	  std::cout << "this is transform:\n" << transform << "\n";
       for(size_t triangleIdx = 0; triangleIdx < mesh->noTotalTriangles; ++triangleIdx)
       {
         trianglesData[triangleIdx].p0  = transform * trianglesData[triangleIdx].p0;
@@ -1046,10 +1047,21 @@ void Application::save_mesh() const
     // Save the mesh to disk.
     // const boost::filesystem::path meshPath = dir / (meshBaseName + "_" + sceneID + ".ply");
     auto sceneName = m_sceneID2Name.find(sceneID);
-    const boost::filesystem::path meshPath = sceneName->second + ".ply";
+    const boost::filesystem::path meshPath = sceneName->second + "-" + TimeUtil::get_iso_timestamp() + ".ply";
+    mergeFilesName.push_back(meshPath.string());
     std::cout << "Saving mesh to: " << meshPath << '\n';
     mesh->WritePLY(meshPath.string().c_str());
   }
+  std::string worldScene = m_sceneID2Name.find("World")->second;
+  std::string localScene = m_sceneID2Name.find("Local1")->second;
+  std::string outputFile = worldScene + "-" + localScene + ".ply";
+  std::cout << "execlp python program\n";
+  execlp("python", "python", "mergeMesh.py", 
+    "--file1", mergeFilesName[0],
+		"--file2", mergeFilesName[1],
+		"--pose", "worldPose.txt",
+		"--output", outputFile, NULL);
+  std::cout << "after execlp python program\n";
 }
 
 void Application::save_models() const

From ddbe7d28eece1d4e1722a60c5171858b430edfcb Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Tue, 21 Feb 2023 15:11:05 +0800
Subject: [PATCH 47/55] add merge ply file in python

---
 apps/spaintgui/Application.cpp | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index ddfb924..a1b7486 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -155,7 +155,7 @@ 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();
 
   return true;
 }
@@ -986,6 +986,8 @@ void Application::save_mesh() const
   }
 
   // Mesh each scene independently.
+  std::vector<std::string> mergeFilesName;
+  std::vector<std::string> filesRootName;
   for(size_t sceneIdx = 0; sceneIdx < sceneIDs.size(); ++sceneIdx)
   {
     const std::string& sceneID = sceneIDs[sceneIdx];
@@ -1045,10 +1047,21 @@ void Application::save_mesh() const
     // Save the mesh to disk.
     // const boost::filesystem::path meshPath = dir / (meshBaseName + "_" + sceneID + ".ply");
     auto sceneName = m_sceneID2Name.find(sceneID);
-    const boost::filesystem::path meshPath = sceneName->second + ".ply";
+    const boost::filesystem::path meshPath = sceneName->second + "-" + TimeUtil::get_iso_timestamp() + ".ply";
+    mergeFilesName.push_back(meshPath.string());
     std::cout << "Saving mesh to: " << meshPath << '\n';
     mesh->WritePLY(meshPath.string().c_str());
   }
+  std::string worldScene = m_sceneID2Name.find("World")->second;
+  std::string localScene = m_sceneID2Name.find("Local1")->second;
+  std::string outputFile = worldScene + "-" + localScene + ".ply";
+  std::cout << "execlp python program\n";
+  execlp("python", "python", "mergeMesh.py", 
+    "--file1", mergeFilesName[0],
+		"--file2", mergeFilesName[1],
+		"--pose", "worldPose.txt",
+		"--output", outputFile, NULL);
+  std::cout << "after execlp python program\n";
 }
 
 void Application::save_models() const

From 24f1bbfa4837d4846ef404b188e587b58ac7277e Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Tue, 21 Feb 2023 02:53:16 -0500
Subject: [PATCH 48/55] move merge ply to this part

---
 apps/spaintgui/Application.cpp | 32 +++++++++++++++++++++++---------
 1 file changed, 23 insertions(+), 9 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 721bb35..ec5a135 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -6,7 +6,8 @@
 #include "Application.h"
 using namespace tvginput;
 #include <time.h>  
-
+#include <sys/types.h>
+#include <sys/wait.h>
 #include <stdio.h>
 #include <unistd.h>
 
@@ -989,7 +990,7 @@ void Application::save_mesh() const
   std::vector<std::string> mergeFilesName;
   std::vector<std::string> filesRootName;
   for(size_t sceneIdx = 0; sceneIdx < sceneIDs.size(); ++sceneIdx)
-  {
+  { 
     const std::string& sceneID = sceneIDs[sceneIdx];
     std::cout << "Meshing " << sceneID << " scene.\n";
     SpaintVoxelScene_CPtr scene = model->get_slam_state(sceneID)->get_voxel_scene();
@@ -1032,6 +1033,7 @@ void Application::save_mesh() const
 
       // Next, transform each triangle using the relative transform determined above.
       const Matrix4f transform = *relativeTransform;
+	  std::cout << "transform:\n" << transform << "\n";
       Triangle *trianglesData = triangles->GetData(MEMORYDEVICE_CPU);
       for(size_t triangleIdx = 0; triangleIdx < mesh->noTotalTriangles; ++triangleIdx)
       {
@@ -1055,13 +1057,25 @@ void Application::save_mesh() const
   std::string worldScene = m_sceneID2Name.find("World")->second;
   std::string localScene = m_sceneID2Name.find("Local1")->second;
   std::string outputFile = worldScene + "-" + localScene + ".ply";
-  std::cout << "execlp python program\n";
-  execlp("python", "python", "mergeMesh.py", 
-    "--file1", mergeFilesName[0],
-		"--file2", mergeFilesName[1],
-		"--pose", "worldPose.txt",
-		"--output", outputFile, NULL);
-  std::cout << "after execlp python program\n";
+  pid_t pid = fork();
+  if (pid < 0) {
+    printf("error create merge program\n");
+    exit(0);
+  }
+  if (pid == 0) {
+    std::cout << "fork python program " << mergeFilesName[0] << " " << mergeFilesName[1] << "\n";
+	execlp("python", "python", "mergeMesh.py",
+		"--file1", mergeFilesName[0].c_str(),
+        "--file2", mergeFilesName[1].c_str(),
+        "--pose", "worldPose.txt",
+        "--output", outputFile.c_str(), NULL);
+	std::cout << "after execlp python program\n";	
+  }else {
+	std::cout << "this is origin program\n";
+	int status;
+	waitpid(pid, &status, 0);
+	std::cout << "after waitpid\n";
+  }
 }
 
 void Application::save_models() const

From fe6b325c8e2622223438f64e5776b1d8d35fb2a1 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Tue, 21 Feb 2023 06:01:27 -0500
Subject: [PATCH 49/55] modify execlp to execvp

---
 apps/spaintgui/Application.cpp | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index ec5a135..af22181 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -1064,11 +1064,13 @@ void Application::save_mesh() const
   }
   if (pid == 0) {
     std::cout << "fork python program " << mergeFilesName[0] << " " << mergeFilesName[1] << "\n";
-	execlp("python", "python", "mergeMesh.py",
-		"--file1", mergeFilesName[0].c_str(),
-        "--file2", mergeFilesName[1].c_str(),
-        "--pose", "worldPose.txt",
-        "--output", outputFile.c_str(), NULL);
+	char *argv[] = {"python3","mergeMesh.py", 
+					"--file1", const_cast<char*>(mergeFilesName[0].c_str()),
+					"--file2",const_cast<char*>(mergeFilesName[1].c_str()),
+					"--pose", "worldPose.txt",
+					"--output", const_cast<char*>(outputFile.c_str()),
+					NULL};
+	execvp("python3", argv);
 	std::cout << "after execlp python program\n";	
   }else {
 	std::cout << "this is origin program\n";

