[ { "path": ".clang-format", "content": "---\nBasedOnStyle: Google\nNamespaceIndentation: All\nColumnLimit: 120\nIndentWidth: 4\n...\n" }, { "path": ".dockerignore", "content": "docker/\nbitbucket-pipelines.yml\n" }, { "path": ".gitignore", "content": "# Docker files\n/docker/tmp\n/docker/nvidia-driver.run\ndocker/workspace/\nframework/makefiles/benchmarks.makefile\nframework/makefiles/datasets.makefile\n# Build files\n/build/\n/install/\n/android-build/\n\n# Eclipse and other IDE files\n.cproject\n.project\n.settings/\n.idea\n.pydevproject\n*~\n\n# Python\n*.pyc\n\n# Dependencies \n/deps\n/android-deps/\n\n\n# Ignore benchmarks folders\nbenchmarks/*\n!benchmarks/CMakeLists.txt\n\n\n# DSE Files\n/opentuner.db/\n\n# Paper results\npaper/*.aux\npaper/*.pdf\npaper/*.tex\n\n\n# Datasets\n\n/datasets\n/iros2020_results_backup\n/iros2020_results\n!/datasets/README.md\n!/datasets/datasets.repos\n\n# macOS\n.DS_Store\n\n" }, { "path": ".travis.yml", "content": "language: cpp\ndist: trusty\nsudo: required\n\nservices:\n - docker\n \n\nscript:\n - make -C docker github-docker-image\n " }, { "path": "CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.10)\n\nproject(slambench)\n\n# CMake variables\n#######################################################\nMESSAGE(STATUS CMAKE_MODULE_PATH=${CMAKE_MODULE_PATH})\n\nSET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin CACHE PATH \"Build directory\" FORCE)\nSET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib CACHE PATH \"Build directory\" FORCE)\nSET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)\nSET(CMAKE_BUILD_FILES_DIRECTORY ${PROJECT_BINARY_DIR}/bfd)\nSET(CMAKE_BINARY_DIR ${PROJECT_BINARY_DIR}/bindir)\nSET(CMAKE_CACHEFILE_DIR ${PROJECT_BINARY_DIR}/cache)\nSET(CMAKE_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/builddir)\n\n# Most common compiler flags\n#######################################################\n\nset(GENERAL_COMPILATION_FLAGS \"-g -O3 -Wall -Wextra\")\n\nif(CMAKE_COMPILER_IS_GNUCC)\n add_definitions(-D_FILE_OFFSET_BITS=64) ## Workaround for 32 bit boards with fwrite 2G limit\n\n set(GENERAL_COMPILATION_FLAGS \"${GENERAL_COMPILATION_FLAGS} -Wno-error=deprecated-declarations \") # Eigen raises deprecated declarations warnings and int-in-bool-context warnings.\n set(GENERAL_COMPILATION_FLAGS \"${GENERAL_COMPILATION_FLAGS} -Wno-unknown-pragmas -Wno-error=deprecated-declarations -Wno-error=unused-result -Wno-error=reorder\")\n\n if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 6.0)\n set(GENERAL_COMPILATION_FLAGS \"${GENERAL_COMPILATION_FLAGS} -Wno-error=ignored-attributes -Wno-misleading-indentation\")\n endif()\n\n if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 7.0)\n set(GENERAL_COMPILATION_FLAGS \"${GENERAL_COMPILATION_FLAGS} -Wno-error=implicit-fallthrough= -Wno-int-in-bool-context \")\n endif()\nendif()\n\nif(APPLE)\n set(GENERAL_COMPILATION_FLAGS \"${GENERAL_COMPILATION_FLAGS} -D__APPLE__\")\nendif(APPLE)\n\ninclude(CheckCXXCompilerFlag)\nCHECK_CXX_COMPILER_FLAG(\"-std=c++2a\" COMPILER_SUPPORTS_CXX20)\nCHECK_CXX_COMPILER_FLAG(\"-std=c++17\" COMPILER_SUPPORTS_CXX17)\nCHECK_CXX_COMPILER_FLAG(\"-std=c++14\" COMPILER_SUPPORTS_CXX14)\nCHECK_CXX_COMPILER_FLAG(\"-std=c++11\" COMPILER_SUPPORTS_CXX11)\nif(COMPILER_SUPPORTS_CXX20)\n set(CMAKE_CXX_FLAGS \"${CMAKE_CXX_FLAGS} -std=c++2a\")\n message(STATUS \"Using flag -std=c++2a\")\nelseif(COMPILER_SUPPORTS_CXX17)\n set(CMAKE_CXX_FLAGS \"${CMAKE_CXX_FLAGS} -std=c++17\")\n message(STATUS \"Using flag -std=c++17\")\nelseif(COMPILER_SUPPORTS_CXX14)\n set(CMAKE_CXX_FLAGS \"${CMAKE_CXX_FLAGS} -std=c++14\")\n message(STATUS \"Using flag -std=c++14\")\nelseif(COMPILER_SUPPORTS_CXX11)\n set(CMAKE_CXX_FLAGS \"${CMAKE_CXX_FLAGS} -std=c++11\")\n message(STATUS \"Using flag -std=c++11\")\nelse()\n message(FATAL_ERROR \"The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.\")\nendif()\n\nset(CMAKE_C_FLAGS \"${CMAKE_C_FLAGS} ${GENERAL_COMPILATION_FLAGS}\")\nset(CMAKE_CXX_FLAGS \"${CMAKE_CXX_FLAGS} ${GENERAL_COMPILATION_FLAGS}\")\n\n\n# DEFINE SLAMBENCH LIBS/INCLUDES\n######################################################\nfind_package(Eigen3 REQUIRED)\n\nSET(SLAMBENCH_INCLUDE_DIR ${EIGEN3_INCLUDE_DIR} ${CMAKE_SOURCE_DIR}/framework/shared/include CACHE STRING \"The include paths needed to use SLAMBENCH\")\nSET(SLAMBENCH_LIBRARIES slambench-utils -Wl,--whole-archive slambench-io slambench-metrics -Wl,--no-whole-archive)\nSET(SLAMBENCH_C_WRAPPER -Wl,--whole-archive slambench-c-wrapper -Wl,--no-whole-archive)\n\n# SLAMBENCH FUNCTIONS \n#######################################################\nif(NOT WIN32)\n string(ASCII 27 Esc)\n set(ColorReset \"${Esc}[m\")\n set(Red \"${Esc}[31m\")\n set(Green \"${Esc}[32m\")\nendif()\n\nSET(NULL_FILE_PATH ${PROJECT_BINARY_DIR}/null.cpp)\nif (NOT EXISTS ${NULL_FILE_PATH})\n file(WRITE ${NULL_FILE_PATH} \"\")\nENDIF()\n\nfunction(explore_implementations algorithm_name implementations_path)\n set(appname ${algorithm_name})\n FILE(GLOB VERSIONS ${implementations_path})\n\n FOREACH(version_dir ${VERSIONS})\n IF(IS_DIRECTORY ${version_dir})\n get_filename_component(appversion ${version_dir} NAME)\n MESSAGE(STATUS \"Load version ${appversion} of ${appname}.\")\n ADD_SUBDIRECTORY(${version_dir})\n ENDIF()\n ENDFOREACH(version_dir)\nendfunction()\n\nfunction(generate_slam_binaries_only library_name )\n message(STATUS \"Potential interfaces are ${SLAMBENCH_INTERFACES}...\")\n FOREACH(INTERFACE ${SLAMBENCH_INTERFACES})\n message(STATUS \"${Green}Generation of ${library_name}-${INTERFACE} : Activated${ColorReset}\")\n\n add_executable(${library_name}-${INTERFACE} ${NULL_FILE_PATH})\n target_link_libraries(${library_name}-${INTERFACE} PRIVATE ${library_name} ${INTERFACE} ${library_name})\n SET_TARGET_PROPERTIES(${library_name}-${INTERFACE} PROPERTIES LINK_FLAGS \"${ARGN}\")\n install(TARGETS ${library_name}-${INTERFACE} DESTINATION bin/)\n ENDFOREACH()\nendfunction()\n\nfunction(generate_slam_library library_name )\n\n message(STATUS \"Potential interfaces are ${SLAMBENCH_INTERFACES}...\")\n FOREACH(INTERFACE ${SLAMBENCH_INTERFACES})\n message(STATUS \"${Green}Generation of ${library_name}-${INTERFACE} : Activated${ColorReset}\")\n\n add_executable(${library_name}-${INTERFACE} ${NULL_FILE_PATH})\n target_link_libraries(${library_name}-${INTERFACE} PRIVATE ${library_name} ${INTERFACE} ${library_name})\n SET_TARGET_PROPERTIES(${library_name}-${INTERFACE} PROPERTIES LINK_FLAGS \"${ARGN}\")\n install(TARGETS ${library_name}-${INTERFACE} DESTINATION bin/)\n ENDFOREACH()\n\n message(STATUS \"${Green}Generation of ${library_name}-library : Activated${ColorReset}\")\n add_library(${library_name}-library SHARED ${NULL_FILE_PATH})\n target_link_libraries(${library_name}-library PRIVATE ${SLAMBENCH_C_WRAPPER} ${library_name})\n SET_TARGET_PROPERTIES(${library_name}-library PROPERTIES LINK_FLAGS \"${ARGN}\")\n install(TARGETS ${library_name}-library DESTINATION lib/)\n\nendfunction()\n\n#### SUB FOLDERS ####\nadd_subdirectory(framework) # SLAMBench framework\nadd_subdirectory(benchmarks) # Benchmarks\n" }, { "path": "CONTRIBUTORS", "content": " - Bodin Bruno\n - Mawer John\n - Melot Nicolas\n - Moldovan Adrian\n - Nardi Luigi\n - Nisbet Andy\n - Saeedi Sajad \n - Vespa Emanuele\n - Wagstaff Harry\n - Zia M Zeeshan \n" }, { "path": "LICENSE", "content": "The MIT License (MIT)\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\nAuthors are (in alphabetical order): \n - Bodin Bruno\n - Mawer John\n - Melot Nicolas\n - Moldovan Adrian\n - Nardi Luigi\n - Nisbet Andy\n - Saeedi Sajad \n - Vespa Emanuele\n - Wagstaff Harry\n - Zia M Zeeshan \n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in\nall copies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\nTHE SOFTWARE.\n\nThe MIT license is limited to the ***PAMELA*** software.\n\nThe libraries used that are not under the same license are: \n - Eigen3 (LGPLv3)\n - Pangolin (MIT)\n - OpenNI (Apache License 2.0)\n - PCL (3-clauses BSD)\n - PAPI (BSD)\n - Boost (Boost Software Licence)\n - libyaml (MIT)\n - LodePNG (zlib License)\n\nThe SLAM algorithms that are using SLAMbench and that can be downloaded in the \"benchmark\" folder have the following licences:\n - OKVIS (BSD 3-Clause)\n - KFusion: (MIT License)\n - LSDSLAM (GPLv3)\n - orbslam2 (GPLv3)\n - PTAM (GPLv3)\n - SVO (GPLv3)\n - monoslam (Custom permissive licence)\n - ElasticFusion (Elastic Fusion license)\n - InfiniTAM (Oxford/Isis licence)\n\nSeveral of those SLAM systems include third-party libraries:\n - Sophus (MIT)\n - vikit_common (no licence file found)\n\nThe additionnal dependencies used by those algorithms are that can be downloaded in the \"deps\" folder have the following licences:\n - OpenCV (BSD)\n - G2O (BSD)\n - BRISK (BSD)\n - CVD (two-clause BSD)\n - Flann (BSD)\n - gvars (BSD)\n - opengv (BSD)\n - TooN (2-clause BSD)\n - suitesparse (3-clause BSD)\n \n" }, { "path": "Makefile", "content": "ECHO=/bin/echo\n#SHELL := /bin/bash\nWGET:=wget\nGET_REPLY:=read REPLY\nifeq (\"${SBQUIET}\",\"1\")\nGET_REPLY:=REPLY=\"y\"\nWGET:=wget -q\nendif\n\nBoldGreen=\\033[1;32m\nBoldRed=\\033[1;31m\nColorOff=\\033[0m\n\n#### SLAMBENCH INFOS ####\ninfos:\n\t@${ECHO} -e \"\\n*** SLAMBench is an evaluation framework for SLAM algorithms. *** \"\n\t@${ECHO} -e \"\\n\\\n\t (1) First, several dependencies are needed to compile SLAMBench and its use-cases.\\n\\\n\t We suggest that you to download and install them automatically using the following command:\\n\\\n ${BoldGreen} - make deps ${ColorOff}\\n\\\n\t (2) Then, to compile the SLAMBench framework you just need to type:\\n\\\n\t ${BoldGreen} - make slambench ${ColorOff}\\n\\\n\t (3) SLAMBench integrates a number of algorithms, however they are not directly distribute with the framework\\n\\\n\t To download and build all the available algorithms, use:\\n\\\n\t ${BoldGreen} - make algorithms${ColorOff}\\n\\\n\t Alternatively, to see the list of available algorithms, use:\\n\\\n\t ${BoldGreen} - make usecases ${ColorOff}\\n\\\n\t (4) For information about downloading and building one of the available datasets, use:\\n\\\n\t ${BoldGreen} - make datasetslist ${ColorOff}\\n\\\n\t (5) Once the desired datasets and algorithms were built, you can run the benchmark using:\\n\\\n\t ${BoldGreen} - ./build/bin/slambench -i path/to/dataset.slam -load path/to/algorithm-library.so ${ColorOff}\\n\\\n\t\"\n\n#### Dependencies ####\ninclude ./framework/makefiles/deps.makefile\n\n#### Compilation targets ####\nbuild/Makefile : framework/CMakeLists.txt\n\tmkdir -p build/\n\t${DEPS_ENV} cmake -U * -Bbuild -H. -DAPPS=\"${APPS}\" ${DEPS_ARGS} -D\"CMAKE_MODULE_PATH:PATH=${ROOT_DIR}/cmake_modules\" ..\n\nslambench: build/Makefile\n\t$(MAKE) -C build $(MFLAGS)\n\t@echo \"\"\n\t@echo \"=================================================================================================================\"\n\t@echo \"The SLAMBench library should have been compiled, you will find binaries in build/bin, and libraries in build/lib.\"\n\t@echo \"\"\n\t@echo \"Tools/Debugger available: \"\n\t@echo -n \" - build/bin/slambench: \" ; if [ -f build/bin/slambench ] ; then echo -e \"${BoldGreen}Found${ColorOff}\" ; else echo -e \"${BoldRed}Not found (Missing dependencies?)${ColorOff}\" ; fi\n\t@echo -n \" - build/bin/pointcloud_aligner: \" ; if [ -f build/bin/pointcloud_aligner ] ; then echo -e \"${BoldGreen}Found${ColorOff}\" ; else echo -e \"${BoldRed}Not found (Missing dependencies (i.e. pcl)?)${ColorOff}\" ; fi\n\t@echo -n \" - build/bin/dataset-generator: \" ; if [ -f build/bin/dataset-generator ] ; then echo -e \"${BoldGreen}Found${ColorOff}\" ; else echo -e \"${BoldRed}Not found (Missing dependencies?)${ColorOff}\" ; fi\n\t@echo -n \" - build/bin/io-inspect-file: \" ; if [ -f build/bin/io-inspect-file ] ; then echo -e \"${BoldGreen}Found${ColorOff}\" ; else echo -e \"${BoldRed}Not found (Missing dependencies?)${ColorOff}\" ; fi\n\t@echo -n \" - build/bin/io-readply: \" ; if [ -f build/bin/io-readply ] ; then echo -e \"${BoldGreen}Found${ColorOff}\" ; else echo -e \"${BoldRed}Not found (Missing dependencies?)${ColorOff}\" ; fi\n\t@echo \"\"\n\t@echo \"The list of current algorithms available is:\"\n\t@echo \"\" \n\t@for f in `ls build/lib/lib*-library.so 2> /dev/null || echo Nothing` ; do echo $$f ; done\n\t@echo \"\"\n\t@echo \"The list of current filters available is:\"\n\t@echo \"\"\n\t@for f in `ls build/lib/lib*-filter.so 2> /dev/null || echo Nothing` ; do echo $$f ; done\n\t@echo \"\"\n\t@echo \"As a next step we suggest you to run \\\"make usecases\\\" or \\\"make slambench APPS=all\\\".\"\n\n.PHONY: build/Makefile\n\n#### Benchmarks ####\nframework/makefiles/benchmarks.makefile : framework/makefiles/download_benchmarks.py benchmarks/benchmarks.json\n\tpython $^ > $@\ninclude framework/makefiles/benchmarks.makefile\n\n#### Datasets ####\nframework/makefiles/datasets.makefile : framework/makefiles/download_datasets.py datasets/datasets.repos\n\tpython $^ > $@\ninclude framework/makefiles/dataset-utils.makefile\ninclude framework/makefiles/datasets.makefile\n\n.PHONY: slambench benchmarks datasets\n\n#### ORBSLAM Voc ####\n./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt : ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt.tar.gz\n\tcd ./benchmarks/orbslam2/src/original/Vocabulary/ && tar -xf ORBvoc.txt.tar.gz\n\n#### CLEAN TOOLS ####\nclean :\n\trm -rf build install android-build android-install docker/tmp/\n\ncleandatasets :\n\tfind datasets/ | grep [.]slam | xargs rm 2> /dev/null || true\n\t@echo \"Datasets cleaned\"\n\ncleandeps :\n\trm -rf deps\n\ncleanall : clean cleandatasets cleandeps\n\n.PHONY: clean cleandeps cleandatasets cleanall\n\n#### DEMO PART ####\ndemo-prepare :\n\tmake slambench APPS=all\n\tmake datasets/ICL_NUIM/living_room_traj2_loop.slam\n\tmake datasets/EuRoCMAV/machine_hall/MH_01_easy/MH_01_easy.slam\n\tmake datasets/TUM/freiburg2/rgbd_dataset_freiburg2_desk.slam\n\ndemo-droneflight :\n\t$(MAKE) open_vins $(MFLAGS)\n\t$(MAKE) slambench APPS=open_vins $(MFLAGS)\n\t$(MAKE) datasets/UZHFPV/indoor_forward_3_snapdragon_with_gt.slam $(MFLAGS)\n\t@echo \"You can now run ${BoldGreen}./build/bin/slambench -i datasets/UZHFPV/indoor_forward_3_snapdragon_with_gt.slam -load build/lib/libopen_vins-original-library.so${ColorOff}\"\n\ndemo-lib :\n\tclear\n\t@${ECHO} -e \" \"\n\t@${ECHO} -e \" =======================\"\n\t@${ECHO} -e \" Pick gui and whether to use lifelong SLAM mode: \"\n\t@${ECHO} -e \" ./build/bin/slambench -gui -lifelong \"\n\t@${ECHO} -e \" =======================\"\n\t@${ECHO} -e \" Pick dataset \"\n\t@${ECHO} -e \" \"\n\t@for d in `find datasets/ | grep [.]slam` ; do ${ECHO} \" -i $$d\" ; done\n\t@${ECHO} -e \" \"\n\t@${ECHO} -e \" =======================\"\n\t@${ECHO} -e \" Pick libraries \"\n\t@${ECHO} -e \" * may requires parameters\"\n\t@${ECHO} -e \" * do not need to be open source\"\n\t@${ECHO} -e \" =======================\"\n\t@${ECHO} -e \" \"\n\t@for d in `find build/lib/| grep [-]library[.]so` ; do ${ECHO} \" -load $$d\" ; done\n\t@${ECHO} -e \" \"\n\t@${ECHO} -e \" \"\n\t@${ECHO} -e \" =======================\"\n\n.PHONY: demo-droneflight demo-lib demo-prepare\n#### TESTS ####\nregression_test :\n\tmake -C docker fastCI-docker-image # First test compilation of slambench and run kfusion\n\tmake -C docker ubuntu-14.04-docker-image # Second compilation for embedded systems such as Odroid or TK1\n# third run slambench for multiple datasets and check ATE and Memory usage\n\ntest :\n\tmake -C docker fastCI-docker-image\n" }, { "path": "README.md", "content": "# SLAMBench \n\n[![Build Status](https://travis-ci.org/pamela-project/slambench2.svg?branch=master)](https://travis-ci.org/pamela-project/slambench2)\n\nCode has been added for the most recent paper based on SLAMBench:\n\n[Robust SLAM Systems: Are We There Yet?](https://arxiv.org/abs/2109.13160) \\\nhttps://robustslam.github.io/evaluation\n\n## Contents\n\n* [What is SLAMBench?](#what-is-slambench)\n* [How to set up SLAMBench?](#how-to-set-up-slambench)\n* [What algorithms does SLAMBench support?](#what-algorithms-does-slambench-support)\n* [How to run an existing algorithm with SLAMBench?](#how-to-run-an-existing-algorithm-with-slambench)\n* [How to add a new benchmark in SLAMBench?](#how-to-add-a-new-benchmark-in-slambench)\n* [Known Issues](#known-issues)\n* [Release History](#release-history)\n\n## Most frequent questions ##\n\n### Where are the algorithms ? ###\n\nUse the following command to list all available algorithms:\n\n```\nmake usecases\n```\n\n## What is SLAMBench? ##\n\nSLAMBench is a SLAM performance benchmark that combines a framework for quantifying quality-of-result with instrumentation of accuracy, execution time, memory usage and energy consumption. It also include a graphical interface to visualize these information.\n\nSLAMBench offers a platform for a broad spectrum of future research in jointly exploring the design space of algorithmic and implementation-level optimisations. It targets desktop, laptop, mobile and embedded platforms. Some of the benchmarks (in particular KFusion) were tested on Ubuntu, OS X and Android (more information about android here [https://github.com/bbodin/slambench-android](https://github.com/bbodin/slambench-android)).\n\nSLAMBench currently supports the following algorithms:\n\n* ORB-SLAM3 [Campos et al, ARXIV'20]: C++ as distributed by https://github.com/UZ-SLAMLab\n* ReFusion [Palazollo et al. IROS'19]: CUDA as distributed by https://github.com/PRBonn\n* OpenVINS [Geneva et al. IROS'19]: C++ as distributed by https://github.com/rpng/\n* Supereight [Vespa et al. RA-L'18]: C++, OpenMP as distributed by https://github.com/emanuelev\n* BundleFusion [Dai et al. ACM TOG'17]: CUDA as distributed by https://github.com/niessner\n* SemanticFusion [McCormac et al. ICRA'17]: CUDA as distributed by https://github.com/seaun163\n* ORB-SLAM2 [Mur-Artal et al, TOR'15 and TOR'17]: C++ as distributed by https://github.com/raulmur\n* DSO [Engel et al. Arxiv'16]: C++ as distributed by https://github.com/JakobEngel\n* ElasticFusion [Whelan et al, IJRR'16]: CUDA as distributed by https://github.com/mp3guy\n* InfiniTAMv2 [Kahler et al, ISMAR'15]: C++, OpenMP and CUDA versions as distributed by https://github.com/victorprad/\n* KinectFusion [Newcombe et al. ISMAR'11]: C++, OpenMP, OpenCL and CUDA inspired by https://github.com/GerhardR\n* LSDSLAM [Engel et al, ECCV'14]: C++, and threaded as distributed by https://github.com/tum-vision/ and modified by https://github.com/mp3guy\n* MonoSLAM [Davison et al, TPAMI'07]: Original version as distributed by https://github.com/hanmekim/\n* OKVIS [Leutenegger et al, IJRR'15]: Original version as distributed by https://github.com/ethz-asl\n* PTAM [Klein et al, ISMAR'07 and ECCV'08]: Original version as distributed by https://github.com/Oxford-PTAM/\n* SVO [Forster et al, ICRA'14]: Original version as distributed by https://github.com/uzh-rpg/rpg_svo/ (a more recent version available at http://rpg.ifi.uzh.ch/svo2.html)\n\n**IMPORTANT: If you use any of those algorithms in scientific publications, you should refer to the respective publications.**\n\nIn addition, if you use SLAMBench in scientific publications, we would appreciate citations to the following papers:\n```\n\n@inproceedings{bujanca2021robust, \n author={Bujanca, Mihai and Shi, Xuesong and Spear, Matthew and Zhao, Pengpeng and Lennox, Barry and Luj{\\'a}n, Mikel},\n booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n title={Robust SLAM Systems: Are We There Yet?},\n year={2021},\n doi={10.1109/IROS51168.2021.9636814}\n}\n\n@inproceedings{bujanca2019slambench,\n title={SLAMBench 3.0: Systematic automated reproducible evaluation of SLAM systems for robot vision challenges and scene understanding},\n author={Bujanca, Mihai and Gafton, Paul and Saeedi, Sajad and Nisbet, Andy and Bodin, Bruno and O'Boyle, Michael FP and Davison, {Andrew J} and Kelly, {Paul H.J.} and Riley, Graham and Lennox, Barry and Luj{\\'a}n, Mikel and Furber, Steven},\n booktitle={2019 International Conference on Robotics and Automation (ICRA)},\n pages={6351--6358},\n year={2019},\n organization={IEEE}\n}\n\n@inproceedings{Bodin2018,\nauthor = \"Bruno Bodin and Harry Wagstaff and Sajad Saeedi and Luigi Nardi and Emanuele Vespa and Mayer, {John H} and Andy Nisbet and Mikel Luj{\\'a}n and Steve Furber and Davison, {Andrew J} and Kelly, {Paul H.J.} and Michael O'Boyle\",\ntitle = \"SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM\",\nbooktitle = \"{IEEE Intl. Conf. on Robotics and Automation (ICRA)}\",\nyear = {2018},\nmonth = {May}\n}\n\n@inproceedings{Nardi2015,\n title={Introducing SLAMBench, a performance and accuracy benchmarking methodology for SLAM},\n author={Nardi, Luigi and Bodin, Bruno and Zia, M Zeeshan and Mawer, John and Nisbet, Andy and Kelly, Paul HJ and Davison, Andrew J and Luj{\\'a}n, Mikel and O'Boyle, Michael FP and Riley, Graham and others},\n booktitle={2015 IEEE international conference on robotics and automation (ICRA)},\n pages={5783--5790},\n year={2015},\n organization={IEEE}\n}\n```\n\n## How to set up SLAMBench?\n\nAs SLAMBench deals with multiple SLAM algorithms, dependencies might be difficult to install on any systems.\nTo ease the usage of SLAMBench we provide auto-installation of dependencies and recommend the use fresh installation of Ubuntu 18/20 or Fedora 24-29.\n### Dependency installation\n\n#### Required by SLAMBench framework\n* CMake 2.8.11 or higher is required.\n* Make\n* GCC C/C++\n* Boost (Optional)\n* GLUT (Optional)\n\n#### Required by benchmarks and datasets\n* Git\n* Mercurial\n* wget\n* unzip\n* lapack\n* blas\n* findutils\n* cvs\n* glog\n* gflags\n* p7zip\n\n#### To install them\n\nWith Fedora 29: `dnf install -y yaml-cpp-devel gtk2-devel mesa-libEGL-devel vtk-devel cmake make git mercurial wget unzip gcc gcc-c++ lapack blas lapack-devel blas-devel findutils cvs glut-devel glew-devel boost-devel glog-devel gflags-devel libXmu-devel p7zip`\n\nWith Fedora 24:\n```dnf install -y gtk2-devel vtk-devel cmake make git mercurial wget unzip gcc gcc-c++ lapack blas lapack-devel blas-devel findutils cvs glut-devel glew-devel boost-devel glog-devel gflags-devel libXmu-devel```\n\nWith Ubuntu 20.04:\n``` apt-get -y install libvtk6.3 libvtk6-dev unzip libflann-dev wget mercurial git gcc g++ cmake python-numpy freeglut3 freeglut3-dev libglew-dev libglu1-mesa libglu1-mesa-dev libgl1-mesa-glx libgl1-mesa-dev libxmu-dev libxi-dev libboost-all-dev cvs libgoogle-glog-dev libatlas-base-dev gfortran gtk2.0 libgtk2.0-dev libyaml-dev build-essential libyaml-cpp-dev ```\n\nWith Ubuntu 18.04:\n``` apt-get -y install libvtk6.3 libvtk6-dev unzip libflann-dev wget mercurial git gcc g++ cmake python-numpy freeglut3 freeglut3-dev libglew-dev libglu1-mesa libglu1-mesa-dev libgl1-mesa-glx libgl1-mesa-dev libxmu-dev libxi-dev libboost-all-dev cvs libgoogle-glog-dev libatlas-base-dev gfortran gtk2.0 libgtk2.0-dev libyaml-dev build-essential libyaml-cpp-dev ```\n\n#### Special requirements for CUDA\n\nTo run the CUDA implementation of some of the algorithms, you will need extra dependencies.\n\nWith Ubuntu: `apt-get -y install nvidia-cuda-toolkit clinfo`\n\nWith Fedora: `yum install cuda`\n\n### Compilation of SLAMBench and its benchmarks\n\n#### 1. Dependencies\n\nInstall dependencies first [NOTE can be installed by the user on its system as well]:\n\n```bash\nmake deps\n```\nThe idea is to maximise the chance of a good build, by selection the best cocktail of libraries.\nThis will download and compile the following applications: Brisk, Ceres, CVD, Eigen3, Flann, FreeImage, G2O, Gvars, OpenCV, OpenGV, OpenTuner, Pangolin, PCL, Suitesparse, TooN.\n\nYou can also install each ofthese individually, using the commands such as: `eigen3`, `flann`, `g2o`, `opencv`, `opengv`, `pcl`, `toon`, `suitesparse`, ...\n\nmore information is available in the `framework/makefiles/README.md` file.\n\n#### 2. SLAMBench Framework\n\nSLAMBench is a framework that can be compiled by simply running:\n\n```bash\nmake slambench\n```\n\nAlthough, by doing this, you only compile the libraries of SLAMBench.\n\n#### 3. Usecases\n\nTo download use-cases, there are specific target named after the type of algorithm you need to test:\n\n```bash\nmake kfusion lsdslam\n```\n\nThen to compile these specific use-case, you will need to specify identifiers together with the slambench target:\n\n```bash\nmake slambench APPS=kfusion,lsdslam\n```\n\nThe current benchmarks identifiers are efusion, infinitam, kfusion, lsdslam, monoslam, okvis, ptam, orbslam2, svo.\nYou will find more information to download and compile use-cases with the `make usecases` command.\n\n#### 4. Datasets\n\nTo test a SLAM algorithm you can use a Live camera, or a dataset. \nSLAMBench provides tools to automatically download some of the most popular datasets, that is ICL-NUIM and TUM RGB-D. \nThe file format (*.slam) will then include all the most important information about the dataset, those are **Camera calibration setting**, **initial position of the sensors**, and the **ground truth**.\n\nAs an example to download and generate the Living Room Trajectory 2 from the ICLNUIM dataset, you can run the following :\n\n```bash\n> make datasets/ICL_NUIM/living_room_traj2_loop.slam\n```\n\nSLAMBench currently supports the following datasets:\n\n* OpenLORIS [Shi et al, ICRA'20]: Lifelong SLAM dataset\n* Bonn Dynamic [Palazollo et al. IROS'19]: Dynamic scene dataset\n* UZH-FPV [Delmerico et al. ICRA'19]: Drone racing dataset\n* ETH Illumination [Park et al, ICRA'17]: Illumination changes dataset\n* VolumeDeform [Innmann et al, ECCV'16]: Non-rigid reconstruction\n* EuRoC MAV [Burri et al, IJRR'16]: Micro Aerial Vehicle dataset\n* ICL-NUIM [Handa et al, ICRA'14]: Synthetic dataset\n* TUM RGB-D [Sturm et al, IROS'12]: A standard SLAM benchmark\nA complete list of the datasets available is provided by the command `make datasets`.\n\n## What algorithms does SLAMBench support?\n\nSLAMBench is already compatible with a wide range of algorithms which are not included in this repository (see [above](#what-is-slambench) for list of algorithms).\n\nHowever you can easily integrate those algorithms using the command:\n\n```bash\nmake usecases\n```\n\nThis command will explain in details how to integrate algorithms that are already compatible with SLAMBench.\n\n## How to run an existing algorithm with SLAMBench?\n\nOnce you have compiled a benchmark, there are several ways to run it.\nFor each implementation of this benchmark, you will find a specific library. \nAs an example, with KinectFusion, after running `make slambench APPS=kfusion`, you may find the following libraries in the `build/lib` directory :\n\n```bash\n> ls build/lib/libkfusion-*-library.so\n\nbuild/lib/libkfusion-cpp-library.so \nbuild/lib/libkfusion-notoon-library.so \nbuild/lib/libkfusion-openmp-library.so\nbuild/lib/libkfusion-cuda-library.so \nbuild/lib/libkfusion-opencl-library.so\n```\n\nWe can see five different implementations (cpp, notoon, and openmp, cuda and opencl). The list of available binaries depends of the dependencies you installed beforehand. For example, you need CUDA to compile the kfusion-cuda. A complete list of the dependencies is available at the end of this README.\n\n### Running a benchmark (e.g. KinectFusion)\n\nTo run one algorithm you will need to use a **loader**. \nThere are three different loaders supported, **benchmark**, **pangolin**, and **lifelong**.\nThe first two loaders are used the same way, except that **benchmark** is a command line application dedicated to measurements, while **pangolin** is a graphical user interface less precise in term of measurement but which provide a good interface for demonstrations. The **lifelong** loader can take multiple input (multiple .slam files following the -i option, separated by ',') which will be sent to the benchmark one by one. Other than that it is similar to the **benchmark** loader. There is currently no loader both supporting loading multiple input and having a graphical user interface.\n\n\nEach loader has a series of parameters to specify such as the dataset location, or the libraries to run. \nThe list of those parameters is available by using the \"--help\" parameters.\n\n```bash\n> ./build/bin/benchmark_loader --help \n== SLAMBench Configuration ==\nAvailable parameters :\n-fl --frame-limit : last frame to compute (Default=0)\n-o --log-file : Output log file (Default=)\n-i --input : Specify the input file or mode. (Default=)\n-load --load-library : Load a specific SLAM library. (Default=)\n-dse --dse : Output solution space of parameters. (Default=false)\n-h --help : Print the help. (Default=false)\n-nf --negative-focal-length : negative focal length (Default=false)\n-realtime --realtime-mode : realtime frame loading mode (Default=false)\n-realtime-mult --realtime-multiplier : realtime frame loading mode (Default=1)\n-fo --file-output : File to write slamfile containing outputs (Default=)\n```\n\n\nThen if you run the loader again, while providing a dataset file `-i dataset.slam`, you will see new parameters dedicated to the dataset: \n\n\n```bash\n> ./build/bin/benchmark_loader -i datasets/ICL_NUIM/living_room_traj2_loop.slam --help\n== SLAMBench Configuration ==\nAvailable parameters :\n....\n-Camera-intrisics --Camera-intrisics : (Default=nullptr Current=0.751875,1,0.4992185,0.4989583)\n-Depth-intrisics --Depth-intrisics : (Default=nullptr Current=0.751875,1,0.4992185,0.4989583)\n-Depth-dip --Depth-disparity-params : (Default=nullptr Current=0.001,0)\n-Camera-intrisics --Camera-intrisics : (Default=nullptr Current=0.751875,1,0.4992185,0.4989583)\n```\n\nFinally is you add a library name `-load libname`, more parameter can be seen: \n\n```bash\n> ./build/bin/benchmark_loader -i datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-cpp-library.so --help\n== SLAMBench Configuration ==\nAvailable parameters :\n\n....\n\n-c --compute-size-ratio : Compute ratio (Default=1)\n-r --integration-rate : integration-rate (Default=2)\n-t --tracking-rate : tracking-rate (Default=1)\n-z --rendering-rate : rendering-rate (Default=4)\n-l --icp-threshold : icp-threshold (Default=1e-05)\n-m --mu : mu (Default=0.1)\n-s --volume-size : volume-size (Default=8,8,8)\n-d --volume-direction : volume-direction (Default=4,4,4)\n-v --volume-resolution : volume-resolution (Default=256,256,256)\n-y1 --pyramid-level1 : pyramid-level1 (Default=10)\n-y2 --pyramid-level2 : pyramid-level2 (Default=5)\n-y3 --pyramid-level3 : pyramid-level3 (Default=4)\n```\n\n\nYou can run a loader with **only one dataset** at a time and **it must be specified first**.\n\nIn the next section we will explain how to use SLAMBench to evaluate the performance of a SLAM algorithm.\n\n### Evaluating a benchmark (eg. KinectFusion)\n\nSLAMBench works with Metrics and Outputs elements. \nWhen you run the ```benchmark_loader``` or the ```pangolin_loader``` or the ```lifelong_loader``` these are those elements that you can visualize.\nMetrics are components generated by SLAMBench framework really, while Outputs are generated by the algorithm or may be elements post-processed by SLAMBench (such as the aligned trajectory with the ground truth).\n\nLet us run the benchmark loader. Its output is composed of two main parts, the `Properties` section, and the `Statistics` section. \nthe properties section details all the parameters used for the experiment (could been changed or not via the command line). \nthe statistics section report all the outputs and metrics selection for output in the benchmark loader.\n\n```bash\n> ./build/bin/benchmark_loader -i datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-cpp-library.so \n\nSLAMBench Report run started:\t2018-02-02 04:41:31\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: \ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: ./build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nCamera-intrisics: 0.751875,1,0.4992185,0.4989583\nDepth-intrisics: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nCamera-intrisics: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\nStatistics:\n=================\n\nFrame Number\tTimestamp\tDuration_Frame\tGPU_Memory\tCPU_Memory\t\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tX\tY\tZATE_Frame\n1\t0.0000000000\t0.7679200000\t0\t623801799\t\t0.1254800000\t0.0195420000\t0.0561620000\t0.0000030000\t0.5667170000\t4.0000000000\t4.0000000000\t4.0000000000\t0.0000002980\n2\t1.0000000000\t0.2003970000\t0\t623801799\t\t0.1242030000\t0.0156470000\t0.0581670000\t0.0000000000\t0.0023710000\t4.0000000000\t4.0000000000\t4.0000000000\t0.0010031639\n3\t2.0000000000\t0.1989980000\t0\t623801799\t\t0.1233680000\t0.0152360000\t0.0580180000\t0.0000000000\t0.0023690000\t4.0000000000\t4.0000000000\t4.0000000000\t0.0055015362\n4\t3.0000000000\t0.7518580000\t0\t623801799\t\t0.1220660000\t0.0152080000\t0.0563070000\t0.5559520000\t0.0023170000\t4.0000000000\t4.0000000000\t4.0000000000\t0.0036504765\n5\t4.0000000000\t1.3683420000\t0\t623801799\t\t0.1240890000\t0.0767240000\t0.0581630000\t0.5504240000\t0.5589330000\t3.9957129955\t4.0020360947\t4.0009112358\t0.0021276891\n...\n```\n\n## How to add a new benchmark in SLAMBench?\n\nThe main reason to provide a new version of SLAMBench is not only because of the introduction of new benchmarks but also because we provide now \na clear and specific API for SLAM algorithms to be implemented in order to add a new algorithm.\n\n```\nbool sb_new_slam_configuration(SLAMBenchLibraryHelper * slam_settings);\nbool sb_init_slam_system(SLAMBenchLibraryHelper * slam_settings);\nbool sb_update_frame(SLAMBenchLibraryHelper * slam_settings, slambench::io::SLAMFrame * type);\nbool sb_process_once(SLAMBenchLibraryHelper * slam_settings);\nbool sb_relocalize(SLAMBenchLibraryHelper * slam_settings);\nbool sb_update_outputs(SLAMBenchLibraryHelper *lib, const slambench::TimeStamp *latest_output);\nbool sb_clean_slam_system();\nbool sb_update_outputs(SLAMBenchUI *);\n```\n\n**If each of those functions are correctly implemented for a specific implementation of a specific algorithm, then this algorithm is compatible with SLAMBench and can be evaluated as well.**\n\nIn this section we will present those functions one by one.\n\n### bool sb\\_new\\_slam\\_configuration(SLAMBenchLibraryHelper * slam\\_settings)\n\nThis function is called first, and only once, SLAM systems is expected to provide its parameters.\n\nExample :\n\n```cpp\nbool sb_new_slam_configuration(SLAMBenchLibraryHelper * slam_settings) {\n\tslam_settings->addParameter(TypedParameter(\"c\", \"confidence\", \"Confidence\", &confidence, &default_confidence));\n\tslam_settings->addParameter(TypedParameter(\"d\", \"depth\", \"Depth\", &depth, &default_depth));\n\tslam_settings->addParameter(TypedParameter (\"td\", \"textureDim\", \"textureDim\", &textureDim, &default_textureDim));\n\treturn true;\n}\n```\n\nshould always return `true` or an exception will be raised.\n\n\n### bool sb\\_init\\_slam\\_system(SLAMBenchLibraryHelper * slam\\_settings)\n\nThis function is called second, and only once, SLAM systems is expected to allocate memory, retrieve sensor informations.\n\n\nTo retrieve sensor there is `SensorFinder`:\n```cpp\nslambench::io::CameraSensorFinder sensor_finder;\nauto rgb_sensor = sensor_finder.FindOne(slam_settings->get_sensors(), {{\"camera_type\", \"rgb\"}});\n```\n\nSLAM systems are also expected to define there output, there is one mandatory output, the pose:\n\n```cpp\npose_output = new slambench::outputs::Output(\"Pose\", slambench::values::VT_POSE, true);\nslam_settings->GetOutputManager().RegisterOutput(pose_output);\n```\nshould always return `true` or an exception will be raised.\n\n### bool sb_update_frame (SLAMBenchLibraryHelper *slam_settings, slambench::io::SLAMFrame *frame)\n\nAlgorithms receive frames ordered by timestamp.\nWhen `sb_update_frame` returns `false`, `sb_update_frame` will be directly called again with the next frame, if it returns `true`, `sb_process_once` will be called once.\n\n### bool sb_process_once (SLAMBenchLibraryHelper *slam_settings)\n\nShould always return `true` or an exception will be raised.\n\n### bool sb_relocalize (SLAMBenchLibraryHelper *slam_settings)\n\nThis is newly introduced to support lifelong SLAM evaluation. It will be called when the input sequence has been switched to the next one. The implementation is expected to explicitly trigger tracking lost and invoke the algorithm's re-localization procedure (if there be). It should return whether the relocalization is sucessful from the algorithm's perspective.\n\nFor backward compatibility, this function is allowed to be unimplemented in a benchmark. In such cases, the ```sb_process_once``` function will be called in a re-localization situation.\n\n### bool sb_clean_slam_system()\n\nThis function is called last, and only once, SLAM systems is expected to clean everything (free memory).\n\n```cpp\nbool sb_clean_slam_system() {\n\tdelete eFusion;\n\tdelete inputRGB;\n\tdelete inputDepth;\n\treturn true;\n}\n```\n\nshould always return `true` or an exception will be raised.\n\n### bool sb_update_outputs(SLAMBenchLibraryHelper *slam_settings, const slambench::TimeStamp *timestamp) \n\nThe algorithm will return visible outputs (Pose, Point cloud, Frames) as defined by the `sb_init_slam_system` function.\n\nExample :\n\n```cpp\nbool sb_update_outputs(SLAMBenchLibraryHelper *lib, const slambench::TimeStamp *ts_p) {\nslambench::TimeStamp ts = *ts_p;\n\nif(pose_output->IsActive()) {\n\t// Get the current pose as an eigen matrix\n\tEigen::Matrix4f mat = eFusion->getCurrPose();\n\n\tstd::lock_guard lock (lib->GetOutputManager().GetLock());\n\tpose_output->AddPoint(ts, new slambench::values::PoseValue(mat));\n}\n```\n\nshould always return `true` or an exception will be raised.\n\n## Known Issues\n\n### KFusion CUDA version\n\nKFusion CUDA requires GCC 4.9 to work. To specify a new gcc compiler for CUDA only, you can use the `CUDA_HOST_COMPILER` flag as follows :\n\n```bash\nmake slambench APPS=kfusion CUDA_HOST_COMPILER=$(which gcc-4.9)\n```\n\nModern O.S. are now using more recent version of this compiler, this may introduce several compatibility issues.\nTo fix one of them, in the compilation process, when compiling CUDA application we use the ` -D_GLIBCXX_USE_CXX11_ABI=0 ` flag.\n\n## Release History\nVersion 4.0 (Oct 2021)\n- Robustness evaluation\n\nVersion 3.0 (May 2019)\n- Depth estimation \n- Dynamic reconstruction\n- Semantic reconstruction\n\nVersion 2.0 (Feb 2018)\n\n* This release is a complete new version\n\nRelease candidate 1.1 (17 Mar 2015)\n\n* Bugfix : Move bilateralFilterKernel from preprocessing to tracking\n* Bugfix : Wrong interpretation of ICP Threshold parameter.\n* Esthetic : Uniformisation of HalfSampleRobustImage kernel\n* Performance : Change float3 to float4 for the rendering kernels (No effect on OpenCL, but high performance improvement with CUDA)\n* Performance : Add a dedicated buffer for the OpenCL rendering\n* Feature : Add OSX support\n\nRelease candidate 1.0 (12 Nov 2014)\n\n* First public release\n\nCopyright (c) 2014-2021 University of Edinburgh, Imperial College, University of Manchester.\nDeveloped in the PAMELA project, EPSRC Programme Grant EP/K008730/1 and\n\nThe RAIN Hub, funded by the Industrial Strategy Challenge Fund,\npart of the UK government’s modern Industrial Strategy. The fund is\ndelivered by UK Research and Innovation and managed by EPSRC [EP/R026084/1].\n" }, { "path": "_config.yml", "content": "theme: jekyll-theme-cayman" }, { "path": "benchmarks/CMakeLists.txt", "content": "#######################################################\n# This file is the CMAKE script for Benchmarks Libraries\n#######################################################\ncmake_minimum_required(VERSION 3.10)\n\nproject(benchmarks)\nif (NOT SLAMBENCH_INCLUDE_DIR)\n message( FATAL_ERROR \"SLAMBENCH_INCLUDE_DIR not found\")\n else ()\n include_directories(${SLAMBENCH_INCLUDE_DIR})\nendif()\n\n## EXTERNAL SOURCE CODE, SKIP WARNINGS ....\n############################################################\nset(CMAKE_C_FLAGS \"${CMAKE_C_FLAGS} -Wno-error\")\nset(CMAKE_CXX_FLAGS \"${CMAKE_CXX_FLAGS} -Wno-error\")\n\n#### ADD USE-CASES DIRECTORIES ###\n############################################################\nif (\"${APPS}\" STREQUAL \"all\")\n message(STATUS \"Select all applications...\")\n set(APPS_MOD \"efusion;kfusion;lsdslam;monoslam;infinitam;ptam;okvis;orbslam2;orbslam3;svo;flame,refusion,kinectfusion,dso,fullfusion\")\nelse()\n message(STATUS \"Select only ${APPS} applications...\")\n string(REPLACE \",\" \";\" APPS_MOD \"${APPS}\") \nendif() \n\nset(app_list ${APPS_MOD})\n MESSAGE(STATUS \"Application loop over ${APPS_MOD}\")\nFOREACH(app ${app_list})\n IF(IS_DIRECTORY \"${CMAKE_CURRENT_SOURCE_DIR}/${app}\")\n MESSAGE(STATUS \"Load application ${app}\")\n ADD_SUBDIRECTORY(${app})\n ELSE()\n MESSAGE(STATUS \"Use-case ${app} not found. Please try \\\" make ${app} \\\" to download the usecase.\")\n ENDIF()\nENDFOREACH(app)\n" }, { "path": "cmake_modules/CUDACheckCompute.cmake", "content": "#############################\n#Sourced from:\n#https://raw.githubusercontent.com/jwetzl/CudaLBFGS/master/CheckComputeCapability.cmake\n#############################\n# Check for GPUs present and their compute capability\n# based on http://stackoverflow.com/questions/2285185/easiest-way-to-test-for-existence-of-cuda-capable-gpu-from-cmake/2297877#2297877 (Christopher Bruns)\n\nif(CUDA_FOUND)\n message(STATUS \"Try to compile and run : ${PROJECT_SOURCE_DIR}/cmake/cuda_compute_capability.c\")\n try_run(RUN_RESULT_VAR COMPILE_RESULT_VAR\n ${CMAKE_BINARY_DIR}\n ${CMAKE_SOURCE_DIR}/cmake_modules/cuda_compute_capability.c\n CMAKE_FLAGS\n -DINCLUDE_DIRECTORIES:STRING=${CUDA_TOOLKIT_INCLUDE}\n -DLINK_LIBRARIES:STRING=${CUDA_CUDART_LIBRARY}\n COMPILE_OUTPUT_VARIABLE COMPILE_OUTPUT_VAR\n RUN_OUTPUT_VARIABLE RUN_OUTPUT_VAR)\n message(STATUS \"Compile: ${RUN_OUTPUT_VAR}\")\n if (COMPILE_RESULT_VAR)\n message(STATUS \"compiled -> \" ${RUN_RESULT_VAR})\n else()\n message(STATUS \"didn't compile\")\n endif()\n # COMPILE_RESULT_VAR is TRUE when compile succeeds\n # RUN_RESULT_VAR is zero when a GPU is found\n if(COMPILE_RESULT_VAR AND NOT RUN_RESULT_VAR)\n message(STATUS \"worked\")\n set(CUDA_HAVE_GPU TRUE CACHE BOOL \"Whether CUDA-capable GPU is present\")\n set(CUDA_COMPUTE_CAPABILITY ${RUN_OUTPUT_VAR} CACHE STRING \"Compute capability of CUDA-capable GPU present\")\n mark_as_advanced(CUDA_COMPUTE_CAPABILITY)\n else()\n message(STATUS \"didn't work\")\n set(CUDA_HAVE_GPU FALSE CACHE BOOL \"Whether CUDA-capable GPU is present\")\n endif()\nendif()\n" }, { "path": "cmake_modules/FindBrisk.cmake", "content": "\nfind_path(BRISK_INCLUDE_PATH Brisk/Brisk.h\n\t~/usr/include\n\t~/usr/.local/include\n\t~/.local/include\n\t~/usr/local/include\n\t/usr/include\n\t/usr/local/include\n\tthirdparty\n)\n\nif(BRISK_INCLUDE_PATH)\n\tset(BRISK_FOUND TRUE)\n\tset(BRISK_INCLUDE_PATHS ${BRISK_INCLUDE_PATH} CACHE STRING \"The include paths needed to use BRISK\")\nendif()\n\nmark_as_advanced(\n\tBRISK_INCLUDE_PATHS\n)\n\n\n# Generate appropriate messages\nif(BRISK_FOUND)\n if(NOT BRISK_FIND_QUIETLY)\n \t message(\"-- Found Brisk: ${BRISK_INCLUDE_PATH}\")\n endif(NOT BRISK_FIND_QUIETLY)\nelse(BRISK_FOUND)\n if(BRISK_FIND_REQUIRED)\n\tmessage(FATAL_ERROR \"-- Could NOT find BRISK (missing: BRISK_INCLUDE_PATH)\")\n endif(BRISK_FIND_REQUIRED)\nendif(BRISK_FOUND)\n" }, { "path": "cmake_modules/FindCVD.cmake", "content": "# - Try to find libCVD\n#\n# CVD_FOUND - system has libCVD\n# CVD_INCLUDE_DIR - the libCVD include directories\n# CVD_LIBRARY - link these to use libCVD\n\nFIND_PATH(\n CVD_INCLUDE_DIR\n NAMES cvd/cvd_image.h\n PATHS\n /usr/include\n /usr/local/include\n)\n\nFIND_LIBRARY(\n CVD_LIBRARY\n NAMES cvd\n PATHS\n /usr/lib\n /usr/local/lib\n) \n\nIF(CVD_INCLUDE_DIR AND CVD_LIBRARY)\n SET(CVD_FOUND TRUE)\nENDIF()\n\nIF(CVD_FOUND)\n IF(NOT CVD_FIND_QUIETLY)\n MESSAGE(STATUS \"Found CVD: ${CVD_LIBRARY}\")\n ENDIF()\nELSE()\n IF(CVD_FIND_REQUIRED)\n MESSAGE(FATAL_ERROR \"Could not find CVD\")\n ENDIF()\nENDIF()\n" }, { "path": "cmake_modules/FindCeres.cmake", "content": "# -*- mode: cmake; -*-\n###############################################################################\n# Find Ceres\n#\n# This sets the following variables:\n# CERES_FOUND - True if CERES was found.\n# CERES_INCLUDE_DIRS - Directories containing the CERES include files.\n# CERES_LIBRARIES - Libraries needed to use CERES.\n#\n\nfind_path(CERES_INCLUDE_PATH ceres/ceres.h\n ${CERES_DIR}/include\t\n NO_DEFAULT_PATH\n)\n\nfind_library(CERES_DYNAMIC_LIBRARY NAMES libceres.so PATHS\n ${CERES_DIR}/lib64\n ${CERES_DIR}/lib\n NO_DEFAULT_PATH\n)\nfind_library(CERES_STATIC_LIBRARY NAMES libceres.a PATHS\n ${CERES_DIR}/lib64\n ${CERES_DIR}/lib\n NO_DEFAULT_PATH\n )\n\nmessage(STATUS \"CERES_DIR=${CERES_DIR}\")\nmessage(STATUS \"CERES_INCLUDE_PATH=${CERES_INCLUDE_PATH}\")\nmessage(STATUS \"CERES_DYNAMIC_LIBRARY=${CERES_DYNAMIC_LIBRARY}\")\nmessage(STATUS \"CERES_STATIC_LIBRARY=${CERES_STATIC_LIBRARY}\")\n\n\nif(CERES_STATIC_LIBRARY OR CERES_DYNAMIC_LIBRARY)\nif(CERES_INCLUDE_PATH)\n\tset(CERES_FOUND TRUE)\n\tset(CERES_INCLUDE_PATHS ${CERES_INCLUDE_PATH} CACHE STRING \"The include paths needed to use CERES\")\n\tif(CERES_STATIC_LIBRARY)\n\t set(CERES_LIBRARIES \"${CERES_STATIC_LIBRARY}\" CACHE STRING \"The libraries needed to use CERES\")\n\tELSE()\n\t set(CERES_LIBRARIES \"${CERES_DYNAMIC_LIBRARY}\" CACHE STRING \"The libraries needed to use CERES\")\n\tENDIF()\nelse()\n if(Ceres_FIND_REQUIRED)\n\tmessage(FATAL_ERROR \"-- Could NOT find CERES (missing: CERES_INCLUDE_PATH)\")\n endif(Ceres_FIND_REQUIRED)\nendif()\nelse()\n if(Ceres_FIND_REQUIRED)\n\tmessage(FATAL_ERROR \"-- Could NOT find CERES (missing: CERES_STATIC_LIBRARY or CERES_DYNAMIC_LIBRARY)\")\n endif(Ceres_FIND_REQUIRED)\nendif()\n\nmark_as_advanced(\n CERES_INCLUDE_PATHS\n CERES_LIBRARIES\n)\n\n\n\n# Generate appropriate messages\nif(Ceres_FOUND)\n if(NOT Ceres_FIND_QUIETLY)\n \t message(\"-- Found CERES: ${CERES_INCLUDE_PATH}\")\n endif(NOT Ceres_FIND_QUIETLY)\nendif(Ceres_FOUND)\n" }, { "path": "cmake_modules/FindEigen.cmake", "content": "# - Try to find Eigen3 lib\n#\n# This module supports requiring a minimum version, e.g. you can do\n# find_package(Eigen3 3.1.2)\n# to require version 3.1.2 or newer of Eigen3.\n#\n# Once done this will define\n#\n# EIGEN3_FOUND - system has eigen lib with correct version\n# EIGEN3_INCLUDE_DIR - the eigen include directory\n# EIGEN3_VERSION - eigen version\n\n# Copyright (c) 2006, 2007 Montel Laurent, \n# Copyright (c) 2008, 2009 Gael Guennebaud, \n# Copyright (c) 2009 Benoit Jacob \n# Redistribution and use is allowed according to the terms of the 2-clause BSD license.\n\nif(NOT Eigen3_FIND_VERSION)\n if(NOT Eigen3_FIND_VERSION_MAJOR)\n set(Eigen3_FIND_VERSION_MAJOR 2)\n endif(NOT Eigen3_FIND_VERSION_MAJOR)\n if(NOT Eigen3_FIND_VERSION_MINOR)\n set(Eigen3_FIND_VERSION_MINOR 91)\n endif(NOT Eigen3_FIND_VERSION_MINOR)\n if(NOT Eigen3_FIND_VERSION_PATCH)\n set(Eigen3_FIND_VERSION_PATCH 0)\n endif(NOT Eigen3_FIND_VERSION_PATCH)\n\n set(Eigen3_FIND_VERSION \"${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}\")\nendif(NOT Eigen3_FIND_VERSION)\n\nmacro(_eigen3_check_version)\n file(READ \"${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h\" _eigen3_version_header)\n\n string(REGEX MATCH \"define[ \\t]+EIGEN_WORLD_VERSION[ \\t]+([0-9]+)\" _eigen3_world_version_match \"${_eigen3_version_header}\")\n set(EIGEN3_WORLD_VERSION \"${CMAKE_MATCH_1}\")\n string(REGEX MATCH \"define[ \\t]+EIGEN_MAJOR_VERSION[ \\t]+([0-9]+)\" _eigen3_major_version_match \"${_eigen3_version_header}\")\n set(EIGEN3_MAJOR_VERSION \"${CMAKE_MATCH_1}\")\n string(REGEX MATCH \"define[ \\t]+EIGEN_MINOR_VERSION[ \\t]+([0-9]+)\" _eigen3_minor_version_match \"${_eigen3_version_header}\")\n set(EIGEN3_MINOR_VERSION \"${CMAKE_MATCH_1}\")\n\n set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})\n if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})\n set(EIGEN3_VERSION_OK FALSE)\n else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})\n set(EIGEN3_VERSION_OK TRUE)\n endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})\n\n if(NOT EIGEN3_VERSION_OK)\n\n message(STATUS \"Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, \"\n \"but at least version ${Eigen3_FIND_VERSION} is required\")\n endif(NOT EIGEN3_VERSION_OK)\nendmacro(_eigen3_check_version)\n\nif (EIGEN3_INCLUDE_DIR)\n\n # in cache already\n _eigen3_check_version()\n set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})\n\nelse (EIGEN3_INCLUDE_DIR)\n\n find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library\n PATHS\n ${CMAKE_INSTALL_PREFIX}/include\n ${KDE4_INCLUDE_DIR}\n PATH_SUFFIXES eigen3 eigen\n )\n\n if(EIGEN3_INCLUDE_DIR)\n _eigen3_check_version()\n endif(EIGEN3_INCLUDE_DIR)\n\n include(FindPackageHandleStandardArgs)\n find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)\n\n mark_as_advanced(EIGEN3_INCLUDE_DIR)\n\nendif(EIGEN3_INCLUDE_DIR)\n\n" }, { "path": "cmake_modules/FindEigen3.cmake", "content": "# - Try to find Eigen3 lib\n#\n# This module supports requiring a minimum version, e.g. you can do\n# find_package(Eigen3 3.1.2)\n# to require version 3.1.2 or newer of Eigen3.\n#\n# Once done this will define\n#\n# EIGEN3_FOUND - system has eigen lib with correct version\n# EIGEN3_INCLUDE_DIR - the eigen include directory\n# EIGEN3_VERSION - eigen version\n\n# Copyright (c) 2006, 2007 Montel Laurent, \n# Copyright (c) 2008, 2009 Gael Guennebaud, \n# Copyright (c) 2009 Benoit Jacob \n# Redistribution and use is allowed according to the terms of the 2-clause BSD license.\n\nif(NOT Eigen3_FIND_VERSION)\n if(NOT Eigen3_FIND_VERSION_MAJOR)\n set(Eigen3_FIND_VERSION_MAJOR 2)\n endif(NOT Eigen3_FIND_VERSION_MAJOR)\n if(NOT Eigen3_FIND_VERSION_MINOR)\n set(Eigen3_FIND_VERSION_MINOR 91)\n endif(NOT Eigen3_FIND_VERSION_MINOR)\n if(NOT Eigen3_FIND_VERSION_PATCH)\n set(Eigen3_FIND_VERSION_PATCH 0)\n endif(NOT Eigen3_FIND_VERSION_PATCH)\n\n set(Eigen3_FIND_VERSION \"${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}\")\nendif(NOT Eigen3_FIND_VERSION)\n\nmacro(_eigen3_check_version)\n file(READ \"${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h\" _eigen3_version_header)\n\n string(REGEX MATCH \"define[ \\t]+EIGEN_WORLD_VERSION[ \\t]+([0-9]+)\" _eigen3_world_version_match \"${_eigen3_version_header}\")\n set(EIGEN3_WORLD_VERSION \"${CMAKE_MATCH_1}\")\n string(REGEX MATCH \"define[ \\t]+EIGEN_MAJOR_VERSION[ \\t]+([0-9]+)\" _eigen3_major_version_match \"${_eigen3_version_header}\")\n set(EIGEN3_MAJOR_VERSION \"${CMAKE_MATCH_1}\")\n string(REGEX MATCH \"define[ \\t]+EIGEN_MINOR_VERSION[ \\t]+([0-9]+)\" _eigen3_minor_version_match \"${_eigen3_version_header}\")\n set(EIGEN3_MINOR_VERSION \"${CMAKE_MATCH_1}\")\n\n set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})\n if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})\n set(EIGEN3_VERSION_OK FALSE)\n else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})\n set(EIGEN3_VERSION_OK TRUE)\n endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})\n\n if(NOT EIGEN3_VERSION_OK)\n\n message(STATUS \"Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, \"\n \"but at least version ${Eigen3_FIND_VERSION} is required\")\n endif(NOT EIGEN3_VERSION_OK)\nendmacro(_eigen3_check_version)\n\nif (EIGEN3_INCLUDE_DIR)\n\n # in cache already\n _eigen3_check_version()\n set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})\n\nelse (EIGEN3_INCLUDE_DIR)\n\n find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library\n PATHS\n ${CMAKE_INSTALL_PREFIX}/include\n ${KDE4_INCLUDE_DIR}\n PATH_SUFFIXES eigen3 eigen\n )\n\n if(EIGEN3_INCLUDE_DIR)\n _eigen3_check_version()\n endif(EIGEN3_INCLUDE_DIR)\n\n include(FindPackageHandleStandardArgs)\n find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)\n\n mark_as_advanced(EIGEN3_INCLUDE_DIR)\n\nendif(EIGEN3_INCLUDE_DIR)\n\n" }, { "path": "cmake_modules/FindFreeImage.cmake", "content": "#\n# Try to find the FreeImage library and include path.\n# Once done this will define\n#\n# FREEIMAGE_FOUND\n# FREEIMAGE_INCLUDE_PATH\n# FREEIMAGE_LIBRARY\n# FREEIMAGE_STATIC_LIBRARY\n# FREEIMAGE_DYNAMIC_LIBRARY\n#\n\nOPTION(USE_FreeImage_STATIC \"Use Static FreeImage Lib\" OFF)\n\nFIND_PATH(FreeImage_INCLUDE_PATH\n NAMES FreeImage.h\n PATHS\n /usr/include\n /usr/local/include\n /sw/include\n /opt/local/include\n DOC \"The directory where FreeImage.h resides\")\n\nFIND_LIBRARY(FreeImage_DYNAMIC_LIBRARY\n NAMES FreeImage freeimage\n PATHS\n /usr/lib64\n /usr/lib\n /usr/local/lib64\n /usr/local/lib\n /sw/lib\n /opt/local/lib\n DOC \"The FreeImage library\")\n\nSET(PX ${CMAKE_STATIC_LIBRARY_PREFIX})\nSET(SX ${CMAKE_STATIC_LIBRARY_SUFFIX})\n\nFIND_LIBRARY(FreeImage_STATIC_LIBRARY\n NAMES ${PX}FreeImageLIB${SX} ${PX}FreeImage${SX} ${PX}freeimage${SX}\n HINTS ${PROJECT_SOURCE_DIR}/FreeImage\n PATHS\n /usr/lib64\n /usr/lib\n /usr/local/lib64\n /usr/local/lib\n /sw/lib\n /opt/local/lib\n DOC \"The FreeImage library\")\n \nUNSET(PX)\nUNSET(SX)\n\nIF(USE_FreeImage_STATIC)\n \n IF(FreeImage_STATIC_LIBRARY)\n ADD_DEFINITIONS(-D$FREEIMAGE_LIB)\n SET(FreeImage_LIBRARY ${FreeImage_STATIC_LIBRARY})\n MESSAGE(STATUS \"Using Static FreeImage Lib FreeImage_LIBRARY = \" ${FreeImage_LIBRARY})\n else(FreeImage_STATIC_LIBRARY) \n if(FreeImage_FIND_REQUIRED AND NOT FreeImage_FIND_QUIETLY)\n message(FATAL_ERROR \"Could not find FREEIMAGE static libs \")\n endif(FreeImage_FIND_REQUIRED AND NOT FreeImage_FIND_QUIETLY)\n endif(FreeImage_STATIC_LIBRARY)\n \n\nELSE(USE_FreeImage_STATIC)\n\n IF(FreeImage_DYNAMIC_LIBRARY)\n REMOVE_DEFINITIONS(-DFREEIMAGE_LIB)\n SET(FreeImage_LIBRARY ${FreeImage_DYNAMIC_LIBRARY})\n MESSAGE(STATUS \"Using Dynamic FreeImage Lib FreeImage_LIBRARY = \" ${FreeImage_LIBRARY})\n else(FreeImage_DYNAMIC_LIBRARY) \n if(FreeImage_FIND_REQUIRED AND NOT FreeImage_FIND_QUIETLY)\n message(FATAL_ERROR \"Could not find FREEIMAGE dynamic libs \")\n endif(FreeImage_FIND_REQUIRED AND NOT FreeImage_FIND_QUIETLY)\n endif(FreeImage_DYNAMIC_LIBRARY)\n\nENDIF(USE_FreeImage_STATIC)\n\n\nIF(FreeImage_INCLUDE_PATH)\n MESSAGE(STATUS \"Using FreeImage include dir\") \n SET(FreeImage_INCLUDE_DIRS ${FreeImage_INCLUDE_PATH}) \nelse(FreeImage_INCLUDE_PATH) \n if(FreeImage_FIND_REQUIRED AND NOT FreeImage_FIND_QUIETLY)\n message(FATAL_ERROR \"Could not find FREEIMAGE include directory\")\n endif(FreeImage_FIND_REQUIRED AND NOT FreeImage_FIND_QUIETLY)\nendif(FreeImage_INCLUDE_PATH)\n\n\n\nINCLUDE(FindPackageHandleStandardArgs)\n \nFIND_PACKAGE_HANDLE_STANDARD_ARGS(FREEIMAGE DEFAULT_MSG\n FreeImage_INCLUDE_DIRS FreeImage_LIBRARY)\n\n\n\n\n\nMARK_AS_ADVANCED(\n FreeImage_INCLUDE_DIRS\n FreeImage_DYNAMIC_LIBRARY\n FreeImage_STATIC_LIBRARY\n FreeImage_LIBRARY\n )" }, { "path": "cmake_modules/FindG2O.cmake", "content": "# Find the header files\n\nFIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h\n ${G2O_ROOT}/include\n $ENV{G2O_ROOT}/include\n $ENV{G2O_ROOT}\n /usr/local/include\n /usr/include\n /opt/local/include\n /sw/local/include\n /sw/include\n NO_DEFAULT_PATH\n )\n\n# Macro to unify finding both the debug and release versions of the\n# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY\n# macro.\n\nMACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)\n\n FIND_LIBRARY(\"${MYLIBRARY}_DEBUG\"\n NAMES \"g2o_${MYLIBRARYNAME}_d\"\n PATHS\n ${G2O_ROOT}/lib/Debug\n ${G2O_ROOT}/lib\n $ENV{G2O_ROOT}/lib/Debug\n $ENV{G2O_ROOT}/lib\n NO_DEFAULT_PATH\n )\n\n FIND_LIBRARY(\"${MYLIBRARY}_DEBUG\"\n NAMES \"g2o_${MYLIBRARYNAME}_d\"\n PATHS\n ~/Library/Frameworks\n /Library/Frameworks\n /usr/local/lib\n /usr/local/lib64\n /usr/lib\n /usr/lib64\n /opt/local/lib\n /sw/local/lib\n /sw/lib\n )\n \n FIND_LIBRARY(${MYLIBRARY}\n NAMES \"g2o_${MYLIBRARYNAME}\"\n PATHS\n ${G2O_ROOT}/lib/Release\n ${G2O_ROOT}/lib\n $ENV{G2O_ROOT}/lib/Release\n $ENV{G2O_ROOT}/lib\n NO_DEFAULT_PATH\n )\n\n FIND_LIBRARY(${MYLIBRARY}\n NAMES \"g2o_${MYLIBRARYNAME}\"\n PATHS\n ~/Library/Frameworks\n /Library/Frameworks\n /usr/local/lib\n /usr/local/lib64\n /usr/lib\n /usr/lib64\n /opt/local/lib\n /sw/local/lib\n /sw/lib\n )\n \n IF(NOT ${MYLIBRARY}_DEBUG)\n IF(MYLIBRARY)\n SET(${MYLIBRARY}_DEBUG ${MYLIBRARY})\n ENDIF(MYLIBRARY)\n ENDIF( NOT ${MYLIBRARY}_DEBUG)\n \nENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)\n\n# Find the core elements\nFIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff)\nFIND_G2O_LIBRARY(G2O_CORE_LIBRARY core)\n\n# Find the CLI library\nFIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli)\n\n# Find the pluggable solvers\nFIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod)\nFIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse)\nFIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension)\nFIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense)\nFIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg)\nFIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear)\nFIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only)\nFIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen)\n\n# Find the predefined types\nFIND_G2O_LIBRARY(G2O_TYPES_DATA types_data)\nFIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp)\nFIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba)\nFIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d)\nFIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3)\nFIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d)\nFIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d)\n\n# G2O solvers declared found if we found at least one solver\nSET(G2O_SOLVERS_FOUND \"NO\")\nIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)\n SET(G2O_SOLVERS_FOUND \"YES\")\nENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)\n\n# G2O itself declared found if we found the core libraries and at least one solver\nIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)\n SET(G2O_FOUND \"YES\")\nENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)\n" }, { "path": "cmake_modules/FindGVARS.cmake", "content": "# - Try to find GVARS\n#\n# GVARS_FOUND - system has GVARS\n# GVARS_INCLUDE_DIR - the GVARS include directories\n# GVARS_LIBRARY - link these to use GVARS\n\nFIND_PATH(\n GVARS_INCLUDE_DIR\n NAMES gvars3/config.h\n PATHS\n /usr/include\n /usr/local/include\n)\n\nFIND_LIBRARY(\n GVARS_LIBRARY\n NAMES GVars3\n PATHS\n /usr/lib\n /usr/local/lib\n) \n\nIF(GVARS_INCLUDE_DIR AND GVARS_LIBRARY)\n SET(GVARS_FOUND TRUE)\nENDIF()\n\nIF(GVARS_FOUND)\n IF(NOT GVARS_FIND_QUIETLY)\n MESSAGE(STATUS \"Found GVARS: ${GVARS_LIBRARY}\")\n ENDIF()\nELSE()\n IF(GVARS_FIND_REQUIRED)\n MESSAGE(FATAL_ERROR \"Could not find GVARS\")\n ENDIF()\nENDIF()\n" }, { "path": "cmake_modules/FindGlog.cmake", "content": "# Ceres Solver - A fast non-linear least squares minimizer\n# Copyright 2015 Google Inc. All rights reserved.\n# http://ceres-solver.org/\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions are met:\n#\n# * Redistributions of source code must retain the above copyright notice,\n# this list of conditions and the following disclaimer.\n# * Redistributions in binary form must reproduce the above copyright notice,\n# this list of conditions and the following disclaimer in the documentation\n# and/or other materials provided with the distribution.\n# * Neither the name of Google Inc. nor the names of its contributors may be\n# used to endorse or promote products derived from this software without\n# specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\n# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\n# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\n# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\n# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\n# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\n# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\n# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\n# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\n# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n#\n# Author: alexs.mac@gmail.com (Alex Stewart)\n#\n\n# FindGlog.cmake - Find Google glog logging library.\n#\n# This module defines the following variables:\n#\n# GLOG_FOUND: TRUE iff glog is found.\n# GLOG_INCLUDE_DIRS: Include directories for glog.\n# GLOG_LIBRARIES: Libraries required to link glog.\n#\n# The following variables control the behaviour of this module:\n#\n# GLOG_INCLUDE_DIR_HINTS: List of additional directories in which to\n# search for glog includes, e.g: /timbuktu/include.\n# GLOG_LIBRARY_DIR_HINTS: List of additional directories in which to\n# search for glog libraries, e.g: /timbuktu/lib.\n#\n# The following variables are also defined by this module, but in line with\n# CMake recommended FindPackage() module style should NOT be referenced directly\n# by callers (use the plural variables detailed above instead). These variables\n# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which\n# are NOT re-called (i.e. search for library is not repeated) if these variables\n# are set with valid values _in the CMake cache_. This means that if these\n# variables are set directly in the cache, either by the user in the CMake GUI,\n# or by the user passing -DVAR=VALUE directives to CMake when called (which\n# explicitly defines a cache variable), then they will be used verbatim,\n# bypassing the HINTS variables and other hard-coded search locations.\n#\n# GLOG_INCLUDE_DIR: Include directory for glog, not including the\n# include directory of any dependencies.\n# GLOG_LIBRARY: glog library, not including the libraries of any\n# dependencies.\n\n# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when\n# FindGlog was invoked.\nmacro(GLOG_RESET_FIND_LIBRARY_PREFIX)\n if (MSVC)\n set(CMAKE_FIND_LIBRARY_PREFIXES \"${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}\")\n endif (MSVC)\nendmacro(GLOG_RESET_FIND_LIBRARY_PREFIX)\n\n# Called if we failed to find glog or any of it's required dependencies,\n# unsets all public (designed to be used externally) variables and reports\n# error message at priority depending upon [REQUIRED/QUIET/] argument.\nmacro(GLOG_REPORT_NOT_FOUND REASON_MSG)\n unset(GLOG_FOUND)\n unset(GLOG_INCLUDE_DIRS)\n unset(GLOG_LIBRARIES)\n # Make results of search visible in the CMake GUI if glog has not\n # been found so that user does not have to toggle to advanced view.\n mark_as_advanced(CLEAR GLOG_INCLUDE_DIR\n GLOG_LIBRARY)\n\n glog_reset_find_library_prefix()\n\n # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()\n # use the camelcase library name, not uppercase.\n if (Glog_FIND_QUIETLY)\n message(STATUS \"Failed to find glog - \" ${REASON_MSG} ${ARGN})\n elseif (Glog_FIND_REQUIRED)\n message(FATAL_ERROR \"Failed to find glog - \" ${REASON_MSG} ${ARGN})\n else()\n # Neither QUIETLY nor REQUIRED, use no priority which emits a message\n # but continues configuration and allows generation.\n message(\"-- Failed to find glog - \" ${REASON_MSG} ${ARGN})\n endif ()\nendmacro(GLOG_REPORT_NOT_FOUND)\n\n# Handle possible presence of lib prefix for libraries on MSVC, see\n# also GLOG_RESET_FIND_LIBRARY_PREFIX().\nif (MSVC)\n # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES\n # s/t we can set it back before returning.\n set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES \"${CMAKE_FIND_LIBRARY_PREFIXES}\")\n # The empty string in this list is important, it represents the case when\n # the libraries have no prefix (shared libraries / DLLs).\n set(CMAKE_FIND_LIBRARY_PREFIXES \"lib\" \"\" \"${CMAKE_FIND_LIBRARY_PREFIXES}\")\nendif (MSVC)\n\n# Search user-installed locations first, so that we prefer user installs\n# to system installs where both exist.\nlist(APPEND GLOG_CHECK_INCLUDE_DIRS\n /usr/local/include\n /usr/local/homebrew/include # Mac OS X\n /opt/local/var/macports/software # Mac OS X.\n /opt/local/include\n /usr/include)\n# Windows (for C:/Program Files prefix).\nlist(APPEND GLOG_CHECK_PATH_SUFFIXES\n glog/include\n glog/Include\n Glog/include\n Glog/Include)\n\nlist(APPEND GLOG_CHECK_LIBRARY_DIRS\n /usr/local/lib\n /usr/local/homebrew/lib # Mac OS X.\n /opt/local/lib\n /usr/lib)\n# Windows (for C:/Program Files prefix).\nlist(APPEND GLOG_CHECK_LIBRARY_SUFFIXES\n glog/lib\n glog/Lib\n Glog/lib\n Glog/Lib)\n\n# Search supplied hint directories first if supplied.\nfind_path(GLOG_INCLUDE_DIR\n NAMES glog/logging.h\n PATHS ${GLOG_INCLUDE_DIR_HINTS}\n ${GLOG_CHECK_INCLUDE_DIRS}\n PATH_SUFFIXES ${GLOG_CHECK_PATH_SUFFIXES})\nif (NOT GLOG_INCLUDE_DIR OR\n NOT EXISTS ${GLOG_INCLUDE_DIR})\n glog_report_not_found(\n \"Could not find glog include directory, set GLOG_INCLUDE_DIR \"\n \"to directory containing glog/logging.h\")\nendif (NOT GLOG_INCLUDE_DIR OR\n NOT EXISTS ${GLOG_INCLUDE_DIR})\n\nfind_library(GLOG_LIBRARY NAMES glog\n PATHS ${GLOG_LIBRARY_DIR_HINTS}\n ${GLOG_CHECK_LIBRARY_DIRS}\n PATH_SUFFIXES ${GLOG_CHECK_LIBRARY_SUFFIXES})\nif (NOT GLOG_LIBRARY OR\n NOT EXISTS ${GLOG_LIBRARY})\n glog_report_not_found(\n \"Could not find glog library, set GLOG_LIBRARY \"\n \"to full path to libglog.\")\nendif (NOT GLOG_LIBRARY OR\n NOT EXISTS ${GLOG_LIBRARY})\n\n# Mark internally as found, then verify. GLOG_REPORT_NOT_FOUND() unsets\n# if called.\nset(GLOG_FOUND TRUE)\n\n# Glog does not seem to provide any record of the version in its\n# source tree, thus cannot extract version.\n\n# Catch case when caller has set GLOG_INCLUDE_DIR in the cache / GUI and\n# thus FIND_[PATH/LIBRARY] are not called, but specified locations are\n# invalid, otherwise we would report the library as found.\nif (GLOG_INCLUDE_DIR AND\n NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)\n glog_report_not_found(\n \"Caller defined GLOG_INCLUDE_DIR:\"\n \" ${GLOG_INCLUDE_DIR} does not contain glog/logging.h header.\")\nendif (GLOG_INCLUDE_DIR AND\n NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)\n# TODO: This regex for glog library is pretty primitive, we use lowercase\n# for comparison to handle Windows using CamelCase library names, could\n# this check be better?\nstring(TOLOWER \"${GLOG_LIBRARY}\" LOWERCASE_GLOG_LIBRARY)\nif (GLOG_LIBRARY AND\n NOT \"${LOWERCASE_GLOG_LIBRARY}\" MATCHES \".*glog[^/]*\")\n glog_report_not_found(\n \"Caller defined GLOG_LIBRARY: \"\n \"${GLOG_LIBRARY} does not match glog.\")\nendif (GLOG_LIBRARY AND\n NOT \"${LOWERCASE_GLOG_LIBRARY}\" MATCHES \".*glog[^/]*\")\n\n# Set standard CMake FindPackage variables if found.\nif (GLOG_FOUND)\n set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})\n set(GLOG_LIBRARIES ${GLOG_LIBRARY})\nendif (GLOG_FOUND)\n\nglog_reset_find_library_prefix()\n\n# Handle REQUIRED / QUIET optional arguments.\ninclude(FindPackageHandleStandardArgs)\nfind_package_handle_standard_args(Glog DEFAULT_MSG\n GLOG_INCLUDE_DIRS GLOG_LIBRARIES)\n\n# Only mark internal variables as advanced if we found glog, otherwise\n# leave them visible in the standard GUI for the user to set manually.\nif (GLOG_FOUND)\n mark_as_advanced(FORCE GLOG_INCLUDE_DIR\n GLOG_LIBRARY)\nendif (GLOG_FOUND)\n" }, { "path": "cmake_modules/FindLIBYAML.cmake", "content": "# CMake module to search for the libyaml library\n# (library for parsing YAML files)\n#\n# If it's found it sets LIBYAML_FOUND to TRUE\n# and following variables are set:\n# LIBYAML_INCLUDE_DIR\n# LIBYAML_LIBRARY\n\n\nFIND_PATH(LIBYAML_INCLUDE_DIR NAMES yaml.h \n\tHINTS \n\t/usr/include/yaml-cpp/)\nFIND_LIBRARY(LIBYAML_LIBRARY NAMES yaml-cpp\n\tHINTS\n\t/usr/lib64)\n\nif(LIBYAML_LIBRARY)\n message(STATUS \"Found LIBYAML Library: ${LIBYAML_LIBRARY}\")\nelse()\n message(STATUS \"NOT Found LIBYAML Library: ${LIBYAML_LIBRARY}\")\nendif()\n\nif(LIBYAML_INCLUDE_DIR)\n message(STATUS \"Found LIBYAML includes: ${LIBYAML_INCLUDE_DIR}\")\nelse()\n message(STATUS \"NOT Found LIBYAML includes: ${LIBYAML_INCLUDE_DIR}\")\nendif()\n\nif(LIBYAML_LIBRARY AND LIBYAML_INCLUDE_DIR)\n message(STATUS \"Found LIBYAML: ${LIBYAML_LIBRARY}\")\n set(LIBYAML_FOUND TRUE)\nELSE()\n IF(LIBYAML_FIND_REQUIRED)\n message(FATAL_ERROR \"NOT FOUND: LIBYAML\")\n ELSE()\n message(STATUS \"NOT FOUND: LIBYAML\")\n ENDIF()\nendif()\n \nmark_as_advanced(\n LIBYAML_INCLUDE_DIR\n LIBYAML_LIBRARY\n\t)\n" }, { "path": "cmake_modules/FindOpenCL.cmake", "content": "# Module for locating OpenCL.\n#\n# Customizable variables:\n# OPENCL_ROOT_DIR\n# Specifies OpenCL's root directory. The find module uses this variable to\n# locate OpenCL. The variable will be filled automatically unless explicitly\n# set using CMake's -D command-line option. Instead of setting a CMake\n# variable, an environment variable called OCLROOT can be used.\n# While locating the root directory, the module will try to detect OpenCL\n# implementations provided by AMD's Accelerated Parallel Processing SDK,\n# NVIDIA's GPU Computing Toolkit and Intel's OpenCL SDK by examining the\n# AMDAPPSDKROOT, CUDA_PATH and INTELOCLSDKROOT environment variables,\n# respectively.\n#\n# Read-only variables:\n# OPENCL_FOUND\n# Indicates whether OpenCL has been found.\n#\n# OPENCL_INCLUDE_DIRS\n# Specifies the OpenCL include directories.\n#\n# OPENCL_LIBRARIES\n# Specifies the OpenCL libraries that should be passed to\n# target_link_libararies.\n#\n#\n# Copyright (c) 2012 Sergiu Dotenco\n#\n# Permission is hereby granted, free of charge, to any person obtaining a copy\n# of this software and associated documentation files (the \"Software\"), to deal\n# in the Software without restriction, including without limitation the rights\n# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell\n# copies of the Software, and to permit persons to whom the Software is\n# furnished to do so, subject to the following conditions:\n#\n# The above copyright notice and this permission notice shall be included in all\n# copies or substantial portions of the Software.\n#\n# THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n# FITNESS FOR A PARTOPENCLLAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\n# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\n# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE\n# SOFTWARE.\n\nINCLUDE (FindPackageHandleStandardArgs)\n\nIF (CMAKE_SIZEOF_VOID_P EQUAL 8)\n SET (_OPENCL_POSSIBLE_LIB_SUFFIXES lib/Win64 lib/x86_64 lib/x64 lib lib64)\nELSE (CMAKE_SIZEOF_VOID_P EQUAL 8)\n SET (_OPENCL_POSSIBLE_LIB_SUFFIXES lib/Win32 lib/x86 lib)\nENDIF (CMAKE_SIZEOF_VOID_P EQUAL 8)\n\nLIST (APPEND _OPENCL_POSSIBLE_LIB_SUFFIXES lib/nvidia-current)\n\nFIND_PATH (OPENCL_ROOT_DIR\n NAMES OpenCL/cl.h\n CL/cl.h\n include/CL/cl.h\n include/nvidia-current/CL/cl.h\n HINTS ${CUDA_TOOLKIT_ROOT_DIR}\n PATHS ENV OCLROOT\n ENV AMDAPPSDKROOT\n ENV CUDA_PATH\n ENV INTELOCLSDKROOT\n PATH_SUFFIXES cuda\n DOC \"OpenCL root directory\")\n\nFIND_PATH (OPENCL_INCLUDE_DIR\n NAMES OpenCL/cl.h CL/cl.h\n HINTS ${OPENCL_ROOT_DIR}\n PATH_SUFFIXES include include/nvidia-current\n DOC \"OpenCL include directory\")\n\nFIND_LIBRARY (OPENCL_LIBRARY\n NAMES OpenCL \n HINTS ${OPENCL_ROOT_DIR} /usr/local/lib/mali/fbdev/ \n PATH_SUFFIXES ${_OPENCL_POSSIBLE_LIB_SUFFIXES}\n DOC \"OpenCL library\")\n\nSET (OPENCL_INCLUDE_DIRS ${OPENCL_INCLUDE_DIR})\nSET (OPENCL_LIBRARIES ${OPENCL_LIBRARY})\n\nIF (OPENCL_INCLUDE_DIR AND OPENCL_LIBRARY)\n SET (_OPENCL_VERSION_TEST_SOURCE\n\"\n#if __APPLE__\n#include \n#else /* !__APPLE__ */\n#include \n#endif /* __APPLE__ */\n\n#include \n#include \n\nint main()\n{\n char *version;\n cl_int result;\n cl_platform_id id;\n size_t n;\n\n result = clGetPlatformIDs(1, &id, NULL);\n\n if (result == CL_SUCCESS) {\n result = clGetPlatformInfo(id, CL_PLATFORM_VERSION, 0, NULL, &n);\n\n if (result == CL_SUCCESS) {\n version = (char*)malloc(n * sizeof(char));\n\n result = clGetPlatformInfo(id, CL_PLATFORM_VERSION, n, version,\n NULL);\n\n if (result == CL_SUCCESS) {\n printf(\\\"%s\\\", version);\n fflush(stdout);\n }\n\n free(version);\n }\n }\n\n return result == CL_SUCCESS ? EXIT_SUCCESS : EXIT_FAILURE;\n}\n\")\n\n SET (_OPENCL_VERSION_SOURCE\n \"${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeTmp/openclversion.c\")\n\n FILE (WRITE ${_OPENCL_VERSION_SOURCE} \"${_OPENCL_VERSION_TEST_SOURCE}\\n\")\n\n TRY_RUN (_OPENCL_VERSION_RUN_RESULT _OPENCL_VERSION_COMPILE_RESULT\n ${CMAKE_BINARY_DIR} ${_OPENCL_VERSION_SOURCE}\n RUN_OUTPUT_VARIABLE _OPENCL_VERSION_STRING\n CMAKE_FLAGS \"-DINCLUDE_DIRECTORIES:STRING=${OPENCL_INCLUDE_DIRS}\"\n \"-DLINK_LIBRARIES:STRING=${OPENCL_LIBRARIES}\")\n\n IF (_OPENCL_VERSION_RUN_RESULT EQUAL 0)\n STRING (REGEX REPLACE \"OpenCL[ \\t]+([0-9]+)\\\\.[0-9]+.*\" \"\\\\1\"\n OPENCL_VERSION_MAJOR \"${_OPENCL_VERSION_STRING}\")\n STRING (REGEX REPLACE \"OpenCL[ \\t]+[0-9]+\\\\.([0-9]+).*\" \"\\\\1\"\n OPENCL_VERSION_MINOR \"${_OPENCL_VERSION_STRING}\")\n\n SET (OPENCL_VERSION_COMPONENTS 2)\n SET (OPENCL_VERSION \"${OPENCL_VERSION_MAJOR}.${OPENCL_VERSION_MINOR}\")\n ENDIF (_OPENCL_VERSION_RUN_RESULT EQUAL 0)\n\n\nENDIF (OPENCL_INCLUDE_DIR AND OPENCL_LIBRARY)\n\n\nIF(OPENCL_LIBRARY)\n MESSAGE(STATUS \"Using OPENCL_LIBRARY = ${OPENCL_LIBRARY}\" ) \nelse(OPENCL_LIBRARY) \n if(OpenCL_FIND_REQUIRED AND NOT OpenCL_FIND_QUIETLY)\n message(FATAL_ERROR \"Could not find OpenCL libary\")\n endif(OpenCL_FIND_REQUIRED AND NOT OpenCL_FIND_QUIETLY)\nendif(OPENCL_LIBRARY)\n\n\n\nMARK_AS_ADVANCED (OPENCL_INCLUDE_DIR OPENCL_LIBRARY)\n\nFIND_PACKAGE_HANDLE_STANDARD_ARGS (OpenCL REQUIRED_VARS OPENCL_ROOT_DIR\n OPENCL_INCLUDE_DIR OPENCL_LIBRARY VERSION_VAR OPENCL_VERSION)\n" }, { "path": "cmake_modules/FindOpenNI.cmake", "content": "# -*- mode: cmake; -*-\n###############################################################################\n# Find OpenNI\n#\n# This sets the following variables:\n# OPENNI_FOUND - True if OPENNI was found.\n# OPENNI_INCLUDE_DIRS - Directories containing the OPENNI include files.\n# OPENNI_LIBRARIES - Libraries needed to use OPENNI.\n# OPENNI_DEFINITIONS - Compiler flags for OPENNI.\n#\n# File forked from augmented_dev, project of alantrrs\n# (https://github.com/alantrrs/augmented_dev).\n\nfind_package(PkgConfig)\nif(${CMAKE_VERSION} VERSION_LESS 2.8.2)\n pkg_check_modules(PC_OPENNI openni-dev)\nelse()\n pkg_check_modules(PC_OPENNI QUIET openni-dev)\nendif()\n\nset(OPENNI_DEFINITIONS ${PC_OPENNI_CFLAGS_OTHER})\n\n#using the 64bit version of OpenNi if generating for 64bit\nif(CMAKE_SIZEOF_VOID_P EQUAL 8)\n set(PROGRAMFILES_ \"$ENV{PROGRAMW6432}\")\n set(OPENNI_SUFFIX \"64\")\nelse(CMAKE_SIZEOF_VOID_P EQUAL 8)\n set(PROGRAMFILES_ \"$ENV{PROGRAMFILES}\")\n set(OPENNI_SUFFIX \"\")\nendif(CMAKE_SIZEOF_VOID_P EQUAL 8)\n\n#add a hint so that it can find it without the pkg-config\nfind_path(OPENNI_INCLUDE_DIR XnStatus.h\n HINTS ${PC_OPENNI_INCLUDEDIR} ${PC_OPENNI_INCLUDE_DIRS} /usr/include/ni /usr/include/openni\n \"${PROGRAMFILES_}/OpenNI/Include\"\n PATH_SUFFIXES openni)\n#add a hint so that it can find it without the pkg-config\nfind_library(OPENNI_LIBRARY\n NAMES OpenNI64 OpenNI\n HINTS ${PC_OPENNI_LIBDIR} ${PC_OPENNI_LIBRARY_DIRS} /usr/lib \"${PROGRAMFILES_}/OpenNI/Lib${OPENNI_SUFFIX}\")\n\nset(OPENNI_INCLUDE_DIRS ${OPENNI_INCLUDE_DIR})\nset(OPENNI_LIBRARIES ${OPENNI_LIBRARY})\n\ninclude(FindPackageHandleStandardArgs)\nfind_package_handle_standard_args(OpenNI DEFAULT_MSG\n OPENNI_LIBRARY OPENNI_INCLUDE_DIR)\n\nmark_as_advanced(OPENNI_LIBRARY OPENNI_INCLUDE_DIR)\n" }, { "path": "cmake_modules/FindOpenNI2.cmake", "content": "find_library(OPENNI2_LIBRARY\n NAMES OpenNI2\n \tPATHS ~/usr/lib ~/usr/local/lib ~/.local/lib64 ~/.local/lib /usr/lib /usr/local/lib /data/Repositories/OpenNI2-2.2-beta2/Bin/x64-Release /scratch/cad/OpenNI/Redist /data/sw/OpenNI/OpenNI2-2.2-beta2/Bin/x64-Release \n PATH_SUFFIXES openni2 ni2\n\t)\nif(OPENNI2_LIBRARY)\nelse()\nfind_library(OPENNI2_LIBRARY\n NAMES OpenNI2\n\tPATHS /usr/lib /usr/local/lib\n)\nendif()\n\nfind_path(OPENNI2_INCLUDE_PATH\n NAMES OpenNI.h\n PATHS ~/usr/include ~/.local/include ~/usr/local/include /usr/include /usr/local/include /scratch/cad/OpenNI/Include /data/sw/OpenNI/OpenNI2-2.2-beta2/Include \n PATH_SUFFIXES openni2 ni2\n\t)\n\n\nif(OPENNI2_LIBRARY)\nelse()\n message(STATUS \"NOT Found OpenNI2 Library: ${OPENNI2_LIBRARY}\")\nendif()\nif(OPENNI2_INCLUDE_PATH)\n set(OPENNI2_INCLUDE_DIR ${OPENNI2_INCLUDE_PATH})\nelse()\n message(STATUS \"NOT Found OpenNI2 includes: ${OPENNI2_INCLUDE_PATH}\")\nendif()\nif(OPENNI2_LIBRARY AND OPENNI2_INCLUDE_PATH)\n message(STATUS \"Found OpenNI2: ${OPENNI2_LIBRARY}\")\n\tset(OpenNI2_FOUND TRUE)\n set(OPENNI2_INCLUDE_PATHS ${OPENNI2_INCLUDE_PATH} CACHE STRING \"The include paths needed to use OpenNI2\")\n set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY} CACHE STRING \"The libraries needed to use OpenNI2\")\nelse()\n message(STATUS \"NOT FOUND: OpenNI2\")\nendif()\n\nmark_as_advanced(\n OPENNI2_INCLUDE_PATHS\n OPENNI2_LIBRARIES\n\t)\n" }, { "path": "cmake_modules/FindPAPI.cmake", "content": "# Try to find PAPI headers and libraries.\n#\n# Usage of this module as follows:\n#\n# find_package(PAPI)\n#\n# Variables used by this module, they can change the default behaviour and need\n# to be set before calling find_package:\n#\n# PAPI_PREFIX Set this variable to the root installation of\n# libpapi if the module has problems finding the\n# proper installation path.\n#\n# Variables defined by this module:\n#\n# PAPI_FOUND System has PAPI libraries and headers\n# PAPI_LIBRARIES The PAPI library\n# PAPI_INCLUDE_DIRS The location of PAPI headers\n \nfind_path(PAPI_PREFIX\n NAMES include/papi.h\n)\n\nfind_library(PAPI_LIBRARY\n # Pick the static library first for easier run-time linking.\n NAMES libpapi.a papi\n HINTS ${PAPI_PREFIX}/lib ${HILTIDEPS}/lib\n)\n\nfind_library(SENSORS_LIBRARY\n NAMES sensors\n DOCS \"LM_SENSORS Library\"\n )\n\n\nfind_path(PAPI_INCLUDE_DIRS\n NAMES papi.h\n HINTS ${PAPI_PREFIX}/include ${HILTIDEPS}/include\n)\n\nif (PAPI_LIBRARY AND SENSORS_LIBRARY)\n\tSET(PAPI_LIBRARIES ${PAPI_LIBRARY} ${SENSORS_LIBRARY})\nENDIF()\n\ninclude(FindPackageHandleStandardArgs)\nfind_package_handle_standard_args(PAPI DEFAULT_MSG\n PAPI_LIBRARY\n SENSORS_LIBRARY\n PAPI_INCLUDE_DIRS\n)\n\n\nmark_as_advanced(\n PAPI_PREFIX_DIRS\n PAPI_LIBRARIES\n PAPI_INCLUDE_DIRS\n)\n" }, { "path": "cmake_modules/FindSLAMBENCH.cmake", "content": "\n\nfind_path(SLAMBENCH_INCLUDE_PATH SLAMBenchAPI.h)\n\nfind_library(SLAMBENCH_UTILS_LIBRARY libslambench-utils.a PATH ${SLAMBENCH_LIBRARY_PATH})\nfind_library(SLAMBENCH_IO_LIBRARY libslambench-io.a PATH ${SLAMBENCH_LIBRARY_PATH})\nfind_library(SLAMBENCH_C_WRAPPER_LIBRARY libslambench-c-wrapper.a PATH ${SLAMBENCH_LIBRARY_PATH})\nfind_library(SLAMBENCH_METRICS_LIBRARY libslambench-metrics.a PATH ${SLAMBENCH_LIBRARY_PATH})\n\nif(SLAMBENCH_INCLUDE_PATH)\n if(SLAMBENCH_UTILS_LIBRARY)\n set(SLAMBENCH_FOUND TRUE)\n SET(SLAMBENCH_INCLUDE_DIR ${EIGEN3_INCLUDE_DIR} ${SLAMBENCH_INCLUDE_PATH} CACHE STRING \"The include paths needed to use SLAMBENCH\")\n SET(SLAMBENCH_LIBRARIES ${SLAMBENCH_UTILS_LIBRARY} -Wl,--whole-archive ${SLAMBENCH_IO_LIBRARY} ${SLAMBENCH_METRICS_LIBRARY} -Wl,--no-whole-archive)\n SET(SLAMBENCH_C_WRAPPER -Wl,--whole-archive ${SLAMBENCH_C_WRAPPER_LIBRARY} -Wl,--no-whole-archive)\n else()\n MESSAGE(STATUS \"SLAMBENCH libraries are missing.\")\n endif()\nelse()\n MESSAGE(STATUS \"SLAMBENCH headers are missing.\")\nendif()\nmark_as_advanced(\n SLAMBENCH_INCLUDE_DIR\n SLAMBENCH_LIBRARIES\n SLAMBENCH_C_WRAPPER\n )\n\n\n# Generate appropriate messages\nif(SLAMBENCH_FOUND)\n if(NOT SLAMBENCH_FIND_QUIETLY)\n message(\"-- Found SLAMbench2: ${SLAMBENCH_INCLUDE_DIR}\")\n endif(NOT SLAMBENCH_FIND_QUIETLY)\nelse(SLAMBENCH_FOUND)\n if(SLAMBENCH_FIND_REQUIRED)\n if(NOT SLAMBENCH_INCLUDE_PATH)\n message(FATAL_ERROR \"-- Could NOT find SLAMBENCH (missing: SLAMBENCH_INCLUDE_PATH)\")\n else ()\n message(FATAL_ERROR \"-- Could NOT find SLAMBENCH (missing: SLAMBENCH_LIBRARY_PATH)\")\n endif()\n \n endif(SLAMBENCH_FIND_REQUIRED)\nendif(SLAMBENCH_FOUND)\n" }, { "path": "cmake_modules/FindSuiteSparse.cmake", "content": "\nIF(SuiteSparse_FOUND)\n SET(SuiteSparse_FIND_QUIETLY TRUE)\nENDIF(SuiteSparse_FOUND)\n\n################ AMD ##################\n\nFIND_PATH(AMD_INCLUDE_DIR NAMES amd.h\n PATHS\n ${SUITE_SPARSE_ROOT}/include\n NO_DEFAULT_PATH\n )\n\nFIND_LIBRARY(AMD_LIBRARY NAMES libamd.a\n PATHS\n ${SUITE_SPARSE_ROOT}/lib\n NO_DEFAULT_PATH\n )\n\n\nIF(AMD_INCLUDE_DIR AND AMD_LIBRARY)\n message(STATUS \"Found AMD_INCLUDE_DIR: ${AMD_INCLUDE_DIR}\")\n message(STATUS \"Found AMD_LIBRARY: ${AMD_LIBRARY}\")\nENDIF(AMD_INCLUDE_DIR AND AMD_LIBRARY)\n\n\n\n\n################ CAMD ##################\n\nFIND_PATH(CAMD_INCLUDE_DIR NAMES camd.h\n PATHS\n ${SUITE_SPARSE_ROOT}/include\n NO_DEFAULT_PATH\n )\n\nFIND_LIBRARY(CAMD_LIBRARY NAMES libcamd.a\n PATHS\n ${SUITE_SPARSE_ROOT}/lib\n NO_DEFAULT_PATH\n )\n\n\nIF(CAMD_INCLUDE_DIR AND CAMD_LIBRARY)\n message(STATUS \"Found CAMD_INCLUDE_DIR: ${CAMD_INCLUDE_DIR}\")\n message(STATUS \"Found CAMD_LIBRARY: ${CAMD_LIBRARY}\")\nENDIF(CAMD_INCLUDE_DIR AND CAMD_LIBRARY)\n\n\n################ COLAMD ##################\n\nFIND_PATH(COALMD_INCLUDE_DIR NAMES colamd.h\n PATHS\n ${SUITE_SPARSE_ROOT}/include\n NO_DEFAULT_PATH\n )\n\nFIND_LIBRARY(COLAMD_LIBRARY NAMES libcolamd.a\n PATHS\n ${SUITE_SPARSE_ROOT}/lib\n NO_DEFAULT_PATH\n )\n\n\nIF(COLAMD_INCLUDE_DIR AND COLAMD_LIBRARY)\n message(STATUS \"Found COLAMD_INCLUDE_DIR: ${COLAMD_INCLUDE_DIR}\")\n message(STATUS \"Found COLAMD_LIBRARY: ${COALMD_LIBRARY}\")\nENDIF(COLAMD_INCLUDE_DIR AND COLAMD_LIBRARY)\n\n\n\n\n\n################ SUITESPARSECONFIG ##################\n\nFIND_LIBRARY(SUITESPARSECONFIG_LIBRARY NAMES libsuitesparseconfig.a\n PATHS\n ${SUITE_SPARSE_ROOT}/lib\n NO_DEFAULT_PATH\n )\n\n\n# Look for csparse; note the difference in the directory specifications!\nFIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h\n PATHS\n ${SUITE_SPARSE_ROOT}/include\n NO_DEFAULT_PATH\n )\n\nFIND_LIBRARY(CSPARSE_LIBRARY NAMES libcxsparse.a\n PATHS\n ${SUITE_SPARSE_ROOT}/lib\n NO_DEFAULT_PATH\n )\n\nIF(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY AND SUITESPARSECONFIG_LIBRARY)\n message(STATUS \"Found CSPARSE_INCLUDE_DIR: ${CSPARSE_INCLUDE_DIR}\")\n message(STATUS \"Found CSPARSE_LIBRARY: ${CSPARSE_LIBRARY}\")\n message(STATUS \"Found SUITESPARSECONFIG_LIBRARY: ${SUITESPARSECONFIG_LIBRARY}\")\n SET(SuiteSparse_FOUND TRUE)\nELSE(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY AND SUITESPARSECONFIG_LIBRARY)\n SET(SuiteSparse_FOUND FALSE)\n if(SuiteSparse_FIND_REQUIRED AND NOT SuiteSparse_FIND_QUIETLY)\n message(FATAL_ERROR \"Could not find SuiteSparse libary\")\n endif(SuiteSparse_FIND_REQUIRED AND NOT SuiteSparse_FIND_QUIETLY)\nENDIF(CSPARSE_INCLUDE_DIR AND CSPARSE_LIBRARY AND SUITESPARSECONFIG_LIBRARY)\n\n \n\n\n################ CHOLMOD ##################\n\nFIND_PATH(CHOLMOD_INCLUDE_DIR NAMES cholmod.h\n PATHS\n ${SUITE_SPARSE_ROOT}/include\n NO_DEFAULT_PATH\n )\n\nFIND_LIBRARY(CHOLMOD_LIBRARY NAMES libcholmod.a\n PATHS\n ${SUITE_SPARSE_ROOT}/lib\n NO_DEFAULT_PATH\n )\n\nIF(CHOLMOD_INCLUDE_DIR AND CHOLMOD_LIBRARY)\n message(STATUS \"Found CHOLMOD_INCLUDE_DIR: ${CHOLMOD_INCLUDE_DIR}\")\n message(STATUS \"Found CHOLMOD_LIBRARY: ${CHOLMOD_LIBRARY}\")\nENDIF(CHOLMOD_INCLUDE_DIR AND CHOLMOD_LIBRARY)\n\nfind_package(BLAS REQUIRED)\nfind_package(LAPACK REQUIRED)\n\nSET(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARY} ${AMD_LIBRARY} ${COLAMD_LIBRARY} ${CSPARSE_LIBRARY} ${SUITESPARSECONFIG_LIBRARY} ${BLA_STATIC} ${LAPACK_LIBRARIES})\n" }, { "path": "cmake_modules/FindTooN.cmake", "content": "\nfind_path(TOON_INCLUDE_PATH TooN/TooN.h\n\t~/usr/include\n\t~/usr/.local/include\n\t~/.local/include\n\t~/usr/local/include\n\t/usr/include\n\t/usr/local/include\n\tthirdparty\n)\n\nif(TOON_INCLUDE_PATH)\n\tset(TooN_FOUND TRUE)\n\tset(TOON_INCLUDE_PATHS ${TOON_INCLUDE_PATH} CACHE STRING \"The include paths needed to use TooN\")\nendif()\n\nmark_as_advanced(\n\tTOON_INCLUDE_PATHS\n)\n\n\n# Generate appropriate messages\nif(TooN_FOUND)\n if(NOT TooN_FIND_QUIETLY)\n \t message(STATUS \"Found Toon: ${TOON_INCLUDE_PATH}\")\n endif(NOT TooN_FIND_QUIETLY)\nelse(TooN_FOUND)\n if(TooN_FIND_REQUIRED)\n\tmessage(FATAL_ERROR \"Could NOT find TooN (missing: TOON_INCLUDE_PATH)\")\n endif(TooN_FIND_REQUIRED)\nendif(TooN_FOUND)\n" }, { "path": "cmake_modules/cuda_compute_capability.c", "content": "/*\n* Copyright (C) 2011 Florian Rathgeber, florian.rathgeber@gmail.com\n*\n* This code is licensed under the MIT License. See the FindCUDA.cmake script\n* for the text of the license.