From 5d4715dd5714bdbfc136cca286fee06aaf6c91d4 Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Mon, 6 Mar 2023 13:02:14 +0800
Subject: [PATCH 50/55] add ssim

---
 .../CollaborativeComponent.cpp                | 54 ++++++++++++++++++-
 1 file changed, 53 insertions(+), 1 deletion(-)

diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index d221963..be8965e 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -575,12 +575,19 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       cv::Mat1b cvTargetDepth = OpenCVUtil::make_greyscale_image(depth->GetData(MEMORYDEVICE_CPU), depth->noDims.x, depth->noDims.y, OpenCVUtil::ROW_MAJOR, 100.0f);
 	  // cv::imwrite("target.png", cvTargetRGB);
 	  // std::cout << "save target png\n";
+    double ssimValue = getSSIM(cvTargetDepth, cvSourceDepth);
+    std::cout << "ssimValue: " << ssimValue << "\n";
+    if (ssimValue>0.7) {
+      verified = true;
+    }else {
+      verified = false;
+    }
     #if DEBUGGING
       // If we're debugging, show the synthetic images of the target scene to the user.
       cv::imshow("Target RGB", cvTargetRGB);
       cv::imshow("Target Depth", cvTargetDepth);
     #endif
-
+    /*
       // Compute a binary mask showing which pixels are valid in both the source and target depth images.
       cv::Mat cvSourceMask;
       cv::inRange(cvSourceDepth, cv::Scalar(0,0,0), cv::Scalar(0,0,0), cvSourceMask);
@@ -616,6 +623,7 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       // Decide whether or not to verify the relocalisation, based on the average depth difference and the fraction of the target depth image that is valid.
       // verified = is_verified(*m_bestCandidate);
       verified = is_verified(*now_bestCandidate);
+    */
 #else
       // If we didn't build with OpenCV, we can't do any verification, so just mark the relocalisation as verified and hope for the best.
       verified = true;
@@ -659,6 +667,50 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
   }
 }
 
+double getSSIM(const cv::Mat& depthImage1, const cv::Mat& depthImage2)
+{
+    const double C1 = 6.5025, C2 = 58.5225;
+    const int d = CV_32F;
+ 
+    cv::Mat image1, image2;
+    depthImage1.convertTo(image1, d);
+    depthImage2.convertTo(image2, d);
+ 
+    cv::Mat image1Squared = image1.mul(image1);
+    cv::Mat image2Squared = image2.mul(image2);
+    cv::Mat image1image2 = image1.mul(image2);
+ 
+    cv::Mat mu1, mu2;
+    cv::GaussianBlur(image1, mu1, cv::Size(11, 11), 1.5);
+    cv::GaussianBlur(image2, mu2, cv::Size(11, 11), 1.5);
+ 
+    cv::Mat mu1Squared = mu1.mul(mu1);
+    cv::Mat mu2Squared = mu2.mul(mu2);
+    cv::Mat mu1mu2 = mu1.mul(mu2);
+ 
+    cv::Mat sigma1Squared, sigma2Squared, sigma12;
+    cv::GaussianBlur(image1Squared, sigma1Squared, cv::Size(11, 11), 1.5);
+    sigma1Squared -= mu1Squared;
+    cv::GaussianBlur(image2Squared, sigma2Squared, cv::Size(11, 11), 1.5);
+    sigma2Squared -= mu2Squared;
+    cv::GaussianBlur(image1image2, sigma12, cv::Size(11, 11), 1.5);
+    sigma12 -= mu1mu2;
+ 
+    cv::Mat t1, t2, t3;
+    t1 = 2 * mu1mu2 + C1;
+    t2 = 2 * sigma12 + C2;
+    t3 = t1.mul(t2);
+ 
+    t1 = mu1Squared + mu2Squared + C1;
+    t2 = sigma1Squared + sigma2Squared + C2;
+    t1 = t1.mul(t2);
+ 
+    cv::Mat ssimMap;
+    cv::divide(t3, t1, ssimMap);
+    cv::Scalar mssim = cv::mean(ssimMap);
+    return mssim[0];
+}
+
 void CollaborativeComponent::score_candidates(std::list<CollaborativeRelocalisation>& candidates) const
 {
   for(std::list<CollaborativeRelocalisation>::iterator it = candidates.begin(), iend = candidates.end(); it != iend; ++it)

From b568cf358fa8d5ee0af704a7267d7ea8efd3ac32 Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Mon, 6 Mar 2023 13:06:48 +0800
Subject: [PATCH 51/55] add ssim

---
 .../CollaborativeComponent.cpp                | 88 +++++++++----------
 1 file changed, 44 insertions(+), 44 deletions(-)

diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index be8965e..a51154c 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -476,6 +476,50 @@ void CollaborativeComponent::output_results() const
   }
 }
 
+double getSSIM(const cv::Mat& depthImage1, const cv::Mat& depthImage2)
+{
+    const double C1 = 6.5025, C2 = 58.5225;
+    const int d = CV_32F;
+ 
+    cv::Mat image1, image2;
+    depthImage1.convertTo(image1, d);
+    depthImage2.convertTo(image2, d);
+ 
+    cv::Mat image1Squared = image1.mul(image1);
+    cv::Mat image2Squared = image2.mul(image2);
+    cv::Mat image1image2 = image1.mul(image2);
+ 
+    cv::Mat mu1, mu2;
+    cv::GaussianBlur(image1, mu1, cv::Size(11, 11), 1.5);
+    cv::GaussianBlur(image2, mu2, cv::Size(11, 11), 1.5);
+ 
+    cv::Mat mu1Squared = mu1.mul(mu1);
+    cv::Mat mu2Squared = mu2.mul(mu2);
+    cv::Mat mu1mu2 = mu1.mul(mu2);
+ 
+    cv::Mat sigma1Squared, sigma2Squared, sigma12;
+    cv::GaussianBlur(image1Squared, sigma1Squared, cv::Size(11, 11), 1.5);
+    sigma1Squared -= mu1Squared;
+    cv::GaussianBlur(image2Squared, sigma2Squared, cv::Size(11, 11), 1.5);
+    sigma2Squared -= mu2Squared;
+    cv::GaussianBlur(image1image2, sigma12, cv::Size(11, 11), 1.5);
+    sigma12 -= mu1mu2;
+ 
+    cv::Mat t1, t2, t3;
+    t1 = 2 * mu1mu2 + C1;
+    t2 = 2 * sigma12 + C2;
+    t3 = t1.mul(t2);
+ 
+    t1 = mu1Squared + mu2Squared + C1;
+    t2 = sigma1Squared + sigma2Squared + C2;
+    t1 = t1.mul(t2);
+ 
+    cv::Mat ssimMap;
+    cv::divide(t3, t1, ssimMap);
+    cv::Scalar mssim = cv::mean(ssimMap);
+    return mssim[0];
+}
+
 // void CollaborativeComponent::run_relocalisation()
 void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
 {
@@ -667,50 +711,6 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
   }
 }
 
-double getSSIM(const cv::Mat& depthImage1, const cv::Mat& depthImage2)
-{
-    const double C1 = 6.5025, C2 = 58.5225;
-    const int d = CV_32F;
- 
-    cv::Mat image1, image2;
-    depthImage1.convertTo(image1, d);
-    depthImage2.convertTo(image2, d);
- 
-    cv::Mat image1Squared = image1.mul(image1);
-    cv::Mat image2Squared = image2.mul(image2);
-    cv::Mat image1image2 = image1.mul(image2);
- 
-    cv::Mat mu1, mu2;
-    cv::GaussianBlur(image1, mu1, cv::Size(11, 11), 1.5);
-    cv::GaussianBlur(image2, mu2, cv::Size(11, 11), 1.5);
- 
-    cv::Mat mu1Squared = mu1.mul(mu1);
-    cv::Mat mu2Squared = mu2.mul(mu2);
-    cv::Mat mu1mu2 = mu1.mul(mu2);
- 
-    cv::Mat sigma1Squared, sigma2Squared, sigma12;
-    cv::GaussianBlur(image1Squared, sigma1Squared, cv::Size(11, 11), 1.5);
-    sigma1Squared -= mu1Squared;
-    cv::GaussianBlur(image2Squared, sigma2Squared, cv::Size(11, 11), 1.5);
-    sigma2Squared -= mu2Squared;
-    cv::GaussianBlur(image1image2, sigma12, cv::Size(11, 11), 1.5);
-    sigma12 -= mu1mu2;
- 
-    cv::Mat t1, t2, t3;
-    t1 = 2 * mu1mu2 + C1;
-    t2 = 2 * sigma12 + C2;
-    t3 = t1.mul(t2);
- 
-    t1 = mu1Squared + mu2Squared + C1;
-    t2 = sigma1Squared + sigma2Squared + C2;
-    t1 = t1.mul(t2);
- 
-    cv::Mat ssimMap;
-    cv::divide(t3, t1, ssimMap);
-    cv::Scalar mssim = cv::mean(ssimMap);
-    return mssim[0];
-}
-
 void CollaborativeComponent::score_candidates(std::list<CollaborativeRelocalisation>& candidates) const
 {
   for(std::list<CollaborativeRelocalisation>::iterator it = candidates.begin(), iend = candidates.end(); it != iend; ++it)

From a400333ccded477584e0b93439ea3b789090ad60 Mon Sep 17 00:00:00 2001
From: tsm <693555980@qq.com>
Date: Mon, 6 Mar 2023 13:36:45 +0800
Subject: [PATCH 52/55] debugging

---
 .../CollaborativeComponent.cpp                | 29 +++++++++++++------
 1 file changed, 20 insertions(+), 9 deletions(-)

diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index a51154c..c5e6c2b 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -10,6 +10,7 @@ using namespace itmx;
 
 #include <unistd.h>
 #include <sys/syscall.h>
+#include <cmath>
 
 #include <algorithm>
 
@@ -476,6 +477,18 @@ void CollaborativeComponent::output_results() const
   }
 }
 
+double getPSNR(const cv::Mat& depthImage1, const cv::Mat& depthImage2)
+{
+  cv::Mat diff;
+  cv::absdiff(depthImage1, depthImage2, diff);
+  diff = diff.mul(diff);
+  double mse = cv::mean(diff)[0];
+
+  double max_pixel_value = 255.0;
+  double psnr = 10.0 * std::log10((max_pixel_value * max_pixel_value) / mse);
+  return psnr;
+}
+
 double getSSIM(const cv::Mat& depthImage1, const cv::Mat& depthImage2)
 {
     const double C1 = 6.5025, C2 = 58.5225;
@@ -619,19 +632,12 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       cv::Mat1b cvTargetDepth = OpenCVUtil::make_greyscale_image(depth->GetData(MEMORYDEVICE_CPU), depth->noDims.x, depth->noDims.y, OpenCVUtil::ROW_MAJOR, 100.0f);
 	  // cv::imwrite("target.png", cvTargetRGB);
 	  // std::cout << "save target png\n";
-    double ssimValue = getSSIM(cvTargetDepth, cvSourceDepth);
-    std::cout << "ssimValue: " << ssimValue << "\n";
-    if (ssimValue>0.7) {
-      verified = true;
-    }else {
-      verified = false;
-    }
+
     #if DEBUGGING
       // If we're debugging, show the synthetic images of the target scene to the user.
       cv::imshow("Target RGB", cvTargetRGB);
       cv::imshow("Target Depth", cvTargetDepth);
     #endif
-    /*
       // Compute a binary mask showing which pixels are valid in both the source and target depth images.
       cv::Mat cvSourceMask;
       cv::inRange(cvSourceDepth, cv::Scalar(0,0,0), cv::Scalar(0,0,0), cvSourceMask);
@@ -667,7 +673,12 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       // Decide whether or not to verify the relocalisation, based on the average depth difference and the fraction of the target depth image that is valid.
       // verified = is_verified(*m_bestCandidate);
       verified = is_verified(*now_bestCandidate);
-    */
+      if (verified) {
+          double ssimValue = getSSIM(cvTargetDepth, cvSourceDepth);
+          std::cout << "ssimValue: " << ssimValue << "\n";
+          double psnr = getPSNR(cvTargetDepth, cvSourceDepth);
+          std::cout << "psnr: " << psnr << "\n";
+      }
 #else
       // If we didn't build with OpenCV, we can't do any verification, so just mark the relocalisation as verified and hope for the best.
       verified = true;

From 90d03136c0f0d05fdc2e3aacf5bafd20f3618666 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Mon, 6 Mar 2023 03:42:46 -0500
Subject: [PATCH 53/55] debug

---
 apps/spaintgui/Application.cpp                |   4 +-
 libraries/build-opencv-3.1.0-nix.sh           |   2 +-
 .../CollaborativeComponent.cpp                | 127 ++++++++++++++++--
 3 files changed, 119 insertions(+), 14 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index af22181..187d0c0 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -97,9 +97,9 @@ bool Application::run()
   { 
 	time(&end);
 	cost = difftime(end, start);
-	if (cost>40.0) {
+	/*if (cost>40.0) {
 		break;
-	}
+	}*/
     // Check to see if the user wants to quit the application, and quit if necessary. Note that if we
     // are running in batch mode, we quit directly, rather than saving a mesh of the scene on exit.
     bool eventQuit = !process_events();
diff --git a/libraries/build-opencv-3.1.0-nix.sh b/libraries/build-opencv-3.1.0-nix.sh
index 6373450..a37638b 100755
--- a/libraries/build-opencv-3.1.0-nix.sh
+++ b/libraries/build-opencv-3.1.0-nix.sh
@@ -50,7 +50,7 @@ else
     CMAKE_EXE_LINKER_FLAGS=""
   fi
 