\n*\n* Based on code by Christopher Bruns published on Stack Overflow (CC-BY):\n* http://stackoverflow.com/questions/2285185\n*/\n\n#include \n#include \n\nint main() {\n int deviceCount, device, major = 9999, minor = 9999;\n int gpuDeviceCount = 0;\n struct cudaDeviceProp properties;\n\n if (cudaGetDeviceCount(&deviceCount) != cudaSuccess)\n {\n printf(\"Couldn't get device count: %s\\n\", cudaGetErrorString(cudaGetLastError()));\n return 1;\n }\n /* machines with no GPUs can still report one emulation device */\n for (device = 0; device < deviceCount; ++device) {\n cudaGetDeviceProperties(&properties, device);\n if (properties.major != 9999) {/* 9999 means emulation only */\n ++gpuDeviceCount;\n /* get minimum compute capability of all devices */\n if (major > properties.major) {\n major = properties.major;\n minor = properties.minor;\n } else if ((major == properties.major) && (minor > properties.minor)) {\n minor = properties.minor;\n }\n }\n }\n\n /* don't just return the number of gpus, because other runtime cuda\n errors can also yield non-zero return values */\n if (gpuDeviceCount > 0) {\n if ((major == 2 && minor == 1))\n {\n // There is no --arch compute_21 flag for nvcc, so force minor to 0\n minor = 0;\n }\n /* this output will be parsed by FindCUDA.cmake */\n printf(\"%d%d\", major, minor);\n return 0; /* success */\n }\n return 1; /* failure */\n}\n" }, { "path": "docker/Makefile", "content": "\n####################################\n#### DOCKER PART ####\n####################################\n\n## sudo service docker start\n\nSLAMBENCH2_DIRECTORY=../\n\n.PHONY: ./%-docker-image %-docker-image\n\n./tmp/%-docker-image/DockerFile : ./%.docker\n\tmkdir -p ./tmp/$*-docker-image/slambench2\n\trm -rf ./tmp/$*-docker-image/slambench2/*\n\tcp -r ${SLAMBENCH2_DIRECTORY}/CMakeLists.txt ${SLAMBENCH2_DIRECTORY}/benchmarks ${SLAMBENCH2_DIRECTORY}/cmake_modules ${SLAMBENCH2_DIRECTORY}/framework ${SLAMBENCH2_DIRECTORY}/Makefile ./tmp/$*-docker-image/slambench2\n\tcp -rf $< ./tmp/$*-docker-image/DockerFile\n#\tcp -f nvidia-driver.run ./tmp/$*-docker-image/\n\nfedora24 :\n\tmake fedora-24-docker-image\n\nubuntu14 :\n\tmake ubuntu-14.04-docker-image\n\nubuntu16 :\n\tmake ubuntu-16.04-docker-image\n\n\n\n\nnvidia_version=$(shell cat /proc/driver/nvidia/version | head -n 1 | awk '{ print $$8 }')\n\nnvidia-driver.run :\n\twget -O nvidia-driver.run \"http://us.download.nvidia.com/XFree86/Linux-x86_64/${nvidia_version}/NVIDIA-Linux-x86_64-${nvidia_version}.run\"\n\ncuda-ubuntu16 : nvidia-driver.run\n\tmake cuda-ubuntu-16.04-docker-image\n\n%-docker-image: ./%.docker ./tmp/%-docker-image/DockerFile\n\tdocker build -f ./tmp/$*-docker-image/DockerFile -t bbodin/slambench:$* ./tmp/$*-docker-image\n" }, { "path": "docker/cuda-ubuntu-16.04.docker", "content": "FROM ubuntu:16.04\n\n\n# Dependencies\n##################################################################\n\nRUN apt-get -y update && apt-get -y install libvtk6.2 libvtk6-dev unzip libflann-dev wget mercurial git gcc cmake python-numpy freeglut3 freeglut3-dev libglew1.5 libglew1.5-dev libglu1-mesa libglu1-mesa-dev libgl1-mesa-glx libgl1-mesa-dev libxmu-dev libxi-dev libboost-all-dev cvs libgoogle-glog-dev libatlas-base-dev gfortran gtk2.0 libgtk2.0-dev libyaml-cpp-dev libyaml-dev libproj-dev\n\nRUN apt-get -y update && apt-get -y install libhdf5-dev libhdf5-dev\n\n# Prepare\n##################################################################\n\nRUN git config --global user.email \"you@example.com\"\nRUN git config --global user.name \"Your Name\"\n\n\n# Copy deps building system only\n##################################################################\n\nRUN mkdir -p /slambench2/framework\nCOPY ./slambench2/Makefile /slambench2/Makefile\nCOPY ./slambench2/framework/makefiles /slambench2/framework/makefiles\nRUN ls -alp /slambench2/ /slambench2/framework/makefiles\n\n# Prepare CUDA \n##################################################################\n\nRUN DEBIAN_FRONTEND=noninteractive apt-get -y install g++-4.8\nADD nvidia-driver.run /tmp/nvidia-driver.run\nRUN DEBIAN_FRONTEND=noninteractive apt-get install -y module-init-tools\nRUN sh /tmp/nvidia-driver.run -a -N --ui=none --no-kernel-module\nRUN rm /tmp/nvidia-driver.run\nRUN DEBIAN_FRONTEND=noninteractive apt-get install -y mesa-utils\nRUN DEBIAN_FRONTEND=noninteractive apt-get -y install nvidia-cuda-toolkit clinfo\n\n\n# Build deps\n##################################################################\n\nRUN apt-get -y update && apt-get -y install flex\nRUN make -C /slambench2 gcc_cuda\n\nRUN make -C /slambench2 toon eigen3 cvd flann freeimage g2o gvars opencv opengv opentuner pangolin pcl suitesparse brisk ceres \n\n\n\n\n# Copy entire slambench folder\n##################################################################\n\nCOPY ./slambench2 /slambench2\n\n# Build slambench2\n##################################################################\n\nRUN make -C /slambench2 slambench APPS=all\n\n\n# Test slambench2\n##################################################################\n\n\nRUN make -C /slambench2 datasets/ICL_NUIM/living_room_traj2_loop.slam\n\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-cpp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-openmp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-notoon-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/liblsdslam-cpp-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libinfinitam-cuda-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libmonoslam-sequential-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libptam-original_mp-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libokvis-original-library.so -fl 30\n\n" }, { "path": "docker/fastCI.docker", "content": "FROM fedora:26\n\n# Dependencies\n##################################################################\n\nRUN dnf install -y git wget gcc gcc-c++ make mercurial cmake unzip\nRUN dnf install -y yaml-cpp-devel\n\n# Prepare\n##################################################################\n\nRUN git config --global user.email \"you@example.com\"\nRUN git config --global user.name \"Your Name\"\n\n# Copy\n##################################################################\n\nRUN mkdir /slambench2\nCOPY ./slambench2/ /slambench2/\nRUN ls /slambench2\n\n\n# Build deps\n##################################################################\n\nRUN make -C /slambench2 toon\nRUN make -C /slambench2 eigen3\n\n# Build slambench2\n##################################################################\n\nRUN make -C /slambench2 slambench APPS=kfusion\n\n# Test slambench2\n##################################################################\n\nRUN make -C /slambench2 datasets/TUM/freiburg1/rgbd_dataset_freiburg1_desk.slam\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/TUM/freiburg1/rgbd_dataset_freiburg1_desk.slam -load ./build/lib/libkfusion-cpp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/TUM/freiburg1/rgbd_dataset_freiburg1_desk.slam -load ./build/lib/libkfusion-cpp-library.so=kf1 -load ./build/lib/libkfusion-openmp-library.so=kf2 -fl 30 -kf1-s 5 -kf2-s 5 -kf1-d 1.71,2.4,1.152 -kf1-z 8 -kf2-d 1.71,2.4,1.152 -kf2-z 8\n" }, { "path": "docker/fedora-24.docker", "content": "FROM fedora:24\n\n# Dependencies\n##################################################################\n\nRUN dnf install -y emacs gtk2-devel vtk-devel cmake make git mercurial wget unzip gcc gcc-c++ lapack blas lapack-devel blas-devel findutils cvs glut-devel glew-devel boost-devel glog-devel gflags-devel libXmu-devel libyaml libyaml-devel yaml-cpp-devel tar\n\n\n# Prepare\n##################################################################\n\nRUN git config --global user.email \"you@example.com\"\nRUN git config --global user.name \"Your Name\"\n\n# Copy\n##################################################################\n\nRUN mkdir /slambench2\nCOPY ./slambench2/ /slambench2/\nRUN ls /slambench2\n\n\n# Build deps\n##################################################################\n\nRUN make -C /slambench2 toon\nRUN make -C /slambench2 eigen3\nRUN make -C /slambench2 cvd\nRUN make -C /slambench2 flann\nRUN make -C /slambench2 freeimage\nRUN make -C /slambench2 g2o\nRUN make -C /slambench2 gvars\nRUN make -C /slambench2 opencv\nRUN make -C /slambench2 opengv\nRUN make -C /slambench2 opentuner\nRUN make -C /slambench2 pangolin\nRUN make -C /slambench2 pcl\nRUN make -C /slambench2 suitesparse\nRUN make -C /slambench2 brisk\nRUN make -C /slambench2 ceres \n\n\n# Build slambench2\n##################################################################\n\nRUN make -C /slambench2 slambench\nRUN make -C /slambench2 slambench APPS=okvis\nRUN make -C /slambench2 slambench APPS=ptam\nRUN make -C /slambench2 slambench APPS=orbslam2\nRUN make -C /slambench2 slambench APPS=kfusion\nRUN make -C /slambench2 slambench APPS=monoslam\nRUN make -C /slambench2 slambench APPS=lsdslam\nRUN make -C /slambench2 slambench APPS=efusion\n\n\n# Test slambench2\n##################################################################\n\n\nRUN make -C /slambench2 datasets/ICL_NUIM/living_room_traj2_loop.slam\n\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-cpp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-openmp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-notoon-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/liblsdslam-cpp-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libinfinitam-cuda-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libmonoslam-sequential-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libptam-original_mp-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libokvis-original-library.so -fl 30\n\n" }, { "path": "docker/fedora-25.docker", "content": "FROM fedora:25\n\n# Dependencies\n##################################################################\n\nRUN dnf install -y emacs gtk2-devel vtk-devel cmake make git mercurial wget unzip gcc gcc-c++ lapack blas lapack-devel blas-devel findutils cvs glut-devel glew-devel boost-devel glog-devel gflags-devel libXmu-devel libyaml libyaml-devel yaml-cpp-devel tar\n\n\n# Prepare\n##################################################################\n\nRUN git config --global user.email \"you@example.com\"\nRUN git config --global user.name \"Your Name\"\n\n# Copy\n##################################################################\n\nRUN mkdir /slambench2\nCOPY ./slambench2/ /slambench2/\nRUN ls /slambench2\n\n\n# Build deps\n##################################################################\n\nRUN make -C /slambench2 toon\nRUN make -C /slambench2 eigen3\nRUN make -C /slambench2 cvd\nRUN make -C /slambench2 flann\nRUN make -C /slambench2 freeimage\nRUN make -C /slambench2 g2o\nRUN make -C /slambench2 gvars\nRUN make -C /slambench2 opencv\nRUN make -C /slambench2 opengv\nRUN make -C /slambench2 opentuner\nRUN make -C /slambench2 pangolin\nRUN make -C /slambench2 pcl\nRUN make -C /slambench2 suitesparse\nRUN make -C /slambench2 brisk\nRUN make -C /slambench2 ceres \n\n\n# Build slambench2\n##################################################################\n\nRUN make -C /slambench2 slambench\nRUN make -C /slambench2 slambench APPS=okvis\nRUN make -C /slambench2 slambench APPS=ptam\nRUN make -C /slambench2 slambench APPS=orbslam2\nRUN make -C /slambench2 slambench APPS=kfusion\nRUN make -C /slambench2 slambench APPS=monoslam\nRUN make -C /slambench2 slambench APPS=lsdslam\nRUN make -C /slambench2 slambench APPS=efusion\n\n\n# Test slambench2\n##################################################################\n\n\nRUN make -C /slambench2 datasets/ICL_NUIM/living_room_traj2_loop.slam\n\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-cpp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-openmp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-notoon-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/liblsdslam-cpp-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libinfinitam-cuda-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libmonoslam-sequential-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libptam-original_mp-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libokvis-original-library.so -fl 30\n\n" }, { "path": "docker/fedora-26.docker", "content": "FROM fedora:26\n\n# Dependencies\n##################################################################\n\nRUN dnf install -y emacs gtk2-devel vtk-devel cmake make git mercurial wget unzip gcc gcc-c++ lapack blas lapack-devel blas-devel findutils cvs glut-devel glew-devel boost-devel glog-devel gflags-devel libXmu-devel libyaml libyaml-devel yaml-cpp-devel tar\n\n\n\n# Prepare\n##################################################################\n\nRUN git config --global user.email \"you@example.com\"\nRUN git config --global user.name \"Your Name\"\n\n# Copy\n##################################################################\n\nRUN mkdir /slambench2\nCOPY ./slambench2/ /slambench2/\nRUN ls /slambench2\n\n\n# Build deps\n##################################################################\n\nRUN make -C /slambench2 toon\nRUN make -C /slambench2 eigen3\nRUN make -C /slambench2 cvd\nRUN make -C /slambench2 flann\nRUN make -C /slambench2 freeimage\nRUN make -C /slambench2 g2o\nRUN make -C /slambench2 gvars\nRUN make -C /slambench2 opencv\nRUN make -C /slambench2 opengv\nRUN make -C /slambench2 opentuner\nRUN make -C /slambench2 pangolin\nRUN make -C /slambench2 pcl\nRUN make -C /slambench2 suitesparse\nRUN make -C /slambench2 brisk\nRUN make -C /slambench2 ceres \n\n\n# Build slambench2\n##################################################################\n\nRUN make -C /slambench2 slambench\nRUN make -C /slambench2 slambench APPS=okvis\nRUN make -C /slambench2 slambench APPS=ptam\nRUN make -C /slambench2 slambench APPS=orbslam2\nRUN make -C /slambench2 slambench APPS=kfusion\nRUN make -C /slambench2 slambench APPS=monoslam\nRUN make -C /slambench2 slambench APPS=lsdslam\nRUN make -C /slambench2 slambench APPS=efusion\n\n\n# Test slambench2\n##################################################################\n\n\nRUN make -C /slambench2 datasets/ICL_NUIM/living_room_traj2_loop.slam\n\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-cpp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-openmp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-notoon-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/liblsdslam-cpp-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libinfinitam-cuda-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libmonoslam-sequential-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libptam-original_mp-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libokvis-original-library.so -fl 30\n\n" }, { "path": "docker/github.docker", "content": "FROM bbodin/slambench:travis-deps\n\n# Copy\n##################################################################\n\nCOPY ./slambench2/ /slambench2/\nRUN ls /slambench2\n\n# Build slambench2\n##################################################################\n\nRUN make -C /slambench2 slambench SBQUIET=1\nRUN make -C /slambench2 algorithms SBQUIET=1\nRUN make -C /slambench2 slambench SBQUIET=1 APPS=all\n\nRUN make -C /slambench2 datasets/ICL_NUIM/living_room_traj2_loop.slam SBQUIET=1 \n\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-cpp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-openmp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/liblsdslam-cpp-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libinfinitam-cpp-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libmonoslam-cpp-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libptam-original_mp-library.so -fl 30 \n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libokvis-original-library.so -fl 30 \n\n" }, { "path": "docker/run_cuda.sh", "content": "#!/bin/sh\n\n#version_gt() { test \"$(echo \"$@\" | tr \" \" \"\\n\" | sort -V | tail -n 1)\" = \"$1\"; }\n#docker_version=$(docker version | grep 'Client version' | awk '{split($0,a,\":\"); print a[2]}' | tr -d ' ')\n# Docker 1.3.0 or later is required for --device\n\n#if test $# -lt 1; then\n\t# Get the latest opengl-nvidia build\n\t# and start with an interactive terminal enabled\n#\targs=\"-i -t $(docker images | grep ^opengl-nvidia | head -n 1 | awk '{ print $1\":\"$2 }')\"\n#else\n # Use this script with derived images, and pass your 'docker run' args\n#\targs=\"$@\"\n#fi\n\n\n\necho \"preparation\"\n\nXSOCK=/tmp/.X11-unix\nXAUTH=/tmp/.docker.xauth\ntouch $XAUTH\necho \"XSOCK=${XSOCK}\"\necho \"XAUTH=${XAUTH}\"\necho \"xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -\"\nxauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -\n\necho \"Run\"\n\necho docker run \\\n\t--runtime=nvidia \\\n\t-v $XSOCK:$XSOCK:rw \\\n\t-v $XAUTH:$XAUTH:rw \\\n\t--device=/dev/nvidia0:/dev/nvidia0 \\\n\t--device=/dev/nvidiactl:/dev/nvidiactl \\\n\t--device=/dev/nvidia-uvm:/dev/nvidia-uvm \\\n\t-e DISPLAY=$DISPLAY \\\n\t-e XAUTHORITY=$XAUTH \\\n\t-it \\\n\tbbodin/slambench:cuda-ubuntu-16.04 $@\n\ndocker run \\\n\t--runtime=nvidia \\\n\t-v $XSOCK:$XSOCK:rw \\\n\t-v $XAUTH:$XAUTH:rw \\\n\t--device=/dev/nvidia0:/dev/nvidia0 \\\n\t--device=/dev/nvidiactl:/dev/nvidiactl \\\n\t--device=/dev/nvidia-uvm:/dev/nvidia-uvm \\\n\t-e DISPLAY=$DISPLAY \\\n\t-e XAUTHORITY=$XAUTH \\\n\t-it \\\n\tbbodin/slambench:cuda-ubuntu-16.04 $@\n" }, { "path": "docker/travis-deps.docker", "content": "FROM ubuntu:16.04\n\n\n# Dependencies\n##################################################################\n\nRUN apt-get -y update && apt-get -y install libvtk6.2 libvtk6-dev unzip libflann-dev wget mercurial git gcc cmake python-numpy freeglut3 freeglut3-dev libglew1.5 libglew1.5-dev libglu1-mesa libglu1-mesa-dev libgl1-mesa-glx libgl1-mesa-dev libxmu-dev libxi-dev libboost-all-dev cvs libgoogle-glog-dev libatlas-base-dev gfortran gtk2.0 libgtk2.0-dev libyaml-cpp-dev libyaml-dev libproj-dev\n\n# Prepare\n##################################################################\n\nRUN git config --global user.email \"you@example.com\"\nRUN git config --global user.name \"Your Name\"\n\n\n# Copy deps building system only\n##################################################################\n\nRUN mkdir -p /slambench2/framework\nCOPY ./slambench2/Makefile /slambench2/Makefile\nCOPY ./slambench2/framework/makefiles /slambench2/framework/makefiles\nRUN ls -alp /slambench2/ /slambench2/framework/makefiles\n\n\n# Build deps\n##################################################################\n\nRUN make -C /slambench2 toon eigen3 cvd flann freeimage g2o gvars opencv opengv opentuner pangolin pcl suitesparse brisk ceres \n\n# Copy entire slambench folder\n##################################################################\n\n#COPY ./slambench2 /slambench2\n\n# Build slambench2\n##################################################################\n\n#RUN make -C /slambench2 slambench APPS=all\n\n\n# Test slambench2\n##################################################################\n\n\n#RUN make -C /slambench2 datasets/ICL_NUIM/living_room_traj2_loop.slam\n\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-cpp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-openmp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-notoon-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/liblsdslam-cpp-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libinfinitam-cuda-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libmonoslam-sequential-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libptam-original_mp-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libokvis-original-library.so -fl 30\n\n" }, { "path": "docker/ubuntu-14.04-bitbucket.docker", "content": "FROM bbodin/slambench:ubuntu-14.04-deps\n\n# Copy\n##################################################################\n\nCOPY ./slambench2/ /slambench2/\nRUN ls /slambench2\n\n# Build slambench2\n##################################################################\n\nRUN make -C /slambench2 slambench\nRUN make -C /slambench2 slambench APPS=okvis\nRUN make -C /slambench2 slambench APPS=ptam\nRUN make -C /slambench2 slambench APPS=kfusion\nRUN make -C /slambench2 slambench APPS=monoslam\nRUN make -C /slambench2 slambench APPS=lsdslam\nRUN make -C /slambench2 slambench APPS=efusion\nRUN make -C /slambench2 slambench APPS=infinitam\n\nRUN make -C /slambench2 datasets/ICL_NUIM/living_room_traj2_loop.slam\n\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-cpp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-openmp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-notoon-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/liblsdslam-cpp-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libinfinitam-cuda-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libmonoslam-sequential-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libptam-original_mp-library.so -fl 30 \n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libokvis-original-library.so -fl 30 \n\n" }, { "path": "docker/ubuntu-14.04-deps.docker", "content": "FROM ubuntu:14.04\n\n# Dependencies\n##################################################################\n\nRUN apt-get -y update && apt-get -y install unzip libflann-dev wget libyaml-cpp-dev mercurial git gcc cmake python-numpy freeglut3 freeglut3-dev libglew1.5 libglew1.5-dev libglu1-mesa libglu1-mesa-dev libgl1-mesa-glx libgl1-mesa-dev libxmu-dev libxi-dev libboost-all-dev cvs gfortran libatlas-base-dev libgoogle-glog-dev libgtk2.0-dev libvtk5.8 libvtk5-dev \nRUN apt-get -y update && apt-get -y install dictionaries-common\nRUN /usr/share/debconf/fix_db.pl\nRUN dpkg-reconfigure dictionaries-common\nRUN apt-get -y update && apt-get -y install gtk2.0\n\n\n# Copy\n##################################################################\n\nRUN mkdir /slambench2\nCOPY ./slambench2/ /slambench2/\nRUN ls /slambench2\n\n\n# Build deps\n##################################################################\n\nRUN make -C /slambench2 toon\nRUN make -C /slambench2 eigen3\nRUN make -C /slambench2 cvd\nRUN make -C /slambench2 flann\nRUN make -C /slambench2 freeimage\nRUN make -C /slambench2 g2o\nRUN make -C /slambench2 gvars\nRUN make -C /slambench2 opencv\nRUN make -C /slambench2 opengv\nRUN make -C /slambench2 opentuner\nRUN make -C /slambench2 pangolin\nRUN make -C /slambench2 pcl\nRUN make -C /slambench2 suitesparse\nRUN make -C /slambench2 brisk\nRUN make -C /slambench2 ceres \n\n\n# Keep only deps\n##################################################################\n\nRUN rm -rf /slambench2/CMakeLists.txt /slambench2/benchmarks /slambench2/cmake /slambench2/interfaces /slambench2/frontends /slambench2/framework /slambench2/Makefile /slambench2/build\nRUN rm -rf /slambench2/deps/repos\nRUN rm -rf /slambench2/datasets\nRUN rm -rf /slambench2/install\nRUN rm -rf /slambench2/temp\nRUN ls /slambench2\n\n" }, { "path": "docker/ubuntu-14.04.docker", "content": "FROM ubuntu:14.04\n\n# Dependencies\n##################################################################\n\nRUN apt-get -y update && apt-get -y install unzip libflann-dev wget libyaml-cpp-dev mercurial git gcc cmake python-numpy freeglut3 freeglut3-dev libglew1.5 libglew1.5-dev libglu1-mesa libglu1-mesa-dev libgl1-mesa-glx libgl1-mesa-dev libxmu-dev libxi-dev libboost-all-dev cvs gfortran libatlas-base-dev libgoogle-glog-dev libgtk2.0-dev libvtk5.8 libvtk5-dev dictionaries-common\nRUN /usr/share/debconf/fix_db.pl\nRUN dpkg-reconfigure dictionaries-common\nRUN apt-get -y update && apt-get -y install gtk2.0\n\n# Prepare\n##################################################################\n\nRUN git config --global user.email \"you@example.com\"\nRUN git config --global user.name \"Your Name\"\n\n\n# Copy deps building system only\n##################################################################\n\nRUN mkdir -p /slambench2/framework\nCOPY ./slambench2/Makefile /slambench2/Makefile\nCOPY ./slambench2/framework/makefiles /slambench2/framework/makefiles\nRUN ls -alp /slambench2/ /slambench2/framework/makefiles\n\n\n# Build deps\n##################################################################\n\nRUN make -C /slambench2 toon eigen3 cvd flann freeimage g2o gvars opencv opengv opentuner pangolin pcl suitesparse brisk ceres \n\n# Copy entire slambench folder\n##################################################################\n\nCOPY ./slambench2 /slambench2\n\n# Build slambench2\n##################################################################\n\nRUN make -C /slambench2 slambench APPS=all\n\n\n# Test slambench2\n##################################################################\n\n\nRUN make -C /slambench2 datasets/ICL_NUIM/living_room_traj2_loop.slam\n\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-cpp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-openmp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-notoon-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/liblsdslam-cpp-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libinfinitam-cpp-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libinfinitam-openmp-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libmonoslam-sequential-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libptam-original_mp-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libokvis-original-library.so -fl 30\n\n" }, { "path": "docker/ubuntu-16.04.docker", "content": "FROM ubuntu:16.04\n\n\n# Dependencies\n##################################################################\n\nRUN apt-get -y update && apt-get -y install libvtk6.2 libvtk6-dev unzip libflann-dev wget mercurial git gcc cmake python-numpy freeglut3 freeglut3-dev libglew1.5 libglew1.5-dev libglu1-mesa libglu1-mesa-dev libgl1-mesa-glx libgl1-mesa-dev libxmu-dev libxi-dev libboost-all-dev cvs libgoogle-glog-dev libatlas-base-dev gfortran gtk2.0 libgtk2.0-dev libyaml-cpp-dev libyaml-dev libproj-dev\n\n# Prepare\n##################################################################\n\nRUN git config --global user.email \"you@example.com\"\nRUN git config --global user.name \"Your Name\"\n\n\n# Copy deps building system only\n##################################################################\n\nRUN mkdir -p /slambench2/framework\nCOPY ./slambench2/Makefile /slambench2/Makefile\nCOPY ./slambench2/framework/makefiles /slambench2/framework/makefiles\nRUN ls -alp /slambench2/ /slambench2/framework/makefiles\n\n\n# Build deps\n##################################################################\n\nRUN make -C /slambench2 toon eigen3 cvd flann freeimage g2o gvars opencv opengv opentuner pangolin pcl suitesparse brisk ceres \n\n# Copy entire slambench folder\n##################################################################\n\nCOPY ./slambench2 /slambench2\n\n# Build slambench2\n##################################################################\n\nRUN make -C /slambench2 slambench APPS=all\n\n\n# Test slambench2\n##################################################################\n\n\nRUN make -C /slambench2 datasets/ICL_NUIM/living_room_traj2_loop.slam\n\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-cpp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-openmp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-notoon-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/liblsdslam-cpp-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libinfinitam-cuda-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libmonoslam-sequential-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libptam-original_mp-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libokvis-original-library.so -fl 30\n\n" }, { "path": "docker/ubuntu-16.10.docker", "content": "FROM ubuntu:16.10\n\n# Dependencies\n##################################################################\n\nRUN df -h\nRUN apt-get -y update \n\n# Dependencies\nRUN apt-get -y install libvtk6.3 libvtk6-dev unzip libflann-dev wget mercurial git gcc cmake python-numpy freeglut3 freeglut3-dev libglew1.5 libglew1.5-dev libglu1-mesa libglu1-mesa-dev libgl1-mesa-glx libgl1-mesa-dev libxmu-dev libxi-dev libboost-all-dev cvs libgoogle-glog-dev libatlas-base-dev gfortran gtk2.0 libgtk2.0-dev l libyaml-dev\n\n\n# Prepare\n##################################################################\n\nRUN git config --global user.email \"you@example.com\"\nRUN git config --global user.name \"Your Name\"\n\n# Copy\n##################################################################\n\nRUN mkdir /slambench2\nCOPY ./slambench2/ /slambench2/\nRUN ls /slambench2\n\n\n# Build deps\n##################################################################\n\nRUN make -C /slambench2 toon\nRUN make -C /slambench2 eigen3\nRUN make -C /slambench2 cvd\nRUN make -C /slambench2 flann\nRUN make -C /slambench2 freeimage\nRUN make -C /slambench2 g2o\nRUN make -C /slambench2 gvars\nRUN make -C /slambench2 opencv\nRUN make -C /slambench2 opengv\nRUN make -C /slambench2 opentuner\nRUN make -C /slambench2 pangolin\nRUN make -C /slambench2 pcl\nRUN make -C /slambench2 suitesparse\nRUN make -C /slambench2 brisk\nRUN make -C /slambench2 ceres \n\n\n# Build slambench2\n##################################################################\n\nRUN make -C /slambench2 slambench\nRUN make -C /slambench2 slambench APPS=okvis\nRUN make -C /slambench2 slambench APPS=ptam\nRUN make -C /slambench2 slambench APPS=orbslam2\nRUN make -C /slambench2 slambench APPS=kfusion\nRUN make -C /slambench2 slambench APPS=monoslam\nRUN make -C /slambench2 slambench APPS=lsdslam\nRUN make -C /slambench2 slambench APPS=efusion\n\n# Test slambench2\n##################################################################\n\n\nRUN make -C /slambench2 datasets/ICL_NUIM/living_room_traj2_loop.slam\n\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-cpp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-openmp-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libkfusion-notoon-library.so -fl 30 -s 5 -d 1.71,2.4,1.152 -z 8\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/liblsdslam-cpp-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libinfinitam-cuda-library.so -fl 30\nRUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libmonoslam-sequential-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libptam-original_mp-library.so -fl 30\n#RUN cd /slambench2 && ./build/bin/benchmark_loader -i ./datasets/ICL_NUIM/living_room_traj2_loop.slam -load ./build/lib/libokvis-original-library.so -fl 30\n\n" }, { "path": "framework/CMakeLists.txt", "content": "#######################################################\n# This file is the CMAKE script for SLAMBench Libraries\n#######################################################\ncmake_minimum_required(VERSION 3.0)\nproject(slambench)\n# Find most common packages\n#######################################################\nfind_package(GLUT)\nfind_package(OpenGL)\nfind_package(Eigen3 REQUIRED)\nfind_package(PAPI)\n\n#### BUILD SLAMBENCH AND TOOLS ####\nadd_subdirectory(shared) # SLAMBench Shared library\nIF(NOT ANDROID)\n add_subdirectory(tools) # SLAMBench Tools\nENDIF()\n\n" }, { "path": "framework/makefiles/README.md", "content": "# SLAMBench Dependency System #\n\n## Description ##\n\nThe idea is to maximise the chance of a good build, by selection the best cocktail of libraries.\n\n Name | repository | Commit / Tag / Version | Date | Why | Notes\n------------- | -------------------------------------------------------------- | ---------------------------------------- | ------------ | -------------------- | ---------\nBRISK | https://www.doc.ic.ac.uk/~sleutene/software/brisk-2.0.3.zip | 2.0.3 | N/A | OKVIS | -\nCERES | https://ceres-solver.googlesource.com/ceres-solver | 7c57de5080c9f5a4f067e2d20b5f33bad5b1ade6 | ? | OKVIS | -\nCVD | https://github.com/edrosten/libcvd | d190474150d4695e4c957863c5121c7eb79615d9 | | PTAM | -\nEIGEN | http://bitbucket.org/eigen/eigen | 3.2 | | SLAMBench | -\nFLANN | https://github.com/mariusmuja/flann | 06a49513138009d19a1f4e0ace67fbff13270c69 | 5 Aug 2016 | PCL | -\nFREEIMAGE | https://github.com/mikesart/freeimage.git | d49fb3982c1cb7826bc10edaf5c0ac4d9104660f | | | + Patches\nFREENECT | https://github.com/OpenKinect/libfreenect.git | 83e57e1318cc64c9aabac481b9e330acc1914a23 | | SLAMBench | -\nG2O | https://github.com/RainerKuemmerle/g2o | 1b118ac2ed2055c4016c3b7cbd710225ed1651af | 12 Jan 2017 | LSDSLAM | -\nGCC | git://gcc.gnu.org/git/gcc.git | gcc-5_3_0-release | | | + ec1cc0263f156f70693a62cf17b254a0029f4852\nGVARS | https://github.com/edrosten/gvars | fc58c500c9d8f8713fb87a98cf7fb6be1db3295f | | PTAM | -\nLIBOPENCL-STUB | https://github.com/krrishnarraj/libopencl-stub.git | b4f84459e3a3a14d6a18b5dabe0a6ae9cbef709e | | | -\nLIBUSB | https://github.com/libusb/libusb.git | 8ddd8d994df6e367603266630bc2fe83b9cad868 | | OpenNI | -\nOPENCV | https://github.com/Itseez/opencv.git | 2c9547e | | LSDSLAM | + Patches\nOPENGV | https://github.com/laurentkneip/opengv | cc32b16281aa6eab67cb28a61cf87a2a5c2b0961 | | | -\nOPENNI 1.5 | https://github.com/OpenNI/OpenNI.git | 54e899c492f69aa8fa3e133fdd7d6b468f017b99 | | SLAMBench | + Patches\nOPENNI2 | https://github.com/occipital/OpenNI2/ | 1fce8edffab43c4a4cf201cff86f415b07a2d37f | | SLAMBench | -\nOPENTUNER | https://github.com/jansel/opentuner.git | master... | | DSE | -\nPANGOLIN | https://github.com/stevenlovegrove/Pangolin.git | 8b8b7b96adcf58ac2755dedd3f681fc512385af0 | | GUI, EFUSION | -\nPCL | https://github.com/PointCloudLibrary/pcl.git | 6fb1b65d3099a915255b070269b1ac78ed384921 | | OR | -\nSensorKinect | https://github.com/avin2/SensorKinect.git | 15f1975d5e50d84ca06ff784f83f8b7836749a7b | | OpenNI | -\nSUITESPARSE | https://github.com/jluttine/suitesparse.git | v4.3.1 | | EFUSION | -\nTOON | https://github.com/edrosten/TooN.git | 92241416d2a4874fd2334e08a5d417dfea6a1a3f | 21 Sep 2015 | KFUSION, PTAM, CVD | -\n" }, { "path": "framework/makefiles/brisk.make", "content": "BRISK_INCLUDE_DIR=${DEPS_DIR}/brisk/include\nBRISK_DIR=${DEPS_DIR}/brisk/lib/CMake/brisk/\n\n${REPOS_DIR}/brisk :\n\tmkdir ${REPOS_DIR} -p\n\trm $@ -rf\n\tmkdir $@ -p\n\tcd $@ ; wget --no-check-certificate https://www.doc.ic.ac.uk/~sleutene/software/brisk-2.0.5.zip\n\tcd $@ ; unzip *.zip ; rm brisk-2.0.5.zip;\n\tsed -i.bak \"s/[#]include [<]algo/#include\\\\n#include benchmarks/$@/CMakeLists.txt\")\n print(\"\\t@echo \\\"explore_implementations ( $@ src/* )\\\" >> benchmarks/$@/CMakeLists.txt\")\n previous = name\n\nlist_str = \" \".join(set([algoname for algoname in data.keys()]))\nprint(\"\")\nprint(\".PHONY: %s\" % list_str)\nprint(\"algorithms : %s\" % list_str)\n\nprint(\"\")\nprint(\"benchmarks_status:\")\nfor algorithm_token, details in data.items():\n echo(\"************ Check-in %s in %s\" % (algorithm_token, details[\"path\"]))\n print(\"\\t@if [ -d %s ] ; then git -C %s diff; fi\" % (details[\"path\"], details[\"path\"]))\n" }, { "path": "framework/makefiles/download_datasets.py", "content": "import sys\nDATASET_DIR = \"datasets/\"\n\nfd = open(sys.argv[1])\ndata =fd.read()\nfd.close()\n\n\ndef echo(str=\"\", echoargs = \"\"):\n print(\"\\t@echo \" + echoargs + \" \\\"\" + str + \"\\\"\")\n\n\nprint(\"datasets:\")\necho(\"The following datasets are built on your system and available for use:\")\nprint(\"\\t@for f in `find datasets/ | grep [.]slam` ; do echo \\\" - $$f\\\" ; done\")\necho()\necho(\"Here is a list of the datasets available.\")\necho(\"If you are using any of the following datasets, ${BoldRed}please refer to their respective publications${ColorOff}:\", \"-e\")\necho(\"\\t- TUM RGB-D SLAM dataset [Sturm et al, IROS'12]: https://vision.in.tum.de/data/datasets/rgbd-dataset\")\necho(\"\\t- ICL-NUIM dataset [Handa et al, ICRA'14]: https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html\")\necho(\"\\t- EuRoC MAV Dataset [Burri et al, IJJR'16]: https://projects.asl.ethz.ch/datasets/doku.php\")\necho(\"\\t- SVO sample dataset [Forster et al, ICRA 2014]: https://github.com/uzh-rpg/rpg_svo\")\necho(\"\\t- Bonn RGB-D Dynamic Dataset [Palazzolo et al, IROS'19]: http://www.ipb.uni-bonn.de/data/rgbd-dynamic-dataset/\")\necho(\"\\t- UZH-FPV Drone Racing Dataset [Delmerico et al, ICRA'19]: http://rpg.ifi.uzh.ch/uzh-fpv.html\")\necho(\"\\t- OpenLORIS-Scene datasets [Shi et al, ICRA'20]: https://lifelong-robotic-vision.github.io/dataset/scene\")\necho(\"=================================================================================================================\")\necho()\necho(\"=================================================================================================================\")\necho(\"SLAMBench integrates tools to automatically generate files compatible with SLAMBench from existing datasets.\")\necho(\"SLAMBench cannot download the OpenLORIS data for you. Please download the data manually (*-package.tar) to ./datasets/OpenLORIS/\")\necho(\"For details, please visit: https://lifelong-robotic-vision.github.io/dataset/scene\")\necho()\n\ntargets = []\ndataset_name = \"\"\nfor line in data.split(\"\\n\"):\n if '#' in line or len(line) < 2:\n continue\n items = line.split(\":\")\n if \"Dataset\" in items:\n dataset_name = items.pop(1)\n continue\n items = line.split(\";\")\n dataset_tag = items.pop(0)\n dataset_description = items.pop(0)\n # here need another target\n echo(\"\\t### \" + dataset_name + \" \" + dataset_description + \" ###\")\n for dataset_file in items:\n echo(\"\\t make ./\" + DATASET_DIR + dataset_name + \"/\" + dataset_file)\n echo()\n\necho(\"\\tDatasets with a ROS option: TUM\")\necho(\"\\t Use the ${BoldGreen}use_rosbag${ColorOff} option to build a dataset from a ROS bag:\")\necho(\"\\t make ./datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam use_rosbag\")\necho()\n\n# at the end need to include dataset-utils.makefile\n# make datasettag list\n# make datasettag.all\n" }, { "path": "framework/makefiles/eigen3.make", "content": "EIGEN3_INCLUDE_DIR=${DEPS_DIR}/eigen3/include/eigen3\nANDROID_EIGEN3_INCLUDE_DIR=${ANDROID_DEPS_DIR}/eigen3/include/eigen3\n\n${REPOS_DIR}/eigen3 :\n\tmkdir ${REPOS_DIR}/ -p\n\trm ${REPOS_DIR}/eigen3 -rf\n\tcd ${REPOS_DIR}/ && git clone --depth 1 --branch 3.2.10 https://gitlab.com/libeigen/eigen.git eigen3\n\n\n${DEPS_DIR}/eigen3 : ${REPOS_DIR}/eigen3 \n\tcd ${REPOS_DIR}/eigen3 && mkdir build_dir -p\n\tcd ${REPOS_DIR}/eigen3 && rm build_dir/* -rf\n\tcd ${REPOS_DIR}/eigen3/build_dir && cmake .. -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release \"-DCMAKE_INSTALL_PREFIX:PATH=$@\" \n\t+cd ${REPOS_DIR}/eigen3/build_dir && make\n\tmkdir ${DEPS_DIR}/eigen3 -p\n\tcd ${REPOS_DIR}/eigen3/build_dir && make install\n\n\n\n${ANDROID_DEPS_DIR}/eigen3 : ${REPOS_DIR}/eigen3\n\tmkdir $@/include/eigen3 -p\n\tcp -rf ${REPOS_DIR}/eigen3/Eigen $@/include/eigen3\n\neigen : eigen3\n\neigen3 :\n\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\nandroid-eigen3 : ${ANDROID_DEPS_DIR}/eigen3\n\n.PHONY: eigen eigen3 android-eigen3\n" }, { "path": "framework/makefiles/flann.make", "content": "FLANN_INCLUDE_DIR=${DEPS_DIR}/flann/include\nFLANN_LIBRARY=${DEPS_DIR}/flann/lib/libflann.so\n#include eigen3 # not required\n\n${REPOS_DIR}/flann :\n\tmkdir -p ${REPOS_DIR}\n\trm -rf ${REPOS_DIR}/flann\t\n\tcd ${REPOS_DIR} ; git clone https://github.com/mariusmuja/flann.git flann\n\tcd ${REPOS_DIR}/flann && git checkout 06a49513138009d19a1f4e0ace67fbff13270c69\n\ttouch ${REPOS_DIR}/flann/src/cpp/empty.cpp\n\tsed -e \"/add_library(flann_cpp SHARED/ s/\\\"\\\"/empty.cpp/\" -e \"/add_library(flann SHARED/ s/\\\"\\\"/empty.cpp/\" -i ${REPOS_DIR}/flann/src/cpp/CMakeLists.txt\n\n${DEPS_DIR}/flann : ${REPOS_DIR}/flann\n\tmkdir ${REPOS_DIR}/flann/build -p\n\trm ${REPOS_DIR}/flann/buid/* -rf\n\tcd ${REPOS_DIR}/flann/build && cmake .. \"-DCMAKE_INSTALL_PREFIX:PATH=$@\" -DBUILD_MATLAB_BINDINGS=FALSE -DBUILD_PYTHON_BINDINGS=FALSE -DBUILD_EXAMPLES=FALSE -DBUILD_TESTS=FALSE -DBUILD_DOC=FALSE\n\t+cd ${REPOS_DIR}/flann/build && make \n\tmkdir -p $@\n\tcd ${REPOS_DIR}/flann/build && make install\n\nflann :\n\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\n.PHONY: flann\n" }, { "path": "framework/makefiles/freeimage.make", "content": "FREEIMAGE_INCLUDE_PATH=${DEPS_DIR}/freeimage/include\nFREEIMAGE_DYNAMIC_LIBRARY=${DEPS_DIR}/freeimage/lib/libfreeimage.so\nFREEIMAGE_URL=http://downloads.sourceforge.net/freeimage/FreeImage3180.zip\n\n${REPOS_DIR}/FreeImage :\n\tmkdir ${REPOS_DIR} -p\n\trm ${REPOS_DIR}/FreeImage -rf\n\tcd ${REPOS_DIR} && wget ${FREEIMAGE_URL} && unzip FreeImage3180.zip && rm FreeImage3180.zip\n\tsed -i.bak \"s/-o root -g root//\" ${REPOS_DIR}/FreeImage/Makefile.gnu\n\tsed -i.bak \"s/-Wno-ctor-dtor-privacy/-w/\" ${REPOS_DIR}/FreeImage/Makefile.gnu\n\tsed -i.bak \"s/defined._ARM_./defined\\(_ARM_\\) or defined\\(__arm__\\)/\" ${REPOS_DIR}/FreeImage/Source/LibRawLite/libraw/libraw_types.h\n\tcd ${REPOS_DIR}/FreeImage && git apply ${ROOT_DIR}/framework/patchs/freeimage.patch\n\n${DEPS_DIR}/freeimage : ${REPOS_DIR}/FreeImage\n\t+cd ${REPOS_DIR}/FreeImage && make DESTDIR=$@ \n\tmkdir -p $@\n\tcd ${REPOS_DIR}/FreeImage && make install DESTDIR=$@ INCDIR=$@/include INSTALLDIR=$@/lib\n\nfreeimage :\n\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\n\n.PHONY: freeimage \n" }, { "path": "framework/makefiles/g2o.make", "content": "G2O_DIR=${DEPS_DIR}/g2o\nANDROID_G2O_DIR=${ANDROID_DEPS_DIR}\n\n${SUITE_SPARSE_ROOT}/lib/libcxsparse.a : suitesparse\n\techo \"please use make suitesparse\"\n\n${REPOS_DIR}/g2o :\n\tmkdir ${REPOS_DIR} -p\n\trm ${REPOS_DIR}/g2o -rf\n\tgit clone \"https://github.com/RainerKuemmerle/g2o\" ${REPOS_DIR}/g2o\n\tcd ${REPOS_DIR}/g2o && git checkout 1b118ac2ed2055c4016c3b7cbd710225ed1651af\n${DEPS_DIR}/g2o : ${REPOS_DIR}/g2o suitesparse eigen3\n\tcd ${REPOS_DIR}/g2o && mkdir build -p\n\trm ${REPOS_DIR}/g2o/build/* -rf \n\tcd ${REPOS_DIR}/g2o/build && cmake .. \"-DCMAKE_INSTALL_PREFIX:PATH=$@\" \\\n\t -DCHOLMOD_LIBRARY=${SUITE_SPARSE_ROOT}/lib/libcholmod.a -DCHOLMOD_FOUND=TRUE -DCHOLMOD_INCLUDE_DIR=${SUITE_SPARSE_ROOT}/include/ -DCHOLMOD_LIBRARIES=${SUITE_SPARSE_ROOT}/lib \\\n\t -DCSPARSE_INCLUDE_DIR=${SUITE_SPARSE_ROOT}/include/ -DCSPARSE_LIBRARY=${SUITE_SPARSE_ROOT}/lib/libcxsparse.a\\\n\t -DEIGEN3_INCLUDE_DIR=${EIGEN3_INCLUDE_DIR}\n\t+cd ${REPOS_DIR}/g2o/build && make\n\tmkdir -p $@\n\tcd ${REPOS_DIR}/g2o/build && make install\n\n\n${ANDROID_DEPS_DIR}/g2o : ${REPOS_DIR}/g2o ${REPOS_DIR}/android-cmake # What about CHOLMOD and BLAS ?\n\tcd ${REPOS_DIR}/g2o && mkdir android-build -p\n\trm ${REPOS_DIR}/g2o/android-build/* -rf \n\tcd ${REPOS_DIR}/g2o/android-build && cmake -DBUILD_SHARED_LIBS=OFF -D CMAKE_INSTALL_PREFIX=$(ANDROID_DEPS_DIR) -DCMAKE_TOOLCHAIN_FILE=${REPOS_DIR}/android-cmake/android.toolchain.cmake -DANDROID_NDK=${ANDROID_NDK} -DCMAKE_BUILD_TYPE=Release -DANDROID_ABI=\"armeabi-v7a with NEON\" -DEIGEN3_INCLUDE_DIR=\"$(ANDROID_DEPS_DIR)/include/eigen3\" -DEIGEN3_VERSION_OK=ON -DG2O_BUILD_EXAMPLES=off -DG2O_BUILD_APPS=off -DCSPARSE_INCLUDE_DIR=${REPOS_DIR}/suitesparse/CXSparse/Include .. \n\t+cd ${REPOS_DIR}/g2o/android-build && make\n\tcd ${REPOS_DIR}/g2o/android-build && make install\n\n\n\ng2o : \n\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\nandroid-g2o : ${ANDROID_DEPS_DIR}/g2o\n\n.PHONY: g2o android-g2o\n" }, { "path": "framework/makefiles/gcc.make", "content": "GCC7_COMPILER=${DEPS_DIR}/gcc7/bin/c++\nGCC5_COMPILER=${DEPS_DIR}/gcc5/bin/c++\n\nGCC_REPOS=gcc\nGCC_BUILD_DIR=${DEPS_DIR}/build/gcc\n\n${REPOS_DIR}/${GCC_REPOS} :\n\tmkdir -p ${REPOS_DIR}\n\trm -rf ${REPOS_DIR}/${GCC_REPOS}\n\tcd ${REPOS_DIR} && git clone git://gcc.gnu.org/git/gcc.git ${GCC_REPOS}\n\n${DEPS_DIR}/gcc5 : ${REPOS_DIR}/${GCC_REPOS}\n\tcd $^ && git checkout gcc-5_3_0-release\n\tcd $^ && git cherry-pick ec1cc0263f156f70693a62cf17b254a0029f4852 || true\n\tcd $^ && ./contrib/download_prerequisites\n\tmkdir -p ${GCC_BUILD_DIR}/objdir\n\trm -rf ${GCC_BUILD_DIR}/objdir/*\n\tcd ${GCC_BUILD_DIR}/objdir && ${REPOS_DIR}/${GCC_REPOS}/configure --prefix=$@ --enable-languages=c,c++ --disable-multilib\n\t+cd ${GCC_BUILD_DIR}/objdir && make\n\tmkdir -p $@\n\tcd ${GCC_BUILD_DIR}/objdir && make install\n\n${DEPS_DIR}/gcc7 : ${REPOS_DIR}/${GCC_REPOS}\n\tcd $^ && git checkout gcc-7_2_0-release\n\tcd $^ && ./contrib/download_prerequisites\n\tmkdir -p ${GCC_BUILD_DIR}/objdir\n\trm -rf ${GCC_BUILD_DIR}/objdir/*\n\tcd ${GCC_BUILD_DIR}/objdir && ${REPOS_DIR}/${GCC_REPOS}/configure --prefix=$@ --enable-languages=c,c++ --disable-multilib --disable-libsanitizer\n\t+cd ${GCC_BUILD_DIR}/objdir && make\n\tmkdir -p $@\n\tcd ${GCC_BUILD_DIR}/objdir && make install\n\n\ngcc5:\n\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\n\ngcc7:\n\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\n\n.PHONY: gcc5 gcc7\n" }, { "path": "framework/makefiles/gvars.make", "content": "\n\nGVARS_INCLUDE_DIR=${DEPS_DIR}/gvars/include\nGVARS_LIBRARY=${DEPS_DIR}/gvars/lib/libGVars3.so\n\n\n${REPOS_DIR}/gvars :\n\tmkdir ${REPOS_DIR} -p\n\trm ${REPOS_DIR}/gvars -rf\n\tgit clone \"https://github.com/edrosten/gvars\" ${REPOS_DIR}/gvars\n\tcd ${REPOS_DIR}/gvars && git checkout fc58c500c9d8f8713fb87a98cf7fb6be1db3295f\n\n\n${DEPS_DIR}/gvars: ${REPOS_DIR}/gvars toon\n\tcd ${REPOS_DIR}/gvars && ./configure --prefix=$@ CPPFLAGS=\"-I${DEPS_DIR}/toon/include -fPIC\"\n\t+cd ${REPOS_DIR}/gvars && make \n\tmkdir -p $@\n\tcd ${REPOS_DIR}/gvars && make install\n\n\ngvars : \n\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\n\n.PHONY: gvars \n" }, { "path": "framework/makefiles/libopencl-stub.make", "content": "dependencies/libopencl-stub : \n\n\nANDROID_OPENCL_ROOT_DIR=${ANDROID_DEPS_DIR}/libopencl-stub/\nANDROID_OPENCL_INCLUDE_DIR=${ANDROID_DEPS_DIR}/libopencl-stub/include\nANDROID_OPENCL_LIBRARY=${ANDROID_DEPS_DIR}/libopencl-stub/obj/local/armeabi-v7a/libOpenCL.a\n\n\nPATCH_DIR=${ROOT_DIR}/framework/patchs/\n\n${REPOS_DIR}/libopencl-stub :\n\tmkdir -p ${REPOS_DIR}/\n\tgit clone https://github.com/krrishnarraj/libopencl-stub.git $@\n\tcd $@ && git checkout b4f84459e3a3a14d6a18b5dabe0a6ae9cbef709e\n\tcd $@ && git apply ${PATCH_DIR}/libopencl-stub_SLAMBench.patch\n\n\t\n${ANDROID_DEPS_DIR}/libopencl-stub: ${REPOS_DIR}/libopencl-stub\n\tmkdir -p ${ANDROID_DEPS_DIR}/libopencl-stub\n\trm -rf ${ANDROID_DEPS_DIR}/libopencl-stub/*\n\tcd ${REPOS_DIR}/libopencl-stub && ${ANDROID_NDK}/ndk-build NDK_PROJECT_PATH=. APP_BUILD_SCRIPT=Android.mk NDK_APPLICATION_MK=Application.mk \n\tcp ${REPOS_DIR}/libopencl-stub/include ${ANDROID_DEPS_DIR}/libopencl-stub -rf\n\tcp ${REPOS_DIR}/libopencl-stub/obj ${ANDROID_DEPS_DIR}/libopencl-stub -rf\n\nandroid-libopencl-stub: ${ANDROID_DEPS_DIR}/libopencl-stub\n\n\n.PHONY: android-libopencl-stub\n\t\n\t\n\t" }, { "path": "framework/makefiles/opencv.make", "content": "OPENCV_DIR=${DEPS_DIR}/opencv/share/OpenCV/\nANDROID_OPENCV_DIR=${ANDROID_DEPS_DIR}/opencv/share/OpenCV/\nOPENCV_CONTRIB_MODULES_DIR=${REPOS_DIR}/opencv_contrib/modules\n\n${REPOS_DIR}/opencv :\n\tmkdir ${REPOS_DIR} -p\n\trm ${REPOS_DIR}/opencv -rf\n\tgit clone \"https://github.com/opencv/opencv.git\" ${REPOS_DIR}/opencv\n\tgit clone \"https://github.com/opencv/opencv_contrib.git\" ${REPOS_DIR}/opencv_contrib\n\tcd ${REPOS_DIR}/opencv && git checkout 3.4.3\n\tcd ${REPOS_DIR}/opencv_contrib && git checkout 3.4.3\n\n# TODO: update opencv flags for opencv 3\n${DEPS_DIR}/opencv : ${REPOS_DIR}/opencv\n\tcd ${REPOS_DIR}/opencv && mkdir build_dir -p\n\tcd ${REPOS_DIR}/opencv && rm build_dir/* -rf\n\tcd ${REPOS_DIR}/opencv/build_dir && cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=$@ -DCMAKE_CXX_FLAGS=\"-Wno-error=address\" \\\n\t-DWITH_GSTREAMER=OFF -DWITH_FFMPEG=OFF -DBUILD_PERF_TESTS=OFF -D WITH_OPENCL=OFF -D BUILD_WITH_DEBUG_INFO=OFF -D WITH_1394=OFF \\\n\t-D BUILD_TESTS=OFF -D WITH_TBB=OFF -D WITH_V4L=OFF -D WITH_OPENGL=OFF -D BUILD_opencv_gpu=OFF \\\n\t -D BUILD_opencv_java=OFF -D WITH_CUDA=OFF -DWITH_GTK=ON -D BUILD_opencv_ml=ON -D BUILD_opencv_videostab=OFF \\\n\t -D BUILD_opencv_ts=OFF -D BUILD_opencv_photo=ON -D BUILD_opencv_video=ON -D BUILD_opencv_stitching=OFF -DOPENCV_EXTRA_MODULES_PATH=${OPENCV_CONTRIB_MODULES_DIR} -DENABLE_PRECOMPILED_HEADERS=OFF .. > ${REPOS_DIR}/opencv/build_dir/opencv_cmake.log\n\tcat ${REPOS_DIR}/opencv/build_dir/opencv_cmake.log\n\t+cd ${REPOS_DIR}/opencv/build_dir && make\n\tmkdir -p $@\n\tcd ${REPOS_DIR}/opencv/build_dir && make install\n\n$(ANDROID_DEPS_DIR)/opencv : ${REPOS_DIR}/opencv ${REPOS_DIR}/android-cmake\n\tcd ${REPOS_DIR}/opencv && mkdir build_dir -p\n\tcd ${REPOS_DIR}/opencv && rm build_dir/* -rf\n\tcd ${REPOS_DIR}/opencv/build_dir && cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=${REPOS_DIR}/android-cmake/android.toolchain.cmake -DANDROID_NDK=${ANDROID_NDK} -DCMAKE_BUILD_TYPE=Release -DANDROID_ABI=\"armeabi-v7a with NEON\" -DWITH_GSTREAMER=OFF -DBUILD_PERF_TESTS=OFF -D WITH_OPENCL=OFF -D CMAKE_INSTALL_PREFIX=$(ANDROID_DEPS_DIR) -D BUILD_WITH_DEBUG_INFO=OFF -D WITH_1394=OFF -D BUILD_TESTS=OFF -D WITH_TBB=OFF -D WITH_V4L=OFF -D WITH_OPENGL=OFF -D BUILD_opencv_gpu=OFF -D BUILD_opencv_java=OFF -D WITH_CUDA=OFF -DWITH_GTK=OFF -D BUILD_opencv_videostab=OFF -D BUILD_opencv_ts=OFF -D BUILD_opencv_stitching=OFF .. \n\t+cd ${REPOS_DIR}/opencv/build_dir && make\n\tcd ${REPOS_DIR}/opencv/build_dir && make install\n\nopencv : \t\n\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\n\nandroid-opencv : ${ANDROID_DEPS_DIR}/opencv\n\n.PHONY: opencv android-opencv\n" }, { "path": "framework/makefiles/opengv.make", "content": "OPENGV_INCLUDE_DIR=${DEPS_DIR}/opengv/include\nOPENGV_LIBRARY=${DEPS_DIR}/opengv/lib/libopengv.a\n\n${REPOS_DIR}/opengv :\n\tmkdir -p ${REPOS_DIR}\n\trm -rf ${REPOS_DIR}/opengv\t\n\tcd ${REPOS_DIR} ; git clone \"https://github.com/laurentkneip/opengv\" opengv\n\tcd $@ ; git checkout cc32b16281aa6eab67cb28a61cf87a2a5c2b0961\n\n${DEPS_DIR}/opengv : ${REPOS_DIR}/opengv eigen3\n\tmkdir ${REPOS_DIR}/opengv/build -p\n\trm ${REPOS_DIR}/opengv/build/* -rf\n\tcd ${REPOS_DIR}/opengv/build && cmake .. \"-DCMAKE_INSTALL_PREFIX:PATH=$@\" -DCMAKE_CXX_FLAGS=\"-w -O3 -std=c++11\" -DEIGEN_VERSION_OK=3 -DEIGEN_INCLUDE_DIR=${EIGEN3_INCLUDE_DIR}\n\t+cd ${REPOS_DIR}/opengv/build && make\n\tmkdir -p $@\n\tcd ${REPOS_DIR}/opengv/build && make install\n\n\nifdef EIGEN3_INCLUDE_DIR\n\topengv :\n\t\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\nelse\n\topengv :\n\t\t@echo \"*** Error eigen not defined or not found\"\n\t\t@echo \"*** EIGEN_INCLUDE_DIR=${EIGEN3_INCLUDE_DIR}\"\n\t\t@exit 1\nendif\n\n.PHONY: opengv\n" }, { "path": "framework/makefiles/openni.make", "content": "########################################## COMMIT USED #################################################################\nOPENNI2_REPOS=https://github.com/occipital/OpenNI2/\nOPENNI2_COMMIT=1fce8edffab43c4a4cf201cff86f415b07a2d37f\n\nOPENNI15_REPOS=https://github.com/OpenNI/OpenNI.git\nOPENNI15_COMMIT=54e899c492f69aa8fa3e133fdd7d6b468f017b99\n\nLIBUSB_REPOS=https://github.com/libusb/libusb.git\nLIBUSB_COMMIT=8ddd8d994df6e367603266630bc2fe83b9cad868\n\nSENSORK_REPOS=https://github.com/avin2/SensorKinect.git\nSENSORK_COMMIT=15f1975d5e50d84ca06ff784f83f8b7836749a7b\n\nFREENECT_REPOS=https://github.com/OpenKinect/libfreenect.git\nFREENECT_COMMIT=83e57e1318cc64c9aabac481b9e330acc1914a23\n\n########################################## OPENNI 1.5 PART #################################################################\nOPENNI_INCLUDE_DIR=${DEPS_DIR}/openni15/Include\nOPENNI_LIBRARY=${DEPS_DIR}/openni15/Lib/libOpenNI.so\n\n${REPOS_DIR}/libusb :\n\trm -rf $@\n\tgit clone ${LIBUSB_REPOS} $@ && cd $@ && git checkout ${LIBUSB_COMMIT}\n\n${DEPS_DIR}/libusb : ${REPOS_DIR}/libusb\n\tcd ${REPOS_DIR}/libusb && ./autogen.sh --prefix=$@\n\tcd ${REPOS_DIR}/libusb && make\n\tmkdir -p ${DEPS_DIR}/libusb\n\trm -rf ${DEPS_DIR}/libusb/*\n\tcd ${REPOS_DIR}/libusb && make install\n\nlibusb :\n\t@+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\n\n${REPOS_DIR}/openni15 : \n\tmkdir -p ${REPOS_DIR}\n\trm -rf ${REPOS_DIR}/openni15\t\n\tcd ${REPOS_DIR} ; git clone ${OPENNI15_REPOS} $@ && cd $@ && git checkout ${OPENNI15_COMMIT}\n\tsed -i\".bak\" \"s/equivalent/glh_equivalent/g\" ${REPOS_DIR}/openni15/Samples/NiViewer/glh/glh_linear.h\n\n\n${REPOS_DIR}/SensorKinect :\n\tmkdir -p ${REPOS_DIR}\n\trm -rf ${REPOS_DIR}/SensorKinect\t\n\tcd ${REPOS_DIR} ; git clone ${SENSORK_REPOS} $@ && cd $@ && git checkout ${SENSORK_COMMIT}\n\n${DEPS_DIR}/openni15 : ${REPOS_DIR}/openni15 ${DEPS_DIR}/libusb \n\tchmod +x ${REPOS_DIR}/openni15/Platform/Linux/CreateRedist/RedistMaker\n\tcd ${REPOS_DIR}/openni15/Platform/Linux/CreateRedist/ && ./RedistMaker\n\trm -rf ${DEPS_DIR}/openni15\n\tcd ${REPOS_DIR}/openni15 && tar xf ${REPOS_DIR}/openni15/Platform/Linux/CreateRedist/Final/*.tar.bz2\n\tmv ${REPOS_DIR}/openni15/OpenNI-Bin-*/ ${DEPS_DIR}/openni15\n\tcp ${REPOS_DIR}/openni15/Data/SamplesConfig.xml ${DEPS_DIR}/openni15/\n\n${DEPS_DIR}/SensorKinect : ${REPOS_DIR}/SensorKinect ${REPOS_DIR}/openni15 \n\tcd $ ${DEPS_BUILD_DIR}/pcl/build.log.tmp 2>&1\n\tif cat ${DEPS_BUILD_DIR}/pcl/build.log.tmp | grep \"Requires external library\" ; then echo \"Error with deps of PCL.\" ; exit 1 ; fi\n\t+cd ${DEPS_BUILD_DIR}/pcl/ && make \n\tmkdir -p $@\n\tcd ${DEPS_BUILD_DIR}/pcl/ && make install\n\npcl : \n\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\n\n.PHONY: pcl\n\n" }, { "path": "framework/makefiles/sophus.make", "content": "Sophus_INCLUDE_DIR=${DEPS_DIR}/Sophus/include\nSophus_INCLUDE_DIRS=${DEPS_DIR}/Sophus/include\nSophus_DIR=${DEPS_DIR}/Sophus/share/sophus/cmake\n\n${REPOS_DIR}/Sophus :\n\tmkdir ${REPOS_DIR} -p\n\trm ${REPOS_DIR}/Sophus -rf\n\tgit clone \"https://github.com/strasdat/Sophus.git\" ${REPOS_DIR}/Sophus\n\tcd ${REPOS_DIR}/Sophus && git checkout b474f05f839c0f63c281aa4e7ece03145729a2cd\n\n\n${DEPS_DIR}/Sophus : ${REPOS_DIR}/Sophus\n\tcd ${REPOS_DIR}/Sophus && mkdir build -p && rm build/* -rf\n\tcd ${REPOS_DIR}/Sophus/build && cmake .. \"-DCMAKE_INSTALL_PREFIX=$@\" -DCMAKE_BUILD_TYPE=Release\n\tcd ${REPOS_DIR}/Sophus/build && make -j2\n\tmkdir -p $@\n\tcd ${REPOS_DIR}/Sophus/build && make install\n\nSophus :\n\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\n.PHONY: sophus\n" }, { "path": "framework/makefiles/suitesparse.make", "content": "SUITE_SPARSE_ROOT=${DEPS_DIR}/suitesparse\n\n${REPOS_DIR}/suitesparse :\n\tmkdir ${REPOS_DIR}/ -p\n\trm ${REPOS_DIR}/suitesparse -rf\n\tcd ${REPOS_DIR}/ && git clone \"https://github.com/jluttine/suitesparse.git\" \n\tcd ${REPOS_DIR}/suitesparse && git checkout v4.3.1\n\n\n${REPOS_DIR}/suitesparse/CMakeLists.txt : ${REPOS_DIR}/suitesparse\n\techo -e \"cmake_minimum_required(VERSION 2.8)\\nproject(suitesparse)\\ninclude_directories(SuiteSparse_config/)\\ninclude_directories(CXSparse/Include)\\ninclude_directories(\\\"${ANDROID_NDK}/platforms/android-21/arch-arm/usr/include\\\")\\nFILE(GLOB cxsparse_source CXSparse/Source/*.c)\\nadd_library(cxsparse_di \\$${cxsparse_source} )\\nadd_library(cxsparse_dl \\$${cxsparse_source} )\\nadd_library(cxsparse_ci \\$${cxsparse_source} )\\nadd_library(cxsparse_cl \\$${cxsparse_source} )\\nSET_TARGET_PROPERTIES(cxsparse_di PROPERTIES COMPILE_FLAG \\\"\\\" )\\nSET_TARGET_PROPERTIES(cxsparse_dl PROPERTIES COMPILE_FLAG \\\" -DCS_LONG\\\" )\\nSET_TARGET_PROPERTIES(cxsparse_ci PROPERTIES COMPILE_FLAG \\\"-DCS_COMPLEX\\\" )\\nSET_TARGET_PROPERTIES(cxsparse_cl PROPERTIES COMPILE_FLAG \\\" -DCS_LONG -DCS_COMPLEX\\\" )\\nINSTALL(TARGETS cxsparse_di cxsparse_dl cxsparse_ci cxsparse_cl \\n RUNTIME DESTINATION \\$${CMAKE_INSTALL_PREFIX}/bin\\n LIBRARY DESTINATION \\$${CMAKE_INSTALL_PREFIX}/lib\\n ARCHIVE DESTINATION \\$${CMAKE_INSTALL_PREFIX}/lib\\n)\\n\" > ${REPOS_DIR}/suitesparse/CMakeLists.txt\n\n## Bruno : TODO : I'm not happy with this build method ... I'd rather like having a full cmake version of it...\n## Harry: Suitesparse is not safe to parallel build :-(\n${DEPS_DIR}/suitesparse : ${REPOS_DIR}/suitesparse ${REPOS_DIR}/suitesparse/CMakeLists.txt \n\tcd ${REPOS_DIR}/suitesparse/ && make\n\trm $@ -rf\n\tmkdir $@/include -p\n\tmkdir $@/lib -p\n\t+cd ${REPOS_DIR}/suitesparse/ && make install INSTALL_LIB=$@/lib INSTALL_INCLUDE=$@/include \n\n${ANDROID_DEPS_DIR}/suitesparse : ${REPOS_DIR}/suitesparse ${REPOS_DIR}/suitesparse/CMakeLists.txt ${REPOS_DIR}/android-cmake\n\tcd ${REPOS_DIR}/suitesparse && mkdir build_dir -p\n\tcd ${REPOS_DIR}/suitesparse && rm build_dir/* -rf\n\tcd ${REPOS_DIR}/suitesparse/build_dir && cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_TOOLCHAIN_FILE=${REPOS_DIR}/android-cmake/android.toolchain.cmake -DANDROID_NDK=${ANDROID_NDK} -DCMAKE_BUILD_TYPE=Release -DANDROID_ABI=\"armeabi-v7a with NEON\" -D CMAKE_INSTALL_PREFIX=$(ANDROID_DEPS_DIR) ..\n\t+cd ${REPOS_DIR}/suitesparse/build_dir && make\n\tcd ${REPOS_DIR}/suitesparse/build_dir && make install\n\n\n\nsuitesparse : \n\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\nandroid-suitesparse : ${ANDROID_DEPS_DIR}/suitesparse\n\n.PHONY: suitesparse android-suitesparse\n" }, { "path": "framework/makefiles/toon.make", "content": "TOON_INCLUDE_DIR=${DEPS_DIR}/toon/include\nANDROID_TOON_INCLUDE_DIR=${ANDROID_DEPS_DIR}/toon/include\n\n${REPOS_DIR}/TooN :\n\tmkdir ${REPOS_DIR} -p\n\trm ${REPOS_DIR}/TooN -rf\n\tgit clone \"https://github.com/edrosten/TooN.git\" ${REPOS_DIR}/TooN\n\tcd ${REPOS_DIR}/TooN && git checkout 92241416d2a4874fd2334e08a5d417dfea6a1a3f\n\n${DEPS_DIR}/toon: ${REPOS_DIR}/TooN\n\tcd ${REPOS_DIR}/TooN && ./configure --prefix=$@\n\tmkdir -p $@\n\t+cd ${REPOS_DIR}/TooN && make install\n\n${ANDROID_DEPS_DIR}/toon: ${REPOS_DIR}/TooN\n\tmkdir -p $@\n\tcd ${REPOS_DIR}/TooN && ./configure --prefix=$@ --disable-lapack --enable-typeof=decltype\n\t+cd ${REPOS_DIR}/TooN && make install\n\n\nandroid-toon: ${ANDROID_DEPS_DIR}/toon\n\ntoon : \n\t+if [ ! -d ${DEPS_DIR}/$@ ] ; then make ${DEPS_DIR}/$@ ; else echo \"$@ skipped.\"; fi\n\n.PHONY: toon android-toon\n" }, { "path": "framework/patchs/OpenNI2_SLAMBench.patch", "content": "From 24cca203f2e4e1de89fb858b7b018d86abb99c8a Mon Sep 17 00:00:00 2001\nFrom: \"Bruno Bodin (zebulon)\" \nDate: Tue, 26 Apr 2016 14:58:30 +0100\nSubject: [PATCH] test\n\n---\n Android.mk | 12 +++++++-----\n Application.mk | 3 +--\n Include/OniPlatform.h | 2 ++\n Packaging/ReleaseVersion.py | 4 ++--\n Source/Core/OniContext.cpp | 15 ++++++---------\n Source/Drivers/OniFile/DataRecords.cpp | 14 ++++++++++++++\n ThirdParty/PSCommon/XnLib/Include/XnPlatform.h | 2 ++\n ThirdParty/PSCommon/XnLib/Source/XnLogAndroidWriter.cpp | 2 +-\n 8 files changed, 35 insertions(+), 19 deletions(-)\n\ndiff --git a/Android.mk b/Android.mk\nindex 4e3e26b..c7ee11b 100644\n--- a/Android.mk\n+++ b/Android.mk\n@@ -24,13 +24,15 @@ endif\n # Setup OpenNI2 local variables\n OPENNI2_CFLAGS := -O3 -ftree-vectorize -ffast-math -funroll-loops -fPIC -fvisibility=hidden\n \n-ifeq ($(ARCH_ARM_HAVE_ARMV7A),true) \n-\tOPENNI2_CFLAGS += -march=armv7-a -mfloat-abi=softfp -mtune=cortex-a9 -mfpu=vfp\n-endif\n \n-ifeq ($(ARCH_ARM_HAVE_NEON),true)\n-\tOPENNI2_CFLAGS += -mfpu=neon -DHAVE_NEON=1 -flax-vector-conversions\n+ifeq ($(TARGET_ARCH),arm64)\n+\tOPENNI2_CFLAGS += -march=armv8-a -DHAVE_NEON=1 -flax-vector-conversions\n+else\n+ifeq ($(TARGET_ARCH),arm)\n+\tOPENNI2_CFLAGS += -march=armv7-a -mfloat-abi=softfp -mtune=cortex-a9 -mfpu=vfp -mfpu=neon -DHAVE_NEON=1 -flax-vector-conversions\n endif\n+endif\n+\n \n # Recurse through all subdirs\n include $(call all-subdir-makefiles)\ndiff --git a/Application.mk b/Application.mk\nindex 9c7ff56..67982a6 100644\n--- a/Application.mk\n+++ b/Application.mk\n@@ -21,5 +21,4 @@\n APP_PLATFORM := android-9\n \n # Use ARM v7a instruction set\n-APP_ABI := armeabi-v7a\n-ARCH_ARM_HAVE_ARMV7A := true\n\\ No newline at end of file\n+APP_ABI := armeabi-v7a arm64-v8a\ndiff --git a/Include/OniPlatform.h b/Include/OniPlatform.h\nindex 602b4ba..6b1d7ef 100644\n--- a/Include/OniPlatform.h\n+++ b/Include/OniPlatform.h\n@@ -37,6 +37,8 @@\n #\tinclude \"Win32/OniPlatformWin32.h\"\n #elif defined (ANDROID) && defined (__arm__)\n #\tinclude \"Android-Arm/OniPlatformAndroid-Arm.h\"\n+#elif defined (ANDROID) && defined (__aarch64__)\n+#\tinclude \"Android-Arm/OniPlatformAndroid-Arm.h\"\n #elif (__linux__ && (i386 || __x86_64__))\n #\tinclude \"Linux-x86/OniPlatformLinux-x86.h\"\n #elif (__linux__ && __arm__)\ndiff --git a/Packaging/ReleaseVersion.py b/Packaging/ReleaseVersion.py\nindex e2fdf5f..4413e6a 100755\n--- a/Packaging/ReleaseVersion.py\n+++ b/Packaging/ReleaseVersion.py\n@@ -113,14 +113,14 @@ if plat == 'android':\n os.symlink('../../../', buildDir + '/jni/OpenNI2')\n shutil.copy('../Android.mk', buildDir + '/jni')\n shutil.copy('../Application.mk', buildDir + '/jni')\n- rc = subprocess.call([ ndkDir + '/ndk-build', '-C', buildDir, '-j8' ])\n+ rc = subprocess.call([ ndkDir + '/ndk-build', '-C', buildDir, '-j1' ])\n if rc != 0:\n print 'Build failed!'\n sys.exit(3)\n \n finalFile = finalDir + '/' + outputDir + '.tar'\n \n- shutil.move(buildDir + '/libs/armeabi-v7a', outputDir)\n+ shutil.move(buildDir + '/libs/', outputDir)\n \n # add config files\n shutil.copy('../Config/OpenNI.ini', outputDir)\ndiff --git a/Source/Core/OniContext.cpp b/Source/Core/OniContext.cpp\nindex 153c7c6..cf13851 100644\n--- a/Source/Core/OniContext.cpp\n+++ b/Source/Core/OniContext.cpp\n@@ -23,8 +23,8 @@\n #include \n #include \n \n-static const char* ONI_CONFIGURATION_FILE = \"OpenNI.ini\";\n-static const char* ONI_DEFAULT_DRIVERS_REPOSITORY = \"OpenNI2\" XN_FILE_DIR_SEP \"Drivers\";\n+static const char* ONI_CONFIGURATION_FILE = \"/data/ni/OpenNI.ini\";\n+static const char* ONI_DEFAULT_DRIVERS_REPOSITORY = \"/data/ni/\";\n \n #define XN_MASK_ONI_CONTEXT \"OniContext\"\n \n@@ -84,15 +84,12 @@ OniStatus Context::initialize()\n \tXnBool configurationFileExists = FALSE;\n \n \t// Search the module directory for OpenNI.ini.\n-\txnOSStrCopy(strOniConfigurationFile, strBaseDir, XN_FILE_MAX_PATH);\n-\trc = xnOSAppendFilePath(strOniConfigurationFile, ONI_CONFIGURATION_FILE, XN_FILE_MAX_PATH);\n-\tif (rc == XN_STATUS_OK)\n-\t{\n-\t\txnOSDoesFileExist(strOniConfigurationFile, &configurationFileExists);\n-\t}\n+\txnOSStrCopy(strOniConfigurationFile, ONI_CONFIGURATION_FILE, XN_FILE_MAX_PATH);\n+\txnOSDoesFileExist(strOniConfigurationFile, &configurationFileExists);\n+\n \n #ifdef ONI_PLATFORM_ANDROID_OS\n-\txnLogSetMaskMinSeverity(XN_LOG_MASK_ALL, (XnLogSeverity)0);\n+\txnLogSetMaskMinSeverity(XN_LOG_MASK_ALL, (XnLogSeverity)3);\n \txnLogSetAndroidOutput(TRUE);\n #endif\n \t\ndiff --git a/Source/Drivers/OniFile/DataRecords.cpp b/Source/Drivers/OniFile/DataRecords.cpp\nindex bffc7e6..17bad91 100644\n--- a/Source/Drivers/OniFile/DataRecords.cpp\n+++ b/Source/Drivers/OniFile/DataRecords.cpp\n@@ -667,6 +667,8 @@ XnStatus GeneralPropRecord::Decode()\n \tXnUInt8* pData = const_cast(GetReadPos());\n \n #if (XN_PLATFORM == XN_PLATFORM_LINUX_ARM || XN_PLATFORM == XN_PLATFORM_ARC || XN_PLATFORM == XN_PLATFORM_ANDROID_ARM)\n+\n+#if __arm__\n \t// under ARM we have some alignment issues. Move this buffer so it will be aligned.\n \tXnUInt32 nAlignFix = XN_DEFAULT_MEM_ALIGN - ((XnUInt32)pData % XN_DEFAULT_MEM_ALIGN);\n \tif (nAlignFix != 0)\n@@ -674,6 +676,18 @@ XnStatus GeneralPropRecord::Decode()\n \t\txnOSMemMove(pData + nAlignFix, pData, m_nPropDataSize);\n \t\tpData += nAlignFix;\n \t}\n+#elif __aarch64__\n+\t// under ARM we have some alignment issues. Move this buffer so it will be aligned.\n+\tXnUInt64 nAlignFix = XN_DEFAULT_MEM_ALIGN - ((XnUInt64)pData % XN_DEFAULT_MEM_ALIGN);\n+\tif (nAlignFix != 0)\n+\t{\n+\t\txnOSMemMove(pData + nAlignFix, pData, m_nPropDataSize);\n+\t\tpData += nAlignFix;\n+\t}\n+#else\n+#error \"Unsupported ARM platform\"\n+#endif\n+\n #endif\n \n \tm_pPropData = pData;\ndiff --git a/ThirdParty/PSCommon/XnLib/Include/XnPlatform.h b/ThirdParty/PSCommon/XnLib/Include/XnPlatform.h\nindex 07e8192..1abfc71 100644\n--- a/ThirdParty/PSCommon/XnLib/Include/XnPlatform.h\n+++ b/ThirdParty/PSCommon/XnLib/Include/XnPlatform.h\n@@ -49,6 +49,8 @@\n #include \"Win32/XnPlatformWin32.h\"\n #elif defined (ANDROID) && defined (__arm__)\n #include \"Android-Arm/XnPlatformAndroid-Arm.h\"\n+#elif defined (ANDROID) && defined (__aarch64__)\n+#include \"Android-Arm/XnPlatformAndroid-Arm.h\"\n #elif (__linux__ && (i386 || __x86_64__))\n #include \"Linux-x86/XnPlatformLinux-x86.h\"\n #elif (__linux__ && __arm__)\ndiff --git a/ThirdParty/PSCommon/XnLib/Source/XnLogAndroidWriter.cpp b/ThirdParty/PSCommon/XnLib/Source/XnLogAndroidWriter.cpp\nindex 6c9b6c1..32b27b7 100644\n--- a/ThirdParty/PSCommon/XnLib/Source/XnLogAndroidWriter.cpp\n+++ b/ThirdParty/PSCommon/XnLib/Source/XnLogAndroidWriter.cpp\n@@ -58,7 +58,7 @@ void XnLogAndroidWriter::WriteEntry(const XnLogEntry* pEntry)\n #ifdef XN_PLATFORM_ANDROID_OS\n \tALOGE(\"OpenNI2: %s\\n\", pEntry->strMessage);\n #else\n-\t__android_log_print(OpenNISeverityToAndroid(pEntry->nSeverity), \"OpenNI\", pEntry->strMessage);\n+\t__android_log_print(OpenNISeverityToAndroid(pEntry->nSeverity), \"OpenNI\", \"%s\", pEntry->strMessage);\n #endif\n }\n \n-- \n2.4.11\n\n" }, { "path": "framework/patchs/OpenNI_SLAMBench.patch", "content": "From 1e72c95f8eccb42e1b81330c5428d64bac4dedba Mon Sep 17 00:00:00 2001\nFrom: \"Bruno Bodin (zebulon)\" \nDate: Sun, 7 Jun 2015 14:08:10 +0100\nSubject: [PATCH 1/2] temp fix\n\n---\n Platform/Android/Samples/SamplesAssistant/jni/Android.mk | 2 +-\n Platform/Android/jni/Application.mk | 2 +-\n Platform/Android/jni/OpenNI.jni/Android.mk | 2 +-\n Platform/Android/jni/OpenNI/Android.mk | 2 +-\n 4 files changed, 4 insertions(+), 4 deletions(-)\n\ndiff --git a/Platform/Android/Samples/SamplesAssistant/jni/Android.mk b/Platform/Android/Samples/SamplesAssistant/jni/Android.mk\nindex e4b980d..9515e8d 100644\n--- a/Platform/Android/Samples/SamplesAssistant/jni/Android.mk\n+++ b/Platform/Android/Samples/SamplesAssistant/jni/Android.mk\n@@ -25,7 +25,7 @@ LOCAL_C_INCLUDES := \\\n \n LOCAL_CFLAGS:= -fvisibility=hidden -DXN_EXPORTS\n \n-LOCAL_LDFLAGS += -Wl,--export-dynamic --dynamic-linker\n+LOCAL_LDFLAGS += -Wl,--export-dynamic\n \n LOCAL_LDLIBS := -llog\n LOCAL_LDLIBS += $(OPENNI_DIR)/Platform/Android/libs/armeabi-v7a/libOpenNI.so\ndiff --git a/Platform/Android/jni/Application.mk b/Platform/Android/jni/Application.mk\nindex 6d2da24..4f04cd6 100644\n--- a/Platform/Android/jni/Application.mk\n+++ b/Platform/Android/jni/Application.mk\n@@ -10,7 +10,7 @@ APP_CFLAGS := -O3 -ftree-vectorize -ffast-math -funroll-loops\n APP_CFLAGS += -fPIC\n \n ifeq ($(APP_ABI),armeabi-v7a)\n-\tAPP_CFLAGS += -march=armv7-a -mfloat-abi=softfp -mtune=cortex-a9 -mfp=vfpv3-d16 -mfpu=vfp\n+\tAPP_CFLAGS += -march=armv7-a -mfloat-abi=softfp -mtune=cortex-a9 -mfpu=vfp\n \n # optionally add NEON to compilation flags.\n # to activate, run: \"ndk-build USE_NEON=1\"\ndiff --git a/Platform/Android/jni/OpenNI.jni/Android.mk b/Platform/Android/jni/OpenNI.jni/Android.mk\nindex 30b332c..f79566f 100644\n--- a/Platform/Android/jni/OpenNI.jni/Android.mk\n+++ b/Platform/Android/jni/OpenNI.jni/Android.mk\n@@ -22,7 +22,7 @@ LOCAL_C_INCLUDES := \\\n \n LOCAL_CFLAGS:= -fvisibility=hidden -DXN_EXPORTS\n \n-LOCAL_LDFLAGS += -Wl,--export-dynamic --dynamic-linker\n+LOCAL_LDFLAGS += -Wl,--export-dynamic \n \n LOCAL_LDLIBS := -llog\n \ndiff --git a/Platform/Android/jni/OpenNI/Android.mk b/Platform/Android/jni/OpenNI/Android.mk\nindex 06acac6..b1b36e7 100644\n--- a/Platform/Android/jni/OpenNI/Android.mk\n+++ b/Platform/Android/jni/OpenNI/Android.mk\n@@ -28,7 +28,7 @@ LOCAL_C_INCLUDES := \\\n \n LOCAL_CFLAGS:= -fvisibility=hidden -DXN_EXPORTS\n \n-LOCAL_LDFLAGS += -Wl,--export-dynamic --dynamic-linker \n+LOCAL_LDFLAGS += -Wl,--export-dynamic\n \n LOCAL_EXPORT_C_INCLUDES := $(LOCAL_PATH)/../../../../Include\n LOCAL_SHARED_LIBRARIES := libusb \n-- \n2.4.11\n\n\nFrom 3340ca042133bcf5e747f13278d2c25bfdaacf0a Mon Sep 17 00:00:00 2001\nFrom: \"Bruno Bodin (zebulon)\" \nDate: Tue, 26 Apr 2016 14:31:00 +0100\nSubject: [PATCH 2/2] add aarch64\n\n---\n Include/XnPlatform.h | 6 ++++--\n Platform/Android/jni/Application.mk | 16 +++++++---------\n Source/Modules/Common/DataRecords.cpp | 15 +++++++++++++++\n 3 files changed, 26 insertions(+), 11 deletions(-)\n\ndiff --git a/Include/XnPlatform.h b/Include/XnPlatform.h\nindex c5e2b9b..cfda4d8 100644\n--- a/Include/XnPlatform.h\n+++ b/Include/XnPlatform.h\n@@ -61,11 +61,13 @@\n \r\n \t#include \"Win32/XnPlatformWin32.h\"\r\n #elif defined(ANDROID) && defined(__arm__)\r\n-\t#include \"Android-Arm/XnPlatformAndroid-Arm.h\"\r\n+#include \"Android-Arm/XnPlatformAndroid-Arm.h\"\r\n+#elif defined(ANDROID) && defined(__aarch64__)\r\n+#include \"Android-Arm/XnPlatformAndroid-Arm.h\"\r\n #elif (linux && (i386 || __x86_64__))\r\n \t#include \"Linux-x86/XnPlatformLinux-x86.h\"\r\n #elif (linux && __arm__)\r\n-\t#include \"Linux-Arm/XnPlatformLinux-Arm.h\"\r\n+#include \"Linux-Arm/XnPlatformLinux-Arm.h\"\r\n #elif _ARC\r\n \t#include \"ARC/XnPlatformARC.h\"\r\n #elif (__APPLE__)\r\ndiff --git a/Platform/Android/jni/Application.mk b/Platform/Android/jni/Application.mk\nindex 4f04cd6..2854ed5 100644\n--- a/Platform/Android/jni/Application.mk\n+++ b/Platform/Android/jni/Application.mk\n@@ -3,20 +3,18 @@ APP_STL := gnustl_static\n # Android >= v2.3\n APP_PLATFORM := android-9\n \n-# Build ARMv7-A machine code.\n-APP_ABI := armeabi-v7a\n+# Build ARMv7-A and arm64-v8a machine code.\n+APP_ABI := arm64-v8a armeabi-v7a\n APP_CFLAGS := -O3 -ftree-vectorize -ffast-math -funroll-loops\n \n APP_CFLAGS += -fPIC\n \n-ifeq ($(APP_ABI),armeabi-v7a)\n-\tAPP_CFLAGS += -march=armv7-a -mfloat-abi=softfp -mtune=cortex-a9 -mfpu=vfp\n \n-# optionally add NEON to compilation flags.\n-# to activate, run: \"ndk-build USE_NEON=1\"\n-ifdef USE_NEON\n-$(call __ndk_info,Building everything with NEON support!)\n-\tAPP_CFLAGS += -mfpu=neon -DHAVE_NEON=1 -flax-vector-conversions\n+ifeq ($(TARGET_ARCH),arm64)\n+\tAPP_CFLAGS += -march=armv8-a -DHAVE_NEON=1 -flax-vector-conversions\n+else\n+ifeq ($(TARGET_ARCH),arm)\n+\tAPP_CFLAGS += -march=armv7-a -mfloat-abi=softfp -mtune=cortex-a9 -mfpu=vfp -mfpu=neon -DHAVE_NEON=1 -flax-vector-conversions\n endif\n endif\n \ndiff --git a/Source/Modules/Common/DataRecords.cpp b/Source/Modules/Common/DataRecords.cpp\nindex 37e8dcd..9306c28 100644\n--- a/Source/Modules/Common/DataRecords.cpp\n+++ b/Source/Modules/Common/DataRecords.cpp\n@@ -656,6 +656,8 @@ XnStatus GeneralPropRecord::Decode()\n \tXnUInt8* pData = const_cast(GetReadPos());\r\n \r\n #if (XN_PLATFORM == XN_PLATFORM_LINUX_ARM || XN_PLATFORM == XN_PLATFORM_ARC || XN_PLATFORM == XN_PLATFORM_ANDROID_ARM)\r\n+ #if __arm__\r\n+\r\n \t// under ARM we have some alignment issues. Move this buffer so it will be aligned.\r\n \tXnUInt32 nAlignFix = XN_DEFAULT_MEM_ALIGN - ((XnUInt32)pData % XN_DEFAULT_MEM_ALIGN);\r\n \tif (nAlignFix != 0)\r\n@@ -663,6 +665,19 @@ XnStatus GeneralPropRecord::Decode()\n \t\txnOSMemMove(pData + nAlignFix, pData, m_nPropDataSize);\r\n \t\tpData += nAlignFix;\r\n \t}\r\n+#elif __aarch64__\r\n+\t// under ARM we have some alignment issues. Move this buffer so it will be aligned.\r\n+\tXnUInt64 nAlignFix = XN_DEFAULT_MEM_ALIGN - ((XnUInt64)pData % XN_DEFAULT_MEM_ALIGN);\r\n+\tif (nAlignFix != 0)\r\n+\t{\r\n+\t\txnOSMemMove(pData + nAlignFix, pData, m_nPropDataSize);\r\n+\t\tpData += nAlignFix;\r\n+\t}\r\n+#else\r\n+#error \"Unsupported ARM platform\"\r\n+#endif\r\n+\r\n+\r\n #endif\r\n \r\n \tm_pPropData = pData;\r\n-- \n2.4.11\n\n" }, { "path": "framework/patchs/SensorKinect_SLAMBench.patch", "content": "From 334f203bfc5f609dd0726fd54e075cb7e1ad5b8b Mon Sep 17 00:00:00 2001\nFrom: \"Bruno Bodin (zebulon)\" \nDate: Sun, 7 Jun 2015 14:09:43 +0100\nSubject: [PATCH 1/2] tmp patch\n\n---\n Data/GlobalDefaultsKinect.ini | 189 +----------------------\n Platform/Android/jni/Application.mk | 2 +-\n Platform/Android/jni/XnCore/Android.mk | 2 +-\n Platform/Android/jni/XnDDK/Android.mk | 2 +-\n Platform/Android/jni/XnDeviceFile/Android.mk | 2 +-\n Platform/Android/jni/XnDeviceSensorV2/Android.mk | 2 +-\n Platform/Android/jni/XnFormats/Android.mk | 2 +-\n 7 files changed, 7 insertions(+), 194 deletions(-)\n\ndiff --git a/Data/GlobalDefaultsKinect.ini b/Data/GlobalDefaultsKinect.ini\nindex fcfec6c..652c1a6 100644\n--- a/Data/GlobalDefaultsKinect.ini\n+++ b/Data/GlobalDefaultsKinect.ini\n@@ -1,189 +1,2 @@\n-[Core]\r\n-; 0 - Verbose, 1 - Info, 2 - Warning, 3 - Error (default)\r\n-LogLevel=3\r\n-; leave empty for nothing (default). ALL - all masks\r\n-LogMasks=ALL\r\n-; 0 - No (default), 1 - Yes\r\n-;LogWriteToConsole=1\r\n-; 0 - No (default), 1 - Yes\r\n-LogWriteToFile=1\r\n-; 0 - No (default), 1 - Yes\r\n-;LogWriteLineInfo=0\r\n-; leave empty for nothing (default). ALL - all masks\r\n-;DumpMasks=\r\n-\r\n-; Number of milliseconds between profiling logs. 0 - Off (default)\r\n-;ProfilingInterval=1000\r\n-\r\n-;---------------- Server Default Configuration -------------------\r\n-[Server]\r\n-; Use a server to access sensor. 0 - No (single application), 1 - Yes (multiple applications). Default: Arm - 0, other platforms - 1. Not supported on Mac.\r\n-;EnableMultiProcess=0\r\n-\r\n-; When multi process is enabled, allows server and client running in different sessions. 0 - No (default), 1 - Yes\r\n-;EnableMultiUsers=0\r\n-\r\n-; The timeout in which a server goes down if no client is connected, in milliseconds\r\n-;ServerNoClientsTimeout=10000\r\n-\r\n-; The number of shared memory buffers per stream (default is 6). \r\n-; This value affects the number of concurrent clients to the server: (NumberOfBuffers = clients + 3)\r\n-;NumberOfBuffers=6\r\n-\r\n-;---------------- Sensor Default Configuration -------------------\r\n [Device]\r\n-; Mirroring. 0 - Off (default), 1 - On\r\n-;Mirror=1\r\n-\r\n-; FrameSync. 0 - Off (default), 1 - On\r\n-;FrameSync=1\r\n-\r\n-; Stream Data Timestamps. 0 - milliseconds, 1 - microseconds (default)\r\n-;HighResTimestamps=1\r\n-\r\n-; A filter for the firmware log. Default is determined by firmware.\r\n-;FirmwareLogFilter=0\r\n-\r\n-; Automatic firmare log retrieval. 0 - Off (default), or the number of milliseconds between log retrievals operations.\r\n-;FirmwareLogInterval=1000\r\n-\r\n-; Print firmware log to console when automatic firmware log retrieval is on. 0 - Off (default), 1 - On\r\n-;FirmwareLogPrint=1\r\n-\r\n-; Automatic firmware CPU statistics retrieval. 0 - Off (default), or the number of milliseconds between CPU retrievals operations.\r\n-;FirmwareCPUInterval=1000\r\n-\r\n-; Is APC enabled. 0 - Off, 1 - On (default)\r\n-;APCEnabled=1\r\n-\r\n-; USB interface to be used. 0 - FW Default, 1 - ISO endpoints, 2 - BULK endpoints. Default: Arm - 2, other platforms - 1\r\n-;UsbInterface=2\r\n-\r\n-[Depth]\r\n-; Output format. 0 - Shift values, 1 - 12-bit depth values (default)\r\n-;OutputFormat=1\r\n-\r\n-; Is stream mirrored. 0 - Off, 1 - On\r\n-;Mirror=1\r\n-\r\n-; 0 - QVGA (default), 1 - VGA\r\n-;Resolution=1\r\n-\r\n-; Frames per second (default is 30)\r\n-;FPS=30\r\n-\r\n-; Min depth cutoff. 0-10000 mm (default is 0)\r\n-;MinDepthValue=0\r\n-\r\n-; Max depth cutoff. 0-10000 mm (default is 10000)\r\n-;MaxDepthValue=10000\r\n-\r\n-; Input format. 0 - Uncompressed 16-bit, 1 - PS Compression, 3 - Packed 11-bit (default)\r\n-;InputFormat=1\r\n-\r\n-; Registration. 0 - Off (default), 1 - On\r\n-;Registration=1\r\n-\r\n-; Registration Type. 0 - Don't care (default), 1 - use hardware accelaration, 2 - perform in software\r\n-;RegistrationType=0\r\n-\r\n-; Hole Filler. 0 - Off, 1 - On (default)\r\n-;HoleFilter=1\r\n-\r\n-; White Balance. 0 - Off, 1 - On (default)\r\n-;WhiteBalancedEnabled=1\r\n-\r\n-; Gain. 0-50 (0 - Auto, 1 - Min., 50 - Max.). Default value is set by firmware.\r\n-;Gain=0\r\n-\r\n-; GMC Mode. 0 - Off, 1 - On (default)\r\n-;GMCMode=0\r\n-\r\n-; GMC Debug. 0 - Off (default), 1 - On\r\n-;GMCDebug=1\r\n-\r\n-; Depth Auto Gain Region-of-Interest. Default values are set by firmware.\r\n-;DepthAGCBin0MinDepth=500\r\n-;DepthAGCBin0MaxDepth=800\r\n-;DepthAGCBin1MinDepth=1500\r\n-;DepthAGCBin1MaxDepth=1800\r\n-;DepthAGCBin2MinDepth=2500\r\n-;DepthAGCBin2MaxDepth=2800\r\n-;DepthAGCBin3MinDepth=3500\r\n-;DepthAGCBin3MaxDepth=3800\r\n-\r\n-; Wavelength Correction Mechanism. 0 - Off (default), 1 - On\r\n-;WavelengthCorrection=1\r\n-\r\n-; Wavelength Correction debug info. 0 - Off (default), 1 - On\r\n-;WavelengthCorrectionDebug=1\r\n-\r\n-; Cropping section\r\n-[Depth.Cropping]\r\n-;OffsetX=0\r\n-;OffsetY=0\r\n-;SizeX=320\r\n-;SizeY=240\r\n-;Enabled=1\r\n-\r\n-[Image]\r\n-; Output format. 2 - Gray8 (2.0 MP only), 4 - YUV422, 5 - RGB24 (default)\r\n-;OutputFormat=5\r\n-\r\n-; Is stream mirrored. 0 - Off, 1 - On\r\n-;Mirror=1\r\n-\r\n-; 0 - QVGA (default), 1 - VGA, 2- SXGA (1.3MP) 3 - UXGA (2.0MP)\r\n-;Resolution=1\r\n-\r\n-; Frames per second (default is 30)\r\n-;FPS=30\r\n-\r\n-; Input format. 0 - BAYER (1.3MP or 2.0MP only), 1 - Compressed YUV422 (default in BULK), 2 - Jpeg, 5 - Uncompressed YUV422 (default in ISO), 6 - Uncompressed 8-bit BAYER\r\n-;InputFormat=5\r\n-\r\n-; Anti Flicker. 0 - Off (default), 50 - 50Hz, 60 - 60 Hz.\r\n-;Flicker=50\r\n-\r\n-; Image quality when using Jpeg. 1-10 (1 - Lowest, 10 - Highest (default))\r\n-;Quality=10\r\n-\r\n-; Cropping section\r\n-[Image.Cropping]\r\n-;OffsetX=0\r\n-;OffsetY=0\r\n-;SizeX=320\r\n-;SizeY=240\r\n-;Enabled=1\r\n-\r\n-[IR]\r\n-; Output format. 3 - Grayscale 16-bit, 5 - RGB24 (default)\r\n-;OutputFormat=3\r\n-\r\n-; Is stream mirrored. 0 - Off, 1 - On\r\n-;Mirror=1\r\n-\r\n-; 0 - QVGA (default), 1 - VGA, 2 - SXGA(1.3MP)\r\n-;Resolution=1\r\n-\r\n-; Frames per second (default is 30)\r\n-;FPS=30\r\n-\r\n-; Cropping section\r\n-[SensorIR.Cropping]\r\n-;OffsetX=0\r\n-;OffsetY=0\r\n-;SizeX=320\r\n-;SizeY=240\r\n-;Enabled=1\r\n-\r\n-[Audio]\r\n-; Sample Rate. 8000, 11025, 12000, 16000, 22050, 24000, 32000, 44100, 48000 (default)\r\n-;SampleRate=48000\r\n-\r\n-; Volume. 0-49 (0 - Mute, 1 - Min., 49 - Max.). Default is 12.\r\n-;LeftChannelVolume=12\r\n-;RightChannelVolume=12\r\n-\r\n-; Number of channels. 1, 2 (default)\r\n-;NumOfChannels=2\r\n+UsbInterface=1\r\ndiff --git a/Platform/Android/jni/Application.mk b/Platform/Android/jni/Application.mk\nindex 6d2da24..4f04cd6 100644\n--- a/Platform/Android/jni/Application.mk\n+++ b/Platform/Android/jni/Application.mk\n@@ -10,7 +10,7 @@ APP_CFLAGS := -O3 -ftree-vectorize -ffast-math -funroll-loops\n APP_CFLAGS += -fPIC\n \n ifeq ($(APP_ABI),armeabi-v7a)\n-\tAPP_CFLAGS += -march=armv7-a -mfloat-abi=softfp -mtune=cortex-a9 -mfp=vfpv3-d16 -mfpu=vfp\n+\tAPP_CFLAGS += -march=armv7-a -mfloat-abi=softfp -mtune=cortex-a9 -mfpu=vfp\n \n # optionally add NEON to compilation flags.\n # to activate, run: \"ndk-build USE_NEON=1\"\ndiff --git a/Platform/Android/jni/XnCore/Android.mk b/Platform/Android/jni/XnCore/Android.mk\nindex 979c53b..24e9932 100644\n--- a/Platform/Android/jni/XnCore/Android.mk\n+++ b/Platform/Android/jni/XnCore/Android.mk\n@@ -24,7 +24,7 @@ LOCAL_C_INCLUDES := \\\n \n LOCAL_CFLAGS:= -fvisibility=hidden -DXN_CORE_EXPORTS\n \n-LOCAL_LDFLAGS += -Wl,--export-dynamic --dynamic-linker \n+LOCAL_LDFLAGS += -Wl,--export-dynamic \n \n LOCAL_SHARED_LIBRARIES := OpenNI libusb\n \ndiff --git a/Platform/Android/jni/XnDDK/Android.mk b/Platform/Android/jni/XnDDK/Android.mk\nindex 3c5d70b..233fc1d 100644\n--- a/Platform/Android/jni/XnDDK/Android.mk\n+++ b/Platform/Android/jni/XnDDK/Android.mk\n@@ -25,7 +25,7 @@ LOCAL_C_INCLUDES := \\\n \n LOCAL_CFLAGS := -fvisibility=hidden -DXN_DDK_EXPORTS\n \n-LOCAL_LDFLAGS += -Wl,--export-dynamic --dynamic-linker \n+LOCAL_LDFLAGS += -Wl,--export-dynamic\n \n LOCAL_SHARED_LIBRARIES := OpenNI libusb XnCore XnFormats\n \ndiff --git a/Platform/Android/jni/XnDeviceFile/Android.mk b/Platform/Android/jni/XnDeviceFile/Android.mk\nindex 9fcabe5..68b9662 100644\n--- a/Platform/Android/jni/XnDeviceFile/Android.mk\n+++ b/Platform/Android/jni/XnDeviceFile/Android.mk\n@@ -25,7 +25,7 @@ LOCAL_C_INCLUDES := \\\n \n LOCAL_CFLAGS := -fvisibility=hidden -DXN_DEVICE_EXPORTS\n \n-LOCAL_LDFLAGS += -Wl,--export-dynamic --dynamic-linker \n+LOCAL_LDFLAGS += -Wl,--export-dynamic\n \n LOCAL_SHARED_LIBRARIES := OpenNI libusb XnCore XnFormats XnDDK\n \ndiff --git a/Platform/Android/jni/XnDeviceSensorV2/Android.mk b/Platform/Android/jni/XnDeviceSensorV2/Android.mk\nindex 8df6499..9af0b73 100644\n--- a/Platform/Android/jni/XnDeviceSensorV2/Android.mk\n+++ b/Platform/Android/jni/XnDeviceSensorV2/Android.mk\n@@ -25,7 +25,7 @@ LOCAL_C_INCLUDES := \\\n \n LOCAL_CFLAGS := -fvisibility=hidden -DXN_DEVICE_EXPORTS\n \n-LOCAL_LDFLAGS += -Wl,--export-dynamic --dynamic-linker \n+LOCAL_LDFLAGS += -Wl,--export-dynamic \n \n LOCAL_SHARED_LIBRARIES := OpenNI libusb XnCore XnFormats XnDDK\n \ndiff --git a/Platform/Android/jni/XnFormats/Android.mk b/Platform/Android/jni/XnFormats/Android.mk\nindex de31310..a60cf97 100644\n--- a/Platform/Android/jni/XnFormats/Android.mk\n+++ b/Platform/Android/jni/XnFormats/Android.mk\n@@ -27,7 +27,7 @@ LOCAL_C_INCLUDES := \\\n \n LOCAL_CFLAGS := -fvisibility=hidden -DXN_FORMATS_EXPORTS\n \n-LOCAL_LDFLAGS += -Wl,--export-dynamic --dynamic-linker \n+LOCAL_LDFLAGS += -Wl,--export-dynamic\n \n LOCAL_SHARED_LIBRARIES := OpenNI libusb XnCore\n \n-- \n2.4.11\n\n\nFrom 7e2b9c705a0b8e26216c4e6a13167e59807dffbb Mon Sep 17 00:00:00 2001\nFrom: \"Bruno Bodin (zebulon)\" \nDate: Tue, 26 Apr 2016 14:58:47 +0100\nSubject: [PATCH 2/2] fix build aarch64\n\n---\n Platform/Android/jni/Application.mk | 18 +++++++++---------\n 1 file changed, 9 insertions(+), 9 deletions(-)\n\ndiff --git a/Platform/Android/jni/Application.mk b/Platform/Android/jni/Application.mk\nindex 4f04cd6..909a024 100644\n--- a/Platform/Android/jni/Application.mk\n+++ b/Platform/Android/jni/Application.mk\n@@ -4,22 +4,22 @@ APP_STL := gnustl_static\n APP_PLATFORM := android-9\n \n # Build ARMv7-A machine code.\n-APP_ABI := armeabi-v7a\n+APP_ABI := arm64-v8a armeabi-v7a\n APP_CFLAGS := -O3 -ftree-vectorize -ffast-math -funroll-loops\n \n APP_CFLAGS += -fPIC\n \n-ifeq ($(APP_ABI),armeabi-v7a)\n-\tAPP_CFLAGS += -march=armv7-a -mfloat-abi=softfp -mtune=cortex-a9 -mfpu=vfp\n \n-# optionally add NEON to compilation flags.\n-# to activate, run: \"ndk-build USE_NEON=1\"\n-ifdef USE_NEON\n-$(call __ndk_info,Building everything with NEON support!)\n-\tAPP_CFLAGS += -mfpu=neon -DHAVE_NEON=1 -flax-vector-conversions\n-endif\n+ifeq ($(TARGET_ARCH),arm64)\n+\tAPP_CFLAGS += -march=armv8-a -DHAVE_NEON=1 -flax-vector-conversions\n+else\n+ifeq ($(TARGET_ARCH),arm)\n+\tAPP_CFLAGS += -march=armv7-a -mfloat-abi=softfp -mtune=cortex-a9 -mfpu=vfp -mfpu=neon -DHAVE_NEON=1 -flax-vector-conversions\n+ endif\n endif\n \n+\n+\n APP_CPPFLAGS += -frtti\n \n #$(call __ndk_info,APP_CFLAGS=$(APP_CFLAGS))\n-- \n2.4.11\n\n" }, { "path": "framework/patchs/freeimage.patch", "content": "From 8f0d44f1b1b8de0eda131210ce6e09e84f4deea0 Mon Sep 17 00:00:00 2001\nFrom: Ryan Coe \nDate: Fri, 23 Feb 2018 17:06:37 -0800\nSubject: [PATCH 1/1] fix float usage in powf64\n\nSigned-off-by: Ryan Coe \n---\n Source/LibRawLite/internal/dcraw_common.cpp | 11 +++++++++--\n 1 file changed, 9 insertions(+), 2 deletions(-)\n\ndiff --git a/Source/LibRawLite/internal/dcraw_common.cpp b/Source/LibRawLite/internal/dcraw_common.cpp\nindex 217133a9f9a1caccb77eae946b3af073f660b1cf..cde8e420ad66508feb1222b5fde7166104f6ff1a 100644\n--- a/Source/LibRawLite/internal/dcraw_common.cpp\n+++ b/Source/LibRawLite/internal/dcraw_common.cpp\n@@ -5543,11 +5543,18 @@ static float powf_lim(float a, float b, float limup)\n {\n return (b>limup || b < -limup)?0.f:powf(a,b);\n }\n-static float powf64(float a, float b)\n+static float powf64(const float a, const float b)\n {\n return powf_lim(a,b,64.f);\n }\n-\n+static float powf64(const int a, const int b)\n+{\n+ return powf_lim((float)a,(float)b,64.f);\n+}\n+static float powf64(const double a, const double b)\n+{\n+ return powf_lim((float)a,(float)b,64.f);\n+}\n \n #ifdef LIBRAW_LIBRARY_BUILD\n \n-- \n2.16.1\n\n" }, { "path": "framework/patchs/libopencl-stub_SLAMBench.patch", "content": "From 2c3bc3642a5177c9305da3b8dc93293ff576b4b9 Mon Sep 17 00:00:00 2001\nFrom: \"Bruno Bodin (zebulon)\" \nDate: Tue, 26 Apr 2016 17:20:51 +0100\nSubject: [PATCH] Slambench\n\n---\n Application.mk | 1 +\n include/clinfos.h | 2602 ++++++++++++++++++++++++++++++++++++++++++++++++++\n include/error.h | 53 +\n include/ext.h | 165 ++++\n include/fmtmacros.h | 28 +\n include/memory.h | 21 +\n include/ms_support.h | 47 +\n include/strbuf.h | 96 ++\n libopencl.c | 98 +-\n 9 files changed, 3107 insertions(+), 4 deletions(-)\n create mode 100644 Application.mk\n create mode 100644 include/clinfos.h\n create mode 100644 include/error.h\n create mode 100644 include/ext.h\n create mode 100644 include/fmtmacros.h\n create mode 100644 include/memory.h\n create mode 100644 include/ms_support.h\n create mode 100644 include/strbuf.h\n\ndiff --git a/Application.mk b/Application.mk\nnew file mode 100644\nindex 0000000..a252a72\n--- /dev/null\n+++ b/Application.mk\n@@ -0,0 +1 @@\n+APP_ABI := all\ndiff --git a/include/clinfos.h b/include/clinfos.h\nnew file mode 100644\nindex 0000000..0820fec\n--- /dev/null\n+++ b/include/clinfos.h\n@@ -0,0 +1,2602 @@\n+/* Collect all available information on all available devices\n+ * on all available OpenCL platforms present in the system\n+ */\n+\n+#include \n+#include \n+#include \n+\n+#ifndef RTLD_DEFAULT\n+#define RTLD_DEFAULT ((void*)0)\n+#endif\n+\n+/* Load STDC format macros (PRI*), or define them\n+ * for those crappy, non-standard compilers\n+ */\n+#include \"fmtmacros.h\"\n+\n+// Support for the horrible MS C compiler\n+#ifdef _MSC_VER\n+#include \"ms_support.h\"\n+#endif\n+\n+#include \"ext.h\"\n+#include \"error.h\"\n+#include \"memory.h\"\n+#include \"strbuf.h\"\n+\n+#define ARRAY_SIZE(ar) (sizeof(ar)/sizeof(*ar))\n+#define UNUSED __attribute__((unused))\n+\n+struct platform_data {\n+\tchar *pname; /* CL_PLATFORM_NAME */\n+\tchar *sname; /* CL_PLATFORM_ICD_SUFFIX_KHR or surrogate */\n+\tcl_uint ndevs; /* number of devices */\n+\tcl_bool has_amd_offline; /* has cl_amd_offline_devices extension */\n+};\n+\n+struct platform_info_checks {\n+\tint has_khr_icd;\n+\tcl_uint plat_version;\n+};\n+\n+cl_uint num_platforms;\n+cl_platform_id *platform;\n+/* highest version exposed by any platform: if the OpenCL library (the ICD loader)\n+ * has a lower version, problems may arise (such as API calls causing segfaults\n+ * or any other unexpected behavior\n+ */\n+cl_uint max_plat_version;\n+/* auto-detected OpenCL version support for the ICD loader */\n+cl_uint icdl_ocl_version_found = 10;\n+/* OpenCL version support declared by the ICD loader */\n+cl_uint icdl_ocl_version;\n+\n+struct platform_data *pdata;\n+/* maximum length of a platform's sname */\n+size_t platform_sname_maxlen;\n+/* maximum number of devices */\n+cl_uint maxdevs;\n+/* line prefix, used to identify the platform/device for each\n+ * device property in RAW output mode */\n+char *line_pfx;\n+int line_pfx_len;\n+\n+cl_uint num_devs_all;\n+\n+cl_device_id *all_devices;\n+\n+enum output_modes {\n+\tCLINFO_HUMAN = 1, /* more human readable */\n+\t\t\tCLINFO_RAW = 2, /* property-by-property */\n+\t\t\tCLINFO_BOTH = CLINFO_HUMAN | CLINFO_RAW\n+};\n+\n+enum output_modes output_mode = CLINFO_HUMAN;\n+\n+/* Specify if we should only be listing the platform and devices;\n+ * can be done in both human and raw mode, and only the platform\n+ * and device names (and number) will be shown\n+ * TODO check if terminal supports UTF-8 and use Unicode line-drawing\n+ * for the tree in list mode\n+ */\n+cl_bool list_only = CL_FALSE;\n+\n+static const char unk[] = \"Unknown\";\n+static const char none[] = \"None\";\n+static const char none_raw[] = \"CL_NONE\";\n+static const char na[] = \"n/a\"; // not available\n+static const char core[] = \"core\"; // not available\n+\n+static const char bytes_str[] = \" bytes\";\n+static const char pixels_str[] = \" pixels\";\n+static const char images_str[] = \" images\";\n+\n+static const char* bool_str[] = { \"No\", \"Yes\" };\n+static const char* bool_raw_str[] = { \"CL_FALSE\", \"CL_TRUE\" };\n+\n+static const char* endian_str[] = { \"Big-Endian\", \"Little-Endian\" };\n+\n+static const cl_device_type devtype[] = { 0,\n+\t\t\t\t\t\t\t\t\t\t CL_DEVICE_TYPE_DEFAULT, CL_DEVICE_TYPE_CPU, CL_DEVICE_TYPE_GPU,\n+\t\t\t\t\t\t\t\t\t\t CL_DEVICE_TYPE_ACCELERATOR, CL_DEVICE_TYPE_CUSTOM, CL_DEVICE_TYPE_ALL };\n+\n+const size_t devtype_count = ARRAY_SIZE(devtype);\n+\n+static const char* device_type_str[] = { unk, \"Default\", \"CPU\", \"GPU\", \"Accelerator\", \"Custom\", \"All\" };\n+static const char* device_type_raw_str[] = { unk,\n+\t\t\t\t\t\t\t\t\t\t\t \"CL_DEVICE_TYPE_DEFAULT\", \"CL_DEVICE_TYPE_CPU\", \"CL_DEVICE_TYPE_GPU\",\n+\t\t\t\t\t\t\t\t\t\t\t \"CL_DEVICE_TYPE_ACCELERATOR\", \"CL_DEVICE_TYPE_CUSTOM\", \"CL_DEVICE_TYPE_ALL\"\n+};\n+\n+static const char* partition_type_str[] = {\n+\t\t\"none specified\", none, \"equally\", \"by counts\", \"by affinity domain\", \"by names (Intel)\"\n+};\n+static const char* partition_type_raw_str[] = {\n+\t\t\"NONE SPECIFIED\",\n+\t\tnone_raw,\n+\t\t\"CL_DEVICE_PARTITION_EQUALLY_EXT\",\n+\t\t\"CL_DEVICE_PARTITION_BY_COUNTS_EXT\",\n+\t\t\"CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT\",\n+\t\t\"CL_DEVICE_PARTITION_BY_NAMES_INTEL_EXT\"\n+};\n+\n+static const char numa[] = \"NUMA\";\n+static const char l1cache[] = \"L1 cache\";\n+static const char l2cache[] = \"L2 cache\";\n+static const char l3cache[] = \"L3 cache\";\n+static const char l4cache[] = \"L4 cache\";\n+\n+static const char* affinity_domain_str[] = {\n+\t\tnuma, l4cache, l3cache, l2cache, l1cache, \"next partitionable\"\n+};\n+\n+static const char* affinity_domain_ext_str[] = {\n+\t\tnuma, l4cache, l3cache, l2cache, l1cache, \"next fissionable\"\n+};\n+\n+static const char* affinity_domain_raw_str[] = {\n+\t\t\"CL_DEVICE_AFFINITY_DOMAIN_NUMA\",\n+\t\t\"CL_DEVICE_AFFINITY_DOMAIN_L4_CACHE\",\n+\t\t\"CL_DEVICE_AFFINITY_DOMAIN_L3_CACHE\",\n+\t\t\"CL_DEVICE_AFFINITY_DOMAIN_L2_CACHE\",\n+\t\t\"CL_DEVICE_AFFINITY_DOMAIN_L1_CACHE\",\n+\t\t\"CL_DEVICE_AFFINITY_DOMAIN_NEXT_PARTITIONABLE\"\n+};\n+\n+static const char* affinity_domain_raw_ext_str[] = {\n+\t\t\"CL_AFFINITY_DOMAIN_NUMA_EXT\",\n+\t\t\"CL_AFFINITY_DOMAIN_L4_CACHE_EXT\",\n+\t\t\"CL_AFFINITY_DOMAIN_L3_CACHE_EXT\",\n+\t\t\"CL_AFFINITY_DOMAIN_L2_CACHE_EXT\",\n+\t\t\"CL_AFFINITY_DOMAIN_L1_CACHE_EXT\",\n+\t\t\"CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT\"\n+};\n+\n+const size_t affinity_domain_count = ARRAY_SIZE(affinity_domain_str);\n+\n+static const char* fp_conf_str[] = {\n+\t\t\"Denormals\", \"Infinity and NANs\", \"Round to nearest\", \"Round to zero\",\n+\t\t\"Round to infinity\", \"IEEE754-2008 fused multiply-add\",\n+\t\t\"Support is emulated in software\",\n+\t\t\"Correctly-rounded divide and sqrt operations\"\n+};\n+\n+static const char* fp_conf_raw_str[] = {\n+\t\t\"CL_FP_DENORM\",\n+\t\t\"CL_FP_INF_NAN\",\n+\t\t\"CL_FP_ROUND_TO_NEAREST\",\n+\t\t\"CL_FP_ROUND_TO_ZERO\",\n+\t\t\"CL_FP_ROUND_TO_INF\",\n+\t\t\"CL_FP_FMA\",\n+\t\t\"CL_FP_SOFT_FLOAT\",\n+\t\t\"CL_FP_CORRECTLY_ROUNDED_DIVIDE_SQRT\"\n+};\n+\n+const size_t fp_conf_count = ARRAY_SIZE(fp_conf_str);\n+\n+static const char* svm_cap_str[] = {\n+\t\t\"Coarse-grained buffer sharing\",\n+\t\t\"Fine-grained buffer sharing\",\n+\t\t\"Fine-grained system sharing\",\n+\t\t\"Atomics\"\n+};\n+\n+static const char* svm_cap_raw_str[] = {\n+\t\t\"CL_DEVICE_SVM_COARSE_GRAIN_BUFFER\",\n+\t\t\"CL_DEVICE_SVM_FINE_GRAIN_BUFFER\",\n+\t\t\"CL_DEVICE_SVM_FINE_GRAIN_SYSTEM\",\n+\t\t\"CL_DEVICE_SVM_ATOMICS\",\n+};\n+\n+const size_t svm_cap_count = ARRAY_SIZE(svm_cap_str);\n+\n+static const char* memsfx[] = {\n+\t\t\"B\", \"KiB\", \"MiB\", \"GiB\", \"TiB\"\n+};\n+\n+const size_t memsfx_count = ARRAY_SIZE(memsfx);\n+\n+static const char* lmem_type_str[] = { none, \"Local\", \"Global\" };\n+static const char* lmem_type_raw_str[] = { none_raw, \"CL_LOCAL\", \"CL_GLOBAL\" };\n+static const char* cache_type_str[] = { none, \"Read-Only\", \"Read/Write\" };\n+static const char* cache_type_raw_str[] = { none_raw, \"CL_READ_ONLY_CACHE\", \"CL_READ_WRITE_CACHE\" };\n+\n+static const char* queue_prop_str[] = { \"Out-of-order execution\", \"Profiling\" };\n+static const char* queue_prop_raw_str[] = {\n+\t\t\"CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE\",\n+\t\t\"CL_QUEUE_PROFILING_ENABLE\"\n+};\n+\n+const size_t queue_prop_count = ARRAY_SIZE(queue_prop_str);\n+\n+static const char* execap_str[] = { \"Run OpenCL kernels\", \"Run native kernels\" };\n+static const char* execap_raw_str[] = {\n+\t\t\"CL_EXEC_KERNEL\",\n+\t\t\"CL_EXEC_NATIVE_KERNEL\"\n+};\n+\n+const size_t execap_count = ARRAY_SIZE(execap_str);\n+\n+static const char* sources[] = {\n+\t\t\"#define GWO(type) global type* restrict\\n\",\n+\t\t\"#define GRO(type) global const type* restrict\\n\",\n+\t\t\"#define BODY int i = get_global_id(0); out[i] = in1[i] + in2[i]\\n\",\n+\t\t\"#define _KRN(T, N) void kernel sum##N(GWO(T##N) out, GRO(T##N) in1, GRO(T##N) in2) { BODY; }\\n\",\n+\t\t\"#define KRN(N) _KRN(float, N)\\n\",\n+\t\t\"KRN()\\n/* KRN(2)\\nKRN(4)\\nKRN(8)\\nKRN(16) */\\n\",\n+};\n+\n+const char *no_plat(void)\n+{\n+\treturn output_mode == CLINFO_HUMAN ?\n+\t\t \"No platform\" :\n+\t\t \"CL_INVALID_PLATFORM\";\n+}\n+\n+const char *no_dev(void)\n+{\n+\treturn output_mode == CLINFO_HUMAN ?\n+\t\t \"No devices found in platform\" :\n+\t\t \"CL_DEVICE_NOT_FOUND\";\n+}\n+\n+const char *no_dev_avail(void)\n+{\n+\treturn output_mode == CLINFO_HUMAN ?\n+\t\t \"No devices available in platform\" :\n+\t\t \"CL_DEVICE_NOT_AVAILABLE\";\n+}\n+\n+\n+/* preferred workgroup size multiple for each kernel\n+ * have not found a platform where the WG multiple changes,\n+ * but keep this flexible (this can grow up to 5)\n+ */\n+#define NUM_KERNELS 1\n+size_t wgm[NUM_KERNELS];\n+\n+#define INDENT \" \"\n+#define I0_STR \"%-48s \"\n+#define I1_STR \" %-46s \"\n+#define I2_STR \" %-44s \"\n+\n+static const char empty_str[] = \"\";\n+static const char spc_str[] = \" \";\n+static const char times_str[] = \"x\";\n+static const char comma_str[] = \", \";\n+static const char vbar_str[] = \" | \";\n+\n+int had_error = 0;\n+const char *cur_sfx = empty_str;\n+\n+/* parse a CL_DEVICE_VERSION or CL_PLATFORM_VERSION info to determine the OpenCL version.\n+ * Returns an unsigned integer in the form major*10 + minor\n+ */\n+cl_uint\n+getOpenCLVersion(const char *version)\n+{\n+\tcl_uint ret = 10;\n+\tlong parse = 0;\n+\tconst char *from = version;\n+\tchar *next = NULL;\n+\tparse = strtol(from, &next, 10);\n+\n+\tif (next != from) {\n+\t\tret = parse*10;\n+\t\t// skip the dot TODO should we actually check for the dot?\n+\t\tfrom = ++next;\n+\t\tparse = strtol(from, &next, 10);\n+\t\tif (next != from)\n+\t\t\tret += parse;\n+\t}\n+\treturn ret;\n+}\n+\n+\n+/* print strbuf, prefixed by pname, skipping leading whitespace if skip is nonzero,\n+ * affixing cur_sfx */\n+static inline\n+void show_strbuf(const char *pname, int skip)\n+{\n+LOGI(\"%s\" I1_STR \"%s%s\\n\",\n+\t\t line_pfx, pname,\n+\t\t (skip ? skip_leading_ws(strbuf) : strbuf),\n+\t\t had_error ? empty_str : cur_sfx);\n+}\n+\n+int\n+platform_info_str(cl_platform_id pid, cl_platform_info param, const char* pname, const struct platform_info_checks * chk UNUSED)\n+{\n+\terror = clGetPlatformInfo(pid, param, 0, NULL, &nusz);\n+\tif (nusz > bufsz) {\n+\t\tREALLOC(strbuf, nusz, current_param);\n+\t\tbufsz = nusz;\n+\t}\n+\thad_error = REPORT_ERROR2(\"get %s size\");\n+\tif (!had_error) {\n+\t\terror = clGetPlatformInfo(pid, param, bufsz, strbuf, NULL);\n+\t\thad_error = REPORT_ERROR2(\"get %s\");\n+\t}\n+\t/* when only listing, do not print anything we're just gathering\n+\t * information\n+\t */\n+\tif (!list_only)\n+\t\tshow_strbuf(pname, 1);\n+\treturn had_error;\n+}\n+\n+int\n+platform_info_ulong(cl_platform_id pid, cl_platform_info param, const char* pname, const struct platform_info_checks * chk UNUSED)\n+{\n+\tcl_ulong val = 0;\n+\n+\terror = clGetPlatformInfo(pid, param, sizeof(val), &val, NULL);\n+\thad_error = REPORT_ERROR2(\"get %s\");\n+\t/* when only listing, do not print anything we're just gathering\n+\t * information\n+\t */\n+\tif (!list_only) {\n+\t\tif (had_error)\n+\t\t\tshow_strbuf(pname, 0);\n+\t\telse\n+\t\t\tLOGI(\"%s\" I1_STR \"%\" PRIu64 \"%s\\n\", line_pfx, pname, val, cur_sfx);\n+\t}\n+\treturn had_error;\n+}\n+\n+struct platform_info_traits {\n+\tcl_platform_info param; // CL_PLATFORM_*\n+\tconst char *sname; // \"CL_PLATFORM_*\"\n+\tconst char *pname; // \"Platform *\"\n+\tconst char *sfx; // suffix for the output in non-raw mode\n+\t/* pointer to function that shows the parameter */\n+\tint (*show_func)(cl_platform_id pid, cl_platform_info param, const char *pname, const struct platform_info_checks *);\n+\t/* pointer to function that checks if the parameter should be checked */\n+\tint (*check_func)(const struct platform_info_checks *);\n+};\n+\n+int khr_icd_p(const struct platform_info_checks *chk)\n+{\n+\treturn chk->has_khr_icd;\n+}\n+\n+int plat_is_21(const struct platform_info_checks *chk)\n+{\n+\treturn !