-  cmake -Wno-dev -DENABLE_PRECOMPILED_HEADERS=OFF -DCMAKE_INSTALL_PREFIX=$INSTALL_PREFIX -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-3.1.0/modules -DBUILD_DOCS=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DWITH_CUDA=OFF -DCMAKE_CXX_FLAGS=$CMAKE_CXX_FLAGS -DCMAKE_EXE_LINKER_FLAGS=$CMAKE_EXE_LINKER_FLAGS -DBUILD_opencv_bgsegm=OFF -DBUILD_opencv_bioinspired=OFF -DBUILD_opencv_ccalib=OFF -DBUILD_opencv_datasets=OFF -DBUILD_opencv_dnn=OFF -DBUILD_opencv_dpm=OFF -DBUILD_opencv_face=OFF -DBUILD_opencv_fuzzy=OFF -DBUILD_opencv_hdf=OFF -DBUILD_opencv_java=OFF -DBUILD_opencv_line_descriptor=OFF -DBUILD_opencv_matlab=OFF -DBUILD_opencv_optflow=OFF -DBUILD_opencv_plot=OFF -DBUILD_opencv_python=OFF -DBUILD_opencv_python2=OFF -DBUILD_opencv_python3=OFF -DBUILD_opencv_reg=OFF -DBUILD_opencv_rgbd=OFF -DBUILD_opencv_saliency=OFF -DBUILD_opencv_stereo=OFF -DBUILD_opencv_structured_light=OFF -DBUILD_opencv_surface_matching=OFF -DBUILD_opencv_text=OFF -DBUILD_opencv_tracking=OFF -DBUILD_opencv_xfeatures2d=OFF -DBUILD_opencv_ximgproc=OFF -DBUILD_opencv_xobjdetect=OFF -DBUILD_opencv_xphoto=OFF .. # > $LOG 2>&1
+  cmake -Wno-dev -DENABLE_PRECOMPILED_HEADERS=OFF -DCMAKE_INSTALL_PREFIX=$INSTALL_PREFIX -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-3.1.0/modules -DBUILD_DOCS=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DWITH_CUDA=OFF -DCMAKE_CXX_FLAGS=$CMAKE_CXX_FLAGS -DCMAKE_EXE_LINKER_FLAGS=$CMAKE_EXE_LINKER_FLAGS -DBUILD_opencv_bgsegm=OFF -DBUILD_opencv_bioinspired=OFF -DBUILD_opencv_ccalib=OFF -DBUILD_opencv_datasets=OFF -DBUILD_opencv_dnn=OFF -DBUILD_opencv_dpm=OFF -DBUILD_opencv_face=OFF -DBUILD_opencv_fuzzy=OFF -DBUILD_opencv_hdf=OFF -DBUILD_opencv_java=OFF -DBUILD_opencv_line_descriptor=OFF -DBUILD_opencv_matlab=OFF -DBUILD_opencv_optflow=OFF -DBUILD_opencv_plot=OFF -DBUILD_opencv_python=OFF -DBUILD_opencv_python2=OFF -DBUILD_opencv_python3=OFF -DBUILD_opencv_reg=OFF -DBUILD_opencv_rgbd=OFF -DBUILD_opencv_saliency=OFF -DBUILD_opencv_stereo=OFF -DBUILD_opencv_structured_light=OFF -DBUILD_opencv_surface_matching=ON -DBUILD_opencv_text=OFF -DBUILD_opencv_tracking=OFF -DBUILD_opencv_xfeatures2d=ON -DBUILD_opencv_ximgproc=ON -DBUILD_opencv_xobjdetect=OFF -DBUILD_opencv_xphoto=OFF .. # > $LOG 2>&1
 
   echo "[spaint] ...Running build..."
   make -j96 # >> $LOG 2>&1
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index a51154c..d809e9f 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -10,9 +10,20 @@ using namespace itmx;
 
 #include <unistd.h>
 #include <sys/syscall.h>
+#include <cmath>
 
 #include <algorithm>
 
+#include <opencv2/core.hpp>
+#include <opencv2/features2d.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/xfeatures2d.hpp>
+
+using namespace std;
+using namespace cv;
+using namespace cv::xfeatures2d;
+
 #include <boost/bind.hpp>
 using boost::bind;
 
@@ -334,7 +345,8 @@ bool CollaborativeComponent::is_verified(const CollaborativeRelocalisation& cand
   // FIXME: This is a bit hacky - we might want to improve this in the future.
   const float depthDiffThreshold = m_mode == CM_LIVE ? 10.0f : 5.0f;
 
-  return candidate.m_meanDepthDiff(0) < 2.5f && candidate.m_targetValidFraction >= 0.75f;
+  return candidate.m_meanDepthDiff(0) < depthDiffThreshold && candidate.m_targetValidFraction >= 0.5f;
+  // return candidate.m_meanDepthDiff(0) < 2.5f && candidate.m_targetValidFraction >= 0.75f;
 #else
   return true;
 #endif
@@ -476,6 +488,18 @@ void CollaborativeComponent::output_results() const
   }
 }
 
+double getPSNR(const cv::Mat& depthImage1, const cv::Mat& depthImage2)
+{
+  cv::Mat diff;
+  cv::absdiff(depthImage1, depthImage2, diff);
+  diff = diff.mul(diff);
+  double mse = cv::mean(diff)[0];
+
+  double max_pixel_value = 255.0;
+  double psnr = 10.0 * std::log10((max_pixel_value * max_pixel_value) / mse);
+  return psnr;
+}
+
 double getSSIM(const cv::Mat& depthImage1, const cv::Mat& depthImage2)
 {
     const double C1 = 6.5025, C2 = 58.5225;
@@ -532,6 +556,9 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
     std::cout << "set " << tid << " to cpu set \n";
   }
   int run_times = 0;
+  int save_cnt1 = 0;
+  int save_cnt2 = 0;
+  int save_cnt3 = 0;
   while(!m_stopRelocalisationThread)
   {
     // Wait for a relocalisation to be scheduled.
@@ -546,7 +573,7 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       }
     }
     m_mutex.lock();
-	run_times++; 
+	  run_times++; 
     auto now_bestCandidate = m_bestCandidates.front();
     m_bestCandidates.pop_front();
     m_mutex.unlock();
@@ -619,19 +646,12 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       cv::Mat1b cvTargetDepth = OpenCVUtil::make_greyscale_image(depth->GetData(MEMORYDEVICE_CPU), depth->noDims.x, depth->noDims.y, OpenCVUtil::ROW_MAJOR, 100.0f);
 	  // cv::imwrite("target.png", cvTargetRGB);
 	  // std::cout << "save target png\n";
-    double ssimValue = getSSIM(cvTargetDepth, cvSourceDepth);
-    std::cout << "ssimValue: " << ssimValue << "\n";
-    if (ssimValue>0.7) {
-      verified = true;
-    }else {
-      verified = false;
-    }
+
     #if DEBUGGING
       // If we're debugging, show the synthetic images of the target scene to the user.
       cv::imshow("Target RGB", cvTargetRGB);
       cv::imshow("Target Depth", cvTargetDepth);
     #endif
-    /*
       // Compute a binary mask showing which pixels are valid in both the source and target depth images.
       cv::Mat cvSourceMask;
       cv::inRange(cvSourceDepth, cv::Scalar(0,0,0), cv::Scalar(0,0,0), cvSourceMask);
@@ -667,7 +687,91 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       // Decide whether or not to verify the relocalisation, based on the average depth difference and the fraction of the target depth image that is valid.
       // verified = is_verified(*m_bestCandidate);
       verified = is_verified(*now_bestCandidate);
-    */
+      if (verified) {
+		  printf("save cnt: %d\n", save_cnt1);
+          cv::imwrite("verifiedSource"+std::to_string(save_cnt1)+".png", cvSourceRGB);
+          cv::imwrite("verifiedTarget"+std::to_string(save_cnt1)+".png", cvTargetRGB);
+          cv::imwrite("verifiedSourcedep"+std::to_string(save_cnt1)+".png", cvSourceDepth);
+          cv::imwrite("verifiedTargetdep"+std::to_string(save_cnt1)+".png", cvTargetDepth);
+          save_cnt1++;
+      }
+      
+	  double ssimValue = getSSIM(cvTargetRGB, cvSourceRGB);
+	  double ssimValuedepth = getSSIM(cvTargetDepth, cvSourceDepth);
+      if (verified)
+		  std::cout << "ssimValue: " << ssimValue << "depth: " << ssimValuedepth << "\n";
+      double psnr = getPSNR(cvTargetRGB, cvSourceRGB);
+    if (verified)
+	  std::cout << "psnr: " << psnr << "\n";
+	  
+
+   //-- Step 1: Detect the keypoints using SURF Detector, compute the descriptors
+  int minHessian = 400;
+  Ptr<SURF> detector = SURF::create();
+  detector->setHessianThreshold(minHessian);
+  std::vector<KeyPoint> keypoints_1, keypoints_2;
+  Mat descriptors_1, descriptors_2;
+  detector->detectAndCompute( cvSourceRGB, Mat(), keypoints_1, descriptors_1 );
+  detector->detectAndCompute( cvTargetRGB, Mat(), keypoints_2, descriptors_2 );
+
+	FlannBasedMatcher matcher;
+  std::vector< DMatch > matches;
+  matcher.match( descriptors_1, descriptors_2, matches ); //特征描述子匹配
+
+	//找出最优特征点
+	double max_dist = 0; double min_dist = 1000;
+  //-- Quick calculation of max and min distances between keypoints
+  for( int i = 0; i < descriptors_1.rows; i++ )
+  { double dist = matches[i].distance;
+    if( dist < min_dist ) min_dist = dist;
+    if( dist > max_dist ) max_dist = dist;
+  }
+
+  // printf("-- Max dist : %f \n", max_dist );
+  // printf("-- Min dist : %f \n", min_dist );
+
+	std::vector< DMatch > good_matches;
+	for( int i = 0; i < descriptors_1.rows; i++ )
+  { if( matches[i].distance <= max(1.5*min_dist, 0.01) )
+    { good_matches.push_back( matches[i]); }
+  }
+	if (verified)
+  std::cout << "good_matches: " << good_matches.size() << "\n";
+    
+  detector->detectAndCompute( cvSourceDepth, Mat(), keypoints_1, descriptors_1 );
+  detector->detectAndCompute( cvTargetDepth, Mat(), keypoints_2, descriptors_2 );
+  matcher.match( descriptors_1, descriptors_2, matches ); //特征描述子匹配
+  //找出最优特征点
+  max_dist = 0; min_dist = 100;
+  //-- Quick calculation of max and min distances between keypoints
+  for( int i = 0; i < descriptors_1.rows; i++ )
+  { double dist = matches[i].distance;
+    if( dist < min_dist ) min_dist = dist;
+    if( dist > max_dist ) max_dist = dist;
+  }
+  // printf("-- depth Max dist : %f \n", max_dist );
+  // printf("-- depth Min dist : %f \n", min_dist );
+  std::vector< DMatch > depth_matches;
+	for( int i = 0; i < descriptors_1.rows; i++ )
+  { if( matches[i].distance <= max(1.5*min_dist, 0.01) )
+    { depth_matches.push_back( matches[i]); }
+  }
+	if (verified)
+  std::cout << "depth_matches: " << depth_matches.size() << "\n";
+
+  /*
+  if (good_matches.size()>100) {
+	printf("goodmatch save cnt: %d\n", save_cnt3);
+	std::cout << "good_matches: " << good_matches.size() << "\n";
+	printf("ssim: %f\n", ssimValue);
+	printf("ssim depth: %f\n", ssimValuedepth);
+	cv::imwrite("flannSource"+std::to_string(save_cnt3)+".png", cvSourceRGB);
+    cv::imwrite("flannTarget"+std::to_string(save_cnt3)+".png", cvTargetRGB);
+    cv::imwrite("flanndepSource"+std::to_string(save_cnt3)+".png", cvSourceDepth);
+    cv::imwrite("flanndepTarget"+std::to_string(save_cnt3)+".png", cvTargetDepth);
+	save_cnt3++;
+  }
+*/
 #else
       // If we didn't build with OpenCV, we can't do any verification, so just mark the relocalisation as verified and hope for the best.
       verified = true;
@@ -833,3 +937,4 @@ bool CollaborativeComponent::update_trajectories()
 }
 
 }
+

From 9dae97936b5abb48d7093296dd613ebdddb80e57 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Mon, 6 Mar 2023 05:22:46 -0500
Subject: [PATCH 54/55] modify match algorithm

---
 .../CollaborativeComponent.cpp                | 271 ++++++++++--------
 1 file changed, 144 insertions(+), 127 deletions(-)

diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index d809e9f..fb158bb 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -352,6 +352,11 @@ bool CollaborativeComponent::is_verified(const CollaborativeRelocalisation& cand
 #endif
 }
 
+bool verifying(cv::Scalar meanDepthDiff, float targetValidFraction)
+{
+  return meanDepthDiff(0) < 5.0f && targetValidFraction >= 0.5f;
+}
+
 void CollaborativeComponent::output_results() const
 {
   int good = 0, bad = 0, unknown = 0;
@@ -500,50 +505,6 @@ double getPSNR(const cv::Mat& depthImage1, const cv::Mat& depthImage2)
   return psnr;
 }
 