(chk->plat_version < 21);\n+}\n+\n+#define PINFO_COND(symbol, name, sfx, typ, funcptr) { symbol, #symbol, \"Platform \" name, sfx, &platform_info_##typ, &funcptr }\n+#define PINFO(symbol, name, sfx, typ) { symbol, #symbol, \"Platform \" name, sfx, &platform_info_##typ, NULL }\n+struct platform_info_traits pinfo_traits[] = {\n+\t\tPINFO(CL_PLATFORM_NAME, \"Name\", NULL, str),\n+\t\tPINFO(CL_PLATFORM_VENDOR, \"Vendor\", NULL, str),\n+\t\tPINFO(CL_PLATFORM_VERSION, \"Version\", NULL, str),\n+\t\tPINFO(CL_PLATFORM_PROFILE, \"Profile\", NULL, str),\n+\t\tPINFO(CL_PLATFORM_EXTENSIONS, \"Extensions\", NULL, str),\n+\t\tPINFO_COND(CL_PLATFORM_HOST_TIMER_RESOLUTION, \"Host timer resolution\", \"ns\", ulong, plat_is_21),\n+\t\tPINFO_COND(CL_PLATFORM_ICD_SUFFIX_KHR, \"Extensions function suffix\", NULL, str, khr_icd_p)\n+};\n+\n+/* Print platform info and prepare arrays for device info */\n+void\n+printPlatformInfo(cl_uint p)\n+{\n+\tcl_platform_id pid = platform[p];\n+\tsize_t len = 0;\n+\n+\tstruct platform_info_checks pinfo_checks = { 0, 10 };\n+\n+\tcurrent_function = __func__;\n+\n+\tfor (current_line = 0; current_line < ARRAY_SIZE(pinfo_traits); ++current_line) {\n+\t\tconst struct platform_info_traits *traits = pinfo_traits + current_line;\n+\t\tconst char *pname = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t traits->pname : traits->sname);\n+\n+\t\tcurrent_param = traits->sname;\n+\n+\t\tif (traits->check_func && !traits->check_func(&pinfo_checks))\n+\t\t\tcontinue;\n+\n+\t\tcur_sfx = (output_mode == CLINFO_HUMAN && traits->sfx) ? traits->sfx : empty_str;\n+\n+\t\thad_error = traits->show_func(pid, traits->param,\n+\t\t\t\t\t\t\t\t\t pname, &pinfo_checks);\n+\n+\t\tif (had_error)\n+\t\t\tcontinue;\n+\n+\t\t/* post-processing */\n+\n+\t\tswitch (traits->param) {\n+\t\t\tcase CL_PLATFORM_NAME:\n+\t\t\t\t/* Store name for future reference */\n+\t\t\t\tlen = strlen(strbuf);\n+\t\t\t\tALLOC(pdata[p].pname, len+1, \"platform name copy\");\n+\t\t\t\t/* memcpy instead of strncpy since we already have the len\n+ * and memcpy is possibly more optimized */\n+\t\t\t\tmemcpy(pdata[p].pname, strbuf, len);\n+\t\t\t\tpdata[p].pname[len] = '\\0';\n+\t\t\t\tbreak;\n+\t\t\tcase CL_PLATFORM_VERSION:\n+\t\t\t\t/* compute numeric value for OpenCL version */\n+\t\t\t\tpinfo_checks.plat_version = getOpenCLVersion(strbuf + 7);\n+\t\t\t\tbreak;\n+\t\t\tcase CL_PLATFORM_EXTENSIONS:\n+\t\t\t\tpinfo_checks.has_khr_icd = !!strstr(strbuf, \"cl_khr_icd\");\n+\t\t\t\tpdata[p].has_amd_offline = !!strstr(strbuf, \"cl_amd_offline_devices\");\n+\t\t\t\tbreak;\n+\t\t\tcase CL_PLATFORM_ICD_SUFFIX_KHR:\n+\t\t\t\t/* Store ICD suffix for future reference */\n+\t\t\t\tlen = strlen(strbuf);\n+\t\t\t\tALLOC(pdata[p].sname, len+1, \"platform ICD suffix copy\");\n+\t\t\t\t/* memcpy instead of strncpy since we already have the len\n+ * and memcpy is possibly more optimized */\n+\t\t\t\tmemcpy(pdata[p].sname, strbuf, len);\n+\t\t\t\tpdata[p].sname[len] = '\\0';\n+\t\t\tdefault:\n+\t\t\t\t/* do nothing */\n+\t\t\t\tbreak;\n+\t\t}\n+\n+\t}\n+\n+\tif (pinfo_checks.plat_version > max_plat_version)\n+\t\tmax_plat_version = pinfo_checks.plat_version;\n+\n+\t/* if no CL_PLATFORM_ICD_SUFFIX_KHR, use P### as short/symbolic name */\n+\tif (!pdata[p].sname) {\n+#define SNAME_MAX 32\n+\t\tALLOC(pdata[p].sname, SNAME_MAX, \"platform symbolic name\");\n+\t\tsnprintf(pdata[p].sname, SNAME_MAX, \"P%u\", p);\n+\t}\n+\n+\tlen = strlen(pdata[p].sname);\n+\tif (len > platform_sname_maxlen)\n+\t\tplatform_sname_maxlen = len;\n+\n+\terror = clGetDeviceIDs(pid, CL_DEVICE_TYPE_ALL, 0, NULL, &(pdata[p].ndevs));\n+\tif (error == CL_DEVICE_NOT_FOUND)\n+\t\tpdata[p].ndevs = 0;\n+\telse\n+\t\tCHECK_ERROR(\"number of devices\");\n+\n+\tnum_devs_all += pdata[p].ndevs;\n+\n+\tif (pdata[p].ndevs > maxdevs)\n+\t\tmaxdevs = pdata[p].ndevs;\n+}\n+\n+int\n+getWGsizes(cl_platform_id pid, cl_device_id dev)\n+{\n+\tint ret = 0;\n+\n+#define RR_ERROR(what) do { \\\n+\thad_error = REPORT_ERROR(what); \\\n+\tif (had_error) { \\\n+\t\tret = error; \\\n+\t\tgoto out; \\\n+\t} \\\n+} while(0)\n+\n+\n+\tcl_context_properties ctxpft[] = {\n+\t\t\tCL_CONTEXT_PLATFORM, (cl_context_properties)pid,\n+\t\t\t0, 0 };\n+\tcl_uint cursor = 0;\n+\tcl_context ctx = NULL;\n+\tcl_program prg = NULL;\n+\tcl_kernel krn = NULL;\n+\n+\tctx = clCreateContext(ctxpft, 1, &dev, NULL, NULL, &error);\n+\tRR_ERROR(\"create context\");\n+\tprg = clCreateProgramWithSource(ctx, ARRAY_SIZE(sources), sources, NULL, &error);\n+\tRR_ERROR(\"create program\");\n+\terror = clBuildProgram(prg, 1, &dev, NULL, NULL, NULL);\n+\thad_error = REPORT_ERROR(\"build program\");\n+\tif (had_error)\n+\t\tret = error;\n+\n+\t/* for a program build failure, dump the log to stderr before bailing */\n+\tif (error == CL_BUILD_PROGRAM_FAILURE) {\n+\t\tGET_STRING(clGetProgramBuildInfo, CL_PROGRAM_BUILD_LOG, \"CL_PROGRAM_BUILD_LOG\", prg, dev);\n+\t\tif (error == CL_SUCCESS) {\n+\t\t\tfputs(\"=== CL_PROGRAM_BUILD_LOG ===\\n\", stderr);\n+\t\t\tfputs(strbuf, stderr);\n+\t\t}\n+\t}\n+\tif (had_error)\n+\t\tgoto out;\n+\n+\tfor (cursor = 0; cursor < NUM_KERNELS; ++cursor) {\n+\t\tsnprintf(strbuf, bufsz, \"sum%u\", 1<has_##ext[0]); \\\n+}\n+\n+DEFINE_EXT_CHECK(half)\n+DEFINE_EXT_CHECK(double)\n+DEFINE_EXT_CHECK(nv)\n+DEFINE_EXT_CHECK(amd)\n+DEFINE_EXT_CHECK(svm_ext)\n+DEFINE_EXT_CHECK(fission)\n+DEFINE_EXT_CHECK(atomic_counters)\n+DEFINE_EXT_CHECK(image2d_buffer)\n+DEFINE_EXT_CHECK(intel_local_thread)\n+DEFINE_EXT_CHECK(intel_AME)\n+DEFINE_EXT_CHECK(altera_dev_temp)\n+DEFINE_EXT_CHECK(spir)\n+DEFINE_EXT_CHECK(qcom_ext_host_ptr)\n+DEFINE_EXT_CHECK(simultaneous_sharing)\n+\n+/* In the version checks we negate the opposite conditions\n+ * instead of double-negating the actual condition\n+ */\n+\n+// device supports 1.2\n+int dev_is_12(const struct device_info_checks *chk)\n+{\n+\treturn !(chk->dev_version < 12);\n+}\n+\n+// device supports 2.0\n+int dev_is_20(const struct device_info_checks *chk)\n+{\n+\treturn !(chk->dev_version < 20);\n+}\n+\n+// device supports 2.1\n+int dev_is_21(const struct device_info_checks *chk)\n+{\n+\treturn !(chk->dev_version < 21);\n+}\n+\n+// device does not support 2.0\n+int dev_not_20(const struct device_info_checks *chk)\n+{\n+\treturn !(chk->dev_version >= 20);\n+}\n+\n+\n+int dev_is_gpu(const struct device_info_checks *chk)\n+{\n+\treturn !!(chk->devtype & CL_DEVICE_TYPE_GPU);\n+}\n+\n+int dev_is_gpu_amd(const struct device_info_checks *chk)\n+{\n+\treturn dev_is_gpu(chk) && dev_has_amd(chk);\n+}\n+\n+int dev_has_svm(const struct device_info_checks *chk)\n+{\n+\treturn dev_is_20(chk) || dev_has_svm_ext(chk);\n+}\n+\n+int dev_has_partition(const struct device_info_checks *chk)\n+{\n+\treturn dev_is_12(chk) || dev_has_fission(chk);\n+}\n+\n+int dev_has_cache(const struct device_info_checks *chk)\n+{\n+\treturn chk->cachetype != CL_NONE;\n+}\n+\n+int dev_has_lmem(const struct device_info_checks *chk)\n+{\n+\treturn chk->lmemtype != CL_NONE;\n+}\n+\n+int dev_has_images(const struct device_info_checks *chk)\n+{\n+\treturn chk->image_support;\n+}\n+\n+int dev_has_images_12(const struct device_info_checks *chk)\n+{\n+\treturn dev_has_images(chk) && dev_is_12(chk);\n+}\n+\n+int dev_has_images_20(const struct device_info_checks *chk)\n+{\n+\treturn dev_has_images(chk) && dev_is_20(chk);\n+}\n+\n+\n+void identify_device_extensions(const char *extensions, struct device_info_checks *chk)\n+{\n+#define _HAS_EXT(ext) (strstr(extensions, ext))\n+#define HAS_EXT(ext) _HAS_EXT(#ext)\n+#define CPY_EXT(what, ext) do { \\\n+\tstrncpy(chk->has_##what, has, sizeof(ext)); \\\n+\tchk->has_##what[sizeof(ext)-1] = '\\0'; \\\n+} while (0)\n+#define CHECK_EXT(what, ext) do { \\\n+\thas = _HAS_EXT(#ext); \\\n+\tif (has) CPY_EXT(what, #ext); \\\n+} while(0)\n+\n+\tchar *has;\n+\tCHECK_EXT(half, cl_khr_fp16);\n+\tCHECK_EXT(spir, cl_khr_spir);\n+\tCHECK_EXT(double, cl_khr_fp64);\n+\tif (!dev_has_double(chk))\n+\t\tCHECK_EXT(double, cl_amd_fp64);\n+\tif (!dev_has_double(chk))\n+\t\tCHECK_EXT(double, cl_APPLE_fp64_basic_ops);\n+\tCHECK_EXT(nv, cl_nv_device_attribute_query);\n+\tCHECK_EXT(amd, cl_amd_device_attribute_query);\n+\tCHECK_EXT(svm_ext, cl_amd_svm);\n+\tCHECK_EXT(fission, cl_ext_device_fission);\n+\tCHECK_EXT(atomic_counters, cl_ext_atomic_counters_64);\n+\tif (dev_has_atomic_counters(chk))\n+\t\tCHECK_EXT(atomic_counters, cl_ext_atomic_counters_32);\n+\tCHECK_EXT(image2d_buffer, cl_khr_image2d_from_buffer);\n+\tCHECK_EXT(intel_local_thread, cl_intel_exec_by_local_thread);\n+\tCHECK_EXT(intel_AME, cl_intel_advanced_motion_estimation);\n+\tCHECK_EXT(altera_dev_temp, cl_altera_device_temperature);\n+\tCHECK_EXT(qcom_ext_host_ptr, cl_qcom_ext_host_ptr);\n+\tCHECK_EXT(simultaneous_sharing, cl_intel_simultaneous_sharing);\n+}\n+\n+\n+\n+/*\n+ * Device info print functions\n+ */\n+\n+#define _GET_VAL \\\n+\terror = clGetDeviceInfo(dev, param, sizeof(val), &val, NULL); \\\n+\thad_error = REPORT_ERROR2(\"get %s\");\n+\n+#define _GET_VAL_ARRAY \\\n+\terror = clGetDeviceInfo(dev, param, 0, NULL, &szval); \\\n+\thad_error = REPORT_ERROR2(\"get number of %s\"); \\\n+\tnumval = szval/sizeof(val); \\\n+\tif (!had_error) { \\\n+\t\tREALLOC(val, numval, current_param); \\\n+\t\terror = clGetDeviceInfo(dev, param, szval, val, NULL); \\\n+\t\thad_error = REPORT_ERROR(\"get %s\"); \\\n+\t}\n+\n+#define GET_VAL do { \\\n+\t_GET_VAL \\\n+} while (0)\n+\n+#define GET_VAL_ARRAY do { \\\n+\t_GET_VAL_ARRAY \\\n+} while (0)\n+\n+#define _FMT_VAL(fmt) \\\n+\tif (had_error) \\\n+\t\tshow_strbuf(pname, 0); \\\n+\telse \\\n+\t\tLOGI(\"%s\" I1_STR fmt \"%s\\n\", line_pfx, pname, val, cur_sfx);\n+\n+#define FMT_VAL(fmt) do { \\\n+\t_FMT_VAL(fmt) \\\n+} while (0)\n+\n+#define SHOW_VAL(fmt) do { \\\n+\t_GET_VAL \\\n+\t_FMT_VAL(fmt) \\\n+} while (0)\n+\n+#define DEFINE_DEVINFO_SHOW(how, type, fmt) \\\n+int device_info_##how(cl_device_id dev, cl_device_info param, const char *pname, \\\n+\tconst struct device_info_checks *chk UNUSED) \\\n+{ \\\n+\ttype val = 0; \\\n+\tSHOW_VAL(fmt); \\\n+\treturn had_error; \\\n+}\n+\n+/* Get string-type info without showing it */\n+int device_info_str_get(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\tconst struct device_info_checks *chk UNUSED)\n+{\n+\tcurrent_param = pname;\n+\terror = clGetDeviceInfo(dev, param, 0, NULL, &nusz);\n+\tif (nusz > bufsz) {\n+\t\tREALLOC(strbuf, nusz, current_param);\n+\t\tbufsz = nusz;\n+\t}\n+\thad_error = REPORT_ERROR2(\"get %s size\");\n+\tif (!had_error) {\n+\t\terror = clGetDeviceInfo(dev, param, bufsz, strbuf, NULL);\n+\t\thad_error = REPORT_ERROR2(\"get %s\");\n+\t}\n+\treturn had_error;\n+}\n+\n+int device_info_str(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\tconst struct device_info_checks *chk)\n+{\n+\thad_error = device_info_str_get(dev, param, pname, chk);\n+\tshow_strbuf(pname, 1);\n+\treturn had_error;\n+}\n+\n+DEFINE_DEVINFO_SHOW(int, cl_uint, \"%u\")\n+DEFINE_DEVINFO_SHOW(hex, cl_uint, \"0x%x\")\n+DEFINE_DEVINFO_SHOW(long, cl_ulong, \"%\" PRIu64)\n+DEFINE_DEVINFO_SHOW(sz, size_t, \"%\" PRIuS)\n+\n+int device_info_bool(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tcl_bool val = 0;\n+\tconst char * const * str = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\tbool_str : bool_raw_str);\n+\tGET_VAL;\n+\tif (had_error)\n+\t\tshow_strbuf(pname, 0);\n+\telse {\n+\t\tLOGI(\"%s\" I1_STR \"%s%s\\n\", line_pfx, pname, str[val], cur_sfx);\n+\t\t/* abuse strbuf to pass the bool value up to the caller,\n+\t\t * this is used e.g. by CL_DEVICE_IMAGE_SUPPORT\n+\t\t */\n+\t\tmemcpy(strbuf, &val, sizeof(val));\n+\t}\n+\treturn had_error;\n+}\n+\n+int device_info_bits(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tcl_uint val;\n+\tGET_VAL;\n+\tif (!had_error)\n+\t\tsprintf(strbuf, \"%u bits (%u bytes)\", val, val/8);\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+\n+size_t strbuf_mem(cl_ulong val, size_t szval)\n+{\n+\tdouble dbl = val;\n+\tsize_t sfx = 0;\n+\twhile (dbl > 1024 && sfx < memsfx_count) {\n+\t\tdbl /= 1024;\n+\t\t++sfx;\n+\t}\n+\treturn sprintf(strbuf + szval, \" (%.4lg%s)\",\n+\t\t\t\t dbl, memsfx[sfx]);\n+}\n+\n+int device_info_mem(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\tconst struct device_info_checks *chk UNUSED)\n+{\n+\tcl_ulong val = 0;\n+\tsize_t szval = 0;\n+\tGET_VAL;\n+\tif (!had_error) {\n+\t\tszval += sprintf(strbuf, \"%\" PRIu64, val);\n+\t\tif (output_mode == CLINFO_HUMAN && val > 1024)\n+\t\t\tstrbuf_mem(val, szval);\n+\t}\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+int device_info_mem_int(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\tconst struct device_info_checks *chk UNUSED)\n+{\n+\tcl_uint val = 0;\n+\tsize_t szval = 0;\n+\tGET_VAL;\n+\tif (!had_error) {\n+\t\tszval += sprintf(strbuf, \"%u\", val);\n+\t\tif (output_mode == CLINFO_HUMAN && val > 1024)\n+\t\t\tstrbuf_mem(val, szval);\n+\t}\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+int device_info_free_mem_amd(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tsize_t *val = NULL;\n+\tsize_t szval = 0, numval = 0;\n+\tGET_VAL_ARRAY;\n+\tif (!had_error) {\n+\t\tsize_t cursor = 0;\n+\t\tszval = 0;\n+\t\tfor (cursor = 0; cursor < numval; ++cursor) {\n+\t\t\tif (szval > 0) {\n+\t\t\t\tstrbuf[szval] = ' ';\n+\t\t\t\t++szval;\n+\t\t\t}\n+\t\t\tszval += sprintf(strbuf + szval, \"%\" PRIuS, val[cursor]);\n+\t\t\tif (output_mode == CLINFO_HUMAN)\n+\t\t\t\tszval += strbuf_mem(val[cursor]*UINT64_C(1024), szval);\n+\t\t}\n+\t}\n+\tshow_strbuf(pname, 0);\n+\tfree(val);\n+\treturn had_error;\n+}\n+\n+int device_info_time_offset(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t\tconst struct device_info_checks *chk UNUSED)\n+{\n+\tcl_ulong val = 0;\n+\tGET_VAL;\n+\tif (!had_error) {\n+\t\tsize_t szval = 0;\n+\t\ttime_t time = val/UINT64_C(1000000000);\n+\t\tszval += snprintf(strbuf, bufsz, \"%\" PRIu64 \"ns (\", val);\n+\t\tszval += bufcpy(szval, ctime(&time));\n+\t\t/* overwrite ctime's newline with the closing parenthesis */\n+\t\tif (szval < bufsz)\n+\t\t\tstrbuf[szval - 1] = ')';\n+\t}\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+int device_info_szptr(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tsize_t *val = NULL;\n+\tsize_t szval = 0, numval = 0;\n+\tGET_VAL_ARRAY;\n+\tif (!had_error) {\n+\t\tsize_t counter = 0;\n+\t\tset_separator(output_mode == CLINFO_HUMAN ? times_str : spc_str);\n+\t\tszval = 0;\n+\t\tfor (counter = 0; counter < numval; ++counter) {\n+\t\t\tadd_separator(&szval);\n+\t\t\tszval += snprintf(strbuf + szval, bufsz - szval - 1, \"%\" PRIuS, val[counter]);\n+\t\t\tif (szval >= bufsz) {\n+\t\t\t\ttrunc_strbuf();\n+\t\t\t\tbreak;\n+\t\t\t}\n+\t\t}\n+\t}\n+\tshow_strbuf(pname, 0);\n+\tfree(val);\n+\treturn had_error;\n+}\n+\n+int device_info_wg(cl_device_id dev, cl_device_info param UNUSED, const char *pname,\n+\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tcl_platform_id val = NULL;\n+\t{\n+\t\t/* shadow */\n+\t\tcl_device_info param = CL_DEVICE_PLATFORM;\n+\t\tcurrent_param = \"CL_DEVICE_PLATFORM\";\n+\t\tGET_VAL;\n+\t}\n+\tcurrent_param = pname;\n+\tif (!had_error)\n+\t\thad_error = getWGsizes(val, dev);\n+\tif (!had_error) {\n+\t\tsprintf(strbuf, \"%\" PRIuS, wgm[0]);\n+\t}\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+int device_info_img_sz_2d(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tsize_t width = 0, height = 0, val = 0;\n+\tGET_VAL; /* HEIGHT */\n+\tif (!had_error) {\n+\t\theight = val;\n+\t\tparam = CL_DEVICE_IMAGE2D_MAX_WIDTH;\n+\t\tcurrent_param = \"CL_DEVICE_IMAGE2D_MAX_WIDTH\";\n+\t\tGET_VAL;\n+\t\tif (!had_error) {\n+\t\t\twidth = val;\n+\t\t\tsprintf(strbuf, \"%\" PRIuS \"x%\" PRIuS, width, height);\n+\t\t}\n+\t}\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+int device_info_img_sz_3d(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tsize_t width = 0, height = 0, depth = 0, val = 0;\n+\tGET_VAL; /* HEIGHT */\n+\tif (!had_error) {\n+\t\theight = val;\n+\t\tparam = CL_DEVICE_IMAGE3D_MAX_WIDTH;\n+\t\tcurrent_param = \"CL_DEVICE_IMAGE3D_MAX_WIDTH\";\n+\t\tGET_VAL;\n+\t\tif (!had_error) {\n+\t\t\twidth = val;\n+\t\t\tparam = CL_DEVICE_IMAGE3D_MAX_DEPTH;\n+\t\t\tcurrent_param = \"CL_DEVICE_IMAGE3D_MAX_DEPTH\";\n+\t\t\tGET_VAL;\n+\t\t\tif (!had_error) {\n+\t\t\t\tdepth = val;\n+\t\t\t\tsprintf(strbuf, \"%\" PRIuS \"x%\" PRIuS \"x%\" PRIuS,\n+\t\t\t\t\t\twidth, height, depth);\n+\t\t\t}\n+\t\t}\n+\t}\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+\n+int device_info_devtype(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\tconst struct device_info_checks *chk UNUSED)\n+{\n+\tcl_device_type val = 0;\n+\tGET_VAL;\n+\tif (!had_error) {\n+\t\t/* iterate over device type strings, appending their textual form\n+\t\t * to strbuf.\n+\t\t * TODO: check for extra bits/no bits\n+\t\t */\n+\t\tcl_uint i = devtype_count - 1; /* skip CL_DEVICE_TYPE_ALL */\n+\t\tconst char * const *devstr = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t\t device_type_str : device_type_raw_str);\n+\t\tsize_t szval = 0;\n+\t\tstrbuf[szval] = '\\0';\n+\t\tset_separator(output_mode == CLINFO_HUMAN ? comma_str : vbar_str);\n+\t\tfor (; i > 0; --i) {\n+\t\t\t/* assemble CL_DEVICE_TYPE_* from index i */\n+\t\t\tcl_device_type cur = (cl_device_type)(1) << (i-1);\n+\t\t\tif (val & cur) {\n+\t\t\t\t/* match: add separator if not first match */\n+\t\t\t\tadd_separator(&szval);\n+\t\t\t\tszval += bufcpy(szval, devstr[i]);\n+\t\t\t}\n+\t\t}\n+\t}\n+\tshow_strbuf(pname, 0);\n+\t/* we abuse global strbuf to pass the device type over to the caller */\n+\tif (!had_error)\n+\t\tmemcpy(strbuf, &val, sizeof(val));\n+\treturn had_error;\n+}\n+\n+int device_info_cachetype(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tcl_device_mem_cache_type val = 0;\n+\tGET_VAL;\n+\tif (!had_error) {\n+\t\tconst char * const *ar = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t cache_type_str : cache_type_raw_str);\n+\t\tbufcpy(0, ar[val]);\n+\t}\n+\tshow_strbuf(pname, 0);\n+\t/* we abuse global strbuf to pass the cache type over to the caller */\n+\tif (!had_error)\n+\t\tmemcpy(strbuf, &val, sizeof(val));\n+\treturn had_error;\n+}\n+\n+int device_info_lmemtype(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tcl_device_local_mem_type val = 0;\n+\tGET_VAL;\n+\tif (!had_error) {\n+\t\tconst char * const *ar = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t lmem_type_str : lmem_type_raw_str);\n+\t\tbufcpy(0, ar[val]);\n+\t}\n+\tshow_strbuf(pname, 0);\n+\t/* we abuse global strbuf to pass the lmem type over to the caller */\n+\tif (!had_error)\n+\t\tmemcpy(strbuf, &val, sizeof(val));\n+\treturn had_error;\n+}\n+\n+/* stringify a cl_device_topology_amd */\n+void devtopo_str(const cl_device_topology_amd *devtopo)\n+{\n+\tswitch (devtopo->raw.type) {\n+\t\tcase 0:\n+\t\t\tif (output_mode == CLINFO_HUMAN)\n+\t\t\t\tsprintf(strbuf, \"(%s)\", na);\n+\t\t\telse\n+\t\t\t\tsprintf(strbuf, none_raw);\n+\t\t\tbreak;\n+\t\tcase CL_DEVICE_TOPOLOGY_TYPE_PCIE_AMD:\n+\t\t\tsprintf(strbuf, \"PCI-E, %02x:%02x.%u\",\n+\t\t\t\t\t(cl_uchar)(devtopo->pcie.bus),\n+\t\t\t\t\tdevtopo->pcie.device, devtopo->pcie.function);\n+\t\t\tbreak;\n+\t\tdefault:\n+\t\t\tsprintf(strbuf, \"\",\n+\t\t\t\t\tdevtopo->raw.type,\n+\t\t\t\t\tdevtopo->raw.data[0], devtopo->raw.data[1],\n+\t\t\t\t\tdevtopo->raw.data[2],\n+\t\t\t\t\tdevtopo->raw.data[3], devtopo->raw.data[4]);\n+\t}\n+}\n+\n+int device_info_devtopo_amd(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t\tconst struct device_info_checks *chk UNUSED)\n+{\n+\tcl_device_topology_amd val;\n+\tGET_VAL;\n+\t/* TODO how to do this in CLINFO_RAW mode */\n+\tif (!had_error) {\n+\t\tdevtopo_str(&val);\n+\t}\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+/* we assemble a cl_device_topology_amd struct from the NVIDIA info */\n+int device_info_devtopo_nv(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tcl_device_topology_amd devtopo;\n+\tcl_uint val = 0;\n+\n+\tdevtopo.raw.type = CL_DEVICE_TOPOLOGY_TYPE_PCIE_AMD;\n+\n+\tGET_VAL; /* CL_DEVICE_PCI_BUS_ID_NV */\n+\n+\tif (!had_error) {\n+\t\tdevtopo.pcie.bus = val & 0xff;\n+\n+\t\tparam = CL_DEVICE_PCI_SLOT_ID_NV;\n+\t\tcurrent_param = \"CL_DEVICE_PCI_SLOT_ID_NV\";\n+\n+\t\tGET_VAL;\n+\n+\t\tif (!had_error) {\n+\t\t\tdevtopo.pcie.device = val >> 3;\n+\t\t\tdevtopo.pcie.function = val & 7;\n+\t\t\tdevtopo_str(&devtopo);\n+\t\t}\n+\t}\n+\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+/* NVIDIA Compute Capability */\n+int device_info_cc_nv(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tcl_uint major = 0, val = 0;\n+\tGET_VAL; /* MAJOR */\n+\tif (!had_error) {\n+\t\tmajor = val;\n+\t\tparam = CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV;\n+\t\tcurrent_param = \"CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV\";\n+\t\tGET_VAL;\n+\t\tif (!had_error)\n+\t\t\tsnprintf(strbuf, bufsz, \"%u.%u\", major, val);\n+\t}\n+\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+/* AMD GFXIP */\n+int device_info_gfxip_amd(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tcl_uint major = 0, val = 0;\n+\tGET_VAL; /* MAJOR */\n+\tif (!had_error) {\n+\t\tmajor = val;\n+\t\tparam = CL_DEVICE_GFXIP_MINOR_AMD;\n+\t\tcurrent_param = \"CL_DEVICE_GFXIP_MINOR_AMD\";\n+\t\tGET_VAL;\n+\t\tif (!had_error)\n+\t\t\tsnprintf(strbuf, bufsz, \"%u.%u\", major, val);\n+\t}\n+\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+\n+/* Device Partition, CLINFO_HUMAN header */\n+int device_info_partition_header(cl_device_id dev UNUSED, cl_device_info param UNUSED,\n+\t\t\t\t\t\t\t\t const char *pname, const struct device_info_checks *chk)\n+{\n+\tint is_12 = dev_is_12(chk);\n+\tint has_fission = dev_has_fission(chk);\n+\tsize_t szval = snprintf(strbuf, bufsz, \"(%s%s%s)\",\n+\t\t\t\t\t\t\t(is_12 ? core : empty_str),\n+\t\t\t\t\t\t\t(is_12 && has_fission ? comma_str : empty_str),\n+\t\t\t\t\t\t\tchk->has_fission);\n+\tif (szval >= bufsz)\n+\t\ttrunc_strbuf();\n+\n+\tshow_strbuf(pname, 0);\n+\thad_error = CL_SUCCESS;\n+\treturn had_error;\n+}\n+\n+/* Device partition properties */\n+int device_info_partition_types(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t\t\tconst struct device_info_checks *chk UNUSED)\n+{\n+\tsize_t numval = 0, szval = 0, cursor = 0, slen = 0;\n+\tcl_device_partition_property *val = NULL;\n+\tconst char * const *ptstr = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t partition_type_str : partition_type_raw_str);\n+\n+\tset_separator(output_mode == CLINFO_HUMAN ? comma_str : vbar_str);\n+\n+\tGET_VAL_ARRAY;\n+\n+\tszval = 0;\n+\tif (!had_error) {\n+\t\tfor (cursor = 0; cursor < numval; ++cursor) {\n+\t\t\tint str_idx = -1;\n+\n+\t\t\t/* add separator for values past the first */\n+\t\t\tadd_separator(&szval);\n+\n+\t\t\tswitch (val[cursor]) {\n+\t\t\t\tcase 0: str_idx = 1; break;\n+\t\t\t\tcase CL_DEVICE_PARTITION_EQUALLY: str_idx = 2; break;\n+\t\t\t\tcase CL_DEVICE_PARTITION_BY_COUNTS: str_idx = 3; break;\n+\t\t\t\tcase CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN: str_idx = 4; break;\n+\t\t\t\tcase CL_DEVICE_PARTITION_BY_NAMES_INTEL: str_idx = 5; break;\n+\t\t\t\tdefault:\n+\t\t\t\t\tszval += snprintf(strbuf + szval, bufsz - szval - 1, \"by (0x%\" PRIXPTR \")\", val[cursor]);\n+\t\t\t\t\tbreak;\n+\t\t\t}\n+\t\t\tif (str_idx > 0) {\n+\t\t\t\t/* string length, minus _EXT */\n+\t\t\t\tslen = strlen(ptstr[str_idx]);\n+\t\t\t\tif (output_mode == CLINFO_RAW && str_idx > 1)\n+\t\t\t\t\tslen -= 4;\n+\t\t\t\tszval += bufcpy_len(szval, ptstr[str_idx], slen);\n+\t\t\t}\n+\t\t\tif (szval >= bufsz) {\n+\t\t\t\ttrunc_strbuf();\n+\t\t\t\tbreak;\n+\t\t\t}\n+\t\t}\n+\t\tif (szval == 0) {\n+\t\t\tbufcpy(szval, ptstr[0]);\n+\t\t} else if (szval < bufsz)\n+\t\t\tstrbuf[szval] = '\\0';\n+\t}\n+\n+\tshow_strbuf(pname, 0);\n+\n+\tfree(val);\n+\treturn had_error;\n+}\n+\n+int device_info_partition_types_ext(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t\t\t\tconst struct device_info_checks *chk UNUSED)\n+{\n+\tsize_t numval = 0, szval = 0, cursor = 0, slen = 0;\n+\tcl_device_partition_property_ext *val = NULL;\n+\tconst char * const *ptstr = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t partition_type_str : partition_type_raw_str);\n+\n+\tset_separator(output_mode == CLINFO_HUMAN ? comma_str : vbar_str);\n+\n+\tGET_VAL_ARRAY;\n+\n+\tszval = 0;\n+\tif (!had_error) {\n+\t\tfor (cursor = 0; cursor < numval; ++cursor) {\n+\t\t\tint str_idx = -1;\n+\n+\t\t\t/* add separator for values past the first */\n+\t\t\tadd_separator(&szval);\n+\n+\t\t\tswitch (val[cursor]) {\n+\t\t\t\tcase 0: str_idx = 1; break;\n+\t\t\t\tcase CL_DEVICE_PARTITION_EQUALLY_EXT: str_idx = 2; break;\n+\t\t\t\tcase CL_DEVICE_PARTITION_BY_COUNTS_EXT: str_idx = 3; break;\n+\t\t\t\tcase CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT: str_idx = 4; break;\n+\t\t\t\tcase CL_DEVICE_PARTITION_BY_NAMES_EXT: str_idx = 5; break;\n+\t\t\t\tdefault:\n+\t\t\t\t\tszval += snprintf(strbuf + szval, bufsz - szval - 1, \"by (0x%\" PRIX64 \")\", val[cursor]);\n+\t\t\t\t\tbreak;\n+\t\t\t}\n+\t\t\tif (str_idx > 0) {\n+\t\t\t\t/* string length */\n+\t\t\t\tslen = strlen(ptstr[str_idx]);\n+\t\t\t\tstrncpy(strbuf + szval, ptstr[str_idx], slen);\n+\t\t\t\tszval += slen;\n+\t\t\t}\n+\t\t\tif (szval >= bufsz) {\n+\t\t\t\ttrunc_strbuf();\n+\t\t\t\tbreak;\n+\t\t\t}\n+\t\t}\n+\t\tif (szval == 0) {\n+\t\t\tslen = strlen(ptstr[0]);\n+\t\t\tmemcpy(strbuf, ptstr[0], slen);\n+\t\t\tszval += slen;\n+\t\t}\n+\t\tif (szval < bufsz)\n+\t\t\tstrbuf[szval] = '\\0';\n+\t}\n+\n+\tshow_strbuf(pname, 0);\n+\n+\tfree(val);\n+\treturn had_error;\n+}\n+\n+\n+/* Device partition affinity domains */\n+int device_info_partition_affinities(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tcl_device_affinity_domain val;\n+\tGET_VAL;\n+\tif (!had_error && val) {\n+\t\t/* iterate over affinity domain strings appending their textual form\n+\t\t * to strbuf\n+\t\t * TODO: check for extra bits/no bits\n+\t\t */\n+\t\tsize_t szval = 0;\n+\t\tcl_uint i = 0;\n+\t\tconst char * const *affstr = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t\t affinity_domain_str : affinity_domain_raw_str);\n+\t\tset_separator(output_mode == CLINFO_HUMAN ? comma_str : vbar_str);\n+\t\tfor (i = 0; i < affinity_domain_count; ++i) {\n+\t\t\tcl_device_affinity_domain cur = (cl_device_affinity_domain)(1) << i;\n+\t\t\tif (val & cur) {\n+\t\t\t\t/* match: add separator if not first match */\n+\t\t\t\tadd_separator(&szval);\n+\t\t\t\tszval += bufcpy(szval, affstr[i]);\n+\t\t\t}\n+\t\t\tif (szval >= bufsz)\n+\t\t\t\tbreak;\n+\t\t}\n+\t}\n+\tif (val || had_error)\n+\t\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+int device_info_partition_affinities_ext(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tsize_t numval = 0, szval = 0, cursor = 0, slen = 0;\n+\tcl_device_partition_property_ext *val = NULL;\n+\tconst char * const *ptstr = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t affinity_domain_ext_str : affinity_domain_raw_ext_str);\n+\n+\tset_separator(output_mode == CLINFO_HUMAN ? comma_str : vbar_str);\n+\n+\tGET_VAL_ARRAY;\n+\n+\tszval = 0;\n+\tif (!had_error) {\n+\t\tfor (cursor = 0; cursor < numval; ++cursor) {\n+\t\t\tint str_idx = -1;\n+\n+\t\t\t/* add separator for values past the first */\n+\t\t\tadd_separator(&szval);\n+\n+\t\t\tswitch (val[cursor]) {\n+\t\t\t\tcase CL_AFFINITY_DOMAIN_NUMA_EXT: str_idx = 0; break;\n+\t\t\t\tcase CL_AFFINITY_DOMAIN_L4_CACHE_EXT: str_idx = 1; break;\n+\t\t\t\tcase CL_AFFINITY_DOMAIN_L3_CACHE_EXT: str_idx = 2; break;\n+\t\t\t\tcase CL_AFFINITY_DOMAIN_L2_CACHE_EXT: str_idx = 3; break;\n+\t\t\t\tcase CL_AFFINITY_DOMAIN_L1_CACHE_EXT: str_idx = 4; break;\n+\t\t\t\tcase CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT: str_idx = 5; break;\n+\t\t\t\tdefault:\n+\t\t\t\t\tszval += snprintf(strbuf + szval, bufsz - szval - 1, \" (0x%\" PRIX64 \")\", val[cursor]);\n+\t\t\t\t\tbreak;\n+\t\t\t}\n+\t\t\tif (str_idx >= 0) {\n+\t\t\t\t/* string length */\n+\t\t\t\tconst char *str = ptstr[str_idx];\n+\t\t\t\tslen = strlen(str);\n+\t\t\t\tstrncpy(strbuf + szval, str, slen);\n+\t\t\t\tszval += slen;\n+\t\t\t}\n+\t\t\tif (szval >= bufsz) {\n+\t\t\t\ttrunc_strbuf();\n+\t\t\t\tbreak;\n+\t\t\t}\n+\t\t}\n+\t\tstrbuf[szval] = '\\0';\n+\t}\n+\n+\tshow_strbuf(pname, 0);\n+\n+\tfree(val);\n+\treturn had_error;\n+}\n+\n+/* Preferred / native vector widths */\n+int device_info_vecwidth(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\t const struct device_info_checks *chk)\n+{\n+\tcl_uint preferred = 0, val = 0;\n+\tGET_VAL;\n+\tif (!had_error) {\n+\t\tpreferred = val;\n+\n+\t\t/* we get called with PREFERRED, NATIVE is at +0x30 offset, except for HALF,\n+\t\t * which is at +0x08 */\n+\t\tparam += (param == CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF ? 0x08 : 0x30);\n+\t\t/* TODO update current_param */\n+\t\tGET_VAL;\n+\n+\t\tif (!had_error) {\n+\t\t\tsize_t szval = 0;\n+\t\t\tconst char *ext = (param == CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF ?\n+\t\t\t\t\t\t\t chk->has_half : (param == CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE ?\n+\t\t\t\t\t\t\t\t\t\t\t\tchk->has_double : NULL));\n+\t\t\tszval = sprintf(strbuf, \"%8u / %-8u\", preferred, val);\n+\t\t\tif (ext)\n+\t\t\t\tsprintf(strbuf + szval, \" (%s)\", *ext ? ext : na);\n+\t\t}\n+\t}\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+/* Floating-point configurations */\n+int device_info_fpconf(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t const struct device_info_checks *chk)\n+{\n+\tcl_device_fp_config val = 0;\n+\tint get_it = (\n+\t\t\t(param == CL_DEVICE_SINGLE_FP_CONFIG) ||\n+\t\t\t(param == CL_DEVICE_HALF_FP_CONFIG && dev_has_half(chk)) ||\n+\t\t\t(param == CL_DEVICE_DOUBLE_FP_CONFIG && dev_has_double(chk)));\n+\tif (get_it)\n+\t\tGET_VAL;\n+\telse\n+\t\thad_error = CL_SUCCESS;\n+\n+\tif (!had_error) {\n+\t\tsize_t szval = 0;\n+\t\tcl_uint i = 0;\n+\t\tconst char * const *fpstr = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t\t fp_conf_str : fp_conf_raw_str);\n+\t\tset_separator(vbar_str);\n+\t\tif (output_mode == CLINFO_HUMAN) {\n+\t\t\tconst char *why = na;\n+\t\t\tswitch (param) {\n+\t\t\t\tcase CL_DEVICE_HALF_FP_CONFIG:\n+\t\t\t\t\tif (get_it)\n+\t\t\t\t\t\twhy = chk->has_half;\n+\t\t\t\t\tbreak;\n+\t\t\t\tcase CL_DEVICE_SINGLE_FP_CONFIG:\n+\t\t\t\t\twhy = core;\n+\t\t\t\t\tbreak;\n+\t\t\t\tcase CL_DEVICE_DOUBLE_FP_CONFIG:\n+\t\t\t\t\tif (get_it)\n+\t\t\t\t\t\twhy = chk->has_double;\n+\t\t\t\t\tbreak;\n+\t\t\t\tdefault:\n+\t\t\t\t\t/* \"this can't happen\" (unless OpenCL starts supporting _other_ floating-point formats, maybe) */\n+\t\t\t\t\tfprintf(stderr, \"unsupported floating-point configuration parameter %s\\n\", pname);\n+\n+\t\t\t}\n+\t\t\t/* show 'why' it's being shown */\n+\t\t\tszval += sprintf(strbuf, \"(%s)\", why);\n+\t\t}\n+\t\tif (get_it) {\n+\t\t\tfor (i = 0; i < fp_conf_count; ++i) {\n+\t\t\t\tcl_device_fp_config cur = (cl_device_fp_config)(1) << i;\n+\t\t\t\tif (output_mode == CLINFO_HUMAN) {\n+\t\t\t\t\tszval += sprintf(strbuf + szval, \"\\n%s\" I2_STR \"%s\",\n+\t\t\t\t\t\t\t\t\t line_pfx, fpstr[i], bool_str[!!(val & cur)]);\n+\t\t\t\t} else if (val & cur) {\n+\t\t\t\t\tadd_separator(&szval);\n+\t\t\t\t\tszval += bufcpy(szval, fpstr[i]);\n+\t\t\t\t}\n+\t\t\t}\n+\t\t}\n+\t}\n+\n+\t/* only print this for HUMAN output or if we actually got the value */\n+\tif (output_mode == CLINFO_HUMAN || get_it)\n+\t\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+/* Queue properties */\n+int device_info_qprop(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t const struct device_info_checks *chk)\n+{\n+\tcl_command_queue_properties val = 0;\n+\tGET_VAL;\n+\tif (!had_error) {\n+\t\tsize_t szval = 0;\n+\t\tcl_uint i = 0;\n+\t\tconst char * const *qpstr = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t\t queue_prop_str : queue_prop_raw_str);\n+\t\tset_separator(vbar_str);\n+\t\tfor (i = 0; i < queue_prop_count; ++i) {\n+\t\t\tcl_command_queue_properties cur = (cl_command_queue_properties)(1) << i;\n+\t\t\tif (output_mode == CLINFO_HUMAN) {\n+\t\t\t\tszval += sprintf(strbuf + szval, \"\\n%s\" I2_STR \"%s\",\n+\t\t\t\t\t\t\t\t line_pfx, qpstr[i], bool_str[!!(val & cur)]);\n+\t\t\t} else if (val & cur) {\n+\t\t\t\tadd_separator(&szval);\n+\t\t\t\tszval += bufcpy(szval, qpstr[i]);\n+\t\t\t}\n+\t\t}\n+\t\tif (output_mode == CLINFO_HUMAN && param == CL_DEVICE_QUEUE_PROPERTIES &&\n+\t\t\tdev_has_intel_local_thread(chk))\n+\t\t\tsprintf(strbuf + szval, \"\\n%s\" I2_STR \"%s\",\n+\t\t\t\t\tline_pfx, \"Local thread execution (Intel)\", bool_str[CL_TRUE]);\n+\t}\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+/* Execution capbilities */\n+int device_info_execap(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tcl_device_exec_capabilities val = 0;\n+\tGET_VAL;\n+\tif (!had_error) {\n+\t\tsize_t szval = 0;\n+\t\tcl_uint i = 0;\n+\t\tconst char * const *qpstr = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t\t execap_str : execap_raw_str);\n+\t\tset_separator(vbar_str);\n+\t\tfor (i = 0; i < execap_count; ++i) {\n+\t\t\tcl_device_exec_capabilities cur = (cl_device_exec_capabilities)(1) << i;\n+\t\t\tif (output_mode == CLINFO_HUMAN) {\n+\t\t\t\tszval += sprintf(strbuf + szval, \"\\n%s\" I2_STR \"%s\",\n+\t\t\t\t\t\t\t\t line_pfx, qpstr[i], bool_str[!!(val & cur)]);\n+\t\t\t} else if (val & cur) {\n+\t\t\t\tadd_separator(&szval);\n+\t\t\t\tszval += bufcpy(szval, qpstr[i]);\n+\t\t\t}\n+\t\t}\n+\t}\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+/* Arch bits and endianness (HUMAN) */\n+int device_info_arch(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t const struct device_info_checks *chk UNUSED)\n+{\n+\tcl_uint bits = 0;\n+\t{\n+\t\tcl_uint val = 0;\n+\t\tGET_VAL;\n+\t\tif (!had_error)\n+\t\t\tbits = val;\n+\t}\n+\tif (!had_error) {\n+\t\tcl_bool val = 0;\n+\t\tparam = CL_DEVICE_ENDIAN_LITTLE;\n+\t\tcurrent_param = \"CL_DEVICE_ENDIAN_LITTLE\";\n+\t\tGET_VAL;\n+\t\tif (!had_error)\n+\t\t\tsprintf(strbuf, \"%u, %s\", bits, endian_str[val]);\n+\t}\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+/* SVM capabilities */\n+int device_info_svm_cap(cl_device_id dev, cl_device_info param, const char *pname,\n+\t\t\t\t\t\tconst struct device_info_checks *chk)\n+{\n+\tcl_device_svm_capabilities val = 0;\n+\tint is_20 = dev_is_20(chk);\n+\tint has_svm_ext = dev_has_svm_ext(chk);\n+\n+\tGET_VAL;\n+\n+\tif (!had_error) {\n+\t\tsize_t szval = 0;\n+\t\tcl_uint i = 0;\n+\t\tconst char * const *scstr = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t\t svm_cap_str : svm_cap_raw_str);\n+\t\tset_separator(vbar_str);\n+\t\tif (output_mode == CLINFO_HUMAN) {\n+\t\t\t/* show 'why' it's being shown */\n+\t\t\tszval += sprintf(strbuf, \"(%s%s%s)\",\n+\t\t\t\t\t\t\t (is_20 ? core : empty_str),\n+\t\t\t\t\t\t\t (is_20 && has_svm_ext ? comma_str : empty_str),\n+\t\t\t\t\t\t\t chk->has_svm_ext);\n+\t\t}\n+\t\tfor (i = 0; i < svm_cap_count; ++i) {\n+\t\t\tcl_device_svm_capabilities cur = (cl_device_svm_capabilities)(1) << i;\n+\t\t\tif (output_mode == CLINFO_HUMAN) {\n+\t\t\t\tszval += sprintf(strbuf + szval, \"\\n%s\" I2_STR \"%s\",\n+\t\t\t\t\t\t\t\t line_pfx, scstr[i], bool_str[!!(val & cur)]);\n+\t\t\t} else if (val & cur) {\n+\t\t\t\tadd_separator(&szval);\n+\t\t\t\tszval += bufcpy(szval, scstr[i]);\n+\t\t\t}\n+\t\t}\n+\t}\n+\n+\tshow_strbuf(pname, 0);\n+\treturn had_error;\n+}\n+\n+/*\n+ * Device info traits\n+ */\n+\n+/* A CL_FALSE param means \"just print pname\" */\n+\n+struct device_info_traits {\n+\tenum output_modes output_mode;\n+\tcl_device_info param; // CL_DEVICE_*\n+\tconst char *sname; // \"CL_DEVICE_*\"\n+\tconst char *pname; // \"Device *\"\n+\tconst char *sfx; // suffix for the output in non-raw mode\n+\t/* pointer to function that shows the parameter */\n+\tint (*show_func)(cl_device_id dev, cl_device_info param, const char *pname, const struct device_info_checks *);\n+\t/* pointer to function that checks if the parameter should be checked */\n+\tint (*check_func)(const struct device_info_checks *);\n+};\n+\n+#define DINFO_SFX(symbol, name, sfx, typ) symbol, #symbol, name, sfx, device_info_##typ\n+#define DINFO(symbol, name, typ) symbol, #symbol, name, NULL, device_info_##typ\n+\n+struct device_info_traits dinfo_traits[] = {\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_NAME, \"Device Name\", str), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_VENDOR, \"Device Vendor\", str), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_VENDOR_ID, \"Device Vendor ID\", hex), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_VERSION, \"Device Version\", str), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DRIVER_VERSION, \"Driver Version\", str), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_OPENCL_C_VERSION, \"Device OpenCL C Version\", str), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_EXTENSIONS, \"Device Extensions\", str_get), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_TYPE, \"Device Type\", devtype), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_PROFILE, \"Device Profile\", str), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_BOARD_NAME_AMD, \"Device Board Name (AMD)\", str), dev_has_amd },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_TOPOLOGY_AMD, \"Device Topology (AMD)\", devtopo_amd), dev_has_amd },\n+\n+\t\t/* Device Topology (NV) is multipart, so different for HUMAN and RAW */\n+\t\t{ CLINFO_HUMAN, DINFO(CL_DEVICE_PCI_BUS_ID_NV, \"Device Topology (NV)\", devtopo_nv), dev_has_nv },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_PCI_BUS_ID_NV, \"Device PCI bus (NV)\", int), dev_has_nv },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_PCI_SLOT_ID_NV, \"Device PCI slot (NV)\", int), dev_has_nv },\n+\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_COMPUTE_UNITS, \"Max compute units\", int), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_SIMD_PER_COMPUTE_UNIT_AMD, \"SIMD per compute unit (AMD)\", int), dev_is_gpu_amd },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_SIMD_WIDTH_AMD, \"SIMD width (AMD)\", int), dev_is_gpu_amd },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_SIMD_INSTRUCTION_WIDTH_AMD, \"SIMD instruction width (AMD)\", int), dev_is_gpu_amd },\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_MAX_CLOCK_FREQUENCY, \"Max clock frequency\", \"MHz\", int), NULL },\n+\n+\t\t/* Device Compute Capability (NV) is multipart, so different for HUMAN and RAW */\n+\t\t{ CLINFO_HUMAN, DINFO(CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV, \"Compute Capability (NV)\", cc_nv), dev_has_nv },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV, INDENT \"Compute Capability Major (NV)\", int), dev_has_nv },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV, INDENT \"Compute Capability Minor (NV)\", int), dev_has_nv },\n+\n+\t\t/* GFXIP (AMD) is multipart, so different for HUMAN and RAW */\n+\t\t/* TODO: find a better human-friendly name than GFXIP; v3 of the cl_amd_device_attribute_query\n+ * extension specification calls it “core engine GFXIP”, which honestly is not better than\n+ * our name choice. */\n+\t\t{ CLINFO_HUMAN, DINFO(CL_DEVICE_GFXIP_MAJOR_AMD, \"Graphics IP (AMD)\", gfxip_amd), dev_is_gpu_amd },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_GFXIP_MAJOR_AMD, INDENT \"Graphics IP MAJOR (AMD)\", int), dev_is_gpu_amd },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_GFXIP_MINOR_AMD, INDENT \"Graphics IP MINOR (AMD)\", int), dev_is_gpu_amd },\n+\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_CORE_TEMPERATURE_ALTERA, \"Core Temperature (Altera)\", \" C\", int), dev_has_altera_dev_temp },\n+\n+\t\t/* Device partition support: summary is only presented in HUMAN case */\n+\t\t{ CLINFO_HUMAN, DINFO(CL_DEVICE_PARTITION_MAX_SUB_DEVICES, \"Device Partition\", partition_header), dev_has_partition },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_PARTITION_MAX_SUB_DEVICES, INDENT \"Max number of sub-devices\", int), dev_is_12 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_PARTITION_PROPERTIES, INDENT \"Supported partition types\", partition_types), dev_is_12 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_PARTITION_AFFINITY_DOMAIN, INDENT \"Supported affinity domains\", partition_affinities), dev_is_12 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_PARTITION_TYPES_EXT, INDENT \"Supported partition types (ext)\", partition_types_ext), dev_has_fission },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_AFFINITY_DOMAINS_EXT, INDENT \"Supported affinity domains (ext)\", partition_affinities_ext), dev_has_fission },\n+\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS, \"Max work item dimensions\", int), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_WORK_ITEM_SIZES, \"Max work item sizes\", szptr), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_WORK_GROUP_SIZE, \"Max work group size\", sz), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE, \"Preferred work group size multiple\", wg), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_WARP_SIZE_NV, \"Warp size (NV)\", int), dev_has_nv },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_WAVEFRONT_WIDTH_AMD, \"Wavefront width (AMD)\", int), dev_is_gpu_amd },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_NUM_SUB_GROUPS, \"Max sub-groups per work group\", int), dev_is_21 },\n+\n+\t\t/* Preferred/native vector widths: header is only presented in HUMAN case, that also pairs\n+ * PREFERRED and NATIVE in a single line */\n+#define DINFO_VECWIDTH(Type, type) \\\n+\t{ CLINFO_HUMAN, DINFO(CL_DEVICE_PREFERRED_VECTOR_WIDTH_##Type, INDENT #type, vecwidth), NULL }, \\\n+\t{ CLINFO_RAW, DINFO(CL_DEVICE_PREFERRED_VECTOR_WIDTH_##Type, INDENT #type, int), NULL }, \\\n+\t{ CLINFO_RAW, DINFO(CL_DEVICE_NATIVE_VECTOR_WIDTH_##Type, INDENT #type, int), NULL }\n+\n+\t\t{ CLINFO_HUMAN, DINFO(CL_FALSE, \"Preferred / native vector sizes\", str), NULL },\n+\t\tDINFO_VECWIDTH(CHAR, char),\n+\t\tDINFO_VECWIDTH(SHORT, short),\n+\t\tDINFO_VECWIDTH(INT, int),\n+\t\tDINFO_VECWIDTH(LONG, long),\n+\t\tDINFO_VECWIDTH(HALF, half),\n+\t\tDINFO_VECWIDTH(FLOAT, float),\n+\t\tDINFO_VECWIDTH(DOUBLE, double),\n+\n+\t\t/* Floating point configurations */\n+#define DINFO_FPCONF(Type, type, cond) \\\n+\t{ CLINFO_BOTH, DINFO(CL_DEVICE_##Type##_FP_CONFIG, #type \"-precision Floating-point support\", fpconf), NULL }\n+\n+\t\tDINFO_FPCONF(HALF, Half, dev_has_half),\n+\t\tDINFO_FPCONF(SINGLE, Single, NULL),\n+\t\tDINFO_FPCONF(DOUBLE, Double, dev_has_double),\n+\n+\t\t/* Address bits and endianness are written together for HUMAN, separate for RAW */\n+\t\t{ CLINFO_HUMAN, DINFO(CL_DEVICE_ADDRESS_BITS, \"Address bits\", arch), NULL },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_ADDRESS_BITS, \"Address bits\", int), NULL },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_ENDIAN_LITTLE, \"Little Endian\", bool), NULL },\n+\n+\t\t/* Global memory */\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_GLOBAL_MEM_SIZE, \"Global memory size\", mem), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_GLOBAL_FREE_MEMORY_AMD, \"Global free memory (AMD)\", free_mem_amd), dev_is_gpu_amd },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_GLOBAL_MEM_CHANNELS_AMD, \"Global memory channels (AMD)\", int), dev_is_gpu_amd },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_GLOBAL_MEM_CHANNEL_BANKS_AMD, \"Global memory banks per channel (AMD)\", int), dev_is_gpu_amd },\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_GLOBAL_MEM_CHANNEL_BANK_WIDTH_AMD, \"Global memory bank width (AMD)\", bytes_str, int), dev_is_gpu_amd },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_ERROR_CORRECTION_SUPPORT, \"Error Correction support\", bool), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_MEM_ALLOC_SIZE, \"Max memory allocation\", mem), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_HOST_UNIFIED_MEMORY, \"Unified memory for Host and Device\", bool), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_INTEGRATED_MEMORY_NV, \"Integrated memory (NV)\", bool), dev_has_nv },\n+\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_SVM_CAPABILITIES, \"Shared Virtual Memory (SVM) capabilities\", svm_cap), dev_has_svm },\n+\n+\t\t/* Alignment */\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE, \"Minimum alignment for any data type\", bytes_str, int), NULL },\n+\t\t{ CLINFO_HUMAN, DINFO(CL_DEVICE_MEM_BASE_ADDR_ALIGN, \"Alignment of base address\", bits), NULL },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_MEM_BASE_ADDR_ALIGN, \"Alignment of base address\", int), NULL },\n+\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_PAGE_SIZE_QCOM, \"Page size (QCOM)\", bytes_str, sz), dev_has_qcom_ext_host_ptr },\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM, \"Externa memory padding (QCOM)\", bytes_str, sz), dev_has_qcom_ext_host_ptr },\n+\n+\t\t/* Atomics alignment, with HUMAN-only header */\n+\t\t{ CLINFO_HUMAN, DINFO(CL_FALSE, \"Preferred alignment for atomics\", str), dev_is_20 },\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT, INDENT \"SVM\", bytes_str, int), dev_is_20 },\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT, INDENT \"Global\", bytes_str, int), dev_is_20 },\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT, INDENT \"Local\", bytes_str, int), dev_is_20 },\n+\n+\t\t/* Global variables. TODO some 1.2 devices respond to this too */\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE, \"Max size for global variable\", mem), dev_is_20 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE, \"Preferred total size of global vars\", mem), dev_is_20 },\n+\n+\t\t/* Global memory cache */\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_GLOBAL_MEM_CACHE_TYPE, \"Global Memory cache type\", cachetype), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_GLOBAL_MEM_CACHE_SIZE, \"Global Memory cache size\", sz), dev_has_cache },\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE, \"Global Memory cache line\", \" bytes\", int), dev_has_cache },\n+\n+\t\t/* Image support */\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_IMAGE_SUPPORT, \"Image support\", bool), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_SAMPLERS, INDENT \"Max number of samplers per kernel\", int), dev_has_images },\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_IMAGE_MAX_BUFFER_SIZE, INDENT \"Max size for 1D images from buffer\", pixels_str, sz), dev_has_images_12 },\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_IMAGE_MAX_ARRAY_SIZE, INDENT \"Max 1D or 2D image array size\", images_str, sz), dev_has_images_12 },\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT, INDENT \"Base address alignment for 2D image buffers\", bytes_str, sz), dev_has_image2d_buffer },\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_IMAGE_PITCH_ALIGNMENT, INDENT \"Pitch alignment for 2D image buffers\", bytes_str, sz), dev_has_image2d_buffer },\n+\n+\t\t/* Image dimensions are split for RAW, combined for HUMAN */\n+\t\t{ CLINFO_HUMAN, DINFO_SFX(CL_DEVICE_IMAGE2D_MAX_HEIGHT, INDENT \"Max 2D image size\", pixels_str, img_sz_2d), dev_has_images },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_IMAGE2D_MAX_HEIGHT, INDENT \"Max 2D image height\", sz), dev_has_images },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_IMAGE2D_MAX_WIDTH, INDENT \"Max 2D image width\", sz), dev_has_images },\n+\t\t{ CLINFO_HUMAN, DINFO_SFX(CL_DEVICE_IMAGE3D_MAX_HEIGHT, INDENT \"Max 3D image size\", pixels_str, img_sz_3d), dev_has_images },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_IMAGE3D_MAX_HEIGHT, INDENT \"Max 3D image height\", sz), dev_has_images },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_IMAGE3D_MAX_WIDTH, INDENT \"Max 3D image width\", sz), dev_has_images },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_IMAGE3D_MAX_DEPTH, INDENT \"Max 3D image depth\", sz), dev_has_images },\n+\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_READ_IMAGE_ARGS, INDENT \"Max number of read image args\", int), dev_has_images },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_WRITE_IMAGE_ARGS, INDENT \"Max number of write image args\", int), dev_has_images },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS, INDENT \"Max number of read/write image args\", int), dev_has_images_20 },\n+\n+\t\t/* Pipes */\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_PIPE_ARGS, \"Max number of pipe args\", int), dev_is_20 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS, \"Max active pipe reservations\", int), dev_is_20 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_PIPE_MAX_PACKET_SIZE, \"Max pipe packet size\", mem_int), dev_is_20 },\n+\n+\t\t/* Local memory */\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_LOCAL_MEM_TYPE, \"Local memory type\", lmemtype), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_LOCAL_MEM_SIZE, \"Local memory size\", mem), dev_has_lmem },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_LOCAL_MEM_SIZE_PER_COMPUTE_UNIT_AMD, \"Local memory syze per CU (AMD)\", mem), dev_is_gpu_amd },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_LOCAL_MEM_BANKS_AMD, \"Local memory banks (AMD)\", int), dev_is_gpu_amd },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_REGISTERS_PER_BLOCK_NV, \"Registers per block (NV)\", int), dev_has_nv },\n+\n+\t\t/* Constant memory */\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE, \"Max constant buffer size\", mem), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_CONSTANT_ARGS, \"Max number of constant args\", int), NULL },\n+\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_PARAMETER_SIZE, \"Max size of kernel argument\", mem), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_ATOMIC_COUNTERS_EXT, \"Max number of atomic counters\", sz), dev_has_atomic_counters },\n+\n+\t\t/* Queue properties */\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_QUEUE_PROPERTIES, \"Queue properties\", qprop), dev_not_20 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_QUEUE_PROPERTIES, \"Queue properties (on host)\", qprop), dev_is_20 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES, \"Queue properties (on device)\", qprop), dev_is_20 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE, INDENT \"Preferred size\", mem), dev_is_20 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE, INDENT \"Max size\", mem), dev_is_20 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_ON_DEVICE_QUEUES, \"Max queues on device\", int), dev_is_20 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_MAX_ON_DEVICE_EVENTS, \"Max events on device\", int), dev_is_20 },\n+\n+\t\t/* Interop */\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_PREFERRED_INTEROP_USER_SYNC, \"Prefer user sync for interop\", bool), dev_is_12 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_NUM_SIMULTANEOUS_INTEROPS_INTEL, \"Number of simulataneous interops (Intel)\", int), dev_has_simultaneous_sharing },\n+\t\t/* TODO: this needs defines for the possible values of the context interops,\n+ { CLINFO_BOTH, DINFO(CL_DEVICE_SIMULTANEOUS_INTEROPS_INTEL, \"Simulataneous interops\", interop_list), dev_has_simultaneous_sharing },\n+ */\n+\n+\t\t/* Profiling resolution */\n+\t\t{ CLINFO_BOTH, DINFO_SFX(CL_DEVICE_PROFILING_TIMER_RESOLUTION, \"Profiling timer resolution\", \"ns\", long), NULL },\n+\t\t{ CLINFO_HUMAN, DINFO(CL_DEVICE_PROFILING_TIMER_OFFSET_AMD, \"Profiling timer offset since Epoch (AMD)\", time_offset), dev_has_amd },\n+\t\t{ CLINFO_RAW, DINFO(CL_DEVICE_PROFILING_TIMER_OFFSET_AMD, \"Profiling timer offset since Epoch (AMD)\", long), dev_has_amd },\n+\n+\t\t/* Kernel execution capabilities */\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_EXECUTION_CAPABILITIES, \"Execution capabilities\", execap), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS, INDENT \"Sub-group independent forward progress\", bool), dev_is_21 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_THREAD_TRACE_SUPPORTED_AMD, INDENT \"Thread trace supported (AMD)\", bool), dev_is_gpu_amd },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV, INDENT \"Kernel execution timeout (NV)\", bool), dev_has_nv },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_GPU_OVERLAP_NV, \"Concurrent copy and kernel execution (NV)\", bool), dev_has_nv },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_ATTRIBUTE_ASYNC_ENGINE_COUNT_NV, INDENT \"Number of async copy engines\", int), dev_has_nv },\n+\t\t/* TODO FIXME Current drivers don't seem to respond to this, should probably be queried based on driver version,\n+ * or maybe it depends on some other device property?\n+ { CLINFO_BOTH, DINFO(CL_DEVICE_AVAILABLE_ASYNC_QUEUES_AMD, INDENT \"Number of async queues (AMD)\", int), dev_is_gpu_amd },\n+ */\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_IL_VERSION, INDENT \"IL version\", str), dev_is_21, },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_SPIR_VERSIONS, INDENT \"SPIR versions\", str), dev_has_spir },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_PRINTF_BUFFER_SIZE, \"printf() buffer size\", mem), dev_is_12 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_BUILT_IN_KERNELS, \"Built-in kernels\", str), dev_is_12 },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_ME_VERSION_INTEL, \"Motion Estimation accelerator version\t(Intel)\", int), dev_has_intel_AME },\n+\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_AVAILABLE, \"Device Available\", bool), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_COMPILER_AVAILABLE, \"Compiler Available\", bool), NULL },\n+\t\t{ CLINFO_BOTH, DINFO(CL_DEVICE_LINKER_AVAILABLE, \"Linker Available\", bool), dev_is_12 },\n+};\n+\n+/* Process all the device info in the traits, except if param_whitelist is not NULL,\n+ * in which case only those in the whitelist will be processed.\n+ * If present, the whitelist should be sorted in the order of appearance of the parameters\n+ * in the traits table, and terminated by the value CL_FALSE\n+ */\n+\n+void\n+printDeviceInfo(const cl_device_id *device, cl_uint d,\n+\t\t\t\tconst cl_device_info *param_whitelist) /* list of device info to process, or NULL */\n+{\n+\tcl_device_id dev = device[d];\n+\n+\tchar *extensions = NULL;\n+\n+\t/* pointer to the traits for CL_DEVICE_EXTENSIONS */\n+\tconst struct device_info_traits *extensions_traits = NULL;\n+\n+\tstruct device_info_checks chk;\n+\tmemset(&chk, 0, sizeof(chk));\n+\tchk.dev_version = 10;\n+\n+\tcurrent_function = __func__;\n+\n+\tfor (current_line = 0; current_line < ARRAY_SIZE(dinfo_traits); ++current_line) {\n+\n+\t\tconst struct device_info_traits *traits = dinfo_traits + current_line;\n+\t\tconst char *pname = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t traits->pname : traits->sname);\n+\n+\t\tcurrent_param = traits->sname;\n+\n+\t\t/* Whitelist check: finish if done traversing the list,\n+\t\t * skip current param if it's not the right one\n+\t\t */\n+\t\tif (param_whitelist) {\n+\t\t\tif (*param_whitelist == CL_FALSE)\n+\t\t\t\tbreak;\n+\t\t\tif (traits->param != *param_whitelist)\n+\t\t\t\tcontinue;\n+\t\t\t++param_whitelist;\n+\t\t}\n+\n+\t\t/* skip if it's not for this output mode */\n+\t\tif (!(output_mode & traits->output_mode))\n+\t\t\tcontinue;\n+\n+\t\tif (traits->check_func && !traits->check_func(&chk))\n+\t\t\tcontinue;\n+\n+\t\tcur_sfx = (output_mode == CLINFO_HUMAN && traits->sfx) ? traits->sfx : empty_str;\n+\n+\t\t/* Handle headers */\n+\t\tif (traits->param == CL_FALSE) {\n+\t\t\tstrbuf[0] = '\\0';\n+\t\t\tshow_strbuf(pname, 0);\n+\t\t\thad_error = CL_FALSE;\n+\t\t\tcontinue;\n+\t\t}\n+\n+\t\thad_error = traits->show_func(dev, traits->param,\n+\t\t\t\t\t\t\t\t\t pname, &chk);\n+\n+\t\tif (traits->param == CL_DEVICE_EXTENSIONS) {\n+\t\t\t/* make a backup of the extensions string, regardless of\n+\t\t\t * errors */\n+\t\t\tsize_t len = strlen(strbuf);\n+\t\t\textensions_traits = traits;\n+\t\t\tALLOC(extensions, len+1, \"extensions\");\n+\t\t\tmemcpy(extensions, strbuf, len);\n+\t\t\textensions[len] = '\\0';\n+\t\t}\n+\n+\t\tif (had_error)\n+\t\t\tcontinue;\n+\n+\t\tswitch (traits->param) {\n+\t\t\tcase CL_DEVICE_VERSION:\n+\t\t\t\t/* compute numeric value for OpenCL version */\n+\t\t\t\tchk.dev_version = getOpenCLVersion(strbuf + 7);\n+\t\t\t\tbreak;\n+\t\t\tcase CL_DEVICE_EXTENSIONS:\n+\t\t\t\tidentify_device_extensions(extensions, &chk);\n+\t\t\t\tbreak;\n+\t\t\tcase CL_DEVICE_TYPE:\n+\t\t\t\t/* strbuf was abused to give us the dev type */\n+\t\t\t\tmemcpy(&(chk.devtype), strbuf, sizeof(chk.devtype));\n+\t\t\t\tbreak;\n+\t\t\tcase CL_DEVICE_GLOBAL_MEM_CACHE_TYPE:\n+\t\t\t\t/* strbuf was abused to give us the cache type */\n+\t\t\t\tmemcpy(&(chk.cachetype), strbuf, sizeof(chk.cachetype));\n+\t\t\t\tbreak;\n+\t\t\tcase CL_DEVICE_LOCAL_MEM_TYPE:\n+\t\t\t\t/* strbuf was abused to give us the lmem type */\n+\t\t\t\tmemcpy(&(chk.lmemtype), strbuf, sizeof(chk.lmemtype));\n+\t\t\t\tbreak;\n+\t\t\tcase CL_DEVICE_IMAGE_SUPPORT:\n+\t\t\t\t/* strbuf was abused to give us boolean value */\n+\t\t\t\tmemcpy(&(chk.image_support), strbuf, sizeof(chk.image_support));\n+\t\t\t\tbreak;\n+\t\t\tdefault:\n+\t\t\t\t/* do nothing */\n+\t\t\t\tbreak;\n+\t\t}\n+\t}\n+\n+\t// and finally the extensions, if we retrieved them\n+\tif (extensions)\n+\tLOGI(\"%s\" I1_STR \"%s\\n\", line_pfx, (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t\t\t\t extensions_traits->pname :\n+\t\t\t\t\t\t\t\t\t\t\t extensions_traits->sname), extensions);\n+\tfree(extensions);\n+\textensions = NULL;\n+}\n+\n+/* list of allowed properties for AMD offline devices */\n+/* everything else seems to be set to 0, and all the other string properties\n+ * actually segfault the driver */\n+\n+static const cl_device_info amd_offline_info_whitelist[] = {\n+\t\tCL_DEVICE_NAME,\n+\t\t/* These are present, but all the same, so just skip them:\n+ CL_DEVICE_VENDOR,\n+ CL_DEVICE_VENDOR_ID,\n+ CL_DEVICE_VERSION,\n+ CL_DRIVER_VERSION,\n+ CL_DEVICE_OPENCL_C_VERSION,\n+ */\n+\t\tCL_DEVICE_EXTENSIONS,\n+\t\tCL_DEVICE_TYPE,\n+\t\tCL_DEVICE_MAX_WORK_GROUP_SIZE,\n+\t\tCL_DEVICE_AVAILABLE\n+};\n+\n+/* process offline devices from the cl_amd_offline_devices extension */\n+int processOfflineDevicesAMD(cl_uint p)\n+{\n+\tint ret = 0;\n+\n+\tcl_platform_id pid = platform[p];\n+\tcl_device_id *device = NULL;\n+\tcl_int num_devs, d;\n+\n+\tcl_context_properties ctxpft[] = {\n+\t\t\tCL_CONTEXT_PLATFORM, (cl_context_properties)pid,\n+\t\t\tCL_CONTEXT_OFFLINE_DEVICES_AMD, (cl_context_properties)CL_TRUE,\n+\t\t\t0\n+\t};\n+\n+\tcl_context ctx = NULL;\n+\n+\tif (!list_only)\n+\tLOGI(\"%s\" I0_STR, line_pfx,\n+\t\t\t (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\"Number of offline devices (AMD)\" : \"#OFFDEVICES\"));\n+\n+\tctx = clCreateContextFromType(ctxpft, CL_DEVICE_TYPE_ALL, NULL, NULL, &error);\n+\tRR_ERROR(\"create context\");\n+\n+\terror = clGetContextInfo(ctx, CL_CONTEXT_NUM_DEVICES, sizeof(num_devs), &num_devs, NULL);\n+\tRR_ERROR(\"get num devs\");\n+\n+\tALLOC(device, num_devs, \"offline devices\");\n+\n+\terror = clGetContextInfo(ctx, CL_CONTEXT_DEVICES, num_devs*sizeof(*device), device, NULL);\n+\tRR_ERROR(\"get devs\");\n+\n+\tif (!list_only)\n+\tLOGI(\"%d\\n\", num_devs);\n+\n+\tfor (d = 0; d < num_devs; ++d) {\n+\t\tif (list_only) {\n+\t\t\t/*\n+\t\t\tif (output_mode == CLINFO_HUMAN)\n+\t\t\t\tputs(\" |\");\n+\t\t\t*/\n+\t\t\tif (d == num_devs - 1 && output_mode != CLINFO_RAW)\n+\t\t\t\tline_pfx[1] = '`';\n+\t\t\thad_error = device_info_str_get(device[d], CL_DEVICE_NAME, \"CL_DEVICE_NAME\", NULL);\n+\t\tLOGI(\"%s%u: %s\\n\", line_pfx, d, strbuf);\n+\t\t} else {\n+\t\t\tif (line_pfx_len > 0) {\n+\t\t\t\tsprintf(strbuf, \"[%s/%u]\", pdata[p].sname, -d);\n+\t\t\t\tsprintf(line_pfx, \"%*s\", -line_pfx_len, strbuf);\n+\t\t\t}\n+\t\t\tprintDeviceInfo(device, d, amd_offline_info_whitelist);\n+\t\t\tif (d < num_devs - 1)\n+\t\t\t\tputs(\"\");\n+\t\t}\n+\t\tfflush(stdout);\n+\t\tfflush(stderr);\n+\t}\n+\n+\thad_error = CL_FALSE;\n+\tout:\n+\tfree(device);\n+\tif (ctx)\n+\t\tclReleaseContext(ctx);\n+\treturn ret;\n+\n+}\n+\n+void listPlatformsAndDevices(cl_bool show_offline)\n+{\n+\tcl_uint p, d;\n+\tcl_device_id *device;\n+\n+\tif (output_mode == CLINFO_RAW)\n+\t\tsprintf(strbuf, \"%u\", num_platforms);\n+\telse\n+\t\tsprintf(strbuf, \" +-- %sDevice #\", (show_offline ? \"Offline\" : \"\"));\n+\n+\tline_pfx_len = strlen(strbuf) + 1;\n+\tREALLOC(line_pfx, line_pfx_len, \"line prefix\");\n+\n+\tfor (p = 0, device = all_devices; p < num_platforms; device += pdata[p++].ndevs) {\n+\tLOGI(\"%s%u: %s\\n\",\n+\t\t\t (output_mode == CLINFO_HUMAN ? \"Platform #\" : \"\"),\n+\t\t\t p, pdata[p].pname);\n+\t\tif (output_mode == CLINFO_RAW)\n+\t\t\tsprintf(line_pfx, \"%u:\", p);\n+\t\telse\n+\t\t\tsprintf(line_pfx, \" +-- Device #\");\n+\n+\t\tif (pdata[p].ndevs > 0) {\n+\t\t\terror = clGetDeviceIDs(platform[p], CL_DEVICE_TYPE_ALL, pdata[p].ndevs, device, NULL);\n+\t\t\tCHECK_ERROR(\"device IDs\");\n+\t\t\tfor (d = 0; d < pdata[p].ndevs; ++d) {\n+\t\t\t\t/*\n+\t\t\t\tif (output_mode == CLINFO_HUMAN)\n+\t\t\t\t\tputs(\" |\");\n+\t\t\t\t*/\n+\t\t\t\tcl_bool last_device = (d == pdata[p].ndevs - 1 && output_mode != CLINFO_RAW &&\n+\t\t\t\t\t\t\t\t\t (!show_offline || !pdata[p].has_amd_offline));\n+\t\t\t\tif (last_device)\n+\t\t\t\t\tline_pfx[1] = '`';\n+\t\t\t\thad_error = device_info_str_get(device[d], CL_DEVICE_NAME, \"CL_DEVICE_NAME\", NULL);\n+\t\t\tLOGI(\"%s%u: %s\\n\", line_pfx, d, strbuf);\n+\t\t\t\tfflush(stdout);\n+\t\t\t\tfflush(stderr);\n+\t\t\t}\n+\t\t}\n+\n+\t\tif (show_offline && pdata[p].has_amd_offline) {\n+\t\t\tif (output_mode == CLINFO_RAW)\n+\t\t\t\tsprintf(line_pfx, \"%u*\", p);\n+\t\t\telse\n+\t\t\t\tsprintf(line_pfx, \" +-- Offline Device #\");\n+\t\t\thad_error = processOfflineDevicesAMD(p);\n+\t\t\tif (had_error)\n+\t\t\t\tputs(strbuf);\n+\t\t}\n+\t}\n+}\n+\n+void showDevices(cl_bool show_offline)\n+{\n+\tcl_uint p, d;\n+\tcl_device_id *device;\n+\n+\t/* TODO consider enabling this for both output modes */\n+\tif (output_mode == CLINFO_RAW) {\n+\t\tsprintf(strbuf, \"%u\", maxdevs);\n+\t\tline_pfx_len = platform_sname_maxlen + strlen(strbuf) + 4;\n+\t\tREALLOC(line_pfx, line_pfx_len, \"line prefix\");\n+\t}\n+\n+\tfor (p = 0, device = all_devices; p < num_platforms; device += pdata[p++].ndevs) {\n+\t\tif (line_pfx_len > 0) {\n+\t\t\tsprintf(strbuf, \"[%s/*]\", pdata[p].sname);\n+\t\t\tsprintf(line_pfx, \"%*s\", -line_pfx_len, strbuf);\n+\t\t}\n+\tLOGI(\"%s\" I1_STR \"%s\\n\",\n+\t\t\t line_pfx,\n+\t\t\t (output_mode == CLINFO_HUMAN ?\n+\t\t\t\tpinfo_traits[0].pname : pinfo_traits[0].sname),\n+\t\t\t pdata[p].pname);\n+\tLOGI(\"%s\" I0_STR \"%u\\n\",\n+\t\t\t line_pfx,\n+\t\t\t (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\"Number of devices\" : \"#DEVICES\"),\n+\t\t\t pdata[p].ndevs);\n+\n+\t\tif (pdata[p].ndevs > 0) {\n+\t\t\terror = clGetDeviceIDs(platform[p], CL_DEVICE_TYPE_ALL, pdata[p].ndevs, device, NULL);\n+\t\t\tCHECK_ERROR(\"device IDs\");\n+\t\t}\n+\t\tfor (d = 0; d < pdata[p].ndevs; ++d) {\n+\t\t\tif (line_pfx_len > 0) {\n+\t\t\t\tsprintf(strbuf, \"[%s/%u]\", pdata[p].sname, d);\n+\t\t\t\tsprintf(line_pfx, \"%*s\", -line_pfx_len, strbuf);\n+\t\t\t}\n+\t\t\tprintDeviceInfo(device, d, NULL);\n+\t\t\tif (d < pdata[p].ndevs - 1)\n+\t\t\t\tputs(\"\");\n+\t\t\tfflush(stdout);\n+\t\t\tfflush(stderr);\n+\t\t}\n+\t\tif (show_offline && pdata[p].has_amd_offline) {\n+\t\t\tputs(\"\");\n+\t\t\thad_error = processOfflineDevicesAMD(p);\n+\t\t\tif (had_error)\n+\t\t\t\tputs(strbuf);\n+\t\t}\n+\t\tputs(\"\");\n+\t}\n+}\n+\n+/* check the behavior of clGetPlatformInfo() when given a NULL platform ID */\n+void checkNullGetPlatformName(void)\n+{\n+\tcurrent_param = \"CL_PLATFORM_NAME\";\n+\n+\terror = clGetPlatformInfo(NULL, CL_PLATFORM_NAME, bufsz, strbuf, NULL);\n+\tif (error == CL_INVALID_PLATFORM) {\n+\t\tbufcpy(0, no_plat());\n+\t} else {\n+\t\tcurrent_line = __LINE__+1;\n+\t\thad_error = REPORT_ERROR2(\"get %s\");\n+\t}\n+LOGI(I1_STR \"%s\\n\",\n+\t\t \"clGetPlatformInfo(NULL, CL_PLATFORM_NAME, ...)\", strbuf);\n+}\n+\n+/* check the behavior of clGetDeviceIDs() when given a NULL platform ID;\n+ * return the index of the default platform in our array of platform IDs,\n+ * or num_platforms (which is an invalid platform index) in case of errors\n+ * or no platform or device found.\n+ */\n+cl_uint checkNullGetDevices(void)\n+{\n+\tcl_uint i = 0; /* generic iterator */\n+\tcl_device_id dev = NULL; /* sample device */\n+\tcl_platform_id plat = NULL; /* detected platform */\n+\n+\tcl_uint found = 0; /* number of platforms found */\n+\tcl_uint pidx = num_platforms; /* index of the platform found */\n+\tcl_uint numdevs = 0;\n+\n+\tcurrent_function = __func__;\n+\tcurrent_param = \"device IDs\";\n+\n+\terror = clGetDeviceIDs(NULL, CL_DEVICE_TYPE_ALL, 0, NULL, &numdevs);\n+\t/* TODO we should check other CL_DEVICE_TYPE_* combinations, since a smart\n+\t * implementation might give you a different default platform for GPUs\n+\t * and for CPUs.\n+\t * Of course the “no devices” case would then need to be handled differently.\n+\t * The logic might be maintained similarly, provided we also gather\n+\t * the number of devices of each type for each platform, although it's\n+\t * obviously more likely to have multiple platforms with no devices\n+\t * of a given type.\n+\t */\n+\n+\tswitch (error) {\n+\t\tcase CL_INVALID_PLATFORM:\n+\t\t\tbufcpy(0, no_plat());\n+\t\t\tbreak;\n+\t\tcase CL_DEVICE_NOT_FOUND:\n+\t\t\t/* No devices were found, see if there are platforms with\n+ * no devices, and if there's only one, assume this is the\n+ * one being used as default by the ICD loader */\n+\t\t\tfor (i = 0; i < num_platforms; ++i) {\n+\t\t\t\tif (pdata[i].ndevs == 0) {\n+\t\t\t\t\t++found;\n+\t\t\t\t\tif (found > 1)\n+\t\t\t\t\t\tbreak;\n+\t\t\t\t\telse {\n+\t\t\t\t\t\tplat = platform[i];\n+\t\t\t\t\t\tpidx = i;\n+\t\t\t\t\t}\n+\t\t\t\t}\n+\t\t\t}\n+\n+\t\t\tswitch (found) {\n+\t\t\t\tcase 0:\n+\t\t\t\t\tbufcpy(0, (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t \"\" :\n+\t\t\t\t\t\t\t \"CL_DEVICE_NOT_FOUND | CL_INVALID_PLATFORM\"));\n+\t\t\t\t\tbreak;\n+\t\t\t\tcase 1:\n+\t\t\t\t\tbufcpy(0, (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t pdata[pidx].pname :\n+\t\t\t\t\t\t\t pdata[pidx].sname));\n+\t\t\t\t\tbreak;\n+\t\t\t\tdefault: /* found > 1 */\n+\t\t\t\t\tbufcpy(0, (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t \"\" :\n+\t\t\t\t\t\t\t \"CL_DEVICE_NOT_FOUND | ????\"));\n+\t\t\t\t\tbreak;\n+\t\t\t}\n+\t\t\tbreak;\n+\t\tdefault:\n+\t\t\tcurrent_line = __LINE__+1;\n+\t\t\thad_error = REPORT_ERROR2(\"get number of %s\");\n+\t\t\tif (had_error)\n+\t\t\t\tbreak;\n+\n+\t\t\t/* Determine platform by looking at the CL_DEVICE_PLATFORM of\n+ * one of the devices */\n+\t\t\terror = clGetDeviceIDs(NULL, CL_DEVICE_TYPE_ALL, 1, &dev, NULL);\n+\t\t\tcurrent_line = __LINE__+1;\n+\t\t\thad_error = REPORT_ERROR2(\"get %s\");\n+\t\t\tif (had_error)\n+\t\t\t\tbreak;\n+\n+\t\t\tcurrent_param = \"CL_DEVICE_PLATFORM\";\n+\t\t\terror = clGetDeviceInfo(dev, CL_DEVICE_PLATFORM,\n+\t\t\t\t\t\t\t\t\tsizeof(plat), &plat, NULL);\n+\t\t\tcurrent_line = __LINE__+1;\n+\t\t\thad_error = REPORT_ERROR2(\"get %s\");\n+\t\t\tif (had_error)\n+\t\t\t\tbreak;\n+\n+\t\t\tfor (i = 0; i < num_platforms; ++i) {\n+\t\t\t\tif (platform[i] == plat) {\n+\t\t\t\t\tpidx = i;\n+\t\t\t\t\tsprintf(strbuf, \"%s [%s]\",\n+\t\t\t\t\t\t\t(output_mode == CLINFO_HUMAN ? \"Success\" : \"CL_SUCCESS\"),\n+\t\t\t\t\t\t\tpdata[i].sname);\n+\t\t\t\t\tbreak;\n+\t\t\t\t}\n+\t\t\t}\n+\t\t\tif (i == num_platforms) {\n+\t\t\t\tsprintf(strbuf, \"\", plat);\n+\t\t\t}\n+\t}\n+LOGI(I1_STR \"%s\\n\",\n+\t\t \"clGetDeviceIDs(NULL, CL_DEVICE_TYPE_ALL, ...)\", strbuf);\n+\treturn pidx;\n+}\n+\n+void checkNullCtx(cl_uint pidx, const cl_device_id *dev, const char *which)\n+{\n+\tcl_context ctx = clCreateContext(NULL, 1, dev, NULL, NULL, &error);\n+\n+\tcurrent_function = __func__;\n+\tcurrent_param = which;\n+\tcurrent_line = __LINE__+2;\n+\n+\thad_error = REPORT_ERROR2(\"create context with device from %s platform\");\n+\tif (!had_error)\n+\t\tsprintf(strbuf, \"%s [%s]\",\n+\t\t\t\t(output_mode == CLINFO_HUMAN ? \"Success\" : \"CL_SUCCESS\"),\n+\t\t\t\tpdata[pidx].sname);\n+\tif (ctx) {\n+\t\tclReleaseContext(ctx);\n+\t\tctx = NULL;\n+\t}\n+}\n+\n+/* check behavior of clCreateContextFromType() with NULL cl_context_properties */\n+void checkNullCtxFromType(void)\n+{\n+\tsize_t t; /* type iterator */\n+\tsize_t i; /* generic iterator */\n+\tchar def[1024];\n+\tcl_context ctx = NULL;\n+\n+\tsize_t ndevs = 8;\n+\tsize_t szval = 0;\n+\tsize_t cursz = ndevs*sizeof(cl_device_id);\n+\tcl_platform_id plat = NULL;\n+\tcl_device_id *devs = NULL;\n+\n+\tconst char *platname_prop = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t pinfo_traits[0].pname :\n+\t\t\t\t\t\t\t\t pinfo_traits[0].sname);\n+\n+\tconst char *devname_prop = (output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\tdinfo_traits[0].pname :\n+\t\t\t\t\t\t\t\tdinfo_traits[0].sname);\n+\n+\tALLOC(devs, ndevs, \"context devices\");\n+\n+\tcurrent_function = __func__;\n+\tfor (t = 2; t < devtype_count; ++t) { /* we skip 0 and _DEFAULT */\n+\t\tcurrent_param = device_type_raw_str[t];\n+\n+\t\tsprintf(strbuf, \"clCreateContextFromType(NULL, %s)\", current_param);\n+\t\tsprintf(def, I1_STR, strbuf);\n+\n+\t\tcurrent_line = __LINE__+1;\n+\t\tctx = clCreateContextFromType(NULL, devtype[t], NULL, NULL, &error);\n+\n+\t\tswitch (error) {\n+\t\t\tcase CL_INVALID_PLATFORM:\n+\t\t\t\tbufcpy(0, no_plat()); break;\n+\t\t\tcase CL_DEVICE_NOT_FOUND:\n+\t\t\tcase CL_INVALID_DEVICE_TYPE: /* e.g. _CUSTOM device on 1.1 platform */\n+\t\t\t\tbufcpy(0, no_dev()); break;\n+\t\t\tcase CL_DEVICE_NOT_AVAILABLE:\n+\t\t\t\tbufcpy(0, no_dev_avail()); break;\n+\t\t\tdefault:\n+\t\t\t\thad_error = REPORT_ERROR2(\"create context from type %s\");\n+\t\t\t\tif (had_error)\n+\t\t\t\t\tbreak;\n+\n+\t\t\t\t/* get the devices */\n+\t\t\t\tcurrent_param = \"CL_CONTEXT_DEVICES\";\n+\t\t\t\tcurrent_line = __LINE__+2;\n+\n+\t\t\t\terror = clGetContextInfo(ctx, CL_CONTEXT_DEVICES, 0, NULL, &szval);\n+\t\t\t\thad_error = REPORT_ERROR2(\"get %s size\");\n+\t\t\t\tif (had_error)\n+\t\t\t\t\tbreak;\n+\t\t\t\tif (szval > cursz) {\n+\t\t\t\t\tREALLOC(devs, szval, \"context devices\");\n+\t\t\t\t\tcursz = szval;\n+\t\t\t\t}\n+\n+\t\t\t\tcurrent_line = __LINE__+1;\n+\t\t\t\terror = clGetContextInfo(ctx, CL_CONTEXT_DEVICES, cursz, devs, NULL);\n+\t\t\t\thad_error = REPORT_ERROR2(\"get %s\");\n+\t\t\t\tif (had_error)\n+\t\t\t\t\tbreak;\n+\t\t\t\tndevs = szval/sizeof(cl_device_id);\n+\t\t\t\tif (ndevs < 1) {\n+\t\t\t\t\tbufcpy(0, \"\");\n+\t\t\t\t}\n+\n+\t\t\t\t/* get the platform from the first device */\n+\t\t\t\tcurrent_param = \"CL_DEVICE_PLATFORM\";\n+\t\t\t\tcurrent_line = __LINE__+1;\n+\t\t\t\terror = clGetDeviceInfo(*devs, CL_DEVICE_PLATFORM, sizeof(plat), &plat, NULL);\n+\t\t\t\thad_error = REPORT_ERROR2(\"get %s\");\n+\t\t\t\tif (had_error)\n+\t\t\t\t\tbreak;\n+\n+\t\t\t\tszval = 0;\n+\t\t\t\tfor (i = 0; i < num_platforms; ++i) {\n+\t\t\t\t\tif (platform[i] == plat)\n+\t\t\t\t\t\tbreak;\n+\t\t\t\t}\n+\t\t\t\tif (i == num_platforms) {\n+\t\t\t\t\tsprintf(strbuf, \"\", plat);\n+\t\t\t\t\tbreak;\n+\t\t\t\t} else {\n+\t\t\t\t\tszval += sprintf(strbuf, \"%s (%\" PRIuS \")\",\n+\t\t\t\t\t\t\t(output_mode == CLINFO_HUMAN ? \"Success\" : \"CL_SUCCESS\"),\n+\t\t\t\t\t\t\tndevs);\n+\t\t\t\t\tszval += snprintf(strbuf + szval, bufsz - szval, \"\\n\" I2_STR \"%s\",\n+\t\t\t\t\t\t\t\t\t platname_prop, pdata[i].pname);\n+\t\t\t\t}\n+\t\t\t\tfor (i = 0; i < ndevs; ++i) {\n+\t\t\t\t\tsize_t szname = 0;\n+\t\t\t\t\t/* for each device, show the device name */\n+\t\t\t\t\t/* TODO some other unique ID too, e.g. PCI address, if available? */\n+\n+\t\t\t\t\tszval += snprintf(strbuf + szval, bufsz - szval, \"\\n\" I2_STR, devname_prop);\n+\t\t\t\t\tif (szval >= bufsz) {\n+\t\t\t\t\t\ttrunc_strbuf();\n+\t\t\t\t\t\tbreak;\n+\t\t\t\t\t}\n+\n+\t\t\t\t\tcurrent_param = \"CL_DEVICE_NAME\";\n+\t\t\t\t\tcurrent_line = __LINE__+1;\n+\t\t\t\t\terror = clGetDeviceInfo(devs[i], CL_DEVICE_NAME, bufsz - szval, strbuf + szval, &szname);\n+\t\t\t\t\thad_error = REPORT_ERROR2(\"get %s\");\n+\t\t\t\t\tif (had_error)\n+\t\t\t\t\t\tbreak;\n+\t\t\t\t\tszval += szname - 1;\n+\n+\n+\t\t\t\t}\n+\t\t\t\tif (i != ndevs)\n+\t\t\t\t\tbreak; /* had an error earlier, bail */\n+\n+\t\t}\n+\n+\t\tif (ctx) {\n+\t\t\tclReleaseContext(ctx);\n+\t\t\tctx = NULL;\n+\t\t}\n+\tLOGI(\"%s%s\\n\", def, strbuf);\n+\t}\n+\tfree(devs);\n+}\n+\n+/* check the behavior of NULL platform in clGetDeviceIDs (see checkNullGetDevices)\n+ * and in clCreateContext() */\n+void checkNullBehavior(void)\n+{\n+\tcl_device_id *dev = NULL;\n+\tcl_uint p = 0;\n+\tcl_uint pidx;\n+\n+LOGI(\"NULL platform behavior\\n\");\n+\n+\tcheckNullGetPlatformName();\n+\n+\tpidx = checkNullGetDevices();\n+\n+\t/* If there's a default platform, and it has devices, try\n+\t * creating a context with its first device and see if it works */\n+\n+\tif (pidx == num_platforms) {\n+\t\tbufcpy(0, no_plat());\n+\t} else if (pdata[pidx].ndevs == 0) {\n+\t\tbufcpy(0, no_dev());\n+\t} else {\n+\t\tp = 0;\n+\t\tdev = all_devices;\n+\t\twhile (p < num_platforms && p != pidx) {\n+\t\t\tdev += pdata[p++].ndevs;\n+\t\t}\n+\t\tif (p < num_platforms) {\n+\t\t\tcheckNullCtx(pidx, dev, \"default\");\n+\t\t} else {\n+\t\t\t/* this shouldn't happen, but still ... */\n+\t\t\tbufcpy(0, \"\");\n+\t\t}\n+\t}\n+LOGI(I1_STR \"%s\\n\", \"clCreateContext(NULL, ...) [default]\", strbuf);\n+\n+\t/* Look for a device from a non-default platform, if there are any */\n+\tif (pidx == num_platforms || num_platforms > 1) {\n+\t\tp = 0;\n+\t\tdev = all_devices;\n+\t\twhile (p < num_platforms && (p == pidx || pdata[p].ndevs == 0)) {\n+\t\t\tdev += pdata[p++].ndevs;\n+\t\t}\n+\t\tif (p < num_platforms) {\n+\t\t\tcheckNullCtx(p, dev, \"non-default\");\n+\t\t} else {\n+\t\t\tbufcpy(0, \"\");\n+\t\t}\n+\tLOGI(I1_STR \"%s\\n\", \"clCreateContext(NULL, ...) [other]\", strbuf);\n+\t}\n+\n+\tcheckNullCtxFromType();\n+\n+}\n+\n+\n+/* Get properties of the ocl-icd loader, if available */\n+/* All properties are currently char[] */\n+typedef enum {\n+\tCL_ICDL_OCL_VERSION=1,\n+\tCL_ICDL_VERSION=2,\n+\tCL_ICDL_NAME=3,\n+\tCL_ICDL_VENDOR=4,\n+} cl_icdl_info;\n+\n+/* Function pointer to the ICD loader info function */\n+cl_int (*clGetICDLoaderInfoOCLICD)(cl_icdl_info, size_t, void*, size_t*);\n+\n+/* We want to auto-detect the OpenCL version supported by the ICD loader.\n+ * To do this, we will progressively find symbols introduced in new APIs,\n+ * until a NULL symbol is found.\n+ */\n+\n+struct icd_loader_test {\n+\tcl_uint version;\n+\tconst char *symbol;\n+} icd_loader_tests[] = {\n+\t\t{ 11, \"clCreateSubBuffer\" },\n+\t\t{ 12, \"clCreateImage\" },\n+\t\t{ 20, \"clSVMAlloc\" },\n+\t\t{ 21, \"clGetHostTimer\" },\n+\t\t{ 0, NULL }\n+};\n+\n+int\n+icdl_info_str(cl_icdl_info param, const char* pname)\n+{\n+\terror = clGetICDLoaderInfoOCLICD(param, 0, NULL, &nusz);\n+\tif (nusz > bufsz) {\n+\t\tREALLOC(strbuf, nusz, current_param);\n+\t\tbufsz = nusz;\n+\t}\n+\thad_error = REPORT_ERROR2(\"get %s size\");\n+\tif (!had_error) {\n+\t\terror = clGetICDLoaderInfoOCLICD(param, bufsz, strbuf, NULL);\n+\t\thad_error = REPORT_ERROR2(\"get %s\");\n+\t}\n+\tshow_strbuf(pname, 1);\n+\treturn had_error;\n+}\n+\n+struct icdl_info_traits {\n+\tcl_icdl_info param; // CL_ICDL_*\n+\tconst char *sname; // \"CL_ICDL_*\"\n+\tconst char *pname; // \"ICD loader *\"\n+};\n+\n+static const char * const oclicdl_pfx = \"OCLICD\";\n+\n+#define LINFO(symbol, name) { symbol, #symbol, \"ICD loader \" name }\n+struct icdl_info_traits linfo_traits[] = {\n+\t\tLINFO(CL_ICDL_NAME, \"Name\"),\n+\t\tLINFO(CL_ICDL_VENDOR, \"Vendor\"),\n+\t\tLINFO(CL_ICDL_VERSION, \"Version\"),\n+\t\tLINFO(CL_ICDL_OCL_VERSION, \"Profile\")\n+};\n+\n+/* GCC < 4.6 does not support the diagnostic push _inside_ the function,\n+ * so we have to put it outside\n+ */\n+#if defined __GNUC__ && ((__GNUC__*10 + __GNUC_MINOR__) < 46)\n+#pragma GCC diagnostic ignored \"-Wdeprecated-declarations\"\n+#endif\n+\n+void oclIcdProps(void)\n+{\n+\t/* First of all, we try to auto-detect the supported ICD loader version */\n+\tint i = 0;\n+\n+\tdo {\n+\t\tstruct icd_loader_test check = icd_loader_tests[i];\n+\t\tif (check.symbol == NULL)\n+\t\t\tbreak;\n+\t\tif (dlsym(RTLD_DEFAULT, check.symbol) == NULL)\n+\t\t\tbreak;\n+\t\ticdl_ocl_version_found = check.version;\n+\t\t++i;\n+\t} while (1);\n+\n+\n+\t/* We find the clGetICDLoaderInfoOCLICD extension address, and use it to query\n+\t * the ICD loader properties. It should be noted however that\n+\t * clGetExtensionFunctionAddress is marked deprecated as of OpenCL 1.2, so\n+\t * to use it and compile cleanly we need disable the relevant warning.\n+\t * It should be noted that in this specific case we cannot replace the\n+\t * call to clGetExtensionFunctionAddress with a call to the superseding function\n+\t * clGetExtensionFunctionAddressForPlatform because the extension is in the\n+\t * loader itself, not in a specific platform.\n+\t */\n+\n+#ifdef _MSC_VER\n+\t#pragma warning(push)\n+#pragma warning(disable : 4996)\n+#elif defined __GNUC__ && ((__GNUC__*10 + __GNUC_MINOR__) >= 46)\n+\t#pragma GCC diagnostic push\n+#pragma GCC diagnostic ignored \"-Wdeprecated-declarations\"\n+#endif\n+\n+\tclGetICDLoaderInfoOCLICD = clGetExtensionFunctionAddress(\"clGetICDLoaderInfoOCLICD\");\n+\n+#ifdef _MSC_VER\n+#pragma warning(pop)\n+#elif defined __GNUC__ && ((__GNUC__*10 + __GNUC_MINOR__) >= 46)\n+#pragma GCC diagnostic pop\n+#endif\n+\n+\tif (clGetICDLoaderInfoOCLICD != NULL) {\n+\t\t/* TODO think of a sensible header in CLINFO_RAW */\n+\t\tif (output_mode != CLINFO_RAW)\n+\t\t\tputs(\"\\nICD loader properties\");\n+\t\tcurrent_function = __func__;\n+\n+\t\tif (output_mode == CLINFO_RAW) {\n+\t\t\tline_pfx_len = strlen(oclicdl_pfx) + 5;\n+\t\t\tREALLOC(line_pfx, line_pfx_len, \"line prefix OCL ICD\");\n+\t\t\tsprintf(strbuf, \"[%s/*]\", oclicdl_pfx);\n+\t\t\tsprintf(line_pfx, \"%*s\", -line_pfx_len, strbuf);\n+\t\t}\n+\n+\t\tfor (current_line = 0; current_line < ARRAY_SIZE(linfo_traits); ++current_line) {\n+\t\t\tconst struct icdl_info_traits *traits = linfo_traits + current_line;\n+\t\t\tcurrent_param = traits->sname;\n+\n+\t\t\thad_error = icdl_info_str(traits->param,\n+\t\t\t\t\t\t\t\t\t output_mode == CLINFO_HUMAN ?\n+\t\t\t\t\t\t\t\t\t traits->pname : traits->sname);\n+\n+\t\t\tif (!had_error && traits->param == CL_ICDL_OCL_VERSION) {\n+\t\t\t\ticdl_ocl_version = getOpenCLVersion(strbuf + 7);\n+\t\t\t}\n+\t\t}\n+\t}\n+\n+\tif (output_mode == CLINFO_HUMAN) {\n+\t\tif (icdl_ocl_version &&\n+\t\t\ticdl_ocl_version != icdl_ocl_version_found) {\n+\t\tLOGI(\t\"\\tNOTE:\\tyour OpenCL library declares to support OpenCL %u.%u,\\n\"\n+\t\t\t\t\t\t\t \"\\t\\tbut it seems to support up to OpenCL %u.%u %s.\\n\",\n+\t\t\t\t\t icdl_ocl_version / 10, icdl_ocl_version % 10,\n+\t\t\t\t\t icdl_ocl_version_found / 10, icdl_ocl_version_found % 10,\n+\t\t\t\t\t icdl_ocl_version_found < icdl_ocl_version ?\n+\t\t\t\t\t \"only\" : \"too\");\n+\t\t}\n+\t\tif (icdl_ocl_version_found < max_plat_version) {\n+\t\tLOGI(\t\"\\tNOTE:\\tyour OpenCL library only supports OpenCL %u.%u,\\n\"\n+\t\t\t\t\t\t\t \"\\t\\tbut some installed platforms support OpenCL %u.%u.\\n\"\n+\t\t\t\t\t\t\t \"\\t\\tPrograms using %u.%u features may crash\\n\"\n+\t\t\t\t\t\t\t \"\\t\\tor behave unexepectedly\\n\",\n+\t\t\t\t\t icdl_ocl_version_found / 10, icdl_ocl_version_found % 10,\n+\t\t\t\t\t max_plat_version / 10, max_plat_version % 10,\n+\t\t\t\t\t max_plat_version / 10, max_plat_version % 10);\n+\t\t}\n+\t}\n+}\n+\n+#if defined __GNUC__ && ((__GNUC__*10 + __GNUC_MINOR__) < 46)\n+#pragma GCC diagnostic warning \"-Wdeprecated-declarations\"\n+#endif\n+\n+void version(void)\n+{\n+\tputs(\"clinfo version 2.1.16.01.12\");\n+}\ndiff --git a/include/error.h b/include/error.h\nnew file mode 100644\nindex 0000000..a4f42c8\n--- /dev/null\n+++ b/include/error.h\n@@ -0,0 +1,53 @@\n+/* OpenCL error handling */\n+\n+#include \n+\n+#include \"ext.h\"\n+#include \"fmtmacros.h\"\n+\n+cl_int error;\n+\n+int\n+check_ocl_error(cl_int err, const char *what, const char *func, int line)\n+{\n+\tif (err != CL_SUCCESS) {\n+\t\tfflush(stdout);\n+\t\tfflush(stderr);\n+\t\tLOGI( \"%s:%u: %s : error %d\\n\",\n+\t\t\tfunc, line, what, err);\n+\t\tfflush(stderr);\n+\t}\n+\treturn err != CL_SUCCESS;\n+}\n+\n+const char *current_function;\n+size_t current_line;\n+const char *current_param;\n+\n+int\n+report_ocl_error(char *dstbuf, size_t sz, cl_int err, const char *fmt)\n+{\n+\tstatic char full_fmt[1024];\n+\tif (err != CL_SUCCESS) {\n+\t\tsnprintf(full_fmt, 1024, \"<%s:%\" PRIuS \": %s : error %d>\",\n+\t\t\tcurrent_function, current_line, fmt, err);\n+\t\tsnprintf(dstbuf, sz, full_fmt, current_param);\n+\t}\n+\treturn err != CL_SUCCESS;\n+}\n+\n+int\n+report_ocl_error_old(char *where, size_t sz, cl_int err, const char *what, const char *func, int line)\n+{\n+\tif (err != CL_SUCCESS) {\n+\t\tsnprintf(where, sz, \"<%s:%d: %s : error %d>\",\n+\t\t\tfunc, line, what, err);\n+\t}\n+\treturn err != CL_SUCCESS;\n+}\n+\n+#define CHECK_ERROR(what) if (check_ocl_error(error, what, __func__, __LINE__)) exit(1)\n+\n+#define REPORT_ERROR(what) report_ocl_error_old(strbuf, bufsz, error, what, __func__, __LINE__)\n+#define REPORT_ERROR2(what) report_ocl_error(strbuf, bufsz, error, what)\n+\ndiff --git a/include/ext.h b/include/ext.h\nnew file mode 100644\nindex 0000000..6094c52\n--- /dev/null\n+++ b/include/ext.h\n@@ -0,0 +1,165 @@\n+/* Include OpenCL header, and define OpenCL extensions, since what is and is not\n+ * available in the official headers is very system-dependent */\n+\n+#ifndef _EXT_H\n+#define _EXT_H\n+\n+#ifdef __APPLE__\n+#include \n+#else\n+#include \n+#endif\n+\n+/* These two defines were introduced in the 1.2 headers\n+ * on 2012-11-30, so earlier versions don't have them\n+ * (e.g. Debian wheezy)\n+ */\n+\n+#ifndef CL_DEVICE_IMAGE_PITCH_ALIGNMENT\n+#define CL_DEVICE_IMAGE_PITCH_ALIGNMENT 0x104A\n+#define CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT 0x104B\n+#endif\n+\n+/* 2.0 headers are not very common for the time being, so\n+ * let's copy the defines for the new CL_DEVICE_* properties\n+ * here.\n+ */\n+#ifndef CL_VERSION_2_0\n+#define CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS 0x104C\n+#define CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE 0x104D\n+#define CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES 0x104E\n+#define CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE 0x104F\n+#define CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE 0x1050\n+#define CL_DEVICE_MAX_ON_DEVICE_QUEUES 0x1051\n+#define CL_DEVICE_MAX_ON_DEVICE_EVENTS 0x1052\n+#define CL_DEVICE_SVM_CAPABILITIES 0x1053\n+#define CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE 0x1054\n+#define CL_DEVICE_MAX_PIPE_ARGS 0x1055\n+#define CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS 0x1056\n+#define CL_DEVICE_PIPE_MAX_PACKET_SIZE 0x1057\n+#define CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT 0x1058\n+#define CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT 0x1059\n+#define CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT 0x105A\n+\n+#define CL_DEVICE_SVM_COARSE_GRAIN_BUFFER (1 << 0)\n+#define CL_DEVICE_SVM_FINE_GRAIN_BUFFER (1 << 1)\n+#define CL_DEVICE_SVM_FINE_GRAIN_SYSTEM (1 << 2)\n+#define CL_DEVICE_SVM_ATOMICS (1 << 3)\n+\n+typedef cl_bitfield cl_device_svm_capabilities;\n+#endif\n+\n+#ifndef CL_VERSION_2_1\n+#define CL_PLATFORM_HOST_TIMER_RESOLUTION\t\t0x0905\n+#define CL_DEVICE_IL_VERSION\t\t\t\t0x105B\n+#define CL_DEVICE_MAX_NUM_SUB_GROUPS\t\t\t0x105C\n+#define CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS 0x105D\n+#endif\n+\n+/*\n+ * Extensions\n+ */\n+\n+/* cl_khr_icd */\n+#define CL_PLATFORM_ICD_SUFFIX_KHR\t\t\t0x0920\n+#define CL_PLATFORM_NOT_FOUND_KHR\t\t\t-1001\n+\n+\n+/* cl_khr_fp64 */\n+#define CL_DEVICE_DOUBLE_FP_CONFIG\t\t\t0x1032\n+\n+/* cl_khr_fp16 */\n+#define CL_DEVICE_HALF_FP_CONFIG\t\t\t0x1033\n+\n+/* cl_khr_terminate_context */\n+#define CL_DEVICE_TERMINATE_CAPABILITY_KHR\t\t0x200F\n+\n+/* cl_nv_device_attribute_query */\n+#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV\t\t0x4000\n+#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV\t\t0x4001\n+#define CL_DEVICE_REGISTERS_PER_BLOCK_NV\t\t0x4002\n+#define CL_DEVICE_WARP_SIZE_NV\t\t\t\t0x4003\n+#define CL_DEVICE_GPU_OVERLAP_NV\t\t\t0x4004\n+#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV\t\t0x4005\n+#define CL_DEVICE_INTEGRATED_MEMORY_NV\t\t\t0x4006\n+#define CL_DEVICE_ATTRIBUTE_ASYNC_ENGINE_COUNT_NV\t0x4007\n+#define CL_DEVICE_PCI_BUS_ID_NV\t\t\t\t0x4008\n+#define CL_DEVICE_PCI_SLOT_ID_NV\t\t\t0x4009\n+\n+/* cl_ext_atomic_counters_{32,64} */\n+#define CL_DEVICE_MAX_ATOMIC_COUNTERS_EXT\t\t0x4032\n+\n+/* cl_amd_device_attribute_query */\n+#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD\t\t0x4036\n+#define CL_DEVICE_TOPOLOGY_AMD\t\t\t\t0x4037\n+#define CL_DEVICE_BOARD_NAME_AMD\t\t\t0x4038\n+#define CL_DEVICE_GLOBAL_FREE_MEMORY_AMD\t\t0x4039\n+#define CL_DEVICE_SIMD_PER_COMPUTE_UNIT_AMD\t\t0x4040\n+#define CL_DEVICE_SIMD_WIDTH_AMD\t\t\t0x4041\n+#define CL_DEVICE_SIMD_INSTRUCTION_WIDTH_AMD\t\t0x4042\n+#define CL_DEVICE_WAVEFRONT_WIDTH_AMD\t\t\t0x4043\n+#define CL_DEVICE_GLOBAL_MEM_CHANNELS_AMD\t\t0x4044\n+#define CL_DEVICE_GLOBAL_MEM_CHANNEL_BANKS_AMD\t\t0x4045\n+#define CL_DEVICE_GLOBAL_MEM_CHANNEL_BANK_WIDTH_AMD\t0x4046\n+#define CL_DEVICE_LOCAL_MEM_SIZE_PER_COMPUTE_UNIT_AMD\t0x4047\n+#define CL_DEVICE_LOCAL_MEM_BANKS_AMD\t\t\t0x4048\n+#define CL_DEVICE_THREAD_TRACE_SUPPORTED_AMD\t\t0x4049\n+#define CL_DEVICE_GFXIP_MAJOR_AMD\t\t\t0x404A\n+#define CL_DEVICE_GFXIP_MINOR_AMD\t\t\t0x404B\n+#define CL_DEVICE_AVAILABLE_ASYNC_QUEUES_AMD\t\t0x404C\n+\n+#ifndef CL_DEVICE_TOPOLOGY_TYPE_PCIE_AMD\n+#define CL_DEVICE_TOPOLOGY_TYPE_PCIE_AMD\t\t1\n+\n+typedef union\n+{\n+\tstruct { cl_uint type; cl_uint data[5]; } raw;\n+\tstruct { cl_uint type; cl_char unused[17]; cl_char bus; cl_char device; cl_char function; } pcie;\n+} cl_device_topology_amd;\n+#endif\n+\n+/* cl_amd_offline_devices */\n+#define CL_CONTEXT_OFFLINE_DEVICES_AMD\t\t\t0x403F\n+\n+/* cl_ext_device_fission */\n+#define cl_ext_device_fission\t\t\t\t1\n+\n+typedef cl_ulong cl_device_partition_property_ext;\n+\n+#define CL_DEVICE_PARTITION_EQUALLY_EXT\t\t\t0x4050\n+#define CL_DEVICE_PARTITION_BY_COUNTS_EXT\t\t0x4051\n+#define CL_DEVICE_PARTITION_BY_NAMES_EXT\t\t0x4052\n+#define CL_DEVICE_PARTITION_BY_NAMES_INTEL\t\t0x4052 /* cl_intel_device_partition_by_names */\n+#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT\t0x4053\n+\n+#define CL_DEVICE_PARENT_DEVICE_EXT\t\t\t0x4054\n+#define CL_DEVICE_PARTITION_TYPES_EXT\t\t\t0x4055\n+#define CL_DEVICE_AFFINITY_DOMAINS_EXT\t\t\t0x4056\n+#define CL_DEVICE_REFERENCE_COUNT_EXT\t\t\t0x4057\n+#define CL_DEVICE_PARTITION_STYLE_EXT\t\t\t0x4058\n+\n+#define CL_AFFINITY_DOMAIN_L1_CACHE_EXT\t\t\t0x1\n+#define CL_AFFINITY_DOMAIN_L2_CACHE_EXT\t\t\t0x2\n+#define CL_AFFINITY_DOMAIN_L3_CACHE_EXT\t\t\t0x3\n+#define CL_AFFINITY_DOMAIN_L4_CACHE_EXT\t\t\t0x4\n+#define CL_AFFINITY_DOMAIN_NUMA_EXT\t\t\t0x10\n+#define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT\t\t0x100\n+\n+/* cl_intel_advanced_motion_estimation */\n+#define CL_DEVICE_ME_VERSION_INTEL\t\t\t0x407E\n+\n+/* cl_qcom_ext_host_ptr */\n+#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM\t\t0x40A0\n+#define CL_DEVICE_PAGE_SIZE_QCOM\t\t\t0x40A1\n+\n+/* cl_khr_spir */\n+#define CL_DEVICE_SPIR_VERSIONS\t\t\t\t0x40E0\n+\n+/* cl_altera_device_temperature */\n+#define CL_DEVICE_CORE_TEMPERATURE_ALTERA\t\t0x40F3\n+\n+/* cl_intel_simultaneous_sharing */\n+#define CL_DEVICE_SIMULTANEOUS_INTEROPS_INTEL\t\t0x4104\n+#define CL_DEVICE_NUM_SIMULTANEOUS_INTEROPS_INTEL\t0x4105\n+\n+#endif\ndiff --git a/include/fmtmacros.h b/include/fmtmacros.h\nnew file mode 100644\nindex 0000000..0660583\n--- /dev/null\n+++ b/include/fmtmacros.h\n@@ -0,0 +1,28 @@\n+/* cl_ulong is always a 64bit integer, so in a few places\n+ we want to use its shadow type uint64_t, and print the\n+ values using PRIu64. We'll similarly define one for\n+ size_t, to make support for non-standard/older compiler\n+ easier.\n+ */\n+\n+#ifndef _FMT_MACROS_H\n+#define _FMT_MACROS_H\n+\n+#ifdef _WIN32\n+# include \n+# include // size_t\n+# define PRIu64 \"I64u\"\n+# define PRIX64 \"I64x\"\n+# define PRIXPTR \"p\"\n+# define PRIuS \"Iu\"\n+#else\n+# define __STDC_FORMAT_MACROS\n+# include \n+#endif\n+\n+// size_t print spec\n+#ifndef PRIuS\n+# define PRIuS \"zu\"\n+#endif\n+\n+#endif\ndiff --git a/include/memory.h b/include/memory.h\nnew file mode 100644\nindex 0000000..36e532e\n--- /dev/null\n+++ b/include/memory.h\n@@ -0,0 +1,21 @@\n+/* Memory handling */\n+\n+#include \n+\n+#define CHECK_MEM(var, what) do { \\\n+\tif (!var) { \\\n+\t\tLOGI( \"%s:%d: %s : Out of memory\\n\", \\\n+\t\t\t__func__, __LINE__, what); \\\n+\t\texit(1); \\\n+\t} \\\n+} while (0)\n+\n+#define ALLOC(var, num, what) do { \\\n+\tvar = calloc(num, sizeof(*(var))); \\\n+\tCHECK_MEM(var, what); \\\n+} while (0)\n+\n+#define REALLOC(var, num, what) do { \\\n+\tvar = realloc(var, (num)*sizeof(*var)); \\\n+\tCHECK_MEM(var, what); \\\n+} while (0)\ndiff --git a/include/ms_support.h b/include/ms_support.h\nnew file mode 100644\nindex 0000000..2a8a129\n--- /dev/null\n+++ b/include/ms_support.h\n@@ -0,0 +1,47 @@\n+/* Missing functions and other misc stuff to support\n+ * the horrible MS C compiler\n+ *\n+ * TODO could be improved by version-checking for C99 support\n+ */\n+\n+// also disable strncpy vs strncpy_s warning\n+#pragma warning(disable : 4996)\n+\n+// No inline in MS C\n+#define inline __inline\n+\n+// No snprintf in MS C, copy over implementation taken from\n+// stackoverflow\n+\n+#include \n+#include \n+\n+inline int c99_vsnprintf(char* str, size_t size, const char* format, va_list ap)\n+{\n+ int count = -1;\n+\n+ if (size != 0)\n+ count = _vsnprintf_s(str, size, _TRUNCATE, format, ap);\n+ if (count == -1)\n+ count = _vscprintf(format, ap);\n+\n+ return count;\n+}\n+\n+inline int c99_snprintf(char* str, size_t size, const char* format, ...)\n+{\n+ int count;\n+ va_list ap;\n+\n+ va_start(ap, format);\n+ count = c99_vsnprintf(str, size, format, ap);\n+ va_end(ap);\n+\n+ return count;\n+}\n+\n+#define snprintf c99_snprintf\n+\n+// And no __func__ either\n+\n+#define __func__ __FUNCTION__\ndiff --git a/include/strbuf.h b/include/strbuf.h\nnew file mode 100644\nindex 0000000..8fc112f\n--- /dev/null\n+++ b/include/strbuf.h\n@@ -0,0 +1,96 @@\n+/* multi-purpose string strbuf, will be initialized to be\n+ * at least 1024 bytes long.\n+ */\n+\n+#include \n+#include \n+#include \n+#include \"fmtmacros.h\"\n+\n+char *strbuf;\n+size_t bufsz, nusz;\n+\n+#define GET_STRING(cmd, param, param_str, ...) do { \\\n+\terror = cmd(__VA_ARGS__, param, 0, NULL, &nusz); \\\n+\tif (nusz > bufsz) { \\\n+\t\tREALLOC(strbuf, nusz, #param); \\\n+\t\tbufsz = nusz; \\\n+\t} \\\n+\tif (REPORT_ERROR(\"get \" param_str \" size\")) break; \\\n+\terror = cmd(__VA_ARGS__, param, bufsz, strbuf, NULL); \\\n+\tREPORT_ERROR(\"get \" param_str); \\\n+} while (0)\n+\n+/* Skip leading whitespace in a string */\n+static inline const char* skip_leading_ws(const char *str)\n+{\n+\tconst char *ret = str;\n+\twhile (isspace(*ret)) ++ret;\n+\treturn ret;\n+}\n+\n+/* replace last 3 chars in strbuf with ... */\n+static const char ellip[] = \"...\";\n+\n+static void trunc_strbuf(void)\n+{\n+\tmemcpy(strbuf + bufsz - 4, ellip, 4);\n+}\n+\n+/* copy a string to strbuf, at the given offset,\n+ * returning the amount of bytes written (excluding the\n+ * closing NULL byte)\n+ */\n+static inline size_t bufcpy_len(size_t offset, const char *str, size_t len)\n+{\n+\tsize_t maxlen = bufsz - offset - 1;\n+\tchar *dst = strbuf + offset;\n+\tint trunc = 0;\n+\tif (bufsz < offset) {\n+\t\tfprintf(stderr, \"bufcpy overflow copying %s at offset %\" PRIuS \"/%\" PRIuS \" (%s)\\n\",\n+\t\t\tstr, offset, bufsz, strbuf);\n+\t\tmaxlen = 0;\n+\t\ttrunc = 1;\n+\t}\n+\tif (len > maxlen) {\n+\t\tlen = maxlen;\n+\t\ttrunc = 1;\n+\t\t/* TODO enlarge strbuf instead, if maxlen > 0 */\n+\t}\n+\tmemcpy(dst, str, len);\n+\toffset += len;\n+\tif (trunc)\n+\t\ttrunc_strbuf();\n+\telse\n+\t\tstrbuf[offset] = '\\0';\n+\treturn len;\n+}\n+\n+/* As above, auto-compute string length */\n+static inline size_t bufcpy(size_t offset, const char *str)\n+{\n+\treturn bufcpy_len(offset, str, strlen(str));\n+}\n+\n+\n+/* Separators: we want to be able to prepend separators as needed to strbuf,\n+ * which we do only if halfway through the buffer. The callers should first\n+ * call a 'set_separator' and then use add_separator(&offset) to add it, where szval\n+ * is an offset inside the buffer, which will be incremented as needed\n+ */\n+\n+const char *sep;\n+size_t sepsz;\n+\n+void set_separator(const char* _sep)\n+{\n+\tsep = _sep;\n+\tsepsz = strlen(sep);\n+}\n+\n+/* Note that no overflow check is done: it is assumed that strbuf will have enough room */\n+void add_separator(size_t *offset)\n+{\n+\tif (*offset)\n+\t\t*offset += bufcpy_len(*offset, sep, sepsz);\n+}\ndiff --git a/libopencl.c b/libopencl.c\nindex 4fb3b80..3e43517 100644\n--- a/libopencl.c\n+++ b/libopencl.c\n@@ -9,12 +9,30 @@\n * If none of these are set, default system paths will be considered\n **/\n \n+#ifdef __ANDROID__\n+#include \n+#ifndef LOGI\n+#define LOGI(...) ((void)__android_log_print(ANDROID_LOG_INFO, \"LIBOPENCLSTUB\", __VA_ARGS__))\n+#define LOGW(...) ((void)__android_log_print(ANDROID_LOG_WARN, \"LIBOPENCLSTUB\", __VA_ARGS__))\n+#endif\n+#else\n+#define LOGI(...) printf(__VA_ARGS__);\n+#define LOGW(...) printf(__VA_ARGS__);\n+#endif\n+\n #include \"libopencl.h\"\n+#include \"clinfos.h\"\n+\n \n \n-static const char *default_so_paths[] = { // Android\n- \"/system/lib/libOpenCL.so\", \"/system/vendor/lib/libOpenCL.so\",\n+static const char *default_so_paths[] = { // Android - 64bit first\n+ \"/vendor/lib64/libOpenCL.so\",\n+ \"/system/lib64/libOpenCL.so\",\n+ \"/vendor/lib64/egl/libGLES_mali.so\",\n+ // Android\n \"/system/vendor/lib/egl/libGLES_mali.so\",\n+ \"/system/vendor/lib/libOpenCL.so\",\n+ \"/system/lib/libOpenCL.so\",\n \"/system/vendor/lib/libPVROCL.so\",\n \"/data/data/org.pocl.libs/files/lib/libpocl.so\",\n // Linux\n@@ -33,6 +50,61 @@ static int access_file(const char *filename)\n return (stat(filename, &buffer) == 0);\n }\n \n+\n+void clinfos() {\n+\tcl_uint p;\n+\tint a = 0;\n+\n+\tcl_bool show_offline = CL_FALSE;\n+\n+ output_mode = CLINFO_HUMAN;\n+ show_offline = CL_TRUE;\n+\n+\tALLOC(strbuf, 1024, \"general string buffer\");\n+\tbufsz = 1024;\n+\n+\terror = clGetPlatformIDs(0, NULL, &num_platforms);\n+\tif (error != CL_PLATFORM_NOT_FOUND_KHR)\n+\t\tCHECK_ERROR(\"number of platforms\");\n+\n+\tif (!list_only)\n+\t\tLOGI(I0_STR \"%u\\n\",\n+\t\t\t(output_mode == CLINFO_HUMAN ?\n+\t\t\t \"Number of platforms\" : \"#PLATFORMS\"),\n+\t\t\tnum_platforms);\n+\tif (!num_platforms)\n+\t\treturn;\n+\n+\tALLOC(platform, num_platforms, \"platform IDs\");\n+\terror = clGetPlatformIDs(num_platforms, platform, NULL);\n+\tCHECK_ERROR(\"platform IDs\");\n+\n+\tALLOC(pdata, num_platforms, \"platform data\");\n+\tALLOC(line_pfx, 1, \"line prefix\");\n+\n+\tfor (p = 0; p < num_platforms; ++p) {\n+\t\tprintPlatformInfo(p);\n+\t\tif (!list_only)\n+\t\t\tputs(\"\");\n+\t}\n+\n+\tif (num_devs_all > 0) {\n+\t\tALLOC(all_devices, num_devs_all, \"device IDs\");\n+\t}\n+\n+\tif (list_only) {\n+\t\tlistPlatformsAndDevices(show_offline);\n+\t} else {\n+\t\tshowDevices(show_offline);\n+\t\tif (output_mode != CLINFO_RAW)\n+\t\t\tcheckNullBehavior();\n+\t\toclIcdProps();\n+\t}\n+\n+\treturn;\n+}\n+\n+\n static void open_libopencl_so()\n {\n char *path = NULL, *str = NULL;\n@@ -53,11 +125,29 @@ static void open_libopencl_so()\n \n if(!path)\n {\n+ LOGI(\"Look for a real OpenCL library.\");\n for(i=0; i<(sizeof(default_so_paths)/sizeof(char*)); i++)\n {\n if(access_file(default_so_paths[i])) {\n- path = (char *)default_so_paths[i];\n- break;\n+\n+ if (!path) {\n+ path = (char *) default_so_paths[i];\n+ LOGI(\"%s is OK and selected.\", path);\n+ } else {\n+ LOGI(\"%s is OK.\", default_so_paths[i]);\n+ }\n+\n+ // Locally print infos\n+ so_handle = dlopen(path, RTLD_LAZY);\n+\n+ if(!so_handle) {\n+ LOGI(\"Failed to Open it.\");\n+ } else {\n+ LOGI(\"Library Opened.\");\n+ clinfos();\n+ dlclose(so_handle);\n+ }\n+\n }\n }\n }\n-- \n2.4.11\n\n" }, { "path": "framework/shared/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.10)\n\nset(common_properties \"\")\nset(common_libraries \"\")\ninclude_directories(./include)\n\n########## Boost (required) ####################\nfind_package(Boost 1.54 REQUIRED COMPONENTS program_options regex)\n\n########## GLUT GUI Library ####################\nfind_package(GLUT)\nif(GLUT_FOUND)\n ########## Pangolin GUI Library ####################\n find_package(Pangolin)\n if(Pangolin_FOUND)\n include_directories(${Pangolin_INCLUDE_DIRS})\n include_directories(${TOON_INCLUDE_PATHS})\n add_library(slambench-ui-pangolin src/SLAMBenchUI_Pangolin.cpp include/SLAMBenchUI_Pangolin.h)\n target_link_libraries(slambench-ui-pangolin ${Pangolin_LIBRARIES})\n\n\t\tif(CMAKE_COMPILER_IS_GNUCC AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 8.0)\n\t\t target_compile_options(slambench-ui-pangolin PRIVATE \"-Wno-error=catch-value=\")\n\t\tendif()\n endif(Pangolin_FOUND)\nendif(GLUT_FOUND)\n\n########## PCL Library ####################\nfind_package(PCL)\nif (PCL_FOUND)\n include_directories(${PCL_INCLUDE_DIRS})\n link_directories(${PCL_LIBRARY_DIRS})\n add_definitions(${PCL_DEFINITIONS})\n set(common_libraries \"${common_libraries}\" \"${PCL_LIBRARIES}\")\nendif(PCL_FOUND)\n\n########## Main Library ####################\nfile(GLOB sensors_files src/io/sensor/*)\n\nadd_library(slambench-c-wrapper \n\tsrc/library_wrapper.cpp \n)\nset_target_properties(slambench-c-wrapper PROPERTIES COMPILE_FLAGS \"-fPIC\")\n\nset(MetricFiles\n src/ColumnWriter.cpp\n src/metrics/Phase.cpp\n src/metrics/ATEMetric.cpp\n src/metrics/RPEMetric.cpp\n src/metrics/PowerMetric.cpp\n src/metrics/DurationMetric.cpp\n src/metrics/MemoryMetric.cpp\n src/metrics/memory_utils/CUDAMonitor.cpp\n src/metrics/Metric.cpp\n src/metrics/MetricManager.cpp\n src/metrics/DepthEstimationMetric.cpp\n\n src/outputs/Output.cpp\n src/outputs/OutputManager.cpp\n src/outputs/OutputManagerWriter.cpp\n src/outputs/TrajectoryAlignmentMethod.cpp\n src/outputs/TrajectoryInterface.cpp\n \n src/values/Value.cpp\n src/values/ValueDispatch.cpp\n src/values/ValueInterface.cpp\n src/values/ValuePrinter.cpp\n)\n\n########## XU3 MONITORING ####################\n# Only work on the Odroid XU3 so far\n###########################################################\nset(common_properties \"${common_properties} -DXU3_MONITORING\")\nlist(APPEND MetricFiles src/metrics/power_utils/XU3Monitor.cpp)\n\t\n########## PAPI MONITORING (optional) ####################\n# You need to install papi-devel and lm_sensors-devel\n###########################################################\nfind_package(PAPI)\nif (PAPI_FOUND) \n \tinclude_directories(${PAPI_INCLUDE_DIRS})\n\tset(common_properties \"${common_properties} -DPAPI_MONITORING\")\n\tset(common_libraries \"${common_libraries}\" ${PAPI_LIBRARIES})\n\tlist(APPEND MetricFiles src/metrics/power_utils/PAPIMonitor.cpp)\nendif(PAPI_FOUND)\n\nadd_library(slambench-metrics ${MetricFiles})\nset_target_properties(slambench-metrics PROPERTIES COMPILE_FLAGS \"${common_properties}\")\n\nadd_library(slambench-io\n\t${sensors_files}\n\tsrc/io/core/Core.cpp\n\tsrc/io/FrameBuffer.cpp\n\tsrc/io/FrameBufferSource.cpp\n\tsrc/io/FrameFormat.cpp\n\tsrc/io/SLAMFile.cpp\n\tsrc/io/SLAMFrame.cpp\n\tsrc/io/PixelFormat.cpp\n\tsrc/io/InputInterface.cpp\n\tsrc/io/InputInterfaceManager.cpp\n\tsrc/io/FrameSource.cpp\n\n\tsrc/io/deserialisation/Deserialiser.cpp\n\tsrc/io/deserialisation/SLAMFileDeserialiser.cpp\n\tsrc/io/deserialisation/SLAMFileHeaderDeserialiser.cpp\n\tsrc/io/deserialisation/SLAMFrameDeserialiser.cpp\n\tsrc/io/deserialisation/SensorCollectionDeserialiser.cpp\n\t\n\tsrc/io/format/DataFormatter.cpp\n\tsrc/io/format/PointCloud.cpp\n\tsrc/io/serialisation/Serialiser.cpp\n\tsrc/io/serialisation/SLAMFileHeaderSerialiser.cpp\n\tsrc/io/serialisation/SLAMFileSerialiser.cpp\n\tsrc/io/serialisation/SLAMFrameSerialiser.cpp\n\tsrc/lodepng.cpp\n)\n\nadd_library(slambench-utils\n\tsrc/SLAMBenchConfiguration.cpp\n\tsrc/sb_malloc.cpp\n\tsrc/ParameterComponent.cpp\n src/ParameterManager.cpp\n src/ResultWriter.cpp\n)\n\ntarget_include_directories(slambench-io PRIVATE ${Boost_INCLUDE_DIRS})\ntarget_include_directories(slambench-metrics PRIVATE ${Boost_INCLUDE_DIRS})\ntarget_link_libraries(slambench-io PRIVATE slambench-utils pthread ${Boost_LIBRARIES})\n\nSET(EXTRA_LIBS_FOR_MEMORY \"\")\n\nfind_package(OpenCL)\nif(OPENCL_FOUND)\n \tSET(EXTRA_LIBS_FOR_MEMORY \"${EXTRA_LIBS_FOR_MEMORY};${OPENCL_LIBRARIES}\")\nendif(OPENCL_FOUND)\n\nfind_package(CUDA)\nif(CUDA_FOUND)\n STRING(REPLACE \"_static.a\" \".so\" CUDA_LIBRARIES \"${CUDA_LIBRARIES}\")\n SET(EXTRA_LIBS_FOR_MEMORY \"${EXTRA_LIBS_FOR_MEMORY};${CUDA_LIBRARIES}\")\nendif(CUDA_FOUND)\n\n########## OpenNI 2.0 and OpenNI 1.5 (optional) ####################\nfind_package(OpenNI)\nif(OpenNI_FOUND)\n\tmessage(STATUS \"SLAMBENCH will use OpenNI 1.5, include path = ${OPENNI_INCLUDE_DIR}\")\n\tinclude_directories(${OPENNI_INCLUDE_DIR})\n\tset(common_properties \"${common_properties} -DDO_OPENNI15 -Wno-error=strict-aliasing \")\n\tset(common_libraries \"${common_libraries}\" \"${OPENNI_LIBRARY}\")\n\n\tadd_library(slambench-io-oni15\n src/io/openni15/ONI15Frame.cpp\n src/io/openni15/ONI15FrameStream.cpp\n src/io/openni15/ONI15InputInterface.cpp\n )\n\tadd_definitions(-DDO_OPENNI15=1)\n\ttarget_link_libraries(slambench-io-oni15 ${OPENNI_LIBRARIES})\n target_link_libraries(slambench-utils slambench-io-oni15)\n\tSET_TARGET_PROPERTIES(slambench-io-oni15 PROPERTIES COMPILE_FLAGS \"-fPIC -Wno-error=unused-but-set-variable -Wno-error=return-type -Wno-error=strict-aliasing\")\nelse(OpenNI_FOUND)\n\tmessage(STATUS \"SLAMBENCH WILL NOT USE OPENNI 1.2 !!\")\nendif(OpenNI_FOUND)\n\nfind_package(OpenNI2)\nif(OpenNI2_FOUND)\n\tmessage(STATUS \"SLAMBENCH will use OpenNI 2.X, include path = ${OPENNI2_INCLUDE_PATHS#}\")\n\tinclude_directories(${OPENNI2_INCLUDE_PATHS})\n\tset(common_properties \"${common_properties} -DDO_OPENNI20\")\n\tset(common_libraries \"${common_libraries}\" \"${OPENNI2_LIBRARIES}\")\n\n\tadd_library(slambench-io-oni2\n src/io/openni/ONI2Frame.cpp\n src/io/openni/ONI2FrameStream.cpp\n src/io/openni/ONI2InputInterface.cpp\n )\n\tadd_definitions(-DDO_OPENNI20=1)\n target_link_libraries(slambench-io-oni2 ${OPENNI2_LIBRARIES})\n\tset_target_properties(slambench-io-oni2 PROPERTIES COMPILE_FLAGS \"-fPIC -Wno-error=return-type -Wno-unused-variable -Wno-error=strict-aliasing\")\n target_link_libraries(slambench-utils slambench-io-oni2)\nelse(OpenNI2_FOUND)\n\tmessage(STATUS \"SLAMBENCH WILL NOT USE OPENNI 2.X !!\")\nendif(OpenNI2_FOUND)\n\nfind_package(realsense2)\nif(realsense2_FOUND)\n\tmessage(STATUS \"Found realsense:\" ${realsense2_INCLUDE_DIR})\n\tinclude_directories(${realsense2_INCLUDE_DIR})\n\tadd_library(slambench-io-realsense\n\t\t\tsrc/io/realsense/RealSense2Frame.cpp\n\t\t\tsrc/io/realsense/RealSense2FrameStream.cpp\n\t\t\tsrc/io/realsense/RealSense2InputInterface.cpp)\n\tadd_definitions(-DDO_REALSENSE=1)\n\tset_target_properties(slambench-io-realsense PROPERTIES COMPILE_FLAGS \"-fPIC -Wno-unused-variable -Wno-error=return-type -Wno-error=strict-aliasing\")\n\ttarget_link_libraries(slambench-io-realsense ${realsense2_LIBRARY})\n\ttarget_link_libraries(slambench-utils slambench-io-realsense)\nelse()\n\tmessage(STATUS \"No realsense\")\nendif()\n\ntarget_link_libraries(slambench-utils \"-Wl,--no-as-needed;${EXTRA_LIBS_FOR_MEMORY};-Wl,--as-needed\" ${common_libraries} dl)\nset_target_properties(slambench-utils PROPERTIES COMPILE_FLAGS \"-fPIC ${common_properties}\")\n\n" }, { "path": "framework/shared/include/ColumnWriter.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef COLUMNWRITER_H\n#define COLUMNWRITER_H\n\n#include \n#include \n#include \n\nclass SLAMBenchLibraryHelper;\n\n\nnamespace slambench {\n\n\tnamespace values {\n\tclass ValueInterface;\n\t}\n\tnamespace outputs {\n\t\tclass BaseOutput;\n\t}\n\n\tnamespace metrics {\n\t\tclass Metric;\n\t\tclass Phase;\n\t}\n\n}\n\nnamespace slambench {\n\n\tclass ColumnInterface {\n\tpublic:\n\t\tvirtual ~ColumnInterface() = default;\n\t\tvirtual void WriteHeader(std::ostream &str) const = 0;\n\t\tvirtual void Write(std::ostream &str) = 0;\n\t};\n\t\n\tclass LibColumnInterface : public ColumnInterface {\n\tpublic:\n\t\tLibColumnInterface(SLAMBenchLibraryHelper *lib) : lib_(lib) {}\n\t\tvirtual ~LibColumnInterface() = default;\n\t\tvoid Write(std::ostream& str) override = 0;\n\t\tvoid WriteHeader(std::ostream& str) const override = 0;\n\n\tprotected:\n\t\tSLAMBenchLibraryHelper *GetLib() { return lib_; }\n\t\tconst SLAMBenchLibraryHelper *GetLib() const { return lib_; }\n\t\t\n\t\tstd::string GetHeaderPrefix() const;\n\tprivate:\n\t\tSLAMBenchLibraryHelper *lib_;\n\t};\n\t\n\tclass ValueLibColumnInterface : public LibColumnInterface {\n\tpublic:\n\t\tValueLibColumnInterface(SLAMBenchLibraryHelper *lib, metrics::Metric *metric, metrics::Phase *phase);\n\t\tValueLibColumnInterface(SLAMBenchLibraryHelper *lib, outputs::BaseOutput *output);\n\t\t~ValueLibColumnInterface() override = default;\n\t\t\n\t\tvirtual void Write(std::ostream& str) override;\n\t\tvirtual void WriteHeader(std::ostream& str) const override;\n\n\tprotected:\n\t\tconst std::string &GetName() { return name_; }\n\t\tvalues::ValueInterface *GetValueInterface() { return value_; }\n\t\tconst values::ValueInterface *GetValueInterface() const { return value_; }\n\t\t\n\tprivate:\n\t\tValueLibColumnInterface(SLAMBenchLibraryHelper *lib, values::ValueInterface *value, const std::string &name) : LibColumnInterface(lib), value_(value), name_(name) {}\n\t\tvalues::ValueInterface *value_;\n\t\tconst std::string name_;\n\t};\n\t\n\tclass CollectionValueLibColumnInterface : public ValueLibColumnInterface {\n\tpublic:\n\t\t\n\t\tCollectionValueLibColumnInterface(SLAMBenchLibraryHelper *lib, metrics::Metric *metric, metrics::Phase *phasespec);\n\t\tCollectionValueLibColumnInterface(SLAMBenchLibraryHelper *lib, outputs::BaseOutput *output);\n\t\t\n\t\tvoid Write(std::ostream& str) override;\n\t\tvoid WriteHeader(std::ostream& str) const override;\n\t\t\n\tprivate:\n\t\tvoid WriteInvalid(std::ostream &str);\n\t};\n\t\n\tclass OutputTimestampColumnInterface : public ColumnInterface {\n\tpublic:\n\t\texplicit OutputTimestampColumnInterface(outputs::BaseOutput *output) : output_(output) {};\n\t\t~OutputTimestampColumnInterface() override = default;\n\t\tvoid Write(std::ostream& str) override;\n\t\tvoid WriteHeader(std::ostream& str) const override;\n\tprivate:\n\t\toutputs::BaseOutput *output_;\n\t};\n\t\t\n\tclass RowNumberColumn : public ColumnInterface {\n\tpublic:\n\t\tRowNumberColumn();\n\t\t\n\t\tvoid Write(std::ostream& str) override;\n\t\tvoid WriteHeader(std::ostream& str) const override;\n\n\tprivate:\n\t\tuint64_t counter_;\n\t};\n\t\n\tclass ColumnWriter {\n\tpublic:\n\t\tColumnWriter(std::ostream &str, const std::string &separator);\n\t\t~ColumnWriter() = default;\n\n\t\tvoid AddColumn(ColumnInterface *interface);\n\t\tvoid PrintRow();\n\t\tvoid PrintHeader();\n\tprivate:\n\t\tstd::vector columns_;\n\t\tstd::ostream &str_;\n\t\tstd::string separator_;\n\t};\n}\n\n#endif /* COLUMNWRITER_H */\n\n" }, { "path": "framework/shared/include/ParameterComponent.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_SHARED_INCLUDE_PARAMETERCOMPONENT_H_\n#define FRAMEWORK_SHARED_INCLUDE_PARAMETERCOMPONENT_H_\n\n#include \n#include \n\nstruct Parameter;\nclass ParameterComponent;\n\ntypedef std::vector arguments_vector ;\ntypedef std::vector components_vector ;\n\n\nclass ParameterComponent\n{\npublic:\n\tParameterComponent(std::string name) : name_(name) {}\n\n\tvirtual ~ParameterComponent();\n\n\tconst arguments_vector &getParameters() const {\n\t\treturn arguments_;\n\t}\n\n\tconst components_vector &getComponents() const {\n\t\treturn components_;\n\t}\n\n\tstd::string getName() const {\n\t\treturn name_;\n\t}\n\n\ttemplate\n\tvoid addParameter(T p) {\n\t\tT * param_ptr = new T (p);\n\t\tthis->arguments_.push_back(param_ptr);\n\t\tparam_ptr->resetValue();\n\n\n\t}\n\n\tvoid AddComponent(ParameterComponent *component) {\n\t\tcomponents_.push_back(component);\n\t}\n\nprivate:\n std::string name_;\n arguments_vector arguments_;\n components_vector components_;\n\n};\n#endif\n" }, { "path": "framework/shared/include/ParameterManager.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef PARAMETERMANAGER_H\n#define PARAMETERMANAGER_H\n\n#include \n#include \n#include \n#include \n\ntypedef std::pair param_info_t;\nnamespace slambench {\n\tclass ParameterManager : public ParameterComponent {\n\tpublic :\n\t\tParameterManager() :\n \tParameterComponent(\"\") {}\n\t\tvoid ClearComponents() { components_.clear(); };\n\t\tvoid PrintValues(std::ostream &str, const ParameterComponent* c = nullptr) const;\n\t\tvoid PrintArguments(std::ostream &str, const ParameterComponent* c = nullptr) const;\n\t\tbool BuildArgumentsList(ParameterComponent *callback_data);\n\t\tbool ReadArgumentsOrQuit(unsigned int argc, const char * const * const argv);\n\t\tbool ReadArguments(unsigned int argc, const char * const * const argv);\n\n\tprivate:\n\t\tstd::map params_long_, params_short_;\n std::vector components_;\n\t};\n}\n\n#endif /* PARAMETERMANAGER_H */\n\n" }, { "path": "framework/shared/include/Parameters.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef FRAMEWORK_SHARED_INCLUDE_PARAMETERS_H_\n#define FRAMEWORK_SHARED_INCLUDE_PARAMETERS_H_\n\n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \"ParameterComponent.h\"\n\n\ntemplate \nstd::string precise_to_string(T value)\n{\n std::ostringstream os ;\n os << std::setprecision(std::numeric_limits::digits10 + 1) << value ;\n return os.str() ;\n}\n\n\n\ninline std::ostream & operator<<(std::ostream & out, const std::vector & m) {\n\tfor (auto it = m.begin() ; it != m.end() ; it++) {\n\t\tif (it != m.begin()) out << \",\";\n\t\tout << *it;\n\t}\n return out;\n}\n\ninline std::ostream & operator<<(std::ostream & out, const sb_uint2 & m) {\n return out << \"\" << m.x << \",\" << m.y << \"\";\n}\n\ninline std::ostream & operator<<(std::ostream & out, const sb_uint3 & m) {\n return out << \"\" << m.x << \",\" << m.y << \",\"<< m.z << \"\";\n}\n\ninline std::ostream & operator<<(std::ostream & out, const sb_float3 & m) {\n return out << \"\" << m.x << \",\" << m.y << \",\"<< m.z << \"\";\n}\n\ninline std::ostream & operator<<(std::ostream & out, const sb_float4 & m) {\n return out << \"\" << m.x << \",\" << m.y << \",\"<< m.z << \",\"<< m.w << \"\" ;\n}\n\ntemplate\ninline type3 atof3(const char * optarg) {\n type3 res;\n std::istringstream dotargs(optarg);\n std::string s;\n if (getline(dotargs, s, ',')) {\n res.x = atof(s.c_str());\n } else\n return res;\n if (getline(dotargs, s, ',')) {\n res.y = atof(s.c_str());\n } else {\n res.y = res.x;\n res.z = res.y;\n return res;\n }\n if (getline(dotargs, s, ',')) {\n res.z = atof(s.c_str());\n } else {\n res.z = res.y;\n }\n return res;\n}\ntemplate\ninline type3 atoi3(const char * optarg) {\n type3 res;\n std::istringstream dotargs(optarg);\n std::string s;\n if (getline(dotargs, s, ',')) {\n res.x = atoi(s.c_str());\n } else\n return res;\n if (getline(dotargs, s, ',')) {\n res.y = atoi(s.c_str());\n } else {\n res.y = res.x;\n res.z = res.y;\n return res;\n }\n if (getline(dotargs, s, ',')) {\n res.z = atoi(s.c_str());\n } else {\n res.z = res.y;\n }\n return res;\n}\n\ntemplate\ninline type4 atof4(const char * optarg) {\n type4 res;\n std::istringstream dotargs(optarg);\n std::string s;\n if (getline(dotargs, s, ',')) {\n res.x = atof(s.c_str());\n } else\n return res;\n if (getline(dotargs, s, ',')) {\n res.y = atof(s.c_str());\n } else {\n res.y = res.x;\n res.z = res.y;\n res.w = res.z;\n return res;\n }\n if (getline(dotargs, s, ',')) {\n res.z = atof(s.c_str());\n } else {\n res.z = res.y;\n res.w = res.z;\n return res;\n }\n if (getline(dotargs, s, ',')) {\n res.w = atof(s.c_str());\n } else {\n res.w = res.z;\n }\n return res;\n}\n\nstruct Parameter {\n\n Parameter(std::string short_option, std::string name , std::string description, void (*callback)(Parameter*,ParameterComponent*) = nullptr) :\n short_option_(short_option), name_(name), description_(description), callback_(callback) {\n\n }\n virtual ~Parameter() {}\n inline std::string getDescription() {return description_;}\n inline void (*getCallback())(Parameter*,ParameterComponent*) {return callback_;}\n\n inline std::string getName() {return name_;}\n inline const std::string getShortOption(const ParameterComponent* pc) const {return (pc->getName() != \"\") ? pc->getName() + \"-\" + short_option_ : short_option_;}\n inline std::string \t\t getLongOption(const ParameterComponent* pc) const {return (pc->getName() != \"\") ? pc->getName() + \"-\" + name_ : name_;}\n\n\n virtual bool requiresValue() = 0;\n virtual const std::string getStrValue() const = 0;\n virtual void setValue(const char*) = 0;\n virtual void resetValue() = 0;\n virtual const std::string getStrDefault() = 0;\n virtual const std::string getStrDetails(ParameterComponent* pc) {\n \t std::stringstream res;\n \t res << \"name:\" << this->getLongOption(pc) << \"\\n\" ;\n \t res << \"short-option:\" << this->getShortOption(pc) << \"\\n\" ;\n res << \"description:\" << this->getDescription()<< \"\\n\" ;\n return res.str();\n }\n\nprotected :\n std::string short_option_;\n std::string name_;\n std::string description_;\n void (*callback_)(Parameter*, ParameterComponent*);\n\n};\n\nstruct TriggeredParameter : Parameter {\n\n\tTriggeredParameter(std::string shortOption,std::string name, std::string description, void (*callback)(Parameter*, ParameterComponent*) = nullptr) :\n Parameter(shortOption,name, description, callback) {\n }\n\n bool requiresValue() {return false;};\n\n const std::string getStrValue() const {return triggered_ ? \"true\" : \"false\";};\n void setValue(const char*) { triggered_ = true;};\n void resetValue() { triggered_ = false;};\n const std::string getStrDefault() {return \"false\";};\n\n\n virtual inline const std::string getStrDetails(ParameterComponent*pc) {\n \t std::stringstream res;\n \t res << Parameter::getStrDetails(pc);\n \t res << \"type:triggered\\n\" ;\n return res.str();\n }\nprivate :\n bool triggered_ = false;\n};\n\ntemplate\nstruct TypedParameter : Parameter {\n\n TypedParameter(std::string shortOption,std::string name, std::string description, T* ptr,const T* default_v, void (*callback)(Parameter*, ParameterComponent*) = nullptr) :\n Parameter(shortOption,name, description, callback) ,\n default_value_(default_v) , ptr_(ptr) {\n \tif (!ptr) {\n \t\tthrow std::logic_error(\"SLAMBench: Internal error, an instance of TypedParameter needs a valid storage pointer.\");\n \t}\n }\n\n const std::string getValue(const void*) const;\n void copyValue(T*,const T*);\n void setValue(const char* otarg);\n\n bool requiresValue() {return true;};\n\n\n inline const std::string getStrDefault() {if (default_value_ == nullptr) return \"nullptr\"; return getValue(default_value_);};\n inline void resetValue() {if (ptr_ == nullptr) return; if (default_value_ == nullptr) return; copyValue((T*)ptr_, default_value_);};\n inline const std::string getStrValue() const {if (ptr_ == nullptr) return \"nullptr\"; return getValue((T*)ptr_);};\n inline const T& getTypedValue() {if (ptr_ == nullptr) throw std::logic_error(\"Undefined Typed Parameter.\"); return *((T*)ptr_);};\n inline const std::string getStrType() {return typeid(T).name();}\n\n\n virtual inline const std::string getStrDetails(ParameterComponent*pc) {\n \t std::stringstream res;\n \t res << Parameter::getStrDetails(pc);\n \t res << \"type:\" << this->getStrType()<< \"\\n\" ;\n \t res << \"default:\" << this->getStrDefault()<< \"\\n\" ;\n return res.str();\n }\n\nprivate :\n const T *default_value_;\n void *ptr_;\n\n};\n\ntemplate<> inline const std::string TypedParameter::getValue(const void * ptr) const {\n\treturn \"\" + precise_to_string(((const float*)ptr)[0]) + \",\" + precise_to_string(((const float*)ptr)[1]) + \"\";\n};\n\ntemplate<> inline void TypedParameter::copyValue(float (*to) [2] , float const (*from) [2]) {\n\t (*to)[0] = (*from)[0];\n\t (*to)[1] = (*from)[1];\n};\ntemplate<> inline void TypedParameter::setValue(const char* optarg) {\n\n\tstd::istringstream dotargs(optarg);\n\tstd::string s;\n\n\tif (getline(dotargs, s, ',')) {\n\t\t((float*)ptr_)[0] = atof(s.c_str());\n\t}\n\tif (getline(dotargs, s, ',')) {\n\t\t((float*)ptr_)[1] = atof(s.c_str());\n\t}\n};\n\ntemplate<> inline const std::string TypedParameter::getValue(const void * ptr) const {\n\treturn \"\" + precise_to_string(((const float*)ptr)[0]) + \",\" + precise_to_string(((const float*)ptr)[1]) + \",\" + precise_to_string(((const float*)ptr)[2]) + \",\" + precise_to_string(((const float*)ptr)[3]) + \"\";\n};\n\ntemplate<> inline void TypedParameter::copyValue(float (*to) [4] , float const (*from) [4]) {\n\t (*to)[0] = (*from)[0];\n\t (*to)[1] = (*from)[1];\n\t (*to)[2] = (*from)[2];\n\t (*to)[3] = (*from)[3];\n};\n\ntemplate<> inline void TypedParameter::setValue(const char* optarg) {\n\n\tstd::istringstream dotargs(optarg);\n\tstd::string s;\n\n\tif (getline(dotargs, s, ',')) {\n\t\t((float*)ptr_)[0] = atof(s.c_str());\n\t}\n\tif (getline(dotargs, s, ',')) {\n\t\t\t((float*)ptr_)[1] = atof(s.c_str());\n\t}\n\tif (getline(dotargs, s, ',')) {\n\t\t\t((float*)ptr_)[2] = atof(s.c_str());\n\t}\n\tif (getline(dotargs, s, ',')) {\n\t\t\t((float*)ptr_)[3] = atof(s.c_str());\n\t}\n};\n\ntemplate<> inline void TypedParameter::copyValue(std::string* to,const std::string* from) {*to = *(std::string*)from;;};\ntemplate<> inline void TypedParameter::setValue(const char*otarg) {if (ptr_) (*(std::string*)ptr_) = std::string(otarg);};\ntemplate<> inline const std::string TypedParameter::getValue(const void * ptr) const {return *((std::string*) ptr);};\n\ntemplate<> inline void TypedParameter::copyValue(bool* to,const bool* from) {*to = *(bool*)from;;};\ntemplate<> inline void TypedParameter::setValue(const char* otarg) {if (ptr_) (*(bool*)ptr_) = (std::string(otarg) == \"true\");};\ntemplate<> inline const std::string TypedParameter::getValue(const void * ptr) const {return (*(bool*)ptr)?\"true\":\"false\";};\n\n\ntemplate<> inline void TypedParameter::copyValue(unsigned int* to,const unsigned int* from) {*to = *(unsigned int*)from;;};\ntemplate<> inline void TypedParameter::copyValue(int* to,const int* from) {*to = *(int*)from;;};\ntemplate<> inline void TypedParameter::copyValue(long unsigned int* to,const long unsigned int* from) {*to = *(long unsigned int*)from;;};\ntemplate<> inline void TypedParameter::copyValue(float* to,const float* from) {*to = *(float*)from;;};\ntemplate<> inline void TypedParameter::copyValue(double* to,const double* from) {*to = *(double*)from;;};\ntemplate<> inline void TypedParameter::copyValue(sb_float3* to,const sb_float3* from) {*to = *(sb_float3*)from;;};\ntemplate<> inline void TypedParameter::copyValue(sb_float4* to,const sb_float4* from) {*to = *(sb_float4*)from;;};\ntemplate<> inline void TypedParameter::copyValue(sb_uint3* to,const sb_uint3* from) {*to = *(sb_uint3*)from;;};\ntemplate<> inline void TypedParameter< std::vector >::copyValue(std::vector * to,const std::vector * from) {\n to->clear();\n for (int v : *from) {\n to->push_back(v);\n }\n\n};\ntemplate<> inline void TypedParameter< std::vector >::copyValue(std::vector * to,const std::vector * from) {\n to->clear();\n for (auto v : *from) {\n to->push_back(v);\n }\n};\n\ntemplate<> inline void TypedParameter::setValue(const char*otarg) {if (ptr_) (*(unsigned int*)ptr_) = atoi(otarg);};\ntemplate<> inline void TypedParameter::setValue(const char*otarg) {if (ptr_) (*(int*)ptr_) = atoi(otarg);};\ntemplate<> inline void TypedParameter::setValue(const char*otarg) {if (ptr_) (*(long unsigned int*)ptr_) = atoi(otarg);};\ntemplate<> inline void TypedParameter::setValue(const char*otarg) {if (ptr_) (*(float*)ptr_) = atof(otarg);};\ntemplate<> inline void TypedParameter::setValue(const char*otarg) {if (ptr_) (*(double*)ptr_) = atof(otarg);};\ntemplate<> inline void TypedParameter::setValue(const char*otarg) {if (ptr_) (*(sb_float3*)ptr_)= atof3(otarg);};\ntemplate<> inline void TypedParameter::setValue(const char*otarg) {if (ptr_) (*(sb_float4*)ptr_)= atof4(otarg);};\ntemplate<> inline void TypedParameter::setValue(const char*otarg) {if (ptr_) (*(sb_uint3*)ptr_) = atoi3(otarg);};\ntemplate<> inline void TypedParameter< std::vector >::setValue(const char*from) {\n\tif (ptr_ == nullptr) return;\n\tstd::istringstream ss(from);\n\tstd::string value;\n\t((std::vector*)ptr_)->clear();\n\twhile(std::getline(ss, value, ',')) {\n\t\t((std::vector*)ptr_)->push_back(atoi(value.c_str()));\n\t}\n};\ntemplate<> inline void TypedParameter< std::vector >::setValue(const char*from) {\n\tif (ptr_ == nullptr) return;\n\tstd::istringstream ss(from);\n\tstd::string value;\n\t((std::vector*)ptr_)->clear();\n\twhile(std::getline(ss, value, ',')) {\n\t\t((std::vector*)ptr_)->push_back((value.c_str()));\n\t}\n};\n\ntemplate<> inline const std::string TypedParameter::getValue(const void * ptr) const{return precise_to_string(*(unsigned int*)ptr);};\ntemplate<> inline const std::string TypedParameter::getValue(const void * ptr) const{return precise_to_string(*(int*)ptr);};\ntemplate<> inline const std::string TypedParameter::getValue(const void * ptr) const{return precise_to_string(*(long unsigned int*)ptr);};\ntemplate<> inline const std::string TypedParameter::getValue(const void * ptr) const{return precise_to_string(*(float*)ptr);};\ntemplate<> inline const std::string TypedParameter::getValue(const void * ptr) const{return precise_to_string(*(double*)ptr);};\ntemplate<> inline const std::string TypedParameter::getValue(const void * ptr) const{\n return \"\" + precise_to_string(((sb_float3*)ptr)->x) + \",\" + precise_to_string(((sb_float3*)ptr)->y) + \",\" + precise_to_string(((sb_float3*)ptr)->z) + \"\";\n};\n\ntemplate<> inline const std::string TypedParameter::getValue(const void * ptr) const{\n return \"\" + precise_to_string(((sb_float4*)ptr)->x) + \",\" + precise_to_string(((sb_float4*)ptr)->y) + \",\" + precise_to_string(((sb_float4*)ptr)->z)+ \",\" + precise_to_string(((sb_float4*)ptr)->w) + \"\";\n};\n\ntemplate<> inline const std::string TypedParameter::getValue(const void * ptr) const{\n return \"\" + precise_to_string(((sb_uint3*)ptr)->x) + \",\" + precise_to_string(((sb_uint3*)ptr)->y) + \",\" + precise_to_string(((sb_uint3*)ptr)->z) + \"\";\n};\n\ntemplate<> inline const std::string TypedParameter< std::vector >::getValue(const void * ptr) const{\n std::string res ;\n res = \"\" ;\n for (auto it = (*(std::vector*)ptr).begin() ; it != (*(std::vector*)ptr).end() ; it++ ) {\n if (it != (*(std::vector*)ptr).begin() ) {\n res +=\",\";\n }\n res += precise_to_string(*it);\n\n }\n res +=\"\";\n return res;\n};\ntemplate<> inline const std::string TypedParameter< std::vector >::getValue(const void * ptr) const{\n std::string res = \"\" ;\n for (auto it = (*(std::vector*)ptr).begin() ; it != (*(std::vector*)ptr).end() ; it++ ) {\n if (it != (*(std::vector*)ptr).begin() ) {\n res +=\",\";\n }\n res += *it;\n\n }\n res += \"\";\n return res;\n};\n\ntemplate\nstruct DiscretParameter : TypedParameter {\n\n\tstd::vector values;\n\n\tDiscretParameter(std::vector values , std::string shortOption,std::string name, std::string description, T* ptr,const T* default_v, void (*callback)(Parameter*, ParameterComponent*) = nullptr) :\n TypedParameter (shortOption, name , description, ptr, default_v, callback) , values(values) {}\n\n\tvirtual ~DiscretParameter() {}\n\n virtual inline const std::string getStrDetails(ParameterComponent* pc) {\n \t std::stringstream res;\n \t res << TypedParameter::getStrDetails(pc);\n \t for (auto value : this->values) {\n \t res << \"values:\" << this->getValue(&value) << \"\\n\";\n \t }\n return res.str();\n }\n};\n\n\ntemplate\nstruct BoundedParameter : TypedParameter {\n\n\tT min_, max_;\n\n\tBoundedParameter(T min, T max, std::string shortOption,std::string name, std::string description, T* ptr,const T* default_v, void (*callback)(Parameter*, ParameterComponent*) = nullptr) :\n TypedParameter (shortOption, name , description, ptr, default_v, callback), min_(min), max_(max) {}\n\n\tvirtual ~BoundedParameter() {}\n virtual inline const std::string getStrDetails(ParameterComponent* pc) {\n \t std::stringstream res;\n \t res << TypedParameter::getStrDetails(pc);\n res << \"min:\" << this->min_ << \"\\n\";\n res << \"max:\" << this->max_ << \"\\n\";\n return res.str();\n }\n};\n\n\n\n\n#endif /* FRAMEWORK_SHARED_INCLUDE_PARAMETERS_H_ */\n" }, { "path": "framework/shared/include/ResultWriter.h", "content": "/*\n\n Copyright (c) 2019 Intel Corp.\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef RESULT_WRITER_H_\n#define RESULT_WRITER_H_\n\n#include \n#include \n\nclass ResultWriter {\npublic:\n ResultWriter(std::ofstream &stream);\n\n void WriteKV(std::string key, std::string value);\n\n void WriteKV(std::string key, std::vector values, std::string separator=\",\");\n\n void WriteTrajectory(slambench::outputs::BaseOutput::value_map_t traj);\n\n static std::string GetCPUModel();\n\n static std::string GetMemorySize();\n\nprivate:\n std::ofstream &out_;\n};\n\n#endif\n" }, { "path": "framework/shared/include/SLAMBenchAPI.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef FRAMEWORK_SHARED_INCLUDE_SLAMBENCHAPI_H_\n#define FRAMEWORK_SHARED_INCLUDE_SLAMBENCHAPI_H_\n\n#include \n#include \n\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass SLAMFrame;\n\t}\n}\n\n/*\n * Those functions define SLAMBenchConfiguration and reuse it after parameters parsing\n * sb_new_slam_configuration: allocate slam_settings\n * sb_init_slam_system: retrieve arguments from slam_settings\n * */\n\nbool sb_new_slam_configuration(SLAMBenchLibraryHelper * slam_settings) ;\nbool sb_init_slam_system(SLAMBenchLibraryHelper * slam_settings) ;\n\n\n/*\n * Every frame we update the sensors and we process\n * sb_update_frame: update information for a specific sensor, must be call for each sensor\n * sb_process_once: once every sensor are updated slam process them\n * */\n\nbool sb_update_frame (SLAMBenchLibraryHelper * slam_settings, slambench::io::SLAMFrame * type) ;\nbool sb_relocalize (SLAMBenchLibraryHelper * slam_settings) ;\nbool sb_process_once (SLAMBenchLibraryHelper * slam_settings) ;\n\n\n/*\n * At any time, the SLAM system needs to provide its outputs\n * */\n\nbool sb_update_outputs(SLAMBenchLibraryHelper *lib, const slambench::TimeStamp *latest_output);\n\n/*\n * At the end of the process the SLAM system can be ask to save the volume in a file and to clean memory\n * */\nbool sb_clean_slam_system();\n\n/*\n * C equivalent of each function (not used)\n * */\n\n\n\nextern \"C\" {\nbool c_sb_new_slam_configuration(void * slam_settings) ;\nbool c_sb_init_slam_system(void* slam_settings) ;\nbool c_sb_update_frame (void * slam_settings, void * type) ;\nbool c_sb_relocalize (void * slam_settings) ;\nbool c_sb_process_once (void * slam_settings) ;\nbool c_sb_update_outputs(void *lib, void *timestamp);\nbool c_sb_clean_slam_system();\n\n}\n\n#endif /* FRAMEWORK_SHARED_INCLUDE_SLAMBENCHAPI_H_ */\n" }, { "path": "framework/shared/include/SLAMBenchConfiguration.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef SLAMBENCH_CONFIGURATION_H_\n#define SLAMBENCH_CONFIGURATION_H_\n\n#include \n#include \n#include \n#include \"ColumnWriter.h\"\n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n\n#define LOAD_FUNC2HELPER(handle,lib,f) *(void**)(& lib->f) = dlsym(handle,#f); const char *dlsym_error_##lib##f = dlerror(); if (dlsym_error_##lib##f) {std::cerr << \"Cannot load symbol \" << #f << dlsym_error_##lib##f << std::endl; dlclose(handle); exit(1);}\n\nstatic const unsigned int default_frame_limit = 0;\nstatic const unsigned int default_start_frame = 0;\nstatic const double default_realtime_mult = 1;\nstatic const std::string default_dump_volume_file = \"\";\nstatic const std::string default_log_file = \"\";\nstatic const std::string default_save_map = \"\";\nstatic const std::vector default_slam_libraries = {};\nstatic const std::vector default_input_files = {};\nstatic const bool default_is_false = false;\n\ntypedef std::chrono::time_point stl_time;\n\nclass SLAMBenchConfiguration : public ParameterComponent {\nprivate:\n slam_lib_container_t slam_libs_;\n std::ofstream log_filestream_;\n std::ostream* log_stream_;\n std::string log_file_;\n std::vector input_files_;\n std::vector slam_library_names_;\n slambench::RowNumberColumn row_number_;\n std::unique_ptr writer_;\n std::shared_ptr duration_metric_;\n std::shared_ptr power_metric_;\n std::vector alignments_;\n std::string alignment_technique_ = \"umeyama\";\n std::string output_filename_;\n\n std::vector input_filenames_;\n slambench::ParameterManager param_manager_;\n slambench::outputs::OutputManager ground_truth_;\n\n std::vector> frame_callbacks_;\n double realtime_mult_;\n int current_input_id_ = 0;\n unsigned int frame_limit_;\n bool initialised_;\n unsigned int start_frame_;\n bool realtime_mode_;\n bool gt_available_;\n bool aided_reloc_ = false;\n\npublic:\n SLAMBenchConfiguration(void (*input_callback)(Parameter*, ParameterComponent*) = nullptr,\n void (*libs_callback)(Parameter*, ParameterComponent*) = nullptr);\n ~SLAMBenchConfiguration() override;\n\n void AddFrameCallback(std::function callback) { frame_callbacks_.push_back(callback); }\n const slam_lib_container_t &GetLoadedLibs() const { return slam_libs_; }\n const slambench::ParameterManager &GetParameterManager() const { return param_manager_; }\n slambench::ParameterManager &GetParameterManager() { return param_manager_; }\n slambench::outputs::OutputManager &GetGroundTruth() { return ground_truth_; }\n\n /**\n * Initialise the selected libraries and inputs.\n * Initialise the ground truth output manager. All ground truth sensors in\n * the sensor collection are registered as GT outputs, and all frames\n * within the collection are registered as GT output values.\n */\n void InitGroundtruth(bool with_point_cloud = false);\n void InitAlgorithms();\n void InitAlignment();\n void InitWriter();\n void SaveResults();\n void ComputeLoopAlgorithm(bool *stay_on, SLAMBenchUI *ui);\n void AddSLAMLibrary(const std::string& so_file, const std::string &id);\n bool LoadNextInputInterface();\n inline std::ostream& GetLogStream() {\n if (!log_stream_)\n UpdateLogStream();\n return *log_stream_;\n }\n\n inline void UpdateLogStream() {\n if (log_file_ != \"\") {\n log_filestream_.open(log_file_.c_str());\n log_stream_ = &log_filestream_;\n } else {\n log_stream_ = &std::cout;\n }\n }\n inline void ResetSensors() {\n param_manager_.ClearComponents();\n for (slambench::io::Sensor *sensor : input_interface_manager_->GetCurrentInputInterface()->GetSensors()) {\n GetParameterManager().AddComponent(dynamic_cast(&(*sensor)));\n }\n }\n void FireEndOfFrame() { for(auto i : frame_callbacks_) { i(); } }\n void StartStatistics();\n void PrintDse();\n slambench::io::InputInterfaceManager* input_interface_manager_;\n};\n\ninline void input_callback(Parameter* param, ParameterComponent* caller) {\n\n auto config = dynamic_cast (caller);\n assert(config != nullptr && \"caller can not be turned into a SLAMBenchConfiguration*\");\n\n auto parameter = dynamic_cast>*>(param);\n assert(parameter && \"parameter list corrupted\");\n\n config->input_interface_manager_ = new slambench::io::InputInterfaceManager(parameter->getTypedValue());\n //if(!config->input_interface_manager_.initialized()) {\n // first_sensors_ = &input_ref->GetSensors();\n //} else {\n // input_ref->GetSensors() = *first_sensors_;\n //}\n for (slambench::io::Sensor *sensor : config->input_interface_manager_->GetCurrentInputInterface()->GetSensors()) {\n config->GetParameterManager().AddComponent(dynamic_cast(&(*sensor)));\n }\n}\n\ninline void help_callback(Parameter*, ParameterComponent* caller) {\n auto config = dynamic_cast (caller);\n\n std::cerr << \" == SLAMBench Configuration ==\" << std::endl;\n std::cerr << \" Available parameters :\" << std::endl;\n config->GetParameterManager().PrintArguments(std::cerr);\n\n exit(0);\n}\n\ninline void dse_callback(Parameter*, ParameterComponent* caller) {\n auto config = dynamic_cast(caller);\n config->PrintDse();\n exit(0);\n}\n\ninline void log_callback(Parameter*, ParameterComponent* caller) {\n auto config = dynamic_cast(caller);\n config->UpdateLogStream();\n}\n\ninline void slam_library_callback(Parameter* param, ParameterComponent* caller) {\n\n auto config = dynamic_cast(caller);\n auto parameter = dynamic_cast>*>(param) ;\n\n for (auto &library_name : parameter->getTypedValue()) {\n\n std::string library_filename;\n std::string library_identifier;\n\n auto pos = library_name.find('=');\n if (pos != std::string::npos) {\n library_filename = library_name.substr(0, pos);\n library_identifier = library_name.substr(pos+1);\n } else {\n library_filename = library_name;\n }\n config->AddSLAMLibrary(library_filename, library_identifier);\n }\n}\n#endif /* SLAMBENCH_CONFIGURATION_H_ */\n" }, { "path": "framework/shared/include/SLAMBenchException.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_SHARED_INCLUDE_SLAMBENCHEXCEPTION_H_\n#define FRAMEWORK_SHARED_INCLUDE_SLAMBENCHEXCEPTION_H_\n\n#include \n#include \n\nclass SLAMBenchException : public std::exception {\n private:\n std::string err_msg_;\n\n public:\n SLAMBenchException(const char *msg) : err_msg_(msg) {};\n ~SLAMBenchException() throw() {};\n const char *what() const throw() { return this->err_msg_.c_str(); };\n};\n\n\n#endif /* FRAMEWORK_SHARED_INCLUDE_SLAMBENCHEXCEPTION_H_ */\n" }, { "path": "framework/shared/include/SLAMBenchLibraryHelper.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_SHARED_INCLUDE_SLAMBENCHLIBRARYHELPER_H_\n#define FRAMEWORK_SHARED_INCLUDE_SLAMBENCHLIBRARYHELPER_H_\n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\nclass SLAMBenchLibraryHelper : public ParameterComponent {\n\nprivate :\n\tstd::string identifier_;\n\tstd::string library_name_;\n slambench::metrics::MetricManager metric_manager_;\n std::ostream&\t\t\t\t log_stream_;\n slambench::io::InputInterface* input_interface_;\n\tslambench::outputs::OutputManager output_manager_;\n\npublic:\n\tbool (* c_sb_new_slam_configuration)(SLAMBenchLibraryHelper*);\n bool (* c_sb_init_slam_system)(SLAMBenchLibraryHelper*);\n bool (* c_sb_update_frame)(SLAMBenchLibraryHelper*, slambench::io::SLAMFrame*);\n bool (* c_sb_process_once)(SLAMBenchLibraryHelper*);\n bool (* c_sb_clean_slam_system)();\n bool (* c_sb_update_outputs)(SLAMBenchLibraryHelper*, const slambench::TimeStamp *ts);\n bool (* c_sb_relocalize)(SLAMBenchLibraryHelper* );\n\n SLAMBenchLibraryHelper(const std::string& id,\n std::string lib,\n std::ostream& l,\n slambench::io::InputInterface* i) :\n ParameterComponent(id),\n identifier_(id),\n library_name_(std::move(lib)),\n log_stream_(l),\n input_interface_(i),\n c_sb_new_slam_configuration(nullptr),\n c_sb_init_slam_system(nullptr),\n c_sb_update_frame(nullptr),\n c_sb_process_once(nullptr),\n c_sb_clean_slam_system(nullptr),\n c_sb_update_outputs(nullptr),\n c_sb_relocalize(nullptr)\n\t{}\n\n inline const std::string& GetIdentifier() const {return identifier_;}\n inline const std::string& GetLibraryName() const {return library_name_;}\n inline std::ostream& GetLogStream() {return log_stream_;}\n inline slambench::metrics::MetricManager &GetMetricManager() { return metric_manager_; }\n inline slambench::outputs::OutputManager &GetOutputManager() { return output_manager_; }\n inline slambench::io::InputInterface *GetInputInterface() { return input_interface_;}\n\n inline const slambench::io::SensorCollection &get_sensors() {\n return this->GetInputInterface()->GetSensors();\n }\n\n inline void update_input_interface(slambench::io::InputInterface* interface)\n {\n input_interface_ = interface;\n }\n\n};\ntypedef std::vector slam_lib_container_t;\n#endif /* FRAMEWORK_SHARED_INCLUDE_SLAMBENCHLIBRARYHELPER_H_ */\n" }, { "path": "framework/shared/include/SLAMBenchUI.h", "content": "\n#ifndef SLAMBENCHUI_H_\n#define SLAMBENCHUI_H_\n\n// #define DEBUG_MUTEXES\n\n#include \n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#ifdef DEBUG_MUTEXES\n#include \n#endif\n#include \n\n\n/*\n * ************************************************************************************************\n * ********************** SLAMBenchUI\n * ************************************************************************************************\n */\n\nclass SLAMBenchUI\n{\n\nprotected :\n\tint frame = 0;\n int width = 0;\n int height = 0;\n float cx = 0,cy = 0,fx = 0,fy = 0;\n\n\npublic :\n\ttypedef std::vector> output_manager_container;\n\n virtual ~SLAMBenchUI() {};\n\n virtual bool process() = 0;\n\n\tvirtual void stepFrame() { this->frame += 1; }\n\tvirtual bool IsFreeRunning() { return true; }\n\tvirtual bool CanFreeRun() { return true; }\n\tvirtual bool SetFreeRunning() { return true; }\n\tvirtual bool ClearFreeRunning() { return false; }\n\tvirtual bool WaitForFrame() { return false; }\n\tvirtual bool CanStep() { return false; }\n\n inline void update_camera(int height , int width, float fx, float fy , float cx , float cy ) {\n this->width = width;\n this->height = height;\n this->fx = fx;\n this->fy = fy;\n this->cx = cx;\n this->cy = cy;\n };\n\n\n\tvoid AddOutputManager(const std::string &name, slambench::outputs::OutputManager *mgr) { output_managers_.push_back(std::make_pair(name, mgr)); }\n\tconst output_manager_container &GetOutputManagers() { return output_managers_; }\nprivate :\n\toutput_manager_container output_managers_;\n\t\n};\n#endif\n" }, { "path": "framework/shared/include/SLAMBenchUI_Pangolin.h", "content": "\n#ifndef SLAMBENCHUI_PANGOLIN_H_\n#define SLAMBENCHUI_PANGOLIN_H_\n\n#define GLM_FORCE_RADIANS\n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n\n#include \n\n#define MAX_WINDOW 4\n\n\n\n//#define GEN_FOLLOW_BUTTON_NAME(context_name,item) (item.name != \"\") ? \"ui.Follow \" + ((context_name!=\"\") ?context_name + \" \":\"\") + item.name : \"ui.Follow \" + ((context_name!=\"\")? context_name + \" \":\"\") + \" \" + item.type ;\n#define GEN_FOLLOW_BUTTON_NAME(context_name,item) (item.name != \"\") ? \"ui.Follow.\" + ((context_name!=\"\") ?context_name + \" \":\"\") + item.name : \"ui.Follow.\" + context_name + \" \" + item.type ;\n\n//#define GEN_SHOW_BOX_NAME(context_name,item) (item.first.name != \"\") ? \"ui.Show \" + context_name + \" \" + item.first.name : \"ui.Show \" + context_name + \" \" + item.first.type ;\n#define GEN_SHOW_BOX_NAME(context_name,item) (item.first.name != \"\") ? \"ui.\" + context_name + \".Show \" + item.first.name : \"ui.\" + context_name + \".Show \" + item.first.type ;\n\nclass PoseOutputDrawContext;\n\nclass SLAMBenchUI_Pangolin : public SLAMBenchUI\n{\n\n public:\n SLAMBenchUI_Pangolin();\n\t\t\n\t\tvoid InitialiseOutputs();\n\t\tvoid AddControlsForOutput(const std::string &prefix, slambench::outputs::BaseOutput *output);\n\t\tvoid AddBackgroundControls();\n\t\tvoid AddFollowControls();\n\t\t\n\t\tbool DrawPoseOutput(slambench::outputs::BaseOutput *output);\n\t\tbool DrawPointCloudOutput(slambench::outputs::BaseOutput *output);\n\t\tbool DrawColouredPointCloudOutput(slambench::outputs::BaseOutput *output);\n\t\tbool DrawFrameOutput(slambench::outputs::BaseOutput *output);\n\t\tbool DrawOutput(slambench::outputs::BaseOutput *output);\n\t\tbool DrawList(slambench::outputs::BaseOutput *output);\n\t\tbool DrawFeature(slambench::values::FeatureValue* value);\n\t\tbool DrawString(slambench::outputs::BaseOutput* value);\n void drawTrajectory(const slambench::outputs::TrajectoryInterface *traj, float R, float G, float B, int print_poses = 0 );\n void drawFrustum(Eigen::Matrix4f currPose, float R, float G, float B);\n\t\t\n bool process();\n void preCall();\n\t\tvoid DrawAxis();\n void drawBackground(slambench::values::FrameValue * frame);\n\n\n\t\tunsigned int get_next_texture_id();\n\t\t\n\t\tvoid FollowPose(Eigen::Matrix4f currPose ) ;\n void postCall();\n void StopTracking();\n ~SLAMBenchUI_Pangolin();\n\n\t\tbool CanFreeRun() override;\n\t\tbool CanStep() override;\n\t\tbool ClearFreeRunning() override;\n\t\tbool IsFreeRunning() override;\n\t\tbool SetFreeRunning() override;\n\t\tbool WaitForFrame() override;\n\n private:\n\t\tstd::map*> outputs_enabled_, outputs_visible_, outputs_follow_, outputs_background_;\n\t\tstd::map pose_output_draw_contexts_;\n\t\t\n\t\tstd::map*> outputs_text_;\n\t\t\n\t\tpangolin::Var* last_background_ = nullptr;\n\t\tpangolin::Var* last_follow_ = nullptr;\n\n\t\tstd::map*> outputs_colour_;\n\t\t\n\t\ttypedef struct {\n\t\t\tslambench::TimeStamp timestamp;\n\t\t\tGLuint VBO;\n\t\t} PointCloudState;\n\t\tstd::map pointcloud_state_;\n\t\t\n\t\tstd::vector frames_;\n\t\tbool EnqueueFrame(slambench::values::FrameValue*);\n\t\tbool DrawQueuedFrames();\n\t\tbool DrawBackgrounds();\n\t\tbool FollowPoses();\n\t\tvoid lockOutputs();\n\t\tvoid unlockOutputs();\n\n pangolin::Var * frameCount;\n pangolin::Var * VRSS;\n pangolin::Var * VSIZE;\n pangolin::Var * TVM;\n pangolin::Var * CVM;\n pangolin::Var * TPM;\n pangolin::Var * CPM;\n pangolin::Var * showBackground;\n pangolin::Var * followPose;\n\n pangolin::Var * showEveryPose;\n\t\tpangolin::Var * freeRunning;\n pangolin::Var * nextFrame;\n pangolin::Var * unFollow;\n\n // RGB View\n pangolin::OpenGlRenderState s_cam;\n GLuint vbo;\n\n\t\tstd::vector feature_texture_ids;\n\t\tuint32_t next_feature_texture_id_idx;\n\t\t\n uint textureId[MAX_WINDOW];\n\t\tstd::condition_variable step_cv;\n\t\tstd::mutex step_mutex;\n\t\tbool isFreeRunning;\n};\n\n\n#endif /* SLAMBENCHUI_PANGOLIN_H_ */\n" }, { "path": "framework/shared/include/TimeStamp.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef TIMESTAMP_H\n#define TIMESTAMP_H\n\n#include \n#include \n#include \n#include \n#include \n\nnamespace slambench {\n\tstruct TimeStamp {\n\tpublic:\n\t\tuint32_t S;\n\t\tuint32_t Ns;\n\t\t\n\t\tuint64_t ToNs() const { return (S * 1000000000ULL) + Ns; }\n\t\tdouble ToS() const { return ToNs() / 1000000000.0; }\n\t\t\n\t\tstatic TimeStamp get(uint32_t S, uint32_t Ns) {\n\t\t\tassert(Ns < 1000000000);\n\t\t\tTimeStamp ts;\n\t\t\tts.S = S;\n\t\t\tts.Ns = Ns;\n\t\t\treturn ts;\n\t\t}\n\t\t\n\t\tstatic TimeStamp FromNs(uint64_t ns) {\n\t\t\tTimeStamp ts;\n\t\t\tts.S = ns / 1000000000ULL;\n\t\t\tts.Ns = ns % 1000000000ULL;\n\t\t\treturn ts;\n\t\t}\n\t\t\n\t\tstatic TimeStamp Now() \n\t\t{ \n\t\t\tauto time = std::chrono::duration_cast>>(std::chrono::high_resolution_clock::now().time_since_epoch());\n\t\t\treturn get(time.count() / 1000000000, time.count() % 1000000000);\n\t\t}\n\t};\n\t\n\ttypedef std::chrono::duration> Duration;\n\t\n\tinline void Sleep(const Duration d) {\n\t\tstd::this_thread::sleep_for(d);\n\t}\n\t\n\tinline bool operator==(const TimeStamp &left, const TimeStamp &right) {\n\t\treturn left.S == right.S && left.Ns == right.Ns;\n\t}\n\t\n\tinline bool operator!=(const TimeStamp &left, const TimeStamp &right) {\n\t\treturn left.S != right.S || left.Ns != right.Ns;\n\t}\n\t\n\tinline bool operator<(const TimeStamp& left, const TimeStamp& right) {\n\t\treturn ( left.S < right.S ) or ( left.S == right.S and left.Ns < right.Ns );\n\t}\n\n\tinline bool operator<=(const TimeStamp& left, const TimeStamp& right) {\n\t\treturn ( left.S < right.S ) or ( left.S == right.S and left.Ns <= right.Ns );\n\t}\n\n\tinline bool operator>(const TimeStamp& left, const TimeStamp& right) {\n\t\treturn ( left.S > right.S ) or ( left.S == right.S and left.Ns > right.Ns );\n\t}\n\t\n\tinline bool operator>=(const TimeStamp& left, const TimeStamp& right) {\n\t\treturn !(left < right);\n\t}\n\n\tinline Duration operator-(const TimeStamp& left, const TimeStamp& right) {\n\t\tuint64_t total_ns_left = left.Ns + (left.S * 1000000000ULL);\n\t\tuint64_t total_ns_right = right.Ns + (right.S * 1000000000ULL);\n\t\t\n\t\tuint64_t ns_diff = total_ns_left - total_ns_right;\n\t\t\n\t\treturn Duration(ns_diff);\n\t}\n\t\n\tinline TimeStamp operator*(const TimeStamp &left, double right) {\n\t\tuint64_t total_ns = left.ToNs();\n\t\ttotal_ns *= right;\n\t\t\n\t\treturn TimeStamp::FromNs(total_ns);\n\t}\n\t\n\tinline void operator*=(TimeStamp &left, double right) {\n\t\tuint64_t total_ns = left.ToNs();\n\t\ttotal_ns *= right;\n\t\t\n\t\tleft = TimeStamp::FromNs(total_ns);\n\t}\n\t\n\tinline TimeStamp operator+(const TimeStamp &left, const TimeStamp &right) {\n\t\tTimeStamp res;\n\t\tres.S = left.S + right.S;\n\t\tres.Ns = left.Ns + right.Ns;\n\t\tif(res.Ns >= 1000000000) {\n\t\t\tres.Ns -= 1000000000;\n\t\t\tres.S += 1;\n\t\t}\n\t\treturn res;\n\t}\n\t\n\tinline std::ostream &operator<<(std::ostream &str, const TimeStamp &t) {\n\t\tdouble s = t.S + (t.Ns / 1000000000.0);\n\t\tstr << std::to_string(s);\n\t\treturn str;\n\t}\n}\n\n#endif /* TIMESTAMP_H */\n\n" }, { "path": "framework/shared/include/io/Event.h", "content": "/*\n\n Copyright (c) 2019 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_EVENT_H\n#define IO_EVENT_H\n\n#include \n\nnamespace slambench {\n namespace io {\n \n struct Event {\n TimeStamp ts;\n uint16_t x;\n uint16_t y;\n bool polarity;\n\n Event(TimeStamp ts, uint16_t x, uint16_t y, bool polarity) : ts(ts), x(x), y(y), polarity(polarity) {}\n };\n\n std::ostream& operator << (std::ostream &out, const Event &e) {\n out << e.ts.S << \".\" << e.ts.Ns << \" = \" << e.x << \" \" << e.y << \" \" << e.polarity;\n return out;\n }\n }\n}\n\n#endif // IO_EVENT_H\n" }, { "path": "framework/shared/include/io/FrameBuffer.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_FRAMEBUFFER_H\n#define IO_FRAMEBUFFER_H\n\n#include \n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass FrameBuffer {\n\t\tpublic:\n\t\t\tFrameBuffer();\n\t\t\t~FrameBuffer();\n\t\t\n\t\t\tvoid Acquire();\n\t\t\tbool TryAcquire();\n\t\t\tvoid Release();\n\t\t\tvoid ResetBuffer();\n\t\t\tbool Busy();\n\t\t\tbool Reserve(size_t size);\n\t\t\tvoid *Data();\n\t\t\tvoid resetLock() {\n\t\t\t\tlock_.exchange(false);\n\t\t\t}\n\t\t\n\t\tprivate:\n\t\t\tstd::atomic lock_;\n\t\t\tsize_t size_;\n\t\t\tvoid *data_;\n\t\t};\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/FrameBufferSource.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_FRAMEBUFFERSOURCE_H\n#define IO_FRAMEBUFFERSOURCE_H\n\n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass FrameBufferSource {\n\t\tpublic:\n\t\t\tvirtual FrameBuffer *Next() = 0;\n\t\t\tvirtual ~FrameBufferSource() {};\n\t\t};\n\t\t\n\t\tclass SingleFrameBufferSource : public FrameBufferSource {\n\t\tpublic:\n\t\t\tFrameBuffer *Next() override;\n\t\t\t\n\t\tprivate:\n\t\t\tFrameBuffer fb_;\n\t\t};\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/FrameFormat.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_FRAMEFORMAT_H\n#define IO_FRAMEFORMAT_H\n\n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tnamespace frameformat {\n\t\t\tenum EFrameFormat {\n\t\t\t\tUNKNOWN,\n\t\t\t\tRaster,\n\t\t\t\tJPEG,\n\t\t\t\tPNG\n\t\t\t};\n\t\t\t\n\t\t\tEFrameFormat Parse(const std::string &);\n\t\t}\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/FrameSource.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_FRAMESOURCE_H\n#define IO_FRAMESOURCE_H\n\n#include \n#include \n#include \n\n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass SLAMFrame;\n\t\tclass Sensor;\n\t\t\n\t\tclass FrameStream {\n\t\tpublic:\n\t\t\tvirtual ~FrameStream() = default;\n\t\t\t\n\t\t\tvirtual SLAMFrame *GetNextFrame() = 0;\n\t\t\tvirtual bool HasNextFrame() = 0;\n\t\t};\n\t\t\n\t\tclass FrameCollection {\n\t\tpublic:\n\t\t\tvirtual ~FrameCollection() = default;\n\t\t\t\n\t\t\tvirtual SLAMFrame *GetFrame(unsigned int index) = 0;\n\t\t\tvirtual unsigned int GetFrameCount() = 0;\n\t\t};\n\t\t\n\t\tclass FrameCollectionStream : public FrameStream {\n\t\tpublic:\n\t\t\tFrameCollectionStream(FrameCollection &base_collection);\n\t\t\t\n\t\t\tSLAMFrame* GetNextFrame() override;\n\t\t\tbool HasNextFrame() override;\n\t\tprivate:\n\t\t\tFrameCollection &collection_;\n\t\t\tunsigned int index_;\n\t\t};\n\t\t\n\t\t/**\n\t\t * This is a class to separate out GT frames from the actual dataset.\n\t\t * Treated as a regular FrameStream, it will return only dataset frames,\n\t\t * skipping all of the GT frames.\n\t\t */\n\t\tclass GTBufferingFrameStream : public FrameStream {\n\t\tpublic:\n\t\t\tclass GTFrameCollection : public FrameCollection {\n\t\t\tpublic:\n\t\t\t\tGTFrameCollection(GTBufferingFrameStream >_stream);\n\t\t\t\t~GTFrameCollection() override = default;\n\t\t\t\t\n\t\t\t\tunsigned int GetFrameCount() override;\n\t\t\t\tSLAMFrame* GetFrame(unsigned int index) override;\n\t\t\t\tSLAMFrame* GetClosestFrameToTime(const slambench::TimeStamp& ts);\n\t\t\t\tprivate:\n\t\t\t\t\tGTBufferingFrameStream >_stream_;\n\t\t\t};\n\t\t\t\n\t\t\texplicit GTBufferingFrameStream(FrameStream &base_stream);\n\t\t\t~GTBufferingFrameStream() override = default;\n\t\t\t\n\t\t\tSLAMFrame* GetNextFrame() override;\n\t\t\tbool HasNextFrame() override;\n\n\t\t\tGTFrameCollection *GetGTFrames();\n\t\tprivate:\n\t\t\tvoid fastForward();\n\t\t\t\n\t\t\tFrameStream &base_stream_;\n\t\t\tSLAMFrame *buffered_frame_;\n\t\t\tstd::vector gt_frames_;\n\t\t};\n\t\t\n\t\t/**\n\t\t * This is a class which returns frames according to how much real\n\t\t * time has passed since the last frame was fetched.\n\t\t * \n\t\t * If should_pause is set, then the stream will also block until the\n\t\t * frame should actually become available.\n\t\t */\n\t\tclass RealTimeFrameStream : public FrameStream {\n\t\tpublic:\n\t\t\tRealTimeFrameStream(FrameStream *base_stream, double multiplier, bool should_pause);\n\t\t\t~RealTimeFrameStream() override = default;\n\t\t\t\n\t\t\tSLAMFrame* GetNextFrame() override;\n\t\t\tbool HasNextFrame() override;\n\n\t\tprivate:\n\t\t\tbool is_valid_frame(SLAMFrame *frame) const;\n\t\t\t\n\t\t\tbool past_first_frame_;\n\t\t\tstd::map last_frame_timestamp_;\n\t\t\tstd::map last_frame_realtimestamp_;\n\t\t\t\n\t\t\tFrameStream *base_stream_;\n\t\t\tdouble acceleration_;\n\t\t\tbool should_pause_;\n\t\t};\n\t}\n}\n\n#endif /* FRAMESOURCE_H */\n\n" }, { "path": "framework/shared/include/io/InputInterface.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_INPUTINTERFACE_H\n#define IO_INPUTINTERFACE_H\n\n#include \n\n#include \n#include \n\n#include \"sensor/SensorCollection.h\"\n#include \"deserialisation/SLAMFrameDeserialiser.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\t\n\t\tclass InputInterface {\n\t\tpublic:\n\t\t\tvirtual ~InputInterface();\n\t\t\tvirtual SensorCollection &GetSensors() = 0;\n\t\t\tvirtual FrameStream &GetFrames() = 0;\n\t\t};\n\t\t\n\t\tclass BasicInputInterface : public InputInterface {\n\t\tpublic:\n\t\t\tBasicInputInterface(FrameStream &frames, SensorCollection &sensors);\n\t\t\t\n\t\t\tFrameStream& GetFrames() override;\n\t\t\tSensorCollection& GetSensors() override;\n\t\tprivate:\n\t\t\tFrameStream &frames_;\n\t\t\tSensorCollection &sensors_;\n\t\t};\n\t\t\n\t\tclass FileInputInterface : public InputInterface {\n\t\tpublic:\n\t\t\tFileInputInterface(SLAMFile &input_file);\n\t\t\t\n\t\t\tFrameStream& GetFrames() override;\n\t\t\tSensorCollection& GetSensors() override;\n\t\tprivate:\n\t\t\tSLAMFile &file_;\n\t\t\tFrameCollectionStream stream_;\n\t\t};\n\t\t\n\t\tclass FileStreamInputInterface : public InputInterface {\n\t\tpublic:\n\t\t\tFileStreamInputInterface(FILE* input_file, FrameBufferSource *fb_source);\n\t\t\t\n\t\t\tFrameStream &GetFrames() override;\n\t\t\tSensorCollection &GetSensors() override;\n\t\tprivate:\n\t\t\tSLAMFrameDeserialiser deserialiser_;\n\t\t\tSensorCollection sensors_;\n\t\t};\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/InputInterfaceManager.h", "content": "/*\n\n Copyright (c) 2020 University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_INPUTINTERFACEMANAGER_H\n#define IO_INPUTINTERFACEMANAGER_H\n\n#include \n\n#include \n#include \n\n#include \"sensor/SensorCollection.h\"\n#include \"deserialisation/SLAMFrameDeserialiser.h\"\n#include \"InputInterface.h\"\n#include \nnamespace slambench {\n namespace io {\n\n class InputInterfaceManager {\n public:\n InputInterfaceManager(const std::vector& dataset_filenames);\n ~InputInterfaceManager();\n\n slambench::io::InputInterface *GetCurrentInputInterface();\n\n SLAMFrame* GetNextFrame() const;\n SLAMFrame* GetClosestGTFrameToTime(slambench::TimeStamp& ts) const;\n bool LoadNextInputInterface();\n bool initialized()\n {\n return input_interfaces_.empty();\n }\n slambench::io::FrameStream *input_stream_;\n bool updated_ = false;\n private:\n std::list input_interfaces_;\n slambench::io::SensorCollection* first_sensors_;\n\n };\n }\n}\n\n#endif // IO_INPUTINTERFACEMANAGER_H\n" }, { "path": "framework/shared/include/io/PixelFormat.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_PIXELFORMAT_H\n#define IO_PIXELFORMAT_H\n\n#include \n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tnamespace pixelformat {\n\t\t\tenum EPixelFormat {\n\t\t\t\tUNKNOWN,\n\t\t\t\tG_I_8,\n\t\t\t\tRGB_III_888,\n\t\t\t\tD_I_8,\n\t\t\t\tD_F_32,\n\t\t\t\t\n\t\t\t\tD_I_16,\n\t\t\t\tD_F_64,\n\t\t\t\t\n\t\t\t\tRGBA_IIII_8888\n\t\t\t};\n\t\t\t\n\t\t\tEPixelFormat Parse(const std::string &fmt);\n\t\t\tstd::string TypeOf(EPixelFormat);\n\t\t\tsize_t GetPixelSize(EPixelFormat);\n\t\t\tbool IsRGB(EPixelFormat);\n\t\t\tbool IsGrey(EPixelFormat);\n\t\t\tbool ISDepth(EPixelFormat);\n\t\t}\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/SLAMFile.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_SLAMFILE_H\n#define IO_SLAMFILE_H\n\n#include \"FrameSource.h\"\n#include \"sensor/SensorCollection.h\"\n#include \"serialisation/SLAMFileSerialiser.h\"\n\n#include \n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass FrameBufferSource;\n\t\tclass SLAMFrame;\n\t\tclass Sensor;\n\t\t\n\t\tclass SLAMFile : public FrameCollection\n\t\t{\n\t\tpublic:\n\t\t\ttypedef SensorCollection sensor_container_t;\n\t\t\ttypedef std::vector frame_container_t;\n\t\t\t\n\t\t\ttypedef char magic_num_t[5];\n\t\t\ttypedef uint32_t version_t;\n\t\t\t\n\t\t\tsensor_container_t Sensors;\n\t\t\t\n\t\t\tstatic const int Version = 1;\n\t\t\tstatic const magic_num_t MagicNum;\n\t\t\t\n\t\t\tSensor *GetSensor(const Sensor::sensor_type_t &type);\n\t\t\t\n\t\t\tSLAMFrame* GetFrame(unsigned int index) override;\n\t\t\tunsigned int GetFrameCount() override;\n\t\t\t\n\t\t\tvoid AddFrame(SLAMFrame *frame);\n\n\t\t\tstatic SLAMFile *Read(const std::string &filename, FrameBufferSource &fb_source);\n\t\t\tstatic bool Write(const std::string &filename, SLAMFile &file, SLAMFileSerialiser::frame_callback_t callback = nullptr);\n\t\t\t\n\t\tprivate:\n\t\t\tvoid AddGroundTruthFrame(SLAMFrame *frame);\n\t\t\tvoid AddRegularFrame(SLAMFrame *frame);\n\t\t\t\n\t\t\tframe_container_t frames_;\n\t\t};\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/SLAMFrame.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_SLAMFRAME_H\n#define IO_SLAMFRAME_H\n\n#include \n\n#include \n#include \n#include \n#include \n\n#include \"TimeStamp.h\"\n#include \"PixelFormat.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Sensor;\n\t\tclass FrameBuffer;\n\t\t\n\t\tclass SLAMFrame {\n\t\tpublic:\n\t\t\tvirtual ~SLAMFrame();\n\t\t\n\t\t\tTimeStamp Timestamp;\n\t\t\tSensor *FrameSensor;\n\t\t\t\n\t\t\tsize_t GetSize() const;\n\t\t\tvoid SetVariableSize(uint32_t size);\n\t\t\tuint32_t GetVariableSize() const;\n virtual void *GetData() = 0;\n virtual void FreeData() = 0;\n inline void SetData(void* data, size_t size)\n {\n data_ = malloc(size);\n memcpy(data_, data, size);\n }\n inline void SetData(void* data)\n {\n assert(data);\n data_ = data;\n }\n\n\t\tprotected:\n void *data_;\n\n\t\tprivate:\n\t\t\tuint32_t size_if_variable_sized_;\n\t\t};\n\t\t\n\t\tclass SLAMInMemoryFrame : public SLAMFrame {\n\t\tpublic:\n\t\t\tvoid *Data;\n\t\t\n\t\t\tvoid *GetData() override;\n\t\t\tvoid FreeData() override;\n\t\t};\n\t\t\n\t\tclass SLAMFileFrame : public SLAMFrame {\n\t\tpublic:\n\t\t\tSLAMFileFrame();\n\t\t\t\n\t\t\ttypedef void (*callback_t)(SLAMFileFrame *, void *);\n\t\t\tcallback_t ProcessCallback;\n\t\t\tstd::string filename;\n\t\t\t\n\t\t\tvoid *GetData() override;\n\t\t\tvoid FreeData() override;\n\t\t\t\n\t\tprotected:\n\t\t\tvirtual void *LoadFile() = 0;\n\t\t};\n\t\t\n\t\tclass TxtFileFrame : public SLAMFileFrame {\n\t\tpublic:\n\t\t\tpixelformat::EPixelFormat input_pixel_format;\n\n\t\tprotected:\n\t\t\tvoid *LoadFile() override;\n\t\t\t\n\t\tprivate:\n\t\t\tvoid *LoadCameraFile();\n\t\t};\n\t\t\n\t\tclass ImageFileFrame : public SLAMFileFrame {\n\t\tprotected:\n\t\t\tvoid *LoadFile() override;\n\t\t\t\n\t\tprivate:\n\t\t\tvoid *LoadPng();\n\t\t\tvoid *LoadPbm();\n\t\t};\n\t\t\n\t\tclass DeserialisedFrame : public SLAMFrame {\n\t\tpublic:\n\t\t\tDeserialisedFrame(FrameBuffer &buffer, FILE *file);\n\t\t\t\n\t\t\tvoid SetOffset(size_t data_offset);\n\t\t\tvoid *GetData() override;\n\t\t\tvoid FreeData() override;\n\t\t\tFrameBuffer& getFrameBuffer() {\n\t\t\t\treturn buffer_;\n\t\t\t}\n\t\t\t\n\t\tprivate:\n\t\t\tFrameBuffer &buffer_;\n\t\t\tFILE *file_;\n\t\t\tsize_t offset_;\n\t\t};\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/SensorType.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_SENSORTYPE_H\n#define IO_SENSORTYPE_H\n\nnamespace slambench {\n\tnamespace io {\n\t\tnamespace sensortype {\n\n\t\t}\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/core/Core.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_CORE_H\n#define IO_CORE_H\n\n#include \n#include \n#include \n\n#include \n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tnamespace core {\n\t\t\t\n\t\t\tsize_t FileSize(FILE *file);\n\t\t\t\n\t\t\tclass MappedFile {\n\t\t\tpublic:\n\t\t\t\tMappedFile(void *mapped_ptr, size_t size);\n\t\t\t\tMappedFile(MappedFile && other);\n\t\t\t\t~MappedFile();\n\t\t\t\t\n\t\t\t\tconst void *Get() { return ptr_; }\n\t\t\t\tsize_t Size() { return size_; }\n\n\t\t\tprivate:\n\t\t\t\tvoid *ptr_;\n\t\t\t\tsize_t size_;\n\t\t\t};\n\t\t\t\n\t\t\tMappedFile ReadFile(const std::string &filename);\n\t\t}\n\t}\n}\n\n#endif /* IO_CORE_H */\n\n" }, { "path": "framework/shared/include/io/deserialisation/Deserialiser.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_DESERIALISER_H\n#define IO_DESERIALISER_H\n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Deserialiser {\n\t\tpublic:\n\t\t\tDeserialiser(FILE *target_file);\n\t\t\t\n\t\t\tFILE *File() const;\n\t\t\tbool Read(void *target, size_t bytes) const;\n\t\t\tbool Skip(size_t skip) const;\n\t\t\tsize_t Offset() const;\n\t\t\tbool Good() const;\n\n\t\tprivate:\n\t\t\tFILE *target_file_;\n\t\t};\n\t}\n}\n#endif\n" }, { "path": "framework/shared/include/io/deserialisation/SLAMFileDeserialiser.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_SLAMFILEDESERIALISER_H\n#define IO_SLAMFILEDESERIALISER_H\n\n#include \"io/deserialisation/Deserialiser.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass FrameBuffer;\n\t\tclass FrameBufferSource;\n\t\tclass SLAMFile;\n\t\tclass SLAMFrame;\n\t\t\n\t\tclass SLAMFileDeserialiser : public Deserialiser {\n\t\tpublic:\n\t\t\tSLAMFileDeserialiser(FILE *file, FrameBufferSource *framebuffer_source);\n\t\t\tbool Deserialise(SLAMFile &target) const;\n\t\t\t\n\t\tprivate:\n\t\t\tbool DeserialiseHeader(SLAMFile &target) const;\n\t\t\tbool DeserialiseFrames(SLAMFile &target) const;\n\t\t\tbool DeserialiseFrame(SLAMFile &file, SLAMFrame *&frame) const;\n\t\t\tFrameBuffer *GetNextFramebuffer() const;\n\t\t\t\n\t\t\tFrameBufferSource *fb_source_;\n\t\t};\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/deserialisation/SLAMFileHeaderDeserialiser.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_SLAMFILEHEADERDESERIALISER_H\n#define IO_SLAMFILEHEADERDESERIALISER_H\n\n#include \"io/deserialisation/Deserialiser.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\t\n\t\tclass SLAMFileHeaderDeserialiser : public Deserialiser {\n\t\tpublic:\n\t\t\tSLAMFileHeaderDeserialiser(std::FILE *_file);\n\t\t\tbool Deserialise();\n\t\t};\n\t}\n}\n#endif\n" }, { "path": "framework/shared/include/io/deserialisation/SLAMFrameDeserialiser.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_SLAMFRAMEDESERIALISER_H\n#define IO_SLAMFRAMEDESERIALISER_H\n\n#include \"io/deserialisation/Deserialiser.h\"\n#include \"io/FrameSource.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass FrameBufferSource;\n\t\tclass SensorCollection;\n\t\t\n\t\tclass SLAMFrameDeserialiser : public Deserialiser, public slambench::io::FrameStream {\n\t\tpublic:\n\t\t\tSLAMFrameDeserialiser(FILE *file, SensorCollection &_sensors, FrameBufferSource *fb_source);\n\t\t\tSLAMFrame* GetNextFrame() override;\n\t\t\tbool HasNextFrame() override;\n\n\t\tprivate:\n\t\t\tSensorCollection &sensors_;\n\t\t\tFrameBufferSource *fb_source_;\n\t\t};\n\t}\n}\n\n#endif /* SLAMFRAMEDESERIALISER_H */\n\n" }, { "path": "framework/shared/include/io/deserialisation/SensorCollectionDeserialiser.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_SENSORCOLLECTIONDESERIALISER_H\n#define IO_SENSORCOLLECTIONDESERIALISER_H\n\n#include \"io/deserialisation/Deserialiser.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Sensor;\n\t\tclass SensorCollection;\n\t\t\n\t\tclass SensorCollectionDeserialiser : public Deserialiser {\n\t\tpublic:\n\t\t\tSensorCollectionDeserialiser(std::FILE *_file);\n\t\t\tbool Deserialise(SensorCollection &target) const;\n\t\t\tbool DeserialiseSensor(Sensor *&sensor) const;\n\t\t};\n\t}\n}\n\n#endif /* SENSORCOLLECTIONDESERIALISER_H */\n\n" }, { "path": "framework/shared/include/io/format/DataFormatter.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_DATAFORMATTER_H\n#define IO_DATAFORMATTER_H\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Sensor;\n\t\t\n\t\tclass DataFormatter {\n\t\tpublic:\n\t\t\tDataFormatter(Sensor *sensor, void *data);\n\t\t\t\n\t\t\tSensor *GetSensor() { return sensor_; }\n\t\t\tconst Sensor *GetSensor() const { return sensor_; }\n\n\t\tprotected:\n\t\t\tconst void *Data() const { return data_; }\n\t\t\tvoid *Data() { return data_; }\n\n\t\tprivate:\n\t\t\tvoid *data_;\n\t\t\tSensor *sensor_;\n\t\t};\n\t}\n}\n\n#endif /* IO_DATAFORMATTER_H */\n\n" }, { "path": "framework/shared/include/io/format/EventDataFormatter.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_EVENTDATAFORMATTER_H\n#define IO_EVENTDATAFORMATTER_H\n\n#include \"io/format/DataFormatter.h\"\n#include \"io/sensor/EventCameraSensor.h\"\n\n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass EventData {\n\t\tpublic:\n\t\t\tuint32_t X, Y;\n\t\t\tbool Raised;\n\t\t};\n\t\t\n\t\tclass EventDataFormatter : public DataFormatter {\n\t\tprivate:\n\t\t\tuint8_t coordsize_;\n\t\tpublic:\n\t\t\tEventDataFormatter(Sensor *sensor, void *data) : DataFormatter(sensor, data) { coordsize_ = ((EventCameraSensor*)sensor)->GetCoordinateSize(); }\n\t\t\t\n\t\t\tEventData Get() const {\n\t\t\t\tEventData data;\n\t\t\t\tconst char *ptr = (const char*)Data();\n\t\t\t\tswitch(coordsize_) {\n\t\t\t\t\tcase 1: \n\t\t\t\t\t\tdata.X = *((uint8_t*)ptr++);\n\t\t\t\t\t\tdata.Y = *((uint8_t*)ptr++);\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase 2:\n\t\t\t\t\t\tdata.X = *((uint16_t*)ptr++);\n\t\t\t\t\t\tdata.Y = *((uint16_t*)ptr++);\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase 4:\n\t\t\t\t\t\tdata.X = *((uint32_t*)ptr++);\n\t\t\t\t\t\tdata.Y = *((uint32_t*)ptr++);\n\t\t\t\t\t\tbreak;\n\t\t\t\t}\n\t\t\t\tdata.Raised = *ptr;\n\t\t\t\t\n\t\t\t\treturn data;\n\t\t\t}\n\t\t\t\n\t\t\tvoid Put(const EventData &data) {\n\t\t\t\tchar *ptr = (char*)Data();\n\t\t\t\tswitch(coordsize_) {\n\t\t\t\t\tcase 1: \n\t\t\t\t\t\t*((uint8_t*)ptr++) = data.X;\n\t\t\t\t\t\t*((uint8_t*)ptr++) = data.Y;\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase 2:\n\t\t\t\t\t\t*((uint16_t*)ptr++) = data.X;\n\t\t\t\t\t\t*((uint16_t*)ptr++) = data.Y;\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase 4:\n\t\t\t\t\t\t*((uint32_t*)ptr++) = data.X;\n\t\t\t\t\t\t*((uint32_t*)ptr++) = data.Y;\n\t\t\t\t\t\tbreak;\n\t\t\t\t}\n\t\t\t\t*ptr = data.Raised;\n\t\t\t}\n\t\t};\n\t\t\n\t}\n}\n\n#endif /* IO_EVENTDATAFORMATTER_H */\n\n" }, { "path": "framework/shared/include/io/format/ImageDataFormatter.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_IMAGEDATAFORMATTER_H\n#define IO_IMAGEDATAFORMATTER_H\n\n#include \"io/sensor/CameraSensor.h\"\n#include \"io/sensor/DepthSensor.h\"\n#include \"io/format/DataFormatter.h\"\n\n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\ttemplate class PixelData {\n\t\t\tPixelData(void *data);\n\t\t};\n\t\t\n\t\ttemplate<> class PixelData {\n\t\tpublic:\n\t\t\tPixelData(const void *data) { \n\t\t\t\tconst char *cdata = (const char*)data;\n r_ = (uint8_t) cdata[0];\n g_ = (uint8_t) cdata[1];\n b_ = (uint8_t) cdata[2];\n\t\t\t}\n\t\t\t\n\t\t\tstatic const size_t Size = 3;\n\t\t\t\t\t\n\t\tprivate:\n\t\t\tuint8_t r_, g_, b_;\n\t\t\t\n\t\tpublic:\n\t\t\tstatic_assert(sizeof(r_) + sizeof(g_) + sizeof(b_) == Size, \"Size mismatch!\");\n\t\t\t\n\t\t\tuint8_t R() const { return r_; }\n\t\t\tuint8_t G() const { return g_; }\n\t\t\tuint8_t B() const { return b_; }\n\t\t\t\t\n\t\t};\n\t\t\n\t\ttemplate<> class PixelData {\n\t\tpublic:\n\t\t\tPixelData(const void* data) {\n\t\t\t\tconst float *fdata = (const float*)data;\n\t\t\t\t_d = *fdata;\n\t\t\t}\n\t\t\t\n\t\tprivate:\n\t\t\tfloat _d;\n\t\t\t\n\t\tpublic:\n\t\t\tfloat D() const { return _d; }\n\t\t\t\n\t\t\tstatic const size_t Size = 4;\n\t\t\tstatic_assert(sizeof(_d) == Size, \"Size mismatch\");\n\t\t};\n\t\t\t\t\n\t\ttemplate class RasterImageFormatter : public DataFormatter {\n\t\tpublic:\n\t\t\ttypedef PixelData pixel_t;\n\t\t\t\n\t\t\tRasterImageFormatter(Sensor *sensor, void *data) : DataFormatter(sensor, data) {\n\t\t\t\tassert(sensor->GetType() == CameraSensor::kCameraType || sensor->GetType() == DepthSensor::kDepthType);\n\t\t\t}\n\t\t\t\n\t\t\tCameraSensor *GetCamera() { return (CameraSensor*)DataFormatter::GetSensor(); }\n\t\t\tsize_t Line() const { return GetCamera()->Width * pixel_t::Size; }\n\t\t\tsize_t Stride() const { return pixel_t::Size; }\n\t\t\t\n\t\t\tpixel_t Get(uint32_t x, uint32_t y) const {\n\t\t\t\tconst char *data = (const char*)Data();\n\t\t\t\tdata += Line() * y;\n\t\t\t\tdata += Stride() * x;\n\t\t\t\t\n\t\t\t\treturn pixel_t(data);\n\t\t\t}\n\t\t};\t\t\n\t}\n}\n\n#endif /* IO_IMAGEDATAFORMATTER_H */\n\n" }, { "path": "framework/shared/include/io/format/PointCloud.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_POINTCLOUD_H\n#define IO_POINTCLOUD_H\n\n#include \n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Point {\n\t\tpublic:\n\t\t\tPoint() : x(0), y(0), z(0) {}\n\t\t\tPoint(float x, float y, float z) : x(x), y(y), z(z) {}\n\t\t\t\n\t\t\tfloat x, y, z;\n\t\t};\n\t\t\n\t\tclass PointCloud {\n\t\tpublic:\n\t\t\ttypedef std::vector storage_t;\n\t\t\t\n\t\t\tstorage_t &Get() { return points_; }\n\t\t\tconst storage_t &Get() const { return points_; }\n\t\t\t\n\t\t\tstatic PointCloud *FromRaw(char*);\n\t\t\tstd::vector ToRaw();\n\t\t\t\n\t\tprivate:\n\t\t\tstorage_t points_;\n\t\t};\n\t\t\n\t\tclass PlyReader {\n\t\tpublic:\n\t\t\tPointCloud *Read(std::istream &file);\n\t\t};\n\t\t\n\t\tclass PlyWriter {\n\t\tpublic:\n\t\t\tvoid Write(const PointCloud *cloud, std::ostream &file);\n\t\t};\n\t}\n}\n\n#endif /* IO_POINTCLOUD_H */\n\n" }, { "path": "framework/shared/include/io/openni15/ONI15Frame.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_ONIFRAME15_H\n#define IO_ONIFRAME15_H\n\n#include \"../SLAMFrame.h\"\n\n#define linux true\n\n#include \n#include \n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Sensor;\n\t\tnamespace openni15 {\n\t\t\tclass ONI15Frame : public SLAMFrame {\n\t\t\tpublic:\n\t\t\t\tONI15Frame(Sensor *sensor, const xn::OutputMetaData *frameref);\n\t\t\t\t~ONI15Frame();\n\t\t\t\tvoid* GetData() override;\n\t\t\t\tvoid FreeData() override;\n\t\t\t};\n\t\t}\n\t}\n}\n\n#endif /* IO_ONIFRAME15_H */\n\n" }, { "path": "framework/shared/include/io/openni15/ONI15FrameStream.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_ONI15FRAMESTREAM_H\n#define IO_ONI15FRAMESTREAM_H\n\n#include \"../FrameSource.h\"\n\n#include \n#include \n\nnamespace xn {\n\tclass DepthGenerator;\n\tclass ImageGenerator;\n\tclass MapGenerator;\n\tclass Context;\n\tclass DepthMetaData;\n\tclass ImageMetaData;\n}\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Sensor;\n\t\tclass CameraSensor;\n\t\tnamespace openni15 {\n\t\t\t\n\t\t\t/*\n\t\t\t This class represents a stream of frames from OpenNI15 generators.\n\t\t\t Once the stream has been created, each desired sensor should be\n\t\t\t activated.\n\t\t\t */\n\t\t\tclass ONI15FrameStream : public FrameStream {\n\t\t\tpublic:\n\t\t\t\tONI15FrameStream(xn::Context *context) ;\n\t\t\t\t\n\t\t\t\tbool ActivateSensor(CameraSensor *sensor);\n\t\t\t\tbool StartStreams();\n\t\t\t\t\n\t\t\t\tSLAMFrame* GetNextFrame() override;\n\t\t\t\tbool HasNextFrame() override;\n\n\t\t\tprivate:\n\t\t\t\txn::Context * context_;\n\t\t\t\txn::DepthGenerator* depth_generator_;\n\t\t\t\txn::ImageGenerator* image_generator_;\n\t\t\t\txn::DepthMetaData* DMD_ ;\n\t\t\t\txn::ImageMetaData* IMD_ ;\n\t\t\t\tstd::map _sensor_map;\n\t\t\t};\n\t\t}\n\t}\n}\n\n#endif /* IO_ONI2FRAMESTREAM_H */\n\n" }, { "path": "framework/shared/include/io/openni15/ONI15InputInterface.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n#ifdef DO_OPENNI15\n#ifndef IO_ONI15INPUTINTERFACE_H\n#define IO_ONI15INPUTINTERFACE_H\n\n#include \n#include \n\n#include \n\nnamespace xn {\n\tclass Context;\n}\nnamespace slambench {\n\tnamespace io {\n\tclass CameraSensor;\n\tclass DepthSensor;\n\t\tnamespace openni15 {\n\t\t\tclass ONI15FrameStream;\n\t\t\t\n\t\t\tclass ONI15InputInterface : public InputInterface {\n\t\t\tpublic:\n\t\t\t\tONI15InputInterface();\n\n\t\t\t\tFrameStream& GetFrames() override;\n\t\t\t\tSensorCollection& GetSensors() override;\n\n\t\t\tprivate:\n\t\t\t\tvoid BuildSensors();\n\t\t\t\tCameraSensor *BuildCameraSensor() ;\n\t\t\t\tDepthSensor *BuildDepthSensor() ;\n\n\t\t\t\tvoid BuildStream();\n\n\t\t\t\txn::Context * context_;\n\t\t\t\tONI15FrameStream *stream_;\n\t\t\t\t\n\t\t\t\tSensorCollection sensors_;\n\t\t\t\tbool sensors_ready_;\n\t\t\t};\n\t\t}\n\t}\n}\n\n#endif /* IO_ONI15INPUTINTERFACE_H */\n#endif /* DO_OPENNI15 */\n\n" }, { "path": "framework/shared/include/io/openni2/ONI2Frame.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_ONIFRAME_H\n#define IO_ONIFRAME_H\n\n#include \"../SLAMFrame.h\"\n\n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Sensor;\n\t\tnamespace openni2 {\n\t\t\tclass ONI2Frame : public SLAMFrame {\n\t\t\tpublic:\n\t\t\t\tONI2Frame(Sensor *sensor, const openni::VideoFrameRef &frameref);\n\t\t\t\tvoid* GetData() override;\n\t\t\t\tvoid FreeData() override;\n\t\t\t};\n\t\t}\n\t}\n}\n\n#endif /* IO_ONIFRAME_H */\n\n" }, { "path": "framework/shared/include/io/openni2/ONI2FrameStream.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_ONI2FRAMESTREAM_H\n#define IO_ONI2FRAMESTREAM_H\n\n#include \"../FrameSource.h\"\n\n#include \n#include \n\nnamespace openni {\n\tclass Device;\n\tclass VideoStream;\n}\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Sensor;\n\t\tclass CameraSensor;\n\t\tnamespace openni2 {\n\t\t\t\n\t\t\t/*\n\t\t\t This class represents a stream of frames from an OpenNI2 device.\n\t\t\t Once the stream has been created, each desired sensor should be\n\t\t\t activated.\n\t\t\t */\n\t\t\t\n\t\t\tclass ONI2FrameStream : public FrameStream {\n\t\t\tpublic:\n\t\t\t\tONI2FrameStream(openni::Device *device);\n\t\t\t\t\n\t\t\t\tbool ActivateSensor(CameraSensor *sensor);\n\t\t\t\tbool StartStreams();\n\t\t\t\t\n\t\t\t\tSLAMFrame* GetNextFrame() override;\n\t\t\t\tbool HasNextFrame() override;\n\n\t\t\tprivate:\n\t\t\t\topenni::Device *device_;\n\t\t\t\t\n\t\t\t\tstd::vector streams_;\n\t\t\t\tstd::map sensor_map_;\n\t\t\t};\n\t\t\t\n\t\t}\n\t}\n}\n\n#endif /* IO_ONI2FRAMESTREAM_H */\n\n" }, { "path": "framework/shared/include/io/openni2/ONI2InputInterface.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n#ifdef DO_OPENNI20\n#ifndef IO_ONI2INPUTINTERFACE_H\n#define IO_ONI2INPUTINTERFACE_H\n\n#include \n#include \n\n#include \n\nnamespace openni {\n\tclass Device;\n\tclass SensorInfo;\n}\n\nnamespace slambench {\n\tnamespace io {\n\tclass CameraSensor;\n\tclass DepthSensor;\n\t\tnamespace openni2 {\n\t\t\tclass ONI2FrameStream;\n\t\t\t\n\t\t\tclass ONI2InputInterface : public InputInterface {\n\t\t\tpublic:\n\t\t\t\tONI2InputInterface();\n\t\t\t\tONI2InputInterface(const std::string& oni2_filename);\n\t\t\t\t\n\t\t\t\tFrameStream& GetFrames() override;\n\t\t\t\tSensorCollection& GetSensors() override;\n\n\t\t\tprivate:\n\t\t\t\tvoid BuildSensors();\n\t\t\t\tvoid BuildStream();\n\t\t\t\tCameraSensor *BuildCameraSensor(const openni::SensorInfo *sensor_info) ;\n\t\t\t\tDepthSensor *BuildDepthSensor(const openni::SensorInfo *sensor_info) ;\n\n\n\t\t\t\topenni::Device *device_;\n\t\t\t\tONI2FrameStream *stream_;\n\t\t\t\t\n\t\t\t\tSensorCollection sensors_;\n\t\t\t\tbool sensors_ready_;\n\t\t\t};\n\t\t}\n\t}\n}\n\n#endif /* IO_ONI2INPUTINTERFACE_H */\n#endif /* DO_OPENNI20 */" }, { "path": "framework/shared/include/io/realsense/RealSense2Frame.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_REALSENSE2FRAME_H\n#define IO_REALSENSE2FRAME_H\n\n#include \"../SLAMFrame.h\"\n#include \n\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Sensor;\n\t\tnamespace realsense {\n\t\t\tclass RealSense2Frame : public SLAMFrame {\n\t\t\tpublic:\n\t\t\t\tRealSense2Frame(Sensor *sensor, const rs2::frame& frameref);\n\t\t\t\tvoid* GetData() override;\n\t\t\t\tvoid FreeData() override;\n\t\t\t};\n\t\t}\n\t}\n}\n\n#endif /* IO_REALSENSE2FRAME_H */\n\n" }, { "path": "framework/shared/include/io/realsense/RealSense2FrameStream.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_REALSENSE2FRAMESTREAM_H\n#define IO_REALSENSE2FRAMESTREAM_H\n\n#include \"../FrameSource.h\"\n\n#include \n#include \n#include \n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Sensor;\n\t\tclass CameraSensor;\n\t\tnamespace realsense {\n\t\t\t\n\t\t\t/*\n\t\t\t This class represents a stream of frames from an OpenNI2 device.\n\t\t\t Once the stream has been created, each desired sensor should be\n\t\t\t activated.\n\t\t\t */\n\t\t\t\n\t\t\tclass RealSense2FrameStream : public FrameStream {\n\t\t\tpublic:\n\t\t\t\tRealSense2FrameStream(rs2::pipeline &pipe);\n\t\t\t\t~RealSense2FrameStream();\n bool ActivateSensor(rs2_stream stream, Sensor* sensor);\n\t\t\t\tSLAMFrame* GetNextFrame() override;\n\t\t\t\tbool HasNextFrame() override;\n //\n\t\t\tprivate:\n rs2::pipeline &pipe_;\n rs2::frameset frameset_;\n std::vector new_frames_;\n\t\t\t\tstd::map sensor_map_;\n\t\t\t};\n\t\t\t\n\t\t}\n\t}\n}\n\n#endif /* IO_REALSENSE2FRAMESTREAM_H */\n\n" }, { "path": "framework/shared/include/io/realsense/RealSense2InputInterface.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n#ifdef DO_REALSENSE\n#ifndef IO_REALSENSE2INPUTINTERFACE_H\n#define IO_REALSENSE2INPUTINTERFACE_H\n\n#include \n#include \n#include \"RealSense2FrameStream.h\"\n\n#include \n#include \n#include \n\nnamespace slambench {\n\tnamespace io {\n\tclass CameraSensor;\n\tclass DepthSensor;\n\t\tnamespace realsense {\n\t\t\tclass RealSense2FrameStream;\n\t\t\t\n\t\t\tclass RealSense2InputInterface : public InputInterface {\n\t\t\tpublic:\n\t\t\t\tRealSense2InputInterface();\n\t\t\t\tFrameStream& GetFrames() override;\n\t\t\t\tSensorCollection& GetSensors() override;\n inline RealSense2FrameStream& GetStream() {return *stream_;}\n\n\t\t\tprivate:\n void BuildRGBSensor(const rs2::stream_profile& color_profile);\n\t\t\t\tvoid BuildDepthSensor(const rs2::stream_profile& depth_profile);\n\t\t\t\tvoid BuildAccelerometerGyroSensor(const rs2::stream_profile& motion_profile);\n\t\t\t\tvoid BuildStream();\n\n\t\t\t\tRealSense2FrameStream* stream_;\n\t\t\t\tSensorCollection sensors_;\n\t\t\t\tbool sensors_ready_;\n rs2::pipeline pipe_;\n //rs2::frameset frameset_;\n };\n\t\t}\n\t}\n}\n\n#endif /* IO_REALSENSE2INPUTINTERFACE_H */\n#endif /* DO_REALSENSE */\n" }, { "path": "framework/shared/include/io/sensor/AccelerometerSensor.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_ACCELEROMETERSENSOR_H\n#define IO_ACCELEROMETERSENSOR_H\n\n#include \"io/sensor/Sensor.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass AccelerometerSensor : public Sensor {\n\t\tpublic:\n\t\t\ttypedef float accel_intrinsic_t[12];\n\t\t\ttypedef float accel_noise_variances_t[3];\n\t\t\ttypedef float accel_bias_variances_t[3];\n\t\t\tconst static sensor_type_t kAccType;\n\n\t\t\taccel_intrinsic_t Intrinsic;\n\t\t\taccel_noise_variances_t NoiseVariances;\n\t\t\taccel_bias_variances_t BiasVariances;\n\t\t\t\n\t\t\tAccelerometerSensor(const sensor_name_t &sensor_name);\n\t\t\tsize_t GetFrameSize(const SLAMFrame *frame) const override;\n\n\t\t};\n\t}\n}\n\n#endif /* IO_ACCELEROMETERSENSOR_H */\n\n" }, { "path": "framework/shared/include/io/sensor/CameraSensor.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_CAMERA_SENSOR_H\n#define IO_CAMERA_SENSOR_H\n\n#include \"io/sensor/Sensor.h\"\n#include \"io/FrameFormat.h\"\n#include \"io/PixelFormat.h\"\n\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass CameraSensor : public Sensor {\n\t\tpublic:\n\n\n\t\t\t// Intrisics as \"Focal Length\" and \"Principal Point Offset\" : fx, fy, cx, cy\n\t\t\ttypedef float intrinsics_t[4];\n\n\n\t\t\t// Distortion parameters : radial and tangential factors = k1, k2, p1, p2, p3\n\t\t\t// More infos: https://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html\n\t\t\ttypedef enum {NoDistortion, RadialTangential, Equidistant, KannalaBrandt} distortion_type_t;\n\t\t\ttypedef float distortion_coefficients_t[5];\n\n\t\t\tconst static sensor_type_t kCameraType;\n\t\t\tCameraSensor(const sensor_name_t &name, const sensor_type_t &type = kCameraType);\n\t\t\t\n\t\t\t// Resolution\n\t\t\tuint32_t Width;\n\t\t\tuint32_t Height;\n\t\t\t\n\t\t\t// Color setting\n\t\t\tframeformat::EFrameFormat FrameFormat;\n\t\t\tpixelformat::EPixelFormat PixelFormat;\n\t\t\t\n\n\n\t\t\tintrinsics_t Intrinsics;\n\t\t\tdistortion_type_t DistortionType;\n\t\t\tdistortion_coefficients_t RadialTangentialDistortion;\n\t\t\tdistortion_coefficients_t EquidistantDistortion;\n\t\t\tdistortion_coefficients_t Distortion;\n\n\n\t\t\tsize_t GetFrameSize(const SLAMFrame *frame) const override;\n\t\t\tvoid CopyIntrinsics(const CameraSensor *other);\n\t\t\tvoid CopyIntrinsics(const intrinsics_t &other);\n\t\t\tvoid CopyRadialTangentialDistortion(const distortion_coefficients_t &other);\n void CopyEquidistantDistortion(const distortion_coefficients_t &other);\n void CopyDistortion(const distortion_coefficients_t &other, const distortion_type_t& type);\n\t\t};\n\t}\n}\n\n\n#endif\n" }, { "path": "framework/shared/include/io/sensor/CameraSensorFinder.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_CAMERASENSORFINDER_H\n#define IO_CAMERASENSORFINDER_H\n\n#include \n#include \n#include \n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass SensorCollection;\n\t\tclass CameraSensor;\n\t\t\n\t\ttypedef std::pair CameraSensorFilter;\n\t\t\n\t\tclass CameraSensorFinder {\n\t\tpublic:\n\t\t\ttypedef std::function filter_lambda_t;\n\t\t\t\n\t\t\tCameraSensorFinder();\n\t\t\t\n\t\t\tbool TestFilter(const CameraSensor *sensor, const CameraSensorFilter &filter);\n\t\t\tstd::vector Find(const SensorCollection& sensors, const std::initializer_list &filters);\n\t\t\tCameraSensor *FindOne(const SensorCollection &sensors, const std::initializer_list &filters);\n\t\t\t\n\t\tprivate:\n\t\t\tvoid PrepareEvaluators();\n\t\t\t\n\t\t\tstd::map filter_evaluators_;\n\t\t};\n\t}\n}\n\n#endif /* IO_CAMERASENSORFINDER_H */\n\n" }, { "path": "framework/shared/include/io/sensor/DepthSensor.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_DEPTH_SENSOR_H\n#define IO_DEPTH_SENSOR_H\n\n#include \"io/sensor/CameraSensor.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass DepthSensor : public CameraSensor {\n\t\tpublic:\n\t\t\tDepthSensor(const Sensor::sensor_name_t &sensor_name);\n\t\t\tstatic const sensor_type_t kDepthType;\n\t\t\t\n\t\t\ttypedef float disparity_params_t[2];\n\t\t\ttypedef enum\n\t\t\t{\n\t\t\t affine_disparity = 0x00000000,\n\t\t\t kinect_disparity = 0X00000001,\n\t\t\t} disparity_type_t;\n\t\t\t\n\t\t\tdisparity_type_t DisparityType;\n\t\t\tdisparity_params_t DisparityParams;\n\t\t\t\n\t\t\tvoid CopyDisparityParams(const DepthSensor *other);\n\t\t\tvoid CopyDisparityParams(const disparity_params_t &other);\n\t\t};\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/sensor/EventCameraSensor.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_EVENTCAMERASENSOR_H\n#define IO_EVENTCAMERASENSOR_H\n\n#include \"io/sensor/Sensor.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass EventCameraSensor : public Sensor {\n\t\tpublic:\n\t\t\tEventCameraSensor(const sensor_name_t &sensor_name);\n\t\t\tstatic const sensor_type_t kEventCameraType;\n\t\t\t\n\t\t\tint Width;\n\t\t\tint Height;\n\t\t\t\n\t\t\tsize_t GetCoordinateSize() const;\n\t\t\tsize_t GetFrameSize(const SLAMFrame *frame) const override;\n\t\t};\n\t}\n}\n\n#endif /* IO_EVENTCAMERASENSOR_H */\n\n" }, { "path": "framework/shared/include/io/sensor/GroundTruthSensor.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_GROUNDTRUTHSENSOR_H\n#define IO_GROUNDTRUTHSENSOR_H\n\n#include \"io/sensor/Sensor.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass GroundTruthSensor : public Sensor {\n\t\tpublic:\n\t\t\tconst static sensor_type_t kGroundTruthTrajectoryType;\n\t\t\t\n\t\t\tGroundTruthSensor(const Sensor::sensor_name_t &sensor_name);\n\t\t\ttypedef Eigen::Matrix4f pose_t;\n\t\t\tsize_t GetFrameSize(const SLAMFrame *frame) const override;\n\n\t\t};\n\t}\n}\n\n#endif /* IO_GROUNDTRUTHSENSOR_H */\n\n" }, { "path": "framework/shared/include/io/sensor/GyroSensor.h", "content": "/*\n\n Copyright (c) 2019 Intel Corp.\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_GYROSENSOR_H\n#define IO_GYROSENSOR_H\n\n#include \"io/sensor/Sensor.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass GyroSensor : public Sensor {\n\t\tpublic:\n\t\t\ttypedef float gyro_intrinsic_t[12];\n\t\t\ttypedef float gyro_noise_variances_t[3];\n\t\t\ttypedef float gyro_bias_variances_t[3];\n\t\t\tconst static sensor_type_t kGyroType;\n\n\t\t\tgyro_intrinsic_t Intrinsic;\n\t\t\tgyro_noise_variances_t NoiseVariances;\n\t\t\tgyro_bias_variances_t BiasVariances;\n\n\t\t\tGyroSensor(const sensor_name_t &sensor_name);\n\t\t\tsize_t GetFrameSize(const SLAMFrame *frame) const override;\n\n\t\t};\n\t}\n}\n\n#endif /* IO_GYROSENSOR_H */" }, { "path": "framework/shared/include/io/sensor/IMUSensor.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_IMUSENSOR_H\n#define IO_IMUSENSOR_H\n\n#include \"io/sensor/Sensor.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass IMUSensor : public Sensor {\n\t\tpublic:\n\t\t\tstatic const sensor_type_t kIMUType;\n\t\t\t\n\t\t\tfloat GyroscopeNoiseDensity;\n\t\t\tfloat GyroscopeDriftNoiseDensity;\n\t\t\tfloat GyroscopeBiasDiffusion;\n\n\t\t\tfloat AcceleratorNoiseDensity;\n\t\t\tfloat AcceleratorBiasDiffusion;\n\n\t\t\tfloat AcceleratorSaturation;\n\t\t\tfloat GyroscopeSaturation;\n\t\t\tfloat AcceleratorDriftNoiseDensity;\n\n\t\t\tIMUSensor(const Sensor::sensor_name_t &sensor_name);\n\t\t\tsize_t GetFrameSize(const SLAMFrame *frame) const override;\n\n\t\t};\n\t}\n}\n\n#endif /* IO_IMUSENSOR_H */\n\n" }, { "path": "framework/shared/include/io/sensor/OdomSensor.h", "content": "/*\n\n Copyright (c) 2019 Intel Corp.