-double getSSIM(const cv::Mat& depthImage1, const cv::Mat& depthImage2)
-{
-    const double C1 = 6.5025, C2 = 58.5225;
-    const int d = CV_32F;
- 
-    cv::Mat image1, image2;
-    depthImage1.convertTo(image1, d);
-    depthImage2.convertTo(image2, d);
- 
-    cv::Mat image1Squared = image1.mul(image1);
-    cv::Mat image2Squared = image2.mul(image2);
-    cv::Mat image1image2 = image1.mul(image2);
- 
-    cv::Mat mu1, mu2;
-    cv::GaussianBlur(image1, mu1, cv::Size(11, 11), 1.5);
-    cv::GaussianBlur(image2, mu2, cv::Size(11, 11), 1.5);
- 
-    cv::Mat mu1Squared = mu1.mul(mu1);
-    cv::Mat mu2Squared = mu2.mul(mu2);
-    cv::Mat mu1mu2 = mu1.mul(mu2);
- 
-    cv::Mat sigma1Squared, sigma2Squared, sigma12;
-    cv::GaussianBlur(image1Squared, sigma1Squared, cv::Size(11, 11), 1.5);
-    sigma1Squared -= mu1Squared;
-    cv::GaussianBlur(image2Squared, sigma2Squared, cv::Size(11, 11), 1.5);
-    sigma2Squared -= mu2Squared;
-    cv::GaussianBlur(image1image2, sigma12, cv::Size(11, 11), 1.5);
-    sigma12 -= mu1mu2;
- 
-    cv::Mat t1, t2, t3;
-    t1 = 2 * mu1mu2 + C1;
-    t2 = 2 * sigma12 + C2;
-    t3 = t1.mul(t2);
- 
-    t1 = mu1Squared + mu2Squared + C1;
-    t2 = sigma1Squared + sigma2Squared + C2;
-    t1 = t1.mul(t2);
- 
-    cv::Mat ssimMap;
-    cv::divide(t3, t1, ssimMap);
-    cv::Scalar mssim = cv::mean(ssimMap);
-    return mssim[0];
-}
-
 // void CollaborativeComponent::run_relocalisation()
 void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
 {
@@ -689,89 +650,12 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       verified = is_verified(*now_bestCandidate);
       if (verified) {
 		  printf("save cnt: %d\n", save_cnt1);
-          cv::imwrite("verifiedSource"+std::to_string(save_cnt1)+".png", cvSourceRGB);
-          cv::imwrite("verifiedTarget"+std::to_string(save_cnt1)+".png", cvTargetRGB);
-          cv::imwrite("verifiedSourcedep"+std::to_string(save_cnt1)+".png", cvSourceDepth);
-          cv::imwrite("verifiedTargetdep"+std::to_string(save_cnt1)+".png", cvTargetDepth);
+          cv::imwrite("verifiedSource"+std::to_string(now_bestCandidate->m_frameIndexJ)+".png", cvSourceRGB);
+          cv::imwrite("verifiedTarget"+std::to_string(now_bestCandidate->m_frameIndexJ)+".png", cvTargetRGB);
+          cv::imwrite("verifiedSourcedep"+std::to_string(now_bestCandidate->m_frameIndexJ)+".png", cvSourceDepth);
+          cv::imwrite("verifiedTargetdep"+std::to_string(now_bestCandidate->m_frameIndexJ)+".png", cvTargetDepth);
           save_cnt1++;
       }
-      
-	  double ssimValue = getSSIM(cvTargetRGB, cvSourceRGB);
-	  double ssimValuedepth = getSSIM(cvTargetDepth, cvSourceDepth);
-      if (verified)
-		  std::cout << "ssimValue: " << ssimValue << "depth: " << ssimValuedepth << "\n";
-      double psnr = getPSNR(cvTargetRGB, cvSourceRGB);
-    if (verified)
-	  std::cout << "psnr: " << psnr << "\n";
-	  
-
-   //-- Step 1: Detect the keypoints using SURF Detector, compute the descriptors
-  int minHessian = 400;
-  Ptr<SURF> detector = SURF::create();
-  detector->setHessianThreshold(minHessian);
-  std::vector<KeyPoint> keypoints_1, keypoints_2;
-  Mat descriptors_1, descriptors_2;
-  detector->detectAndCompute( cvSourceRGB, Mat(), keypoints_1, descriptors_1 );
-  detector->detectAndCompute( cvTargetRGB, Mat(), keypoints_2, descriptors_2 );
-
-	FlannBasedMatcher matcher;
-  std::vector< DMatch > matches;
-  matcher.match( descriptors_1, descriptors_2, matches ); //特征描述子匹配
-
-	//找出最优特征点
-	double max_dist = 0; double min_dist = 1000;
-  //-- Quick calculation of max and min distances between keypoints
-  for( int i = 0; i < descriptors_1.rows; i++ )
-  { double dist = matches[i].distance;
-    if( dist < min_dist ) min_dist = dist;
-    if( dist > max_dist ) max_dist = dist;
-  }
-
-  // printf("-- Max dist : %f \n", max_dist );
-  // printf("-- Min dist : %f \n", min_dist );
-
-	std::vector< DMatch > good_matches;
-	for( int i = 0; i < descriptors_1.rows; i++ )
-  { if( matches[i].distance <= max(1.5*min_dist, 0.01) )
-    { good_matches.push_back( matches[i]); }
-  }
-	if (verified)
-  std::cout << "good_matches: " << good_matches.size() << "\n";
-    
-  detector->detectAndCompute( cvSourceDepth, Mat(), keypoints_1, descriptors_1 );
-  detector->detectAndCompute( cvTargetDepth, Mat(), keypoints_2, descriptors_2 );
-  matcher.match( descriptors_1, descriptors_2, matches ); //特征描述子匹配
-  //找出最优特征点
-  max_dist = 0; min_dist = 100;
-  //-- Quick calculation of max and min distances between keypoints
-  for( int i = 0; i < descriptors_1.rows; i++ )
-  { double dist = matches[i].distance;
-    if( dist < min_dist ) min_dist = dist;
-    if( dist > max_dist ) max_dist = dist;
-  }
-  // printf("-- depth Max dist : %f \n", max_dist );
-  // printf("-- depth Min dist : %f \n", min_dist );
-  std::vector< DMatch > depth_matches;
-	for( int i = 0; i < descriptors_1.rows; i++ )
-  { if( matches[i].distance <= max(1.5*min_dist, 0.01) )
-    { depth_matches.push_back( matches[i]); }
-  }
-	if (verified)
-  std::cout << "depth_matches: " << depth_matches.size() << "\n";
-
-  /*
-  if (good_matches.size()>100) {
-	printf("goodmatch save cnt: %d\n", save_cnt3);
-	std::cout << "good_matches: " << good_matches.size() << "\n";
-	printf("ssim: %f\n", ssimValue);
-	printf("ssim depth: %f\n", ssimValuedepth);
-	cv::imwrite("flannSource"+std::to_string(save_cnt3)+".png", cvSourceRGB);
-    cv::imwrite("flannTarget"+std::to_string(save_cnt3)+".png", cvTargetRGB);
-    cv::imwrite("flanndepSource"+std::to_string(save_cnt3)+".png", cvSourceDepth);
-    cv::imwrite("flanndepTarget"+std::to_string(save_cnt3)+".png", cvTargetDepth);
-	save_cnt3++;
-  }
-*/
 #else
       // If we didn't build with OpenCV, we can't do any verification, so just mark the relocalisation as verified and hope for the best.
       verified = true;
@@ -782,11 +666,143 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
     // relative transform between the source and target scenes to the pose graph optimiser.
     if(verified)
     {
-      // cjTwi^-1 * cjTwj = wiTcj * cjTwj = wiTwj
       now_bestCandidate->m_relativePose = ORUtils::SE3Pose(result->pose.GetInvM() * now_bestCandidate->m_localPoseJ.GetM());
+      std::string sceneJ = now_bestCandidate->m_sceneJ;
+      int sceneJFrameSize = m_trajectories[sceneJ].size();
+      int tmpIndexJ = now_bestCandidate->m_frameIndexJ;
+      double similarity = 0.0;
+      int count = 0;
+      int successTimes = 0;
+      for (int i = 1; i<=3; i++) {
+        // use rgb render picture to calculate similarity
+        int checkNextFrameIndex = now_bestCandidate->m_frameIndexJ + i*10;
+        if (checkNextFrameIndex < sceneJFrameSize) {
+          printf("this is another frame: %d\n", checkNextFrameIndex);
+          count++;
+          ORUtils::SE3Pose nextFrameLocalPose = m_trajectories[sceneJ][checkNextFrameIndex];
+          ORUtils::SE3Pose nextFramePredPose = ORUtils::SE3Pose(nextFrameLocalPose.GetM() * now_bestCandidate->m_relativePose->GetInvM());
+          m_visualisationGenerator->generate_voxel_visualisation(
+            rgb, slamStateI->get_voxel_scene(), nextFramePredPose, viewI->calib.intrinsics_rgb,
+            renderStateRGB, VisualisationGenerator::VT_SCENE_COLOUR, boost::none
+          );
+          cv::Mat3b cvNextFrameTargetRGB = OpenCVUtil::make_rgb_image(rgb->GetData(MEMORYDEVICE_CPU), rgb->noDims.x, rgb->noDims.y);
+          m_visualisationGenerator->generate_voxel_visualisation(
+            rgb, slamStateJ->get_voxel_scene(), nextFrameLocalPose, viewI->calib.intrinsics_rgb,