\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef IO_ODOMSENSOR_H\n#define IO_ODOMSENSOR_H\n\n#include \"io/sensor/Sensor.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass OdomSensor : public Sensor {\n\t\tpublic:\n\t\t\tconst static sensor_type_t kOdomType;\n\n\t\t\tOdomSensor(const sensor_name_t &sensor_name);\n\t\t\tsize_t GetFrameSize(const SLAMFrame *frame) const override;\n\n\t\t};\n\t}\n}\n\n#endif /* IO_ODOMSENSOR_H */" }, { "path": "framework/shared/include/io/sensor/PointCloudSensor.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_POINTCLOUDSENSOR_H\n#define IO_POINTCLOUDSENSOR_H\n\n#include \"io/sensor/Sensor.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass PointCloudSensor : public Sensor {\n\t\tpublic:\n\t\t\tstatic const sensor_type_t kPointCloudType;\n\t\t\t\n\t\t\tPointCloudSensor(const sensor_name_t &sensor_name);\n\t\t\tsize_t GetFrameSize(const SLAMFrame *frame) const override;\n\t\t};\n\t}\n}\n\n#endif /* IO_POINTCLOUDSENSOR_H */\n\n" }, { "path": "framework/shared/include/io/sensor/Sensor.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_SENSOR_SENSOR_H\n#define IO_SENSOR_SENSOR_H\n\n#include \n#include \n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Serialiser;\n\t\tclass Deserialiser;\n\t\tclass SLAMFrame;\n\t\t\n\t\tclass Sensor : public ParameterComponent {\n\t\tpublic:\n\t\t\ttypedef std::string sensor_name_t;\n\t\t\ttypedef std::string sensor_type_t;\n\t\t\ttypedef Eigen::Matrix4f pose_t;\n\t\t\ttypedef uint8_t sensor_base_t;\n\t\t\t\n\t\t\tSensor(const sensor_name_t &sensor_name, const sensor_type_t &sensor_type);\n\t\t\tvirtual ~Sensor() = default;\n\t\t\n\t\t\tstd::string Description;\n\t\t\tuint8_t Index;\n\t\t\tpose_t Pose;\n\t\t\tfloat Rate;\n\t\t\tfloat Delay; // Delay between sensor and baseline\n\n\t\t\tvirtual size_t GetFrameSize(const SLAMFrame *frame) const = 0;\n\t\t\tconst sensor_type_t &GetType() const;\n\t\t\tconst sensor_name_t &GetName() const;\n\t\t\t\n\t\t\tvoid CopyPose(const Sensor *other);\n\t\t\tvoid CopyPose(const pose_t &other);\n\t\t\t\n\t\t\tbool IsVariableSize() const;\n\t\t\tbool IsGroundTruth() const;\n\t\t\t\n\t\tprivate:\n\t\t\tconst sensor_name_t sensor_name_;\n\t\t\tconst sensor_type_t sensor_type_;\n\t\t};\n\t\t\n\t\tclass SensorSerialiser {\n\t\tpublic:\n\t\t\tvirtual ~SensorSerialiser() = default;\n\t\t\tbool Serialise(Serialiser *serialiser, const Sensor *sensor);\n\t\t\tvirtual bool SerialiseSensorSpecific(Serialiser *serialiser, const Sensor *sensor) = 0;\n\t\t};\n\t\t\n\t\tclass SensorDeserialiser {\n\t\tpublic:\n\t\t\tvirtual ~SensorDeserialiser() = default;\n\t\t\tbool Deserialise(const Sensor::sensor_name_t &sensor_name, const Sensor::sensor_type_t &type, const Deserialiser *d, Sensor **s);\n\t\t\t\n\t\t\tvirtual bool InstantiateSensor(const Sensor::sensor_name_t &sensor_name, const Sensor::sensor_type_t & type, Sensor **s) = 0;\n\t\t\tvirtual bool DeserialiseSensorSpecific(const Deserialiser *d, Sensor *s) = 0;\n\t\t};\n\t\t\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/sensor/SensorCollection.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_SENSOR_SENSORCOLLECTION_H\n#define IO_SENSOR_SENSORCOLLECTION_H\n\n#include \"io/sensor/Sensor.h\"\n\n#include \n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\t\n\t\tclass Sensor;\n\t\t\n\t\tclass SensorCollection {\n\t\tprotected:\n\t\t\ttypedef std::vector container_t;\n\n\t\tpublic:\n\t\t\tcontainer_t::iterator begin() { return container_.begin(); }\n\t\t\tcontainer_t::iterator end() { return container_.end(); }\n\t\t\t\n\t\t\tcontainer_t::const_iterator begin() const { return container_.begin(); }\n\t\t\tcontainer_t::const_iterator end() const { return container_.end(); }\n\t\t\t\n\t\t\tSensor &at(unsigned int sensor_idx);\n\t\t\tsize_t size() const;\n\t\t\t\n\t\t\tSensor *GetSensor(const Sensor::sensor_type_t &type);\n\t\t\tconst Sensor *GetSensor(const Sensor::sensor_type_t &type) const;\n\t\t\t\n\t\t\tstd::vector GetSensors(const Sensor::sensor_type_t & type);\n\t\t\t\n\t\t\tvoid AddSensor(Sensor *sensor);\n\t\t\t\n\t\tprivate:\n\t\t\tcontainer_t container_;\n\t\t\n\t\t};\n\t\t\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/sensor/SensorDatabase.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_SENSORDATABASE_H\n#define IO_SENSORDATABASE_H\n\n#include \"io/sensor/Sensor.h\"\n\n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\t\n\t\tclass SensorDatabaseEntry {\n\t\tpublic:\n\t\t\tSensorDatabaseEntry(SensorSerialiser *s, SensorDeserialiser *ds, bool ground_truth = false, bool variable_size = false);\n\t\t\t\n\t\t\tSensorSerialiser *GetSerialiser() const { return serialiser_; }\n\t\t\tSensorDeserialiser *GetDeserialiser() const {return deserialiser_; }\n\t\t\tbool IsGroundTruth() const { return is_ground_truth_; }\n\t\t\tbool IsVariableSize() const { return is_variable_size_; }\n\n\t\tprivate:\n\t\t\tSensorSerialiser *serialiser_;\n\t\t\tSensorDeserialiser *deserialiser_;\n\t\t\tbool is_ground_truth_;\n\t\t\tbool is_variable_size_;\n\t\t};\n\t\t\n\t\tclass SensorDatabase {\n\t\tpublic:\n\t\t\tSensorDatabaseEntry &Get(const Sensor::sensor_type_t &sensor_name);\n\t\t\t\n\t\t\tvoid RegisterSensor(const Sensor::sensor_type_t &sensor_name, const SensorDatabaseEntry &entry);\n\t\t\tstatic SensorDatabase *Singleton(void);\n\t\t\t\n\t\tprivate:\n\t\t\tstd::map registrations_;\n\t\t\tstatic SensorDatabase *singleton_;\n\t\t};\n\t\t\n\t\tclass SensorDatabaseRegistration {\n\t\tpublic:\n\t\t\tSensorDatabaseRegistration(const Sensor::sensor_type_t &name, const SensorDatabaseEntry &entry);\n\t\t};\n\t}\n}\n\n#endif /* IO_SENSORDATABASE_H */\n\n" }, { "path": "framework/shared/include/io/sensor/sensor_builder.h", "content": "/*\n\n Copyright (c) 2019 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_SENSOR_SENSOR_BUILDER_H\n#define IO_SENSOR_SENSOR_BUILDER_H\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\nnamespace slambench {\n namespace io {\n\n template \n class SensorBuilder {\n protected:\n std::string name_;\n std::string description_;\n uint8_t index_;\n\n float rate_;\n float delay_;\n int width_;\n int height_;\n\n frameformat::EFrameFormat frameFormat_;\n pixelformat::EPixelFormat pixelFormat_;\n\n Sensor::pose_t pose_ = Sensor::pose_t::Identity();\n CameraSensor::intrinsics_t intrinsics_;\n CameraSensor::distortion_type_t distortion_type_ = CameraSensor::NoDistortion;\n CameraSensor::distortion_coefficients_t distortion_;\n\n DepthSensor::disparity_type_t disparity_type_;\n DepthSensor::disparity_params_t disparity_;\n\n SensorBuilder() = default;\n public:\n T& name(const std::string& name) {\n name_ = name;\n return static_cast(*this);\n }\n T& index(const uint8_t& index) {\n index_ = index;\n return static_cast(*this);\n }\n\n T& description(const std::string& description) {\n description_ = description;\n return static_cast(*this);\n }\n\n T& rate(float rate) {\n rate_ = rate;\n return static_cast(*this);\n }\n\n T& size(uint32_t width, uint32_t height) {\n width_ = width;\n height_ = height;\n return static_cast(*this);\n }\n\n T& frameFormat(const frameformat::EFrameFormat& format) {\n frameFormat_ = format;\n return static_cast(*this);\n }\n\n T& pixelFormat(const pixelformat::EPixelFormat& format) {\n pixelFormat_ = format;\n return static_cast(*this);\n }\n\n T& pose(const Sensor::pose_t& pose) {\n pose_ = pose;\n return static_cast(*this);\n }\n\n T& delay(const float& delay) {\n delay_ = delay;\n return static_cast(*this);\n }\n\n T& intrinsics(const CameraSensor::intrinsics_t& intrinsics) {\n for(unsigned int i = 0; i < 4 ; ++i) {\n intrinsics_[i] = intrinsics[i];\n }\n return static_cast(*this);\n }\n\n T& distortion(const CameraSensor::distortion_type_t& type,\n const CameraSensor::distortion_coefficients_t& distortion) {\n distortion_type_ = type;\n for(unsigned int i = 0; i < 5 ; ++i) {\n distortion_[i] = distortion[i];\n }\n return static_cast(*this);\n }\n\n T& disparity(const DepthSensor::disparity_type_t& type,\n const DepthSensor::disparity_params_t& disparity) {\n disparity_type_ = type;\n for(int i = 0; i < 2; ++i) {\n disparity_[i] = disparity[i];\n }\n return static_cast(*this);\n }\n static bool check(Sensor* s, std::string& name)\n {\n if(!s) {\n std::cout << name << \" sensor not found...\" << std::endl;\n return false;\n } else {\n std::cout << s->GetName() << \" sensor created...\" << std::endl;\n return true;\n }\n }\n };\n\n class CameraSensorBuilder : public SensorBuilder {\n public:\n CameraSensor* build() {\n std::string name = name_.empty() ? \"Camera\" : name_;\n auto sensor = new CameraSensor(name, CameraSensor::kCameraType);\n sensor->Rate = rate_;\n sensor->Width = width_;\n sensor->Height = height_;\n sensor->Index = index_;\n sensor->FrameFormat = frameFormat_;\n sensor->PixelFormat = pixelFormat_;\n sensor->Description = description_.empty() ? \"Camera\" : description_;\n sensor->CopyPose(pose_);\n sensor->CopyIntrinsics(intrinsics_);\n\n sensor->DistortionType = distortion_type_;\n sensor->CopyDistortion(distortion_,distortion_type_);\n check(sensor, name);\n return sensor;\n }\n };\n\n class RGBSensorBuilder : public SensorBuilder {\n public:\n CameraSensor* build() {\n\n std::string name = name_.empty() ? \"RGB\" : name_;\n auto sensor = new CameraSensor(name, CameraSensor::kCameraType);\n sensor->Rate = rate_;\n sensor->Width = width_;\n sensor->Height = height_;\n sensor->FrameFormat = frameFormat_ ? frameFormat_ : frameformat::Raster;\n sensor->PixelFormat = pixelFormat_ ? pixelFormat_ : pixelformat::RGB_III_888;\n sensor->Description = description_.empty() ? \"RGB\" : description_;\n sensor->CopyPose(pose_);\n sensor->CopyIntrinsics(intrinsics_);\n\n sensor->DistortionType = distortion_type_;\n sensor->CopyDistortion(distortion_,distortion_type_);\n check(sensor, name);\n return sensor;\n }\n };\n\n class GreySensorBuilder : public SensorBuilder {\n\n public:\n CameraSensor* build() {\n std::string name = name_.empty() ? \"Grey\" : name_;\n auto sensor = new CameraSensor(name, CameraSensor::kCameraType);\n sensor->Rate = rate_;\n sensor->Width = width_;\n sensor->Height = height_;\n sensor->FrameFormat = frameFormat_ ? frameFormat_ : frameformat::Raster;\n sensor->PixelFormat = pixelformat::G_I_8;\n sensor->Description = description_.empty() ? \"Grey\" : description_;\n sensor->CopyPose(pose_);\n sensor->CopyIntrinsics(intrinsics_);\n\n sensor->DistortionType = distortion_type_;\n sensor->CopyDistortion(distortion_,distortion_type_);\n\n check(sensor, name);\n return sensor;\n }\n };\n\n class DepthSensorBuilder : public SensorBuilder {\n\n public:\n DepthSensor* build() {\n std::string name = name_.empty() ? \"Depth\" : name_;\n auto sensor = new DepthSensor(name);\n\n sensor->Rate = rate_;\n sensor->Width = width_;\n sensor->Height = height_;\n sensor->FrameFormat = frameformat::Raster;\n sensor->PixelFormat = pixelFormat_ ? pixelFormat_ : pixelformat::D_I_16;\n sensor->Description = description_.empty() ? \"Depth\" : description_;\n sensor->CopyPose(pose_);\n sensor->CopyIntrinsics(intrinsics_);\n sensor->DistortionType = distortion_type_;\n sensor->CopyDistortion(distortion_,distortion_type_);\n\n sensor->DisparityType = disparity_type_;\n sensor->CopyDisparityParams(disparity_);\n check(sensor, name);\n return sensor;\n }\n };\n\n class AccSensorBuilder : public SensorBuilder {\n public:\n AccelerometerSensor* build() {\n std::string name = name_.empty() ? \"Accelerometer\" : name_;\n auto sensor = new AccelerometerSensor(name);\n sensor->Description = description_.empty() ? \"Accelerometer\" : description_;\n check(sensor, name);\n return sensor;\n }\n };\n\n class GyroSensorBuilder : public SensorBuilder {\n public:\n GyroSensor* build() {\n std::string name = name_.empty() ? \"Gyro\" : name_;\n auto sensor = new GyroSensor(name);\n sensor->Description = description_.empty() ? \"Gyroscope\" : description_;\n check(sensor, name);\n return sensor;\n }\n };\n\n\n class OdomSensorBuilder : public SensorBuilder {\n public:\n OdomSensor* build() {\n std::string name = name_.empty() ? \"Odom\" : name_;\n auto sensor = new OdomSensor(name);\n sensor->Description = description_.empty() ? \"Odometry\" : description_;\n check(sensor, name);\n return sensor;\n }\n };\n\n class GTSensorBuilder : public SensorBuilder {\n public:\n GroundTruthSensor* build() {\n std::string name = name_.empty() ? \"GroundTruth\" : name_;\n auto sensor = new GroundTruthSensor(name);\n sensor->Description = description_.empty() ? \"GroundTruth\" : description_;\n sensor->Rate = rate_;\n sensor->CopyPose(pose_);\n check(sensor, name);\n return sensor;\n }\n };\n\n } // namespace io\n} // namespace slambench\n\n#endif // IO_SENSOR_SENSOR_BUILDER_H\n" }, { "path": "framework/shared/include/io/serialisation/SLAMFileHeaderSerialiser.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_SLAMFILEHEADERSERIALISER_H\n#define IO_SLAMFILEHEADERSERIALISER_H\n\n#include \"io/serialisation/Serialiser.h\"\n\nnamespace slambench {\n\tnamespace io {\n\t\tclass SLAMFile;\n\t\tclass Sensor;\n\t\t\n\t\tclass SLAMFileHeaderSerialiser : public Serialiser {\n\t\tpublic:\n\t\t\tSLAMFileHeaderSerialiser(FILE *target);\n\t\t\n\t\t\tbool Serialise(const SLAMFile &file);\n\t\t\n\t\tprivate:\n\t\t\tbool SerialiseHeader(const SLAMFile &file);\n\t\t\tbool SerialiseSensor(const Sensor &sensor);\n\t\t};\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/serialisation/SLAMFileSerialiser.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_SLAMFILESERIALISER_H\n#define IO_SLAMFILESERIALISER_H\n\n#include \"io/serialisation/Serialiser.h\"\n\n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass SLAMFile;\n\t\t\n\t\tclass SLAMFileSerialiser : public Serialiser {\n\t\tpublic:\n\t\t\tSLAMFileSerialiser(FILE *target);\n\t\t\n\t\t\tbool Serialise(SLAMFile &file);\n\t\t\n\t\t\ttypedef void (*frame_callback_t)(int frame_num, int frame_count);\n\t\t\tframe_callback_t FrameCallback;\n\t\t\n\t\tprivate:\n\t\t\tbool SerialiseHeader(const SLAMFile &file);\n\t\t\t\n\t\t\tbool SerialiseFrames(SLAMFile &file);\n\t\t};\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/serialisation/SLAMFrameSerialiser.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_SLAMFRAMESERIALISER_H\n#define IO_SLAMFRAMESERIALISER_H\n\n#include \"io/serialisation/Serialiser.h\"\n\n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\t\n\t\tclass SLAMFrame;\n\t\t\n\t\tclass SLAMFrameSerialiser : public Serialiser {\n\t\tpublic:\n\t\t\tSLAMFrameSerialiser(FILE *target);\n\t\t\t\n\t\t\tbool Serialise(SLAMFrame &frame);\n\t\t};\n\t\t\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/io/serialisation/Serialiser.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef IO_SERIALISER_H\n#define IO_SERIALISER_H\n\n#include \n\nnamespace slambench {\n\tnamespace io {\n\t\tclass Serialiser {\n\t\tpublic:\n\t\t\tSerialiser(FILE *target_file);\n\t\t\tbool Write(const void *data, size_t size);\n\t\tprotected:\n\t\t\tFILE *File();\n\t\t\t\n\t\tprivate:\n\t\t\tFILE *_file;\n\t\t};\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/lodepng.h", "content": "/*\n LodePNG version 20140624\n\n Copyright (c) 2005-2014 Lode Vandevenne\n\n This software is provided 'as-is', without any express or implied\n warranty. In no event will the authors be held liable for any damages\n arising from the use of this software.\n\n Permission is granted to anyone to use this software for any purpose,\n including commercial applications, and to alter it and redistribute it\n freely, subject to the following restrictions:\n\n 1. The origin of this software must not be misrepresented; you must not\n claim that you wrote the original software. If you use this software\n in a product, an acknowledgment in the product documentation would be\n appreciated but is not required.\n\n 2. Altered source versions must be plainly marked as such, and must not be\n misrepresented as being the original software.\n\n 3. This notice may not be removed or altered from any source\n distribution.\n */\n\n#ifndef LODEPNG_H\n#define LODEPNG_H\n\n#include /*for size_t*/\n\n#ifdef __cplusplus\n#include \n#include \n#endif /*__cplusplus*/\n\n/*\n The following #defines are used to create code sections. They can be disabled\n to disable code sections, which can give faster compile time and smaller binary.\n The \"NO_COMPILE\" defines are designed to be used to pass as defines to the\n compiler command to disable them without modifying this header, e.g.\n -DLODEPNG_NO_COMPILE_ZLIB for gcc.\n */\n/*deflate & zlib. If disabled, you must specify alternative zlib functions in\n the custom_zlib field of the compress and decompress settings*/\n#ifndef LODEPNG_NO_COMPILE_ZLIB\n#define LODEPNG_COMPILE_ZLIB\n#endif\n/*png encoder and png decoder*/\n#ifndef LODEPNG_NO_COMPILE_PNG\n#define LODEPNG_COMPILE_PNG\n#endif\n/*deflate&zlib decoder and png decoder*/\n#ifndef LODEPNG_NO_COMPILE_DECODER\n#define LODEPNG_COMPILE_DECODER\n#endif\n/*deflate&zlib encoder and png encoder*/\n#ifndef LODEPNG_NO_COMPILE_ENCODER\n#define LODEPNG_COMPILE_ENCODER\n#endif\n/*the optional built in harddisk file loading and saving functions*/\n#ifndef LODEPNG_NO_COMPILE_DISK\n#define LODEPNG_COMPILE_DISK\n#endif\n/*support for chunks other than IHDR, IDAT, PLTE, tRNS, IEND: ancillary and unknown chunks*/\n#ifndef LODEPNG_NO_COMPILE_ANCILLARY_CHUNKS\n#define LODEPNG_COMPILE_ANCILLARY_CHUNKS\n#endif\n/*ability to convert error numerical codes to English text string*/\n#ifndef LODEPNG_NO_COMPILE_ERROR_TEXT\n#define LODEPNG_COMPILE_ERROR_TEXT\n#endif\n/*Compile the default allocators (C's free, malloc and realloc). If you disable this,\n you can define the functions lodepng_free, lodepng_malloc and lodepng_realloc in your\n source files with custom allocators.*/\n#ifndef LODEPNG_NO_COMPILE_ALLOCATORS\n#define LODEPNG_COMPILE_ALLOCATORS\n#endif\n/*compile the C++ version (you can disable the C++ wrapper here even when compiling for C++)*/\n#ifdef __cplusplus\n#ifndef LODEPNG_NO_COMPILE_CPP\n#define LODEPNG_COMPILE_CPP\n#endif\n#endif\n\n#ifdef LODEPNG_COMPILE_PNG\n/*The PNG color types (also used for raw).*/\ntypedef enum LodePNGColorType {\n\tLCT_GREY = 0, /*greyscale: 1,2,4,8,16 bit*/\n\tLCT_RGB = 2, /*RGB: 8,16 bit*/\n\tLCT_PALETTE = 3, /*palette: 1,2,4,8 bit*/\n\tLCT_GREY_ALPHA = 4, /*greyscale with alpha: 8,16 bit*/\n\tLCT_RGBA = 6 /*RGB with alpha: 8,16 bit*/\n} LodePNGColorType;\n\n#ifdef LODEPNG_COMPILE_DECODER\n/*\n Converts PNG data in memory to raw pixel data.\n out: Output parameter. Pointer to buffer that will contain the raw pixel data.\n After decoding, its size is w * h * (bytes per pixel) bytes larger than\n initially. Bytes per pixel depends on colortype and bitdepth.\n Must be freed after usage with free(*out).\n Note: for 16-bit per channel colors, uses big endian format like PNG does.\n w: Output parameter. Pointer to width of pixel data.\n h: Output parameter. Pointer to height of pixel data.\n in: Memory buffer with the PNG file.\n insize: size of the in buffer.\n colortype: the desired color type for the raw output image. See explanation on PNG color types.\n bitdepth: the desired bit depth for the raw output image. See explanation on PNG color types.\n Return value: LodePNG error code (0 means no error).\n */\nunsigned lodepng_decode_memory(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst unsigned char* in, size_t insize, LodePNGColorType colortype,\n\t\tunsigned bitdepth);\n\n/*Same as lodepng_decode_memory, but always decodes to 32-bit RGBA raw image*/\nunsigned lodepng_decode32(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst unsigned char* in, size_t insize);\n\n/*Same as lodepng_decode_memory, but always decodes to 24-bit RGB raw image*/\nunsigned lodepng_decode24(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst unsigned char* in, size_t insize);\n\n#ifdef LODEPNG_COMPILE_DISK\n/*\n Load PNG from disk, from file with given name.\n Same as the other decode functions, but instead takes a filename as input.\n */\nunsigned lodepng_decode_file(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst char* filename, LodePNGColorType colortype, unsigned bitdepth);\n\n/*Same as lodepng_decode_file, but always decodes to 32-bit RGBA raw image.*/\nunsigned lodepng_decode32_file(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst char* filename);\n\n/*Same as lodepng_decode_file, but always decodes to 24-bit RGB raw image.*/\nunsigned lodepng_decode24_file(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst char* filename);\n#endif /*LODEPNG_COMPILE_DISK*/\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*\n Converts raw pixel data into a PNG image in memory. The colortype and bitdepth\n of the output PNG image cannot be chosen, they are automatically determined\n by the colortype, bitdepth and content of the input pixel data.\n Note: for 16-bit per channel colors, needs big endian format like PNG does.\n out: Output parameter. Pointer to buffer that will contain the PNG image data.\n Must be freed after usage with free(*out).\n outsize: Output parameter. Pointer to the size in bytes of the out buffer.\n image: The raw pixel data to encode. The size of this buffer should be\n w * h * (bytes per pixel), bytes per pixel depends on colortype and bitdepth.\n w: width of the raw pixel data in pixels.\n h: height of the raw pixel data in pixels.\n colortype: the color type of the raw input image. See explanation on PNG color types.\n bitdepth: the bit depth of the raw input image. See explanation on PNG color types.\n Return value: LodePNG error code (0 means no error).\n */\nunsigned lodepng_encode_memory(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype, unsigned bitdepth);\n\n/*Same as lodepng_encode_memory, but always encodes from 32-bit RGBA raw image.*/\nunsigned lodepng_encode32(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h);\n\n/*Same as lodepng_encode_memory, but always encodes from 24-bit RGB raw image.*/\nunsigned lodepng_encode24(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h);\n\n#ifdef LODEPNG_COMPILE_DISK\n/*\n Converts raw pixel data into a PNG file on disk.\n Same as the other encode functions, but instead takes a filename as output.\n NOTE: This overwrites existing files without warning!\n */\nunsigned lodepng_encode_file(const char* filename, const unsigned char* image,\n\t\tunsigned w, unsigned h, LodePNGColorType colortype, unsigned bitdepth);\n\n/*Same as lodepng_encode_file, but always encodes from 32-bit RGBA raw image.*/\nunsigned lodepng_encode32_file(const char* filename, const unsigned char* image,\n\t\tunsigned w, unsigned h);\n\n/*Same as lodepng_encode_file, but always encodes from 24-bit RGB raw image.*/\nunsigned lodepng_encode24_file(const char* filename, const unsigned char* image,\n\t\tunsigned w, unsigned h);\n#endif /*LODEPNG_COMPILE_DISK*/\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#ifdef LODEPNG_COMPILE_CPP\nnamespace lodepng {\n#ifdef LODEPNG_COMPILE_DECODER\n/*Same as lodepng_decode_memory, but decodes to an std::vector.*/\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tconst unsigned char* in, size_t insize, LodePNGColorType colortype =\n\t\t\t\tLCT_RGBA, unsigned bitdepth = 8);\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tconst std::vector& in, LodePNGColorType colortype =\n\t\t\t\tLCT_RGBA, unsigned bitdepth = 8);\n#ifdef LODEPNG_COMPILE_DISK\n/*\n Converts PNG file from disk to raw pixel data in memory.\n Same as the other decode functions, but instead takes a filename as input.\n */\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tconst std::string& filename, LodePNGColorType colortype = LCT_RGBA,\n\t\tunsigned bitdepth = 8);\n#endif //LODEPNG_COMPILE_DISK\n#endif //LODEPNG_COMPILE_DECODER\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*Same as lodepng_encode_memory, but encodes to an std::vector.*/\nunsigned encode(std::vector& out, const unsigned char* in,\n\t\tunsigned w, unsigned h, LodePNGColorType colortype = LCT_RGBA,\n\t\tunsigned bitdepth = 8);\nunsigned encode(std::vector& out,\n\t\tconst std::vector& in, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8);\n#ifdef LODEPNG_COMPILE_DISK\n/*\n Converts 32-bit RGBA raw pixel data into a PNG file on disk.\n Same as the other encode functions, but instead takes a filename as output.\n NOTE: This overwrites existing files without warning!\n */\nunsigned encode(const std::string& filename, const unsigned char* in,\n\t\tunsigned w, unsigned h, LodePNGColorType colortype = LCT_RGBA,\n\t\tunsigned bitdepth = 8);\nunsigned encode(const std::string& filename,\n\t\tconst std::vector& in, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8);\n#endif //LODEPNG_COMPILE_DISK\n#endif //LODEPNG_COMPILE_ENCODER\n} //namespace lodepng\n#endif /*LODEPNG_COMPILE_CPP*/\n#endif /*LODEPNG_COMPILE_PNG*/\n\n#ifdef LODEPNG_COMPILE_ERROR_TEXT\n/*Returns an English description of the numerical error code.*/\nconst char* lodepng_error_text(unsigned code);\n#endif /*LODEPNG_COMPILE_ERROR_TEXT*/\n\n#ifdef LODEPNG_COMPILE_DECODER\n/*Settings for zlib decompression*/\ntypedef struct LodePNGDecompressSettings LodePNGDecompressSettings;\nstruct LodePNGDecompressSettings {\n\tunsigned ignore_adler32; /*if 1, continue and don't give an error message if the Adler32 checksum is corrupted*/\n\n\t/*use custom zlib decoder instead of built in one (default: null)*/\n\tunsigned (*custom_zlib)(unsigned char**, size_t*, const unsigned char*,\n\t\t\tsize_t, const LodePNGDecompressSettings*);\n\t/*use custom deflate decoder instead of built in one (default: null)\n\t if custom_zlib is used, custom_deflate is ignored since only the built in\n\t zlib function will call custom_deflate*/\n\tunsigned (*custom_inflate)(unsigned char**, size_t*, const unsigned char*,\n\t\t\tsize_t, const LodePNGDecompressSettings*);\n\n\tconst void* custom_context; /*optional custom settings for custom functions*/\n};\n\nextern const LodePNGDecompressSettings lodepng_default_decompress_settings;\nvoid lodepng_decompress_settings_init(LodePNGDecompressSettings* settings);\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*\n Settings for zlib compression. Tweaking these settings tweaks the balance\n between speed and compression ratio.\n */\ntypedef struct LodePNGCompressSettings LodePNGCompressSettings;\nstruct LodePNGCompressSettings /*deflate = compress*/\n{\n\t/*LZ77 related settings*/\n\tunsigned btype; /*the block type for LZ (0, 1, 2 or 3, see zlib standard). Should be 2 for proper compression.*/\n\tunsigned use_lz77; /*whether or not to use LZ77. Should be 1 for proper compression.*/\n\tunsigned windowsize; /*must be a power of two <= 32768. higher compresses more but is slower. Default value: 2048.*/\n\tunsigned minmatch; /*mininum lz77 length. 3 is normally best, 6 can be better for some PNGs. Default: 0*/\n\tunsigned nicematch; /*stop searching if >= this length found. Set to 258 for best compression. Default: 128*/\n\tunsigned lazymatching; /*use lazy matching: better compression but a bit slower. Default: true*/\n\n\t/*use custom zlib encoder instead of built in one (default: null)*/\n\tunsigned (*custom_zlib)(unsigned char**, size_t*, const unsigned char*,\n\t\t\tsize_t, const LodePNGCompressSettings*);\n\t/*use custom deflate encoder instead of built in one (default: null)\n\t if custom_zlib is used, custom_deflate is ignored since only the built in\n\t zlib function will call custom_deflate*/\n\tunsigned (*custom_deflate)(unsigned char**, size_t*, const unsigned char*,\n\t\t\tsize_t, const LodePNGCompressSettings*);\n\n\tconst void* custom_context; /*optional custom settings for custom functions*/\n};\n\nextern const LodePNGCompressSettings lodepng_default_compress_settings;\nvoid lodepng_compress_settings_init(LodePNGCompressSettings* settings);\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#ifdef LODEPNG_COMPILE_PNG\n/*\n Color mode of an image. Contains all information required to decode the pixel\n bits to RGBA colors. This information is the same as used in the PNG file\n format, and is used both for PNG and raw image data in LodePNG.\n */\ntypedef struct LodePNGColorMode {\n\t/*header (IHDR)*/\n\tLodePNGColorType colortype; /*color type, see PNG standard or documentation further in this header file*/\n\tunsigned bitdepth; /*bits per sample, see PNG standard or documentation further in this header file*/\n\n\t/*\n\t palette (PLTE and tRNS)\n\n\t Dynamically allocated with the colors of the palette, including alpha.\n\t When encoding a PNG, to store your colors in the palette of the LodePNGColorMode, first use\n\t lodepng_palette_clear, then for each color use lodepng_palette_add.\n\t If you encode an image without alpha with palette, don't forget to put value 255 in each A byte of the palette.\n\n\t When decoding, by default you can ignore this palette, since LodePNG already\n\t fills the palette colors in the pixels of the raw RGBA output.\n\n\t The palette is only supported for color type 3.\n\t */\n\tunsigned char* palette; /*palette in RGBARGBA... order. When allocated, must be either 0, or have size 1024*/\n\tsize_t palettesize; /*palette size in number of colors (amount of bytes is 4 * palettesize)*/\n\n\t/*\n\t transparent color key (tRNS)\n\n\t This color uses the same bit depth as the bitdepth value in this struct, which can be 1-bit to 16-bit.\n\t For greyscale PNGs, r, g and b will all 3 be set to the same.\n\n\t When decoding, by default you can ignore this information, since LodePNG sets\n\t pixels with this key to transparent already in the raw RGBA output.\n\n\t The color key is only supported for color types 0 and 2.\n\t */\n\tunsigned key_defined; /*is a transparent color key given? 0 = false, 1 = true*/\n\tunsigned key_r; /*red/greyscale component of color key*/\n\tunsigned key_g; /*green component of color key*/\n\tunsigned key_b; /*blue component of color key*/\n} LodePNGColorMode;\n\n/*init, cleanup and copy functions to use with this struct*/\nvoid lodepng_color_mode_init(LodePNGColorMode* info);\nvoid lodepng_color_mode_cleanup(LodePNGColorMode* info);\n/*return value is error code (0 means no error)*/\nunsigned lodepng_color_mode_copy(LodePNGColorMode* dest,\n\t\tconst LodePNGColorMode* source);\n\nvoid lodepng_palette_clear(LodePNGColorMode* info);\n/*add 1 color to the palette*/\nunsigned lodepng_palette_add(LodePNGColorMode* info, unsigned char r,\n\t\tunsigned char g, unsigned char b, unsigned char a);\n\n/*get the total amount of bits per pixel, based on colortype and bitdepth in the struct*/\nunsigned lodepng_get_bpp(const LodePNGColorMode* info);\n/*get the amount of color channels used, based on colortype in the struct.\n If a palette is used, it counts as 1 channel.*/\nunsigned lodepng_get_channels(const LodePNGColorMode* info);\n/*is it a greyscale type? (only colortype 0 or 4)*/\nunsigned lodepng_is_greyscale_type(const LodePNGColorMode* info);\n/*has it got an alpha channel? (only colortype 2 or 6)*/\nunsigned lodepng_is_alpha_type(const LodePNGColorMode* info);\n/*has it got a palette? (only colortype 3)*/\nunsigned lodepng_is_palette_type(const LodePNGColorMode* info);\n/*only returns true if there is a palette and there is a value in the palette with alpha < 255.\n Loops through the palette to check this.*/\nunsigned lodepng_has_palette_alpha(const LodePNGColorMode* info);\n/*\n Check if the given color info indicates the possibility of having non-opaque pixels in the PNG image.\n Returns true if the image can have translucent or invisible pixels (it still be opaque if it doesn't use such pixels).\n Returns false if the image can only have opaque pixels.\n In detail, it returns true only if it's a color type with alpha, or has a palette with non-opaque values,\n or if \"key_defined\" is true.\n */\nunsigned lodepng_can_have_alpha(const LodePNGColorMode* info);\n/*Returns the byte size of a raw image buffer with given width, height and color mode*/\nsize_t lodepng_get_raw_size(unsigned w, unsigned h,\n\t\tconst LodePNGColorMode* color);\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n/*The information of a Time chunk in PNG.*/\ntypedef struct LodePNGTime {\n\tunsigned year; /*2 bytes used (0-65535)*/\n\tunsigned month; /*1-12*/\n\tunsigned day; /*1-31*/\n\tunsigned hour; /*0-23*/\n\tunsigned minute; /*0-59*/\n\tunsigned second; /*0-60 (to allow for leap seconds)*/\n} LodePNGTime;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\n/*Information about the PNG image, except pixels, width and height.*/\ntypedef struct LodePNGInfo {\n\t/*header (IHDR), palette (PLTE) and transparency (tRNS) chunks*/\n\tunsigned compression_method;/*compression method of the original file. Always 0.*/\n\tunsigned filter_method; /*filter method of the original file*/\n\tunsigned interlace_method; /*interlace method of the original file*/\n\tLodePNGColorMode color; /*color type and bits, palette and transparency of the PNG file*/\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t/*\n\t suggested background color chunk (bKGD)\n\t This color uses the same color mode as the PNG (except alpha channel), which can be 1-bit to 16-bit.\n\n\t For greyscale PNGs, r, g and b will all 3 be set to the same. When encoding\n\t the encoder writes the red one. For palette PNGs: When decoding, the RGB value\n\t will be stored, not a palette index. But when encoding, specify the index of\n\t the palette in background_r, the other two are then ignored.\n\n\t The decoder does not use this background color to edit the color of pixels.\n\t */\n\tunsigned background_defined; /*is a suggested background color given?*/\n\tunsigned background_r; /*red component of suggested background color*/\n\tunsigned background_g; /*green component of suggested background color*/\n\tunsigned background_b; /*blue component of suggested background color*/\n\n\t/*\n\t non-international text chunks (tEXt and zTXt)\n\n\t The char** arrays each contain num strings. The actual messages are in\n\t text_strings, while text_keys are keywords that give a short description what\n\t the actual text represents, e.g. Title, Author, Description, or anything else.\n\n\t A keyword is minimum 1 character and maximum 79 characters long. It's\n\t discouraged to use a single line length longer than 79 characters for texts.\n\n\t Don't allocate these text buffers yourself. Use the init/cleanup functions\n\t correctly and use lodepng_add_text and lodepng_clear_text.\n\t */\n\tsize_t text_num; /*the amount of texts in these char** buffers (there may be more texts in itext)*/\n\tchar** text_keys; /*the keyword of a text chunk (e.g. \"Comment\")*/\n\tchar** text_strings; /*the actual text*/\n\n\t/*\n\t international text chunks (iTXt)\n\t Similar to the non-international text chunks, but with additional strings\n\t \"langtags\" and \"transkeys\".\n\t */\n\tsize_t itext_num; /*the amount of international texts in this PNG*/\n\tchar** itext_keys; /*the English keyword of the text chunk (e.g. \"Comment\")*/\n\tchar** itext_langtags; /*language tag for this text's language, ISO/IEC 646 string, e.g. ISO 639 language tag*/\n\tchar** itext_transkeys; /*keyword translated to the international language - UTF-8 string*/\n\tchar** itext_strings; /*the actual international text - UTF-8 string*/\n\n\t/*time chunk (tIME)*/\n\tunsigned time_defined; /*set to 1 to make the encoder generate a tIME chunk*/\n\tLodePNGTime time;\n\n\t/*phys chunk (pHYs)*/\n\tunsigned phys_defined; /*if 0, there is no pHYs chunk and the values below are undefined, if 1 else there is one*/\n\tunsigned phys_x; /*pixels per unit in x direction*/\n\tunsigned phys_y; /*pixels per unit in y direction*/\n\tunsigned phys_unit; /*may be 0 (unknown unit) or 1 (metre)*/\n\n\t/*\n\t unknown chunks\n\t There are 3 buffers, one for each position in the PNG where unknown chunks can appear\n\t each buffer contains all unknown chunks for that position consecutively\n\t The 3 buffers are the unknown chunks between certain critical chunks:\n\t 0: IHDR-PLTE, 1: PLTE-IDAT, 2: IDAT-IEND\n\t Do not allocate or traverse this data yourself. Use the chunk traversing functions declared\n\t later, such as lodepng_chunk_next and lodepng_chunk_append, to read/write this struct.\n\t */\n\tunsigned char* unknown_chunks_data[3];\n\tsize_t unknown_chunks_size[3]; /*size in bytes of the unknown chunks, given for protection*/\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n} LodePNGInfo;\n\n/*init, cleanup and copy functions to use with this struct*/\nvoid lodepng_info_init(LodePNGInfo* info);\nvoid lodepng_info_cleanup(LodePNGInfo* info);\n/*return value is error code (0 means no error)*/\nunsigned lodepng_info_copy(LodePNGInfo* dest, const LodePNGInfo* source);\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\nvoid lodepng_clear_text(LodePNGInfo* info); /*use this to clear the texts again after you filled them in*/\nunsigned lodepng_add_text(LodePNGInfo* info, const char* key, const char* str); /*push back both texts at once*/\n\nvoid lodepng_clear_itext(LodePNGInfo* info); /*use this to clear the itexts again after you filled them in*/\nunsigned lodepng_add_itext(LodePNGInfo* info, const char* key,\n\t\tconst char* langtag, const char* transkey, const char* str); /*push back the 4 texts of 1 chunk at once*/\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\n/*\n Converts raw buffer from one color type to another color type, based on\n LodePNGColorMode structs to describe the input and output color type.\n See the reference manual at the end of this header file to see which color conversions are supported.\n return value = LodePNG error code (0 if all went ok, an error if the conversion isn't supported)\n The out buffer must have size (w * h * bpp + 7) / 8, where bpp is the bits per pixel\n of the output color type (lodepng_get_bpp)\n The fix_png value works as described in struct LodePNGDecoderSettings.\n Note: for 16-bit per channel colors, uses big endian format like PNG does.\n */\nunsigned lodepng_convert(unsigned char* out, const unsigned char* in,\n\t\tLodePNGColorMode* mode_out, const LodePNGColorMode* mode_in, unsigned w,\n\t\tunsigned h, unsigned fix_png);\n\n#ifdef LODEPNG_COMPILE_DECODER\n/*\n Settings for the decoder. This contains settings for the PNG and the Zlib\n decoder, but not the Info settings from the Info structs.\n */\ntypedef struct LodePNGDecoderSettings {\n\tLodePNGDecompressSettings zlibsettings; /*in here is the setting to ignore Adler32 checksums*/\n\n\tunsigned ignore_crc; /*ignore CRC checksums*/\n\t/*\n\t The fix_png setting, if 1, makes the decoder tolerant towards some PNG images\n\t that do not correctly follow the PNG specification. This only supports errors\n\t that are fixable, were found in images that are actually used on the web, and\n\t are silently tolerated by other decoders as well. Currently only one such fix\n\t is implemented: if a palette index is out of bounds given the palette size,\n\t interpret it as opaque black.\n\t By default this value is 0, which makes it stop with an error on such images.\n\t */\n\tunsigned fix_png;\n\tunsigned color_convert; /*whether to convert the PNG to the color type you want. Default: yes*/\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tunsigned read_text_chunks; /*if false but remember_unknown_chunks is true, they're stored in the unknown chunks*/\n\t/*store all bytes from unknown chunks in the LodePNGInfo (off by default, useful for a png editor)*/\n\tunsigned remember_unknown_chunks;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n} LodePNGDecoderSettings;\n\nvoid lodepng_decoder_settings_init(LodePNGDecoderSettings* settings);\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*automatically use color type with less bits per pixel if losslessly possible. Default: AUTO*/\ntypedef enum LodePNGFilterStrategy {\n\t/*every filter at zero*/\n\tLFS_ZERO,\n\t/*Use filter that gives minumum sum, as described in the official PNG filter heuristic.*/\n\tLFS_MINSUM,\n\t/*Use the filter type that gives smallest Shannon entropy for this scanline. Depending\n\t on the image, this is better or worse than minsum.*/\n\tLFS_ENTROPY,\n\t/*\n\t Brute-force-search PNG filters by compressing each filter for each scanline.\n\t Experimental, very slow, and only rarely gives better compression than MINSUM.\n\t */\n\tLFS_BRUTE_FORCE,\n\t/*use predefined_filters buffer: you specify the filter type for each scanline*/\n\tLFS_PREDEFINED\n} LodePNGFilterStrategy;\n\n/*automatically use color type with less bits per pixel if losslessly possible. Default: LAC_AUTO*/\ntypedef enum LodePNGAutoConvert {\n\tLAC_NO, /*use color type user requested*/\n\tLAC_ALPHA, /*use color type user requested, but if only opaque pixels and RGBA or grey+alpha, use RGB or grey*/\n\tLAC_AUTO, /*use PNG color type that can losslessly represent the uncompressed image the smallest possible*/\n\t/*\n\t like AUTO, but do not choose 1, 2 or 4 bit per pixel types.\n\t sometimes a PNG image compresses worse if less than 8 bits per pixels.\n\t */\n\tLAC_AUTO_NO_NIBBLES,\n\t/*\n\t like AUTO, but never choose palette color type. For small images, encoding\n\t the palette may take more bytes than what is gained. Note that AUTO also\n\t already prevents encoding the palette for extremely small images, but that may\n\t not be sufficient because due to the compression it cannot predict when to\n\t switch.\n\t */\n\tLAC_AUTO_NO_PALETTE, LAC_AUTO_NO_NIBBLES_NO_PALETTE\n} LodePNGAutoConvert;\n\n/*\n Automatically chooses color type that gives smallest amount of bits in the\n output image, e.g. grey if there are only greyscale pixels, palette if there\n are less than 256 colors, ...\n The auto_convert parameter allows limiting it to not use palette, ...\n */\nunsigned lodepng_auto_choose_color(LodePNGColorMode* mode_out,\n\t\tconst unsigned char* image, unsigned w, unsigned h,\n\t\tconst LodePNGColorMode* mode_in, LodePNGAutoConvert auto_convert);\n\n/*Settings for the encoder.*/\ntypedef struct LodePNGEncoderSettings {\n\tLodePNGCompressSettings zlibsettings; /*settings for the zlib encoder, such as window size, ...*/\n\n\tLodePNGAutoConvert auto_convert; /*how to automatically choose output PNG color type, if at all*/\n\n\t/*If true, follows the official PNG heuristic: if the PNG uses a palette or lower than\n\t 8 bit depth, set all filters to zero. Otherwise use the filter_strategy. Note that to\n\t completely follow the official PNG heuristic, filter_palette_zero must be true and\n\t filter_strategy must be LFS_MINSUM*/\n\tunsigned filter_palette_zero;\n\t/*Which filter strategy to use when not using zeroes due to filter_palette_zero.\n\t Set filter_palette_zero to 0 to ensure always using your chosen strategy. Default: LFS_MINSUM*/\n\tLodePNGFilterStrategy filter_strategy;\n\t/*used if filter_strategy is LFS_PREDEFINED. In that case, this must point to a buffer with\n\t the same length as the amount of scanlines in the image, and each value must <= 5. You\n\t have to cleanup this buffer, LodePNG will never free it. Don't forget that filter_palette_zero\n\t must be set to 0 to ensure this is also used on palette or low bitdepth images.*/\n\tconst unsigned char* predefined_filters;\n\n\t/*force creating a PLTE chunk if colortype is 2 or 6 (= a suggested palette).\n\t If colortype is 3, PLTE is _always_ created.*/\n\tunsigned force_palette;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t/*add LodePNG identifier and version as a text chunk, for debugging*/\n\tunsigned add_id;\n\t/*encode text chunks as zTXt chunks instead of tEXt chunks, and use compression in iTXt chunks*/\n\tunsigned text_compression;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n} LodePNGEncoderSettings;\n\nvoid lodepng_encoder_settings_init(LodePNGEncoderSettings* settings);\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#if defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER)\n/*The settings, state and information for extended encoding and decoding.*/\ntypedef struct LodePNGState {\n#ifdef LODEPNG_COMPILE_DECODER\n\tLodePNGDecoderSettings decoder; /*the decoding settings*/\n#endif /*LODEPNG_COMPILE_DECODER*/\n#ifdef LODEPNG_COMPILE_ENCODER\n\tLodePNGEncoderSettings encoder; /*the encoding settings*/\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\tLodePNGColorMode info_raw; /*specifies the format in which you would like to get the raw pixel buffer*/\n\tLodePNGInfo info_png; /*info of the PNG image obtained after decoding*/\n\tunsigned error;\n#ifdef LODEPNG_COMPILE_CPP\n\t//For the lodepng::State subclass.\n\tvirtual ~LodePNGState() {\n\t}\n#endif\n} LodePNGState;\n\n/*init, cleanup and copy functions to use with this struct*/\nvoid lodepng_state_init(LodePNGState* state);\nvoid lodepng_state_cleanup(LodePNGState* state);\nvoid lodepng_state_copy(LodePNGState* dest, const LodePNGState* source);\n#endif /* defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER) */\n\n#ifdef LODEPNG_COMPILE_DECODER\n/*\n Same as lodepng_decode_memory, but uses a LodePNGState to allow custom settings and\n getting much more information about the PNG image and color mode.\n */\nunsigned lodepng_decode(unsigned char** out, unsigned* w, unsigned* h,\n\t\tLodePNGState* state, const unsigned char* in, size_t insize);\n\n/*\n Read the PNG header, but not the actual data. This returns only the information\n that is in the header chunk of the PNG, such as width, height and color type. The\n information is placed in the info_png field of the LodePNGState.\n */\nunsigned lodepng_inspect(unsigned* w, unsigned* h, LodePNGState* state,\n\t\tconst unsigned char* in, size_t insize);\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*This function allocates the out buffer with standard malloc and stores the size in *outsize.*/\nunsigned lodepng_encode(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h,\n\t\tLodePNGState* state);\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n/*\n The lodepng_chunk functions are normally not needed, except to traverse the\n unknown chunks stored in the LodePNGInfo struct, or add new ones to it.\n It also allows traversing the chunks of an encoded PNG file yourself.\n\n PNG standard chunk naming conventions:\n First byte: uppercase = critical, lowercase = ancillary\n Second byte: uppercase = public, lowercase = private\n Third byte: must be uppercase\n Fourth byte: uppercase = unsafe to copy, lowercase = safe to copy\n */\n\n/*get the length of the data of the chunk. Total chunk length has 12 bytes more.*/\nunsigned lodepng_chunk_length(const unsigned char* chunk);\n\n/*puts the 4-byte type in null terminated string*/\nvoid lodepng_chunk_type(char type[5], const unsigned char* chunk);\n\n/*check if the type is the given type*/\nunsigned char lodepng_chunk_type_equals(const unsigned char* chunk,\n\t\tconst char* type);\n\n/*0: it's one of the critical chunk types, 1: it's an ancillary chunk (see PNG standard)*/\nunsigned char lodepng_chunk_ancillary(const unsigned char* chunk);\n\n/*0: public, 1: private (see PNG standard)*/\nunsigned char lodepng_chunk_private(const unsigned char* chunk);\n\n/*0: the chunk is unsafe to copy, 1: the chunk is safe to copy (see PNG standard)*/\nunsigned char lodepng_chunk_safetocopy(const unsigned char* chunk);\n\n/*get pointer to the data of the chunk, where the input points to the header of the chunk*/\nunsigned char* lodepng_chunk_data(unsigned char* chunk);\nconst unsigned char* lodepng_chunk_data_const(const unsigned char* chunk);\n\n/*returns 0 if the crc is correct, 1 if it's incorrect (0 for OK as usual!)*/\nunsigned lodepng_chunk_check_crc(const unsigned char* chunk);\n\n/*generates the correct CRC from the data and puts it in the last 4 bytes of the chunk*/\nvoid lodepng_chunk_generate_crc(unsigned char* chunk);\n\n/*iterate to next chunks. don't use on IEND chunk, as there is no next chunk then*/\nunsigned char* lodepng_chunk_next(unsigned char* chunk);\nconst unsigned char* lodepng_chunk_next_const(const unsigned char* chunk);\n\n/*\n Appends chunk to the data in out. The given chunk should already have its chunk header.\n The out variable and outlength are updated to reflect the new reallocated buffer.\n Returns error code (0 if it went ok)\n */\nunsigned lodepng_chunk_append(unsigned char** out, size_t* outlength,\n\t\tconst unsigned char* chunk);\n\n/*\n Appends new chunk to out. The chunk to append is given by giving its length, type\n and data separately. The type is a 4-letter string.\n The out variable and outlength are updated to reflect the new reallocated buffer.\n Returne error code (0 if it went ok)\n */\nunsigned lodepng_chunk_create(unsigned char** out, size_t* outlength,\n\t\tunsigned length, const char* type, const unsigned char* data);\n\n/*Calculate CRC32 of buffer*/\nunsigned lodepng_crc32(const unsigned char* buf, size_t len);\n#endif /*LODEPNG_COMPILE_PNG*/\n\n#ifdef LODEPNG_COMPILE_ZLIB\n/*\n This zlib part can be used independently to zlib compress and decompress a\n buffer. It cannot be used to create gzip files however, and it only supports the\n part of zlib that is required for PNG, it does not support dictionaries.\n */\n\n#ifdef LODEPNG_COMPILE_DECODER\n/*Inflate a buffer. Inflate is the decompression step of deflate. Out buffer must be freed after use.*/\nunsigned lodepng_inflate(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGDecompressSettings* settings);\n\n/*\n Decompresses Zlib data. Reallocates the out buffer and appends the data. The\n data must be according to the zlib specification.\n Either, *out must be NULL and *outsize must be 0, or, *out must be a valid\n buffer and *outsize its size in bytes. out must be freed by user after usage.\n */\nunsigned lodepng_zlib_decompress(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGDecompressSettings* settings);\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*\n Compresses data with Zlib. Reallocates the out buffer and appends the data.\n Zlib adds a small header and trailer around the deflate data.\n The data is output in the format of the zlib specification.\n Either, *out must be NULL and *outsize must be 0, or, *out must be a valid\n buffer and *outsize its size in bytes. out must be freed by user after usage.\n */\nunsigned lodepng_zlib_compress(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGCompressSettings* settings);\n\n/*\n Find length-limited Huffman code for given frequencies. This function is in the\n public interface only for tests, it's used internally by lodepng_deflate.\n */\nunsigned lodepng_huffman_code_lengths(unsigned* lengths,\n\t\tconst unsigned* frequencies, size_t numcodes, unsigned maxbitlen);\n\n/*Compress a buffer with deflate. See RFC 1951. Out buffer must be freed after use.*/\nunsigned lodepng_deflate(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGCompressSettings* settings);\n\n#endif /*LODEPNG_COMPILE_ENCODER*/\n#endif /*LODEPNG_COMPILE_ZLIB*/\n\n#ifdef LODEPNG_COMPILE_DISK\n/*\n Load a file from disk into buffer. The function allocates the out buffer, and\n after usage you should free it.\n out: output parameter, contains pointer to loaded buffer.\n outsize: output parameter, size of the allocated out buffer\n filename: the path to the file to load\n return value: error code (0 means ok)\n */\nunsigned lodepng_load_file(unsigned char** out, size_t* outsize,\n\t\tconst char* filename);\n\n/*\n Save a file from buffer to disk. Warning, if it exists, this function overwrites\n the file without warning!\n buffer: the buffer to write\n buffersize: size of the buffer to write\n filename: the path to the file to save to\n return value: error code (0 means ok)\n */\nunsigned lodepng_save_file(const unsigned char* buffer, size_t buffersize,\n\t\tconst char* filename);\n#endif /*LODEPNG_COMPILE_DISK*/\n\n#ifdef LODEPNG_COMPILE_CPP\n//The LodePNG C++ wrapper uses std::vectors instead of manually allocated memory buffers.\nnamespace lodepng {\n#ifdef LODEPNG_COMPILE_PNG\nclass State: public LodePNGState {\npublic:\n\tState();\n\tState(const State& other);\n\tvirtual ~State();\n\tState& operator=(const State& other);\n};\n\n#ifdef LODEPNG_COMPILE_DECODER\n//Same as other lodepng::decode, but using a State for more settings and information.\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tState& state, const unsigned char* in, size_t insize);\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tState& state, const std::vector& in);\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n//Same as other lodepng::encode, but using a State for more settings and information.\nunsigned encode(std::vector& out, const unsigned char* in,\n\t\tunsigned w, unsigned h, State& state);\nunsigned encode(std::vector& out,\n\t\tconst std::vector& in, unsigned w, unsigned h,\n\t\tState& state);\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#ifdef LODEPNG_COMPILE_DISK\n/*\n Load a file from disk into an std::vector. If the vector is empty, then either\n the file doesn't exist or is an empty file.\n */\nvoid load_file(std::vector& buffer, const std::string& filename);\n\n/*\n Save the binary data in an std::vector to a file on disk. The file is overwritten\n without warning.\n */\nvoid save_file(const std::vector& buffer,\n\t\tconst std::string& filename);\n#endif //LODEPNG_COMPILE_DISK\n#endif //LODEPNG_COMPILE_PNG\n\n#ifdef LODEPNG_COMPILE_ZLIB\n#ifdef LODEPNG_COMPILE_DECODER\n//Zlib-decompress an unsigned char buffer\nunsigned decompress(std::vector& out, const unsigned char* in,\n\t\tsize_t insize, const LodePNGDecompressSettings& settings =\n\t\t\t\tlodepng_default_decompress_settings);\n\n//Zlib-decompress an std::vector\nunsigned decompress(std::vector& out,\n\t\tconst std::vector& in,\n\t\tconst LodePNGDecompressSettings& settings =\n\t\t\t\tlodepng_default_decompress_settings);\n#endif //LODEPNG_COMPILE_DECODER\n\n#ifdef LODEPNG_COMPILE_ENCODER\n//Zlib-compress an unsigned char buffer\nunsigned compress(std::vector& out, const unsigned char* in,\n\t\tsize_t insize, const LodePNGCompressSettings& settings =\n\t\t\t\tlodepng_default_compress_settings);\n\n//Zlib-compress an std::vector\nunsigned compress(std::vector& out,\n\t\tconst std::vector& in,\n\t\tconst LodePNGCompressSettings& settings =\n\t\t\t\tlodepng_default_compress_settings);\n#endif //LODEPNG_COMPILE_ENCODER\n#endif //LODEPNG_COMPILE_ZLIB\n} //namespace lodepng\n#endif /*LODEPNG_COMPILE_CPP*/\n\n/*\n TODO:\n [.] test if there are no memory leaks or security exploits - done a lot but needs to be checked often\n [.] check compatibility with vareous compilers - done but needs to be redone for every newer version\n [X] converting color to 16-bit per channel types\n [ ] read all public PNG chunk types (but never let the color profile and gamma ones touch RGB values)\n [ ] make sure encoder generates no chunks with size > (2^31)-1\n [ ] partial decoding (stream processing)\n [X] let the \"isFullyOpaque\" function check color keys and transparent palettes too\n [X] better name for the variables \"codes\", \"codesD\", \"codelengthcodes\", \"clcl\" and \"lldl\"\n [ ] don't stop decoding on errors like 69, 57, 58 (make warnings)\n [ ] make option to choose if the raw image with non multiple of 8 bits per scanline should have padding bits or not\n [ ] let the C++ wrapper catch exceptions coming from the standard library and return LodePNG error codes\n */\n\n#endif /*LODEPNG_H inclusion guard*/\n\n/*\n LodePNG Documentation\n ---------------------\n\n 0. table of contents\n --------------------\n\n 1. about\n 1.1. supported features\n 1.2. features not supported\n 2. C and C++ version\n 3. security\n 4. decoding\n 5. encoding\n 6. color conversions\n 6.1. PNG color types\n 6.2. color conversions\n 6.3. padding bits\n 6.4. A note about 16-bits per channel and endianness\n 7. error values\n 8. chunks and PNG editing\n 9. compiler support\n 10. examples\n 10.1. decoder C++ example\n 10.2. decoder C example\n 11. changes\n 12. contact information\n\n\n 1. about\n --------\n\n PNG is a file format to store raster images losslessly with good compression,\n supporting different color types and alpha channel.\n\n LodePNG is a PNG codec according to the Portable Network Graphics (PNG)\n Specification (Second Edition) - W3C Recommendation 10 November 2003.\n\n The specifications used are:\n\n *) Portable Network Graphics (PNG) Specification (Second Edition):\n http://www.w3.org/TR/2003/REC-PNG-20031110\n *) RFC 1950 ZLIB Compressed Data Format version 3.3:\n http://www.gzip.org/zlib/rfc-zlib.html\n *) RFC 1951 DEFLATE Compressed Data Format Specification ver 1.3:\n http://www.gzip.org/zlib/rfc-deflate.html\n\n The most recent version of LodePNG can currently be found at\n http://lodev.org/lodepng/\n\n LodePNG works both in C (ISO C90) and C++, with a C++ wrapper that adds\n extra functionality.\n\n LodePNG exists out of two files:\n -lodepng.h: the header file for both C and C++\n -lodepng.c(pp): give it the name lodepng.c or lodepng.cpp (or .cc) depending on your usage\n\n If you want to start using LodePNG right away without reading this doc, get the\n examples from the LodePNG website to see how to use it in code, or check the\n smaller examples in chapter 13 here.\n\n LodePNG is simple but only supports the basic requirements. To achieve\n simplicity, the following design choices were made: There are no dependencies\n on any external library. There are functions to decode and encode a PNG with\n a single function call, and extended versions of these functions taking a\n LodePNGState struct allowing to specify or get more information. By default\n the colors of the raw image are always RGB or RGBA, no matter what color type\n the PNG file uses. To read and write files, there are simple functions to\n convert the files to/from buffers in memory.\n\n This all makes LodePNG suitable for loading textures in games, demos and small\n programs, ... It's less suitable for full fledged image editors, loading PNGs\n over network (it requires all the image data to be available before decoding can\n begin), life-critical systems, ...\n\n 1.1. supported features\n -----------------------\n\n The following features are supported by the decoder:\n\n *) decoding of PNGs with any color type, bit depth and interlace mode, to a 24- or 32-bit color raw image,\n or the same color type as the PNG\n *) encoding of PNGs, from any raw image to 24- or 32-bit color, or the same color type as the raw image\n *) Adam7 interlace and deinterlace for any color type\n *) loading the image from harddisk or decoding it from a buffer from other sources than harddisk\n *) support for alpha channels, including RGBA color model, translucent palettes and color keying\n *) zlib decompression (inflate)\n *) zlib compression (deflate)\n *) CRC32 and ADLER32 checksums\n *) handling of unknown chunks, allowing making a PNG editor that stores custom and unknown chunks.\n *) the following chunks are supported (generated/interpreted) by both encoder and decoder:\n IHDR: header information\n PLTE: color palette\n IDAT: pixel data\n IEND: the final chunk\n tRNS: transparency for palettized images\n tEXt: textual information\n zTXt: compressed textual information\n iTXt: international textual information\n bKGD: suggested background color\n pHYs: physical dimensions\n tIME: modification time\n\n 1.2. features not supported\n ---------------------------\n\n The following features are _not_ supported:\n\n *) some features needed to make a conformant PNG-Editor might be still missing.\n *) partial loading/stream processing. All data must be available and is processed in one call.\n *) The following public chunks are not supported but treated as unknown chunks by LodePNG\n cHRM, gAMA, iCCP, sRGB, sBIT, hIST, sPLT\n Some of these are not supported on purpose: LodePNG wants to provide the RGB values\n stored in the pixels, not values modified by system dependent gamma or color models.\n\n\n 2. C and C++ version\n --------------------\n\n The C version uses buffers allocated with alloc that you need to free()\n yourself. You need to use init and cleanup functions for each struct whenever\n using a struct from the C version to avoid exploits and memory leaks.\n\n The C++ version has extra functions with std::vectors in the interface and the\n lodepng::State class which is a LodePNGState with constructor and destructor.\n\n These files work without modification for both C and C++ compilers because all\n the additional C++ code is in \"#ifdef __cplusplus\" blocks that make C-compilers\n ignore it, and the C code is made to compile both with strict ISO C90 and C++.\n\n To use the C++ version, you need to rename the source file to lodepng.cpp\n (instead of lodepng.c), and compile it with a C++ compiler.\n\n To use the C version, you need to rename the source file to lodepng.c (instead\n of lodepng.cpp), and compile it with a C compiler.\n\n\n 3. Security\n -----------\n\n Even if carefully designed, it's always possible that LodePNG contains possible\n exploits. If you discover one, please let me know, and it will be fixed.\n\n When using LodePNG, care has to be taken with the C version of LodePNG, as well\n as the C-style structs when working with C++. The following conventions are used\n for all C-style structs:\n\n -if a struct has a corresponding init function, always call the init function when making a new one\n -if a struct has a corresponding cleanup function, call it before the struct disappears to avoid memory leaks\n -if a struct has a corresponding copy function, use the copy function instead of \"=\".\n The destination must also be inited already.\n\n\n 4. Decoding\n -----------\n\n Decoding converts a PNG compressed image to a raw pixel buffer.\n\n Most documentation on using the decoder is at its declarations in the header\n above. For C, simple decoding can be done with functions such as\n lodepng_decode32, and more advanced decoding can be done with the struct\n LodePNGState and lodepng_decode. For C++, all decoding can be done with the\n various lodepng::decode functions, and lodepng::State can be used for advanced\n features.\n\n When using the LodePNGState, it uses the following fields for decoding:\n *) LodePNGInfo info_png: it stores extra information about the PNG (the input) in here\n *) LodePNGColorMode info_raw: here you can say what color mode of the raw image (the output) you want to get\n *) LodePNGDecoderSettings decoder: you can specify a few extra settings for the decoder to use\n\n LodePNGInfo info_png\n --------------------\n\n After decoding, this contains extra information of the PNG image, except the actual\n pixels, width and height because these are already gotten directly from the decoder\n functions.\n\n It contains for example the original color type of the PNG image, text comments,\n suggested background color, etc... More details about the LodePNGInfo struct are\n at its declaration documentation.\n\n LodePNGColorMode info_raw\n -------------------------\n\n When decoding, here you can specify which color type you want\n the resulting raw image to be. If this is different from the colortype of the\n PNG, then the decoder will automatically convert the result. This conversion\n always works, except if you want it to convert a color PNG to greyscale or to\n a palette with missing colors.\n\n By default, 32-bit color is used for the result.\n\n LodePNGDecoderSettings decoder\n ------------------------------\n\n The settings can be used to ignore the errors created by invalid CRC and Adler32\n chunks, and to disable the decoding of tEXt chunks.\n\n There's also a setting color_convert, true by default. If false, no conversion\n is done, the resulting data will be as it was in the PNG (after decompression)\n and you'll have to puzzle the colors of the pixels together yourself using the\n color type information in the LodePNGInfo.\n\n\n 5. Encoding\n -----------\n\n Encoding converts a raw pixel buffer to a PNG compressed image.\n\n Most documentation on using the encoder is at its declarations in the header\n above. For C, simple encoding can be done with functions such as\n lodepng_encode32, and more advanced decoding can be done with the struct\n LodePNGState and lodepng_encode. For C++, all encoding can be done with the\n various lodepng::encode functions, and lodepng::State can be used for advanced\n features.\n\n Like the decoder, the encoder can also give errors. However it gives less errors\n since the encoder input is trusted, the decoder input (a PNG image that could\n be forged by anyone) is not trusted.\n\n When using the LodePNGState, it uses the following fields for encoding:\n *) LodePNGInfo info_png: here you specify how you want the PNG (the output) to be.\n *) LodePNGColorMode info_raw: here you say what color type of the raw image (the input) has\n *) LodePNGEncoderSettings encoder: you can specify a few settings for the encoder to use\n\n LodePNGInfo info_png\n --------------------\n\n When encoding, you use this the opposite way as when decoding: for encoding,\n you fill in the values you want the PNG to have before encoding. By default it's\n not needed to specify a color type for the PNG since it's automatically chosen,\n but it's possible to choose it yourself given the right settings.\n\n The encoder will not always exactly match the LodePNGInfo struct you give,\n it tries as close as possible. Some things are ignored by the encoder. The\n encoder uses, for example, the following settings from it when applicable:\n colortype and bitdepth, text chunks, time chunk, the color key, the palette, the\n background color, the interlace method, unknown chunks, ...\n\n When encoding to a PNG with colortype 3, the encoder will generate a PLTE chunk.\n If the palette contains any colors for which the alpha channel is not 255 (so\n there are translucent colors in the palette), it'll add a tRNS chunk.\n\n LodePNGColorMode info_raw\n -------------------------\n\n You specify the color type of the raw image that you give to the input here,\n including a possible transparent color key and palette you happen to be using in\n your raw image data.\n\n By default, 32-bit color is assumed, meaning your input has to be in RGBA\n format with 4 bytes (unsigned chars) per pixel.\n\n LodePNGEncoderSettings encoder\n ------------------------------\n\n The following settings are supported (some are in sub-structs):\n *) auto_convert: when this option is enabled, the encoder will\n automatically choose the smallest possible color mode (including color key) that\n can encode the colors of all pixels without information loss.\n *) btype: the block type for LZ77. 0 = uncompressed, 1 = fixed huffman tree,\n 2 = dynamic huffman tree (best compression). Should be 2 for proper\n compression.\n *) use_lz77: whether or not to use LZ77 for compressed block types. Should be\n true for proper compression.\n *) windowsize: the window size used by the LZ77 encoder (1 - 32768). Has value\n 2048 by default, but can be set to 32768 for better, but slow, compression.\n *) force_palette: if colortype is 2 or 6, you can make the encoder write a PLTE\n chunk if force_palette is true. This can used as suggested palette to convert\n to by viewers that don't support more than 256 colors (if those still exist)\n *) add_id: add text chunk \"Encoder: LodePNG \" to the image.\n *) text_compression: default 1. If 1, it'll store texts as zTXt instead of tEXt chunks.\n zTXt chunks use zlib compression on the text. This gives a smaller result on\n large texts but a larger result on small texts (such as a single program name).\n It's all tEXt or all zTXt though, there's no separate setting per text yet.\n\n\n 6. color conversions\n --------------------\n\n An important thing to note about LodePNG, is that the color type of the PNG, and\n the color type of the raw image, are completely independent. By default, when\n you decode a PNG, you get the result as a raw image in the color type you want,\n no matter whether the PNG was encoded with a palette, greyscale or RGBA color.\n And if you encode an image, by default LodePNG will automatically choose the PNG\n color type that gives good compression based on the values of colors and amount\n of colors in the image. It can be configured to let you control it instead as\n well, though.\n\n To be able to do this, LodePNG does conversions from one color mode to another.\n It can convert from almost any color type to any other color type, except the\n following conversions: RGB to greyscale is not supported, and converting to a\n palette when the palette doesn't have a required color is not supported. This is\n not supported on purpose: this is information loss which requires a color\n reduction algorithm that is beyong the scope of a PNG encoder (yes, RGB to grey\n is easy, but there are multiple ways if you want to give some channels more\n weight).\n\n By default, when decoding, you get the raw image in 32-bit RGBA or 24-bit RGB\n color, no matter what color type the PNG has. And by default when encoding,\n LodePNG automatically picks the best color model for the output PNG, and expects\n the input image to be 32-bit RGBA or 24-bit RGB. So, unless you want to control\n the color format of the images yourself, you can skip this chapter.\n\n 6.1. PNG color types\n --------------------\n\n A PNG image can have many color types, ranging from 1-bit color to 64-bit color,\n as well as palettized color modes. After the zlib decompression and unfiltering\n in the PNG image is done, the raw pixel data will have that color type and thus\n a certain amount of bits per pixel. If you want the output raw image after\n decoding to have another color type, a conversion is done by LodePNG.\n\n The PNG specification gives the following color types:\n\n 0: greyscale, bit depths 1, 2, 4, 8, 16\n 2: RGB, bit depths 8 and 16\n 3: palette, bit depths 1, 2, 4 and 8\n 4: greyscale with alpha, bit depths 8 and 16\n 6: RGBA, bit depths 8 and 16\n\n Bit depth is the amount of bits per pixel per color channel. So the total amount\n of bits per pixel is: amount of channels * bitdepth.\n\n 6.2. color conversions\n ----------------------\n\n As explained in the sections about the encoder and decoder, you can specify\n color types and bit depths in info_png and info_raw to change the default\n behaviour.\n\n If, when decoding, you want the raw image to be something else than the default,\n you need to set the color type and bit depth you want in the LodePNGColorMode,\n or the parameters of the simple function of LodePNG you're using.\n\n If, when encoding, you use another color type than the default in the input\n image, you need to specify its color type and bit depth in the LodePNGColorMode\n of the raw image, or use the parameters of the simplefunction of LodePNG you're\n using.\n\n If, when encoding, you don't want LodePNG to choose the output PNG color type\n but control it yourself, you need to set auto_convert in the encoder settings\n to LAC_NONE, and specify the color type you want in the LodePNGInfo of the\n encoder.\n\n If you do any of the above, LodePNG may need to do a color conversion, which\n follows the rules below, and may sometimes not be allowed.\n\n To avoid some confusion:\n -the decoder converts from PNG to raw image\n -the encoder converts from raw image to PNG\n -the colortype and bitdepth in LodePNGColorMode info_raw, are those of the raw image\n -the colortype and bitdepth in the color field of LodePNGInfo info_png, are those of the PNG\n -when encoding, the color type in LodePNGInfo is ignored if auto_convert\n is enabled, it is automatically generated instead\n -when decoding, the color type in LodePNGInfo is set by the decoder to that of the original\n PNG image, but it can be ignored since the raw image has the color type you requested instead\n -if the color type of the LodePNGColorMode and PNG image aren't the same, a conversion\n between the color types is done if the color types are supported. If it is not\n supported, an error is returned. If the types are the same, no conversion is done.\n -even though some conversions aren't supported, LodePNG supports loading PNGs from any\n colortype and saving PNGs to any colortype, sometimes it just requires preparing\n the raw image correctly before encoding.\n -both encoder and decoder use the same color converter.\n\n Non supported color conversions:\n -color to greyscale: no error is thrown, but the result will look ugly because\n only the red channel is taken\n -anything, to palette when that palette does not have that color in it: in this\n case an error is thrown\n\n Supported color conversions:\n -anything to 8-bit RGB, 8-bit RGBA, 16-bit RGB, 16-bit RGBA\n -any grey or grey+alpha, to grey or grey+alpha\n -anything to a palette, as long as the palette has the requested colors in it\n -removing alpha channel\n -higher to smaller bitdepth, and vice versa\n\n If you want no color conversion to be done:\n -In the encoder, you can make it save a PNG with any color type by giving the\n raw color mode and LodePNGInfo the same color mode, and setting auto_convert to\n LAC_NO.\n -In the decoder, you can make it store the pixel data in the same color type\n as the PNG has, by setting the color_convert setting to false. Settings in\n info_raw are then ignored.\n\n The function lodepng_convert does the color conversion. It is available in the\n interface but normally isn't needed since the encoder and decoder already call\n it.\n\n 6.3. padding bits\n -----------------\n\n In the PNG file format, if a less than 8-bit per pixel color type is used and the scanlines\n have a bit amount that isn't a multiple of 8, then padding bits are used so that each\n scanline starts at a fresh byte. But that is NOT true for the LodePNG raw input and output.\n The raw input image you give to the encoder, and the raw output image you get from the decoder\n will NOT have these padding bits, e.g. in the case of a 1-bit image with a width\n of 7 pixels, the first pixel of the second scanline will the the 8th bit of the first byte,\n not the first bit of a new byte.\n\n 6.4. A note about 16-bits per channel and endianness\n ----------------------------------------------------\n\n LodePNG uses unsigned char arrays for 16-bit per channel colors too, just like\n for any other color format. The 16-bit values are stored in big endian (most\n significant byte first) in these arrays. This is the opposite order of the\n little endian used by x86 CPU's.\n\n LodePNG always uses big endian because the PNG file format does so internally.\n Conversions to other formats than PNG uses internally are not supported by\n LodePNG on purpose, there are myriads of formats, including endianness of 16-bit\n colors, the order in which you store R, G, B and A, and so on. Supporting and\n converting to/from all that is outside the scope of LodePNG.\n\n This may mean that, depending on your use case, you may want to convert the big\n endian output of LodePNG to little endian with a for loop. This is certainly not\n always needed, many applications and libraries support big endian 16-bit colors\n anyway, but it means you cannot simply cast the unsigned char* buffer to an\n unsigned short* buffer on x86 CPUs.\n\n\n 7. error values\n ---------------\n\n All functions in LodePNG that return an error code, return 0 if everything went\n OK, or a non-zero code if there was an error.\n\n The meaning of the LodePNG error values can be retrieved with the function\n lodepng_error_text: given the numerical error code, it returns a description\n of the error in English as a string.\n\n Check the implementation of lodepng_error_text to see the meaning of each code.\n\n\n 8. chunks and PNG editing\n -------------------------\n\n If you want to add extra chunks to a PNG you encode, or use LodePNG for a PNG\n editor that should follow the rules about handling of unknown chunks, or if your\n program is able to read other types of chunks than the ones handled by LodePNG,\n then that's possible with the chunk functions of LodePNG.\n\n A PNG chunk has the following layout:\n\n 4 bytes length\n 4 bytes type name\n length bytes data\n 4 bytes CRC\n\n 8.1. iterating through chunks\n -----------------------------\n\n If you have a buffer containing the PNG image data, then the first chunk (the\n IHDR chunk) starts at byte number 8 of that buffer. The first 8 bytes are the\n signature of the PNG and are not part of a chunk. But if you start at byte 8\n then you have a chunk, and can check the following things of it.\n\n NOTE: none of these functions check for memory buffer boundaries. To avoid\n exploits, always make sure the buffer contains all the data of the chunks.\n When using lodepng_chunk_next, make sure the returned value is within the\n allocated memory.\n\n unsigned lodepng_chunk_length(const unsigned char* chunk):\n\n Get the length of the chunk's data. The total chunk length is this length + 12.\n\n void lodepng_chunk_type(char type[5], const unsigned char* chunk):\n unsigned char lodepng_chunk_type_equals(const unsigned char* chunk, const char* type):\n\n Get the type of the chunk or compare if it's a certain type\n\n unsigned char lodepng_chunk_critical(const unsigned char* chunk):\n unsigned char lodepng_chunk_private(const unsigned char* chunk):\n unsigned char lodepng_chunk_safetocopy(const unsigned char* chunk):\n\n Check if the chunk is critical in the PNG standard (only IHDR, PLTE, IDAT and IEND are).\n Check if the chunk is private (public chunks are part of the standard, private ones not).\n Check if the chunk is safe to copy. If it's not, then, when modifying data in a critical\n chunk, unsafe to copy chunks of the old image may NOT be saved in the new one if your\n program doesn't handle that type of unknown chunk.\n\n unsigned char* lodepng_chunk_data(unsigned char* chunk):\n const unsigned char* lodepng_chunk_data_const(const unsigned char* chunk):\n\n Get a pointer to the start of the data of the chunk.\n\n unsigned lodepng_chunk_check_crc(const unsigned char* chunk):\n void lodepng_chunk_generate_crc(unsigned char* chunk):\n\n Check if the crc is correct or generate a correct one.\n\n unsigned char* lodepng_chunk_next(unsigned char* chunk):\n const unsigned char* lodepng_chunk_next_const(const unsigned char* chunk):\n\n Iterate to the next chunk. This works if you have a buffer with consecutive chunks. Note that these\n functions do no boundary checking of the allocated data whatsoever, so make sure there is enough\n data available in the buffer to be able to go to the next chunk.\n\n unsigned lodepng_chunk_append(unsigned char** out, size_t* outlength, const unsigned char* chunk):\n unsigned lodepng_chunk_create(unsigned char** out, size_t* outlength, unsigned length,\n const char* type, const unsigned char* data):\n\n These functions are used to create new chunks that are appended to the data in *out that has\n length *outlength. The append function appends an existing chunk to the new data. The create\n function creates a new chunk with the given parameters and appends it. Type is the 4-letter\n name of the chunk.\n\n 8.2. chunks in info_png\n -----------------------\n\n The LodePNGInfo struct contains fields with the unknown chunk in it. It has 3\n buffers (each with size) to contain 3 types of unknown chunks:\n the ones that come before the PLTE chunk, the ones that come between the PLTE\n and the IDAT chunks, and the ones that come after the IDAT chunks.\n It's necessary to make the distionction between these 3 cases because the PNG\n standard forces to keep the ordering of unknown chunks compared to the critical\n chunks, but does not force any other ordering rules.\n\n info_png.unknown_chunks_data[0] is the chunks before PLTE\n info_png.unknown_chunks_data[1] is the chunks after PLTE, before IDAT\n info_png.unknown_chunks_data[2] is the chunks after IDAT\n\n The chunks in these 3 buffers can be iterated through and read by using the same\n way described in the previous subchapter.\n\n When using the decoder to decode a PNG, you can make it store all unknown chunks\n if you set the option settings.remember_unknown_chunks to 1. By default, this\n option is off (0).\n\n The encoder will always encode unknown chunks that are stored in the info_png.\n If you need it to add a particular chunk that isn't known by LodePNG, you can\n use lodepng_chunk_append or lodepng_chunk_create to the chunk data in\n info_png.unknown_chunks_data[x].\n\n Chunks that are known by LodePNG should not be added in that way. E.g. to make\n LodePNG add a bKGD chunk, set background_defined to true and add the correct\n parameters there instead.\n\n\n 9. compiler support\n -------------------\n\n No libraries other than the current standard C library are needed to compile\n LodePNG. For the C++ version, only the standard C++ library is needed on top.\n Add the files lodepng.c(pp) and lodepng.h to your project, include\n lodepng.h where needed, and your program can read/write PNG files.\n\n It is compatible with C90 and up, and C++03 and up.\n\n If performance is important, use optimization when compiling! For both the\n encoder and decoder, this makes a large difference.\n\n Make sure that LodePNG is compiled with the same compiler of the same version\n and with the same settings as the rest of the program, or the interfaces with\n std::vectors and std::strings in C++ can be incompatible.\n\n CHAR_BITS must be 8 or higher, because LodePNG uses unsigned chars for octets.\n\n *) gcc and g++\n\n LodePNG is developed in gcc so this compiler is natively supported. It gives no\n warnings with compiler options \"-Wall -Wextra -pedantic -ansi\", with gcc and g++\n version 4.7.1 on Linux, 32-bit and 64-bit.\n\n *) Clang\n\n Fully supported and warning-free.\n\n *) Mingw\n\n The Mingw compiler (a port of gcc for Windows) should be fully supported by\n LodePNG.\n\n *) Visual Studio and Visual C++ Express Edition\n\n LodePNG should be warning-free with warning level W4. Two warnings were disabled\n with pragmas though: warning 4244 about implicit conversions, and warning 4996\n where it wants to use a non-standard function fopen_s instead of the standard C\n fopen.\n\n Visual Studio may want \"stdafx.h\" files to be included in each source file and\n give an error \"unexpected end of file while looking for precompiled header\".\n This is not standard C++ and will not be added to the stock LodePNG. You can\n disable it for lodepng.cpp only by right clicking it, Properties, C/C++,\n Precompiled Headers, and set it to Not Using Precompiled Headers there.\n\n NOTE: Modern versions of VS should be fully supported, but old versions, e.g.\n VS6, are not guaranteed to work.\n\n *) Compilers on Macintosh\n\n LodePNG has been reported to work both with gcc and LLVM for Macintosh, both for\n C and C++.\n\n *) Other Compilers\n\n If you encounter problems on any compilers, feel free to let me know and I may\n try to fix it if the compiler is modern and standards complient.\n\n\n 10. examples\n ------------\n\n This decoder example shows the most basic usage of LodePNG. More complex\n examples can be found on the LodePNG website.\n\n 10.1. decoder C++ example\n -------------------------\n\n #include \"lodepng.h\"\n #include \n\n int main(int argc, char *argv[])\n {\n const char* filename = argc > 1 ? argv[1] : \"test.png\";\n\n //load and decode\n std::vector image;\n unsigned width, height;\n unsigned error = lodepng::decode(image, width, height, filename);\n\n //if there's an error, display it\n if(error) std::cout << \"decoder error \" << error << \": \" << lodepng_error_text(error) << std::endl;\n\n //the pixels are now in the vector \"image\", 4 bytes per pixel, ordered RGBARGBA..., use it as texture, draw it, ...\n }\n\n 10.2. decoder C example\n -----------------------\n\n #include \"lodepng.h\"\n\n int main(int argc, char *argv[])\n {\n unsigned error;\n unsigned char* image;\n size_t width, height;\n const char* filename = argc > 1 ? argv[1] : \"test.png\";\n\n error = lodepng_decode32_file(&image, &width, &height, filename);\n\n if(error) printf(\"decoder error %u: %s\\n\", error, lodepng_error_text(error));\n\n / * use image here * /\n\n free(image);\n return 0;\n }\n\n\n 11. changes\n -----------\n\n The version number of LodePNG is the date of the change given in the format\n yyyymmdd.\n\n Some changes aren't backwards compatible. Those are indicated with a (!)\n symbol.\n\n *) 09 jun 2014: Faster encoder by fixing hash bug and more zeros optimization.\n *) 22 dec 2013: Power of two windowsize required for optimization.\n *) 15 apr 2013: Fixed bug with LAC_ALPHA and color key.\n *) 25 mar 2013: Added an optional feature to ignore some PNG errors (fix_png).\n *) 11 mar 2013 (!): Bugfix with custom free. Changed from \"my\" to \"lodepng_\"\n prefix for the custom allocators and made it possible with a new #define to\n use custom ones in your project without needing to change lodepng's code.\n *) 28 jan 2013: Bugfix with color key.\n *) 27 okt 2012: Tweaks in text chunk keyword length error handling.\n *) 8 okt 2012 (!): Added new filter strategy (entropy) and new auto color mode.\n (no palette). Better deflate tree encoding. New compression tweak settings.\n Faster color conversions while decoding. Some internal cleanups.\n *) 23 sep 2012: Reduced warnings in Visual Studio a little bit.\n *) 1 sep 2012 (!): Removed #define's for giving custom (de)compression functions\n and made it work with function pointers instead.\n *) 23 jun 2012: Added more filter strategies. Made it easier to use custom alloc\n and free functions and toggle #defines from compiler flags. Small fixes.\n *) 6 may 2012 (!): Made plugging in custom zlib/deflate functions more flexible.\n *) 22 apr 2012 (!): Made interface more consistent, renaming a lot. Removed\n redundant C++ codec classes. Reduced amount of structs. Everything changed,\n but it is cleaner now imho and functionality remains the same. Also fixed\n several bugs and shrinked the implementation code. Made new samples.\n *) 6 nov 2011 (!): By default, the encoder now automatically chooses the best\n PNG color model and bit depth, based on the amount and type of colors of the\n raw image. For this, autoLeaveOutAlphaChannel replaced by auto_choose_color.\n *) 9 okt 2011: simpler hash chain implementation for the encoder.\n *) 8 sep 2011: lz77 encoder lazy matching instead of greedy matching.\n *) 23 aug 2011: tweaked the zlib compression parameters after benchmarking.\n A bug with the PNG filtertype heuristic was fixed, so that it chooses much\n better ones (it's quite significant). A setting to do an experimental, slow,\n brute force search for PNG filter types is added.\n *) 17 aug 2011 (!): changed some C zlib related function names.\n *) 16 aug 2011: made the code less wide (max 120 characters per line).\n *) 17 apr 2011: code cleanup. Bugfixes. Convert low to 16-bit per sample colors.\n *) 21 feb 2011: fixed compiling for C90. Fixed compiling with sections disabled.\n *) 11 dec 2010: encoding is made faster, based on suggestion by Peter Eastman\n to optimize long sequences of zeros.\n *) 13 nov 2010: added LodePNG_InfoColor_hasPaletteAlpha and\n LodePNG_InfoColor_canHaveAlpha functions for convenience.\n *) 7 nov 2010: added LodePNG_error_text function to get error code description.\n *) 30 okt 2010: made decoding slightly faster\n *) 26 okt 2010: (!) changed some C function and struct names (more consistent).\n Reorganized the documentation and the declaration order in the header.\n *) 08 aug 2010: only changed some comments and external samples.\n *) 05 jul 2010: fixed bug thanks to warnings in the new gcc version.\n *) 14 mar 2010: fixed bug where too much memory was allocated for char buffers.\n *) 02 sep 2008: fixed bug where it could create empty tree that linux apps could\n read by ignoring the problem but windows apps couldn't.\n *) 06 jun 2008: added more error checks for out of memory cases.\n *) 26 apr 2008: added a few more checks here and there to ensure more safety.\n *) 06 mar 2008: crash with encoding of strings fixed\n *) 02 feb 2008: support for international text chunks added (iTXt)\n *) 23 jan 2008: small cleanups, and #defines to divide code in sections\n *) 20 jan 2008: support for unknown chunks allowing using LodePNG for an editor.\n *) 18 jan 2008: support for tIME and pHYs chunks added to encoder and decoder.\n *) 17 jan 2008: ability to encode and decode compressed zTXt chunks added\n Also vareous fixes, such as in the deflate and the padding bits code.\n *) 13 jan 2008: Added ability to encode Adam7-interlaced images. Improved\n filtering code of encoder.\n *) 07 jan 2008: (!) changed LodePNG to use ISO C90 instead of C++. A\n C++ wrapper around this provides an interface almost identical to before.\n Having LodePNG be pure ISO C90 makes it more portable. The C and C++ code\n are together in these files but it works both for C and C++ compilers.\n *) 29 dec 2007: (!) changed most integer types to unsigned int + other tweaks\n *) 30 aug 2007: bug fixed which makes this Borland C++ compatible\n *) 09 aug 2007: some VS2005 warnings removed again\n *) 21 jul 2007: deflate code placed in new namespace separate from zlib code\n *) 08 jun 2007: fixed bug with 2- and 4-bit color, and small interlaced images\n *) 04 jun 2007: improved support for Visual Studio 2005: crash with accessing\n invalid std::vector element [0] fixed, and level 3 and 4 warnings removed\n *) 02 jun 2007: made the encoder add a tag with version by default\n *) 27 may 2007: zlib and png code separated (but still in the same file),\n simple encoder/decoder functions added for more simple usage cases\n *) 19 may 2007: minor fixes, some code cleaning, new error added (error 69),\n moved some examples from here to lodepng_examples.cpp\n *) 12 may 2007: palette decoding bug fixed\n *) 24 apr 2007: changed the license from BSD to the zlib license\n *) 11 mar 2007: very simple addition: ability to encode bKGD chunks.\n *) 04 mar 2007: (!) tEXt chunk related fixes, and support for encoding\n palettized PNG images. Plus little interface change with palette and texts.\n *) 03 mar 2007: Made it encode dynamic Huffman shorter with repeat codes.\n Fixed a bug where the end code of a block had length 0 in the Huffman tree.\n *) 26 feb 2007: Huffman compression with dynamic trees (BTYPE 2) now implemented\n and supported by the encoder, resulting in smaller PNGs at the output.\n *) 27 jan 2007: Made the Adler-32 test faster so that a timewaste is gone.\n *) 24 jan 2007: gave encoder an error interface. Added color conversion from any\n greyscale type to 8-bit greyscale with or without alpha.\n *) 21 jan 2007: (!) Totally changed the interface. It allows more color types\n to convert to and is more uniform. See the manual for how it works now.\n *) 07 jan 2007: Some cleanup & fixes, and a few changes over the last days:\n encode/decode custom tEXt chunks, separate classes for zlib & deflate, and\n at last made the decoder give errors for incorrect Adler32 or Crc.\n *) 01 jan 2007: Fixed bug with encoding PNGs with less than 8 bits per channel.