+            renderStateRGB, VisualisationGenerator::VT_SCENE_COLOUR, boost::none
+          );
+          cv::Mat3b cvNextFrameSourceRGB = OpenCVUtil::make_rgb_image(rgb->GetData(MEMORYDEVICE_CPU), rgb->noDims.x, rgb->noDims.y);
+          cv::imwrite("Source-"+ std::to_string(tmpIndexJ) + "-"+ std::to_string(checkNextFrameIndex)+".png", cvNextFrameSourceRGB);
+          cv::imwrite("Target-"+ std::to_string(tmpIndexJ) + "-"+ std::to_string(checkNextFrameIndex)+".png", cvNextFrameTargetRGB);
+
+          m_visualisationGenerator->generate_depth_from_voxels(
+            depth, slamStateI->get_voxel_scene(), nextFramePredPose, viewI->calib.intrinsics_d,
+            renderStateD, DepthVisualiser::DT_ORTHOGRAPHIC
+          );
+          cv::Mat1b cvNextFrameTargetDepth = OpenCVUtil::make_greyscale_image(depth->GetData(MEMORYDEVICE_CPU), depth->noDims.x, depth->noDims.y, OpenCVUtil::ROW_MAJOR, 100.0f);
+          m_visualisationGenerator->generate_depth_from_voxels(
+            depth, slamStateJ->get_voxel_scene(), nextFrameLocalPose, viewI->calib.intrinsics_d,
+            renderStateD, DepthVisualiser::DT_ORTHOGRAPHIC
+          );
+          cv::Mat1b cvNextFrameSourceDepth = OpenCVUtil::make_greyscale_image(depth->GetData(MEMORYDEVICE_CPU), depth->noDims.x, depth->noDims.y, OpenCVUtil::ROW_MAJOR, 100.0f);
+
+          cv::Mat cvNextSourceMask;
+          cv::inRange(cvNextFrameSourceDepth, cv::Scalar(0,0,0), cv::Scalar(0,0,0), cvNextSourceMask);
+          cv::bitwise_not(cvNextSourceMask, cvNextSourceMask);
+
+          cv::Mat cvNextTargetMask;
+          cv::inRange(cvNextFrameTargetDepth, cv::Scalar(0,0,0), cv::Scalar(0,0,0), cvNextTargetMask);
+          cv::bitwise_not(cvNextTargetMask, cvNextTargetMask);
+
+          cv::Mat cvNextCombinedMask;
+          cv::bitwise_and(cvNextSourceMask, cvNextTargetMask, cvNextCombinedMask);
+
+          // Compute the difference between the source and target depth images, and mask it using the combined mask.
+          cv::Mat cvNextDepthDiff, cvNextMaskedDepthDiff;
+          cv::absdiff(cvNextFrameSourceDepth, cvNextFrameTargetDepth, cvNextDepthDiff);
+          cvNextDepthDiff.copyTo(cvNextMaskedDepthDiff, cvNextCombinedMask);
+
+          // Determine the average depth difference for valid pixels in the source and target depth images.
+          cv::Scalar meanNextDepthDiff = cv::mean(cvNextMaskedDepthDiff);
+
+
+          // Compute the fraction of the target depth image that is valid.
+          float targetNextValidFraction = static_cast<float>(cv::countNonZero(cvNextTargetMask == 255)) / (cvNextTargetMask.size().width * cvNextTargetMask.size().height);       
+
+          if (!verifying(meanNextDepthDiff, targetNextValidFraction)) {
+            printf("next frame Failed!!!!!!!!!\n");
+          }else {
+            successTimes++;
+          }
+        }
+        int checkPrevFrameIndex = now_bestCandidate->m_frameIndexJ - i*10;
+        if (checkPrevFrameIndex >= 0) {
+          count++;
+          printf("this is another frame: %d\n", checkPrevFrameIndex);
+          ORUtils::SE3Pose prevFrameLocalPose = m_trajectories[sceneJ][checkPrevFrameIndex];
+          ORUtils::SE3Pose prevFramePredPose = ORUtils::SE3Pose(prevFrameLocalPose.GetM() * now_bestCandidate->m_relativePose->GetInvM());
+          m_visualisationGenerator->generate_voxel_visualisation(
+            rgb, slamStateI->get_voxel_scene(), prevFramePredPose, viewI->calib.intrinsics_rgb,
+            renderStateRGB, VisualisationGenerator::VT_SCENE_COLOUR, boost::none
+          );
+          cv::Mat3b cvPrevFrameTargetRGB = OpenCVUtil::make_rgb_image(rgb->GetData(MEMORYDEVICE_CPU), rgb->noDims.x, rgb->noDims.y);
+          m_visualisationGenerator->generate_voxel_visualisation(
+            rgb, slamStateJ->get_voxel_scene(), prevFrameLocalPose, viewI->calib.intrinsics_rgb,
+            renderStateRGB, VisualisationGenerator::VT_SCENE_COLOUR, boost::none
+          );
+          cv::Mat3b cvPrevFrameSourceRGB = OpenCVUtil::make_rgb_image(rgb->GetData(MEMORYDEVICE_CPU), rgb->noDims.x, rgb->noDims.y);
+          cv::imwrite("Source"+ std::to_string(tmpIndexJ) + "-"+ std::to_string(checkPrevFrameIndex)+".png", cvPrevFrameSourceRGB);
+          cv::imwrite("Target"+ std::to_string(tmpIndexJ) + "-"+ std::to_string(checkPrevFrameIndex)+".png", cvPrevFrameTargetRGB);
+          
+          m_visualisationGenerator->generate_depth_from_voxels(
+            depth, slamStateI->get_voxel_scene(), prevFramePredPose, viewI->calib.intrinsics_d,
+            renderStateD, DepthVisualiser::DT_ORTHOGRAPHIC
+          );
+          cv::Mat1b cvPrevFrameTargetDepth = OpenCVUtil::make_greyscale_image(depth->GetData(MEMORYDEVICE_CPU), depth->noDims.x, depth->noDims.y, OpenCVUtil::ROW_MAJOR, 100.0f);
+          m_visualisationGenerator->generate_depth_from_voxels(
+            depth, slamStateJ->get_voxel_scene(), prevFrameLocalPose, viewI->calib.intrinsics_d,
+            renderStateD, DepthVisualiser::DT_ORTHOGRAPHIC
+          );
+          cv::Mat1b cvPrevFrameSourceDepth = OpenCVUtil::make_greyscale_image(depth->GetData(MEMORYDEVICE_CPU), depth->noDims.x, depth->noDims.y, OpenCVUtil::ROW_MAJOR, 100.0f);
+
+          cv::Mat cvPrevSourceMask;
+          cv::inRange(cvPrevFrameSourceDepth, cv::Scalar(0,0,0), cv::Scalar(0,0,0), cvPrevSourceMask);
+          cv::bitwise_not(cvPrevSourceMask, cvPrevSourceMask);
+
+          cv::Mat cvPrevTargetMask;
+          cv::inRange(cvPrevFrameTargetDepth, cv::Scalar(0,0,0), cv::Scalar(0,0,0), cvPrevTargetMask);
+          cv::bitwise_not(cvPrevTargetMask, cvPrevTargetMask);
+
+          cv::Mat cvPrevCombinedMask;
+          cv::bitwise_and(cvPrevSourceMask, cvPrevTargetMask, cvPrevCombinedMask);
+
+          // Compute the difference between the source and target depth images, and mask it using the combined mask.
+          cv::Mat cvPrevDepthDiff, cvPrevMaskedDepthDiff;
+          cv::absdiff(cvPrevFrameSourceDepth, cvPrevFrameTargetDepth, cvPrevDepthDiff);
+          cvPrevDepthDiff.copyTo(cvPrevMaskedDepthDiff, cvPrevCombinedMask);
+
+          // Determine the average depth difference for valid pixels in the source and target depth images.
+          cv::Scalar meanPrevDepthDiff = cv::mean(cvPrevMaskedDepthDiff);
+
+
+          // Compute the fraction of the target depth image that is valid.
+          float targetPrevValidFraction = static_cast<float>(cv::countNonZero(cvPrevTargetMask == 255)) / (cvPrevTargetMask.size().width * cvPrevTargetMask.size().height);       
+
+          if (!verifying(meanPrevDepthDiff, targetPrevValidFraction)) {
+            printf("Prev frame Failed!!!!!!!!!\n");
+          }else {
+            successTimes++;
+          }
+        }
+      }
+      // cjTwi^-1 * cjTwj = wiTcj * cjTwj = wiTwj
+      // now_bestCandidate->m_relativePose = ORUtils::SE3Pose(result->pose.GetInvM() * now_bestCandidate->m_localPoseJ.GetM());
+      double rate = (double)successTimes/(double)count;
+      if (rate > 0.6) {
       m_context->get_collaborative_pose_optimiser()->add_relative_transform_sample(now_bestCandidate->m_sceneI, now_bestCandidate->m_sceneJ, *now_bestCandidate->m_relativePose, m_mode);
       std::cout << "succeeded!" << std::endl;
-
+      }else {
+         std::cout << "failed :( because next prev not match" << std::endl;
+      }
 #if defined(WITH_OPENCV) && DEBUGGING
       cv::waitKey(1);
 #endif
@@ -938,3 +954,4 @@ bool CollaborativeComponent::update_trajectories()
 