\n *) 29 dec 2006: Added support for encoding images without alpha channel, and\n cleaned out code as well as making certain parts faster.\n *) 28 dec 2006: Added \"Settings\" to the encoder.\n *) 26 dec 2006: The encoder now does LZ77 encoding and produces much smaller files now.\n Removed some code duplication in the decoder. Fixed little bug in an example.\n *) 09 dec 2006: (!) Placed output parameters of public functions as first parameter.\n Fixed a bug of the decoder with 16-bit per color.\n *) 15 okt 2006: Changed documentation structure\n *) 09 okt 2006: Encoder class added. It encodes a valid PNG image from the\n given image buffer, however for now it's not compressed.\n *) 08 sep 2006: (!) Changed to interface with a Decoder class\n *) 30 jul 2006: (!) LodePNG_InfoPng , width and height are now retrieved in different\n way. Renamed decodePNG to decodePNGGeneric.\n *) 29 jul 2006: (!) Changed the interface: image info is now returned as a\n struct of type LodePNG::LodePNG_Info, instead of a vector, which was a bit clumsy.\n *) 28 jul 2006: Cleaned the code and added new error checks.\n Corrected terminology \"deflate\" into \"inflate\".\n *) 23 jun 2006: Added SDL example in the documentation in the header, this\n example allows easy debugging by displaying the PNG and its transparency.\n *) 22 jun 2006: (!) Changed way to obtain error value. Added\n loadFile function for convenience. Made decodePNG32 faster.\n *) 21 jun 2006: (!) Changed type of info vector to unsigned.\n Changed position of palette in info vector. Fixed an important bug that\n happened on PNGs with an uncompressed block.\n *) 16 jun 2006: Internally changed unsigned into unsigned where\n needed, and performed some optimizations.\n *) 07 jun 2006: (!) Renamed functions to decodePNG and placed them\n in LodePNG namespace. Changed the order of the parameters. Rewrote the\n documentation in the header. Renamed files to lodepng.cpp and lodepng.h\n *) 22 apr 2006: Optimized and improved some code\n *) 07 sep 2005: (!) Changed to std::vector interface\n *) 12 aug 2005: Initial release (C++, decoder only)\n\n\n 12. contact information\n -----------------------\n\n Feel free to contact me with suggestions, problems, comments, ... concerning\n LodePNG. If you encounter a PNG image that doesn't work properly with this\n decoder, feel free to send it and I'll use it to find and fix the problem.\n\n My email address is (puzzle the account and domain together with an @ symbol):\n Domain: gmail dot com.\n Account: lode dot vandevenne.\n\n\n Copyright (c) 2005-2014 Lode Vandevenne\n */\n" }, { "path": "framework/shared/include/math_types.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef MATH_TYPES_H_\n#define MATH_TYPES_H_\n\n\ntypedef struct sb_int2 {\n int x,y;\n} sb_int2;\n\n\ntypedef struct sb_uint2 {\n unsigned int x,y;\n} sb_uint2;\n\n\ntypedef struct sb_uint3 {\n unsigned int x,y,z;\n} sb_int3;\n\ntypedef struct sb_uchar3 {\n unsigned char x,y,z;\n} sb_uchar3;\n\ntypedef struct sb_uchar4 {\n unsigned char x,y,z,w;\n} sb_uchar4;\n\n\ntypedef struct sb_float3 {\n float x,y,z;\n} sb_float3;\n\n\ntypedef struct sb_float4 {\n float x,y,z,w;\n} sb_float4;\n\n\n\ninline sb_int2 make_sb_int2( int a, int b) {return {a,b};}\n\ninline sb_uint2 make_sb_uint2(unsigned int a,unsigned int b) {return {a,b};}\n\ninline sb_uchar3 make_sb_uchar3(unsigned char a,unsigned char b, unsigned char c) {return {a,b,c};}\n\ninline sb_uchar4 make_sb_uchar4(unsigned char a,unsigned char b, unsigned char c, unsigned char d) {return {a,b,c,d};}\n\ninline sb_uint3 make_sb_uint3(unsigned int a,unsigned int b, unsigned int c) {return {a,b,c};}\n\ninline sb_float3 make_sb_float3(float a,float b, float c) {return {a,b,c};}\n\ninline sb_float4 make_sb_float4(float a,float b, float c, float d) {return {a,b,c,d};}\n\n\n#endif /* MATH_TYPES_H_ */\n" }, { "path": "framework/shared/include/metrics/ATEMetric.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef ATEMETRIC_H\n#define ATEMETRIC_H\n\n#include \"metrics/Metric.h\"\n\nnamespace slambench {\nnamespace outputs {\nclass TrajectoryInterface;\n}\n}\n\nnamespace slambench {\n\tnamespace metrics {\n\t\tclass ATEMetric : public Metric {\n\t\tpublic:\n\t\t\tATEMetric(const slambench::outputs::TrajectoryInterface *tested_trajectory, const slambench::outputs::TrajectoryInterface *ground_truth);\n\t\t\tconst slambench::values::ValueDescription& GetValueDescription() const override;\n\t\t\tconst std::string& GetDescription() const override;\n\t\t\tvoid MeasureStart(Phase* phase) override;\n\t\t\tvoid MeasureEnd(Phase* phase) override;\n\t\t\tValue *GetValue(Phase* phase) override;\n\n\t\tprivate:\n\t\t\tconst outputs::TrajectoryInterface *trajectory_;\n\t\t\tconst outputs::TrajectoryInterface *ground_truth_;\n\t\t\tvalues::TrajectoryValue::pose_container_t latest_trajectory_;\n\t\t\tslambench::TimeStamp next_gt_ts_;\n\t\t};\n\t}\n}\n\n#endif /* ATEMETRIC_H */\n\n" }, { "path": "framework/shared/include/metrics/DepthEstimationMetric.h", "content": "#ifndef DEPTHESTIMATIONMETRIC_H\n#define DEPTHESTIMATIONMETRIC_H\n#include \"Metric.h\"\n#include \n\nnamespace slambench {\n namespace metrics {\n\n using slambench::values::FrameValue;\n\n class DepthEstimationMetric : public Metric {\n\n public:\n DepthEstimationMetric(const slambench::outputs::BaseOutput * const tested,\n const slambench::outputs::BaseOutput * const gt);\n\n ~DepthEstimationMetric() = default;\n\n const slambench::values::ValueDescription& GetValueDescription() const override;\n const std::string& GetDescription() const override;\n void MeasureStart(Phase* phase) override;\n void MeasureEnd(Phase* phase) override;\n Value *GetValue(Phase* phase) override;\n\n private:\n const slambench::outputs::BaseOutput * const tested_;\n const slambench::outputs::BaseOutput * const gt_;\n\n };\n }\n}\n\n#endif //DEPTHESTIMATIONMETRIC_H\n" }, { "path": "framework/shared/include/metrics/DurationMetric.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef DURATIONMETRIC_H\n#define DURATIONMETRIC_H\n\n#include \"Metric.h\"\n\n\n#include \n#include \n#include \n\nnamespace slambench {\n\tnamespace values {\n\t\tclass Value;\n\t}\n\tnamespace metrics {\n\t\tclass Phase;\n\t\t\n\t\tclass DurationMetric : public Metric {\n\t\tpublic:\n\t\t\tDurationMetric();\n\t\t\t\n\t\t\tvirtual void MeasureStart(Phase* phase) override;\n\t\t\tvirtual void MeasureEnd(Phase* phase) override;\n\t\t\tvalues::Value *GetValue(Phase *phase) override;\n\t\t\tconst slambench::values::ValueDescription& GetValueDescription() const override;\n\t\t\tconst std::string &GetDescription() const override;\n\n\t\tprivate:\n\t\t\tstd::unordered_map phase_start_;\n\t\t\tstd::unordered_map phase_end_;\n\t\t\tuint64_t getTime() const;\n\t\t};\n\t\t\n\t}\n}\n\n#endif /* DURATIONMETRIC_H */\n\n" }, { "path": "framework/shared/include/metrics/FrameData.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEDATA_H\n#define FRAMEDATA_H\n\n#include \n\nnamespace slambench {\n\tnamespace values {\n\t\tclass Value;\n\t}\n\tnamespace metrics {\n\t\tclass Metric;\n\t\tclass Phase;\n\t\t\n\t\ttypedef std::map PhaseData;\n\t\t\n\t\tclass FrameData {\n\t\tpublic:\n\t\t FrameData() = default;\n\t\t ~FrameData() {phase_data_.clear();frame_data_.clear();};\n\t\t\tPhaseData &GetPhaseData(Phase *p) { return phase_data_[p]; }\n\t\t\tPhaseData &GetFrameData() { return frame_data_; }\n\t\t\tvoid Clear() { phase_data_.clear(); frame_data_.clear(); }\n\t\t\t\n\t\tprivate:\n\t\t\tstd::map phase_data_;\n\t\t\tPhaseData frame_data_;\n\t\t};\n\t}\n}\n\n#endif /* FRAMEDATA_H */\n\n" }, { "path": "framework/shared/include/metrics/MemoryMetric.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef MEMORYMETRIC_H\n#define MEMORYMETRIC_H\n\n#include \"Metric.h\"\n#include \"memory_utils/CUDAMonitor.h\"\n\n#include \n#include \n#include \n\nnamespace slambench {\n\tnamespace metrics {\n\t\tclass Phase;\n\n\t\tclass MemoryMetric : public Metric {\n\t\tpublic:\n\t\t\tMemoryMetric();\n\t\t\t~MemoryMetric();\n\t\t\t\n\t\t\tvirtual void MeasureStart(Phase* phase) override;\n\t\t\tvirtual void MeasureEnd(Phase* phase) override;\n\t\t\tvalues::Value *GetValue(Phase* phase) override;\n\t\t\tconst values::ValueDescription &GetValueDescription() const override;\n\t\t\tconst std::string &GetDescription() const override;\n\n\t\tprivate:\n//\t\t\tCUDAMonitor cuda_monitor;\n slambench::values::ValueDescription desc_;\n\t\t\tstd::unordered_map CPU_Usage_;\n\t\t\tstd::unordered_map GPU_Usage_;\n\n\t\t};\n\t}\n}\n\n#endif /* CPUMEMORYMETRIC_H */\n\n" }, { "path": "framework/shared/include/metrics/Metric.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef METRIC_H\n#define METRIC_H\n\n#include \"MetricValue.h\"\n#include \"SLAMBenchLibraryHelper.h\"\n#include \"io/SLAMFrame.h\"\n#include \"values/Value.h\"\n\n#include \n#include \n#include \n\nnamespace slambench {\n\tnamespace metrics {\n\t\tclass Phase;\n\t\tusing values::Value;\n\t\t\n\t\t// Class representing a metric such as power, time, memory usage, etc.\n\t\tclass Metric {\n\t\tpublic:\n\t\t\tMetric(const std::string &name);\n\t\t\tvirtual ~Metric();\n\t\t\t\n\t\t\tvirtual void MeasureStart(Phase *phase) = 0;\n\t\t\tvirtual void MeasureEnd(Phase *phase) = 0;\n\t\t\t\n\t\t\tvirtual Value *GetValue(Phase *phase) = 0;\n\t\t\tvirtual const values::ValueDescription &GetValueDescription() const = 0;\n\t\t\t\n\t\t\tconst std::string &GetName() const { return name_; }\n\t\t\tvirtual const std::string &GetDescription() const = 0;\n\t\t \t\n\t\tprivate:\n\t\t\tconst std::string name_;\n\t\t\t\n\t\t};\n\t}\n}\n\n#endif /* METRIC_H */\n\n" }, { "path": "framework/shared/include/metrics/MetricManager.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef METRICSMANAGER_H\n#define METRICSMANAGER_H\n\n#include \"Phase.h\"\n#include \"FrameData.h\"\n\n#include \n#include \n#include \n#include \n#include \n\n\nnamespace slambench {\n\tnamespace metrics {\n\t\t\n\t\tclass Metric;\n\t\tclass Phase;\n\t\t\n\t\tclass MetricManager {\n\t\tpublic:\n\t\t\tMetricManager();\n\t\t\t~MetricManager();\n\t\t\ttypedef std::shared_ptr MetricPtr;\n\t\t\ttypedef std::vector metric_list_t;\n\t\t\ttypedef std::vector phase_list_t;\n\n\t\t\tvoid AddPhaseMetric(const MetricPtr& m);\n\t\t\tvoid AddFrameMetric(const MetricPtr& m);\n\n\t\t\tvoid AddPhase(Phase *p);\n\t\t\tvoid AddPhase(const std::string &phase_name);\n\t\t\t\n\t\t\tvoid BeginPhase(Phase *phase);\n\t\t\tvoid EndPhase(Phase *phase);\n\t\t\t\n\t\t\tPhase *GetPhase(const std::string &phasename);\n\t\t\tPhase *GetFramePhase() { return &frame_phase_; }\n\t\t\tPhase *GetInitPhase() { return &init_phase_; }\n\t\t\tconst PhaseData *GetInitPhaseData() { return &init_data_; }\n\t\t\tphase_list_t GetPhases() { return phases_; }\n\t\t\tmetric_list_t GetPhaseMetrics() { return phase_metrics_; }\n\t\t\tmetric_list_t GetFrameMetrics() { return frame_metrics_; }\n\t\t\t\n\t\t\tFrameData *GetFrame(uint64_t frame_number);\n\t\t\tFrameData *GetLastFrame();\n\t\t\t\n\t\t\tstd::string GetHeader() const;\n\n\t\t\tvoid BeginFrame();\n\t\t\tvoid EndFrame();\n\t\t\tvoid BeginInit();\n\t\t\tvoid EndInit();\n\n\t\t\tvoid reset() {\n\t\t\t\tall_metrics_.clear();\n\t\t\t\tframe_data_.clear();\n\t\t\t\tframe_metrics_.clear();\n\t\t\t\tphase_metrics_.clear();\n\t\t\t\t// phases_.clear();\n\t\t\t}\n\n\t\t\tstd::vector& getDuration() {\n\t\t\t\treturn frame_phase_duration_;\n\t\t\t}\n\n\t\tprivate:\n\t\t\tmetric_list_t frame_metrics_;\n\t\t\tmetric_list_t phase_metrics_;\n\t\t\tstd::set> all_metrics_;\n\t\t\t\n\t\t\tphase_list_t phases_;\n\t\t\t\n\t\t\tstd::vector frame_data_;\n\t\t\tPhaseData init_data_;\n\t\t\tPhase init_phase_;\n\t\t\tPhase frame_phase_;\n\t\t\t\n\t\t\tuint64_t frame_counter_;\n\n\t\t\tchar duration_metric_typeid_[100];\n\t\t\tstd::vector frame_phase_duration_;\n\t\t};\n\t}\n}\n\n#endif /* METRICSMANAGER_H */\n\n" }, { "path": "framework/shared/include/metrics/MetricValue.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef METRICVALUE_H\n#define METRICVALUE_H\n\n#include \n#include \n#include \n#include \n\nnamespace slambench {\n\tnamespace metrics {\n\t\tclass MetricValue {\n\t\tprivate:\n\t\t\tMetricValue(size_t size, void *data) { data_.resize(size); memcpy(data_.data(), data, size); }\n\t\tpublic:\n\t\t\tMetricValue(const MetricValue &other) : data_(other.data_) {}\n\t\t\t\n\t\t\ttemplate MetricValue(T value) : MetricValue(sizeof(value), &value) {}\n\t\t\t\n\t\t\tconst void *GetStorage() const { return (void*)data_.data(); }\n\t\t\ttemplate T As() const { assert(sizeof(T) == data_.size()); return *(T*)GetStorage(); }\n\t\tprivate:\n\t\t\tstd::vector data_;\n\t\t};\n\t}\n}\n\n#endif /* METRICVALUE_H */\n\n" }, { "path": "framework/shared/include/metrics/Phase.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef PHASE_H\n#define PHASE_H\n\n#include \"MetricValue.h\"\n\n#include \n#include \n\nnamespace slambench {\n\tnamespace metrics {\n\t\tclass Metric;\n\t\tclass MetricManager;\n\t\t\n\t\t// Class representing a phase (i.e., a duration) of an algorithm\n\t\tclass Phase {\n\t\tpublic:\n\t\t\tPhase(MetricManager *mgr, const std::string &phasename);\n\t\t\t\n\t\t\tvoid Begin();\n\t\t\tvoid End();\n\t\t\tconst std::string &GetName() { return name_; }\n\t\t\t\n\t\tprivate:\n\t\t\tconst std::string name_;\n\t\t\tMetricManager *manager_;\n\t\t};\n\t}\n}\n\n#endif /* PHASE_H */\n\n" }, { "path": "framework/shared/include/metrics/PointCloudMetric.h", "content": "#ifndef POINTCLOUDMETRIC_H\n#define POINTCLOUDMETRIC_H\n\n#include \"metrics/Metric.h\"\n#include \"outputs/Output.h\"\n\nnamespace slambench {\n namespace metrics {\n\n using slambench::values::PointCloudValue;\n\n class PointCloudMetric : public Metric {\n private:\n const slambench::outputs::BaseOutput * const heatmap_pointcloud;\n\n slambench::TimeStamp lastMeasurement;\n\n public:\n PointCloudMetric(const slambench::outputs::BaseOutput * const heatmap_pointcloud);\n\n ~PointCloudMetric() = default;\n\n const slambench::values::ValueDescription& GetValueDescription() const override;\n const std::string& GetDescription() const override;\n void MeasureStart(Phase* phase) override;\n void MeasureEnd(Phase* phase) override;\n Value *GetValue(Phase* phase) override;\n };\n }\n}\n\n#endif\n" }, { "path": "framework/shared/include/metrics/PowerMetric.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef POWERMETRIC_H\n#define POWERMETRIC_H\n\n#include \"metrics/Metric.h\"\n#include \"metrics/power_utils/PowerMonitor.h\"\n\nnamespace slambench {\n\tnamespace metrics {\n\t\tclass PowerMetric : public Metric {\n\n\t\tpublic:\n\t\t\tPowerMetric();\n\n\t\t\tconst slambench::values::ValueDescription& GetValueDescription() const override;\n\t\t\tconst std::string& GetDescription() const override;\n\t\t\tvoid MeasureStart(Phase* phase) override;\n\t\t\tvoid MeasureEnd(Phase* phase) override;\n\t\t\tslambench::values::Value *GetValue(Phase* phase) override;\n\n private :\n PowerMonitor *pm_ = nullptr;\n slambench::values::Value *last_res_;\n\t\t};\n\t}\n}\n\n#endif /* POWERMETRIC_H */\n\n" }, { "path": "framework/shared/include/metrics/RPEMetric.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef RPEMETRIC_H\n#define RPEMETRIC_H\n\n#include \"metrics/Metric.h\"\n#include \"outputs/TrajectoryAlignmentMethod.h\"\n#include \"outputs/TrajectoryInterface.h\"\n\nnamespace slambench {\n\tnamespace metrics {\n\t\tclass RPEMetric : public Metric {\n\t\tpublic:\n\t\t\tRPEMetric(const slambench::outputs::TrajectoryInterface *tested_trajectory, const slambench::outputs::TrajectoryInterface *ground_truth);\n\n\t\t\tconst slambench::values::ValueDescription& GetValueDescription() const override;\n\t\t\tconst std::string& GetDescription() const override;\n\t\t\tvoid MeasureStart(Phase* phase) override;\n\t\t\tvoid MeasureEnd(Phase* phase) override;\n\t\t\tValue *GetValue(Phase* phase) override;\n\n\t\tprivate:\n\t\t\tconst outputs::TrajectoryInterface *trajectory_;\n\t\t\tconst outputs::TrajectoryInterface *ground_truth_;\n\t\t\tvalues::TrajectoryValue::pose_container_t latest_trajectory_;\n\t\t\tslambench::TimeStamp next_gt_ts_;\n\t\t};\n\t}\n}\n\n#endif /* RPEMETRIC_H */\n\n" }, { "path": "framework/shared/include/metrics/memory_utils/CUDAMonitor.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef FRAMEWORK_SHARED_INCLUDE_METRICS_MEMORY_UTILS_CUDAMONITOR_H_\n#define FRAMEWORK_SHARED_INCLUDE_METRICS_MEMORY_UTILS_CUDAMONITOR_H_\n\n#include \n#include \n\ntypedef int cudaError_t ;\ntypedef cudaError_t (*cudaMemGetInfo_t)( \tsize_t * \t, \tsize_t * \t);\ntypedef struct CUuuid_st {\n char bytes[16];\n } CUuuid;\n\ntypedef struct CUuuid_st cudaUUID_t;\ntypedef struct {\n char name[256];\n cudaUUID_t uuid;\n size_t totalGlobalMem;\n size_t sharedMemPerBlock;\n int regsPerBlock;\n int warpSize;\n size_t memPitch;\n int maxThreadsPerBlock;\n int maxThreadsDim[3];\n int maxGridSize[3];\n int clockRate;\n size_t totalConstMem;\n int major;\n int minor;\n size_t textureAlignment;\n size_t texturePitchAlignment;\n int deviceOverlap;\n int multiProcessorCount;\n int kernelExecTimeoutEnabled;\n int integrated;\n int canMapHostMemory;\n int computeMode;\n int maxTexture1D;\n int maxTexture1DMipmap;\n int maxTexture1DLinear;\n int maxTexture2D[2];\n int maxTexture2DMipmap[2];\n int maxTexture2DLinear[3];\n int maxTexture2DGather[2];\n int maxTexture3D[3];\n int maxTexture3DAlt[3];\n int maxTextureCubemap;\n int maxTexture1DLayered[2];\n int maxTexture2DLayered[3];\n int maxTextureCubemapLayered[2];\n int maxSurface1D;\n int maxSurface2D[2];\n int maxSurface3D[3];\n int maxSurface1DLayered[2];\n int maxSurface2DLayered[3];\n int maxSurfaceCubemap;\n int maxSurfaceCubemapLayered[2];\n size_t surfaceAlignment;\n int concurrentKernels;\n int ECCEnabled;\n int pciBusID;\n int pciDeviceID;\n int pciDomainID;\n int tccDriver;\n int asyncEngineCount;\n int unifiedAddressing;\n int memoryClockRate;\n int memoryBusWidth;\n int l2CacheSize;\n int maxThreadsPerMultiProcessor;\n int streamPrioritiesSupported;\n int globalL1CacheSupported;\n int localL1CacheSupported;\n size_t sharedMemPerMultiprocessor;\n int regsPerMultiprocessor;\n int managedMemory;\n int isMultiGpuBoard;\n int multiGpuBoardGroupID;\n int singleToDoublePrecisionPerfRatio;\n int pageableMemoryAccess;\n int concurrentManagedAccess;\n int computePreemptionSupported;\n int canUseHostPointerForRegisteredMem;\n int cooperativeLaunch;\n int cooperativeMultiDeviceLaunch;\n int pageableMemoryAccessUsesHostPageTables;\n int directManagedMemAccessFromHost;\n} cudaDeviceProp;\ntypedef cudaError_t (*cudaGetDeviceProperties_t)( \tcudaDeviceProp * \t, \tint \t);\n\nclass CUDAMonitor {\npublic :\n\tCUDAMonitor () : libcuda_cudaMemGetInfo(nullptr),\n libcuda_cudaGetDeviceProperties(nullptr)\n\t{\n\t\tInit();\n\t}\nprivate :\n\tcudaMemGetInfo_t libcuda_cudaMemGetInfo ;\n cudaGetDeviceProperties_t libcuda_cudaGetDeviceProperties;\n\tbool Init();\npublic :\n\tsize_t getUsedBytes() ;\n\tbool IsActive() ;\n std::string device_name = \"\";\n\n\n\n};\n\n\n\n#endif /* FRAMEWORK_SHARED_INCLUDE_METRICS_MEMORY_UTILS_CUDAMONITOR_H_ */\n" }, { "path": "framework/shared/include/metrics/power_utils/PAPIMonitor.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef FRAMEWORK_INCLUDE_METRICS_POWER_UTILS_PAPI_MONITOR_H_\n#define FRAMEWORK_INCLUDE_METRICS_POWER_UTILS_PAPI_MONITOR_H_\n\n#include \"values/Value.h\"\n#include \"outputs/Output.h\"\n#include \"PowerMonitor.h\"\n#include \"papi.h\"\n#include \n\n\nclass PAPIMonitor : public PowerMonitor {\n\npublic :\n\n\tstatic PAPIMonitor * generate () {\n\n\t\tstatic PAPIMonitor * loader = nullptr;\n\t\tassert (loader == nullptr);\n\n\t\tloader = new PAPIMonitor ();\n\t\tif (loader->IsValid()) {\n\t\t\treturn loader;\n\t\t} else {\n\t\t\tdelete loader;\n\t\t\treturn nullptr;\n\t\t}\n\t}\n\nprivate :\n\tint EventSet;\n\tlong long before_time,after_time;\n\tlong long*values;\n\t#define MAX_RAPL_EVENTS 64\n\tchar event_names[MAX_RAPL_EVENTS][PAPI_MAX_STR_LEN];\n\tchar units[MAX_RAPL_EVENTS][PAPI_MIN_STR_LEN];\n\n\tint num_events=0;\n\n\tstruct PapiPower {\n\t\tdouble packagePower;\n\t\tdouble pp1Power;\n\t\tdouble dramPower;\n\t\tdouble pp0Power;\n\t} papiReading;\n\n\nprivate :\n\tslambench::values::TypeForVT::type current;\n\tbool init_res = false;\n\tbool start_res = false;\n\nprivate :\n\n\tbool papi_init();\n\tbool papi_start();\n\tbool papi_stop();\n\tbool papi_read();\n\npublic :\n\n\n\tPAPIMonitor() : PowerMonitor(), EventSet (PAPI_NULL) {\n\t\t\tinit_res = papi_init();\n\t\t}\n\n\n\t~PAPIMonitor() {\n\t\tif(init_res) {\n\t\t\tpapi_stop();\n\t\t}\n\t}\n\n\tbool IsValid () {\n\t\treturn init_res;\n\t}\n\n\tvoid startSample () {\n\t\tstart_res = papi_start();\n\t}\n\n\tconst slambench::values::ValueDescription &GetType () const {\n\t\tstatic const slambench::values::ValueDescription desc = slambench::values::ValueDescription({\n\t\t\t\t\t{\"PP0\", slambench::values::VT_DOUBLE},\n\t\t\t\t\t{\"PP1\", slambench::values::VT_DOUBLE},\n\t\t\t\t\t{\"PAPI_PACKAGE\", slambench::values::VT_DOUBLE},\n\t\t\t\t\t{\"PAPI_DRAM\", slambench::values::VT_DOUBLE}});\n\t\treturn desc;\n\t}\n\n\tslambench::values::Value *endSample () {\n\n\t\tassert(start_res);\n\n\t\tbool res = papi_read();\n\n\t\tif (!res) {\n\t\t\tstd::cerr << \"READ FAILED\" << std::endl;\n\t\t\treturn new slambench::values::TypeForVT::type({});\n\t\t}\n\n\t\tauto pp1 = new slambench::values::TypeForVT::type(this->papiReading.pp1Power);\n\t\tauto pp0 = new slambench::values::TypeForVT::type(this->papiReading.pp0Power);\n\t\tauto package = new slambench::values::TypeForVT::type(this->papiReading.packagePower);\n\t\tauto dram = new slambench::values::TypeForVT::type(this->papiReading.dramPower);\n\n\t\treturn new slambench::values::TypeForVT::type({{\"PP0\", pp0}, {\"PP1\", pp1}, {\"PAPI_PACKAGE\", package}, {\"PAPI_DRAM\", dram}});;\n\n\t}\n};\n#endif /* FRAMEWORK_INCLUDE_METRICS_POWER_UTILS_PAPI_MONITOR_H_ */\n" }, { "path": "framework/shared/include/metrics/power_utils/PowerMonitor.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_SHARED_INCLUDE_METRICS_POWER_UTILS_POWERMONITOR_H_\n#define FRAMEWORK_SHARED_INCLUDE_METRICS_POWER_UTILS_POWERMONITOR_H_\n\nclass PowerMonitor {\npublic:\n\tvirtual ~PowerMonitor() {};\n\tvirtual const slambench::values::ValueDescription& GetType () const = 0 ;\n\tvirtual slambench::values::Value* endSample() = 0;\n\tvirtual void startSample() = 0;\n\n};\n#endif /* FRAMEWORK_SHARED_INCLUDE_METRICS_POWER_UTILS_POWERMONITOR_H_ */\n" }, { "path": "framework/shared/include/metrics/power_utils/XU3Monitor.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_INCLUDE_METRICS_POWER_UTILS_XU3_MONITOR_H_\n#define FRAMEWORK_INCLUDE_METRICS_POWER_UTILS_XU3_MONITOR_H_\n\n#include \"values/Value.h\"\n#include \"outputs/Output.h\"\n#include \"PowerMonitor.h\"\n#include \n\nenum XU3Sensor {\n\t\tSENSOR_A7 = 45, SENSOR_A15 = 40, SENSOR_GPU = 44, SENSOR_DRAM = 41\n};\n\nclass XU3Monitor : public PowerMonitor {\n\npublic :\n\n\tstatic XU3Monitor *generate () {\n\n\t\tstatic XU3Monitor *loader = nullptr;\n\t\tassert (loader == nullptr);\n\n\t\tloader = new XU3Monitor ();\n\t\tif (loader->IsValid()) {\n\t\t\treturn loader;\n\t\t} else {\n\t\t\tdelete loader;\n\t\t\treturn nullptr;\n\t\t}\n\t}\n\nprivate :\n\n\tFILE *powerA7 = nullptr;\n\tFILE *powerA15 = nullptr;\n\tFILE *powerGPU = nullptr;\n\tFILE *powerDRAM = nullptr;\n\n\tdouble vpowerA7 = 0.0;\n\tdouble vpowerA15 = 0.0;\n\tdouble vpowerGPU = 0.0;\n\tdouble vpowerDRAM = 0.0;\n\n\tdouble startTime;\n\nprivate :\n\n\tbool odroid_init();\n\tbool odroid_start();\n\tbool odroid_sample();\n\tbool odroid_finish();\n\n\tfloat getPower(XU3Sensor sensor) ;\n\n\tbool enableSensor(XU3Sensor sensor) ;\n\npublic :\n\n\n\tXU3Monitor() : PowerMonitor() {\n\t\todroid_init();\n\t}\n\n\n\t~XU3Monitor() {\n\t\tif(IsValid ()) {\n\t\t\todroid_finish();\n\t\t}\n\t}\n\n\tbool IsValid () {\n\t\treturn powerA7 or powerA15 or powerGPU or powerDRAM;\n\t}\n\n\tvoid startSample () {\n\t\tif(IsValid ()) {\n\t\t odroid_start();\n\t\t}\n\t}\n\n\tconst slambench::values::ValueDescription &GetType () const {\n\t\tstatic const slambench::values::ValueDescription desc = slambench::values::ValueDescription({\n\t\t\t\t\t{\"A7_Power\", slambench::values::VT_DOUBLE},\n\t\t\t\t\t{\"A15_Power\", slambench::values::VT_DOUBLE},\n\t\t\t\t\t{\"GPU_Power\", slambench::values::VT_DOUBLE},\n\t\t\t\t\t{\"DRAM_Power\", slambench::values::VT_DOUBLE}}\n\t\t);\n\t\treturn desc;\n\t}\n\n\tslambench::values::Value *endSample() {\n\n\t\tthis->vpowerA7 = 0.0;\n\t\tthis->vpowerA15 = 0.0;\n\t\tthis->vpowerGPU = 0.0;\n\t\tthis->vpowerDRAM = 0.0;\n\n\n\t\todroid_sample();\n\n\t\tauto v1 = new slambench::values::TypeForVT::type(this->vpowerA7);\n\t\tauto v2 = new slambench::values::TypeForVT::type(this->vpowerA15);\n\t\tauto v3 = new slambench::values::TypeForVT::type(this->vpowerGPU);\n\t\tauto v4 = new slambench::values::TypeForVT::type(this->vpowerDRAM);\n\n\t\treturn new slambench::values::TypeForVT::type({\n\t\t\t{\"A7_Power\", v1}, {\"A15_Power\", v2},\n\t\t\t{\"GPU_Power\", v3}, {\"DRAM_Power\", v4}});;\n\n\t}\n};\n#endif /* FRAMEWORK_INCLUDE_METRICS_POWER_UTILS_PAPI_MONITOR_H_ */\n" }, { "path": "framework/shared/include/outputs/Output.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef OUTPUT_H\n#define OUTPUT_H\n\n#include \"TimeStamp.h\"\n#include \"values/Value.h\"\n#include \"TrajectoryAlignmentMethod.h\"\n\n#include \n#include \n#include \n#include \n\nnamespace slambench {\n\tnamespace outputs {\n\t\tclass TrajectoryInterface;\n\t\t\n\t\t/**\n\t\t * Base output interface\n\t\t */\n\t\tclass BaseOutput {\n\t\tpublic:\n\t\t\ttypedef std::function callback_t;\n\t\t\t\n\t\t\ttypedef slambench::TimeStamp timestamp_t;\n\t\t\ttypedef std::map value_map_t;\n\t\t\t\n\t\t\tBaseOutput(const std::string &name, const values::ValueDescription &type, bool is_main_output = false);\n\t\t\tvirtual ~BaseOutput() = default;\n\t\t\t\n\t\t\tconst std::string &GetName() const { return name_; }\n\t\t\tvalues::ValueType GetType() const { return type_.GetType(); }\n\t\t\tconst values::ValueDescription &GetValueDescription() const { return type_; }\n\t\t\t\n\t\t\tvoid SetKeepOnlyMostRecent(bool only_most_recent) { only_keep_most_recent_ = only_most_recent; }\n\t\t\tbool GetKeepOnlyMostRecent() const { return only_keep_most_recent_; }\n\t\t\t\n\t\t\tbool IsActive() const { return active_; }\n\t\t\tvoid SetActive(bool active) { active_ = active; }\n\n\t\t\tvirtual const value_map_t &GetValues() const = 0;\n\t\t\tvirtual const value_map_t::value_type &GetMostRecentValue() const;\n\t\t\tvirtual bool Empty() const;\n\t\t\t\n\t\t\tbool IsMainOutput() const { return main_; }\n\t\t\t\n\t\t\tvoid AddUpdateCallback(callback_t callback) { update_callbacks_.push_back(callback); }\n\t\t\tvoid RemoveUpdateCallback(callback_t callback);\n\t\t\tvirtual void reset() {}\n\t\tprotected:\n\t\t\tvoid Updated() const;\n\t\t\t\n\t\tprivate:\n\t\t\tconst std::string name_;\n\t\t\tvalues::ValueDescription type_;\n\t\t\tbool only_keep_most_recent_;\n\t\t\tbool active_;\n\t\t\tbool main_;\n\n\t\t\tstd::vector update_callbacks_;\n\t\t};\n\t\t\n\t\t/**\n\t\t * Output which has values added to it and stores them in a map\n\t\t */\n\t\tclass Output : public BaseOutput {\n\t\tpublic:\n\t\t\tOutput(const std::string &name, values::ValueType type, bool main_output = false);\n\t\t\t~Output() override = default;\n\t\t\t\n\t\t\tvoid AddPoint(timestamp_t time, const values::Value *value);\n\n\t\t\tconst value_map_t &GetValues() const override;\n\t\t\tconst value_map_t::value_type &GetMostRecentValue() const override;\n\t\t\tvoid reset() override {\n\t\t\t\tvalues_.clear();\n\t\t\t}\n\t\tprivate:\n\t\t\tvalue_map_t values_;\n\t\t};\n\t\t\n\t\tclass DerivedOutput : public BaseOutput {\n\t\tpublic:\n\t\t\tDerivedOutput(const std::string &name, values::ValueType type, const std::initializer_list &derived_from, bool main = false);\n\t\t\t~DerivedOutput() override = default;\n\t\t\t\n\t\t\tbool Empty() const override;\n\t\t\tconst value_map_t::value_type& GetMostRecentValue() const override;\n\t\t\tconst BaseOutput::value_map_t& GetValues() const override;\n\t\t\tvoid Invalidate();\n\t\t\t\n\t\tprotected:\n\t\t\tvirtual void Recalculate() = 0;\n\t\t\tvalue_map_t &GetCachedValueMap();\n\t\tprivate:\n\t\t\tvoid recalculate() const;\n\t\t\tvalue_map_t cached_values_;\n\t\t\tstd::vector derived_from_;\n\t\t\tbool up_to_date_;\n\t\t};\n\t\t\n\t\tclass AlignmentOutput : public DerivedOutput {\n\t\tpublic:\n\t\t\tAlignmentOutput(const std::string &name, TrajectoryInterface *gt_trajectory, BaseOutput *trajectory, TrajectoryAlignmentMethod *method);\n\t\t\t~AlignmentOutput() override = default;\n\t\t\t\n\t\t\tvoid Recalculate() override;\n\t\t\tEigen::Matrix4f& getTransformation() {\n\t\t\t\treturn transformation_;\n\t\t\t}\n\t\t\t/* When freezed, the alignment will stop updating in recalculate() */\n\t\t\tvoid SetFreeze(bool freeze) { freeze_ = freeze; }\n\t\tprivate:\n\t\t\tbool freeze_;\n\t\t\tTrajectoryInterface *gt_trajectory_;\n\t\t\tBaseOutput *trajectory_;\n\t\t\tTrajectoryAlignmentMethod *method_;\n\t\t\tEigen::Matrix4f transformation_;\n\t\t};\n\t\t\n\t\tclass AlignedPoseOutput : public DerivedOutput {\n\t\tpublic:\n\t\t\tAlignedPoseOutput(const std::string &name, AlignmentOutput *alignment, BaseOutput *pose_output);\n\t\t\t~AlignedPoseOutput() override = default;\n\t\t\t\n\t\t\tvoid Recalculate() override;\n\t\tprivate:\n\t\t\tAlignmentOutput *alignment_;\n\t\t\tBaseOutput *pose_output_;\n\t\t};\n\t\t\n\t\t/**\n\t\t * An output which returns a transformed point cloud\n\t\t */\n\t\tclass AlignedPointCloudOutput : public DerivedOutput {\n\t\tpublic:\n\t\t\tAlignedPointCloudOutput(const std::string &name, AlignmentOutput *, BaseOutput *pc_output);\n\t\t\t~AlignedPointCloudOutput() override = default;\n\n\t\t\tvoid Recalculate() override;\n\n\t\tprivate:\n\t\t\tAlignmentOutput *alignment_;\n\t\t\tBaseOutput *pointcloud_;\n\t\t};\n\n\t\t/**\n\t\t * An output which returns an aligned trajectory\n\t\t */\n\t\tclass AlignedTrajectoryOutput : public DerivedOutput {\n\t\t\tpublic:\n\t\t\t\tAlignedTrajectoryOutput(const std::string &name, AlignmentOutput *, BaseOutput *trajectory_output);\n\t\t\t\t~AlignedTrajectoryOutput() override;\n\n\t\t\t\tvoid Recalculate() override;\n\t\t\tprivate:\n\t\t\t\tAlignmentOutput *alignment_;\n\t\t\t\tBaseOutput *trajectory_;\n\t\t};\n\t\t\n\t\t/**\n\t\t * An output which shows the quality of the reconstruction\n\t\t */\n\t\tclass PointCloudHeatMap : public DerivedOutput {\n\t\tpublic:\n\t\t\tPointCloudHeatMap(const std::string &name,\n\t\t\t\t\t\t\t BaseOutput *gt_pointcloud, BaseOutput *pointcloud,\n\t\t\t\t\t\t\t const std::function &convert);\n\t\t\t~PointCloudHeatMap() override = default;\n\n\t\t\tvoid Recalculate() override;\n\t\t\tstd::function convert;\n\t\tprivate:\n\t\t\tBaseOutput *gt_pointcloud_;\n\t\t\tBaseOutput *pointcloud_;\n\t\t};\n\n\t\tclass PoseToXYZOutput : public BaseOutput {\n\t\tpublic:\n\t\t\tPoseToXYZOutput(BaseOutput *pose_output);\n\t\t\t~PoseToXYZOutput() override = default;\n\t\t\tconst BaseOutput::value_map_t& GetValues() const override;\n\t\t\tconst value_map_t::value_type& GetMostRecentValue() const override;\n\t\t\t\n\t\tprivate:\n\t\t\tBaseOutput *pose_output_;\n\t\t\tmutable value_map_t cached_values_;\n\t\t};\n\t}\n}\n\n#endif /* OUTPUT_H */\n\n" }, { "path": "framework/shared/include/outputs/OutputManager.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef OUTPUTMANAGER_H\n#define OUTPUTMANAGER_H\n\n#include \"utils.h\"\n#include \"Output.h\"\n\n#include \"io/SLAMFile.h\"\n#include \"io/SLAMFrame.h\"\n#include \"io/sensor/SensorCollection.h\"\n\n#include \n#include \n#include \n\nnamespace slambench {\n\tnamespace outputs {\n\t\tclass Output;\n\t\t\n\t\tclass OutputManager {\n\t\tpublic:\n\t\t\ttypedef std::map output_map_t;\n\t\t\ttypedef output_map_t::iterator output_map_iterator_t;\n\t\t\t\n\t\t\t~OutputManager();\n\t\t\t\n\n\t\t\tvoid LoadGTOutputsFromSLAMFile(io::SLAMFile *file);\n\t\t\tvoid LoadGTOutputsFromSLAMFile(io::SensorCollection &sensors, io::FrameCollection *gt_frames, bool with_point_cloud);\n\t\t\t\n\t\t\tvoid RegisterOutput(BaseOutput *output);\n\t\t\t\n\t\t\tBaseOutput *GetOutput(const std::string &outputname);\n\t\t\tBaseOutput *GetMainOutput(slambench::values::ValueType);\n\t\t\t\n\t\t\toutput_map_iterator_t begin() { return output_map_.begin(); }\n\t\t\toutput_map_iterator_t end() { return output_map_.end(); }\n\t\t\t\n\t\t\tbool WriteFile(const std::string &filename);\n\t\t\tsize_t OutputCount() const { return output_map_.size(); }\n\t\t\t\n\t\t\tFastLock &GetLock() { return lock_; }\n\t\tprivate:\n\t\t\tstd::map output_map_;\n\t\t\tFastLock lock_;\n\t\t};\n\t}\n}\n\n#endif /* OUTPUTMANAGER_H */\n" }, { "path": "framework/shared/include/outputs/OutputManagerWriter.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef OUTPUTMANAGERWRITER_H\n#define OUTPUTMANAGERWRITER_H\n\n#include \"io/SLAMFile.h\"\n#include \"TimeStamp.h\"\n\n#include \n#include \n\nnamespace slambench {\n\tnamespace values {\n\t\tclass Value;\n\t\tclass PoseValue;\n\t\tclass PointCloudValue;\n\t}\n\tnamespace outputs {\n\t\tclass BaseOutput;\n\t\tclass OutputManager;\n\t\t\n\t\tclass OutputManagerWriter {\n\t\tpublic:\n\t\t\tslambench::io::SLAMFile *GetFile(OutputManager &outman);\n\t\t\tbool Write(OutputManager &outman, const std::string &filename);\n\t\t\t\n\t\tprivate:\n\t\t\tbool CreateSensors(OutputManager &outman, slambench::io::SLAMFile &file);\n\t\t\t\n\t\t\tbool CreateFrames(OutputManager &outman, slambench::io::SLAMFile &file);\n\t\t\tslambench::io::SLAMFrame *CreateFrame(BaseOutput *output, TimeStamp ts,const values::Value* value);\n\t\t\tslambench::io::SLAMFrame *CreatePoseFrame(BaseOutput *output, TimeStamp ts,const values::PoseValue* value);\n\t\t\tslambench::io::SLAMFrame *CreatePointCloudFrame(BaseOutput *output, TimeStamp ts,const values::PointCloudValue* value);\n\t\t\t\n\t\t\tslambench::io::Sensor *CreateSensor(const BaseOutput *output);\n\t\t\tslambench::io::Sensor *CreatePoseSensor(const BaseOutput *output);\n\t\t\tslambench::io::Sensor *CreatePointCloudSensor(const BaseOutput *output);\n\t\t\t\n\t\t\tbool SerialiseFile(slambench::io::SLAMFile &file, const std::string &filename);\n\t\t\t\n\t\t\tstd::map output_map_;\n\t\t};\n\t}\n}\n\n#endif /* OUTPUTMANAGERWRITER_H */\n\n" }, { "path": "framework/shared/include/outputs/PoseOutput.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef POSEOUTPUT_H\n#define POSEOUTPUT_H\n\nnamespace slambench {\n\tnamespace outputs {\n\t\tclass PoseOutput {\n\t\tpublic:\n\t\t\t\n\t\tprivate:\n\t\t\t\n\t\t};\n\t}\n}\n\n#endif /* POSEOUTPUT_H */\n\n" }, { "path": "framework/shared/include/outputs/TrajectoryAlignmentMethod.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef TRAJECTORYALIGNMENTMETHOD_H\n#define TRAJECTORYALIGNMENTMETHOD_H\n\n#include \"values/Value.h\"\n\n#include \n#include \n\nnamespace slambench {\n namespace outputs {\n\n class Output;\n\n class TrajectoryAlignmentMethod {\n public:\n typedef slambench::values::TrajectoryValue::pose_container_t trajectory_t;\n virtual Eigen::Matrix4f operator()(const trajectory_t &ground_truth, const trajectory_t &trajectory) = 0;\n virtual ~TrajectoryAlignmentMethod() {};\n };\n\n class OriginalTrajectoryAlignmentMethod : public TrajectoryAlignmentMethod {\n public:\n virtual Eigen::Matrix4f operator()(const trajectory_t &ground_truth, const trajectory_t &trajectory) override;\n };\n\n\n class UmeyamaTrajectoryAlignmentMethod : public TrajectoryAlignmentMethod {\n public:\n Eigen::Matrix4f operator()(const trajectory_t &ground_truth, const trajectory_t &trajectory) override;\n };\n\n class NewTrajectoryAlignmentMethod : public TrajectoryAlignmentMethod {\n public:\n virtual Eigen::Matrix4f operator()(const trajectory_t &ground_truth, const trajectory_t &trajectory) override;\n };\n }\n}\n\n#endif /* TRAJECTORYALIGNMENTMETHOD_H */\n\n" }, { "path": "framework/shared/include/outputs/TrajectoryInterface.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef TRAJECTORYINTERFACE_H\n#define TRAJECTORYINTERFACE_H\n\n#include \"outputs/Output.h\"\n#include \"values/Value.h\"\n\nnamespace slambench {\n\tnamespace outputs {\n\t\t\n\t\t/**\n\t\t * We want to treat multiple things as trajectories so we need a way\n\t\t * of interfacing with these things in a consistent way.\t\t \n\t\t */\n\t\tclass TrajectoryInterface {\n\t\tpublic:\n\t\t\tvirtual values::PoseValue Get(const TimeStamp &when) const = 0;\n\t\t\tvirtual values::TrajectoryValue::pose_container_t GetAll() const = 0;\n\t\t};\n\t\t\n\t\tclass PoseOutputTrajectoryInterface : public TrajectoryInterface {\n\t\tpublic:\n\t\t\tPoseOutputTrajectoryInterface(BaseOutput *pose_output);\n\t\t\t~PoseOutputTrajectoryInterface() = default;\n\t\t\t\n\t\t\tvalues::PoseValue Get(const TimeStamp& when) const override;\n\t\t\tvalues::TrajectoryValue::pose_container_t GetAll() const override;\n\t\t\t\n\t\tprivate:\n\t\t\tvoid recalculate() const;\n\t\t\tBaseOutput *pose_output_;\n\t\t\tmutable TimeStamp newest_point_;\n\t\t\tmutable values::TrajectoryValue::pose_container_t cached_traj_;\n\t\t};\n\n\t\t/**\n\t\t * Wrapper for TrajectoryValue to implement the TrajectoryInterface\n\t\t **/\n\t\tclass TrajectoryValueWrapper : public TrajectoryInterface {\n\t\t\tprivate:\n\t\t\t\tconst values::TrajectoryValue *trajectoryValue_;\n\n\t\t\tpublic:\n\t\t\t\tTrajectoryValueWrapper(const values::TrajectoryValue *t);\n\n\t\t\tvalues::PoseValue Get(const TimeStamp &when) const override;\n\t\t\tvalues::TrajectoryValue::pose_container_t GetAll() const override;\n\t\t};\n\n\t\tclass TrajectoryOutputInterface : public TrajectoryInterface {\n\t\t\tprivate:\n\t\t\t\tconst BaseOutput *trajectory_output_;\n\t\t\tpublic:\n\t\t\t\tTrajectoryOutputInterface(const BaseOutput *t);\n\n\t\t\t\tvalues::PoseValue Get(const TimeStamp &when) const override; \n\t\t\t\tvalues::TrajectoryValue::pose_container_t GetAll() const override;\n\t\t};\n\t}\n}\n\n#endif /* TRAJECTORYINTERFACE_H */\n\n" }, { "path": "framework/shared/include/sb_malloc.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef SB_MALLOC_H_\n#define SB_MALLOC_H_\n\n#include \n\n#include \n#include \n#include \n\n\n#define MEM_ERROR(...) printf( __VA_ARGS__ );\n#define MEM_DEBUG(...) printf( __VA_ARGS__ );\n#define NO_MEM_DEBUG\n#ifdef NO_MEM_DEBUG\n#undef MEM_DEBUG\n#define MEM_DEBUG(...)\n#endif\n\n\n#ifdef ANDROID\nextern \"C\" {\nvoid *malloc(size_t size) ;\nvoid free(void* ptr) ;\n}\n#else\nextern \"C\" {\nvoid *malloc(size_t size) throw();\nvoid free(void* ptr) throw();\n}\n#endif\n\nnamespace slambench {\n\tnamespace memory {\n\t\tclass MemoryProfiler;\n\t\t\n\t\tclass MemoryData {\n\t\t\tfriend class MemoryProfiler;\n\t\t\tpublic:\n\t\t\t\tMemoryData() : TotalBytesAllocated(0), MaxBytesAllocated(0), BytesAllocatedAtEndOfFrame(0) {}\n\t\t\t\n\t\t\t\tssize_t TotalBytesAllocated;\n\t\t\t\tssize_t MaxBytesAllocated;\n\t\t\t\tssize_t BytesAllocatedAtEndOfFrame;\n\n\t\t\t\tvoid ResetBytesAllocated () {\n\t\t\t\t\tMaxBytesAllocated = BytesAllocatedAtEndOfFrame;\n\t\t\t\t}\n\t\t\tprivate:\n\t\t\t\tvoid RecordAllocation(ssize_t bytes) \n\t\t\t\t{ \n\t\t\t\t\tTotalBytesAllocated += bytes; \n\t\t\t\t\tBytesAllocatedAtEndOfFrame += bytes; \n\t\t\t\t\tif(BytesAllocatedAtEndOfFrame > MaxBytesAllocated) \n\t\t\t\t\t{\n\t\t\t\t\t\tMaxBytesAllocated = BytesAllocatedAtEndOfFrame; \n\t\t\t\t\t}\n\t\t\t\t\tMEM_DEBUG(\"%ld RecordAllocation:%ld\\n\" , BytesAllocatedAtEndOfFrame , bytes) ;\n\t\t\t\t}\n\t\t\t\t\n\t\t\t\tvoid RecordFree(ssize_t bytes)\n\t\t\t\t{\n\t\t\t\t\tBytesAllocatedAtEndOfFrame -= bytes;\n\t\t\t\t\tMEM_DEBUG(\"%ld RecordFree:%ld\\n\" , BytesAllocatedAtEndOfFrame , bytes) ;\n\t\t\t\t}\n\t\t};\n\t\t\n\t\tclass MemoryProfile {\n\t\t\tfriend class MemoryProfiler;\n\t\t\tpublic:\n\t\t\t\tstatic MemoryProfile singleton;\n\t\t\t\t\n\t\t\t\tvoid StartFrame(int i);\n\t\t\t\tvoid EndFrame();\n\t\t\t\t\n\t\t\t\tvoid StartAlgorithm();\n\t\t\t\tvoid EndAlgorithm();\n\t\t\t\t\n\t\t\t\tvoid ResetBytesAllocated () {\n\t\t\t\t\toverall_data_.ResetBytesAllocated();\n\t\t\t\t}\n\t\t\t\tvoid ResetGPUBytesAllocated () {\n\t\t\t\t\toverall_gpu_data_.ResetBytesAllocated();\n\t\t\t\t}\n\t\t\t\tconst MemoryData &GetDataForFrame(uint32_t frame_idx) const { return data_.at(frame_idx); }\n\t\t\t\tconst MemoryData &GetDataForCurrentFrame() const { return GetDataForFrame(GetCurrentFrame()); }\n\t\t\t\tconst MemoryData &GetOverallData() const { return overall_data_; }\n\t\t\t\t\n\t\t\t\tconst MemoryData &GetGPUDataForFrame(uint32_t frame_idx) const { return gpu_data_.at(frame_idx); }\n\t\t\t\tconst MemoryData &GetGPUDataForCurrentFrame() const { return GetGPUDataForFrame(GetCurrentFrame()); }\n\t\t\t\tconst MemoryData &GetOverallGPUData() const { return overall_gpu_data_; }\n\n\t\t\t\tbool HasDataForFrame(uint32_t frame_idx) const { return data_.count(frame_idx); }\n\t\t\t\t\n\t\t\t\tuint32_t GetCurrentFrame() const { return _frame; };\n\t\t\tprivate:\n\t\t\t\tstd::map data_;\n\t\t\t\tstd::map gpu_data_;\n\t\t\t\tMemoryData overall_data_;\n\t\t\t\tMemoryData overall_gpu_data_;\n\t\t\t\tuint32_t _frame;\n\t\t\t\t\n\n\t\t\t\tMemoryData &DataForFrame(uint32_t frame_idx) { return data_[frame_idx]; }\n\t\t\t\tMemoryData &GPUDataForFrame(uint32_t frame_idx) { return gpu_data_[frame_idx]; }\n\t\t\t\tMemoryData &GPUDataForCurrentFrame() { return GPUDataForFrame(GetCurrentFrame()); }\n\t\t\t\tMemoryData &DataForCurrentFrame() { return DataForFrame(GetCurrentFrame()); }\n\t\t\t\tMemoryData &OverallData() { return overall_data_; }\n\t\t\t\tMemoryData &OverallGPUData() { return overall_gpu_data_; }\n\t\t};\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/include/sysutils.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef SYSUTILS_H_\n#define SYSUTILS_H_\n\n#include \"sys/types.h\"\n#include \"sys/sysinfo.h\"\n\ninline int parseLine(char* line){\n int i = strlen(line);\n while (*line < '0' || *line > '9') line++;\n line[i-3] = '\\0';\n i = atoi(line);\n return i;\n}\n\ninline int getValueVmSize(){ //Note: this value is in KB!\n FILE* file = fopen(\"/proc/self/status\", \"r\");\n int result = -1;\n char line[128];\n\n\n while (fgets(line, 128, file) != NULL){\n if (strncmp(line, \"VmSize:\", 7) == 0){\n result = parseLine(line);\n break;\n }\n }\n fclose(file);\n return result;\n}\n\ninline int getValueVmRSS(){ //Note: this value is in KB!\n FILE* file = fopen(\"/proc/self/status\", \"r\");\n int result = -1;\n char line[128];\n\n\n while (fgets(line, 128, file) != NULL){\n if (strncmp(line, \"VmRSS:\", 6) == 0){\n result = parseLine(line);\n break;\n }\n }\n fclose(file);\n return result;\n}\n#endif /* SYSUTILS_H_ */\n" }, { "path": "framework/shared/include/timings.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef TIMINGS_H\n#define TIMINGS_H\n\n#ifdef __APPLE__\n#include /* clock_t, clock, CLOCKS_PER_SEC */\n#else\n#include \n#include \n\n#endif\n\n\ninline float tick() {\n std::chrono::time_point tickdata;\n tickdata = std::chrono::high_resolution_clock::now();\n static struct timeval t;\n\n struct timeval diff = t;\n gettimeofday(&t, NULL);\n\n return ((t.tv_sec - diff.tv_sec) * 1000000u + t.tv_usec - diff.tv_usec)\n / 1.e6;\n\n}\n\ninline double tock() {\n#ifdef __APPLE__\n\t\tclock_serv_t cclock;\n\t\tmach_timespec_t clockData;\n\t\thost_get_clock_service(mach_host_self(), SYSTEM_CLOCK, &cclock);\n\t\tclock_get_time(cclock, &clockData);\n\t\tmach_port_deallocate(mach_task_self(), cclock);\n\t\treturn (double) clockData.tv_sec + clockData.tv_nsec / 1000000000.0;\n#else\n\t\tstatic auto base = std::chrono::high_resolution_clock::now();\n\t\tauto end_of_computation = std::chrono::high_resolution_clock::now();\n\t\tstd::chrono::duration total_time = end_of_computation - base;\n\t\treturn total_time.count();\n#endif\n}\n//// this is duplicated to fix otherwise missing references in some of the algorithms\n//inline double TICK()\n//{\n// return tock();\n//}\n//inline double TOCK(std::string str=\"\", int size=0)\n//{\n// return tock();\n//}\n\n#endif //TIMINGS_H\n" }, { "path": "framework/shared/include/utils.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef FRAMEWORK_SHARED_INCLUDE_UTILS_H_\n#define FRAMEWORK_SHARED_INCLUDE_UTILS_H_\n\n#include \n#include \n#include \n\ninline std::string getFileExt(const std::string& s) {\n\n std::string str = \"\";\n size_t i = s.rfind('.', s.length());\n if (i != std::string::npos) {\n str = (s.substr(i+1, s.length() - i));\n std::transform(str.begin(), str.end(),str.begin(), ::toupper);\n }\n return str;\n}\n\nclass FastLock {\npublic:\n\tFastLock() { flag_.clear(); }\n\tvoid lock() { while(flag_.test_and_set()) ; }\n\tvoid unlock() { flag_.clear(); }\n\t\nprivate:\n\tstd::atomic_flag flag_;\n};\n\n#endif /* FRAMEWORK_SHARED_INCLUDE_UTILS_H_ */\n" }, { "path": "framework/shared/include/values/Value.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef OUTPUT_VALUE_H\n#define OUTPUT_VALUE_H\n\n#include \"TimeStamp.h\"\n#include \"io/PixelFormat.h\"\n\n#include \n#include \n#include \n\n#include \n\nnamespace slambench {\n\tnamespace values {\n\t\tclass ConstValueDispatch;\n\t\tclass ValueDispatch;\n\n\t\tenum ValueType {\n\t\t\tVT_UNKNOWN, // Represents an initialised or invalid VT\n\n\t\t\tVT_COLLECTION, // Can represent a structured collection of values of other types\n\t\t\tVT_LIST, // Can represent a flat list of values of other types\n\n\t\t\tVT_U64, // Can represent an arbitrary 64-bit value\n\t\t\tVT_DOUBLE, // Can represent an arbitrary double-precision float\n\t\t\tVT_STRING, // Can represent a text string\n\t\t\tVT_TRAJECTORY, // Represents a sequence of poses\n\t\t\tVT_POSE, // A matrix which specifically represents a pose (position + orientation)\n\t\t\tVT_POINTCLOUD, // A list of point positions\n\t\t\tVT_COLOUREDPOINTCLOUD, // A list of point positions with colours\n\t\t\tVT_HEATMAPPOINTCLOUD, // A pointcloud for visualising values\n\t\t\tVT_FEATURE, // A tracked feature\n\t\t\tVT_FEATURELIST,\n\t\t\tVT_FRAME,\n\t\t\tVT_MATRIX //Can represent an arbitrary matrix\n\t\t};\n\n\t\tstatic inline const std::string TypeAsString (const ValueType& v) {\n\t\t\tswitch (v) {\n\t\t\tcase VT_COLLECTION : return \"VT_COLLECTION \";\n\t\t\tcase VT_LIST : return \"VT_LIST \";\n\t\t\tcase VT_U64 : return \"VT_U64 \";\n\t\t\tcase VT_DOUBLE : return \"VT_DOUBLE \";\n\t\t\tcase VT_STRING : return \"VT_STRING \";\n\t\t\tcase VT_TRAJECTORY : return \"VT_TRAJECTORY \";\n\t\t\tcase VT_POSE : return \"VT_POSE \";\n\t\t\tcase VT_POINTCLOUD : return \"VT_POINTCLOUD \";\n\t\t\tcase VT_COLOUREDPOINTCLOUD : return \"VT_COLOUREDPOINTCLOUD \";\n\t\t\tcase VT_HEATMAPPOINTCLOUD : return \"VT_HEATMAPPOINTCLOUD \";\n\t\t\tcase VT_FEATURE : return \"VT_FEATURE \";\n\t\t\tcase VT_FEATURELIST : return \"VT_FEATURELIST \";\n\t\t\tcase VT_FRAME : return \"VT_FRAME \";\n\t\t\tcase VT_MATRIX : return \"VT_MATRIX \";\n\t\t\tcase VT_UNKNOWN :\n\t\t\tdefault : return \"VT_UNKNOWN \";\n\n\t\t\t}\n\t\t}\n\n\t\tclass ValueDescription {\n\t\tpublic:\n\t\t\ttypedef std::vector> structured_description;\n\n\t\t\tValueDescription(ValueType type);\n\t\t\tValueDescription(const structured_description &structured_desc);\n\n\t\t\tValueType GetType() const;\n\t\t\tconst structured_description &GetStructureDescription() const;\n\t\tprivate:\n\t\t\tValueType type_;\n\t\t\tstructured_description structured_type_;\n\t\t};\n\n\t\tclass Value {\n\t\tpublic:\n\t\t\tValue(ValueType type) : value_type_(type) {}\n\n\t\t\tValueType GetType() const { return value_type_; }\n\t\t\tvirtual ~Value();\n\n\t\t\tvoid Dispatch(ValueDispatch *vd);\n\t\t\tvoid Dispatch(ConstValueDispatch *vd) const;\n\n\t\tprivate:\n\t\t\tValueType value_type_;\n\t\t};\n\n\t\t// Fail if no specializations are provided\n\t\ttemplate struct TypeForVT;\n\t\ttemplate struct VTForType;\n\n\t\ttemplate class TypedValue : public Value {\n\t\tpublic:\n\t\t\tTypedValue() : Value(VTForType::value()) {}\n\t\t\tTypedValue(const T& val) : Value(VTForType::value()), value_(val) {}\n\n\t\t\tconst T &GetValue() const { return value_; }\n\t\tprivate:\n\t\t\tT value_;\n\t\t};\n\n\t\tclass ValueCollectionValue : public Value {\n\t\tpublic:\n\t\t\ttypedef std::vector> value_map_t;\n\n\t\t\tValueCollectionValue() : Value(VT_COLLECTION) {}\n\t\t\tValueCollectionValue(const std::initializer_list &values) : Value(VT_COLLECTION), values_(values) {}\n\t\t\t~ValueCollectionValue();\n\n\t\t\tconst value_map_t &GetValue() const { return values_; }\n\n\t\tprivate:\n\t\t\tvalue_map_t values_;\n\t\t};\n\n\t\tclass ValueListValue : public Value {\n\t\tpublic:\n\t\t\ttypedef std::vector value_list;\n\n\t\t\tValueListValue() : Value(VT_LIST) {}\n\t\t\tValueListValue(const std::initializer_list &values) : Value(VT_LIST), values_(values) {}\n\t\t\tValueListValue(const std::vector &values) : Value(VT_LIST), values_(values) {}\n\t\t\t~ValueListValue();\n\n\t\t\tconst value_list &GetValue() const { return values_; }\n\n\t\tprivate:\n\t\t\tvalue_list values_;\n\t\t};\n\n\t\tclass PoseValue : public Value {\n\t\tpublic:\n\t\t\tPoseValue(const Eigen::Matrix4f &pose) : Value(VT_POSE), pose_(pose) {}\n Eigen::Vector3f GetTranslation() const { return pose_.block<3,1>(0,3);\t}\n Eigen::Matrix3f GetRotation() const\t{ return pose_.block<3,3>(0,0);}\n const Eigen::Matrix4f &GetValue() const { return pose_; }\n\t\tprivate:\n\t\t\tEigen::Matrix4f pose_;\n\t\t};\n\n\t\tclass Trajectory {\n\t\tpublic:\n\t\t\ttypedef std::pair value_t;\n\t\tprivate:\n\t\t\ttypedef std::vector storage_t;\n\t\tpublic:\n\t\t\ttypedef storage_t::const_iterator const_iterator_t;\n\t\t\ttypedef storage_t::const_reverse_iterator const_reverse_iterator_t;\n\n\t\t\tconst value_t &at(unsigned int i) const {\n\t\t\t\treturn values_.at(i);\n\t\t\t}\n\n\t\t\tconst PoseValue &at(const TimeStamp &ts) const {\n\t\t\t\t//todo: search more intelligently\n\t\t\t\tfor(auto &i : values_) {\n\t\t\t\t\tif(i.first == ts) {\n\t\t\t\t\t\treturn i.second;\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t\tthrow std::out_of_range(\"Could not find timestamp in trajectory\");\n\t\t\t}\n\t\t\tvoid push_back(const TimeStamp &ts, const PoseValue &pose) {\n\t\t\t\tif(!empty() && ts < values_.rbegin()->first) {\n\t\t\t\t throw std::invalid_argument(\"Trajectory is append-only (inserted timestamp is before most recent recorded point)\");\n\t\t\t\t}\n\t\t\t\tvalues_.push_back(value_t(ts, pose));\n\t\t\t}\n\t\t\tvoid insert(const value_t &value) { push_back(value.first, value.second); }\n\n\t\t\tsize_t size() const { return values_.size(); }\n\t\t\tbool empty() const { return values_.size() == 0; }\n\n\t\t\tvoid clear() { values_.clear(); }\n\n\t\t\tconst_iterator_t begin() const { return values_.begin(); }\n\t\t\tconst_reverse_iterator_t rbegin() const { return values_.rbegin(); }\n\t\t\tconst_iterator_t end() const { return values_.end(); }\n\t\t\tconst_reverse_iterator_t rend() const { return values_.rend(); }\n\t\tprivate:\n\t\t\tstd::vector> values_;\n\t\t};\n\n\t\tclass TrajectoryValue : public Value {\n\t\tpublic:\n\t\t\ttypedef Trajectory pose_container_t;\n\n\t\t\tTrajectoryValue() : Value(VT_TRAJECTORY) {}\n\t\t\tTrajectoryValue(const pose_container_t &trajectory) : Value(VT_TRAJECTORY), poses_(trajectory) {}\n\t\t\tconst pose_container_t &GetPoints() const { return poses_; }\n\t\tprivate:\n\t\t\tpose_container_t poses_;\n\t\t};\n\n\t\tclass Point3DF {\n\t\tpublic:\n\t\t\tPoint3DF() : X(0), Y(0), Z(0) {}\n\t\t\tPoint3DF(float x, float y, float z) : X(x), Y(y), Z(z) {}\n\t\t\tfloat X, Y, Z;\n\t\t};\n\n\t\tclass ColoredPoint3DF {\n\t\tpublic:\n\t\t\tColoredPoint3DF() : X(0), Y(0), Z(0) , R(0), G(0), B(0) {}\n\t\t\tColoredPoint3DF(float x, float y, float z) : X(x), Y(y), Z(z), R(0), G(0), B(0) {}\n\t\t\tColoredPoint3DF(float x, float y, float z, uint8_t r, uint8_t g, uint8_t b) : X(x), Y(y), Z(z), R(r), G(g), B(b) {}\n\t\t\tfloat X, Y, Z;\n\t\t\tuint8_t R, G, B;\n\t\t};\n\n\t\tclass HeatMapPoint3DF {\n\t\tpublic:\n\t\t\tHeatMapPoint3DF() : X(0), Y(0), Z(0) , value(0) {}\n\t\t\tHeatMapPoint3DF(float x, float y, float z, double value) : X(x), Y(y), Z(z), value(value) {}\n\t\t\tfloat X, Y, Z;\n\t\t\tdouble value;\n\t\t};\n\n\n\n\t\tclass PointCloudValue : public Value {\n\t\tpublic:\n\t\t\ttypedef std::vector point_container_t;\n\n\t\t\tPointCloudValue() : Value(VT_POINTCLOUD), points_(std::make_shared()), transform_(Eigen::Matrix4f::Identity()) { }\n\t\t\tPointCloudValue(const PointCloudValue &other) : Value(VT_POINTCLOUD), points_(other.points_), transform_(other.transform_) { }\n\t\t\tvirtual ~PointCloudValue() { }\n\n\t\t\tvoid AddPoint(const Point3DF &point) { makeUnique(); points_->push_back(point); }\n\t\t\tvoid Clear() { makeUnique(); points_->clear(); }\n\n\t\t\tconst point_container_t &GetPoints() const { assert(points_); return *points_; }\n\n\t\t\tconst Eigen::Matrix4f &GetTransform() const { return transform_; }\n\t\t\tvoid SetTransform(const Eigen::Matrix4f &new_txfm) { transform_ = new_txfm; }\n\n\t\tprivate:\n\t\t\tvoid makeUnique() { if(!points_.unique()) { points_ = std::make_shared(*points_); } }\n\n\t\t\tstd::shared_ptr points_;\n\t\t\tEigen::Matrix4f transform_;\n\t\t};\n\n\n\n\t\tclass HeatMapPointCloudValue : public Value {\n\t\tpublic:\n\t\t\ttypedef std::vector point_container_t;\n\n\t\t\tHeatMapPointCloudValue() : Value(VT_HEATMAPPOINTCLOUD), points_(std::make_shared()), transform_(Eigen::Matrix4f::Identity()) { }\n\t\t\tHeatMapPointCloudValue(const HeatMapPointCloudValue &other) : Value(VT_HEATMAPPOINTCLOUD), points_(other.points_), transform_(other.transform_) { }\n\t\t\tvirtual ~HeatMapPointCloudValue() { }\n\n\t\t\tvoid AddPoint(const HeatMapPoint3DF &point) { makeUnique(); points_->push_back(point); }\n\t\t\tvoid Clear() { makeUnique(); points_->clear(); }\n\n\t\t\tconst point_container_t &GetPoints() const { assert(points_); return *points_; }\n\n\t\t\tconst Eigen::Matrix4f &GetTransform() const { return transform_; }\n\t\t\tvoid SetTransform(const Eigen::Matrix4f &new_txfm) { transform_ = new_txfm; }\n\n\t\tprivate:\n\t\t\tvoid makeUnique() { if(!points_.unique()) { points_ = std::make_shared(*points_); } }\n\n\t\t\tstd::shared_ptr points_;\n\t\t\tEigen::Matrix4f transform_;\n\t\t};\n\n\n\t\tclass ColoredPointCloudValue : public Value {\n\t\tpublic:\n\t\t\ttypedef std::vector point_container_t;\n\n\t\t\tColoredPointCloudValue() : Value(VT_COLOUREDPOINTCLOUD), points_(std::make_shared()), transform_(Eigen::Matrix4f::Identity()) { }\n\t\t\tColoredPointCloudValue(const ColoredPointCloudValue &other) : Value(VT_COLOUREDPOINTCLOUD), points_(other.points_), transform_(other.transform_) { }\n\t\t\tColoredPointCloudValue(const HeatMapPointCloudValue &other, std::function convert) :\n\t\t\t\t\t\tValue(VT_HEATMAPPOINTCLOUD),\n\t\t\t\t\t\tpoints_(std::make_shared()),\n\t\t\t\t\t\ttransform_(Eigen::Matrix4f::Identity()) {\n\t\t\t\tconst auto otherValues = other.GetPoints();\n\t\t\t\tpoints_->reserve(otherValues.size());\n\t\t\t\tdouble max = 0, min = std::numeric_limits::max();\n\t\t\t\tfor (const auto &otherValue : otherValues) {\n\t\t\t\t\tmin = std::min(otherValue.value, min);\n\t\t\t\t\tmax = std::max(otherValue.value, max);\n\t\t\t\t}\n\t\t\t\tfor (const auto &otherValue : otherValues)\n\t\t\t\t\tpoints_->push_back(convert(otherValue, min, max));\n\t\t\t}\n\t\t\tvirtual ~ColoredPointCloudValue() { }\n\n\t\t\tvoid AddPoint(const ColoredPoint3DF &point) { makeUnique(); points_->push_back(point); }\n\t\t\tvoid Clear() { makeUnique(); points_->clear(); }\n\n\t\t\tconst point_container_t &GetPoints() const { assert(points_); return *points_; }\n\n\t\t\tconst Eigen::Matrix4f &GetTransform() const { return transform_; }\n\t\t\tvoid SetTransform(const Eigen::Matrix4f &new_txfm) { transform_ = new_txfm; }\n\n\t\tprivate:\n\t\t\tvoid makeUnique() { if(!points_.unique()) { points_ = std::make_shared(*points_); } }\n\n\t\t\tstd::shared_ptr points_;\n\t\t\tEigen::Matrix4f transform_;\n\t\t};\n\n\n\t\tclass FrameValue : public Value {\n\t\tpublic:\n\t\t\tFrameValue(const FrameValue&);\n\t\t\tFrameValue(uint32_t width, uint32_t height, slambench::io::pixelformat::EPixelFormat pxl_format, void *data);\n\t\t\tFrameValue(uint32_t width, uint32_t height, slambench::io::pixelformat::EPixelFormat pxl_format);\n\n\t\t\tvoid *GetData() { return data_.data(); }\n const void *GetData() const { return data_.data(); }\n unsigned char at(int row, int col) const { return data_.at(row*height_+col); } //NOTE: assumes row-major\n\t\t\tuint32_t GetWidth() const { return width_; }\n\t\t\tuint32_t GetHeight() const { return height_; }\n\t\t\tslambench::io::pixelformat::EPixelFormat GetFormat() const { return pxl_format_; }\n\n\t\tprivate:\n\t\t\tuint32_t width_, height_;\n\t\t\tslambench::io::pixelformat::EPixelFormat pxl_format_;\n\t\t\tstd::vector data_;\n\t\t};\n\n\t\tclass FeatureValue : public Value {\n\t\tpublic:\n\t\t\tFeatureValue(const Eigen::Matrix4f &pose, const FrameValue &patch);\n\t\t\tvirtual ~FeatureValue();\n\n\t\t\tFrameValue &GetPatch() { return image_patch_; }\n\t\t\tEigen::Matrix4f &GetPose() { return pose_; }\n\n\t\tprivate:\n\t\t\tFrameValue image_patch_;\n\t\t\tEigen::Matrix4f pose_;\n\t\t};\n\n\t\t/* Specialisations of VT traits live down here */\n\n\t\ttemplate<> struct TypeForVT { typedef ValueCollectionValue type; };\n\t\ttemplate<> struct TypeForVT { typedef TypedValue type; };\n\t\ttemplate<> struct TypeForVT { typedef TypedValue type; };\n\t\ttemplate<> struct TypeForVT { typedef TypedValue type; };\n\t\ttemplate<> struct TypeForVT { typedef TrajectoryValue type; };\n\t\ttemplate<> struct TypeForVT { typedef PoseValue type; };\n\t\ttemplate<> struct TypeForVT { typedef PointCloudValue type; };\n\t\ttemplate<> struct TypeForVT { typedef TypedValue type; };\n\n\t\ttemplate<> struct VTForType { static constexpr ValueType value() { return VT_U64; } };\n\t\ttemplate<> struct VTForType { static constexpr ValueType value() { return VT_DOUBLE; } };\n\t\ttemplate<> struct VTForType { static constexpr ValueType value() { return VT_STRING; } };\n\t\ttemplate<> struct VTForType { static constexpr ValueType value() { return VT_MATRIX; } };\n\t}\n}\n\n#endif /* OUTPUT_VALUE_H */\n\n" }, { "path": "framework/shared/include/values/ValueDispatch.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef VALUEDISPATCH_H\n#define VALUEDISPATCH_H\n\n#include \"Value.h\"\n\nnamespace slambench {\n\tnamespace values {\n\t\tclass Value;\n\t\t\n\t\tclass ValueDispatch {\n\t\tpublic:\n\t\t\tvirtual ~ValueDispatch();\n\t\t\t\n#define DISPATCH(vt) virtual void Dispatch(TypeForVT::type *value) = 0;\n\t\t\tDISPATCH(VT_COLLECTION);\n\t\t\tDISPATCH(VT_U64);\n\t\t\tDISPATCH(VT_DOUBLE);\n\t\t\tDISPATCH(VT_STRING);\n\t\t\tDISPATCH(VT_TRAJECTORY);\n\t\t\tDISPATCH(VT_POSE);\n\t\t\tDISPATCH(VT_POINTCLOUD);\n\t\t\tDISPATCH(VT_MATRIX);\n#undef DISPATCH\n\t\t};\n\t\t\n\t\tclass ConstValueDispatch {\n\t\tpublic:\n\t\t\tvirtual ~ConstValueDispatch();\n\t\t\t\n#define DISPATCH(vt) virtual void Dispatch(const TypeForVT::type *value) = 0;\n\t\t\tDISPATCH(VT_COLLECTION);\n\t\t\tDISPATCH(VT_U64);\n\t\t\tDISPATCH(VT_DOUBLE);\n\t\t\tDISPATCH(VT_STRING);\n\t\t\tDISPATCH(VT_TRAJECTORY);\n\t\t\tDISPATCH(VT_POSE);\n\t\t\tDISPATCH(VT_POINTCLOUD);\n\t\t\tDISPATCH(VT_MATRIX);\n#undef DISPATCH\n\t\t};\n\t}\n}\n\n#endif /* VALUEDISPATCH_H */\n\n" }, { "path": "framework/shared/include/values/ValueInterface.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef VALUEINTERFACE_H\n#define VALUEINTERFACE_H\n\n#include \"metrics/MetricManager.h\"\n#include \"metrics/Metric.h\"\n#include \"metrics/Phase.h\"\n\nnamespace slambench {\n\tnamespace values {\n\t\tclass ValueInterface {\n\t\tpublic:\n\t\t\tvirtual ~ValueInterface();\n\t\t\tvirtual const values::Value *Get() = 0;\n\t\t\tvirtual const values::ValueDescription &GetDescription() const = 0;\n\t\t};\n\t\t\n\t\tclass MetricValueInterface : public ValueInterface {\n\t\tpublic:\n\t\t\tMetricValueInterface(metrics::MetricManager &manager, metrics::Metric &metric, metrics::Phase &phase) : manager_(manager), metric_(metric), phase_(phase) {}\n\t\t\tvirtual ~MetricValueInterface() {}\n\t\t\tconst values::Value *Get() override { return manager_.GetLastFrame()->GetPhaseData(&phase_).at(&metric_); }\n\t\t\tconst values::ValueDescription &GetDescription() const override { return metric_.GetValueDescription(); }\n\n\t\tprivate:\n\t\t\tmetrics::MetricManager &manager_;\n\t\t\tmetrics::Metric &metric_;\n\t\t\tmetrics::Phase &phase_;\n\t\t};\n\t\t\n\t\tclass OutputValueInterface : public ValueInterface {\n\t\tpublic:\n\t\t\tOutputValueInterface(outputs::BaseOutput &output) : output_(output) {}\n\t\t\tvirtual ~OutputValueInterface() {}\n\t\t\tconst values::Value* Get() override { return output_.GetMostRecentValue().second; }\n\t\t\tconst values::ValueDescription &GetDescription() const override { return output_.GetValueDescription(); }\n\n\t\tprivate:\n\t\t\toutputs::BaseOutput &output_;\n\t\t};\n\t}\n}\n\n#endif /* VALUEINTERFACE_H */\n\n" }, { "path": "framework/shared/include/values/ValuePrinter.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#ifndef VALUEPRINTER_H\n#define VALUEPRINTER_H\n\n#include \"ValueDispatch.h\"\n\n#include \n\nnamespace slambench {\n\tnamespace values {\n\t\t\n\t\tclass ValuePrinter : public ConstValueDispatch {\n\t\tpublic:\n\t\t\tValuePrinter(std::ostream &str);\n\t\t\tvirtual ~ValuePrinter();\n\t\t\t\n\t\t\tvoid Dispatch(const TypeForVT::type* value) override;\n\t\t\tvoid Dispatch(const TypeForVT::type* value) override;\n\t\t\tvoid Dispatch(const TypeForVT::type* value) override;\n\t\t\tvoid Dispatch(const TypeForVT::type* value) override;\n\t\t\tvoid Dispatch(const TypeForVT::type* value) override;\n\t\t\tvoid Dispatch(const TypeForVT::type* value) override;\n\t\t\tvoid Dispatch(const TypeForVT::type* value) override;\n\t\t\tvoid Dispatch(const TypeForVT::type* value) override;\n\n\t\tprivate:\n\t\t\tstd::ostream &str_;\n\t\t};\n\t\t\n\t}\n}\n\n#endif /* VALUEPRINTER_H */\n\n" }, { "path": "framework/shared/src/ColumnWriter.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"ColumnWriter.h\"\n\n#include \"metrics/Metric.h\"\n#include \"outputs/Output.h\"\n#include \"values/ValueInterface.h\"\n#include \"values/ValuePrinter.h\"\n\nusing namespace slambench;\n\nstd::string LibColumnInterface::GetHeaderPrefix() const\n{\n\tstd::string libname = GetLib()->getName();\n\tif(libname != \"\") {\n\t\tif (libname.find(\"-\") != libname.npos) {\n\t\t\tthrow std::logic_error(\"This library name contains an illegal character '-' !\" );\n\t\t}\n\t\tlibname = libname + \"-\";\n\t}\n\treturn libname;\n}\n\nValueLibColumnInterface::ValueLibColumnInterface(SLAMBenchLibraryHelper* lib, outputs::BaseOutput* output) : ValueLibColumnInterface(lib, new values::OutputValueInterface(*output), output->GetName()) {}\n\nValueLibColumnInterface::ValueLibColumnInterface(SLAMBenchLibraryHelper *lib, metrics::Metric *metric, metrics::Phase *phase) : ValueLibColumnInterface(lib, new values::MetricValueInterface(lib->GetMetricManager(), *metric, *phase), metric->GetName() + \"_\" + phase->GetName()) {}\n\nvoid ValueLibColumnInterface::Write(std::ostream& str)\n{\n\tvalues::ValuePrinter printer(str);\n\tauto value = value_->Get();\n\tif(value != nullptr) {\n\t\tvalue_->Get()->Dispatch(&printer);\n\t} else {\n\t\tthrow std::logic_error(\"Could not print missing value\");\n\t}\n}\n\nvoid ValueLibColumnInterface::WriteHeader(std::ostream& str) const\n{\n\tstr << GetHeaderPrefix() << name_;\n}\n\nCollectionValueLibColumnInterface::CollectionValueLibColumnInterface(SLAMBenchLibraryHelper* lib, metrics::Metric* metric, metrics::Phase* phase) : ValueLibColumnInterface(lib,metric, phase) {}\n\nCollectionValueLibColumnInterface::CollectionValueLibColumnInterface(SLAMBenchLibraryHelper* lib, outputs::BaseOutput* output) : ValueLibColumnInterface(lib, output) {}\n\nvoid CollectionValueLibColumnInterface::WriteHeader(std::ostream& str) const\n{\n\tauto &spec = GetValueInterface()->GetDescription();\n\tif(spec.GetType() != values::VT_COLLECTION) {\n\t\tthrow std::logic_error(\"\");\n\t}\n\tif(spec.GetStructureDescription().empty()) {\n\t\treturn;\n\t}\n\t\n\tauto i = spec.GetStructureDescription().begin();\n\tstr << GetHeaderPrefix() << i->first;\n\ti++;\n\twhile(i != spec.GetStructureDescription().end()) {\n\t\tstr << \"\\t\" << GetHeaderPrefix() << i->first;\n\t\ti++;\n\t}\n}\n\nvoid CollectionValueLibColumnInterface::Write(std::ostream& str)\n{\n\tvalues::ValuePrinter printer(str);\n \tauto value = (values::TypeForVT::type*)GetValueInterface()->Get();\n\n\tif(value->GetValue().empty()) {\n\t\tWriteInvalid(str);\n\t} else {\n\t\tauto i = value->GetValue().begin();\n\t\ti->second->Dispatch(&printer);\n\t\ti++;\n\t\twhile(i != value->GetValue().end()) {\n\t\t\tstr << \"\\t\";\n\t\t\ti->second->Dispatch(&printer);\n\t\t\ti++;\n\t\t}\n\t}\n}\n\nvoid CollectionValueLibColumnInterface::WriteInvalid(std::ostream& str)\n{\n\tauto &spec = GetValueInterface()->GetDescription().GetStructureDescription();\n\tif(spec.empty()) {\n\t\treturn;\n\t}\n\t\n\tauto i = spec.begin();\n\tstr << \"(n/a)\";\n\ti++;\n\twhile(i != spec.end()) {\n\t\tstr << \"\\t(n/a)\";\n\t\ti++;\n\t}\n}\n\nvoid OutputTimestampColumnInterface::Write(std::ostream& str)\n{\n\tTimeStamp ts = output_->GetMostRecentValue().first;\n\tdouble timestamp = ts.S + (ts.Ns/1000000000.0);\n\t\n\tstr << timestamp;\n}\n\nvoid OutputTimestampColumnInterface::WriteHeader(std::ostream& str) const\n{\n\tstr << \"Timestamp\";\n}\n\nRowNumberColumn::RowNumberColumn() : counter_(1) {}\n\nvoid RowNumberColumn::Write(std::ostream& str)\n{\n\tstr << counter_;\n\tcounter_++;\n}\n\nvoid RowNumberColumn::WriteHeader(std::ostream& str) const\n{\n\tstr << \"Frame Number\";\n}\n\n\nColumnWriter::ColumnWriter(std::ostream& str, const std::string &separator) : str_(str), separator_(separator) {}\n\nvoid ColumnWriter::AddColumn(ColumnInterface* interface)\n{\n\tcolumns_.push_back(interface);\n}\n\nvoid ColumnWriter::PrintRow()\n{\n\tif(!columns_.empty()) {\n\t\tauto i = columns_.begin();\n\t\tcolumns_.front()->Write(str_);\n\t\ti++;\n\t\t\n\t\twhile(i != columns_.end()) {\n\t\t\tstr_ << separator_;\n\t\t\t(*i)->Write(str_);\n\t\t\ti++;\n\t\t}\n\t}\n\t\n\tstr_ << std::endl;\t\n}\n\nvoid ColumnWriter::PrintHeader()\n{\n\tstr_ << std::endl ;\n\tstr_ << \"Statistics:\" << std::endl<<\"=================\" << std::endl<< std::endl;\n\tif(!columns_.empty()) {\n\t\tauto i = columns_.begin();\n\t\tcolumns_.front()->WriteHeader(str_);\n\t\ti++;\n\t\t\n\t\twhile(i != columns_.end()) {\n\t\t\tstr_ << separator_;\n\t\t\t(*i)->WriteHeader(str_);\n\t\t\ti++;\n\t\t}\n\t}\n\t\n\tstr_ << std::endl;\t\n}\n" }, { "path": "framework/shared/src/ParameterComponent.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \n#include \n\n\nParameterComponent::~ParameterComponent() {\n\n\n\t\tfor (Parameter* it : arguments_) {\n\t\t\tdelete it;\n\t\t}\n\t\targuments_.clear();\n\n}\n" }, { "path": "framework/shared/src/ParameterManager.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"Parameters.h\"\n#include \"ParameterManager.h\"\n\nusing namespace slambench;\n\nvoid ParameterManager::PrintValues(std::ostream &str, const ParameterComponent* c) const {\n c = c ? c : this;\n for (const auto param : c->getParameters()) {\n if (param == nullptr) {\n std::exit(1);\n }\n\n str << param->getLongOption(c) << \": \" << param->getStrValue() << std::endl;\n }\n\n for (ParameterComponent* component_ptr : c->getComponents()) {\n PrintValues(str, component_ptr);\n }\n}\n\nvoid ParameterManager::PrintArguments(std::ostream& str, const ParameterComponent* c) const {\n static std::string::size_type short_len = 0;\n static std::string::size_type long_len = 0;\n static std::string::size_type depth = 0;\n\n c = c ? c : this;\n\n std::string comp = c->getName();\n\n str << std::endl << std::setw(depth*3) << std::right << \"\" << \" Component name: \" << comp << \"Depth:\" << depth << std::endl ;\n\n for (Parameter* param : c->getParameters()) {\n\n std::string short_name = param->getShortOption(this);\n std::string long_name = param->getLongOption(this);\n\n short_len = std::max (short_name.length(), short_len) ;\n long_len = std::max (long_name.length(), long_len) ;\n }\n\n if (c->getComponents().size()) {\n str << std::setw(depth*3) << std::right << \"\" << \" Sub components: \" << comp << std::endl ;\n\n depth++;\n for (const ParameterComponent* component_ptr : c->getComponents()) {\n PrintArguments(str, component_ptr);\n }\n depth--;\n }\n\n if (c->getParameters().size()) {\n\n for (Parameter* param : c->getParameters()) {\n\n std::string short_name = param->getShortOption(c);\n std::string long_name = param->getLongOption(c);\n\n str << std::setw(depth*3) << std::right << \"\" ;\n\n if (short_name.length() > 0) {\n str << \" -\" << std::setw(short_len) << std::left << short_name ;\n } else {\n str << \" \" << std::setw(short_len) << std::left << \" \";\n }\n str << \" --\" << std::setw(long_len) << std::left << long_name\n << \" : \"\n << param->getDescription() ;\n std::string defaultstr = param->getStrDefault();\n std::string currentstr = param->getStrValue();\n\n str << \" (\" ;\n\n if (defaultstr != \"nullptr\") {\n str << \" Default=\" << defaultstr ;\n }\n if (defaultstr != currentstr) {\n str << \" Current=\" << currentstr ;\n }\n str << \" )\" << std::endl;\n\n }\n }\n}\n\nbool ParameterManager::ReadArgumentsOrQuit(unsigned int argc, const char* const* const argv) {\n if(!ReadArguments(argc, argv)) {\n PrintArguments(std::cerr);\n exit(1);\n }\n return true;\n}\n\nbool ParameterManager::BuildArgumentsList(ParameterComponent *component_ptr) {\n\n if (!component_ptr) {\n params_long_.clear();\n params_short_.clear();\n component_ptr = this;\n }\n\n for (Parameter* param_ptr : component_ptr->getParameters()) {\n if (param_ptr->getLongOption(component_ptr) != \"\") {\n\n std::string long_opt = param_ptr->getLongOption(component_ptr);\n\n if (params_long_.count(long_opt)) {\n std::cerr << \"*** Duplicated long option replaced: '\" << long_opt << \"'\"<< std::endl;\n return false;\n params_long_[long_opt] = param_info_t(component_ptr, param_ptr);\n } else {\n params_long_[long_opt] = param_info_t(component_ptr, param_ptr);\n }\n }\n if (param_ptr->getShortOption(component_ptr) != \"\") {\n\n std::string short_opt = param_ptr->getShortOption(component_ptr);\n\n if (params_short_.count(short_opt)) {\n std::cerr << \"*** Duplicated short option replaced: '\" << short_opt << \"'\" << std::endl;\n return false;\n params_short_[short_opt] = param_info_t(component_ptr, param_ptr);\n } else {\n params_short_[short_opt] = param_info_t(component_ptr, param_ptr);\n }\n }\n\n }\n\n for (ParameterComponent* sub_component_ptr : component_ptr->getComponents()) {\n this->BuildArgumentsList(sub_component_ptr);\n }\n\n return true;\n}\n\nbool ParameterManager::ReadArguments(unsigned int argc, const char* const* const argv) {\n\n // Read and parse argvs\n unsigned i = 1;\n while(i < argc) {\n\n //******************************************\n // Update_Map\n //******************************************\n this->BuildArgumentsList(nullptr);\n\n //******************************************\n // Parse next value\n //******************************************\n\n const char *the_arg = argv[i];\n\n param_info_t* param_info = nullptr;\n\n // figure out what kind of arg it is (long or short)\n if(the_arg[0] == '-') {\n if(the_arg[1] == '-') {\n // long arg\n if(params_long_.count(&the_arg[2])) {\n param_info = ¶ms_long_.at(&the_arg[2]);\n } else {\n // error - we've encountered a long param we don't support\n std::cerr << \"Unrecognized argument: \" << the_arg << std::endl;\n return false;\n }\n } else {\n // short arg\n if(params_short_.count(&the_arg[1])) {\n param_info = ¶ms_short_.at(&the_arg[1]);\n } else {\n std::cerr << \"Unrecognized argument: \" << the_arg << std::endl;\n return false;\n }\n }\n\n } else {\n std::cerr << \"Error parsing arguments '\" << the_arg << \"'.\";\n return false;\n }\n\n auto the_component = param_info->first;\n auto the_param = param_info->second;\n if(the_param) {\n\n if (the_param->requiresValue()) {\n std::string str_value = argv[i+1] ; i++;\n the_param->setValue(str_value.c_str());\n std::cerr << \"Parameter \" << the_param->getName() << \" assigned value \" << the_param->getStrValue() << std::endl;\n } else {\n std::cerr << \"Parameter \" << the_param->getName() << \" triggered.\" << std::endl;\n }\n\n if (the_param->getCallback()) {\n (the_param->getCallback())(the_param, the_component);\n }\n }\n\n i++;\n }\n\n return true;\n}\n" }, { "path": "framework/shared/src/ResultWriter.cpp", "content": "/*\n\n Copyright (c) 2019 Intel Corp.\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"ResultWriter.h\"\n#include \n\nResultWriter::ResultWriter(std::ofstream &out_stream):out_(out_stream) {}\n\nvoid ResultWriter::WriteKV(std::string key, std::string value)\n{\n out_ << key << \": \" << value << std::endl;\n}\n\nvoid ResultWriter::WriteKV(std::string key, std::vector values, std::string separator)\n{\n out_ << key << \": \";\n for (auto it = values.begin(); it != values.end(); ++it) {\n if (it != values.begin()) out_ << separator;\n out_ << *it;\n }\n out_ << std::endl;\n}\n\nvoid ResultWriter::WriteTrajectory(slambench::outputs::BaseOutput::value_map_t traj)\n{\n\tfloat x, y, z;\n\tEigen::Matrix3d R;\n out_ << \"# data_stamp, p.x, p.y, p.z, q.x, q.y, q.z, q.w\" << std::endl;\n for (auto point: traj) {\n Eigen::Matrix4f pose = dynamic_cast(point.second)->GetValue();\n x = pose(0, 3);\n if (std::to_string(x) == \"-nan\") {\n continue;\n }\n y = pose(1, 3);\n z = pose(2, 3);\n Eigen::Matrix3f R = pose.block<3,3>(0,0);\n Eigen::Quaternionf q(R);\n q.normalize();\n out_ << point.first << \" \" << x << \" \" << y << \" \" << z << \" \" << q.x() << \" \" << q.y() << \" \" << q.z() << \" \" << q.w() <= 48 && int(mem_info[i]) <= 57) {\n break;\n }\n position++;\n }\n mem_info = mem_info.substr(position, 100);\n position = 0;\n for(size_t i = 0; i < mem_info.size(); i++) {\n if (int(mem_info[i]) < 48 || int(mem_info[i]) > 57) {\n break;\n }\n position++;\n }\n mem_info = mem_info.substr(0, position);\n mem_size = std::stoi(mem_info);\n break;\n }\n }\n fclose(fp);\n return std::to_string(mem_size / 1024 / 1024) + \" GB\";\n}\n" }, { "path": "framework/shared/src/SLAMBenchConfiguration.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"SLAMBenchConfiguration.h\"\n#include \"TimeStamp.h\"\n#include \n#include \"sb_malloc.h\"\n\n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n#include \"ResultWriter.h\"\n\nSLAMBenchConfiguration::SLAMBenchConfiguration(void (*custom_input_callback)(Parameter*, ParameterComponent*),void (*libs_callback)(Parameter*, ParameterComponent*)) :\n ParameterComponent(\"\") {\n\n if(!custom_input_callback)\n custom_input_callback = input_callback;\n if(!libs_callback)\n libs_callback = slam_library_callback;\n initialised_ = false;\n log_stream_ = nullptr;\n slam_library_names_ = {};\n // Run Related\n addParameter(TypedParameter(\"fl\", \"frame-limit\", \"last frame to compute\", &frame_limit_, &default_frame_limit));\n addParameter(TypedParameter(\"s\", \"start-frame\", \"first frame to compute\", &start_frame_, &default_start_frame));\n addParameter(TypedParameter(\"o\", \"log-file\", \"Output log file\", &log_file_, &default_log_file, log_callback));\n addParameter(TypedParameter>(\"i\", \"input\" , \"Specify the input file or mode.\" , &input_files_, &default_input_files , custom_input_callback));\n addParameter(TypedParameter >(\"load\", \"load-slam-library\" , \"Load a specific SLAM library.\" , &slam_library_names_, &default_slam_libraries, libs_callback));\n addParameter(TriggeredParameter(\"dse\", \"dse\", \"Output solution space of parameters.\", dse_callback));\n addParameter(TriggeredParameter(\"h\", \"help\", \"Print the help.\", help_callback));\n addParameter(TypedParameter(\"realtime\", \"realtime-mode\", \"realtime frame loading mode\", &realtime_mode_, &default_is_false));\n addParameter(TypedParameter(\"realtime-mult\", \"realtime-multiplier\", \"realtime frame loading mode\", &realtime_mult_, &default_realtime_mult));\n\n param_manager_.AddComponent(this);\n}\n\nSLAMBenchConfiguration::~SLAMBenchConfiguration() {\n //Clean algorithms\n for (auto lib : slam_libs_) {\n std::cerr << \"Cleaning \" << lib->getName() << std::endl;\n if (!lib->c_sb_clean_slam_system()) {\n std::cerr << \"Algorithm cleaning failed.\" << std::endl;\n exit(1);\n } else {\n std::cerr << \"Algorithm cleaning succeed.\" << std::endl;\n }\n }\n}\n\nvoid SLAMBenchConfiguration::AddSLAMLibrary(const std::string& so_file, const std::string &id) {\n\n std::cerr << \"new library name: \" << so_file << std::endl;\n\n void* handle = dlopen(so_file.c_str(),RTLD_LAZY);\n\n if (!handle) {\n std::cerr << \"Cannot open library: \" << dlerror() << std::endl;\n exit(1);\n }\n auto libname_start = so_file.find_last_of('/')+3;\n auto libName = so_file.substr(libname_start, so_file.find('-', libname_start));\n auto lib_ptr = new SLAMBenchLibraryHelper(id, libName, this->GetLogStream(), input_interface_manager_->GetCurrentInputInterface());\n LOAD_FUNC2HELPER(handle,lib_ptr,c_sb_init_slam_system);\n LOAD_FUNC2HELPER(handle,lib_ptr,c_sb_new_slam_configuration);\n LOAD_FUNC2HELPER(handle,lib_ptr,c_sb_update_frame);\n LOAD_FUNC2HELPER(handle,lib_ptr,c_sb_process_once);\n LOAD_FUNC2HELPER(handle,lib_ptr,c_sb_clean_slam_system);\n LOAD_FUNC2HELPER(handle,lib_ptr,c_sb_update_outputs);\n // workaround to be compatible with benchmarks that does not implement the relocalize API\n if (dlsym(handle, \"_Z13sb_relocalizeP22SLAMBenchLibraryHelper\")) {\n LOAD_FUNC2HELPER(handle,lib_ptr,c_sb_relocalize);\n } else {\n std::cout << \"Benchmark does not implement sb_relocalize(). Will use the default.\" << std::endl;\n lib_ptr->c_sb_relocalize = lib_ptr->c_sb_process_once;\n }\n slam_libs_.push_back(lib_ptr);\n\n\n size_t pre = slambench::memory::MemoryProfile::singleton.GetOverallData().BytesAllocatedAtEndOfFrame;\n if (!lib_ptr->c_sb_new_slam_configuration(lib_ptr)) {\n std::cerr << \"Configuration construction failed.\" << std::endl;\n exit(1);\n }\n size_t post = slambench::memory::MemoryProfile::singleton.GetOverallData().BytesAllocatedAtEndOfFrame;\n std::cerr << \"Configuration consumed \" << post-pre << \" bytes\" << std::endl;\n\n param_manager_.AddComponent(lib_ptr);\n\n std::cerr << \"SLAM library loaded: \" << so_file << std::endl;\n}\n\nvoid SLAMBenchConfiguration::InitGroundtruth(bool with_point_cloud) {\n if(initialised_)\n return;\n\n auto interface = input_interface_manager_->GetCurrentInputInterface();\n if(interface != nullptr) {\n auto gt_buffering_stream = new slambench::io::GTBufferingFrameStream(interface->GetFrames());\n input_interface_manager_->input_stream_ = gt_buffering_stream;\n\n if(realtime_mode_) {\n std::cerr << \"Real time mode enabled\" << std::endl;\n input_interface_manager_->input_stream_ = new slambench::io::RealTimeFrameStream(input_interface_manager_->input_stream_, realtime_mult_, true);\n } else {\n std::cerr << \"Process every frame mode enabled\" << std::endl;\n }\n\n ground_truth_.LoadGTOutputsFromSLAMFile(interface->GetSensors(), gt_buffering_stream->GetGTFrames(), with_point_cloud);\n }\n\n auto gt_trajectory = ground_truth_.GetMainOutput(slambench::values::VT_POSE);\n if(gt_trajectory == nullptr) {\n // Warn if there is no ground truth\n gt_available_ = false;\n std::cerr << \"Dataset does not provide a GT trajectory\" << std::endl;\n }\n else {\n gt_available_ = true;\n }\n\n initialised_ = true;\n}\n\nvoid SLAMBenchConfiguration::InitAlgorithms() {\n\n assert(initialised_);\n\n for (auto &lib : slam_libs_) {\n\n lib->GetMetricManager().BeginInit();\n bool init_worked = lib->c_sb_init_slam_system(lib);\n lib->GetMetricManager().EndInit();\n\n if (!init_worked) {\n std::cerr << \"Algorithm initialization failed.\" << std::endl;\n exit(1);\n }\n\n auto trajectory = lib->GetOutputManager().GetMainOutput(slambench::values::VT_POSE);\n if(trajectory == nullptr) {\n std::cerr << \"Algo does not provide a main pose output\" << std::endl;\n exit(1);\n }\n }\n}\n\nvoid SLAMBenchConfiguration::InitAlignment() {\n if(!gt_available_)\n return;\n slambench::outputs::TrajectoryAlignmentMethod *alignment_method;\n if(alignment_technique_ == \"original\") {\n alignment_method = new slambench::outputs::OriginalTrajectoryAlignmentMethod();\n } else if(alignment_technique_ == \"new\") {\n alignment_method = new slambench::outputs::NewTrajectoryAlignmentMethod();\n } else if(alignment_technique_ == \"umeyama\") {\n alignment_method = new slambench::outputs::UmeyamaTrajectoryAlignmentMethod();\n } else {\n std::cerr << \"Unknown alignment method \" << alignment_technique_ << std::endl;\n throw std::logic_error(\"Unknown alignment method\");\n }\n\n auto gt_traj = GetGroundTruth().GetMainOutput(slambench::values::VT_POSE);\n alignments_.clear();\n for(size_t i = 0; i < slam_libs_.size(); i++) {\n SLAMBenchLibraryHelper *lib = slam_libs_[i];\n auto lib_traj = lib->GetOutputManager().GetMainOutput(slambench::values::VT_POSE);\n auto alignment = new slambench::outputs::AlignmentOutput(lib->getName() + \"Alignment\", new slambench::outputs::PoseOutputTrajectoryInterface(\n gt_traj), lib_traj, alignment_method);\n alignment->SetActive(true);\n alignment->SetKeepOnlyMostRecent(true);\n alignments_.push_back(alignment);\n auto aligned = new slambench::outputs::AlignedPoseOutput(lib_traj->GetName() + \" (Aligned)\", alignments_[i], lib_traj);\n lib->GetOutputManager().RegisterOutput(aligned);\n //Align point cloud\n auto pointcloud = lib->GetOutputManager().GetMainOutput(slambench::values::VT_POINTCLOUD);\n if(pointcloud != nullptr) {\n auto pc_aligned = new slambench::outputs::AlignedPointCloudOutput(lib->getName() + pointcloud->GetName() + \"(Aligned)\", alignment, pointcloud);\n lib->GetOutputManager().RegisterOutput(pc_aligned);\n }\n }\n}\n\nvoid SLAMBenchConfiguration::ComputeLoopAlgorithm(bool *stay_on, SLAMBenchUI *ui) {\n\n assert(initialised_);\n\n int input_seq = 0;\n bool ongoing = false;\n std::vector libs_trans;\n\n // ********* [[ MAIN LOOP ]] *********\n unsigned int frame_count = 0;\n while(true) {\n if (frame_count != 0 && ui && !ongoing) {\n if (!(ui->WaitForFrame() || !ui->IsFreeRunning())) {\n std::cerr << \"!ui->WaitForFrame() ==> break\" << std::endl;\n break;\n }\n }\n\n auto current_frame = input_interface_manager_->GetNextFrame();\n\n while (current_frame != nullptr) {\n frame_count++;\n if (current_frame->FrameSensor->GetType() != slambench::io::GroundTruthSensor::kGroundTruthTrajectoryType) {\n // ********* [[ NEW FRAME PROCESSED BY ALGO ]] *********\n for (size_t i = 0; i < slam_libs_.size(); i++) {\n auto lib = slam_libs_[i];\n // ********* [[ SEND THE FRAME ]] *********\n ongoing = not lib->c_sb_update_frame(lib, current_frame);\n\n // This algorithm hasn't received enough frames yet.\n if (ongoing) {\n continue;\n }\n\n // ********* [[ PROCESS ALGO START ]] *********\n lib->GetMetricManager().BeginFrame();\n slambench::TimeStamp ts = current_frame->Timestamp;\n\n if (!input_interface_manager_->updated_) {\n if (not lib->c_sb_process_once(lib)) {\n std::cerr <<\"Error after lib->c_sb_process_once.\" << std::endl;\n exit(1);\n }\n } else {\n // ********** [[or relocalization]] **********\n //Mihai: need assertion / safety mechanism to avoid ugly errors\n bool res = lib->c_sb_relocalize(lib);\n input_interface_manager_->updated_ = false;\n frame_count = 0;\n /* If the library failed to re-localize at the beginning of a new input,\n the framework will send a ground-truth pose to it (so-called aided_reloc).\n The sent pose is transformed to be relative to the first estimated pose\n from the library. */\n if(!res && gt_available_)\n {\n aided_reloc_ = true;\n //Find the nearest one\n auto gt_frame = input_interface_manager_->GetClosestGTFrameToTime(ts);\n Eigen::Matrix4f &t = alignments_[i]->getTransformation();\n Eigen::Matrix4f gt;\n memcpy(gt.data(), gt_frame->GetData(), gt_frame->GetSize());\n\n slambench::io::FrameBuffer* buffer = &(dynamic_cast(gt_frame)->getFrameBuffer());\n buffer->resetLock();\n Eigen::Matrix4f es = t.inverse() * gt;\n memcpy(gt_frame->GetData(), es.data(), gt_frame->GetSize());\n buffer->resetLock();\n\n lib->c_sb_update_frame(lib, gt_frame);// groundtruth feed\n\n buffer->resetLock();\n memcpy(gt_frame->GetData(), gt.data(), gt_frame->GetSize());\n buffer->resetLock();\n }\n }\n\n if (!lib->c_sb_update_outputs(lib, &ts)) {\n std::cerr << \"Failed to get outputs\" << std::endl;\n exit(1);\n }\n\n lib->GetMetricManager().EndFrame();\n }\n // ********* [[ FINALIZE ]] *********\n if (!ongoing) {\n FireEndOfFrame();\n if (ui) ui->stepFrame();\n frame_count += 1;\n\n if (frame_limit_ > 0 && frame_count >= frame_limit_) {\n break;\n }\n }\n }\n current_frame->FreeData();\n current_frame = input_interface_manager_->GetNextFrame();\n } // we're done with the frame\n if (!output_filename_.empty())\n SaveResults();\n // Freeze the alignment after end of the first input\n if (input_seq++ == 0)\n for(auto& alignment : alignments_)\n alignment->SetFreeze(true);\n\n if (!LoadNextInputInterface())\n break;\n }\n}\n\nbool SLAMBenchConfiguration::LoadNextInputInterface() {\n if(!input_interface_manager_->LoadNextInputInterface())\n return false;\n\n initialised_ = false;\n ResetSensors();\n InitGroundtruth();\n InitAlignment();\n InitWriter();\n for (auto lib : this->slam_libs_) {\n lib->update_input_interface(input_interface_manager_->GetCurrentInputInterface());\n }\n current_input_id_++;\n\n return true;\n}\n\n//saves results in TUM format TODO: move out of SLAMBenchConfiguration\nvoid SLAMBenchConfiguration::SaveResults()\n{\n if (output_filename_.empty() ) {\n return;\n }\n boost::filesystem::path input_name(input_filenames_[current_input_id_]);\n input_name = input_name.filename();\n boost::filesystem::path output_name = boost::filesystem::path(output_filename_);\n boost::filesystem::path output_prefix;\n boost::filesystem::path gt_dir;\n if (boost::filesystem::is_directory(output_name)) {\n output_name.append(\"/\");\n output_prefix = output_name;\n gt_dir = output_name;\n } else {\n output_prefix = output_name.replace_extension().append(\"-\");\n gt_dir = output_name.parent_path();\n }\n boost::filesystem::path gt_file = gt_dir;\n gt_file += input_name;\n gt_file.replace_extension(\".gt\");\n\n bool first_input = current_input_id_ == 0;\n static std::string cpu_info = ResultWriter::GetCPUModel();\n static std::string gpu_info = \"\";// memory_metric->cuda_monitor.IsActive() ? memory_metric->cuda_monitor.device_name : \"\";\n static std::string mem_info = ResultWriter::GetMemorySize();\n\n for(SLAMBenchLibraryHelper *lib : slam_libs_) {\n std::string filename = output_prefix.append(lib->GetLibraryName() + \".txt\").string();\n std::ofstream out(filename, first_input ? std::ios::out : std::ios::app);\n ResultWriter writer(out);\n if (first_input) {\n writer.WriteKV(\"benchmark\", lib->GetLibraryName());\n writer.WriteKV(\"inputs\", input_filenames_);\n writer.WriteKV(\"CPU\", cpu_info);\n if (!gpu_info.empty()) writer.WriteKV(\"GPU\", gpu_info);\n writer.WriteKV(\"memory\", mem_info);\n }\n out << std::endl;\n writer.WriteKV(\"input\", input_name.string());\n writer.WriteKV(\"aided_reloc\", std::to_string(aided_reloc_));\n slambench::outputs::BaseOutput::value_map_t traj = lib->GetOutputManager().GetOutput(\"Pose\")->GetValues();\n writer.WriteTrajectory(traj);\n std::cout << \"Results saved into \" << filename << std::endl;\n }\n\n if (!boost::filesystem::exists(gt_file)) {\n std::ofstream out(gt_file.string());\n slambench::outputs::BaseOutput::value_map_t traj = GetGroundTruth().GetMainOutput(slambench::values::VT_POSE)->GetValues();\n ResultWriter writer(out);\n writer.WriteKV(\"input\", input_name.string());\n writer.WriteTrajectory(traj);\n std::cout << \"Ground-truth saved into \" << gt_file.string() << std::endl;\n }\n}\n\nvoid SLAMBenchConfiguration::InitWriter() {\n if (writer_) {\n for(SLAMBenchLibraryHelper *lib : slam_libs_) {\n lib->GetMetricManager().reset();\n lib->GetOutputManager().GetMainOutput(slambench::values::VT_POSE)->reset();\n }\n //TODO: move this to callback when starting a new sequence\n aided_reloc_ = false;\n } else {\n // the following metrics last for all inputs; other metrics are allocated for only one input\n duration_metric_ = std::make_shared();\n power_metric_ = std::make_shared();\n }\n auto gt_traj = ground_truth_.GetMainOutput(slambench::values::VT_POSE);\n\n writer_ = std::make_unique(this->GetLogStream(), \"\\t\");\n writer_->AddColumn(&(row_number_));\n int i = 0;\n for(SLAMBenchLibraryHelper *lib : slam_libs_) {\n\n // retrieve the trajectory of the lib\n auto lib_traj = lib->GetOutputManager().GetMainOutput(slambench::values::VT_POSE);\n if (lib_traj == nullptr) {\n std::cerr << \"There is no output trajectory in the library outputs.\" << std::endl;\n exit(1);\n }\n\n writer_->AddColumn(new slambench::OutputTimestampColumnInterface(lib_traj));\n if (gt_traj) {\n // Create an aligned trajectory\n auto aligned = new slambench::outputs::AlignedPoseOutput(\"\", &*alignments_[i], lib_traj);\n\n // Add ATE metric\n auto ate_metric = std::make_shared(new slambench::outputs::PoseOutputTrajectoryInterface(aligned), new slambench::outputs::PoseOutputTrajectoryInterface(gt_traj));\n if (!ate_metric->GetValueDescription().GetStructureDescription().empty()) {\n lib->GetMetricManager().AddFrameMetric(ate_metric);\n writer_->AddColumn(new slambench::CollectionValueLibColumnInterface(lib, &*ate_metric, lib->GetMetricManager().GetFramePhase()));\n }\n\n // Add RPE metric\n auto rpe_metric = std::make_shared(new slambench::outputs::PoseOutputTrajectoryInterface(aligned), new slambench::outputs::PoseOutputTrajectoryInterface(gt_traj));\n lib->GetMetricManager().AddFrameMetric(rpe_metric);\n writer_->AddColumn(new slambench::CollectionValueLibColumnInterface(lib, &*rpe_metric, lib->GetMetricManager().GetFramePhase()));\n }\n else {\n std::cerr<<\"NO GT TRAJECTORY!!\"<GetMetricManager().AddFrameMetric(duration_metric_);\n lib->GetMetricManager().AddPhaseMetric(duration_metric_);\n writer_->AddColumn(new slambench::ValueLibColumnInterface(lib, &*duration_metric_, lib->GetMetricManager().GetFramePhase()));\n\n for(auto phase : lib->GetMetricManager().GetPhases()) {\n writer_->AddColumn(new slambench::ValueLibColumnInterface(lib, &*duration_metric_, phase));\n }\n\n // Add a memory metric\n auto memory_metric = std::make_shared();\n lib->GetMetricManager().AddFrameMetric(memory_metric);\n writer_->AddColumn(new slambench::CollectionValueLibColumnInterface(lib, &*memory_metric, lib->GetMetricManager().GetFramePhase()));\n\n // Add a power metric if it makes sense\n if (!power_metric_->GetValueDescription().GetStructureDescription().empty()) {\n lib->GetMetricManager().AddFrameMetric(power_metric_);\n writer_->AddColumn(new slambench::CollectionValueLibColumnInterface(lib, &*power_metric_, lib->GetMetricManager().GetFramePhase()));\n }\n\n // Add XYZ row from the trajectory\n auto traj = lib->GetOutputManager().GetMainOutput(slambench::values::VT_POSE);\n traj->SetActive(true);\n writer_->AddColumn(new slambench::CollectionValueLibColumnInterface(lib, new slambench::outputs::PoseToXYZOutput(traj)));\n i++;\n }\n\n frame_callbacks_.clear();\n AddFrameCallback([this]{writer_->PrintRow();}); // @suppress(\"Invalid arguments\")\n writer_->PrintHeader();\n}\n\nvoid SLAMBenchConfiguration::PrintDse() {\n for (SLAMBenchLibraryHelper* lib : slam_libs_) {\n std::cout << \"libs:\" << lib->GetIdentifier() << \"\\n\" ;\n for (auto parameter : lib->getParameters()) {\n std::cout << \"argument:\" << parameter->getLongOption(lib) << \"\\n\" ;\n std::cout << parameter->getStrDetails(lib) << \"\\n\" ;\n }\n }\n exit(0);\n}\n\nvoid SLAMBenchConfiguration::StartStatistics() {\n\n GetLogStream().setf(std::ios::fixed, std::ios::floatfield);\n GetLogStream().precision(10);\n\n time_t rawtime;\n struct tm *timeinfo;\n char buffer[80];\n time(&rawtime);\n timeinfo=localtime(&rawtime);\n strftime(buffer,80,\"%Y-%m-%d %I:%M:%S\",timeinfo);\n this->GetLogStream() << \"SLAMBench Report run started:\\t\" << buffer << std::endl << std::endl;\n\n // Print arguments known so far\n\n this->GetLogStream() << \"Properties:\" << std::endl << \"=================\" << std::endl << std::endl;\n\n param_manager_.PrintValues(GetLogStream());\n}\n" }, { "path": "framework/shared/src/SLAMBenchUI_Pangolin.