 }
 
+

From b6b07c3e33056c10c25682d6c5793a65b78f4148 Mon Sep 17 00:00:00 2001
From: tsm <18188116781@163.com>
Date: Mon, 6 Mar 2023 20:20:35 -0500
Subject: [PATCH 55/55] remove pic save part

---
 apps/spaintgui/Application.cpp                     |  4 ++--
 .../pipelinecomponents/CollaborativeComponent.cpp  | 14 +++++++++-----
 2 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/apps/spaintgui/Application.cpp b/apps/spaintgui/Application.cpp
index 187d0c0..d2bc0f1 100644
--- a/apps/spaintgui/Application.cpp
+++ b/apps/spaintgui/Application.cpp
@@ -97,9 +97,9 @@ bool Application::run()
   { 
 	time(&end);
 	cost = difftime(end, start);
-	/*if (cost>40.0) {
+	if (cost>30.0) {
 		break;
-	}*/
+	}
     // Check to see if the user wants to quit the application, and quit if necessary. Note that if we
     // are running in batch mode, we quit directly, rather than saving a mesh of the scene on exit.
     bool eventQuit = !process_events();
diff --git a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
index fb158bb..e0d13ae 100644
--- a/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
+++ b/modules/spaint/src/pipelinecomponents/CollaborativeComponent.cpp
@@ -648,7 +648,8 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
       // Decide whether or not to verify the relocalisation, based on the average depth difference and the fraction of the target depth image that is valid.
       // verified = is_verified(*m_bestCandidate);
       verified = is_verified(*now_bestCandidate);
-      if (verified) {
+      /*
+	  if (verified) {
 		  printf("save cnt: %d\n", save_cnt1);
           cv::imwrite("verifiedSource"+std::to_string(now_bestCandidate->m_frameIndexJ)+".png", cvSourceRGB);
           cv::imwrite("verifiedTarget"+std::to_string(now_bestCandidate->m_frameIndexJ)+".png", cvTargetRGB);
@@ -656,6 +657,7 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
           cv::imwrite("verifiedTargetdep"+std::to_string(now_bestCandidate->m_frameIndexJ)+".png", cvTargetDepth);
           save_cnt1++;
       }
+	  */
 #else
       // If we didn't build with OpenCV, we can't do any verification, so just mark the relocalisation as verified and hope for the best.
       verified = true;
@@ -681,7 +683,8 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
           count++;
           ORUtils::SE3Pose nextFrameLocalPose = m_trajectories[sceneJ][checkNextFrameIndex];
           ORUtils::SE3Pose nextFramePredPose = ORUtils::SE3Pose(nextFrameLocalPose.GetM() * now_bestCandidate->m_relativePose->GetInvM());
-          m_visualisationGenerator->generate_voxel_visualisation(
+          /*
+		  m_visualisationGenerator->generate_voxel_visualisation(
             rgb, slamStateI->get_voxel_scene(), nextFramePredPose, viewI->calib.intrinsics_rgb,
             renderStateRGB, VisualisationGenerator::VT_SCENE_COLOUR, boost::none
           );
@@ -693,7 +696,7 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
           cv::Mat3b cvNextFrameSourceRGB = OpenCVUtil::make_rgb_image(rgb->GetData(MEMORYDEVICE_CPU), rgb->noDims.x, rgb->noDims.y);
           cv::imwrite("Source-"+ std::to_string(tmpIndexJ) + "-"+ std::to_string(checkNextFrameIndex)+".png", cvNextFrameSourceRGB);
           cv::imwrite("Target-"+ std::to_string(tmpIndexJ) + "-"+ std::to_string(checkNextFrameIndex)+".png", cvNextFrameTargetRGB);
-
+			*/
           m_visualisationGenerator->generate_depth_from_voxels(
             depth, slamStateI->get_voxel_scene(), nextFramePredPose, viewI->calib.intrinsics_d,
             renderStateD, DepthVisualiser::DT_ORTHOGRAPHIC
@@ -740,7 +743,8 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
           printf("this is another frame: %d\n", checkPrevFrameIndex);
           ORUtils::SE3Pose prevFrameLocalPose = m_trajectories[sceneJ][checkPrevFrameIndex];
           ORUtils::SE3Pose prevFramePredPose = ORUtils::SE3Pose(prevFrameLocalPose.GetM() * now_bestCandidate->m_relativePose->GetInvM());
-          m_visualisationGenerator->generate_voxel_visualisation(
+          /*
+		  m_visualisationGenerator->generate_voxel_visualisation(
             rgb, slamStateI->get_voxel_scene(), prevFramePredPose, viewI->calib.intrinsics_rgb,
             renderStateRGB, VisualisationGenerator::VT_SCENE_COLOUR, boost::none
           );
@@ -752,7 +756,7 @@ void CollaborativeComponent::run_relocalisation(cpu_set_t mask)
           cv::Mat3b cvPrevFrameSourceRGB = OpenCVUtil::make_rgb_image(rgb->GetData(MEMORYDEVICE_CPU), rgb->noDims.x, rgb->noDims.y);
           cv::imwrite("Source"+ std::to_string(tmpIndexJ) + "-"+ std::to_string(checkPrevFrameIndex)+".png", cvPrevFrameSourceRGB);
           cv::imwrite("Target"+ std::to_string(tmpIndexJ) + "-"+ std::to_string(checkPrevFrameIndex)+".png", cvPrevFrameTargetRGB);
-          
+          */
           m_visualisationGenerator->generate_depth_from_voxels(
             depth, slamStateI->get_voxel_scene(), prevFramePredPose, viewI->calib.intrinsics_d,
             renderStateD, DepthVisualiser::DT_ORTHOGRAPHIC