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \n#include \n#include \n#include \n#include \n\nSLAMBenchUI_Pangolin::SLAMBenchUI_Pangolin() : SLAMBenchUI() {\n\n\tisFreeRunning = false;\n\n\tint view_width = 1280;\n\tint view_height = 980;\n\tint panel_width = 360;\n\n\tview_width += panel_width;\n\n\tpangolin::Params windowParams;\n\n\twindowParams.Set(\"SAMPLE_BUFFERS\", 0);\n\twindowParams.Set(\"SAMPLES\", 0);\n\n\tpangolin::CreateWindowAndBind(\"Main\", view_width, view_height, windowParams);\n\n\n\n\tglGenTextures(MAX_WINDOW, textureId);\n\tglGenBuffers(1, &vbo);\n\n\t// Define Camera Render Object (for view / scene browsing)\n\tpangolin::OpenGlMatrix proj = pangolin::ProjectionMatrix(640,480,420,420,320,240,0.1,1000);\n\ts_cam = pangolin::OpenGlRenderState(proj, pangolin::ModelViewLookAt(-1, -5, -1, 0, 0, 0, pangolin::AxisNegY));\n\n\t//! Set bounds for the View using mixed fractional / pixel coordinates (OpenGl view coordinates)\n\t// View& SetBounds(Attach bottom, Attach top, Attach left, Attach right);\n\n\n\n\t// SetBounds (Attach bottom, Attach top, Attach left, Attach right, double aspect);\n\n\t// 'Negative' aspect ratio causes pangolin to overdraw and then trim the \n\t// view. This is a little bit hacky but is a much easier solution than\n\t// trapping window resize events and rescaling the window then.\n\tpangolin::Display(\"cam\").SetBounds(0.0, 1.0f, 0.0f, 1.0f, 640 / 480.0).SetHandler(new pangolin::Handler3D(s_cam))\n\t\t\t\t\t.SetLock(pangolin::LockRight, pangolin::LockTop);\n\n\tpangolin::CreatePanel(\"ui\").SetBounds(0.0, 1.0, 0.0, pangolin::Attach::Pix(panel_width));\n\n\tframeCount = new pangolin::Var(\"ui.Frame\", 0);\n\tTVM = new pangolin::Var(\"ui.Total Virtual Memory (MB)\", 0);\n\tCVM = new pangolin::Var(\"ui.Used Virtual Memory (MB)\", 0);\n\tVSIZE = new pangolin::Var(\"ui.Process Virtual Memory (MB)\", 0);\n\tTPM = new pangolin::Var(\"ui.Total Physical Memory (MB)\", 0);\n\tCPM = new pangolin::Var(\"ui.Used Physical Memory (MB)\", 0);\n\tVRSS = new pangolin::Var(\"ui.Process Physical Memory (MB)\", 0);\n\n\n\tshowEveryPose = new pangolin::Var(\"ui.Show every poses\", 0, 0, 100);\n\n\tif(CanFreeRun()) {\n\t\tfreeRunning = new pangolin::Var(\"ui.Free Running\", true, true);\n\t}\n\n\tif(CanStep()) {\n\t\tnextFrame = new pangolin::Var(\"ui.Next Frame\", false, false);\n\t}\n\tunFollow=NULL;\n\n}\n\nSLAMBenchUI_Pangolin::~SLAMBenchUI_Pangolin() {\n\tif(unFollow)\n\t\tdelete unFollow;\n\tdelete frameCount;\n\tdelete VRSS ;\n\tdelete VSIZE;\n\tdelete TVM ;\n\tdelete CVM ;\n\tdelete TPM ;\n\tdelete CPM ;\n\n}\n\nvoid SLAMBenchUI_Pangolin::AddFollowControls()\n{\n\n\tpangolin::Var categoryText(\"ui.description.Camera Pose\", false,false);\n\n\tfor(auto output_mgr : GetOutputManagers()) {\n\t\tconst std::string &prefix = output_mgr.first;\n\t\tfor(auto output : *output_mgr.second) {\n\t\t\tslambench::outputs::BaseOutput* bo = output.second;\n\t\t\tstd::string panelname = \"ui.output.\" + prefix + \".\" + bo->GetName();\n\n\t\t\tswitch(bo->GetType()) {\n\t\t\tcase slambench::values::VT_POSE:\n\t\t\t\toutputs_follow_.insert({bo, new pangolin::Var(panelname + \".\" + bo->GetName() + \" Follow\", false, true)});\n\t\t\t\tbreak;\n\t\t\tdefault:\n\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\t}\n}\n\nvoid SLAMBenchUI_Pangolin::AddBackgroundControls()\n{\n\n\tpangolin::Var categoryText(\"ui.description.Backgrounds\", false,false);\n\n\tfor(auto output_mgr : GetOutputManagers()) {\n\t\tconst std::string &prefix = output_mgr.first;\n\n\t\tfor(auto output : *output_mgr.second) {\n\t\t\tslambench::outputs::BaseOutput* bo = output.second;\n\t\t\tstd::string panelname = \"ui.output.\" + prefix + \".\" + bo->GetName();\n\n\t\t\tswitch(bo->GetType()) {\n\t\t\tcase slambench::values::VT_FRAME:\n\t\t\t\toutputs_background_.insert({bo, new pangolin::Var(panelname + \".\" + bo->GetName() + \" Background\", false, true)});\n\t\t\t\tbreak;\n\t\t\tdefault:\n\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\t}\n\n}\n\nvoid SLAMBenchUI_Pangolin::AddControlsForOutput(const std::string &prefix, slambench::outputs::BaseOutput* output)\n{\n\n\n\n\tstd::string button_name = \"ui.output.\" + prefix + \".\" + output->GetName() ;\n\n\n\tif(output->GetType() == slambench::values::VT_STRING) {\n\t\toutputs_text_[output] = new pangolin::Var(button_name);\n\t\toutputs_enabled_.insert({output, new pangolin::Var(button_name + \" Enabled\", true, true)});\n\t} else {\n\t\toutputs_enabled_.insert({output, new pangolin::Var(button_name + \" Enabled\", true, true)});\n\t\toutputs_visible_.insert({output, new pangolin::Var(button_name + \" Visible\", true, true)});\n\n\t\tswitch(output->GetType()) {\n\t\tcase slambench::values::VT_POINTCLOUD:\n\t\tcase slambench::values::VT_POSE:\n\t\t\toutputs_colour_.insert({output, new pangolin::Var(button_name + \" Colour\", 0.0, 0.0, 1.0)});\n\t\t\tbreak;\n\t\tdefault:\n\t\t\tbreak;\n\t\t}\n\t}\n}\n\nvoid SLAMBenchUI_Pangolin::InitialiseOutputs()\n{\n\tAddBackgroundControls();\n\tAddFollowControls();\n\n\tfor(auto output_mgr : GetOutputManagers()) {\n\t\tfor(auto output : *output_mgr.second) {\n\t\t\tAddControlsForOutput(output_mgr.first, output.second);\n\t\t}\n\t}\n\n\tint i = 0;\n\tfor(auto output : outputs_colour_) {\n\t\tpangolin::Var *var = output.second;\n\t\tfloat value = (1.0 / outputs_colour_.size()) * (i+1);\n\t\t*var = value;\n\t\ti++;\n\t\tstd::cerr << \"Set \" << output.first->GetName() << \" to \" << *var << std::endl;\n\t}\n}\n\nbool SLAMBenchUI_Pangolin::CanFreeRun() {\n\treturn true;\n}\n\nbool SLAMBenchUI_Pangolin::CanStep() {\n\treturn true;\n}\n\nbool SLAMBenchUI_Pangolin::ClearFreeRunning() {\n\tif(isFreeRunning) {\n\t\tisFreeRunning = false;\n\t\tstd::unique_lock lck(step_mutex);\n\t\tstep_cv.wait(lck);\n\t}\n\treturn true;\n}\n\nbool SLAMBenchUI_Pangolin::IsFreeRunning() {\n\treturn isFreeRunning;\n}\n\nbool SLAMBenchUI_Pangolin::SetFreeRunning() {\n\tif(!isFreeRunning) {\n\t\tisFreeRunning = true;\n\t\tstd::unique_lock lck(step_mutex);\n\t\tstep_cv.wait(lck);\n\t}\n\treturn true;\n}\n\nbool SLAMBenchUI_Pangolin::WaitForFrame() {\n\tif(!CanStep()) {\n\t\tthrow std::exception();\n\t}\n\tstd::unique_lock lck(step_mutex);\n\tstep_cv.wait(lck);\n\n\treturn true;\n}\n\n\n\nvoid SLAMBenchUI_Pangolin::StopTracking () {\n\tif(unFollow)\n\t\tunFollow->Ref().Set(true);\n}\n\nfloat ConvertChannel(float f) {\n\t// f ranges from -1 to 1, we want 0 to 1\n\treturn (f + 1) / 2;\n}\n\nstd::tuple ConvertColour(std::tuple incol) {\n\treturn std::make_tuple(ConvertChannel(std::get<0>(incol)), ConvertChannel(std::get<1>(incol)), ConvertChannel(std::get<2>(incol)));\n}\n\nstd::tuple GetUnconvertedColour(float f) {\n\t// convert to wavelength\n\tfloat wl = 380 + (f * (645-380));\n\n\tif(wl >= 380 && wl <= 440) {\n\t\treturn std::make_tuple(-1 * (wl - 440) / (440 - 380), 0, 1);\n\t} else if(wl >= 440 && wl <= 490) {\n\t\treturn std::make_tuple(0, ((wl - 440) / (490 - 440)), 1);\n\t} else if(wl >= 490 && wl <= 510) {\n\t\treturn std::make_tuple(0, 1, -1 * (wl - 510) / (510-490));\n\t} else if(wl >=510 && wl <= 580) {\n\t\treturn std::make_tuple((wl-510) / (580-510), 1, 0);\n\t} else if(wl >= 580 && wl <= 645) {\n\t\treturn std::make_tuple(1, -1 * (wl - 645) / (645 - 580), 0);\n\t} else if(wl >= 645 && wl <= 780) {\n\t\treturn std::make_tuple(1, 0, 0);\n\t}\n\n\treturn std::make_tuple(0,0,0);\n}\n\nstd::tuple GetColour(float f) {\n\treturn ConvertColour(GetUnconvertedColour(f));\n}\n\nclass PoseOutputDrawContext {\npublic:\n\tPoseOutputDrawContext(slambench::outputs::BaseOutput *output) : interface(output) {}\n\n\tslambench::outputs::PoseOutputTrajectoryInterface interface;\n};\n\nbool SLAMBenchUI_Pangolin::DrawPoseOutput(slambench::outputs::BaseOutput* output)\n{\n\tassert(output->GetType() == slambench::values::VT_POSE);\n\n\tauto &context = pose_output_draw_contexts_[output];\n\tif(context == nullptr) {\n\t\tcontext = new PoseOutputDrawContext(output);\n\t}\n\n\tauto colour = GetColour(outputs_colour_.at(output)->Get());\n\tdrawTrajectory(&context->interface, std::get<0>(colour), std::get<1>(colour), std::get<2>(colour), showEveryPose->Ref().Get());\n\treturn true;\n}\n\nbool SLAMBenchUI_Pangolin::DrawPointCloudOutput(slambench::outputs::BaseOutput* output)\n{\n\tassert(output->GetType() == slambench::values::VT_POINTCLOUD);\n\toutput->SetKeepOnlyMostRecent(true);\n\tif(!output->IsActive() or output->GetValues().empty()) {\n\t\treturn true;\n\t}\n\n#ifdef HARRY_SPEEDUP\n\n\tauto timestamp = output->GetMostRecentValue().first;\n\tconst slambench::values::PointCloudValue *latest_pc = static_cast(output->GetMostRecentValue().second);\n\tsize_t size = latest_pc->GetPoints().size();\n\n\tauto colour = GetColour(outputs_colour_.at(output)->Get());\n\n\tbool new_output = false;\n\tif(!pointcloud_state_.count(output)) {\n\t\tglCreateBuffers(1, &pointcloud_state_[output].VBO);\n\t\tnew_output = true;\n\t}\n\n\tauto &state = pointcloud_state_[output];\n\tglBindBuffer(GL_ARRAY_BUFFER, state.VBO);\n\tif(new_output || state.timestamp != timestamp) {\n\t\tglBufferData(GL_ARRAY_BUFFER, sizeof(slambench::values::Point3DF) * size, latest_pc->GetPoints().data(), GL_STATIC_DRAW);\n\t\tstate.timestamp = timestamp;\n\t}\n\n\tglColor3f(std::get<0>(colour),std::get<1>(colour),std::get<2>(colour));\n\n\tglMatrixMode(GL_MODELVIEW);\n\tglPushMatrix();\n\tglMultMatrixf((GLfloat*)latest_pc->GetTransform().data());\n\n\tglVertexPointer(3, GL_FLOAT, sizeof(slambench::values::Point3DF), 0);\n\n\tglEnableClientState(GL_VERTEX_ARRAY);\n\n\tglDrawArrays(GL_POINTS, 0, size);\n\n\tglDisableClientState(GL_VERTEX_ARRAY);\n\n\tglBindBuffer(GL_ARRAY_BUFFER, 0);\n\n\tglPopMatrix();\n\n\treturn true;\n#else\n\n\tconst slambench::values::PointCloudValue *latest_pc = static_cast(output->GetValues().rbegin()->second);\n\tsize_t size = latest_pc->GetPoints().size();\n\n\tauto colour = GetColour(outputs_colour_.at(output)->Get());\n\n\tglColor3f(std::get<0>(colour),std::get<1>(colour),std::get<2>(colour));\n\tglBindBuffer(GL_ARRAY_BUFFER, vbo);\n\tglBufferData(GL_ARRAY_BUFFER, sizeof(slambench::values::Point3DF) * size, latest_pc->GetPoints().data(), GL_STATIC_DRAW);\n\n\tglMatrixMode(GL_MODELVIEW);\n\tglPushMatrix();\n\tglMultMatrixf((GLfloat*)latest_pc->GetTransform().data());\n\n\tglBindBuffer(GL_ARRAY_BUFFER, vbo);\n\tglVertexPointer(3, GL_FLOAT, sizeof(slambench::values::Point3DF), 0);\n\n\tglEnableClientState(GL_VERTEX_ARRAY);\n\n\tglDrawArrays(GL_POINTS, 0, size);\n\n\tglDisableClientState(GL_VERTEX_ARRAY);\n\n\tglBindBuffer(GL_ARRAY_BUFFER, 0);\n\n\tglPopMatrix();\n\n\treturn true;\n#endif\n\n}\n\n\nbool SLAMBenchUI_Pangolin::DrawColouredPointCloudOutput(slambench::outputs::BaseOutput* output)\n{\n\tassert(output->GetType() == slambench::values::VT_COLOUREDPOINTCLOUD);\n\toutput->SetKeepOnlyMostRecent(true);\n\tif(!output->IsActive() or output->GetValues().empty()) {\n\t\treturn true;\n\t}\n\n#ifdef HARRY_SPEEDUP\n\n\tauto timestamp = output->GetMostRecentValue().first;\n\tconst slambench::values::ColoredPointCloudValue *latest_pc = static_cast(output->GetMostRecentValue().second);\n\tsize_t size = latest_pc->GetPoints().size();\n\n\tbool new_output = false;\n\tif(!pointcloud_state_.count(output)) {\n\t\tglCreateBuffers(1, &pointcloud_state_[output].VBO);\n\t\tnew_output = true;\n\t}\n\n\tauto &state = pointcloud_state_[output];\n\tglBindBuffer(GL_ARRAY_BUFFER, state.VBO);\n\tif(new_output || state.timestamp != timestamp) {\n\t\tglBufferData(GL_ARRAY_BUFFER, sizeof(slambench::values::Point3DF) * size, latest_pc->GetPoints().data(), GL_STATIC_DRAW);\n\t\tstate.timestamp = timestamp;\n\t}\n\n\tglMatrixMode(GL_MODELVIEW);\n\tglPushMatrix();\n\tglMultMatrixf((GLfloat*)latest_pc->GetTransform().data());\n\n\tglVertexPointer(3, GL_FLOAT, sizeof(slambench::values::ColoredPoint3DF), 0);\n\tglColorPointer(3, GL_UNSIGNED_BYTE, sizeof(slambench::values::ColoredPoint3DF), (void*)offsetof(slambench::values::ColoredPoint3DF, R));\n\n\n\tglEnableClientState(GL_VERTEX_ARRAY);\n\tglEnableClientState(GL_COLOR_ARRAY);\n\n\tglDrawArrays(GL_POINTS, 0, size);\n\n\tglDisableClientState(GL_VERTEX_ARRAY);\n\tglDisableClientState(GL_COLOR_ARRAY);\n\n\tglBindBuffer(GL_ARRAY_BUFFER, 0);\n\n\tglPopMatrix();\n\n\treturn true;\n#else\n\n\tconst slambench::values::ColoredPointCloudValue *latest_pc = static_cast(output->GetValues().rbegin()->second);\n\tsize_t size = latest_pc->GetPoints().size();\n\n\n\tglBindBuffer(GL_ARRAY_BUFFER, vbo);\n\tglBufferData(GL_ARRAY_BUFFER, sizeof(slambench::values::Point3DF) * size, latest_pc->GetPoints().data(), GL_STATIC_DRAW);\n\n\tglMatrixMode(GL_MODELVIEW);\n\tglPushMatrix();\n\tglMultMatrixf((GLfloat*)latest_pc->GetTransform().data());\n\n\tglBindBuffer(GL_ARRAY_BUFFER, vbo);\nglVertexPointer(3, GL_FLOAT, sizeof(slambench::values::ColoredPoint3DF), 0);\n\tglColorPointer(3, GL_UNSIGNED_BYTE, sizeof(slambench::values::ColoredPoint3DF), (void*)offsetof(slambench::values::ColoredPoint3DF, R));\n\n\tglEnableClientState(GL_VERTEX_ARRAY);\n\n\tglDrawArrays(GL_POINTS, 0, size);\n\n\tglDisableClientState(GL_VERTEX_ARRAY);\n\n\tglBindBuffer(GL_ARRAY_BUFFER, 0);\n\n\tglPopMatrix();\n\n\treturn true;\n#endif\n\n}\n\nbool SLAMBenchUI_Pangolin::EnqueueFrame(slambench::values::FrameValue *frame) {\n\tframes_.push_back(*frame);\n\treturn true;\n}\n\nbool SLAMBenchUI_Pangolin::DrawBackgrounds() {\n\n\tfor (auto button : outputs_background_) {\n\t\tif (button.second->Get() and last_background_ != button.second) {\n\t\t\t//\t\t\tstd::cout << \"New background\" << std::endl;\n\t\t\tlast_background_ = button.second;\n\t\t\tbreak;\n\t\t}\n\n\t\tif (!button.second->Get() and last_background_ == button.second) {\n\t\t\t//\t\t\tstd::cout << \"unchecked background\" << std::endl;\n\t\t\tlast_background_ = nullptr;\n\t\t\tbreak;\n\t\t}\n\t}\n\tfor (auto button : outputs_background_) {\n\t\tbutton.second->Ref().Set(last_background_ == button.second);\n\t}\n\n\tfor(auto output_mgr : GetOutputManagers()) {\n\t\tstd::lock_guard lock(output_mgr.second->GetLock());\n\t\t(void)lock; // I hate that werror so much\n\n\t\tfor(auto output : *output_mgr.second) {\n\t\t\tif (output.second->IsActive() and (output.second->GetType() == slambench::values::VT_FRAME) and outputs_background_.at(output.second)->Get()) {\n\t\t\t\tthis->drawBackground((slambench::values::FrameValue*)output.second->GetValues().rbegin()->second);\n\t\t\t}\n\n\t\t}\n\t}\n\n\treturn true;\n}\n\nbool SLAMBenchUI_Pangolin::FollowPoses() {\n\n\tfor (auto button : outputs_follow_) {\n\t\tif (button.second->Get() and last_follow_ != button.second) {\n\t\t\t//\t\t\tstd::cout << \"New follow\" << std::endl;\n\t\t\tlast_follow_ = button.second;\n\t\t\tbreak;\n\t\t}\n\n\t\tif (!button.second->Get() and last_follow_ == button.second) {\n\t\t\t//\t\t\tstd::cout << \"unchecked follow\" << std::endl;\n\t\t\tlast_follow_ = nullptr;\n\t\t\tbreak;\n\t\t}\n\t}\n\n\tbool should_follow = false;\n\tfor (auto button : outputs_follow_) {\n\t\tif(last_follow_ == button.second) {\n\t\t\tshould_follow = true;\n\t\t}\n\t\tbutton.second->Ref().Set(last_follow_ == button.second);\n\t}\n\n\tif(should_follow) {\n\t\tEigen::Matrix4f followed_pose = Eigen::Matrix4f::Identity();\n\t\tbool got_pose = false;\n\n\t\tfor(auto output_mgrp : GetOutputManagers()) {\n\t\t\tauto output_mgr = output_mgrp.second;\n\t\t\tstd::lock_guard lock(output_mgr->GetLock());\n\t\t\t(void)lock; // I hate that werror so much\n\n\t\t\tfor(auto output : *output_mgr) {\n\n\t\t\t\tif (output.second->GetType() != slambench::values::VT_POSE) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\n\t\t\t\tif(not output.second->IsActive()) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\n\t\t\t\tif(output.second->Empty()) {\n\t\t\t\t\tcontinue;\n\t\t\t\t}\n\n\t\t\t\tif (outputs_follow_.at(output.second)->Get()) {\n\t\t\t\t\tfollowed_pose = ((slambench::values::PoseValue*)(output.second->GetMostRecentValue().second))->GetValue();\n\t\t\t\t\tgot_pose = true;\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\n\t\tif(got_pose) {\n\t\t\tFollowPose(followed_pose);\n\t\t}\n\t}\n\n\treturn true;\n}\n\n\nbool SLAMBenchUI_Pangolin::DrawQueuedFrames() {\n\n\tif (frames_.size() == 0) {\n\t\treturn true;\n\t}\n\n\tEigen::Vector4f winReg[MAX_WINDOW]; // (x1, y1, x2, y2)\n\twinReg[0] = {0.0f, 0.5f, 0.5f, 1.0f};\n\twinReg[1] = {0.5f, 0.5f, 1.0f, 1.0f};\n\twinReg[2] = {0.0f, 0.0f, 0.5f, 0.5f};\n\twinReg[3] = {0.5f, 0.0f, 1.0f, 0.5f};\n\n\n\t//display the image\n\tglColor3f(1.0,1.0,1.0);\n\n\tglMatrixMode(GL_PROJECTION);\n\tglLoadIdentity();\n\tglMatrixMode(GL_MODELVIEW);\n\tglLoadIdentity();\n\n\tglEnable(GL_TEXTURE_2D);\n\n\n\n\tfor (unsigned int w = 0 ; w < frames_.size(); w++) {\n\n\t\tslambench::values::FrameValue &frame = frames_.at(w);\n\n\t\tglBindTexture(GL_TEXTURE_2D, textureId[w]);\n\n GLint format, type, internalformat;\n switch(frame.GetFormat()) {\n case slambench::io::pixelformat::G_I_8:\n case slambench::io::pixelformat::D_I_8:\n internalformat = GL_RGBA;\n format = GL_LUMINANCE;\n type = GL_UNSIGNED_BYTE;\n break;\n case slambench::io::pixelformat::RGB_III_888:\n internalformat = GL_RGB;\n format = GL_RGB;\n type = GL_UNSIGNED_BYTE;\n break;\n case slambench::io::pixelformat::RGBA_IIII_8888:\n internalformat = GL_RGBA;\n format = GL_RGBA;\n type = GL_UNSIGNED_BYTE;\n break;\n case slambench::io::pixelformat::D_I_16:\n internalformat = GL_LUMINANCE;\n format = GL_LUMINANCE;\n type = GL_UNSIGNED_SHORT;\n break;\n default:\n // unknown type!\n abort();\n }\n\n glTexImage2D(GL_TEXTURE_2D, 0, internalformat, frame.GetWidth(), frame.GetHeight(), 0, format, type, frame.GetData());\n\n\t\tglTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);\n\t\tglTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);\n\t\tglBegin(GL_QUADS); {\n\n\t\t\tglTexCoord2f(0, 1);\n\t\t\tglVertex2f(winReg[w][0], winReg[w][1]);\n\n\t\t\tglTexCoord2f(1, 1);\n\t\t\tglVertex2f(winReg[w][2], winReg[w][1]);\n\n\t\t\tglTexCoord2f(1, 0);\n\t\t\tglVertex2f(winReg[w][2], winReg[w][3]);\n\n\t\t\tglTexCoord2f(0, 0);\n\t\t\tglVertex2f(winReg[w][0], winReg[w][3]);\n\n\t\t}\n\t\tglEnd();\n\t}\n\n\n\tglDisable(GL_TEXTURE_2D);\n\n\tframes_.clear();\n\n\treturn true;\n}\n\n\n\nbool SLAMBenchUI_Pangolin::DrawFrameOutput(slambench::outputs::BaseOutput* output)\n{\n\tif(!output->IsActive() or output->GetValues().empty()) {\n\t\treturn true;\n\t}\n\n\t// get most recent frame output\n\tslambench::values::FrameValue *value = (slambench::values::FrameValue*)output->GetValues().rbegin()->second;\n\tEnqueueFrame(value);\n\n\treturn true;\n}\n\nbool SLAMBenchUI_Pangolin::DrawFeature(slambench::values::FeatureValue* value)\n{\n\tglEnable(GL_DEPTH_TEST);\n\tglEnable(GL_TEXTURE_2D);\n\tglColor4f(1,1,1,1);\n\n\tauto tex_id = get_next_texture_id();\n\tglBindTexture(GL_TEXTURE_2D, tex_id);\n\n\tglTexImage2D(GL_TEXTURE_2D, 0, GL_RGB8, value->GetPatch().GetWidth(), value->GetPatch().GetHeight(), 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, value->GetPatch().GetData());\n\tglTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);\n\tglTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);\n\n\tglBegin(GL_QUADS);\n\n\tconst float uvs[] = {0, 0, 0, 1, 1, 1, 1, 0};\n\tconst float vertices[] = {-0.05, -0.05, 0, 0.05, -0.05, 0, 0.05, 0.05, 0, -0.05, 0.05, 0};\n\tfor(int i = 0; i < 4; ++i) {\n\t\tfloat vertex[] = {vertices[3*i], vertices[1+3*i], vertices[2+3*i]};\n\t\tvertex[0] += value->GetPose()(0,1);\n\t\tvertex[1] += value->GetPose()(0,2);\n\t\tvertex[2] += value->GetPose()(0,3);\n\t\tglTexCoord2fv(uvs + (2*i));\n\t\tglVertex3fv(vertex);\n\t}\n\n\tglEnd();\n\n\tglDisable(GL_TEXTURE_2D);\n\tglDisable(GL_DEPTH_TEST);\n\n\treturn true;\n}\n\nbool SLAMBenchUI_Pangolin::DrawList(slambench::outputs::BaseOutput* output)\n{\n\n\tif (output->Empty()) {\n\t\treturn true;\n\t}\n\t// take the most recent list\n\tauto list_value = (slambench::values::ValueListValue*)output->GetMostRecentValue().second;\n\tauto &list = list_value->GetValue();\n\n\tfor(auto i : list) {\n\t\tswitch(i->GetType()) {\n\t\tcase slambench::values::VT_FEATURE:\n\t\t\tDrawFeature(static_cast(i));\n\t\t\tbreak;\n\t\tdefault:\n\t\t\tthrow std::logic_error(\"Unknown list type\");\n\t\t}\n\t}\n\treturn true;\n}\n\nbool SLAMBenchUI_Pangolin::DrawString(slambench::outputs::BaseOutput* value)\n{\n\n\tif (value->Empty()) {\n\t\treturn true;\n\t}\n\n\tauto string_value = (slambench::values::TypeForVT::type*)value->GetMostRecentValue().second;\n\toutputs_text_.at(value)->Ref().Set(string_value->GetValue());\n\n\treturn true;\n}\n\n\nbool SLAMBenchUI_Pangolin::DrawOutput(slambench::outputs::BaseOutput* output)\n{\n\t//\tstd::cout << \"Drawing an output \" << output->GetType() << std::endl;\n\tif(outputs_visible_.count(output) != 0 && !outputs_visible_.at(output)->Get()) {\n\t\treturn true;\n\t}\n\tif(!output->IsActive()) {\n\t\treturn true;\n\t}\n\n\tswitch(output->GetType()) {\n\tcase slambench::values::VT_POSE:\n\t\treturn DrawPoseOutput(output);\n\tcase slambench::values::VT_COLOUREDPOINTCLOUD:\n\t\treturn DrawColouredPointCloudOutput(output);\n\tcase slambench::values::VT_POINTCLOUD:\n\t\treturn DrawPointCloudOutput(output);\n\tcase slambench::values::VT_FRAME:\n\t\treturn DrawFrameOutput(output);\n\tcase slambench::values::VT_LIST:\n\t\treturn DrawList(output);\n\tcase slambench::values::VT_STRING:\n\t\treturn DrawString(output);\n\tdefault:\n\t\treturn false;\n\t}\n}\n\nvoid SLAMBenchUI_Pangolin::lockOutputs()\n{\n\tfor(auto output_mgr : GetOutputManagers()) {\n\t\toutput_mgr.second->GetLock().lock();\n\t}\n}\n\nvoid SLAMBenchUI_Pangolin::unlockOutputs()\n{\n\tfor(auto output_mgr : GetOutputManagers()) {\n\t\toutput_mgr.second->GetLock().unlock();\n\t}\n}\n\n\n\nbool SLAMBenchUI_Pangolin::process(){\n\n\t//\t\tstd::cout << \"Processing!\" << std::endl;\n\t/***\n\t * Running system\n\t */\n\n\tif(CanFreeRun()) {\n\t\tif(freeRunning->Get() != isFreeRunning) {\n\t\t\tisFreeRunning = freeRunning->Get();\n\t\t\tstd::unique_lock lck(step_mutex);\n\t\t\tstep_cv.notify_all();\n\t\t}\n\t}\n\n\tif(CanStep()) {\n\t\tif(nextFrame->Ref().Get()) {\n\t\t\tnextFrame->Ref().Set(false);\n\t\t\tstd::unique_lock lck(step_mutex);\n\t\t\tstep_cv.notify_all();\n\t\t}\n\t}\n\n\n\tfor(auto output : outputs_enabled_) {\n\t\tbool should_be_active = output.second->Get();\n\t\tif(should_be_active != output.first->IsActive()) {\n\t\t\tlockOutputs();\n\t\t\toutput.first->SetActive(should_be_active);\n\t\t\tunlockOutputs();\n\t\t}\n\t}\n\n\t{\n\t\t// Update aspect ratio of display to match that of the window\n\n\t\tauto &display = pangolin::Display(\"cam\");\n\t\tdouble aspect = (double)(pangolin::DisplayBase().v.w-360) / pangolin::DisplayBase().v.h;\n\t\tdisplay.SetAspect(aspect);\n\t}\n\n\n\t// Move to BIG screen\n\t// ********************\n\n\tpangolin::Display(\"cam\").Activate(s_cam);\n\n\n\t// Draw blue background\n\t// ********************\n\tglClearColor(0.05, 0.05, 0.3, 0.0f);\n\tglClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);\n\n\tFollowPoses();\n\n\tDrawBackgrounds();\n\n\tfor(auto output_mgr : GetOutputManagers()) {\n\t\tstd::lock_guard lock(output_mgr.second->GetLock());\n\t\t(void)lock; // I hate that werror so much\n\n\t\tfor(auto output : *output_mgr.second) {\n\t\t\tDrawOutput(output.second);\n\t\t}\n\t}\n\n\tDrawQueuedFrames();\n\n\tDrawAxis();\n\n\tthis->postCall();\n\n\treturn true;\n\n};\n\nvoid SLAMBenchUI_Pangolin::DrawAxis() {\n\n\n\tglMatrixMode(GL_PROJECTION);\n\tglPushMatrix();\n\tglLoadIdentity();\n\n\n\tglMatrixMode(GL_MODELVIEW);\n\tglPushMatrix();\n\tglLoadIdentity();\n\n\tauto mat = s_cam.GetModelViewMatrix();\n\tmat.m[12] = -0.85;\n\tmat.m[13] = 0.85;\n\tmat.m[14] = -0.5;\n\tmat.m[15] = 1;\n\n\tmat.Multiply();\n\n\tglBegin(GL_LINES);\n\n\tglColor3f(1,0.5,0.5);\n\tglVertex3f(0, 0, 0);\n\tglVertex3f(0.1, 0, 0);\n\n\tglColor3f(0.5,1,0.5);\n\tglVertex3f(0, 0, 0);\n\tglVertex3f(0, 0.1, 0);\n\n\tglColor3f(0.5,0.5,1);\n\tglVertex3f(0, 0, 0);\n\tglVertex3f(0, 0, 0.1);\n\n\tglEnd();\n\n\tglPopMatrix();\n\n\tglMatrixMode(GL_PROJECTION);\n\tglPopMatrix();\n}\n\nunsigned int SLAMBenchUI_Pangolin::get_next_texture_id() {\n\tif(next_feature_texture_id_idx == feature_texture_ids.size()) {\n\t\tuint texture_id;\n\t\tglGenTextures(1, &texture_id);\n\t\tfeature_texture_ids.push_back(texture_id);\n\t}\n\n\treturn feature_texture_ids.at(next_feature_texture_id_idx++);\n}\n\n\n\n\nvoid SLAMBenchUI_Pangolin::drawBackground(slambench::values::FrameValue * frame) {\n\n\tglBindTexture(GL_TEXTURE_2D, textureId[0]);\n\n\tglColor3f(1.0,1.0,1.0);\n\tglEnable(GL_TEXTURE_2D);\n\tglDisable(GL_DEPTH_TEST);\n\tglMatrixMode(GL_PROJECTION);\n\tglPushMatrix();\n\tglLoadIdentity();\n\tglMatrixMode(GL_MODELVIEW);\n\tglPushMatrix();\n\tglLoadIdentity();\n\tglOrtho( 0, 1, 0, 1, -1, 1 );\n\n\n\tGLint format, type, internalformat;\n\tswitch(frame->GetFormat()) {\n\t\tcase slambench::io::pixelformat::G_I_8:\n\t\tcase slambench::io::pixelformat::D_I_8:\n internalformat = GL_RGBA;\n\t\t\tformat = GL_LUMINANCE;\n\t\t\ttype = GL_UNSIGNED_BYTE;\n\t\t\tbreak;\n\t\tcase slambench::io::pixelformat::RGB_III_888:\n internalformat = GL_RGB;\n\t\t\tformat = GL_RGB;\n\t\t\ttype = GL_UNSIGNED_BYTE;\n\t\t\tbreak;\n\t\tcase slambench::io::pixelformat::RGBA_IIII_8888:\n internalformat = GL_RGBA;\n\t\t\tformat = GL_RGBA;\n\t\t\ttype = GL_UNSIGNED_BYTE;\n\t\t\tbreak;\n case slambench::io::pixelformat::D_I_16:\n internalformat = GL_LUMINANCE;\n format = GL_LUMINANCE;\n type = GL_UNSIGNED_SHORT;\n break;\n default:\n\t\t\t// unknown type!\n\t\t\tabort();\n\t\t}\n\n\tglTexImage2D(GL_TEXTURE_2D, 0, internalformat, frame->GetWidth(), frame->GetHeight(), 0, format, type, frame->GetData());\n\n\tglTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);\n\tglTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);\n\tglBegin( GL_QUADS ); {\n\n\t\tglTexCoord2f(0,1);\n\t\tglVertex2f(0.0f, 0.0f);\n\n\t\tglTexCoord2f(1,1);\n\t\tglVertex2f(1, 0.0f);\n\n\t\tglTexCoord2f(1,0);\n\t\tglVertex2f(1, 1);\n\n\t\tglTexCoord2f(0,0);\n\t\tglVertex2f(0.0f, 1);\n\t}\n\tglEnd();\n\n\n\n\n\tglPopMatrix();\n\tglMatrixMode(GL_PROJECTION);\n\tglPopMatrix();\n\tglMatrixMode(GL_MODELVIEW);\n\tglEnable(GL_DEPTH_TEST);\n\tglDisable(GL_TEXTURE_2D);\n\n\n\n\n}\n\nvoid SLAMBenchUI_Pangolin::drawTrajectory(const slambench::outputs::TrajectoryInterface *trajectory, float R , float G, float B , int print_poses) {\n\n\n\n\tglPushMatrix();\n\n\tglColor3f(R, G, B);\n\n\tglBegin(GL_LINES);\n\n\tbool first = true;\n\tauto traj = trajectory->GetAll();\n\n\tif(traj.empty()) {\n\t\treturn;\n\t}\n\n\tfor(auto &point : traj) {\n\t\tconst auto &mat = point.second.GetValue();\n\t\tif (first) {\n\t\t\tglVertex3f(mat(0,3),mat(1,3),mat(2,3));\n\t\t\tfirst = false;\n\t\t}\n\t\tglVertex3f(mat(0,3),mat(1,3),mat(2,3));\n\t\tglVertex3f(mat(0,3),mat(1,3),mat(2,3));\n\t}\n\n\tglEnd();\n\tglPopMatrix();\n\n\n\n\tint print_me = 0;\n\tint frequency = print_poses ;\n\t//std::cout << \"frequency =\" << frequency < frequency) {print_me = 0;}\n\t\telse {continue;}\n\n\t\tEigen::Matrix4f matfrtu = point.second.GetValue();\n\n\t\tmatfrtu.block<3,1>(0,0) = matfrtu.block<3,1>(0,0) / (matfrtu.block<3,1>(0,0)).norm();\n\t\tmatfrtu.block<3,1>(0,1) = matfrtu.block<3,1>(0,1) / (matfrtu.block<3,1>(0,1)).norm();\n\t\tmatfrtu.block<3,1>(0,2) = matfrtu.block<3,1>(0,2) / (matfrtu.block<3,1>(0,2)).norm();\n\n\t\tthis->drawFrustum( matfrtu, R,G,B);\n\t}\n\n\tEigen::Matrix4f matfrtu = traj.rbegin()->second.GetValue();\n\n\tmatfrtu.block<3,1>(0,0) = matfrtu.block<3,1>(0,0) / (matfrtu.block<3,1>(0,0)).norm();\n\tmatfrtu.block<3,1>(0,1) = matfrtu.block<3,1>(0,1) / (matfrtu.block<3,1>(0,1)).norm();\n\tmatfrtu.block<3,1>(0,2) = matfrtu.block<3,1>(0,2) / (matfrtu.block<3,1>(0,2)).norm();\n\n\tthis->drawFrustum( matfrtu, R,G,B);\n\n\n}\n\nvoid SLAMBenchUI_Pangolin::FollowPose(Eigen::Matrix4f currPose ) {\n\n\tpangolin::OpenGlMatrix mv;\n\n\tEigen::Matrix3f currRot = currPose.topLeftCorner(3, 3);\n\n\tEigen::Quaternionf currQuat(currRot);\n\tEigen::Vector3f forwardVector(0, 0, 1);\n\tEigen::Vector3f upVector(0, -1, 0); // Flip cloud ?\n\n\tEigen::Vector3f forward = (currQuat * forwardVector).normalized();\n\tEigen::Vector3f up = (currQuat * upVector).normalized();\n\n\tEigen::Vector3f eye(currPose(0, 3), currPose(1, 3), currPose(2, 3));\n\n\n\n\tEigen::Vector3f at = eye + forward;\n\n\tEigen::Vector3f z = (eye - at).normalized(); // Forward\n\tEigen::Vector3f x = up.cross(z).normalized(); // Right\n\tEigen::Vector3f y = z.cross(x);\n\n\tEigen::Matrix4d m;\n\tm << x(0), x(1), x(2), -(x.dot(eye)),\n\t\t\ty(0), y(1), y(2), -(y.dot(eye)),\n\t\t\tz(0), z(1), z(2), -(z.dot(eye)),\n\t\t\t0, 0, 0, 1;\n\n\tmemcpy(&mv.m[0], m.data(), sizeof(Eigen::Matrix4d));\n\n\ts_cam.SetModelViewMatrix(mv);\n\n\n\n}\n\nvoid SLAMBenchUI_Pangolin::drawFrustum(Eigen::Matrix4f currPose, float R , float G, float B) {\n\n\tglPushMatrix();\n\n\tglMultMatrixf((GLfloat*) currPose.data());\n\tglColor3f(R, G, B);\n\tglBegin(GL_LINES);\n\tglVertex3f(0, 0, 0);\n\tglVertex3f(0.05 * (0 - cx) / fx, 0.05 * (0 - cy) / fy, 0.05);\n\tglVertex3f(0, 0, 0);\n\tglVertex3f(0.05 * (0 - cx) / fx, 0.05 * (height - 1 - cy) / fy, 0.05);\n\tglVertex3f(0, 0, 0);\n\tglVertex3f(0.05 * (width - 1 - cx) / fx, 0.05 * (height - 1 - cy) / fy, 0.05);\n\tglVertex3f(0, 0, 0);\n\tglVertex3f(0.05 * (width - 1 - cx) / fx, 0.05 * (0 - cy) / fy, 0.05);\n\tglVertex3f(0.05 * (width - 1 - cx) / fx, 0.05 * (0 - cy) / fy, 0.05);\n\tglVertex3f(0.05 * (width - 1 - cx) / fx, 0.05 * (height - 1 - cy) / fy, 0.05);\n\tglVertex3f(0.05 * (width - 1 - cx) / fx, 0.05 * (height - 1 - cy) / fy, 0.05);\n\tglVertex3f(0.05 * (0 - cx) / fx, 0.05 * (height - 1 - cy) / fy, 0.05);\n\tglVertex3f(0.05 * (0 - cx) / fx, 0.05 * (height - 1 - cy) / fy, 0.05);\n\tglVertex3f(0.05 * (0 - cx) / fx, 0.05 * (0 - cy) / fy, 0.05);\n\tglVertex3f(0.05 * (0 - cx) / fx, 0.05 * (0 - cy) / fy, 0.05);\n\tglVertex3f(0.05 * (width - 1 - cx) / fx, 0.05 * (0 - cy) / fy, 0.05);\n\tglEnd();\n\tglBegin(GL_LINES);\n\n\tglVertex3f(0,0,0);\n\tglVertex3f(0,-0.05,0);\n\n\tglVertex3f(0.02,-0.03,0);\n\tglVertex3f(0, -0.05,0);\n\n\tglVertex3f(-0.02,-0.03,0);\n\tglVertex3f(0, -0.05,0);\n\n\tglEnd();\n\tglPopMatrix();\n\n}\n\n\nvoid SLAMBenchUI_Pangolin::postCall() {\n\n\n\tstruct sysinfo memInfo;\n\n\n\tsysinfo (&memInfo);\n\tlong long totalVirtualMem = memInfo.totalram;\n\t//Add other values in next statement to avoid int overflow on right hand side...\n\ttotalVirtualMem += memInfo.totalswap;\n\ttotalVirtualMem *= memInfo.mem_unit;\n\n\tlong long virtualMemUsed = memInfo.totalram - memInfo.freeram;\n\t//Add other values in next statement to avoid int overflow on right hand side...\n\tvirtualMemUsed += memInfo.totalswap - memInfo.freeswap;\n\tvirtualMemUsed *= memInfo.mem_unit;\n\n\tlong long totalPhysMem = memInfo.totalram;\n\t//Multiply in next statement to avoid int overflow on right hand side...\n\ttotalPhysMem *= memInfo.mem_unit;\n\n\tlong long physMemUsed = memInfo.totalram - memInfo.freeram;\n\t//Multiply in next statement to avoid int overflow on right hand side...\n\tphysMemUsed *= memInfo.mem_unit;\n\n\n\tVRSS->operator=(getValueVmRSS()/ 1000);\n\tVSIZE->operator=(getValueVmSize()/ 1000);\n\n\tTVM->operator=(totalVirtualMem / 1000000);\n\tCVM->operator=(virtualMemUsed / 1000000 );\n\tTPM->operator=(totalPhysMem / 1000000 );\n\tCPM->operator=(physMemUsed / 1000000 );\n\tframeCount->operator=(this->frame);\n\n\tpangolin::FinishFrame();\n\n\tglFinish();\n}\n" }, { "path": "framework/shared/src/dummy_library.cpp", "content": "/*\n\n Copyright (c) 2014 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \n\nbool sb_new_slam_configuration(SLAMBenchLibraryHelper * slam_settings) {\n return false;\n}\n\nbool sb_init_slam_system(SLAMBenchLibraryHelper * slam_settings) {\n return false;\n\n}\n\nbool sb_update_frame (SLAMBenchLibraryHelper * , slambench::io::SLAMFrame* s) {\n return false;\n}\n\nbool sb_process_once (SLAMBenchLibraryHelper * slam_settings) {\n return false;\n}\n\nbool sb_clean_slam_system() {\n return false;\n}\n\nbool sb_update_outputs(SLAMBenchLibraryHelper *lib, const slambench::TimeStamp *timestamp) {\n\treturn false;\n}\n\n" }, { "path": "framework/shared/src/io/FrameBuffer.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/FrameBuffer.h\"\n\n#include \n#include \n\nusing namespace slambench::io;\n\nFrameBuffer::FrameBuffer() : lock_(false), size_(0), data_(nullptr) {\n}\n\nFrameBuffer::~FrameBuffer() {\n\t// This is dangerous if the frame buffer hasn't been released\n\tif(data_) {\n\t\tfree(data_);\n\t}\n}\n\nvoid FrameBuffer::Acquire() {\n\tif(lock_.exchange(true)) {\n\t\tthrow std::logic_error(\"FrameBuffer is already locked\");\n\t}\n}\n\nbool FrameBuffer::TryAcquire() {\n\tif(lock_.exchange(true)) return false;\n\treturn true;\n}\n\nvoid FrameBuffer::Release() {\n lock_ = false;\n}\n\nvoid FrameBuffer::ResetBuffer() {\n\tif(data_) {\n\t\tfree(data_);\n data_ = malloc(0);\n\t}\n}\n\nbool FrameBuffer::Busy() {\n\treturn lock_;\n}\n\nbool FrameBuffer::Reserve(size_t new_size) {\n\tif(new_size > size_) {\n size_ = new_size;\n\t}\n\t\n\tif(data_) {\n data_ = realloc(data_, size_);\n\t\tif(data_ == nullptr) return false;\n\t}\n\t\n\treturn true;\n}\n\nvoid *FrameBuffer::Data() {\n\tif(data_ == nullptr) {\n data_ = malloc(size_);\n\t}\n\treturn data_;\n}\n" }, { "path": "framework/shared/src/io/FrameBufferSource.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/FrameBufferSource.h\"\n\nusing namespace slambench::io;\n\nFrameBuffer *SingleFrameBufferSource::Next() {\n\treturn &fb_;\n}\n" }, { "path": "framework/shared/src/io/FrameFormat.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/FrameFormat.h\"\n\n#include \n\nusing namespace slambench::io;\n\nstatic std::map formats = {\n\t{\"raster\", frameformat::Raster},\n\t{\"jpeg\", frameformat::JPEG},\n\t{\"png\", frameformat::PNG}\n\t\n};\n\nframeformat::EFrameFormat frameformat::Parse(const std::string& str) {\n\tif(formats.count(str)) {\n\t\treturn formats.at(str);\n\t}\n\treturn frameformat::UNKNOWN;\n}\n" }, { "path": "framework/shared/src/io/FrameSource.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/FrameSource.h\"\n#include \"io/SLAMFrame.h\"\n#include \"io/sensor/Sensor.h\"\n\n#include \n#include \n\nusing namespace slambench::io;\n\nFrameCollectionStream::FrameCollectionStream(FrameCollection& base_collection) : collection_(base_collection), index_(0) {}\n\nSLAMFrame* FrameCollectionStream::GetNextFrame() {\n\tif(!HasNextFrame()) {\n\t\treturn nullptr;\n\t}\n\treturn collection_.GetFrame(index_++);\n}\n\nbool FrameCollectionStream::HasNextFrame() {\n\treturn index_ < collection_.GetFrameCount();\n}\n\nGTBufferingFrameStream::GTFrameCollection::GTFrameCollection(GTBufferingFrameStream& gt_stream) : gt_stream_(gt_stream) {}\n\nSLAMFrame* GTBufferingFrameStream::GTFrameCollection::GetFrame(unsigned int index)\n{\n\treturn gt_stream_.gt_frames_.at(index);\n}\n\nSLAMFrame* GTBufferingFrameStream::GTFrameCollection::GetClosestFrameToTime(const slambench::TimeStamp& ts)\n{\n\tauto frame = std::lower_bound(gt_stream_.gt_frames_.begin(), gt_stream_.gt_frames_.end(), ts,\n [](SLAMFrame *frame, slambench::TimeStamp t){ return frame->Timestamp < t; });\n\tif (frame == gt_stream_.gt_frames_.end()) {\n\t\tframe--;\n\t} else if (frame != gt_stream_.gt_frames_.begin() && (*frame)->Timestamp - ts > ts - (*(frame - 1))->Timestamp) {\n\t\tframe--;\n\t}\n\treturn *frame;\n}\n\nunsigned int GTBufferingFrameStream::GTFrameCollection::GetFrameCount()\n{\n\treturn gt_stream_.gt_frames_.size();\n}\n\nGTBufferingFrameStream::GTBufferingFrameStream(FrameStream& base_stream) : base_stream_(base_stream), buffered_frame_(nullptr)\n{\n fastForward();\n}\n\nSLAMFrame* GTBufferingFrameStream::GetNextFrame()\n{\n\tif(buffered_frame_ != nullptr) {\n\t\tauto frame = buffered_frame_;\n\t\tbuffered_frame_ = nullptr;\n\t\treturn frame;\n\t}\n\t\n\treturn base_stream_.GetNextFrame();\n}\n\nbool GTBufferingFrameStream::HasNextFrame()\n{\n\treturn base_stream_.HasNextFrame() || buffered_frame_ != nullptr;\n}\n\nGTBufferingFrameStream::GTFrameCollection* GTBufferingFrameStream::GetGTFrames()\n{\n\t// TODO : memory leak here\n\treturn new GTFrameCollection(*this);\n}\n\nvoid GTBufferingFrameStream::fastForward()\n{\n\tassert(gt_frames_.empty());\n\t\n\tSLAMFrame *next_frame = nullptr;\n\twhile(true) {\n\t\tif(!base_stream_.HasNextFrame()) {\n\t\t\tbreak;\n\t\t}\n\t\tnext_frame = base_stream_.GetNextFrame();\n\t\tif(next_frame == nullptr) {\n\t\t\tbreak;\n\t\t}\n\t\t\n\t\tif(!next_frame->FrameSensor->IsGroundTruth()) {\n\t\t\tbreak;\n\t\t}\n\t\t\n\t\tgt_frames_.push_back(next_frame);\n\t}\n\t\n\tbuffered_frame_ = next_frame;\n}\n\nRealTimeFrameStream::RealTimeFrameStream(FrameStream* base_stream, double multiplier, bool should_pause) : base_stream_(base_stream), acceleration_(multiplier), should_pause_(should_pause) {}\n\nbool RealTimeFrameStream::HasNextFrame()\n{\n\treturn base_stream_->HasNextFrame();\n}\n\nSLAMFrame* RealTimeFrameStream::GetNextFrame()\n{\n\tSLAMFrame *frame = nullptr;\n\tdo {\n\t\tframe = base_stream_->GetNextFrame();\n\t\tif(frame) {\n\t\t\tframe->Timestamp *= acceleration_;\n\t\t}\n\t} while(HasNextFrame() && !is_valid_frame(frame));\n\t\n\tif(frame) {\n\t\tauto now = slambench::TimeStamp::Now();\n\t\t\n\t\tauto last_timestamp = last_frame_timestamp_[frame->FrameSensor];\n\t\tauto last_realtimestamp = last_frame_realtimestamp_[frame->FrameSensor];\n\t\t\n\t\tlast_frame_timestamp_[frame->FrameSensor] = frame->Timestamp;\n\t\tlast_frame_realtimestamp_[frame->FrameSensor] = now;\n\t\t\n\t\t// if the slam time since the last frame is greater than the real time\n\t\t// since the last frame, then sleep until it isn't.\n\t\tauto slam_time_since_last_frame = frame->Timestamp - last_timestamp;\n\t\tauto real_time_since_last_frame = now - last_realtimestamp;\n\t\tif(slam_time_since_last_frame > real_time_since_last_frame) {\n\t\t\tif(should_pause_) {\n\t\t\t\tslambench::Sleep(slam_time_since_last_frame - real_time_since_last_frame);\n\t\t\t}\n\t\t}\n\t}\n\t\n\treturn frame;\n}\n\nbool RealTimeFrameStream::is_valid_frame(SLAMFrame* frame) const\n{\n\tif(frame == nullptr) {\n\t\tthrow std::logic_error(\"\");\n\t}\n\t\n\t// first frame encountered for a sensor is always valid\n\tif(last_frame_timestamp_.count(frame->FrameSensor) == 0) {\n\t\treturn true;\n\t}\n\t\n\t// frame is valid if the time between the frame and the last returned frame\n\t// is greater than the real time since the last returned frame\n\tslambench::TimeStamp last_sensor_time {0,0};\n\tif(last_frame_timestamp_.count(frame->FrameSensor)) {\n\t\tlast_sensor_time = last_frame_timestamp_.at(frame->FrameSensor);\n\t}\n\t\n\tslambench::TimeStamp last_sensor_realtime {0,0};\n\tif(last_frame_realtimestamp_.count(frame->FrameSensor)) {\n\t\tlast_sensor_realtime = last_frame_realtimestamp_.at(frame->FrameSensor);\n\t}\n\t\n\tauto time_since_last_frame = frame->Timestamp - last_sensor_time;\t\n\tauto realtime_since_last_frame = slambench::TimeStamp::Now() - last_sensor_realtime;\n\t\n\treturn time_since_last_frame >= realtime_since_last_frame;\n\t\n}\n" }, { "path": "framework/shared/src/io/InputInterface.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"io/InputInterface.h\"\n#include \"io/SLAMFile.h\"\n#include \"io/FrameBufferSource.h\"\n#include \"io/deserialisation/SLAMFileHeaderDeserialiser.h\"\n#include \"io/deserialisation/SensorCollectionDeserialiser.h\"\n\nusing namespace slambench::io;\n\nInputInterface::~InputInterface() {\n\n}\n\nBasicInputInterface::BasicInputInterface(FrameStream& frames, SensorCollection& sensors) : frames_(frames), sensors_(sensors) {\n\n}\n\nFrameStream& BasicInputInterface::GetFrames() {\n\treturn frames_;\n}\n\nSensorCollection& BasicInputInterface::GetSensors() {\n\treturn sensors_;\n}\n\nFileInputInterface::FileInputInterface(SLAMFile& input_file) : file_(input_file), stream_(input_file) {\n\n}\n\nFrameStream& FileInputInterface::GetFrames() {\n\treturn stream_;\n}\n\nSensorCollection& FileInputInterface::GetSensors() {\n\treturn file_.Sensors;\n}\n\nFileStreamInputInterface::FileStreamInputInterface(FILE* input_file, FrameBufferSource *fb_source) : deserialiser_(input_file, sensors_, fb_source) {\n\t// deserialise header and sensors\n\n\tif (input_file == nullptr) {\n\t\tthrow std::exception();\n\t}\n\n\tSLAMFileHeaderDeserialiser hdr(input_file);\n\tif(!hdr.Deserialise()) {\n\t\tthrow std::exception();\n\t}\n\t\n\tSensorCollectionDeserialiser scd(input_file);\n\tif(!scd.Deserialise(sensors_)) {\n\t\tthrow std::exception();\n\t}\n}\n\n\nFrameStream& FileStreamInputInterface::GetFrames() {\n\treturn deserialiser_;\n}\n\nSensorCollection& FileStreamInputInterface::GetSensors() {\n\treturn sensors_;\n}\n" }, { "path": "framework/shared/src/io/InputInterfaceManager.cpp", "content": "/*\n\n Copyright (c) 2020 University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n#include \n#include \n#include \n#include \n#include \n#include \n\nusing namespace slambench::io;\n\nInputInterfaceManager::InputInterfaceManager(const std::vector & dataset_filenames) {\n#ifdef DO_OPENNI20\n if (dataset_filenames[0] == \"oni2\") {\n std::cerr << \"Load OpenNI 2 interface ...\" << std::endl;\n input_interfaces_.push_back(new slambench::io::openni2::ONI2InputInterface());\n return;\n }\n#endif\n#ifdef DO_OPENNI15\n if (dataset_filenames[0] == \"oni15\") {\n std::cerr << \"Load OpenNI 1.5 interface ...\" << std::endl;\n input_interfaces_.push_back(new slambench::io::openni15::ONI15InputInterface());\n return;\n }\n#endif\n#ifdef DO_REALSENSE\n if (dataset_filenames[0] == \"realsense\") {\n std::cerr << \"Load RealSense interface ...\" << std::endl;\n auto interface = new slambench::io::realsense::RealSense2InputInterface();\n input_interfaces_.push_back(interface);\n input_stream_ = &interface->GetStream();\n return;\n }\n#endif\n // TODO: Handle other types of interface\n // TODO: Add a getFrameStream in Config to handle that\n // TODO: config will be aware of sensors and then sensors will be able to add there arguments\n for(const auto &filename : dataset_filenames) {\n\n FILE *input_desc = fopen(filename.c_str(), \"r\");\n if (input_desc == nullptr) {\n throw std::logic_error(\"Could not open the input file\");\n }\n auto input_ref = new slambench::io::FileStreamInputInterface(input_desc,\n new slambench::io::SingleFrameBufferSource());\n input_interfaces_.push_back(input_ref);\n ////workaround to be compatible with benchmarks that does not implement sensors resetting.\n ////assume different input_interface_manager_ has exactly the same types of sensors.\n ////If sensors are different, may introduce problems.\n // FIXME: this works for a single library but doesn't work for more than that. Should be moved inside each library\n }\n first_sensors_ = &GetCurrentInputInterface()->GetSensors();\n}\n\nInputInterfaceManager::~InputInterfaceManager() {\n for(auto interface : input_interfaces_)\n delete interface;\n if(first_sensors_)\n delete first_sensors_;\n if(input_stream_)\n delete input_stream_;\n}\n\nInputInterface* InputInterfaceManager::GetCurrentInputInterface()\n{\n if(input_interfaces_.empty()) {\n throw std::logic_error(\"Input interface has not been added to SLAM configuration\");\n }\n return input_interfaces_.front();\n}\n\nSLAMFrame* InputInterfaceManager::GetNextFrame() const {\n if (input_stream_ == nullptr || !input_stream_->HasNextFrame()) {\n std::cerr << \"No input loaded.\" << std::endl;\n return nullptr;\n }\n\n return input_stream_->GetNextFrame();\n}\n\nSLAMFrame* InputInterfaceManager::GetClosestGTFrameToTime(slambench::TimeStamp& ts) const {\n return dynamic_cast(input_stream_)->GetGTFrames()->GetClosestFrameToTime(ts);\n}\n\nbool InputInterfaceManager::LoadNextInputInterface()\n{\n input_interfaces_.pop_front();\n delete input_stream_;\n if(input_interfaces_.empty())\n return false;\n updated_ = true;\n\n GetCurrentInputInterface()->GetSensors() = *first_sensors_;\n return true;\n}\n" }, { "path": "framework/shared/src/io/PixelFormat.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/PixelFormat.h\"\n\n#include \n#include \n\nusing namespace slambench::io;\n\nstatic std::map formats = {\n\t{\"G_I_8\", pixelformat::G_I_8},\n\t{\"RGB_III_888\", pixelformat::RGB_III_888},\n\t{\"RGBA_IIII_8888\", pixelformat::RGBA_IIII_8888},\n\t{\"D_I_8\", pixelformat::D_I_8},\n\t{\"D_I_16\", pixelformat::D_I_16},\n\t{\"D_F_32\", pixelformat::D_F_32},\n\t{\"D_F_64\", pixelformat::D_F_64}\n};\n\nstatic std::map reverse_formats_;\nstd::map &GetReverseFormats() {\n\tif(reverse_formats_.empty()) {\n\t\tfor(auto i : formats) {\n\t\t\treverse_formats_[i.second] = i.first;\n\t\t}\n\t}\n\treturn reverse_formats_;\n}\n\npixelformat::EPixelFormat pixelformat::Parse(const std::string& fmt) {\n\tif(formats.count(fmt)) {\n\t\treturn formats.at(fmt);\n\t} else {\n\t\treturn pixelformat::UNKNOWN;\n\t}\n}\n\nstd::string pixelformat::TypeOf(pixelformat::EPixelFormat format) {\n\tusing namespace pixelformat;\n\tswitch(format) {\n\t\tcase UNKNOWN:\n\t\t\treturn \"UNKNOWN\";\n\t\tcase G_I_8:\n\t\t\treturn \"grey\";\n\t\tcase RGB_III_888:\n\t\tcase RGBA_IIII_8888:\n\t\t\treturn \"rgb\";\n\t\tcase D_I_8:\n\t\tcase D_I_16:\n\t\tcase D_F_32:\n\t\tcase D_F_64:\n\t\t\treturn \"depth\";\n\t\tdefault:\n\t\t\treturn \"???\";\n\t}\n}\n\nsize_t pixelformat::GetPixelSize(pixelformat::EPixelFormat format) {\n\tusing namespace pixelformat;\n\tswitch(format) {\n\t\tcase G_I_8 : return 1;\n\t\tcase RGB_III_888 : return 3;\n\t\tcase RGBA_IIII_8888 : return 4;\n\t\tcase D_I_8 : return 1;\n\t\tcase D_F_32 : return 4;\n\t\tcase D_I_16 : return 2;\n\t\tcase D_F_64 : return 8;\n\t\t\n\t\tdefault:\n\t\t\tassert(false);\n\t\t\treturn 0;\n\t}\n}\n\nbool pixelformat::IsRGB(pixelformat::EPixelFormat format) {\n\tusing namespace pixelformat;\n\tswitch(format) {\n\t\tcase RGB_III_888:\n\t\tcase RGBA_IIII_8888:\n\t\t\treturn true;\n\t\tdefault:\n\t\t\treturn false;\n\t}\n}\n\nbool pixelformat::IsGrey(pixelformat::EPixelFormat format) {\n\tusing namespace pixelformat;\n\tswitch(format) {\n\t\tcase G_I_8:\n\t\t\treturn true;\n\t\tdefault:\n\t\t\treturn false;\n\t}\n}\n" }, { "path": "framework/shared/src/io/SLAMFile.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"io/SLAMFile.h\"\n#include \"io/deserialisation/SLAMFileDeserialiser.h\"\n#include \"io/serialisation/SLAMFileSerialiser.h\"\n#include \"io/FrameBufferSource.h\"\n#include \"io/sensor/Sensor.h\"\n#include \"io/SLAMFrame.h\"\n\n#include \n\nusing namespace slambench::io;\n\nconst SLAMFile::magic_num_t SLAMFile::MagicNum = \"SLAM\";\n\nSLAMFrame* SLAMFile::GetFrame(unsigned int index) {\n\treturn frames_.at(index);\n}\n\nunsigned int SLAMFile::GetFrameCount() {\n\treturn frames_.size();\n}\n\nvoid SLAMFile::AddFrame(SLAMFrame* frame) {\n\t// Order ground truth frames before regular frames\n\tif(frame->FrameSensor->IsGroundTruth()) {\n\t\tAddGroundTruthFrame(frame);\n\t} else {\n\t\tAddRegularFrame(frame);\n\t}\n}\n\nvoid SLAMFile::AddRegularFrame(SLAMFrame *frame) {\n\tassert(!frame->FrameSensor->IsGroundTruth());\n\t\n\t// Place frame in correct place given the timestamp\n\tfor (auto it = frames_.begin() ; it != frames_.end() ; it++) {\n\t if((*it)->FrameSensor->IsGroundTruth()) { continue; }\n\t if ((*it)->Timestamp <= frame->Timestamp) { continue; }\n\t else {frames_.insert(it, frame);return;}\n\t}\n\n\tframes_.push_back(frame);\n}\n\nvoid SLAMFile::AddGroundTruthFrame(SLAMFrame* frame)\n{\n \tassert(frame->FrameSensor->IsGroundTruth());\n\t\n\tfor (auto it = frames_.begin() ; it != frames_.end() ; it++) {\n\t if(!(*it)->FrameSensor->IsGroundTruth()) { frames_.insert(it, frame);return; }\n\t if ((*it)->Timestamp <= frame->Timestamp) { continue; }\n\t else {frames_.insert(it, frame);return;}\n\t}\n\n\tframes_.push_back(frame);\n}\n\n\nSensor* SLAMFile::GetSensor(const Sensor::sensor_type_t &type) {\n\tfor(auto &i : Sensors) {\n\t\tif(i->GetType() == type) return i;\n\t}\n\treturn nullptr;\n}\n\nSLAMFile* SLAMFile::Read(const std::string& filename, FrameBufferSource &fb_source) {\n\tFILE *base_file = fopen(filename.c_str(), \"r\");\n\tif(!base_file) {\n\t\treturn nullptr;\n\t}\n\t\n\tSLAMFileDeserialiser deserialiser(base_file, &fb_source);\n\tSLAMFile *file = new SLAMFile();\n\tif(!deserialiser.Deserialise(*file)) {\n\t\tfclose(base_file);\n\t\tdelete file;\n\t\treturn nullptr;\n\t}\n\t\n\treturn file;\n}\n\nbool SLAMFile::Write(const std::string& filename, SLAMFile& file, SLAMFileSerialiser::frame_callback_t callback) {\n\tFILE *base_file = fopen(filename.c_str(), \"w\");\n\tif(!base_file) {\n\t\treturn false;\n\t}\n\t\n\tSLAMFileSerialiser serialiser(base_file);\n\tserialiser.FrameCallback = callback;\n\tif(!serialiser.Serialise(file)) {\n\t\tfclose(base_file);\n\t\treturn false;\n\t}\n\t\n\tfclose(base_file);\n\treturn true;\n}\n" }, { "path": "framework/shared/src/io/SLAMFrame.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/FrameBuffer.h\"\n#include \"io/SLAMFrame.h\"\n#include \"io/sensor/Sensor.h\"\n#include \"io/sensor/CameraSensor.h\"\n#include \"io/sensor/DepthSensor.h\"\n\n#include \"lodepng.h\"\n#include \"io/sensor/AccelerometerSensor.h\"\n\n#include \"io/core/Core.h\"\n\n#include \n#include \n#include \n\n#include \n#include \n#include \n\nusing namespace slambench::io;\n\nSLAMFrame::~SLAMFrame() {}\n\nsize_t SLAMFrame::GetSize() const {\n\tif(FrameSensor->IsVariableSize()) {\n\t\treturn size_if_variable_sized_;\n\t} else {\n\t\treturn FrameSensor->GetFrameSize(this);\n\t}\n}\n\nvoid SLAMFrame::SetVariableSize(uint32_t size)\n{\n\tassert(FrameSensor->IsVariableSize());\n\tsize_if_variable_sized_ = size;\n}\n\nuint32_t SLAMFrame::GetVariableSize() const\n{\n\tassert(FrameSensor->IsVariableSize());\n\treturn size_if_variable_sized_;\n}\n\n\nvoid *SLAMInMemoryFrame::GetData() {\n\treturn Data;\n}\n\nvoid SLAMInMemoryFrame::FreeData() {\n\t// do nothing\n}\n\nSLAMFileFrame::SLAMFileFrame() : ProcessCallback(nullptr) {}\n\nvoid *SLAMFileFrame::GetData() {\n\tif(data_ != nullptr) return data_;\n data_ = LoadFile();\n\t\n\tif(ProcessCallback != nullptr) {\n\t\tProcessCallback(this, (void*)data_);\n\t}\n\t\n\treturn data_;\n}\nvoid SLAMFileFrame::FreeData() {\n\tfree(data_);\n data_ = nullptr;\n}\n\nvoid *TxtFileFrame::LoadFile() {\n\t// Figure out the underlying data type to load\n\tconst Sensor::sensor_type_t &type = FrameSensor->GetType();\n\tif(type == CameraSensor::kCameraType || type == DepthSensor::kDepthType) {\n\t\treturn LoadCameraFile();\n\t} else {\n\t\treturn nullptr;\n\t}\n}\n\ntemplate bool ParseElem(const std::string &str, DType &result);\n\ntemplate<> bool ParseElem(const std::string &str, float &result) {\n\tif(str.size() == 0) return false;\n\tfor(auto c : str) {\n\t\tif(!(isdigit(c) || c == '.' || c == 'e' || c == '+')) {\n\t\t\treturn false;\n\t\t}\n\t}\n\t\n\tresult = strtof(str.c_str(), nullptr);\n\t\n\treturn true;\n}\n\ntemplate<> bool ParseElem(const std::string &str, double &result) {\n\tif(str.size() == 0) return false;\n\tfor(auto c : str) {\n\t\tif(!(isdigit(c) || c == '.' || c == 'e' || c == '+')) {\n\t\t\treturn false;\n\t\t}\n\t}\n\t\n\tresult = strtod(str.c_str(), nullptr);\n\t\n\treturn true;\n}\n\ntemplate<> bool ParseElem(const std::string &str, unsigned char &result) {\n\tif(str.size() == 0) return false;\n\tfor(auto c : str) {\n\t\tif(!isdigit(c)) return false;\n\t}\n\t\n\tresult = strtol(str.c_str(), nullptr, 10);\n\treturn true;\n}\n\ntemplate std::vector ParseFile(std::ifstream &str) {\n\tstd::vector data;\n\tstd::string curr_string;\n\t\n\twhile(str.good() && !str.eof()) {\n\t\tchar c = str.get();\n\t\t\n\t\tif(isdigit(c) || c == '.' || c == 'e' || c == '+') {\n\t\t\tcurr_string += c;\n\t\t} else {\n\t\t\tDType value;\n\t\t\tif(ParseElem(curr_string, value)) {\n\t\t\t\tdata.push_back(value);\n\t\t\t}\n\t\t\tcurr_string = \"\";\n\t\t}\n\t}\n\treturn data;\n}\n\ntemplate void *LoadData(const std::string &filename, int count_per_pxl, int pixels) {\n\tstd::ifstream str (filename.c_str());\n\tif(!str.good()) {\n\t\tthrow std::logic_error(\"Failed to load data file\");\n\t}\n\t\n\tDType *data = new DType[pixels * count_per_pxl];\n\tstd::vector values = ParseFile(str);\n\t\n\tsize_t elem_count = count_per_pxl * pixels;\n\t\n\tif(values.size() < elem_count) {\n\t\tdelete [] data;\n\t\tstd::cerr << \"File \" << filename << \" size mismatch \" << values.size() << \" < \" << (elem_count) << std::endl;\n\t\tthrow std::logic_error(\"File size mismatch \");\n\t}\n\t\n\tfor(size_t i = 0; i < elem_count; ++i) {\n\t\tdata[i] = values.at(i);\n\t}\n\t\n\treturn data;\n}\n\ntemplate void* ConvertPixels(void *input, size_t pxl_count);\n\ntemplate<> void *ConvertPixels(void *input, size_t pxl_count) {\n\tfloat *pxls = (float*)input;\n\tuint16_t *outpxls = (uint16_t*)malloc(pxl_count * sizeof(uint16_t));\n\t\n\tfor(size_t i = 0; i < pxl_count; ++i) {\n\t\toutpxls[i] = pxls[i] * 1000;\n\t}\n\t\n\treturn outpxls;\n}\n\ntemplate<> void *ConvertPixels(void *input, size_t pxl_count) {\n\tdouble *pxls = (double*)input;\n\tuint16_t *outpxls = (uint16_t*)malloc(pxl_count * sizeof(uint16_t));\n\t\n\tfor(size_t i = 0; i < pxl_count; ++i) {\n\t\toutpxls[i] = pxls[i] * 1000;\n\t}\n\t\n\treturn outpxls;\n}\n\nvoid *Convert(void *input, size_t count, pixelformat::EPixelFormat input_format, pixelformat::EPixelFormat output_format) {\n\tvoid *output = nullptr;\n\t\n\tswitch(output_format) {\n\t\tcase pixelformat::D_I_16:\n\t\t\tswitch(input_format) {\n\t\t\t\tcase pixelformat::D_F_32:\n\t\t\t\t\toutput = ConvertPixels(input, count);\n\t\t\t\t\tbreak;\n\t\t\t\tcase pixelformat::D_F_64:\n\t\t\t\t\toutput = ConvertPixels(input, count);\n\t\t\t\t\tbreak;\n\t\t\t\tdefault:\n\t\t\t\t\tassert(false);\n\t\t\t}\n\t\t\tbreak;\n\t\tdefault:\n\t\t\tassert(false);\n\t}\n\t\n\treturn output;\n}\n\nvoid *TxtFileFrame::LoadCameraFile() {\n\tCameraSensor *camera = (CameraSensor*)FrameSensor;\n\t\n\tvoid *data = nullptr;\n\tauto frame_size = camera->Width * camera->Height;\n\tswitch(input_pixel_format) {\n\t\tcase pixelformat::G_I_8:\n\t\t\tdata = LoadData(filename, 1, frame_size);\n\t\t\tbreak;\n\t\tcase pixelformat::RGB_III_888:\n\t\t\tdata = LoadData(filename, 3, frame_size);\n\t\t\tbreak;\n\t\tcase pixelformat::D_I_8:\n\t\t\tdata = LoadData(filename, 1, frame_size);\n\t\t\tbreak;\n\t\tcase pixelformat::D_F_32:\n\t\t\tdata = LoadData(filename, 1, frame_size);\n\t\t\tbreak;\n\t\tcase pixelformat::D_F_64:\n\t\t\tdata = LoadData(filename, 1, frame_size);\n\t\t\tbreak;\n\t\tcase pixelformat::D_I_16:\n\t\t\tdata = LoadData(filename, 1, frame_size);\n\t\t\tbreak;\n\t\tdefault:\n\t\t\tassert(false);\n\t}\n\t\n\tif(camera->PixelFormat != input_pixel_format) {\n\t\tvoid *newdata = Convert(data, frame_size, input_pixel_format, camera->PixelFormat);\n\t\tfree(data);\n\t\tdata = newdata;\n\t}\n\n\treturn data;\n}\n\nDeserialisedFrame::DeserialisedFrame(FrameBuffer &buffer, FILE *file) : buffer_(buffer), file_(file), offset_(0) {\n\t\n}\n\nvoid DeserialisedFrame::SetOffset(size_t new_offset) {\n offset_ = new_offset;\n}\n\nvoid *DeserialisedFrame::GetData() {\n\tunsigned long size = GetSize();\n\tbuffer_.Acquire();\n\tbuffer_.Reserve(size);\n\n\tfseeko(file_, offset_, SEEK_SET);\n\tfread(buffer_.Data(), size, 1, file_);\n\t// TODO : Check return value of fread\n\treturn buffer_.Data();\n}\n\nvoid DeserialisedFrame::FreeData() {\n\tbuffer_.Release();\n\tbuffer_.ResetBuffer();\n}\n\nvoid* ImageFileFrame::LoadFile() {\n\t// get file extension\n\tstd::string ext = filename.substr(filename.size() - 3, 3);\n\t\n\tif(ext == \"png\") return LoadPng();\n\telse if(ext == \"pgm\") return LoadPbm();\n\telse throw std::logic_error(\"Unrecognized file type\");\n}\n\nvoid* ImageFileFrame::LoadPbm() {\n\tCameraSensor *camera = nullptr;\n\tauto &type = FrameSensor->GetType();\n\tif(type == CameraSensor::kCameraType || type == DepthSensor::kDepthType) {\n\t\tcamera = (CameraSensor*)FrameSensor;\n\t} else {\n\t\tstd::cerr << \"Sensor type is \" << FrameSensor->GetType() << std::endl;\n\t\tthrow std::logic_error(\"Unrecognized sensor type\");\n\t}\n\t\n\tstd::ifstream file(filename.c_str());\n\tstd::string mnum, size, max;\n\tstd::getline(file, mnum);\n\tstd::getline(file, size);\n\tstd::getline(file, max);\n\t\n\t// only support p5 for now\n\tif(mnum.compare(\"P5\")) {\n\t\treturn nullptr;\n\t}\n\t\n\t// don't support max scaling for now\n\tif(max.compare(\"255\")) {\n\t\treturn nullptr;\n\t}\n\t\n\tchar *orig_ptr = strdup(size.c_str());\n\tchar *ptr = orig_ptr;\n\tunsigned int size_x = strtol(ptr, &ptr, 10);\n\tunsigned int size_y = strtol(ptr, &ptr, 10);\n\t\n\tif(size_x != camera->Width || size_y != camera->Height) {\n\t\tthrow std::runtime_error(\"\");\n\t}\n\t\n\tchar *data = (char*)malloc(size_x * size_y);\n\tfile.read(data, size_x * size_y);\n\t\n\tfree(orig_ptr);\n\treturn data;\n}\n\n\nvoid* ImageFileFrame::LoadPng() {\n\tSensor *sensor = nullptr;\n\t\n\tauto &type = FrameSensor->GetType();\n\tif(type == CameraSensor::kCameraType || type == DepthSensor::kDepthType) {\n\t\tsensor = (CameraSensor*)FrameSensor;\n\t} else {\n\t\tstd::cerr << \"Sensor type is \" << FrameSensor->GetType() << std::endl;\n\t\tthrow std::logic_error(\"Unrecognized sensor type\");\n\t}\n\t\n\t// BUG! A DepthSensor is not a CameraSensor!!!!!!!\n\t//CameraSensor *camera = dynamic_cast(sensor);\n\tCameraSensor *camera = (CameraSensor*)(sensor);\n\tif(camera == nullptr) {\n\t\tthrow std::logic_error(\"Cannot instantiate an image for something which isn't a camera\");\n\t}\n\t\n\tstd::vector pixels;\n\tunsigned width, height;\n\t\n\tauto mappedfile = core::ReadFile(filename);\n\t\n\t\n\tchar *outdata;\n\n\tswitch(camera->PixelFormat) {\n\n\t\t// Generic case when reading RGB from a PNG file\n\t\tcase pixelformat::RGB_III_888: {\n\t\t\tif (lodepng::decode(pixels, width, height, (const unsigned char*)mappedfile.Get(), mappedfile.Size(), LCT_RGB, 8)) {\n\t\t\t\tthrow std::logic_error(\"Failed to decode png\");\n\t\t\t}\n\t\t\tif(width != camera->Width || height != camera->Height) {\n\t\t\t\tthrow std::logic_error(\"PNG width does not match sensor width\");\n\t\t\t}\n\t\t\tif(pixels.size() != FrameSensor->GetFrameSize(this)) {\n\t\t\t\tthrow std::logic_error(\"Decoded png does not match expected frame size\");\n\t\t\t}\n\t\t\t\n\t\t\toutdata = (char*)malloc(FrameSensor->GetFrameSize(this));\n\t\t\tmemcpy(outdata, pixels.data(), FrameSensor->GetFrameSize(this));\n\n\t\t\tbreak;\n\t\t}\n\n\t\t// Generic case when reading a Grey scale image from a PNG\n\t\tcase pixelformat::G_I_8: {\n\t\t\tif (lodepng::decode(pixels, width, height, (const unsigned char*)mappedfile.Get(), mappedfile.Size(), LCT_RGB, 8)) {\n\t\t\t\tthrow std::logic_error(\"Failed to decode png\");\n\t\t\t}\n\t\t\tif(width != camera->Width || height != camera->Height) {\n\t\t\t\tthrow std::logic_error(\"PNG width does not match sensor width\");\n\t\t\t}\n\t\t\toutdata = (char*)malloc(FrameSensor->GetFrameSize(this));\n\n\t\t\t// convert rgb to greyscale\n\t\t\tfor(size_t idx = 0; idx < camera->Width * camera->Height; ++idx) {\n\t\t\t\tuint32_t total = pixels[3*idx] + pixels[(3*idx) + 1] + pixels[(3*idx) + 2];\n\t\t\t\ttotal /= 3;\n\t\t\t\toutdata[idx] = total;\n\t\t\t}\n\n\t\t\tbreak;\n\t\t}\n\t\t// Special case when reading depth from a TUM PNG\n\t\tcase pixelformat::D_I_16: {\n\n\t\t\tlodepng::State state = lodepng::State();\n\t\t\tstate.decoder.color_convert = false;\n\n\t\t\tif (lodepng::decode(pixels, width, height, state, (const unsigned char*)mappedfile.Get(), mappedfile.Size())) {\n\t\t\t\t\tthrow std::logic_error(\"Failed to decode png\");\n\t\t\t}\n\n\t\t\tif(width != camera->Width || height != camera->Height) {\n\t\t\t\tthrow std::logic_error(\"PNG width does not match sensor width\");\n\t\t\t}\n\t\t\t\n\t\t\tif(width * height * 2 != pixels.size()) {\n\t\t\t\tthrow std::logic_error(\"Got an unexpected number of pixels\");\n\t\t\t}\n\n\t\t\toutdata = (char*)malloc(FrameSensor->GetFrameSize(this));\n\n\t\t\t//Extract the 16bit value, bigendian format (png method for multibyte)\n\t\t\t// Divide by 5: 5000 units = 1m (scene2raw does *1000).\n\t\t\tint k = 0;\n\n\t\t\tfor(unsigned y = 0; y < height; y++) {\n\t\t\t\tfor (unsigned x = 0; x < width; x++) {\n\t\t\t\t\tsize_t index = y * width * 2 + x * 2;\n\n\t\t\t\t\tint r = pixels[index + 0] * 256 + pixels[index + 1];\n\t\t\t\t\t((uint16_t*)outdata)[k++] = r;\n\t\t\t\t}\n\t\t\t}\n\n\n\t\t\tbreak;\n\t\t}\n\t\tdefault: {\n\t\t\tstd::cerr << \"Pixel format is \" << camera->PixelFormat << std::endl;\n\t\t\tthrow std::logic_error(\"Unsupported pixel format\");\n\t\t\tbreak;\n\t\t}\n\t}\n\n\t if (outdata == nullptr) {\n\t\t throw std::logic_error(\"Should never happend\");\n\t }\n\n\treturn outdata;\n}\n" }, { "path": "framework/shared/src/io/core/Core.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#include \"io/core/Core.h\"\n\nusing namespace slambench::io::core;\n\n size_t slambench::io::core::FileSize(FILE *file)\n{\n\tstruct stat st;\n\tfstat(fileno(file), &st);\n\treturn st.st_size;\n}\n\nMappedFile::MappedFile(void* mapped_ptr, size_t size) : ptr_(mapped_ptr), size_(size)\n{\n}\n\nMappedFile::MappedFile(MappedFile&& other) : ptr_(other.ptr_), size_(other.size_)\n{\n\tother.ptr_ = nullptr;\n}\n\nMappedFile::~MappedFile()\n{\n\tif (ptr_) {\n\t\tmunmap(ptr_, size_);\n\t}\n}\n\nMappedFile slambench::io::core::ReadFile(const std::string &filename) \n{\n\tFILE *file = fopen(filename.c_str(), \"r\");\n\tsize_t size = FileSize(file);\n\n\tvoid *data = mmap(nullptr, size, PROT_READ, MAP_PRIVATE, fileno(file), 0);\n\tif(data == MAP_FAILED) {\n\t\tthrow std::logic_error(\"\");\n\t}\n\n\tfclose(file);\n\n\treturn MappedFile(data, size);\n}\n" }, { "path": "framework/shared/src/io/deserialisation/Deserialiser.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/deserialisation/Deserialiser.h\"\n\nusing namespace slambench::io;\n\nDeserialiser::Deserialiser(FILE *file) : target_file_(file) {}\n\nFILE *Deserialiser::File() const {\n\treturn target_file_;\n}\n\nbool Deserialiser::Read(void *target, size_t bytes) const {\n\treturn fread(target, bytes, 1, File()) == 1;\n}\n\nbool Deserialiser::Skip(size_t bytes) const {\n\tfseek(File(), bytes, SEEK_CUR);\n\treturn true;\n}\n\nsize_t Deserialiser::Offset() const {\n\treturn ftello(File());\n}\n\nbool Deserialiser::Good() const {\n\treturn feof(File()) == 0;\n}\n" }, { "path": "framework/shared/src/io/deserialisation/SLAMFileDeserialiser.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/deserialisation/SLAMFileDeserialiser.h\"\n#include \"io/deserialisation/SLAMFileHeaderDeserialiser.h\"\n#include \"io/deserialisation/SensorCollectionDeserialiser.h\"\n\n#include \"io/FrameBuffer.h\"\n#include \"io/FrameBufferSource.h\"\n#include \"io/SLAMFile.h\"\n#include \"io/SLAMFrame.h\"\n#include \"io/sensor/Sensor.h\"\n\nusing namespace slambench::io;\n\nSLAMFileDeserialiser::SLAMFileDeserialiser(FILE *file, FrameBufferSource *fb_source) : Deserialiser(file), fb_source_(fb_source) {\n\t\n}\n\nbool SLAMFileDeserialiser::Deserialise(SLAMFile &target) const {\n\tif(!DeserialiseHeader(target)) return false;\n\tif(!DeserialiseFrames(target)) return false;\n\treturn true;\n}\n\nbool SLAMFileDeserialiser::DeserialiseHeader(SLAMFile &target) const {\n\tSLAMFileHeaderDeserialiser d(File());\n\tif(!d.Deserialise()) {\n\t\treturn false;\n\t}\n\t\n\tSensorCollectionDeserialiser sensor_deserialiser(File());\n\tif(!sensor_deserialiser.Deserialise(target.Sensors)) {\n\t\treturn false;\n\t}\n\t\n\treturn true;\n}\n\nbool SLAMFileDeserialiser::DeserialiseFrames(SLAMFile &target) const {\n\tSLAMFrame *frame;\n\t\n\twhile(DeserialiseFrame(target, frame)) {\n\t\ttarget.AddFrame(frame);\n\t}\n\t\n\treturn true;\n}\n\nbool SLAMFileDeserialiser::DeserialiseFrame(SLAMFile &file, SLAMFrame *&target) const {\n\tDeserialisedFrame *dsf = new DeserialisedFrame(*GetNextFramebuffer(), File());\n\t\n\tif(!Read(&dsf->Timestamp, sizeof(dsf->Timestamp))) {\n\t\tdelete dsf;\n\t\treturn false;\n\t}\n\t\n\tuint8_t sensor_index = 0;\n\tRead(&sensor_index, sizeof(sensor_index));\n\tdsf->FrameSensor = &file.Sensors.at(sensor_index);\n\tif(dsf->FrameSensor->IsVariableSize()) {\n\t\tuint32_t framesize;\n\t\tRead(&framesize, sizeof(framesize));\n\t\tdsf->SetVariableSize(framesize);\n\t}\n\t\n\tdsf->SetOffset(Offset());\n\tSkip(dsf->FrameSensor->GetFrameSize(dsf));\n\t\n\ttarget = dsf;\n\t\n\treturn true;\n}\n\nFrameBuffer *SLAMFileDeserialiser::GetNextFramebuffer() const {\n\treturn fb_source_->Next();\n}\n" }, { "path": "framework/shared/src/io/deserialisation/SLAMFileHeaderDeserialiser.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/deserialisation/SLAMFileHeaderDeserialiser.h\"\n#include \"io/SLAMFile.h\"\n#include \"io/sensor/Sensor.h\"\n#include \"io/SensorType.h\"\n#include \"io/sensor/SensorDatabase.h\"\n#include \n#include \"io/sensor/GroundTruthSensor.h\"\n#include \"io/deserialisation/SensorCollectionDeserialiser.h\"\n\nusing namespace slambench::io;\n\nSLAMFileHeaderDeserialiser::SLAMFileHeaderDeserialiser(FILE *file) : Deserialiser(file) {\n\t\n}\n\nbool SLAMFileHeaderDeserialiser::Deserialise() {\n\t// check magic number\n\tSLAMFile::magic_num_t mnum;\n\tif(!Read(mnum, sizeof(mnum))) {\n\t\tfprintf(stderr, \"Read failed\\n\");\n\t\treturn false;\n\t}\n\tif(strcmp(mnum, SLAMFile::MagicNum) != 0) {\n\t\tfprintf(stderr, \"SLAM file does not have correct magic number (expected %s, got %c%c%c%c)\\n\", SLAMFile::MagicNum, mnum[0],mnum[1],mnum[2],mnum[3]);\n\t\treturn false;\n\t}\n\n\tSLAMFile::version_t version;\n\tRead(&version, sizeof(SLAMFile::version_t));\n\tif(version != SLAMFile::Version) {\n\t\tfprintf(stderr, \"SLAM file is not correct version (expected %u, got %u)\\n\", SLAMFile::Version, version);\n\t\treturn false;\n\t}\n\n\treturn true;\n}\n" }, { "path": "framework/shared/src/io/deserialisation/SLAMFrameDeserialiser.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"io/deserialisation/SLAMFrameDeserialiser.h\"\n#include \"io/FrameBufferSource.h\"\n#include \"io/SLAMFrame.h\"\n#include \"io/sensor/SensorCollection.h\"\n#include \"io/sensor/Sensor.h\"\n#include \"io/deserialisation/SLAMFileHeaderDeserialiser.h\"\n\nusing namespace slambench::io;\n\nSLAMFrameDeserialiser::SLAMFrameDeserialiser(FILE* file, SensorCollection& sensors, FrameBufferSource *fb_source) : Deserialiser(file), sensors_(sensors), fb_source_(fb_source) {\n\n}\n\nSLAMFrame* SLAMFrameDeserialiser::GetNextFrame() {\n\tDeserialisedFrame *dsf = new DeserialisedFrame(*fb_source_->Next(), File());\n\t\n\tif(!Read(&dsf->Timestamp, sizeof(dsf->Timestamp))) {\n\t\tdelete dsf;\n\t\treturn nullptr;\n\t}\n\t\n\tuint8_t sensor_index = 0;\n\tif (!Read(&sensor_index, sizeof(sensor_index))) {\n\t\tprintf(\"Could not read sensor data\");\t \n\t delete dsf;\n\t \treturn nullptr;\n\t}\n\n\tif (sensor_index >= sensors_.size()) {\n\t printf(\"Invalid sensor index (%d), max value is (%d).\",\n sensor_index, sensors_.size() - 1 );\n\t delete dsf;\n\t \treturn nullptr;\n\t}\n\t\n\tdsf->FrameSensor = &sensors_.at(sensor_index);\n\tif(dsf->FrameSensor->IsVariableSize()) {\n\t\tuint32_t framesize;\n\t\tif (!Read(&framesize, sizeof(framesize))) {\n\t\tprintf(\"Could not read frame size\");\t \n\t delete dsf;\n\t \treturn nullptr;\n\t\t}\n\t\tdsf->SetVariableSize(framesize);\n\t}\n\t\n\tdsf->SetOffset(Offset());\n\tSkip(dsf->GetSize());\n\t\n\treturn dsf;\n}\n\nbool SLAMFrameDeserialiser::HasNextFrame() {\n\treturn Good();\n}\n" }, { "path": "framework/shared/src/io/deserialisation/SensorCollectionDeserialiser.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n\n#include \"io/deserialisation/SensorCollectionDeserialiser.h\"\n#include \"io/sensor/SensorCollection.h\"\n#include \"io/sensor/SensorDatabase.h\"\n#include \"io/sensor/Sensor.h\"\n#include \n\nusing namespace slambench::io;\n\nSensorCollectionDeserialiser::SensorCollectionDeserialiser(std::FILE* _file) : Deserialiser(_file) {\n\n}\n\nbool SensorCollectionDeserialiser::Deserialise(SensorCollection& target) const {\n\tuint32_t sensor_count;\n\tRead(&sensor_count, sizeof(sensor_count));\n\n\tfor(uint32_t i = 0; i < sensor_count; ++i) {\n\t\tSensor *sensor;\n\t\tif(!DeserialiseSensor(sensor)) {\n\t\t\treturn false;\n\t\t}\n\n\t\ttarget.AddSensor(sensor);\n\t}\n\t\n\treturn true;\n}\n\nbool SensorCollectionDeserialiser::DeserialiseSensor(Sensor*& sensor) const {\n\tuint8_t sensor_name_size;\n\tRead(&sensor_name_size, sizeof(sensor_name_size));\n\tstd::vector namedata(sensor_name_size);\n\tRead(namedata.data(), sensor_name_size);\n\n\tuint8_t sensor_type_size;\n\tRead(&sensor_type_size, sizeof(sensor_type_size));\n\tstd::vector typedata(sensor_type_size);\n\tRead(typedata.data(), sensor_type_size);\n\n\n\tauto deserialiser = SensorDatabase::Singleton()->Get(typedata.data()).GetDeserialiser();\n\treturn deserialiser->Deserialise(namedata.data(), typedata.data(), this, &sensor);\n}\n" }, { "path": "framework/shared/src/io/format/DataFormatter.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"io/format/DataFormatter.h\"\n\nusing namespace slambench::io;\n\nDataFormatter::DataFormatter(Sensor* sensor, void* data) : data_(data), sensor_(sensor) {\n\t\n}\n" }, { "path": "framework/shared/src/io/format/PointCloud.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/format/PointCloud.h\"\n\n#include \n#include \n\nusing namespace slambench::io;\n\nPointCloud* PointCloud::FromRaw(char* data)\n{\n\tuint32_t count = *(uint32_t*)data;\n\t\n\tfloat *fdata = (float*)(data+4);\n\t\n\tPointCloud *pc = new PointCloud();\n\t\n\tfor(uint32_t i = 0; i < count; ++i) {\n\t\tfloat x = fdata[i*3];\n\t\tfloat y = fdata[i*3+1];\n\t\tfloat z = fdata[i*3+2];\n\t\tpc->Get().push_back(Point(x,y,z));\n\t}\n\t\n\treturn pc;\n}\n\nstd::vector PointCloud::ToRaw()\n{\n\tstd::vector output(4 + (Get().size() * 12));\n\t*(uint32_t*)(output.data()) = Get().size();\n\t\n\tfloat *fdata = (float*)(output.data()+4);\n\tfor(uint32_t i = 0; i < Get().size(); ++i) {\n\t\tfdata[i*3] = Get().at(i).x;\n\t\tfdata[i*3+1] = Get().at(i).y;\n\t\tfdata[i*3+2] = Get().at(i).z;\n\t}\n\t\n\treturn output;\n}\n\n\n// very basic PLY file format reader\nPointCloud *PlyReader::Read(std::istream &input)\n{\n\t// read the PLY header\n\tint point_size = 0;\n\tint point_y_offset = -1;\n\tint point_z_offset = -1;\n\tint point_x_offset = -1;\n\tint point_count = -1;\n\t\n\tboost::regex rgx (\"^([^ ]+)\\\\s*([^ ]+)?\\\\s*([^ ]+)?\\\\s*$\");\n\t\n\tdo {\n\t\tstd::string line;\n\t\tstd::getline(input, line);\n\t\t\n\t\t// figure out the type of line\n\t\tboost::cmatch cm;\n\t\tboost::regex_search (line.c_str(), cm, rgx);\n\t\t\n\t\tif(cm.size() == 0) {\n\t\t\tprintf(\"Line does not match expected format\\n\");\n\t\t\tprintf(\"%s\\n\", line.c_str());\n\t\t\treturn nullptr;\n\t\t}\n\t\t\n\t\tconst std::string &type = cm[1];\n\t\t\n\t\tif(type == \"ply\") {\n\t\t\tprintf(\"Found ply header\\n\");\n\t\t\t// so far so good\n\t\t} else if(type == \"format\") {\n\t\t\tif(cm[2] != \"binary_little_endian\") {\n\t\t\t\tprintf(\"Invalid format type '%s'\\n\", cm[2].str().c_str());\n\t\t\t\treturn nullptr;\n\t\t\t}\n\t\t\tif(cm[3] != \"1.0\") {\n\t\t\t\tprintf(\"Invalid version\\n\");\n\t\t\t\treturn nullptr;\n\t\t\t}\n\t\t} else if(type == \"element\") {\n\t\t\tif(cm[2] != \"vertex\") {\n\t\t\t\tprintf(\"Invalid element type\\n\");\n\t\t\t\treturn nullptr;\n\t\t\t}\n\t\t\t\n\t\t\tpoint_count = strtol(cm[3].str().c_str(), nullptr, 10);\n\t\t\tprintf(\"Located point count\\n\");\n\t\t\t\n\t\t} else if(type == \"property\") {\n\t\t\tconst std::string &ptype = cm[2];\n\t\t\tconst std::string &pname = cm[3];\n\t\t\t\n\t\t\tif(ptype == \"float\") {\n\t\t\t\tif(pname == \"x\") {\n\t\t\t\t\tpoint_x_offset = point_size;\n\t\t\t\t\tprintf(\"Located point x\\n\");\n\t\t\t\t} else if(pname == \"y\") {\n\t\t\t\t\tpoint_y_offset = point_size;\n\t\t\t\t\tprintf(\"Located point y\\n\");\n\t\t\t\t} else if(pname == \"z\") {\n\t\t\t\t\tpoint_z_offset = point_size;\n\t\t\t\t\tprintf(\"Located point z\\n\");\n\t\t\t\t}\n\t\t\t\tpoint_size += 4;\n\t\t\t} else if(ptype == \"uchar\") {\n\t\t\t\tpoint_size += 1;\n\t\t\t} else {\n\t\t\t\treturn nullptr;\n\t\t\t}\n\t\t} else if(type == \"end_header\") {\n\t\t\tbreak;\n\t\t} else {\n\t\t\tprintf(\"Unexpected line type '%s'\\n\", cm[1].str().c_str());\n\t\t\treturn nullptr;\n\t\t}\n\t\t\n\t} while(input.good());\n\t\n\t// make sure we have read all of the important values\n\tif(point_count == -1 || point_size == 0 || point_x_offset == -1 || point_y_offset == -1 || point_z_offset == -1) {\n\t\tprintf(\"Did not locate expected element types\\n\");\n\t\treturn nullptr;\n\t}\n\t\n\t// start parsing points\n\tPointCloud *pc = new PointCloud();\n\tstd::vector pointdata (point_count);\n\tfor(int i = 0; i < point_count; ++i) {\n\t\tchar *pd = pointdata.data();\n\t\t// read data\n\t\tinput.read(pd, point_size);\n\t\t\n\t\tPoint p;\n\t\tp.x = *(float*)(pd + point_x_offset);\n\t\tp.y = *(float*)(pd + point_y_offset);\n\t\tp.z = *(float*)(pd + point_z_offset);\n\t\t\n\t\tpc->Get().push_back(p);\n\t}\n\t\n\treturn pc;\n}\n\nvoid PlyWriter::Write(const PointCloud* cloud, std::ostream& file)\n{\n\tfile << \"ply\" << std::endl;\n\tfile << \"format binary_little_endian 1.0\" << std::endl;\n\tfile << \"element vertex \" << cloud->Get().size() << std::endl;\n\tfile << \"property float x\" << std::endl;\n\tfile << \"property float y\" << std::endl;\n\tfile << \"property float z\" << std::endl;\n\tfile << \"end_header\" << std::endl;\n\tfor(auto point : cloud->Get()) {\n\t\tstruct { float x, y, z; } data;\n\t\tdata.x = point.x;\n\t\tdata.y = point.y;\n\t\tdata.z = point.z;\n\t\tfile.write((char*)&data, sizeof(data));\n\t}\n}\n" }, { "path": "framework/shared/src/io/openni/ONI2Frame.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/openni2/ONI2Frame.h\"\n\nusing namespace slambench::io::openni2;\n\nONI2Frame::ONI2Frame(Sensor *sensor, const openni::VideoFrameRef& frameref) {\n\tFrameSensor = sensor;\n\tTimestamp.Ns = frameref.getTimestamp() % 1000000000;\n\tTimestamp.S = frameref.getTimestamp() / 1000000000;\n data_ = malloc(frameref.getDataSize());\n\tmemcpy(data_, frameref.getData(), frameref.getDataSize());\n}\n\nvoid* ONI2Frame::GetData() {\n\treturn data_;\n}\n\nvoid ONI2Frame::FreeData() {\n\tfree(data_);\n data_ = nullptr;\n}\n" }, { "path": "framework/shared/src/io/openni/ONI2FrameStream.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/openni2/ONI2FrameStream.h\"\n#include \"io/openni2/ONI2Frame.h\"\n#include \"io/sensor/CameraSensor.h\"\n#include \"io/sensor/DepthSensor.h\"\n#include \"io/sensor/Sensor.h\"\n\n#include \n#include \n\nusing namespace slambench::io::openni2;\nusing namespace slambench::io;\n\nONI2FrameStream::ONI2FrameStream(openni::Device *device) : device_(device) {}\n\nSLAMFrame* ONI2FrameStream::GetNextFrame() {\n int ready_stream_idx = 0;\n\n auto status = openni::OpenNI::waitForAnyStream(streams_.data(), streams_.size(), &ready_stream_idx, openni::TIMEOUT_FOREVER);\n if(status != openni::STATUS_OK) {\n return nullptr;\n } else {\n openni::VideoFrameRef *ref = new openni::VideoFrameRef();\n openni::VideoStream *ready_stream = streams_.at(ready_stream_idx);\n ready_stream->readFrame(ref);\n auto frame = new ONI2Frame(sensor_map_.at(ready_stream), *ref);\n delete ref;\n\n return frame;\n }\n}\n\nbool ONI2FrameStream::HasNextFrame() {\n for(auto &i : streams_) {\n if(i->isValid()) return true;\n }\n return false;\n}\n\nclass FrameAllocator : public openni::VideoStream::FrameAllocator {\npublic:\n FrameAllocator() : _ptr(malloc(0)),_size(0) {}\n\n void* allocateFrameBuffer(int size) override {\n if(size != _size) {\n _ptr = realloc(_ptr, size);\n _size = size;\n }\n\n return _ptr;\n }\n\n void freeFrameBuffer(void* data) override {\n if(data != _ptr) {\n throw std::logic_error(\"Attempted to free a pointer with the wrong allocator\");\n }\n }\n\nprivate:\n void *_ptr;\n int _size;\n};\n\nbool ONI2FrameStream::ActivateSensor(CameraSensor* sensor) {\n\n openni::VideoStream *stream = new openni::VideoStream();\n\n\n openni::SensorType sensor_type;\n if(sensor->GetType() == CameraSensor::kCameraType)\n sensor_type = openni::SENSOR_COLOR;\n else if(sensor->GetType() == DepthSensor::kDepthType)\n sensor_type = openni::SENSOR_DEPTH;\n else\n throw std::logic_error(\"Unrecognized sensor type\");\n\n openni::Status nRetVal = stream->create(*device_, sensor_type);\n\n if (nRetVal != openni::STATUS_OK) {\n printf(\"Failed to create %s \\n\", openni::OpenNI::getExtendedError());\n exit(1);\n }\n\n openni::VideoMode vidmode;\n vidmode.setFps(30);\n openni::PixelFormat oniformat;\n switch(sensor->PixelFormat) {\n case pixelformat::RGB_III_888: oniformat = openni::PIXEL_FORMAT_RGB888; break;\n case pixelformat::D_I_16: oniformat = openni::PIXEL_FORMAT_DEPTH_1_MM; break;\n default:\n throw std::logic_error(\"Unknown pixel format\");\n }\n vidmode.setPixelFormat(oniformat);\n vidmode.setResolution(sensor->Width, sensor->Height);\n\n stream->setVideoMode(vidmode);\n stream->setMirroringEnabled(false);\n\n stream->setFrameBuffersAllocator(new FrameAllocator());\n\n streams_.push_back(stream);\n sensor_map_[stream] = sensor;\n\n return true;\n}\n\nbool ONI2FrameStream::StartStreams() {\n //device_->setDepthColorSyncEnabled(false);\n device_->setImageRegistrationMode(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR);\n //device_->setImageRegistrationMode(openni::IMAGE_REGISTRATION_OFF);\n\n for(auto i : streams_) {\n std::cerr << \"Start stream ... \";\n auto nRetVal = i->start();\n if (nRetVal != openni::STATUS_OK) {\n std::cerr << \"FAILED\" << openni::OpenNI::getExtendedError()<< std::endl;\n exit(1);\n } else {\n std::cerr << \"WORK\" << std::endl;\n }\n }\n return true;\n}\n" }, { "path": "framework/shared/src/io/openni/ONI2InputInterface.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"io/openni2/ONI2InputInterface.h\"\n#include \"OpenNI.h\"\n#include \"io/sensor/CameraSensor.h\"\n#include \"io/sensor/DepthSensor.h\"\n#include \"io/sensor/SensorCollection.h\"\n#include \"io/openni2/ONI2FrameStream.h\"\n\n#include \n#include \n\nusing namespace slambench::io;\nusing namespace slambench::io::openni2;\n\nONI2InputInterface::ONI2InputInterface() : stream_(nullptr), sensors_ready_(false) {\n\n\topenni::OpenNI::initialize();\n\n device_ = new openni::Device();\n\topenni::Status status = device_->open(openni::ANY_DEVICE);\n\tif (status == openni::STATUS_OK) {\n\tstd::cout << \" ** OpenNI2 Device \" << device_->getDeviceInfo().getUsbProductId() << \":\" << device_->getDeviceInfo().getUsbVendorId()\n << \" \" << device_->getDeviceInfo().getName() << \", \" << device_->getDeviceInfo().getVendor() << std::endl;\n\t} else {\n\t\tstd::cout << \" ** OpenNI2 Error with the device Status:\" ;\n\t\tswitch (status) {\n\t\t\t\tcase openni::STATUS_OK : std::cout << \"STATUS_OK\" ; break;\n\t\t\t\tcase openni::STATUS_ERROR : std::cout << \"STATUS_ERROR\" ; break;\n\t\t\t\tcase openni::STATUS_NOT_IMPLEMENTED : std::cout << \"STATUS_NOT_IMPLEMENTED\" ; break;\n\t\t\t\tcase openni::STATUS_NOT_SUPPORTED : std::cout << \"STATUS_NOT_SUPPORTED\" ; break;\n\t\t\t\tcase openni::STATUS_BAD_PARAMETER : std::cout << \"STATUS_BAD_PARAMETER\" ; break;\n\t\t\t\tcase openni::STATUS_OUT_OF_FLOW : std::cout << \"STATUS_OUT_OF_FLOW\" ; break;\n\t\t\t\tcase openni::STATUS_NO_DEVICE : std::cout << \"STATUS_NO_DEVICE\" ; break;\n\t\t\t\tcase openni::STATUS_TIME_OUT : std::cout << \"STATUS_TIME_OUT\" ; break;\n\t\t}\n\t\tstd::cout << std::endl;\n\t\texit(1);\n\t}\n\n}\n\nONI2InputInterface::ONI2InputInterface(const std::string& oni2_filename) : stream_(nullptr), sensors_ready_(false) {\n\topenni::OpenNI::initialize();\n\n device_ = new openni::Device();\n\topenni::Status status = device_->open(oni2_filename.c_str());\n\n\tif (status != openni::STATUS_OK) {\n\t\tstd::cout << \" ** OpenNI2 Error with the device Status:\" ;\n\t\tswitch (status) {\n\t\t\t\tcase openni::STATUS_OK : std::cout << \"STATUS_OK\" ; break;\n\t\t\t\tcase openni::STATUS_ERROR : std::cout << \"STATUS_ERROR\" ; break;\n\t\t\t\tcase openni::STATUS_NOT_IMPLEMENTED : std::cout << \"STATUS_NOT_IMPLEMENTED\" ; break;\n\t\t\t\tcase openni::STATUS_NOT_SUPPORTED : std::cout << \"STATUS_NOT_SUPPORTED\" ; break;\n\t\t\t\tcase openni::STATUS_BAD_PARAMETER : std::cout << \"STATUS_BAD_PARAMETER\" ; break;\n\t\t\t\tcase openni::STATUS_OUT_OF_FLOW : std::cout << \"STATUS_OUT_OF_FLOW\" ; break;\n\t\t\t\tcase openni::STATUS_NO_DEVICE : std::cout << \"STATUS_NO_DEVICE\" ; break;\n\t\t\t\tcase openni::STATUS_TIME_OUT : std::cout << \"STATUS_TIME_OUT\" ; break;\n\t\t}\n\t\tstd::cout << std::endl;\n\t\texit(1);\n\t}\n\n}\n\nFrameStream& ONI2InputInterface::GetFrames() {\n\tif(stream_ == nullptr) BuildStream();\n\t\n\treturn *stream_;\n}\n\nSensorCollection& ONI2InputInterface::GetSensors() {\n\tBuildSensors();\n\treturn sensors_;\n}\n\nvoid ONI2InputInterface::BuildSensors() {\n\tif(sensors_ready_) return;\n\n\tauto depth_sensor_info = device_->getSensorInfo(openni::SENSOR_DEPTH);\n\tif(depth_sensor_info != nullptr) {\n // find a suitable video mode...?\n auto vid_mode = depth_sensor_info->getSupportedVideoModes()[0];\n slambench::io::CameraSensor::intrinsics_t intrinsics;\n // guess the intrinsics for now\n std::cerr << \"I'm guessing which intrinsics to use\" << std::endl;\n intrinsics[0] = 0.751875;\n intrinsics[1] = 1.0;\n intrinsics[2] = 0.5;\n intrinsics[3] = 0.5;\n\n auto depth_sensor = DepthSensorBuilder()\n .name(\"Depth\")\n .description(\"ONI2 Depth Sensor\")\n .size(vid_mode.getResolutionX(), vid_mode.getResolutionY())\n .pose(Eigen::Matrix4f::Identity())\n .intrinsics(intrinsics)\n .frameFormat(frameformat::Raster)\n .pixelFormat(pixelformat::D_I_16)\n .rate(vid_mode.getFps())\n //.distortion(distortion_type, distortion)\n //.disparity(disparity_type, disparity_params)\n .index(sensors_.size())\n .build();\n\n\t\tsensors_.AddSensor(depth_sensor);\n\t}\n\n\tauto color_sensor_info = device_->getSensorInfo(openni::SENSOR_COLOR);\n\tif(color_sensor_info != nullptr) {\n\t\t// find a suitable video mode...?\n auto vid_mode = color_sensor_info->getSupportedVideoModes()[0];\n\n // guess the intrinsics for now\n slambench::io::CameraSensor::intrinsics_t intrinsics;\n intrinsics[0] = 0.751875;\n intrinsics[1] = 1.0;\n intrinsics[2] = 0.5;\n intrinsics[3] = 0.5;\n\n auto sensor = CameraSensorBuilder()\n .name(\"RGB\")\n .description(\"ONI2 RGB Sensor\")\n .rate(vid_mode.getFps())\n .size(vid_mode.getResolutionX(), vid_mode.getResolutionY())\n .pose(Eigen::Matrix4f::Identity())\n .intrinsics(intrinsics)\n //.distortion(distortion_type, distortion)\n .frameFormat(frameformat::Raster)\n .pixelFormat(pixelformat::RGB_III_888)\n .index(sensors_.size())\n .build();\n\t\tsensors_.AddSensor(sensor);\n\t}\n\n sensors_ready_ = true;\n}\n\nvoid ONI2InputInterface::BuildStream() {\n\tBuildSensors();\n stream_ = new ONI2FrameStream(device_);\n\n\tbool depth_found = false;\n\tbool rgb_found= false;\n\n\tfor(auto *sensor : sensors_) {\n\t\tif(sensor->GetType() == slambench::io::CameraSensor::kCameraType) {\n\t\t\trgb_found = true;\n\t\t\tstream_->ActivateSensor((CameraSensor*)sensor);\n\t\t} else if (sensor->GetType() == slambench::io::DepthSensor::kDepthType) {\n\t\t\tdepth_found = true;\n\t\t\tstream_->ActivateSensor((DepthSensor*)sensor);\n\t\t}\n\t}\n\tassert(rgb_found and depth_found);\n\tstream_->StartStreams();\n}\n" }, { "path": "framework/shared/src/io/openni15/ONI15Frame.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/openni15/ONI15Frame.h\"\n#include \n\nusing namespace slambench::io::openni15;\n\nONI15Frame::ONI15Frame(Sensor * sensor, const xn::OutputMetaData * md) {\n\n\tFrameSensor = sensor;\n\tTimestamp.Ns = md->Timestamp() % 1000000000;\n\tTimestamp.S = md->Timestamp() / 1000000000;\n\n\tsize_t size = md->DataSize();\n data_ = malloc(size);\n const XnUInt8* ptr = md->Data();\n if (ptr) {\n memcpy(data_, ptr, size);\n }\n}\n\nONI15Frame::~ONI15Frame() {\n\tFreeData();\n}\n\nvoid* ONI15Frame::GetData() {\n\tassert(data_);\n\treturn data_;\n}\n\nvoid ONI15Frame::FreeData() {\n\tfree(data_);\n data_ = nullptr;\n}\n" }, { "path": "framework/shared/src/io/openni15/ONI15FrameStream.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/openni15/ONI15FrameStream.h\"\n#include \"io/openni15/ONI15Frame.h\"\n#include \"io/sensor/CameraSensor.h\"\n#include \"io/sensor/DepthSensor.h\"\n#include \"io/sensor/Sensor.h\"\n\n#include \n#include \n\nusing namespace slambench::io::openni15;\nusing namespace slambench::io;\n\nONI15FrameStream::ONI15FrameStream(xn::Context *context) : context_(context) {\n}\n\nSLAMFrame* ONI15FrameStream::GetNextFrame() {\n\n\tONI15Frame *frame = nullptr;\n\n\tcontext_->WaitAnyUpdateAll();\n\n\t// all frame seen, we clean them all.\n\tif (DMD_ and IMD_) {\n\t\tdelete DMD_; DMD_ = nullptr;\n\t\tdelete IMD_; IMD_ = nullptr;\n\t}\n\n\n\t// no Depth we give it a try\n\tif (!DMD_) {\n\t\tDMD_ = new xn::DepthMetaData();\n\t\tdepth_generator_->GetMetaData(*DMD_);\n\t\tif (DMD_->DataSize() == 0) {\n\t\t\tdelete DMD_; DMD_ = nullptr;\n\t\t} else {\n\t\t\tframe = new ONI15Frame(_sensor_map.at(depth_generator_), DMD_);\n\t\t\treturn frame;\n\t\t}\n\t}\n\n\t// no image we give it a try\n\tif (!IMD_) {\n\t\tIMD_ = new xn::ImageMetaData();\n\t\timage_generator_->GetMetaData(*IMD_);\n\t\tif (IMD_->DataSize() == 0) {\n\t\t\tdelete IMD_; IMD_ = nullptr;\n\t\t} else {\n\t\t\tframe = new ONI15Frame(_sensor_map.at(image_generator_), IMD_);\n\t\t\treturn frame;\n\t\t}\n\t}\n\n\t// No new frame found we have a problem !\n\tassert(false);\n\treturn nullptr;\n\n}\n\nbool ONI15FrameStream::HasNextFrame() {\n\treturn true;\n\n}\n\nbool ONI15FrameStream::ActivateSensor(CameraSensor* sensor) {\n\n\tassert(context_);\n\n\tif(sensor->GetType() == CameraSensor::kCameraType) {\n\t\txn::ImageGenerator *stream = new xn::ImageGenerator();\n\t\tif (stream->Create(*context_) != XN_STATUS_OK) {\n\t\t\tstd::cout << ( \"OpenNI15: Create(context_) ERROR !!!\") << std::endl;\n\t\t\treturn false;\n\t\t}\n\n\t\timage_generator_ = stream;\n\t\t_sensor_map[stream] = sensor;\n\t}else if(sensor->GetType() == DepthSensor::kDepthType) {\n\t\txn::DepthGenerator *stream = new xn::DepthGenerator();\n\t\tif (stream->Create(*context_) != XN_STATUS_OK) {\n\t\t\tstd::cout << ( \"OpenNI15: Create(context_) ERROR !!!\") << std::endl;\n\t\t\treturn false;\n\t\t}\n\n\t\tdepth_generator_ = stream;\n\t\t_sensor_map[stream] = sensor;\n\t}else{\n\t\tthrow std::logic_error(\"Unrecognized sensor type\");\n\t}\n\n\n\n\treturn true;\n}\n\nbool ONI15FrameStream::StartStreams() {\n\n\tif (context_->StartGeneratingAll() != XN_STATUS_OK) {\n\t\tstd::cout << ( \"OpenNI15 context_.StartGeneratingAll() ERROR !!!\") << std::endl;\n\t\treturn false;\n\t}\n\treturn true;\n}\n" }, { "path": "framework/shared/src/io/openni15/ONI15InputInterface.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/openni15/ONI15InputInterface.h\"\n#include \"io/sensor/CameraSensor.h\"\n#include \"io/sensor/DepthSensor.h\"\n#include \"io/sensor/SensorCollection.h\"\n#include \"io/openni15/ONI15FrameStream.h\"\n\n#include \n\n#define linux true\n\n#include \n#include \n#include \n\nusing namespace slambench::io;\nusing namespace slambench::io::openni15;\n\nONI15InputInterface::ONI15InputInterface() : stream_(nullptr), sensors_ready_(false) {\n\n\tcontext_ = new xn::Context();\n if (context_->Init() != XN_STATUS_OK) {\n \tstd::cerr << ( \"OpenNI15: Error Init Failed.\") << std::endl;\n \texit(1);\n \treturn;\n }\n\n if (context_->StartGeneratingAll() != XN_STATUS_OK) {\n \tstd::cerr << ( \"OpenNI15: context_.StartGeneratingAll() ERROR !!!\") << std::endl;\n \texit(1);\n \treturn;\n }\n\n std::cerr << ( \"OpenNI15: Ready !!!\") << std::endl;\n\n}\n\nFrameStream& ONI15InputInterface::GetFrames() {\n\n\tif(stream_ == nullptr) BuildStream();\n\treturn *stream_;\n}\n\nSensorCollection& ONI15InputInterface::GetSensors() {\n\n\tBuildSensors();\n\treturn sensors_;\n}\n\nCameraSensor *ONI15InputInterface::BuildCameraSensor() {\n\t\n\tstd::string sensor_type = slambench::io::CameraSensor::kCameraType;\n\n\tCameraSensor *sensor = new CameraSensor(sensor_type);\n\tsensor->Description = \"ONI15 RGB Sensor\";\n\tsensor->FrameFormat = frameformat::Raster;\n\n\tsensor->PixelFormat = pixelformat::RGB_III_888;\n\tsensor->Width = 640;\n\tsensor->Height = 480;\n\n\tsensor->Pose = Eigen::Matrix4f::Identity();\n\n\tbzero(sensor->Intrinsics, sizeof(sensor->Intrinsics));\n\t// guess the intrinsics for now\n\tstd::cerr << \"I'm guessing which intrinsics to use\" << std::endl;\n\tsensor->Intrinsics[0] = 0.751875;\n\tsensor->Intrinsics[1] = 1.0;\n\tsensor->Intrinsics[2] = 0.5;\n\tsensor->Intrinsics[3] = 0.5;\n\t\n\tstd::cerr << \"Built an RGB sensor with \" << sensor->Width << \", \" << sensor->Height << \", \" << sensor->GetFrameSize(NULL) << \"b per frame\" << std::endl;\n\n\treturn sensor;\n}\n\nDepthSensor *ONI15InputInterface::BuildDepthSensor() {\n\n\tstd::string sensor_type = slambench::io::DepthSensor::kDepthType;\n\n\tDepthSensor *sensor = new DepthSensor(sensor_type);\n\tsensor->Description = \"ONI15 Depth Sensor\";\n\tsensor->FrameFormat = frameformat::Raster;\n\n\t// find a suitable video mode...?\n\tsensor->PixelFormat = pixelformat::D_I_16;\n\n\tsensor->Width = 640;\n\tsensor->Height = 480;\n\n\tsensor->Pose = Eigen::Matrix4f::Identity();\n\n\tbzero(sensor->Intrinsics, sizeof(sensor->Intrinsics));\n\t// guess the intrinsics for now\n\tstd::cerr << \"I'm guessing which intrinsics to use\" << std::endl;\n\tsensor->Intrinsics[0] = 0.751875;\n\tsensor->Intrinsics[1] = 1.0;\n\tsensor->Intrinsics[2] = 0.5;\n\tsensor->Intrinsics[3] = 0.5;\n\t\n\tstd::cerr << \"Built a depth sensor with \" << sensor->Width << \", \" << sensor->Height << \", \" << sensor->GetFrameSize(NULL) << \"b per frame\" << std::endl;\n\t\n\treturn sensor;\n}\n\nvoid ONI15InputInterface::BuildSensors() {\n\n\tif(sensors_ready_) return;\n\n\tauto depth_sensor = BuildDepthSensor();\n\tdepth_sensor->Index = sensors_.size();\n\tsensors_.AddSensor(depth_sensor);\n\n\tauto rgb_sensor = BuildCameraSensor();\n\trgb_sensor->Index = sensors_.size();\n\tsensors_.AddSensor(rgb_sensor);\n\n sensors_ready_ = true;\n}\n\nvoid ONI15InputInterface::BuildStream() {\n\n\tBuildSensors();\n stream_ = new ONI15FrameStream(context_);\n\n\tbool depth_found = false;\n\tbool rgb_found = false;\n\n\tfor(auto *sensor : sensors_) {\n\t\tif(sensor->GetType() == slambench::io::CameraSensor::kCameraType) {\n\t\t\trgb_found = true;\n\t\t\tassert(stream_->ActivateSensor((CameraSensor*)sensor));\n\t\t} else if (sensor->GetType() == slambench::io::DepthSensor::kDepthType) {\n\t\t\tdepth_found = true;\n\t\t\tassert(stream_->ActivateSensor((DepthSensor*)sensor));\n\t\t}\n\t}\n\tassert(rgb_found and depth_found);\n\tstream_->StartStreams();\n}\n" }, { "path": "framework/shared/src/io/realsense/RealSense2Frame.cpp", "content": "/*\n\n Copyright (c) 2020 University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/realsense/RealSense2Frame.h\"\n\nusing namespace slambench::io::realsense;\n\nRealSense2Frame::RealSense2Frame(Sensor *sensor, const rs2::frame& frameref) {\n\tFrameSensor = sensor;\n\tTimestamp.Ns = (int)frameref.get_timestamp() % 1000000000;\n\tTimestamp.S = frameref.get_timestamp() / 1000000000;\n data_ = malloc(frameref.get_data_size());\n\tmemcpy(data_, frameref.get_data(), frameref.get_data_size());\n}\n\nvoid* RealSense2Frame::GetData() {\n\treturn data_;\n}\n\nvoid RealSense2Frame::FreeData() {\n\tfree(data_);\n data_ = nullptr;\n}\n" }, { "path": "framework/shared/src/io/realsense/RealSense2FrameStream.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/realsense/RealSense2FrameStream.h\"\n#include \"io/realsense/RealSense2Frame.h\"\n#include \"io/sensor/CameraSensor.h\"\n#include \"io/sensor/DepthSensor.h\"\n#include \"io/sensor/Sensor.h\"\n\n#include \n#include \n\nusing namespace slambench::io::realsense;\nusing namespace slambench::io;\n\nRealSense2FrameStream::\nRealSense2FrameStream(rs2::pipeline &pipe) : pipe_(pipe) {}\n\nRealSense2FrameStream::~RealSense2FrameStream() {}\n\nSLAMFrame* RealSense2FrameStream::GetNextFrame() {\n for(auto frame = new_frames_.begin(); frame < new_frames_.end() ; frame++)\n {\n auto it = sensor_map_.find(frame->get_profile().stream_type());\n if(it != sensor_map_.end())\n { auto fr = new RealSense2Frame(it->second, *frame);\n new_frames_.erase(frame);\n return fr;\n }\n }\n return nullptr;\n}\n\nbool RealSense2FrameStream::ActivateSensor(rs2_stream stream, Sensor* sensor) {\n sensor_map_[stream] = sensor;\n return true;\n}\n\nbool RealSense2FrameStream::HasNextFrame() {\n if(!new_frames_.empty())\n return true;\n\n rs2::frameset frameset;\n pipe_.poll_for_frames(&frameset);\n for (const rs2::frame& f : frameset)\n new_frames_.push_back(f);\n\n return true;\n}\n" }, { "path": "framework/shared/src/io/realsense/RealSense2InputInterface.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \n#include \n#include \n#include \n#include \n#include \n\nusing namespace slambench::io;\nusing namespace slambench::io::realsense;\n\nRealSense2InputInterface::RealSense2InputInterface() : stream_(nullptr), sensors_ready_(false) {\n\n try {\n std::cout << \"Querying Realsense device info...\" << std::endl;\n\n // Create librealsense context and check device is connected\n rs2::context ctx;\n auto devs = ctx.query_devices();\n int device_num = devs.size();\n assert(device_num && \"Device not found!\");\n std::cout << \"Device number: \" << device_num << std::endl;\n\n // Query the info of first device\n // Device serial number (different for each device, can be used for searching device when having mutiple devices)\n std::cout << \"Serial number: \" << devs.front().get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) << std::endl;\n BuildStream();\n }\n catch(const rs2::error &e){\n // Capture device exception\n std::cerr << \"RealSense error calling \" << e.get_failed_function() << \"(\" << e.get_failed_args() << \"):\\n \" << e.what() << \"\\nExiting!\" << std::endl;\n exit(EXIT_FAILURE);\n }\n}\n\nFrameStream& RealSense2InputInterface::GetFrames() {\n if(stream_ == nullptr) BuildStream();\n\n return *stream_;\n}\n\nSensorCollection& RealSense2InputInterface::GetSensors() {\n BuildStream();\n return sensors_;\n}\n\nvoid RealSense2InputInterface::BuildRGBSensor(const rs2::stream_profile& color_profile) {\n rs2::video_stream_profile cvsprofile(color_profile);\n rs2_intrinsics color_intrinsics = cvsprofile.get_intrinsics();\n\n slambench::io::CameraSensor::intrinsics_t intrinsics;\n intrinsics[0] = color_intrinsics.fx / color_intrinsics.width;\n intrinsics[1] = color_intrinsics.fy / color_intrinsics.height;\n intrinsics[2] = color_intrinsics.ppx / color_intrinsics.width;\n intrinsics[3] = color_intrinsics.ppy / color_intrinsics.height;\n\n\n slambench::io::CameraSensor::distortion_coefficients_t distortion;\n for(size_t i = 0; i < 5; i++)\n distortion[i] = color_intrinsics.coeffs[i];\n\n slambench::io::CameraSensor::distortion_type_t distortion_type;\n if (color_intrinsics.model == rs2_distortion::RS2_DISTORTION_NONE) {\n distortion_type = slambench::io::CameraSensor::NoDistortion;\n } else if (color_intrinsics.model == rs2_distortion::RS2_DISTORTION_BROWN_CONRADY || color_intrinsics.model == rs2_distortion::RS2_DISTORTION_INVERSE_BROWN_CONRADY) {\n distortion_type = slambench::io::CameraSensor::RadialTangential;\n } else if (color_intrinsics.model == rs2_distortion::RS2_DISTORTION_KANNALA_BRANDT4) {\n distortion_type = slambench::io::CameraSensor::KannalaBrandt;\n } else {\n std::cerr<<\"Unsupported distortion type!\"<Intrinsic[i] = gyro_sensor->Intrinsic[i*4+j] = intrinsics.data[i][j];\n }\n }\n for (int i = 0; i < 3; i++) {\n gyro_sensor->NoiseVariances[i] = intrinsics.noise_variances[i];\n gyro_sensor->BiasVariances[i] = intrinsics.bias_variances[i];\n }\n sensors_.AddSensor(gyro_sensor);\n }\n // If casting succeeded and the arrived frame is from accelerometer stream\n if (mprofile.stream_type() == RS2_STREAM_ACCEL && mprofile.format() == RS2_FORMAT_MOTION_XYZ32F)\n {\n auto accelerometer_sensor = AccSensorBuilder()\n .name(mprofile.stream_name())\n .rate(mprofile.fps())\n .description(\"Realsense Accelerometer\")\n .index(sensors_.size())\n .pose(pose)\n .build();\n\n // Get accelerometer measures\n for (int i = 0; i < 3; i++) {\n for (int j = 0; j < 4; j++) {\n accelerometer_sensor->Intrinsic[i*4+j] = intrinsics.data[i][j];\n }\n }\n\n for (int i = 0; i < 3; i++) {\n accelerometer_sensor->NoiseVariances[i] = intrinsics.noise_variances[i];\n accelerometer_sensor->BiasVariances[i] = intrinsics.bias_variances[i];\n }\n sensors_.AddSensor(accelerometer_sensor);\n }\n}\n\nvoid RealSense2InputInterface::BuildDepthSensor(const rs2::stream_profile& depth_profile) {\n\n rs2::video_stream_profile dvsprofile(depth_profile);\n rs2_intrinsics depth_intrinsics = dvsprofile.get_intrinsics();\n slambench::io::CameraSensor::intrinsics_t intrinsics;\n intrinsics[0] = depth_intrinsics.fx / depth_intrinsics.width;\n intrinsics[1] = depth_intrinsics.fy / depth_intrinsics.height;\n intrinsics[2] = depth_intrinsics.ppx / depth_intrinsics.width;\n intrinsics[3] = depth_intrinsics.ppy / depth_intrinsics.height;\n\n slambench::io::CameraSensor::distortion_coefficients_t distortion;\n for(size_t i = 0; i < 5; i++)\n distortion[i] = depth_intrinsics.coeffs[i];\n\n slambench::io::CameraSensor::distortion_type_t distortion_type;\n if (depth_intrinsics.model == rs2_distortion::RS2_DISTORTION_NONE) {\n distortion_type = slambench::io::CameraSensor::NoDistortion;\n } else if (depth_intrinsics.model == rs2_distortion::RS2_DISTORTION_BROWN_CONRADY || depth_intrinsics.model == rs2_distortion::RS2_DISTORTION_INVERSE_BROWN_CONRADY) {\n distortion_type = slambench::io::CameraSensor::RadialTangential;\n } else if (depth_intrinsics.model == rs2_distortion::RS2_DISTORTION_KANNALA_BRANDT4) {\n distortion_type = slambench::io::CameraSensor::KannalaBrandt;\n } else {\n std::cerr<<\"Unsupported distortion type!\"<GetType() == slambench::io::CameraSensor::kCameraType) {\n rgb_found = true;\n stream_->ActivateSensor(RS2_STREAM_COLOR, (CameraSensor*)sensor);\n } else if (sensor->GetType() == slambench::io::DepthSensor::kDepthType) {\n depth_found = true;\n stream_->ActivateSensor(RS2_STREAM_DEPTH, (DepthSensor*)sensor);\n } else if (sensor->GetType() == slambench::io::AccelerometerSensor::kAccType) {\n acc_found = true;\n stream_->ActivateSensor(RS2_STREAM_ACCEL, (AccelerometerSensor*)sensor);\n } else if (sensor->GetType() == slambench::io::GyroSensor::kGyroType) {\n gyro_found = true;\n stream_->ActivateSensor(RS2_STREAM_GYRO, (GyroSensor*)sensor);\n }\n }\n assert(rgb_found and depth_found);\n\n if(acc_found && gyro_found)\n std::cout<<\"Motion data available\"<Write(&sensor->Intrinsic , sizeof(sensor->Intrinsic));\n\t\tserialiser->Write(&sensor->NoiseVariances, sizeof(sensor->NoiseVariances));\n\t\tserialiser->Write(&sensor->BiasVariances, sizeof(sensor->BiasVariances));\n\n\t\treturn true;\n\t}\n};\n\nclass ACCDeserialiser : public SensorDeserialiser {\n\tbool InstantiateSensor(const Sensor::sensor_name_t &sensor_name,const Sensor::sensor_type_t &type, Sensor** s) override {\n\t\tif(type != AccelerometerSensor::kAccType) {\n\t\t\treturn false;\n\t\t}\n\n\t\t*s = new AccelerometerSensor(sensor_name);\n\n\t\treturn true;\n\t}\n\n\tbool DeserialiseSensorSpecific(const Deserialiser* d, Sensor* s) override {\n\t\tAccelerometerSensor *sensor = (AccelerometerSensor*)s;\n\n\t\td->Read(&sensor->Intrinsic , sizeof(sensor->Intrinsic));\n\t\td->Read(&sensor->NoiseVariances, sizeof(sensor->NoiseVariances));\n\t\td->Read(&sensor->BiasVariances, sizeof(sensor->BiasVariances));\n\n\t\treturn true;\n\t}\n};\n\nstatic slambench::io::SensorDatabaseRegistration acc_reg(AccelerometerSensor::kAccType, slambench::io::SensorDatabaseEntry(new ACCSerialiser(), new ACCDeserialiser(), false, false));\n\n\n" }, { "path": "framework/shared/src/io/sensor/CameraSensor.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"io/serialisation/Serialiser.h\"\n#include \"io/deserialisation/Deserialiser.h\"\n#include \"io/sensor/CameraSensor.h\"\n#include \"io/sensor/SensorDatabase.h\"\n\n#include \n#include \n\nusing namespace slambench::io;\n\nconst Sensor::sensor_type_t CameraSensor::kCameraType = \"Camera\";\n\nCameraSensor::CameraSensor(const Sensor::sensor_name_t &name, const Sensor::sensor_type_t &sensor_type) :\n\t\tSensor(name, sensor_type) ,\n\t\tWidth (0),\n\t\tHeight (0),\n\t\tFrameFormat (slambench::io::frameformat::UNKNOWN),\n\t\tPixelFormat(slambench::io::pixelformat::UNKNOWN),\n\t\tDistortionType(NoDistortion)\n{\n\tthis->addParameter(TypedParameter(\"ip\", \"intrinsics-parameters\",\"Focal length and Principal Point Offset : fx,fy,cx,cy\", &(this->Intrinsics),nullptr));\n}\n\nsize_t CameraSensor::GetFrameSize(const SLAMFrame *frame) const {\n\t(void)frame;\n\treturn Width * Height * pixelformat::GetPixelSize(PixelFormat);\n}\n\nvoid CameraSensor::CopyRadialTangentialDistortion(const distortion_coefficients_t &other) {\n\tfor(unsigned int i = 0; i < 5 ; ++i) {\n\t\tRadialTangentialDistortion[i] = other[i];\n\t}\n}\n\nvoid CameraSensor::CopyEquidistantDistortion(const distortion_coefficients_t &other) {\n for(unsigned int i = 0; i < 4 ; ++i) {\n EquidistantDistortion[i] = other[i];\n }\n}\nvoid CameraSensor::CopyDistortion(const distortion_coefficients_t &other, const distortion_type_t& type) {\n for(unsigned int i = 0; i < 5 ; ++i) {\n Distortion[i] = other[i];\n }\n}\n\nvoid CameraSensor::CopyIntrinsics(const intrinsics_t &other) {\n\tfor(unsigned int i = 0; i < 4 ; ++i) {\n\t\tIntrinsics[i] = other[i];\n\t}\n}\n\nvoid CameraSensor::CopyIntrinsics(const CameraSensor* other) {\n\tCopyIntrinsics(other->Intrinsics);\n}\n\nclass CameraSensorSerialiser : public SensorSerialiser {\n\tbool SerialiseSensorSpecific(Serialiser* serialiser, const Sensor* s) override {\n\t\tCameraSensor *sensor = (CameraSensor*)s;\n\t\t\n\t\tserialiser->Write(&sensor->FrameFormat, sizeof(sensor->FrameFormat));\n\t\tserialiser->Write(&sensor->PixelFormat, sizeof(sensor->PixelFormat));\n\t\tserialiser->Write(&sensor->Width, sizeof(sensor->Width));\n\t\tserialiser->Write(&sensor->Height, sizeof(sensor->Height));\n\t\tserialiser->Write(&sensor->Intrinsics, sizeof(sensor->Intrinsics));\n\t\tserialiser->Write(&sensor->DistortionType, sizeof(sensor->DistortionType));\n\t\tserialiser->Write(&sensor->RadialTangentialDistortion, sizeof(sensor->RadialTangentialDistortion));\n serialiser->Write(&sensor->EquidistantDistortion, sizeof(sensor->EquidistantDistortion));\n serialiser->Write(&sensor->Distortion, sizeof(sensor->Distortion));\n return true;\n\t}\n};\n\nclass CameraSensorDeserialiser : public SensorDeserialiser {\n\t\n\tbool InstantiateSensor(const Sensor::sensor_name_t &sensor_name, const Sensor::sensor_type_t &type, Sensor** s) override {\n\t\tif(type == CameraSensor::kCameraType) {\n\t\t\t*s = new CameraSensor(sensor_name, type);\n\t\t\treturn true;\n\t\t} else {\n\t\t\treturn false;\n\t\t}\n\t}\n\n\tbool DeserialiseSensorSpecific(const Deserialiser* deserialiser, Sensor* s) override {\n\t\tCameraSensor *sensor = (CameraSensor*)s;\n\t\t\n\t\tassert(sensor->GetType() == CameraSensor::kCameraType);\n\t\t\n\t\tdeserialiser->Read(&sensor->FrameFormat, sizeof(sensor->FrameFormat));\n\t\tdeserialiser->Read(&sensor->PixelFormat, sizeof(sensor->PixelFormat));\n\t\tdeserialiser->Read(&sensor->Width, sizeof(sensor->Width));\n\t\tdeserialiser->Read(&sensor->Height, sizeof(sensor->Height));\n\t\tdeserialiser->Read(&sensor->Intrinsics, sizeof(sensor->Intrinsics));\n\t\tdeserialiser->Read(&sensor->DistortionType, sizeof(sensor->DistortionType));\n\t\tdeserialiser->Read(&sensor->RadialTangentialDistortion, sizeof(sensor->RadialTangentialDistortion));\n deserialiser->Read(&sensor->EquidistantDistortion, sizeof(sensor->EquidistantDistortion));\n deserialiser->Read(&sensor->Distortion, sizeof(sensor->Distortion));\n\n\t\treturn true;\n\t}\n};\n\nstatic slambench::io::SensorDatabaseRegistration camera_reg(CameraSensor::kCameraType, slambench::io::SensorDatabaseEntry(new CameraSensorSerialiser(), new CameraSensorDeserialiser(), false, false));\n" }, { "path": "framework/shared/src/io/sensor/CameraSensorFinder.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/sensor/CameraSensorFinder.h\"\n#include \"io/sensor/CameraSensor.h\"\n#include \"io/sensor/DepthSensor.h\"\n#include \"io/sensor/SensorCollection.h\"\n\nusing namespace slambench::io;\n\nCameraSensorFinder::CameraSensorFinder()\n{\n\tPrepareEvaluators();\n}\n\nstd::vector CameraSensorFinder::Find(const SensorCollection& sensors, const std::initializer_list &filters)\n{\n\tstd::vector output;\n\t\n\tfor(auto sensor : sensors) {\n\t\t// this is still a nightmare but at least it only happens here\n\t\tif(sensor->GetType() == CameraSensor::kCameraType || sensor->GetType() == DepthSensor::kDepthType) {\n\t\t\t\n\t\t\tCameraSensor *cam = static_cast(sensor);\n\t\t\t\n\t\t\tbool success = true;\n\t\t\tfor(auto filter : filters) {\n\t\t\t\tsuccess &= TestFilter(cam, filter);\n\t\t\t}\n\t\t\tif(success) {\n\t\t\t\toutput.push_back(cam);\n\t\t\t}\n\t\t\t\n\t\t}\n\t}\n\t\n\treturn output;\n}\n\nCameraSensor* CameraSensorFinder::FindOne(const SensorCollection& sensors, const std::initializer_list& filters)\n{\n\tauto found_sensors = Find(sensors, filters);\n\tif(found_sensors.empty()) {\n\t\treturn nullptr;\n\t} else {\n\t\treturn found_sensors.front();\n\t}\n}\n\nbool CameraSensorFinder::TestFilter(const CameraSensor* sensor, const CameraSensorFilter& filter)\n{\n\treturn filter_evaluators_.at(filter.first)(sensor, filter.second);\n}\n\nvoid CameraSensorFinder::PrepareEvaluators()\n{\n\tfilter_evaluators_[\"width\"] = [](const CameraSensor *sensor, const std::string &value) -> bool {return sensor->Width == std::stoul(value);};\n\tfilter_evaluators_[\"height\"] = [](const CameraSensor *sensor, const std::string &value) -> bool {return sensor->Height == std::stoul(value);};\n\tfilter_evaluators_[\"name\"] = [](const CameraSensor *sensor, const std::string &value) -> bool {return sensor->getName() == value;};\n\tfilter_evaluators_[\"pixel_format\"] = [](const CameraSensor *sensor, const std::string &value) -> bool {return sensor->PixelFormat == pixelformat::Parse(value);};\n\tfilter_evaluators_[\"camera_type\"] = [](const CameraSensor *sensor, const std::string &value) -> bool {return pixelformat::TypeOf(sensor->PixelFormat) == value;};\n\tfilter_evaluators_[\"frame_format\"] = [](const CameraSensor *sensor, const std::string &value) -> bool {return sensor->FrameFormat == frameformat::Parse(value);};\n}\n" }, { "path": "framework/shared/src/io/sensor/DepthSensor.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \n#include \"io/serialisation/Serialiser.h\"\n#include \"io/deserialisation/Deserialiser.h\"\n#include \"io/sensor/DepthSensor.h\"\n#include \"io/sensor/SensorDatabase.h\"\n\n#include \n\nusing namespace slambench::io;\n\nconst Sensor::sensor_type_t DepthSensor::kDepthType = \"Depth\";\n\nDepthSensor::DepthSensor(const Sensor::sensor_name_t &sensor_name) : CameraSensor(sensor_name, kDepthType) {\n this->addParameter(TypedParameter(\"dip\", \"disparity-params\",\"Don't know what to say\", &(this->DisparityParams),NULL));\n}\n\nvoid DepthSensor::CopyDisparityParams(const disparity_params_t &other) {\n\tfor(int i = 0; i < 2; ++i) {\n\t\tDisparityParams[i] = other[i];\n\t}\n}\n\n\nvoid DepthSensor::CopyDisparityParams(const DepthSensor* other) {\n\tCopyDisparityParams(other->DisparityParams);\n}\n\nclass DepthSensorSerialiser : public SensorSerialiser {\n\tbool SerialiseSensorSpecific(Serialiser* serialiser, const Sensor* s) override {\n\t\tDepthSensor *sensor = (DepthSensor*)s;\n\t\t\n\t\tassert(sensor->GetType() == DepthSensor::kDepthType);\n\t\t\n\t\tserialiser->Write(&sensor->FrameFormat, sizeof(sensor->FrameFormat));\n\t\tserialiser->Write(&sensor->PixelFormat, sizeof(sensor->PixelFormat));\n\t\tserialiser->Write(&sensor->Width, sizeof(sensor->Width));\n\t\tserialiser->Write(&sensor->Height, sizeof(sensor->Height));\n\t\tserialiser->Write(&sensor->Intrinsics, sizeof(sensor->Intrinsics));\n\t\tserialiser->Write(&sensor->DisparityParams, sizeof(sensor->DisparityParams));\n\t\tserialiser->Write(&sensor->DisparityType, sizeof(sensor->DisparityType));\n serialiser->Write(&sensor->DistortionType, sizeof(sensor->DistortionType));\n serialiser->Write(&sensor->RadialTangentialDistortion, sizeof(sensor->RadialTangentialDistortion));\n\n\t\treturn true;\n\t}\n};\n\nclass DepthSensorDeserialiser : public SensorDeserialiser {\n\t\n\tbool InstantiateSensor(const Sensor::sensor_name_t &sensor_name, const Sensor::sensor_type_t & type, Sensor** s) override {\n\t\tif(type == DepthSensor::kDepthType) {\n\t\t\t*s = new DepthSensor(sensor_name);\n\t\t\treturn true;\n\t\t} else {\n\t\t\treturn false;\n\t\t}\n\t}\n\n\tbool DeserialiseSensorSpecific(const Deserialiser* deserialiser, Sensor* s) override {\n\t\tDepthSensor *sensor = (DepthSensor*)s;\n\t\t\n\t\tassert(sensor->GetType() == DepthSensor::kDepthType);\n\t\t\n\t\tdeserialiser->Read(&sensor->FrameFormat, sizeof(sensor->FrameFormat));\n\t\tdeserialiser->Read(&sensor->PixelFormat, sizeof(sensor->PixelFormat));\n\t\tdeserialiser->Read(&sensor->Width, sizeof(sensor->Width));\n\t\tdeserialiser->Read(&sensor->Height, sizeof(sensor->Height));\n\t\tdeserialiser->Read(&sensor->Intrinsics, sizeof(sensor->Intrinsics));\n\t\tdeserialiser->Read(&sensor->DisparityParams, sizeof(sensor->DisparityParams));\n\t\tdeserialiser->Read(&sensor->DisparityType, sizeof(sensor->DisparityType));\n deserialiser->Read(&sensor->DistortionType, sizeof(sensor->DistortionType));\n deserialiser->Read(&sensor->RadialTangentialDistortion, sizeof(sensor->RadialTangentialDistortion));\n\t\t\n\t\treturn true;\n\t}\n};\n\nstatic slambench::io::SensorDatabaseRegistration depth_reg (DepthSensor::kDepthType, slambench::io::SensorDatabaseEntry(new DepthSensorSerialiser(), new DepthSensorDeserialiser()));\n" }, { "path": "framework/shared/src/io/sensor/EventCameraSensor.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"io/serialisation/Serialiser.h\"\n#include \"io/deserialisation/Deserialiser.h\"\n#include \"io/sensor/EventCameraSensor.h\"\n#include \"io/sensor/SensorDatabase.h\"\n\n\nusing namespace slambench::io;\n\nconst Sensor::sensor_type_t EventCameraSensor::kEventCameraType = \"EventCamera\";\n\nEventCameraSensor::EventCameraSensor(const sensor_name_t &sensor_name) : Sensor(sensor_name, kEventCameraType) {\n\n}\n\nsize_t EventCameraSensor::GetCoordinateSize() const {\n\tif(Width <= UINT8_MAX && Height <= UINT8_MAX) return 1;\n\tif(Width <= UINT16_MAX && Height <= UINT16_MAX) return 2;\n\treturn 4;\n}\n\nsize_t EventCameraSensor::GetFrameSize(const SLAMFrame *frame) const {\n\t// X, Y, on/off\n\t(void)frame;\n\treturn (GetCoordinateSize() * 2) + 1;\n}\n\nclass EventCameraSensorSerialiser : public SensorSerialiser {\n bool SerialiseSensorSpecific(Serialiser* serialiser, const Sensor* s) override {\n\t\tEventCameraSensor *sensor = (EventCameraSensor*)s;\n\t\tserialiser->Write(&sensor->Width, sizeof(sensor->Width));\n\t\tserialiser->Write(&sensor->Height, sizeof(sensor->Height));\n\t\treturn true;\n\t}\n\n};\n\n\nclass EventCameraSensorDeserialiser : public SensorDeserialiser {\n\tbool InstantiateSensor(const Sensor::sensor_name_t &sensor_name, const Sensor::sensor_type_t &type, Sensor** s) override {\n\t\tif(type != EventCameraSensor::kEventCameraType) {\n\t\t\treturn false;\n\t\t}\n\n\t\t*s = new EventCameraSensor(sensor_name);\n\n\t\treturn true;\n\t}\n\n\tbool DeserialiseSensorSpecific(const Deserialiser* deserialiser, Sensor* s) override {\n\t\tEventCameraSensor *sensor = (EventCameraSensor*)s;\n\n\t\tassert(sensor->GetType() == EventCameraSensor::kEventCameraType);\n\n\t\tdeserialiser->Read(&sensor->Width, sizeof(sensor->Width));\n\t\tdeserialiser->Read(&sensor->Height, sizeof(sensor->Height));\n \t\n\t\treturn true;\n\t}\n\n\n};\n\nstatic slambench::io::SensorDatabaseRegistration evcam_reg(EventCameraSensor::kEventCameraType, slambench::io::SensorDatabaseEntry(new EventCameraSensorSerialiser(), new EventCameraSensorDeserialiser(), false, true));\n" }, { "path": "framework/shared/src/io/sensor/GroundTruthSensor.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"io/sensor/GroundTruthSensor.h\"\n#include \"io/sensor/SensorDatabase.h\"\n\nusing namespace slambench::io;\n\nconst Sensor::sensor_type_t GroundTruthSensor::kGroundTruthTrajectoryType = \"GroundTruthTrajectory\";\n\nGroundTruthSensor::GroundTruthSensor(const Sensor::sensor_name_t &sensor_name) : Sensor(sensor_name, kGroundTruthTrajectoryType) {\n}\n\nsize_t GroundTruthSensor::GetFrameSize(const SLAMFrame *frame) const {\n\t(void)frame;\n\treturn sizeof(pose_t);\n}\n\nclass GTSerialiser : public SensorSerialiser {\n\tbool SerialiseSensorSpecific(Serialiser* serialiser, const Sensor* sensor) override {\n\t\t// nothing to do\n\t\t(void)serialiser;\n\t\t(void)sensor;\n\t\treturn true;\n\t}\n};\n\nclass GTDeserialiser : public SensorDeserialiser {\n\tbool InstantiateSensor(const Sensor::sensor_name_t &sensor_name, const Sensor::sensor_type_t &type, Sensor** s) override {\n\t\tif(type != GroundTruthSensor::kGroundTruthTrajectoryType) {\n\t\t\treturn false;\n\t\t}\n\t\t\n\t\t*s = new GroundTruthSensor(sensor_name);\n\t\t\n\t\treturn true;\n\t}\n\n\tbool DeserialiseSensorSpecific(const Deserialiser* d, Sensor* s) override {\n\t\t// nothing to do\n\t\t(void)d;\n\t\t(void)s;\n\t\treturn true;\n\t}\n};\n\nstatic slambench::io::SensorDatabaseRegistration gt_reg(GroundTruthSensor::kGroundTruthTrajectoryType, slambench::io::SensorDatabaseEntry(new GTSerialiser(), new GTDeserialiser(), true, false));\n" }, { "path": "framework/shared/src/io/sensor/GyroSensor.cpp", "content": "/*\n\n Copyright (c) 2019 Intel Corp.\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"io/sensor/GyroSensor.h\"\n#include \"io/sensor/SensorDatabase.h\"\n#include \"io/serialisation/Serialiser.h\"\n#include \"io/deserialisation/Deserialiser.h\"\n\nusing namespace slambench::io;\n\nconst Sensor::sensor_type_t GyroSensor::kGyroType = \"Gyro\";\n\nGyroSensor::GyroSensor(const sensor_name_t &sensor_name) : Sensor(sensor_name, kGyroType) {\n\n}\nsize_t GyroSensor::GetFrameSize(const SLAMFrame *frame) const {\n\t(void)frame;\n\treturn 3 * sizeof(float);\n}\n\nclass GyroSerialiser : public SensorSerialiser {\n\tbool SerialiseSensorSpecific(Serialiser* serialiser, const Sensor* s) override {\n\t\tGyroSensor *sensor = (GyroSensor*)s;\n\n\t\tserialiser->Write(&sensor->Intrinsic , sizeof(sensor->Intrinsic));\n\t\tserialiser->Write(&sensor->NoiseVariances, sizeof(sensor->NoiseVariances));\n\t\tserialiser->Write(&sensor->BiasVariances, sizeof(sensor->BiasVariances));\n\n\t\treturn true;\n\t}\n};\n\nclass GyroDeserialiser : public SensorDeserialiser {\n\tbool InstantiateSensor(const Sensor::sensor_name_t &sensor_name,const Sensor::sensor_type_t &type, Sensor** s) override {\n\t\tif(type != GyroSensor::kGyroType) {\n\t\t\treturn false;\n\t\t}\n\n\t\t*s = new GyroSensor(sensor_name);\n\n\t\treturn true;\n\t}\n\n\tbool DeserialiseSensorSpecific(const Deserialiser* d, Sensor* s) override {\n\t\tGyroSensor *sensor = (GyroSensor*)s;\n\n\t\td->Read(&sensor->Intrinsic , sizeof(sensor->Intrinsic));\n\t\td->Read(&sensor->NoiseVariances, sizeof(sensor->NoiseVariances));\n\t\td->Read(&sensor->BiasVariances, sizeof(sensor->BiasVariances));\n\n\t\treturn true;\n\t}\n};\n\nstatic slambench::io::SensorDatabaseRegistration gyro_reg(GyroSensor::kGyroType, slambench::io::SensorDatabaseEntry(new GyroSerialiser(), new GyroDeserialiser(), false, false));\n\n\n" }, { "path": "framework/shared/src/io/sensor/IMUSensor.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/sensor/IMUSensor.h\"\n#include \"io/sensor/SensorDatabase.h\"\n#include \"io/serialisation/Serialiser.h\"\n#include \"io/deserialisation/Deserialiser.h\"\n\nusing namespace slambench::io;\n\nconst Sensor::sensor_type_t IMUSensor::kIMUType = \"IMU\";\n\nIMUSensor::IMUSensor(const Sensor::sensor_name_t &sensor_name) : Sensor(sensor_name, kIMUType) {\n\n}\nsize_t IMUSensor::GetFrameSize(const SLAMFrame *frame) const {\n\t(void)frame;\n\treturn 6 * sizeof(float);\n}\n\nclass IMUSerialiser : public SensorSerialiser {\n\tbool SerialiseSensorSpecific(Serialiser* serialiser, const Sensor* s) override {\n\n\t\tIMUSensor *sensor = (IMUSensor*)s;\n\n\t\tserialiser->Write(&sensor->GyroscopeNoiseDensity, sizeof(sensor->GyroscopeNoiseDensity));\n\t\tserialiser->Write(&sensor->GyroscopeDriftNoiseDensity, sizeof(sensor->GyroscopeDriftNoiseDensity));\n\t\tserialiser->Write(&sensor->GyroscopeBiasDiffusion, sizeof(sensor->GyroscopeBiasDiffusion));\n\t\tserialiser->Write(&sensor->GyroscopeSaturation , sizeof(sensor->GyroscopeSaturation));\n\n\t\tserialiser->Write(&sensor->AcceleratorNoiseDensity, sizeof(sensor->AcceleratorNoiseDensity));\n\t\tserialiser->Write(&sensor->AcceleratorDriftNoiseDensity , sizeof(sensor->AcceleratorDriftNoiseDensity));\n\t\tserialiser->Write(&sensor->AcceleratorBiasDiffusion, sizeof(sensor->AcceleratorBiasDiffusion));\n\t\tserialiser->Write(&sensor->AcceleratorSaturation , sizeof(sensor->AcceleratorSaturation));\n\n\n\n\t\treturn true;\n\t}\n};\n\nclass IMUDeserialiser : public SensorDeserialiser {\n\tbool InstantiateSensor(const Sensor::sensor_name_t &sensor_name, const Sensor::sensor_type_t &type, Sensor** s) override {\n\t\tif(type != IMUSensor::kIMUType) {\n\t\t\treturn false;\n\t\t}\n\n\t\t*s = new IMUSensor(sensor_name);\n\n\t\treturn true;\n\t}\n\n\tbool DeserialiseSensorSpecific(const Deserialiser* d, Sensor* s) override {\n\t\t// nothing to do\n\t\t(void)d;\n\t\t(void)s;\n\n\t\tIMUSensor *sensor = (IMUSensor*)s;\n\n\t\td->Read(&sensor->GyroscopeNoiseDensity, sizeof(sensor->GyroscopeNoiseDensity));\n\t\td->Read(&sensor->GyroscopeDriftNoiseDensity, sizeof(sensor->GyroscopeDriftNoiseDensity));\n\t\td->Read(&sensor->GyroscopeBiasDiffusion, sizeof(sensor->GyroscopeBiasDiffusion));\n\t\td->Read(&sensor->GyroscopeSaturation , sizeof(sensor->GyroscopeSaturation));\n\n\t\td->Read(&sensor->AcceleratorNoiseDensity, sizeof(sensor->AcceleratorNoiseDensity));\n\t\td->Read(&sensor->AcceleratorDriftNoiseDensity , sizeof(sensor->AcceleratorDriftNoiseDensity));\n\t\td->Read(&sensor->AcceleratorBiasDiffusion, sizeof(sensor->AcceleratorBiasDiffusion));\n\t\td->Read(&sensor->AcceleratorSaturation , sizeof(sensor->AcceleratorSaturation));\n\n\t\treturn true;\n\t}\n};\n\nstatic slambench::io::SensorDatabaseRegistration imu_reg(IMUSensor::kIMUType, slambench::io::SensorDatabaseEntry(new IMUSerialiser(), new IMUDeserialiser(), false, false));\n" }, { "path": "framework/shared/src/io/sensor/OdomSensor.cpp", "content": "/*\n\n Copyright (c) 2019 Intel Corp.\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"io/sensor/OdomSensor.h\"\n#include \"io/sensor/SensorDatabase.h\"\n\nusing namespace slambench::io;\n\nconst Sensor::sensor_type_t OdomSensor::kOdomType = \"Odom\";\n\nOdomSensor::OdomSensor(const sensor_name_t &sensor_name) : Sensor(sensor_name, kOdomType) {\n\n}\nsize_t OdomSensor::GetFrameSize(const SLAMFrame *frame) const {\n\t(void)frame;\n\treturn 13 * sizeof(float);\n}\n\nclass OdomSerialiser : public SensorSerialiser {\n\tbool SerialiseSensorSpecific(Serialiser* serialiser, const Sensor* sensor) override {\n\t\t// nothing to do\n\t\t(void)serialiser;\n\t\t(void)sensor;\n\t\treturn true;\n\t}\n};\n\nclass OdomDeserialiser : public SensorDeserialiser {\n\tbool InstantiateSensor(const Sensor::sensor_name_t &sensor_name,const Sensor::sensor_type_t &type, Sensor** s) override {\n\t\tif(type != OdomSensor::kOdomType) {\n\t\t\treturn false;\n\t\t}\n\n\t\t*s = new OdomSensor(sensor_name);\n\n\t\treturn true;\n\t}\n\n\tbool DeserialiseSensorSpecific(const Deserialiser* d, Sensor* s) override {\n\t\t// nothing to do\n\t\t(void)d;\n\t\t(void)s;\n\t\treturn true;\n\t}\n};\n\nstatic slambench::io::SensorDatabaseRegistration odom_reg(OdomSensor::kOdomType, slambench::io::SensorDatabaseEntry(new OdomSerialiser(), new OdomDeserialiser(), false, false));\n\n\n" }, { "path": "framework/shared/src/io/sensor/PointCloudSensor.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/SLAMFrame.h\"\n#include \"io/sensor/PointCloudSensor.h\"\n#include \"io/sensor/SensorDatabase.h\"\n\nusing namespace slambench::io;\n\nconst Sensor::sensor_type_t PointCloudSensor::kPointCloudType = \"PointCloud\";\n\nPointCloudSensor::PointCloudSensor(const sensor_name_t &sensor_name) : Sensor(sensor_name, kPointCloudType)\n{}\n\nsize_t PointCloudSensor::GetFrameSize(const SLAMFrame *frame) const {\n\treturn frame->GetVariableSize();\n}\n\nclass PCSerialiser : public SensorSerialiser {\n\tbool SerialiseSensorSpecific(Serialiser* serialiser, const Sensor* sensor) override {\n\t\t// nothing to do\n\t\t(void)serialiser;\n\t\t(void)sensor;\n\t\treturn true;\n\t}\n};\n\nclass PCDeserialiser : public SensorDeserialiser {\n\tbool InstantiateSensor(const Sensor::sensor_name_t &sensor_name, const Sensor::sensor_type_t &type, Sensor** s) override {\n\t\tif(type != PointCloudSensor::kPointCloudType) {\n\t\t\treturn false;\n\t\t}\n\n\t\t*s = new PointCloudSensor(sensor_name);\n\n\t\treturn true;\n\t}\n\n\tbool DeserialiseSensorSpecific(const Deserialiser* d, Sensor* s) override {\n\t\t// nothing to do\n\t\t(void)d;\n\t\t(void)s;\n\t\treturn true;\n\t}\n};\n\nstatic slambench::io::SensorDatabaseRegistration rgb_reg(PointCloudSensor::kPointCloudType, slambench::io::SensorDatabaseEntry(new PCSerialiser(), new PCDeserialiser(), true, true));\n" }, { "path": "framework/shared/src/io/sensor/Sensor.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/sensor/Sensor.h\"\n#include \"io/serialisation/Serialiser.h\"\n#include \"io/deserialisation/Deserialiser.h\"\n#include \"io/sensor/SensorDatabase.h\"\n\nusing namespace slambench::io;\n\nSensor::Sensor(const sensor_name_t &name, const sensor_type_t &type) :\n\t\tParameterComponent(name),\n\t\tIndex(0),\n\t\tRate(0),\n\t\tDelay(0),\n\t\tsensor_name_(name),\n\t\tsensor_type_(type) {}\n\nconst Sensor::sensor_type_t &Sensor::GetType() const {\n\treturn sensor_type_;\n}\n\nconst Sensor::sensor_name_t &Sensor::GetName() const {\n\treturn sensor_name_;\n}\n\nvoid Sensor::CopyPose(const pose_t &other) {\n\tPose = other;\n}\n\nvoid Sensor::CopyPose(const Sensor* other) {\n\tCopyPose(other->Pose);\n}\n\nbool Sensor::IsGroundTruth() const\n{\n\treturn SensorDatabase::Singleton()->Get(GetType()).IsGroundTruth();\n}\n\nbool Sensor::IsVariableSize() const\n{\n\treturn SensorDatabase::Singleton()->Get(GetType()).IsVariableSize();\n}\n\nbool SensorDeserialiser::Deserialise(const Sensor::sensor_name_t &sensor_name, const Sensor::sensor_type_t &type, const Deserialiser* d, Sensor** s) {\n\tSensor *sensor;\n\tif(!InstantiateSensor(sensor_name, type, &sensor)) {\n\t\tfprintf(stderr, \"Could not instantiate sensor of type %s\\n\", type.c_str());\n\t\treturn false;\n\t}\n\t\n\td->Read(&sensor->Index, sizeof(sensor->Index));\n\tuint32_t desc_bytes;\n\td->Read(&desc_bytes, sizeof(desc_bytes));\n\t\n\tchar desc[desc_bytes];\n\td->Read(desc, desc_bytes);\n\tsensor->Description = desc;\n\td->Read(&sensor->Rate, sizeof(sensor->Rate));\n\td->Read(&sensor->Pose, sizeof(sensor->Pose));\n\td->Read(&sensor->Delay, sizeof(sensor->Delay));\n\n\t*s = sensor;\n\tbool success = DeserialiseSensorSpecific(d, *s);\n\tif(!success) {\n\t\tfprintf(stderr, \"Sensor specific initialisation failed for '%s' (type %s)\\n\", desc, type.c_str());\n\t}\n\treturn success;\n}\n\nbool SensorSerialiser::Serialise(Serialiser* serialiser, const Sensor* sensor) {\n\tSensor::sensor_type_t raw_name = sensor->GetName();\n\tuint8_t name_size = raw_name.size()+1;\n\tserialiser->Write(&name_size, sizeof(name_size));\n\tserialiser->Write(raw_name.c_str(), name_size);\n\n\tSensor::sensor_type_t raw_type = sensor->GetType();\n\tuint8_t type_size = raw_type.size()+1;\n\tserialiser->Write(&type_size, sizeof(type_size));\n\tserialiser->Write(raw_type.c_str(), type_size);\n\tserialiser->Write(&sensor->Index, sizeof(sensor->Index));\n\t\n\tuint32_t desc_bytes = sensor->Description.size()+1;\n\tserialiser->Write(&desc_bytes, sizeof(desc_bytes));\n\tserialiser->Write(sensor->Description.c_str(), desc_bytes);\n\tserialiser->Write(&sensor->Rate, sizeof(sensor->Rate));\n\tserialiser->Write(&sensor->Pose, sizeof(sensor->Pose));\n\tserialiser->Write(&sensor->Delay, sizeof(sensor->Delay));\n\n\treturn SerialiseSensorSpecific(serialiser, sensor);\n}\n" }, { "path": "framework/shared/src/io/sensor/SensorCollection.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/sensor/SensorCollection.h\"\n#include \"io/sensor/Sensor.h\"\n\n#include \n\nusing namespace slambench::io;\n\nSensor &SensorCollection::at(unsigned int sensor_idx) {\n\treturn *container_.at(sensor_idx);\n}\n\nsize_t SensorCollection::size() const {\n\treturn container_.size();\n}\n\nvoid SensorCollection::AddSensor(Sensor* sensor) {\n\tif(sensor == nullptr) {\n\t\tthrow std::logic_error(\"Cannot add a null sensor to SensorCollection\");\n\t}\n\tsensor->Index = container_.size();\n\tcontainer_.push_back(sensor);\n}\n\nSensor* SensorCollection::GetSensor(const Sensor::sensor_type_t & type) {\n\tfor(auto &i : container_) {\n\t\tif(i->GetType() == type) {\n\t\t\treturn i;\n\t\t}\n\t}\n\t\n\treturn nullptr;\n}\n\nconst Sensor* SensorCollection::GetSensor(const Sensor::sensor_type_t & type) const {\n\tfor(auto &i : container_) {\n\t\tif(i->GetType() == type) {\n\t\t\treturn i;\n\t\t}\n\t}\n\t\n\treturn nullptr;\n}\n\nstd::vector SensorCollection::GetSensors(const Sensor::sensor_type_t & type) {\n\tstd::vector output;\n\tfor(auto &i : container_) {\n\t\tif(i->GetType() == type) {\n\t\t\toutput.push_back(i);\n\t\t}\n\t}\n\treturn output;\n}\n" }, { "path": "framework/shared/src/io/sensor/SensorDatabase.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/sensor/SensorDatabase.h\"\n\n#include \n\nusing namespace slambench::io;\n\nSensorDatabase *SensorDatabase::singleton_;\n\nSensorDatabase* SensorDatabase::Singleton()\n{\n\tif(singleton_ == nullptr) {\n\t\tsingleton_ = new SensorDatabase();\n\t}\n\treturn singleton_;\n}\n\nSensorDatabaseEntry::SensorDatabaseEntry(SensorSerialiser* s, SensorDeserialiser* ds, bool ground_truth, bool variable_size) : serialiser_(s), deserialiser_(ds), is_ground_truth_(ground_truth), is_variable_size_(variable_size)\n{\n\t\n}\n\nSensorDatabaseEntry& SensorDatabase::Get(const Sensor::sensor_type_t& sensor_name)\n{\n\treturn registrations_.at(sensor_name);\n}\n\nvoid SensorDatabase::RegisterSensor(const Sensor::sensor_type_t& sensor_name, const SensorDatabaseEntry& entry)\n{\n\tregistrations_.insert({sensor_name, entry});\n}\n\nSensorDatabaseRegistration::SensorDatabaseRegistration(const Sensor::sensor_type_t& name, const SensorDatabaseEntry& entry)\n{\n\tSensorDatabase::Singleton()->RegisterSensor(name, entry);\n}\n" }, { "path": "framework/shared/src/io/serialisation/SLAMFileHeaderSerialiser.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/serialisation/SLAMFileHeaderSerialiser.h\"\n#include \"io/SLAMFile.h\"\n#include \"io/sensor/Sensor.h\"\n#include \"io/sensor/SensorDatabase.h\"\n\nusing namespace slambench::io;\n\nSLAMFileHeaderSerialiser::SLAMFileHeaderSerialiser(FILE *file) : Serialiser(file) {\n\t\n}\n\nbool SLAMFileHeaderSerialiser::Serialise(const SLAMFile &file) {\n\tif(!SerialiseHeader(file)) return false;\n\t\n\tfor(const auto &sensor : file.Sensors) {\n\t\tif(!SerialiseSensor(*sensor)) {\n\t\t\tprintf(\"Could not serialise sensor %s\\n\", sensor->Description.c_str());\n\t\t\treturn false;\n\t\t}\n\t}\n\t\n\treturn true;\n}\n\nbool SLAMFileHeaderSerialiser::SerialiseHeader(const SLAMFile &file) {\n\tWrite(SLAMFile::MagicNum, sizeof(SLAMFile::MagicNum));\n\t\n\tuint32_t version = SLAMFile::Version;\n\tWrite(&version, sizeof(version));\n\t\n\tuint32_t sensorcount = file.Sensors.size();\n\tWrite(&sensorcount, sizeof(sensorcount));\n\t\n\treturn true;\n}\n\nbool SLAMFileHeaderSerialiser::SerialiseSensor(const Sensor &sensor) {\n\tif(!SensorDatabase::Singleton()->Get(sensor.GetType()).GetSerialiser()->Serialise(this, &sensor)) return false;\n\t\n\treturn true;\n}\n\n\n" }, { "path": "framework/shared/src/io/serialisation/SLAMFileSerialiser.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/serialisation/SLAMFileSerialiser.h\"\n#include \"io/serialisation/SLAMFileHeaderSerialiser.h\"\n#include \"io/serialisation/SLAMFrameSerialiser.h\"\n\n#include \"io/SLAMFile.h\"\n\n#include \n#include \n\nusing namespace slambench::io;\n\nSLAMFileSerialiser::SLAMFileSerialiser(FILE *target) : Serialiser(target), FrameCallback(nullptr) {\n\t\n}\n\nbool SLAMFileSerialiser::Serialise(SLAMFile &file) {\n\tif(!SerialiseHeader(file)) return false;\n\tif(!SerialiseFrames(file)) return false;\n\treturn true;\n}\n\nbool SLAMFileSerialiser::SerialiseHeader(const SLAMFile &file) {\n\tSLAMFileHeaderSerialiser sfhs(File());\n\t\n\treturn sfhs.Serialise(file);\t\n}\n\nbool SLAMFileSerialiser::SerialiseFrames(SLAMFile &file) {\n\tSLAMFrameSerialiser sfs(File());\n\t\n\tuint32_t frame_idx = 0;\n\t\n\tfor(unsigned int i = 0; i < file.GetFrameCount(); ++i) {\n\t\tSLAMFrame *frame = file.GetFrame(i);\n\t\t\n\t\tif(!sfs.Serialise(*frame)) {\n\t\t\tstd::cerr<<\"Failed to serialise frame\";\n\t\t\treturn false;\n\t\t}\n\t\tif(FrameCallback != nullptr) {\n\t\t\tFrameCallback(frame_idx, file.GetFrameCount());\n\t\t}\n\t\tframe_idx++;\n\t}\n\t\n\treturn true;\n}\n" }, { "path": "framework/shared/src/io/serialisation/SLAMFrameSerialiser.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/serialisation/SLAMFrameSerialiser.h\"\n\n#include \"io/SLAMFrame.h\"\n#include \"io/sensor/Sensor.h\"\n\nusing namespace slambench::io;\n\nSLAMFrameSerialiser::SLAMFrameSerialiser(FILE *target) : Serialiser(target) {\n\t\n}\n\nbool SLAMFrameSerialiser::Serialise(SLAMFrame &frame) {\n\tvoid *frame_data = frame.GetData();\n\tif(frame_data == nullptr) {\n\t\tprintf(\"Could not get frame data\\n\");\n\t\treturn false;\n\t}\n\tstruct {\n\t\tdecltype(frame.Timestamp) timestamp;\n\t\tdecltype(frame.FrameSensor->Index) index;\n\t} __attribute__((packed)) data;\n\t\n\tdata.timestamp = frame.Timestamp;\n\tdata.index = frame.FrameSensor->Index;\n\t\n\tif (!Write(&data, sizeof(data))) {\n\t\tprintf(\"Could not write frame header\\n\");\n\t\treturn false;\n\t}\n\tif(frame.FrameSensor->IsVariableSize()) {\n\t\tuint32_t data_size = frame.GetSize();\n\t\t\n\t\tif (!Write(&data_size, sizeof(data_size))) {\n\t\tprintf(\"Could not write frame size data\\n\");\n\t\treturn false;\n\t}\n\t}\n\tif (!Write(frame_data, frame.GetSize())) {\n\t\tprintf(\"Could not write frame data\\n\");\n\t\treturn false;\n\t}\n\t\n\tframe.FreeData();\n\t\n\treturn true;\n}\n" }, { "path": "framework/shared/src/io/serialisation/Serialiser.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/serialisation/Serialiser.h\"\n\nusing namespace slambench::io;\n\nSerialiser::Serialiser(FILE *target_file) : _file(target_file) {\n\n}\n\nFILE *Serialiser::File() { \n\treturn _file; \n}\n\nbool Serialiser::Write(const void *data, size_t size) {\n return fwrite(data, size, 1, File()) == 1;\n}\n\n" }, { "path": "framework/shared/src/library_wrapper.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n \n#include \n#include \n#include \n\nextern \"C\" {\n\n\tbool c_sb_new_slam_configuration(void * slam_settings) {\n\t\treturn sb_new_slam_configuration((SLAMBenchLibraryHelper *) slam_settings);\n\t}\n\n\tbool c_sb_init_slam_system(void * slam_settings) {\n\t\treturn sb_init_slam_system((SLAMBenchLibraryHelper *) slam_settings);\n\t}\n\t\n\tbool c_sb_update_frame(void * slam_settings, void * type) {\n\t\treturn sb_update_frame((SLAMBenchLibraryHelper *) slam_settings, (slambench::io::SLAMFrame *) type);\n\t}\n\n\tbool c_sb_relocalize(void * slam_settings) {\n\t\treturn sb_relocalize((SLAMBenchLibraryHelper *) slam_settings);\n\t}\n\n\tbool c_sb_process_once (void * slam_settings){\n\t\treturn sb_process_once((SLAMBenchLibraryHelper *) slam_settings);\n\t}\n\n\tbool c_sb_clean_slam_system(){\n\t\treturn sb_clean_slam_system();\n\t}\n\t\n\tbool c_sb_update_outputs(void *lib, void *timestamp) {\n\t\treturn sb_update_outputs((SLAMBenchLibraryHelper*)lib, (const slambench::TimeStamp *)timestamp);\n\t}\n}\n" }, { "path": "framework/shared/src/lodepng.cpp", "content": "/*\n LodePNG version 20140624\n\n Copyright (c) 2005-2014 Lode Vandevenne\n\n This software is provided 'as-is', without any express or implied\n warranty. In no event will the authors be held liable for any damages\n arising from the use of this software.\n\n Permission is granted to anyone to use this software for any purpose,\n including commercial applications, and to alter it and redistribute it\n freely, subject to the following restrictions:\n\n 1. The origin of this software must not be misrepresented; you must not\n claim that you wrote the original software. If you use this software\n in a product, an acknowledgment in the product documentation would be\n appreciated but is not required.\n\n 2. Altered source versions must be plainly marked as such, and must not be\n misrepresented as being the original software.\n\n 3. This notice may not be removed or altered from any source\n distribution.\n */\n\n/*\n The manual and changelog are in the header file \"lodepng.h\"\n Rename this file to lodepng.cpp to use it for C++, or to lodepng.c to use it for C.\n */\n\n#include \"lodepng.h\"\n\n#include \n#include \n\n#ifdef LODEPNG_COMPILE_CPP\n#include \n#endif /*LODEPNG_COMPILE_CPP*/\n\n#define VERSION_STRING \"20140624\"\n\n#if (_MSC_VER >= 1310) /*Visual Studio: Kept warning-free but a few warning types are not desired here.*/\n#pragma warning( disable : 4244 ) /*implicit conversions: not warned by gcc -Wall -Wextra and requires too much casts*/\n#pragma warning( disable : 4996 ) /*VS does not like fopen, but fopen_s is not standard C so unusable here*/\n#endif /*_MSC_VER >= 1310*/\n\n/*\n This source file is built up in the following large parts. The code sections\n with the \"LODEPNG_COMPILE_\" #defines divide this up further in an intermixed way.\n -Tools for C and common code for PNG and Zlib\n -C Code for Zlib (huffman, deflate, ...)\n -C Code for PNG (file format chunks, adam7, PNG filters, color conversions, ...)\n -The C++ wrapper around all of the above\n */\n\n/*The malloc, realloc and free functions defined here with \"lodepng_\" in front\n of the name, so that you can easily change them to others related to your\n platform if needed. Everything else in the code calls these. Pass\n -DLODEPNG_NO_COMPILE_ALLOCATORS to the compiler, or comment out\n #define LODEPNG_COMPILE_ALLOCATORS in the header, to disable the ones here and\n define them in your own project's source files without needing to change\n lodepng source code. Don't forget to remove \"static\" if you copypaste them\n from here.*/\n\n#ifdef LODEPNG_COMPILE_ALLOCATORS\nstatic void* lodepng_malloc(size_t size) {\n\treturn malloc(size);\n}\n\nstatic void* lodepng_realloc(void* ptr, size_t new_size) {\n\treturn realloc(ptr, new_size);\n}\n\nstatic void lodepng_free(void* ptr) {\n\tfree(ptr);\n}\n#else /*LODEPNG_COMPILE_ALLOCATORS*/\nvoid* lodepng_malloc(size_t size);\nvoid* lodepng_realloc(void* ptr, size_t new_size);\nvoid lodepng_free(void* ptr);\n#endif /*LODEPNG_COMPILE_ALLOCATORS*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* // Tools for C, and common code for PNG and Zlib. // */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*\n Often in case of an error a value is assigned to a variable and then it breaks\n out of a loop (to go to the cleanup phase of a function). This macro does that.\n It makes the error handling code shorter and more readable.\n\n Example: if(!uivector_resizev(&frequencies_ll, 286, 0)) ERROR_BREAK(83);\n */\n#define CERROR_BREAK(errorvar, code)\\\n{\\\n errorvar = code;\\\n break;\\\n}\n\n/*version of CERROR_BREAK that assumes the common case where the error variable is named \"error\"*/\n#define ERROR_BREAK(code) CERROR_BREAK(error, code)\n\n/*Set error var to the error code, and return it.*/\n#define CERROR_RETURN_ERROR(errorvar, code)\\\n{\\\n errorvar = code;\\\n return code;\\\n}\n\n/*Try the code, if it returns error, also return the error.*/\n#define CERROR_TRY_RETURN(call)\\\n{\\\n unsigned error = call;\\\n if(error) return error;\\\n}\n\n/*\n About uivector, ucvector and string:\n -All of them wrap dynamic arrays or text strings in a similar way.\n -LodePNG was originally written in C++. The vectors replace the std::vectors that were used in the C++ version.\n -The string tools are made to avoid problems with compilers that declare things like strncat as deprecated.\n -They're not used in the interface, only internally in this file as static functions.\n -As with many other structs in this file, the init and cleanup functions serve as ctor and dtor.\n */\n\n#ifdef LODEPNG_COMPILE_ZLIB\n/*dynamic vector of unsigned ints*/\ntypedef struct uivector {\n\tunsigned* data;\n\tsize_t size; /*size in number of unsigned longs*/\n\tsize_t allocsize; /*allocated size in bytes*/\n} uivector;\n\nstatic void uivector_cleanup(void* p) {\n\t((uivector*) p)->size = ((uivector*) p)->allocsize = 0;\n\tlodepng_free(((uivector*) p)->data);\n\t((uivector*) p)->data = NULL;\n}\n\n/*returns 1 if success, 0 if failure ==> nothing done*/\nstatic unsigned uivector_resize(uivector* p, size_t size) {\n\tif (size * sizeof(unsigned) > p->allocsize) {\n\t\tsize_t newsize = size * sizeof(unsigned) * 2;\n\t\tvoid* data = lodepng_realloc(p->data, newsize);\n\t\tif (data) {\n\t\t\tp->allocsize = newsize;\n\t\t\tp->data = (unsigned*) data;\n\t\t\tp->size = size;\n\t\t} else\n\t\t\treturn 0;\n\t} else\n\t\tp->size = size;\n\treturn 1;\n}\n\n/*resize and give all new elements the value*/\nstatic unsigned uivector_resizev(uivector* p, size_t size, unsigned value) {\n\tsize_t oldsize = p->size, i;\n\tif (!uivector_resize(p, size))\n\t\treturn 0;\n\tfor (i = oldsize; i < size; i++)\n\t\tp->data[i] = value;\n\treturn 1;\n}\n\nstatic void uivector_init(uivector* p) {\n\tp->data = NULL;\n\tp->size = p->allocsize = 0;\n}\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*returns 1 if success, 0 if failure ==> nothing done*/\nstatic unsigned uivector_push_back(uivector* p, unsigned c) {\n\tif (!uivector_resize(p, p->size + 1))\n\t\treturn 0;\n\tp->data[p->size - 1] = c;\n\treturn 1;\n}\n\n/*copy q to p, returns 1 if success, 0 if failure ==> nothing done*/\nstatic unsigned uivector_copy(uivector* p, const uivector* q) {\n\tsize_t i;\n\tif (!uivector_resize(p, q->size))\n\t\treturn 0;\n\tfor (i = 0; i < q->size; i++)\n\t\tp->data[i] = q->data[i];\n\treturn 1;\n}\n#endif /*LODEPNG_COMPILE_ENCODER*/\n#endif /*LODEPNG_COMPILE_ZLIB*/\n\n/* /////////////////////////////////////////////////////////////////////////// */\n\n/*dynamic vector of unsigned chars*/\ntypedef struct ucvector {\n\tunsigned char* data;\n\tsize_t size; /*used size*/\n\tsize_t allocsize; /*allocated size*/\n} ucvector;\n\n/*returns 1 if success, 0 if failure ==> nothing done*/\nstatic unsigned ucvector_resize(ucvector* p, size_t size) {\n\tif (size * sizeof(unsigned char) > p->allocsize) {\n\t\tsize_t newsize = size * sizeof(unsigned char) * 2;\n\t\tvoid* data = lodepng_realloc(p->data, newsize);\n\t\tif (data) {\n\t\t\tp->allocsize = newsize;\n\t\t\tp->data = (unsigned char*) data;\n\t\t\tp->size = size;\n\t\t} else\n\t\t\treturn 0; /*error: not enough memory*/\n\t} else\n\t\tp->size = size;\n\treturn 1;\n}\n\n#ifdef LODEPNG_COMPILE_PNG\n\nstatic void ucvector_cleanup(void* p) {\n\t((ucvector*) p)->size = ((ucvector*) p)->allocsize = 0;\n\tlodepng_free(((ucvector*) p)->data);\n\t((ucvector*) p)->data = NULL;\n}\n\nstatic void ucvector_init(ucvector* p) {\n\tp->data = NULL;\n\tp->size = p->allocsize = 0;\n}\n\n#ifdef LODEPNG_COMPILE_DECODER\n/*resize and give all new elements the value*/\nstatic unsigned ucvector_resizev(ucvector* p, size_t size,\n\t\tunsigned char value) {\n\tsize_t oldsize = p->size, i;\n\tif (!ucvector_resize(p, size))\n\t\treturn 0;\n\tfor (i = oldsize; i < size; i++)\n\t\tp->data[i] = value;\n\treturn 1;\n}\n#endif /*LODEPNG_COMPILE_DECODER*/\n#endif /*LODEPNG_COMPILE_PNG*/\n\n#ifdef LODEPNG_COMPILE_ZLIB\n/*you can both convert from vector to buffer&size and vica versa. If you use\n init_buffer to take over a buffer and size, it is not needed to use cleanup*/\nstatic void ucvector_init_buffer(ucvector* p, unsigned char* buffer,\n\t\tsize_t size) {\n\tp->data = buffer;\n\tp->allocsize = p->size = size;\n}\n#endif /*LODEPNG_COMPILE_ZLIB*/\n\n#if (defined(LODEPNG_COMPILE_PNG) && defined(LODEPNG_COMPILE_ANCILLARY_CHUNKS)) || defined(LODEPNG_COMPILE_ENCODER)\n/*returns 1 if success, 0 if failure ==> nothing done*/\nstatic unsigned ucvector_push_back(ucvector* p, unsigned char c) {\n\tif (!ucvector_resize(p, p->size + 1))\n\t\treturn 0;\n\tp->data[p->size - 1] = c;\n\treturn 1;\n}\n#endif /*defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_ENCODER)*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_PNG\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n/*returns 1 if success, 0 if failure ==> nothing done*/\nstatic unsigned string_resize(char** out, size_t size) {\n\tchar* data = (char*) lodepng_realloc(*out, size + 1);\n\tif (data) {\n\t\tdata[size] = 0; /*null termination char*/\n\t\t*out = data;\n\t}\n\treturn data != 0;\n}\n\n/*init a {char*, size_t} pair for use as string*/\nstatic void string_init(char** out) {\n\t*out = NULL;\n\tstring_resize(out, 0);\n}\n\n/*free the above pair again*/\nstatic void string_cleanup(char** out) {\n\tlodepng_free(*out);\n\t*out = NULL;\n}\n\nstatic void string_set(char** out, const char* in) {\n\tsize_t insize = strlen(in), i = 0;\n\tif (string_resize(out, insize)) {\n\t\tfor (i = 0; i < insize; i++) {\n\t\t\t(*out)[i] = in[i];\n\t\t}\n\t}\n}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n#endif /*LODEPNG_COMPILE_PNG*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n\nunsigned lodepng_read32bitInt(const unsigned char* buffer) {\n\treturn (unsigned) ((buffer[0] << 24) | (buffer[1] << 16) | (buffer[2] << 8)\n\t\t\t| buffer[3]);\n}\n\n#if defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_ENCODER)\n/*buffer must have at least 4 allocated bytes available*/\nstatic void lodepng_set32bitInt(unsigned char* buffer, unsigned value) {\n\tbuffer[0] = (unsigned char) ((value >> 24) & 0xff);\n\tbuffer[1] = (unsigned char) ((value >> 16) & 0xff);\n\tbuffer[2] = (unsigned char) ((value >> 8) & 0xff);\n\tbuffer[3] = (unsigned char) ((value) & 0xff);\n}\n#endif /*defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_ENCODER)*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\nstatic void lodepng_add32bitInt(ucvector* buffer, unsigned value) {\n\tucvector_resize(buffer, buffer->size + 4); /*todo: give error if resize failed*/\n\tlodepng_set32bitInt(&buffer->data[buffer->size - 4], value);\n}\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / File IO / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_DISK\n\nunsigned lodepng_load_file(unsigned char** out, size_t* outsize,\n\t\tconst char* filename) {\n\tFILE* file;\n\tlong size;\n\n\t/*provide some proper output values if error will happen*/\n\t*out = 0;\n\t*outsize = 0;\n\n\tfile = fopen(filename, \"rb\");\n\tif (!file)\n\t\treturn 78;\n\n\t/*get filesize:*/\n\tfseek(file, 0, SEEK_END);\n\tsize = ftell(file);\n\trewind(file);\n\n\t/*read contents of the file into the vector*/\n\t*outsize = 0;\n\t*out = (unsigned char*) lodepng_malloc((size_t) size);\n\tif (size && (*out))\n\t\t(*outsize) = fread(*out, 1, (size_t) size, file);\n\n\tfclose(file);\n\tif (!(*out) && size)\n\t\treturn 83; /*the above malloc failed*/\n\treturn 0;\n}\n\n/*write given buffer to the file, overwriting the file, it doesn't append to it.*/\nunsigned lodepng_save_file(const unsigned char* buffer, size_t buffersize,\n\t\tconst char* filename) {\n\tFILE* file;\n\tfile = fopen(filename, \"wb\");\n\tif (!file)\n\t\treturn 79;\n\tfwrite((char*) buffer, 1, buffersize, file);\n\tfclose(file);\n\treturn 0;\n}\n\n#endif /*LODEPNG_COMPILE_DISK*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* // End of common code and tools. Begin of Zlib related code. // */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_ZLIB\n#ifdef LODEPNG_COMPILE_ENCODER\n/*TODO: this ignores potential out of memory errors*/\n#define addBitToStream(/*size_t**/ bitpointer, /*ucvector**/ bitstream, /*unsigned char*/ bit)\\\n{\\\n /*add a new byte at the end*/\\\n if(((*bitpointer) & 7) == 0) ucvector_push_back(bitstream, (unsigned char)0);\\\n /*earlier bit of huffman code is in a lesser significant bit of an earlier byte*/\\\n (bitstream->data[bitstream->size - 1]) |= (bit << ((*bitpointer) & 0x7));\\\n (*bitpointer)++;\\\n}\n\nstatic void addBitsToStream(size_t* bitpointer, ucvector* bitstream,\n\t\tunsigned value, size_t nbits) {\n\tsize_t i;\n\tfor (i = 0; i < nbits; i++)\n\t\taddBitToStream(bitpointer, bitstream,\n\t\t\t\t(unsigned char )((value >> i) & 1));\n}\n\nstatic void addBitsToStreamReversed(size_t* bitpointer, ucvector* bitstream,\n\t\tunsigned value, size_t nbits) {\n\tsize_t i;\n\tfor (i = 0; i < nbits; i++)\n\t\taddBitToStream(bitpointer, bitstream,\n\t\t\t\t(unsigned char )((value >> (nbits - 1 - i)) & 1));\n}\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#ifdef LODEPNG_COMPILE_DECODER\n\n#define READBIT(bitpointer, bitstream) ((bitstream[bitpointer >> 3] >> (bitpointer & 0x7)) & (unsigned char)1)\n\nstatic unsigned char readBitFromStream(size_t* bitpointer,\n\t\tconst unsigned char* bitstream) {\n\tunsigned char result = (unsigned char) (READBIT(*bitpointer, bitstream));\n\t(*bitpointer)++;\n\treturn result;\n}\n\nstatic unsigned readBitsFromStream(size_t* bitpointer,\n\t\tconst unsigned char* bitstream, size_t nbits) {\n\tunsigned result = 0, i;\n\tfor (i = 0; i < nbits; i++) {\n\t\tresult += ((unsigned) READBIT(*bitpointer, bitstream)) << i;\n\t\t(*bitpointer)++;\n\t}\n\treturn result;\n}\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Deflate - Huffman / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#define FIRST_LENGTH_CODE_INDEX 257\n#define LAST_LENGTH_CODE_INDEX 285\n/*256 literals, the end code, some length codes, and 2 unused codes*/\n#define NUM_DEFLATE_CODE_SYMBOLS 288\n/*the distance codes have their own symbols, 30 used, 2 unused*/\n#define NUM_DISTANCE_SYMBOLS 32\n/*the code length codes. 0-15: code lengths, 16: copy previous 3-6 times, 17: 3-10 zeros, 18: 11-138 zeros*/\n#define NUM_CODE_LENGTH_CODES 19\n\n/*the base lengths represented by codes 257-285*/\nstatic const unsigned LENGTHBASE[29] = { 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 15,\n\t\t17, 19, 23, 27, 31, 35, 43, 51, 59, 67, 83, 99, 115, 131, 163, 195, 227,\n\t\t258 };\n\n/*the extra bits used by codes 257-285 (added to base length)*/\nstatic const unsigned LENGTHEXTRA[29] = { 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 2,\n\t\t2, 2, 2, 3, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5, 0 };\n\n/*the base backwards distances (the bits of distance codes appear after length codes and use their own huffman tree)*/\nstatic const unsigned DISTANCEBASE[30] = { 1, 2, 3, 4, 5, 7, 9, 13, 17, 25, 33,\n\t\t49, 65, 97, 129, 193, 257, 385, 513, 769, 1025, 1537, 2049, 3073, 4097,\n\t\t6145, 8193, 12289, 16385, 24577 };\n\n/*the extra bits of backwards distances (added to base)*/\nstatic const unsigned DISTANCEEXTRA[30] = { 0, 0, 0, 0, 1, 1, 2, 2, 3, 3, 4, 4,\n\t\t5, 5, 6, 6, 7, 7, 8, 8, 9, 9, 10, 10, 11, 11, 12, 12, 13, 13 };\n\n/*the order in which \"code length alphabet code lengths\" are stored, out of this\n the huffman tree of the dynamic huffman tree lengths is generated*/\nstatic const unsigned CLCL_ORDER[NUM_CODE_LENGTH_CODES] = { 16, 17, 18, 0, 8, 7,\n\t\t9, 6, 10, 5, 11, 4, 12, 3, 13, 2, 14, 1, 15 };\n\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*\n Huffman tree struct, containing multiple representations of the tree\n */\ntypedef struct HuffmanTree {\n\tunsigned* tree2d;\n\tunsigned* tree1d;\n\tunsigned* lengths; /*the lengths of the codes of the 1d-tree*/\n\tunsigned maxbitlen; /*maximum number of bits a single code can get*/\n\tunsigned numcodes; /*number of symbols in the alphabet = number of codes*/\n} HuffmanTree;\n\n/*function used for debug purposes to draw the tree in ascii art with C++*/\n/*\n static void HuffmanTree_draw(HuffmanTree* tree)\n {\n std::cout << \"tree. length: \" << tree->numcodes << \" maxbitlen: \" << tree->maxbitlen << std::endl;\n for(size_t i = 0; i < tree->tree1d.size; i++)\n {\n if(tree->lengths.data[i])\n std::cout << i << \" \" << tree->tree1d.data[i] << \" \" << tree->lengths.data[i] << std::endl;\n }\n std::cout << std::endl;\n }*/\n\nstatic void HuffmanTree_init(HuffmanTree* tree) {\n\ttree->tree2d = 0;\n\ttree->tree1d = 0;\n\ttree->lengths = 0;\n}\n\nstatic void HuffmanTree_cleanup(HuffmanTree* tree) {\n\tlodepng_free(tree->tree2d);\n\tlodepng_free(tree->tree1d);\n\tlodepng_free(tree->lengths);\n}\n\n/*the tree representation used by the decoder. return value is error*/\nstatic unsigned HuffmanTree_make2DTree(HuffmanTree* tree) {\n\tunsigned nodefilled = 0; /*up to which node it is filled*/\n\tunsigned treepos = 0; /*position in the tree (1 of the numcodes columns)*/\n\tunsigned n, i;\n\n\ttree->tree2d = (unsigned*) lodepng_malloc(\n\t\t\ttree->numcodes * 2 * sizeof(unsigned));\n\tif (!tree->tree2d)\n\t\treturn 83; /*alloc fail*/\n\n\t/*\n\t convert tree1d[] to tree2d[][]. In the 2D array, a value of 32767 means\n\t uninited, a value >= numcodes is an address to another bit, a value < numcodes\n\t is a code. The 2 rows are the 2 possible bit values (0 or 1), there are as\n\t many columns as codes - 1.\n\t A good huffmann tree has N * 2 - 1 nodes, of which N - 1 are internal nodes.\n\t Here, the internal nodes are stored (what their 0 and 1 option point to).\n\t There is only memory for such good tree currently, if there are more nodes\n\t (due to too long length codes), error 55 will happen\n\t */\n\tfor (n = 0; n < tree->numcodes * 2; n++) {\n\t\ttree->tree2d[n] = 32767; /*32767 here means the tree2d isn't filled there yet*/\n\t}\n\n\tfor (n = 0; n < tree->numcodes; n++) /*the codes*/\n\t{\n\t\tfor (i = 0; i < tree->lengths[n]; i++) /*the bits for this code*/\n\t\t{\n\t\t\tunsigned char bit = (unsigned char) ((tree->tree1d[n]\n\t\t\t\t\t>> (tree->lengths[n] - i - 1)) & 1);\n\t\t\tif (treepos > tree->numcodes - 2)\n\t\t\t\treturn 55; /*oversubscribed, see comment in lodepng_error_text*/\n\t\t\tif (tree->tree2d[2 * treepos + bit] == 32767) /*not yet filled in*/\n\t\t\t{\n\t\t\t\tif (i + 1 == tree->lengths[n]) /*last bit*/\n\t\t\t\t{\n\t\t\t\t\ttree->tree2d[2 * treepos + bit] = n; /*put the current code in it*/\n\t\t\t\t\ttreepos = 0;\n\t\t\t\t} else {\n\t\t\t\t\t/*put address of the next step in here, first that address has to be found of course\n\t\t\t\t\t (it's just nodefilled + 1)...*/\n\t\t\t\t\tnodefilled++;\n\t\t\t\t\t/*addresses encoded with numcodes added to it*/\n\t\t\t\t\ttree->tree2d[2 * treepos + bit] = nodefilled\n\t\t\t\t\t\t\t+ tree->numcodes;\n\t\t\t\t\ttreepos = nodefilled;\n\t\t\t\t}\n\t\t\t} else\n\t\t\t\ttreepos = tree->tree2d[2 * treepos + bit] - tree->numcodes;\n\t\t}\n\t}\n\n\tfor (n = 0; n < tree->numcodes * 2; n++) {\n\t\tif (tree->tree2d[n] == 32767)\n\t\t\ttree->tree2d[n] = 0; /*remove possible remaining 32767's*/\n\t}\n\n\treturn 0;\n}\n\n/*\n Second step for the ...makeFromLengths and ...makeFromFrequencies functions.\n numcodes, lengths and maxbitlen must already be filled in correctly. return\n value is error.\n */\nstatic unsigned HuffmanTree_makeFromLengths2(HuffmanTree* tree) {\n\tuivector blcount;\n\tuivector nextcode;\n\tunsigned bits, n, error = 0;\n\n\tuivector_init(&blcount);\n\tuivector_init(&nextcode);\n\n\ttree->tree1d = (unsigned*) lodepng_malloc(\n\t\t\ttree->numcodes * sizeof(unsigned));\n\tif (!tree->tree1d)\n\t\terror = 83; /*alloc fail*/\n\n\tif (!uivector_resizev(&blcount, tree->maxbitlen + 1, 0)\n\t\t\t|| !uivector_resizev(&nextcode, tree->maxbitlen + 1, 0))\n\t\terror = 83; /*alloc fail*/\n\n\tif (!error) {\n\t\t/*step 1: count number of instances of each code length*/\n\t\tfor (bits = 0; bits < tree->numcodes; bits++)\n\t\t\tblcount.data[tree->lengths[bits]]++;\n\t\t/*step 2: generate the nextcode values*/\n\t\tfor (bits = 1; bits <= tree->maxbitlen; bits++) {\n\t\t\tnextcode.data[bits] = (nextcode.data[bits - 1]\n\t\t\t\t\t+ blcount.data[bits - 1]) << 1;\n\t\t}\n\t\t/*step 3: generate all the codes*/\n\t\tfor (n = 0; n < tree->numcodes; n++) {\n\t\t\tif (tree->lengths[n] != 0)\n\t\t\t\ttree->tree1d[n] = nextcode.data[tree->lengths[n]]++;\n\t\t}\n\t}\n\n\tuivector_cleanup(&blcount);\n\tuivector_cleanup(&nextcode);\n\n\tif (!error)\n\t\treturn HuffmanTree_make2DTree(tree);\n\telse\n\t\treturn error;\n}\n\n/*\n given the code lengths (as stored in the PNG file), generate the tree as defined\n by Deflate. maxbitlen is the maximum bits that a code in the tree can have.\n return value is error.\n */\nstatic unsigned HuffmanTree_makeFromLengths(HuffmanTree* tree,\n\t\tconst unsigned* bitlen, size_t numcodes, unsigned maxbitlen) {\n\tunsigned i;\n\ttree->lengths = (unsigned*) lodepng_malloc(numcodes * sizeof(unsigned));\n\tif (!tree->lengths)\n\t\treturn 83; /*alloc fail*/\n\tfor (i = 0; i < numcodes; i++)\n\t\ttree->lengths[i] = bitlen[i];\n\ttree->numcodes = (unsigned) numcodes; /*number of symbols*/\n\ttree->maxbitlen = maxbitlen;\n\treturn HuffmanTree_makeFromLengths2(tree);\n}\n\n#ifdef LODEPNG_COMPILE_ENCODER\n\n/*\n A coin, this is the terminology used for the package-merge algorithm and the\n coin collector's problem. This is used to generate the huffman tree.\n A coin can be multiple coins (when they're merged)\n */\ntypedef struct Coin {\n\tuivector symbols;\n\tfloat weight; /*the sum of all weights in this coin*/\n} Coin;\n\nstatic void coin_init(Coin* c) {\n\tuivector_init(&c->symbols);\n}\n\n/*argument c is void* so that this dtor can be given as function pointer to the vector resize function*/\nstatic void coin_cleanup(void* c) {\n\tuivector_cleanup(&((Coin*) c)->symbols);\n}\n\nstatic void coin_copy(Coin* c1, const Coin* c2) {\n\tc1->weight = c2->weight;\n\tuivector_copy(&c1->symbols, &c2->symbols);\n}\n\nstatic void add_coins(Coin* c1, const Coin* c2) {\n\tsize_t i;\n\tfor (i = 0; i < c2->symbols.size; i++)\n\t\tuivector_push_back(&c1->symbols, c2->symbols.data[i]);\n\tc1->weight += c2->weight;\n}\n\nstatic void init_coins(Coin* coins, size_t num) {\n\tsize_t i;\n\tfor (i = 0; i < num; i++)\n\t\tcoin_init(&coins[i]);\n}\n\nstatic void cleanup_coins(Coin* coins, size_t num) {\n\tsize_t i;\n\tfor (i = 0; i < num; i++)\n\t\tcoin_cleanup(&coins[i]);\n}\n\nstatic int coin_compare(const void* a, const void* b) {\n\tfloat wa = ((const Coin*) a)->weight;\n\tfloat wb = ((const Coin*) b)->weight;\n\treturn wa > wb ? 1 : wa < wb ? -1 : 0;\n}\n\nstatic unsigned append_symbol_coins(Coin* coins, const unsigned* frequencies,\n\t\tunsigned numcodes, size_t sum) {\n\tunsigned i;\n\tunsigned j = 0; /*index of present symbols*/\n\tfor (i = 0; i < numcodes; i++) {\n\t\tif (frequencies[i] != 0) /*only include symbols that are present*/\n\t\t{\n\t\t\tcoins[j].weight = frequencies[i] / (float) sum;\n\t\t\tuivector_push_back(&coins[j].symbols, i);\n\t\t\tj++;\n\t\t}\n\t}\n\treturn 0;\n}\n\nunsigned lodepng_huffman_code_lengths(unsigned* lengths,\n\t\tconst unsigned* frequencies, size_t numcodes, unsigned maxbitlen) {\n\tunsigned i, j;\n\tsize_t sum = 0, numpresent = 0;\n\tunsigned error = 0;\n\tCoin* coins; /*the coins of the currently calculated row*/\n\tCoin* prev_row; /*the previous row of coins*/\n\tsize_t numcoins;\n\tsize_t coinmem;\n\n\tif (numcodes == 0)\n\t\treturn 80; /*error: a tree of 0 symbols is not supposed to be made*/\n\n\tfor (i = 0; i < numcodes; i++) {\n\t\tif (frequencies[i] > 0) {\n\t\t\tnumpresent++;\n\t\t\tsum += frequencies[i];\n\t\t}\n\t}\n\n\tfor (i = 0; i < numcodes; i++)\n\t\tlengths[i] = 0;\n\n\t/*ensure at least two present symbols. There should be at least one symbol\n\t according to RFC 1951 section 3.2.7. To decoders incorrectly require two. To\n\t make these work as well ensure there are at least two symbols. The\n\t Package-Merge code below also doesn't work correctly if there's only one\n\t symbol, it'd give it the theoritical 0 bits but in practice zlib wants 1 bit*/\n\tif (numpresent == 0) {\n\t\tlengths[0] = lengths[1] = 1; /*note that for RFC 1951 section 3.2.7, only lengths[0] = 1 is needed*/\n\t} else if (numpresent == 1) {\n\t\tfor (i = 0; i < numcodes; i++) {\n\t\t\tif (frequencies[i]) {\n\t\t\t\tlengths[i] = 1;\n\t\t\t\tlengths[i == 0 ? 1 : 0] = 1;\n\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\t} else {\n\t\t/*Package-Merge algorithm represented by coin collector's problem\n\t\t For every symbol, maxbitlen coins will be created*/\n\n\t\tcoinmem = numpresent * 2; /*max amount of coins needed with the current algo*/\n\t\tcoins = (Coin*) lodepng_malloc(sizeof(Coin) * coinmem);\n\t\tprev_row = (Coin*) lodepng_malloc(sizeof(Coin) * coinmem);\n\t\tif (!coins || !prev_row) {\n\t\t\tlodepng_free(coins);\n\t\t\tlodepng_free(prev_row);\n\t\t\treturn 83; /*alloc fail*/\n\t\t}\n\t\tinit_coins(coins, coinmem);\n\t\tinit_coins(prev_row, coinmem);\n\n\t\t/*first row, lowest denominator*/\n\t\terror = append_symbol_coins(coins, frequencies, numcodes, sum);\n\t\tnumcoins = numpresent;\n\t\tqsort(coins, numcoins, sizeof(Coin), coin_compare);\n\t\tif (!error) {\n\t\t\tunsigned numprev = 0;\n\t\t\tfor (j = 1; j <= maxbitlen && !error; j++) /*each of the remaining rows*/\n\t\t\t{\n\t\t\t\tunsigned tempnum;\n\t\t\t\tCoin* tempcoins;\n\t\t\t\t/*swap prev_row and coins, and their amounts*/\n\t\t\t\ttempcoins = prev_row;\n\t\t\t\tprev_row = coins;\n\t\t\t\tcoins = tempcoins;\n\t\t\t\ttempnum = numprev;\n\t\t\t\tnumprev = numcoins;\n\t\t\t\tnumcoins = tempnum;\n\n\t\t\t\tcleanup_coins(coins, numcoins);\n\t\t\t\tinit_coins(coins, numcoins);\n\n\t\t\t\tnumcoins = 0;\n\n\t\t\t\t/*fill in the merged coins of the previous row*/\n\t\t\t\tfor (i = 0; i + 1 < numprev; i += 2) {\n\t\t\t\t\t/*merge prev_row[i] and prev_row[i + 1] into new coin*/\n\t\t\t\t\tCoin* coin = &coins[numcoins++];\n\t\t\t\t\tcoin_copy(coin, &prev_row[i]);\n\t\t\t\t\tadd_coins(coin, &prev_row[i + 1]);\n\t\t\t\t}\n\t\t\t\t/*fill in all the original symbols again*/\n\t\t\t\tif (j < maxbitlen) {\n\t\t\t\t\terror = append_symbol_coins(coins + numcoins, frequencies,\n\t\t\t\t\t\t\tnumcodes, sum);\n\t\t\t\t\tnumcoins += numpresent;\n\t\t\t\t}\n\t\t\t\tqsort(coins, numcoins, sizeof(Coin), coin_compare);\n\t\t\t}\n\t\t}\n\n\t\tif (!error) {\n\t\t\t/*calculate the lenghts of each symbol, as the amount of times a coin of each symbol is used*/\n\t\t\tfor (i = 0; i < numpresent - 1; i++) {\n\t\t\t\tCoin* coin = &coins[i];\n\t\t\t\tfor (j = 0; j < coin->symbols.size; j++)\n\t\t\t\t\tlengths[coin->symbols.data[j]]++;\n\t\t\t}\n\t\t}\n\n\t\tcleanup_coins(coins, coinmem);\n\t\tlodepng_free(coins);\n\t\tcleanup_coins(prev_row, coinmem);\n\t\tlodepng_free(prev_row);\n\t}\n\n\treturn error;\n}\n\n/*Create the Huffman tree given the symbol frequencies*/\nstatic unsigned HuffmanTree_makeFromFrequencies(HuffmanTree* tree,\n\t\tconst unsigned* frequencies, size_t mincodes, size_t numcodes,\n\t\tunsigned maxbitlen) {\n\tunsigned error = 0;\n\twhile (!frequencies[numcodes - 1] && numcodes > mincodes)\n\t\tnumcodes--; /*trim zeroes*/\n\ttree->maxbitlen = maxbitlen;\n\ttree->numcodes = (unsigned) numcodes; /*number of symbols*/\n\ttree->lengths = (unsigned*) lodepng_realloc(tree->lengths,\n\t\t\tnumcodes * sizeof(unsigned));\n\tif (!tree->lengths)\n\t\treturn 83; /*alloc fail*/\n\t/*initialize all lengths to 0*/\n\tmemset(tree->lengths, 0, numcodes * sizeof(unsigned));\n\n\terror = lodepng_huffman_code_lengths(tree->lengths, frequencies, numcodes,\n\t\t\tmaxbitlen);\n\tif (!error)\n\t\terror = HuffmanTree_makeFromLengths2(tree);\n\treturn error;\n}\n\nstatic unsigned HuffmanTree_getCode(const HuffmanTree* tree, unsigned index) {\n\treturn tree->tree1d[index];\n}\n\nstatic unsigned HuffmanTree_getLength(const HuffmanTree* tree, unsigned index) {\n\treturn tree->lengths[index];\n}\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n/*get the literal and length code tree of a deflated block with fixed tree, as per the deflate specification*/\nstatic unsigned generateFixedLitLenTree(HuffmanTree* tree) {\n\tunsigned i, error = 0;\n\tunsigned* bitlen = (unsigned*) lodepng_malloc(\n\t\t\tNUM_DEFLATE_CODE_SYMBOLS * sizeof(unsigned));\n\tif (!bitlen)\n\t\treturn 83; /*alloc fail*/\n\n\t/*288 possible codes: 0-255=literals, 256=endcode, 257-285=lengthcodes, 286-287=unused*/\n\tfor (i = 0; i <= 143; i++)\n\t\tbitlen[i] = 8;\n\tfor (i = 144; i <= 255; i++)\n\t\tbitlen[i] = 9;\n\tfor (i = 256; i <= 279; i++)\n\t\tbitlen[i] = 7;\n\tfor (i = 280; i <= 287; i++)\n\t\tbitlen[i] = 8;\n\n\terror = HuffmanTree_makeFromLengths(tree, bitlen, NUM_DEFLATE_CODE_SYMBOLS,\n\t\t\t15);\n\n\tlodepng_free(bitlen);\n\treturn error;\n}\n\n/*get the distance code tree of a deflated block with fixed tree, as specified in the deflate specification*/\nstatic unsigned generateFixedDistanceTree(HuffmanTree* tree) {\n\tunsigned i, error = 0;\n\tunsigned* bitlen = (unsigned*) lodepng_malloc(\n\t\t\tNUM_DISTANCE_SYMBOLS * sizeof(unsigned));\n\tif (!bitlen)\n\t\treturn 83; /*alloc fail*/\n\n\t/*there are 32 distance codes, but 30-31 are unused*/\n\tfor (i = 0; i < NUM_DISTANCE_SYMBOLS; i++)\n\t\tbitlen[i] = 5;\n\terror = HuffmanTree_makeFromLengths(tree, bitlen, NUM_DISTANCE_SYMBOLS, 15);\n\n\tlodepng_free(bitlen);\n\treturn error;\n}\n\n#ifdef LODEPNG_COMPILE_DECODER\n\n/*\n returns the code, or (unsigned)(-1) if error happened\n inbitlength is the length of the complete buffer, in bits (so its byte length times 8)\n */\nstatic unsigned huffmanDecodeSymbol(const unsigned char* in, size_t* bp,\n\t\tconst HuffmanTree* codetree, size_t inbitlength) {\n\tunsigned treepos = 0, ct;\n\tfor (;;) {\n\t\tif (*bp >= inbitlength)\n\t\t\treturn (unsigned) (-1); /*error: end of input memory reached without endcode*/\n\t\t/*\n\t\t decode the symbol from the tree. The \"readBitFromStream\" code is inlined in\n\t\t the expression below because this is the biggest bottleneck while decoding\n\t\t */\n\t\tct = codetree->tree2d[(treepos << 1) + READBIT(*bp, in)];\n\t\t(*bp)++;\n\t\tif (ct < codetree->numcodes)\n\t\t\treturn ct; /*the symbol is decoded, return it*/\n\t\telse\n\t\t\ttreepos = ct - codetree->numcodes; /*symbol not yet decoded, instead move tree position*/\n\n\t\tif (treepos >= codetree->numcodes)\n\t\t\treturn (unsigned) (-1); /*error: it appeared outside the codetree*/\n\t}\n}\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_DECODER\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Inflator (Decompressor) / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*get the tree of a deflated block with fixed tree, as specified in the deflate specification*/\nstatic void getTreeInflateFixed(HuffmanTree* tree_ll, HuffmanTree* tree_d) {\n\t/*TODO: check for out of memory errors*/\n\tgenerateFixedLitLenTree(tree_ll);\n\tgenerateFixedDistanceTree(tree_d);\n}\n\n/*get the tree of a deflated block with dynamic tree, the tree itself is also Huffman compressed with a known tree*/\nstatic unsigned getTreeInflateDynamic(HuffmanTree* tree_ll, HuffmanTree* tree_d,\n\t\tconst unsigned char* in, size_t* bp, size_t inlength) {\n\t/*make sure that length values that aren't filled in will be 0, or a wrong tree will be generated*/\n\tunsigned error = 0;\n\tunsigned n, HLIT, HDIST, HCLEN, i;\n\tsize_t inbitlength = inlength * 8;\n\n\t/*see comments in deflateDynamic for explanation of the context and these variables, it is analogous*/\n\tunsigned* bitlen_ll = 0; /*lit,len code lengths*/\n\tunsigned* bitlen_d = 0; /*dist code lengths*/\n\t/*code length code lengths (\"clcl\"), the bit lengths of the huffman tree used to compress bitlen_ll and bitlen_d*/\n\tunsigned* bitlen_cl = 0;\n\tHuffmanTree tree_cl; /*the code tree for code length codes (the huffman tree for compressed huffman trees)*/\n\n\tif ((*bp) >> 3 >= inlength - 2)\n\t\treturn 49; /*error: the bit pointer is or will go past the memory*/\n\n\t/*number of literal/length codes + 257. Unlike the spec, the value 257 is added to it here already*/\n\tHLIT = readBitsFromStream(bp, in, 5) + 257;\n\t/*number of distance codes. Unlike the spec, the value 1 is added to it here already*/\n\tHDIST = readBitsFromStream(bp, in, 5) + 1;\n\t/*number of code length codes. Unlike the spec, the value 4 is added to it here already*/\n\tHCLEN = readBitsFromStream(bp, in, 4) + 4;\n\n\tHuffmanTree_init(&tree_cl);\n\n\twhile (!error) {\n\t\t/*read the code length codes out of 3 * (amount of code length codes) bits*/\n\n\t\tbitlen_cl = (unsigned*) lodepng_malloc(\n\t\t\t\tNUM_CODE_LENGTH_CODES * sizeof(unsigned));\n\t\tif (!bitlen_cl)\n\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\n\t\tfor (i = 0; i < NUM_CODE_LENGTH_CODES; i++) {\n\t\t\tif (i < HCLEN)\n\t\t\t\tbitlen_cl[CLCL_ORDER[i]] = readBitsFromStream(bp, in, 3);\n\t\t\telse\n\t\t\t\tbitlen_cl[CLCL_ORDER[i]] = 0; /*if not, it must stay 0*/\n\t\t}\n\n\t\terror = HuffmanTree_makeFromLengths(&tree_cl, bitlen_cl,\n\t\t\t\tNUM_CODE_LENGTH_CODES, 7);\n\t\tif (error)\n\t\t\tbreak;\n\n\t\t/*now we can use this tree to read the lengths for the tree that this function will return*/\n\t\tbitlen_ll = (unsigned*) lodepng_malloc(\n\t\t\t\tNUM_DEFLATE_CODE_SYMBOLS * sizeof(unsigned));\n\t\tbitlen_d = (unsigned*) lodepng_malloc(\n\t\t\t\tNUM_DISTANCE_SYMBOLS * sizeof(unsigned));\n\t\tif (!bitlen_ll || !bitlen_d)\n\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\tfor (i = 0; i < NUM_DEFLATE_CODE_SYMBOLS; i++)\n\t\t\tbitlen_ll[i] = 0;\n\t\tfor (i = 0; i < NUM_DISTANCE_SYMBOLS; i++)\n\t\t\tbitlen_d[i] = 0;\n\n\t\t/*i is the current symbol we're reading in the part that contains the code lengths of lit/len and dist codes*/\n\t\ti = 0;\n\t\twhile (i < HLIT + HDIST) {\n\t\t\tunsigned code = huffmanDecodeSymbol(in, bp, &tree_cl, inbitlength);\n\t\t\tif (code <= 15) /*a length code*/\n\t\t\t{\n\t\t\t\tif (i < HLIT)\n\t\t\t\t\tbitlen_ll[i] = code;\n\t\t\t\telse\n\t\t\t\t\tbitlen_d[i - HLIT] = code;\n\t\t\t\ti++;\n\t\t\t} else if (code == 16) /*repeat previous*/\n\t\t\t{\n\t\t\t\tunsigned replength = 3; /*read in the 2 bits that indicate repeat length (3-6)*/\n\t\t\t\tunsigned value; /*set value to the previous code*/\n\n\t\t\t\tif (*bp >= inbitlength)\n\t\t\t\t\tERROR_BREAK(50); /*error, bit pointer jumps past memory*/\n\t\t\t\tif (i == 0)\n\t\t\t\t\tERROR_BREAK(54); /*can't repeat previous if i is 0*/\n\n\t\t\t\treplength += readBitsFromStream(bp, in, 2);\n\n\t\t\t\tif (i < HLIT + 1)\n\t\t\t\t\tvalue = bitlen_ll[i - 1];\n\t\t\t\telse\n\t\t\t\t\tvalue = bitlen_d[i - HLIT - 1];\n\t\t\t\t/*repeat this value in the next lengths*/\n\t\t\t\tfor (n = 0; n < replength; n++) {\n\t\t\t\t\tif (i >= HLIT + HDIST)\n\t\t\t\t\t\tERROR_BREAK(13); /*error: i is larger than the amount of codes*/\n\t\t\t\t\tif (i < HLIT)\n\t\t\t\t\t\tbitlen_ll[i] = value;\n\t\t\t\t\telse\n\t\t\t\t\t\tbitlen_d[i - HLIT] = value;\n\t\t\t\t\ti++;\n\t\t\t\t}\n\t\t\t} else if (code == 17) /*repeat \"0\" 3-10 times*/\n\t\t\t{\n\t\t\t\tunsigned replength = 3; /*read in the bits that indicate repeat length*/\n\t\t\t\tif (*bp >= inbitlength)\n\t\t\t\t\tERROR_BREAK(50); /*error, bit pointer jumps past memory*/\n\n\t\t\t\treplength += readBitsFromStream(bp, in, 3);\n\n\t\t\t\t/*repeat this value in the next lengths*/\n\t\t\t\tfor (n = 0; n < replength; n++) {\n\t\t\t\t\tif (i >= HLIT + HDIST)\n\t\t\t\t\t\tERROR_BREAK(14); /*error: i is larger than the amount of codes*/\n\n\t\t\t\t\tif (i < HLIT)\n\t\t\t\t\t\tbitlen_ll[i] = 0;\n\t\t\t\t\telse\n\t\t\t\t\t\tbitlen_d[i - HLIT] = 0;\n\t\t\t\t\ti++;\n\t\t\t\t}\n\t\t\t} else if (code == 18) /*repeat \"0\" 11-138 times*/\n\t\t\t{\n\t\t\t\tunsigned replength = 11; /*read in the bits that indicate repeat length*/\n\t\t\t\tif (*bp >= inbitlength)\n\t\t\t\t\tERROR_BREAK(50); /*error, bit pointer jumps past memory*/\n\n\t\t\t\treplength += readBitsFromStream(bp, in, 7);\n\n\t\t\t\t/*repeat this value in the next lengths*/\n\t\t\t\tfor (n = 0; n < replength; n++) {\n\t\t\t\t\tif (i >= HLIT + HDIST)\n\t\t\t\t\t\tERROR_BREAK(15); /*error: i is larger than the amount of codes*/\n\n\t\t\t\t\tif (i < HLIT)\n\t\t\t\t\t\tbitlen_ll[i] = 0;\n\t\t\t\t\telse\n\t\t\t\t\t\tbitlen_d[i - HLIT] = 0;\n\t\t\t\t\ti++;\n\t\t\t\t}\n\t\t\t} else /*if(code == (unsigned)(-1))*//*huffmanDecodeSymbol returns (unsigned)(-1) in case of error*/\n\t\t\t{\n\t\t\t\tif (code == (unsigned) (-1)) {\n\t\t\t\t\t/*return error code 10 or 11 depending on the situation that happened in huffmanDecodeSymbol\n\t\t\t\t\t (10=no endcode, 11=wrong jump outside of tree)*/\n\t\t\t\t\terror = (*bp) > inbitlength ? 10 : 11;\n\t\t\t\t} else\n\t\t\t\t\terror = 16; /*unexisting code, this can never happen*/\n\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\t\tif (error)\n\t\t\tbreak;\n\n\t\tif (bitlen_ll[256] == 0)\n\t\t\tERROR_BREAK(64); /*the length of the end code 256 must be larger than 0*/\n\n\t\t/*now we've finally got HLIT and HDIST, so generate the code trees, and the function is done*/\n\t\terror = HuffmanTree_makeFromLengths(tree_ll, bitlen_ll,\n\t\t\t\tNUM_DEFLATE_CODE_SYMBOLS, 15);\n\t\tif (error)\n\t\t\tbreak;\n\t\terror = HuffmanTree_makeFromLengths(tree_d, bitlen_d,\n\t\t\t\tNUM_DISTANCE_SYMBOLS, 15);\n\n\t\tbreak; /*end of error-while*/\n\t}\n\n\tlodepng_free(bitlen_cl);\n\tlodepng_free(bitlen_ll);\n\tlodepng_free(bitlen_d);\n\tHuffmanTree_cleanup(&tree_cl);\n\n\treturn error;\n}\n\n/*inflate a block with dynamic of fixed Huffman tree*/\nstatic unsigned inflateHuffmanBlock(ucvector* out, const unsigned char* in,\n\t\tsize_t* bp, size_t* pos, size_t inlength, unsigned btype) {\n\tunsigned error = 0;\n\tHuffmanTree tree_ll; /*the huffman tree for literal and length codes*/\n\tHuffmanTree tree_d; /*the huffman tree for distance codes*/\n\tsize_t inbitlength = inlength * 8;\n\n\tHuffmanTree_init(&tree_ll);\n\tHuffmanTree_init(&tree_d);\n\n\tif (btype == 1)\n\t\tgetTreeInflateFixed(&tree_ll, &tree_d);\n\telse if (btype == 2)\n\t\terror = getTreeInflateDynamic(&tree_ll, &tree_d, in, bp, inlength);\n\n\twhile (!error) /*decode all symbols until end reached, breaks at end code*/\n\t{\n\t\t/*code_ll is literal, length or end code*/\n\t\tunsigned code_ll = huffmanDecodeSymbol(in, bp, &tree_ll, inbitlength);\n\t\tif (code_ll <= 255) /*literal symbol*/\n\t\t{\n\t\t\tif ((*pos) >= out->size) {\n\t\t\t\t/*reserve more room at once*/\n\t\t\t\tif (!ucvector_resize(out, ((*pos) + 1) * 2))\n\t\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t\t}\n\t\t\tout->data[(*pos)] = (unsigned char) (code_ll);\n\t\t\t(*pos)++;\n\t\t} else if (code_ll >= FIRST_LENGTH_CODE_INDEX\n\t\t\t\t&& code_ll <= LAST_LENGTH_CODE_INDEX) /*length code*/\n\t\t{\n\t\t\tunsigned code_d, distance;\n\t\t\tunsigned numextrabits_l, numextrabits_d; /*extra bits for length and distance*/\n\t\t\tsize_t start, forward, backward, length;\n\n\t\t\t/*part 1: get length base*/\n\t\t\tlength = LENGTHBASE[code_ll - FIRST_LENGTH_CODE_INDEX];\n\n\t\t\t/*part 2: get extra bits and add the value of that to length*/\n\t\t\tnumextrabits_l = LENGTHEXTRA[code_ll - FIRST_LENGTH_CODE_INDEX];\n\t\t\tif (*bp >= inbitlength)\n\t\t\t\tERROR_BREAK(51); /*error, bit pointer will jump past memory*/\n\t\t\tlength += readBitsFromStream(bp, in, numextrabits_l);\n\n\t\t\t/*part 3: get distance code*/\n\t\t\tcode_d = huffmanDecodeSymbol(in, bp, &tree_d, inbitlength);\n\t\t\tif (code_d > 29) {\n\t\t\t\tif (code_ll == (unsigned) (-1)) /*huffmanDecodeSymbol returns (unsigned)(-1) in case of error*/\n\t\t\t\t{\n\t\t\t\t\t/*return error code 10 or 11 depending on the situation that happened in huffmanDecodeSymbol\n\t\t\t\t\t (10=no endcode, 11=wrong jump outside of tree)*/\n\t\t\t\t\terror = (*bp) > inlength * 8 ? 10 : 11;\n\t\t\t\t} else\n\t\t\t\t\terror = 18; /*error: invalid distance code (30-31 are never used)*/\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tdistance = DISTANCEBASE[code_d];\n\n\t\t\t/*part 4: get extra bits from distance*/\n\t\t\tnumextrabits_d = DISTANCEEXTRA[code_d];\n\t\t\tif (*bp >= inbitlength)\n\t\t\t\tERROR_BREAK(51); /*error, bit pointer will jump past memory*/\n\n\t\t\tdistance += readBitsFromStream(bp, in, numextrabits_d);\n\n\t\t\t/*part 5: fill in all the out[n] values based on the length and dist*/\n\t\t\tstart = (*pos);\n\t\t\tif (distance > start)\n\t\t\t\tERROR_BREAK(52); /*too long backward distance*/\n\t\t\tbackward = start - distance;\n\t\t\tif ((*pos) + length >= out->size) {\n\t\t\t\t/*reserve more room at once*/\n\t\t\t\tif (!ucvector_resize(out, ((*pos) + length) * 2))\n\t\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t\t}\n\n\t\t\tfor (forward = 0; forward < length; forward++) {\n\t\t\t\tout->data[(*pos)] = out->data[backward];\n\t\t\t\t(*pos)++;\n\t\t\t\tbackward++;\n\t\t\t\tif (backward >= start)\n\t\t\t\t\tbackward = start - distance;\n\t\t\t}\n\t\t} else if (code_ll == 256) {\n\t\t\tbreak; /*end code, break the loop*/\n\t\t} else /*if(code == (unsigned)(-1))*//*huffmanDecodeSymbol returns (unsigned)(-1) in case of error*/\n\t\t{\n\t\t\t/*return error code 10 or 11 depending on the situation that happened in huffmanDecodeSymbol\n\t\t\t (10=no endcode, 11=wrong jump outside of tree)*/\n\t\t\terror = (*bp) > inlength * 8 ? 10 : 11;\n\t\t\tbreak;\n\t\t}\n\t}\n\n\tHuffmanTree_cleanup(&tree_ll);\n\tHuffmanTree_cleanup(&tree_d);\n\n\treturn error;\n}\n\nstatic unsigned inflateNoCompression(ucvector* out, const unsigned char* in,\n\t\tsize_t* bp, size_t* pos, size_t inlength) {\n\t/*go to first boundary of byte*/\n\tsize_t p;\n\tunsigned LEN, NLEN, n, error = 0;\n\twhile (((*bp) & 0x7) != 0)\n\t\t(*bp)++;\n\tp = (*bp) / 8; /*byte position*/\n\n\t/*read LEN (2 bytes) and NLEN (2 bytes)*/\n\tif (p >= inlength - 4)\n\t\treturn 52; /*error, bit pointer will jump past memory*/\n\tLEN = in[p] + 256u * in[p + 1];\n\tp += 2;\n\tNLEN = in[p] + 256u * in[p + 1];\n\tp += 2;\n\n\t/*check if 16-bit NLEN is really the one's complement of LEN*/\n\tif (LEN + NLEN != 65535)\n\t\treturn 21; /*error: NLEN is not one's complement of LEN*/\n\n\tif ((*pos) + LEN >= out->size) {\n\t\tif (!ucvector_resize(out, (*pos) + LEN))\n\t\t\treturn 83; /*alloc fail*/\n\t}\n\n\t/*read the literal data: LEN bytes are now stored in the out buffer*/\n\tif (p + LEN > inlength)\n\t\treturn 23; /*error: reading outside of in buffer*/\n\tfor (n = 0; n < LEN; n++)\n\t\tout->data[(*pos)++] = in[p++];\n\n\t(*bp) = p * 8;\n\n\treturn error;\n}\n\nstatic unsigned lodepng_inflatev(ucvector* out, const unsigned char* in,\n\t\tsize_t insize, const LodePNGDecompressSettings* settings) {\n\t/*bit pointer in the \"in\" data, current byte is bp >> 3, current bit is bp & 0x7 (from lsb to msb of the byte)*/\n\tsize_t bp = 0;\n\tunsigned BFINAL = 0;\n\tsize_t pos = 0; /*byte position in the out buffer*/\n\n\tunsigned error = 0;\n\n\t(void) settings;\n\n\twhile (!BFINAL) {\n\t\tunsigned BTYPE;\n\t\tif (bp + 2 >= insize * 8)\n\t\t\treturn 52; /*error, bit pointer will jump past memory*/\n\t\tBFINAL = readBitFromStream(&bp, in);\n\t\tBTYPE = 1u * readBitFromStream(&bp, in);\n\t\tBTYPE += 2u * readBitFromStream(&bp, in);\n\n\t\tif (BTYPE == 3)\n\t\t\treturn 20; /*error: invalid BTYPE*/\n\t\telse if (BTYPE == 0)\n\t\t\terror = inflateNoCompression(out, in, &bp, &pos, insize); /*no compression*/\n\t\telse\n\t\t\terror = inflateHuffmanBlock(out, in, &bp, &pos, insize, BTYPE); /*compression, BTYPE 01 or 10*/\n\n\t\tif (error)\n\t\t\treturn error;\n\t}\n\n\t/*Only now we know the true size of out, resize it to that*/\n\tif (!ucvector_resize(out, pos))\n\t\terror = 83; /*alloc fail*/\n\n\treturn error;\n}\n\nunsigned lodepng_inflate(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGDecompressSettings* settings) {\n\tunsigned error;\n\tucvector v;\n\tucvector_init_buffer(&v, *out, *outsize);\n\terror = lodepng_inflatev(&v, in, insize, settings);\n\t*out = v.data;\n\t*outsize = v.size;\n\treturn error;\n}\n\nstatic unsigned inflate(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGDecompressSettings* settings) {\n\tif (settings->custom_inflate) {\n\t\treturn settings->custom_inflate(out, outsize, in, insize, settings);\n\t} else {\n\t\treturn lodepng_inflate(out, outsize, in, insize, settings);\n\t}\n}\n\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Deflator (Compressor) / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\nstatic const size_t MAX_SUPPORTED_DEFLATE_LENGTH = 258;\n\n/*bitlen is the size in bits of the code*/\nstatic void addHuffmanSymbol(size_t* bp, ucvector* compressed, unsigned code,\n\t\tunsigned bitlen) {\n\taddBitsToStreamReversed(bp, compressed, code, bitlen);\n}\n\n/*search the index in the array, that has the largest value smaller than or equal to the given value,\n given array must be sorted (if no value is smaller, it returns the size of the given array)*/\nstatic size_t searchCodeIndex(const unsigned* array, size_t array_size,\n\t\tsize_t value) {\n\t/*linear search implementation*/\n\t/*for(size_t i = 1; i < array_size; i++) if(array[i] > value) return i - 1;\n\t return array_size - 1;*/\n\n\t/*binary search implementation (not that much faster) (precondition: array_size > 0)*/\n\tsize_t left = 1;\n\tsize_t right = array_size - 1;\n\twhile (left <= right) {\n\t\tsize_t mid = (left + right) / 2;\n\t\tif (array[mid] <= value)\n\t\t\tleft = mid + 1; /*the value to find is more to the right*/\n\t\telse if (array[mid - 1] > value)\n\t\t\tright = mid - 1; /*the value to find is more to the left*/\n\t\telse\n\t\t\treturn mid - 1;\n\t}\n\treturn array_size - 1;\n}\n\nstatic void addLengthDistance(uivector* values, size_t length,\n\t\tsize_t distance) {\n\t/*values in encoded vector are those used by deflate:\n\t 0-255: literal bytes\n\t 256: end\n\t 257-285: length/distance pair (length code, followed by extra length bits, distance code, extra distance bits)\n\t 286-287: invalid*/\n\n\tunsigned length_code = (unsigned) searchCodeIndex(LENGTHBASE, 29, length);\n\tunsigned extra_length = (unsigned) (length - LENGTHBASE[length_code]);\n\tunsigned dist_code = (unsigned) searchCodeIndex(DISTANCEBASE, 30, distance);\n\tunsigned extra_distance = (unsigned) (distance - DISTANCEBASE[dist_code]);\n\n\tuivector_push_back(values, length_code + FIRST_LENGTH_CODE_INDEX);\n\tuivector_push_back(values, extra_length);\n\tuivector_push_back(values, dist_code);\n\tuivector_push_back(values, extra_distance);\n}\n\n/*3 bytes of data get encoded into two bytes. The hash cannot use more than 3\n bytes as input because 3 is the minimum match length for deflate*/\nstatic const unsigned HASH_NUM_VALUES = 65536;\nstatic const unsigned HASH_BIT_MASK = 65535; /*HASH_NUM_VALUES - 1, but C90 does not like that as initializer*/\n\ntypedef struct Hash {\n\tint* head; /*hash value to head circular pos - can be outdated if went around window*/\n\t/*circular pos to prev circular pos*/\n\tunsigned short* chain;\n\tint* val; /*circular pos to hash value*/\n\n\t/*TODO: do this not only for zeros but for any repeated byte. However for PNG\n\t it's always going to be the zeros that dominate, so not important for PNG*/\n\tint* headz; /*similar to head, but for chainz*/\n\tunsigned short* chainz; /*those with same amount of zeros*/\n\tunsigned short* zeros; /*length of zeros streak, used as a second hash chain*/\n} Hash;\n\nstatic unsigned hash_init(Hash* hash, unsigned windowsize) {\n\tunsigned i;\n\thash->head = (int*) lodepng_malloc(sizeof(int) * HASH_NUM_VALUES);\n\thash->val = (int*) lodepng_malloc(sizeof(int) * windowsize);\n\thash->chain = (unsigned short*) lodepng_malloc(\n\t\t\tsizeof(unsigned short) * windowsize);\n\n\thash->zeros = (unsigned short*) lodepng_malloc(\n\t\t\tsizeof(unsigned short) * windowsize);\n\thash->headz = (int*) lodepng_malloc(\n\t\t\tsizeof(int) * (MAX_SUPPORTED_DEFLATE_LENGTH + 1));\n\thash->chainz = (unsigned short*) lodepng_malloc(\n\t\t\tsizeof(unsigned short) * windowsize);\n\n\tif (!hash->head || !hash->chain || !hash->val || !hash->headz\n\t\t\t|| !hash->chainz || !hash->zeros) {\n\t\treturn 83; /*alloc fail*/\n\t}\n\n\t/*initialize hash table*/\n\tfor (i = 0; i < HASH_NUM_VALUES; i++)\n\t\thash->head[i] = -1;\n\tfor (i = 0; i < windowsize; i++)\n\t\thash->val[i] = -1;\n\tfor (i = 0; i < windowsize; i++)\n\t\thash->chain[i] = i; /*same value as index indicates uninitialized*/\n\n\tfor (i = 0; i <= MAX_SUPPORTED_DEFLATE_LENGTH; i++)\n\t\thash->headz[i] = -1;\n\tfor (i = 0; i < windowsize; i++)\n\t\thash->chainz[i] = i; /*same value as index indicates uninitialized*/\n\n\treturn 0;\n}\n\nstatic void hash_cleanup(Hash* hash) {\n\tlodepng_free(hash->head);\n\tlodepng_free(hash->val);\n\tlodepng_free(hash->chain);\n\n\tlodepng_free(hash->zeros);\n\tlodepng_free(hash->headz);\n\tlodepng_free(hash->chainz);\n}\n\nstatic unsigned getHash(const unsigned char* data, size_t size, size_t pos) {\n\tunsigned result = 0;\n\tif (pos + 2 < size) {\n\t\t/*A simple shift and xor hash is used. Since the data of PNGs is dominated\n\t\t by zeroes due to the filters, a better hash does not have a significant\n\t\t effect on speed in traversing the chain, and causes more time spend on\n\t\t calculating the hash.*/\n\t\tresult ^= (unsigned) (data[pos + 0] << 0u);\n\t\tresult ^= (unsigned) (data[pos + 1] << 4u);\n\t\tresult ^= (unsigned) (data[pos + 2] << 8u);\n\t} else {\n\t\tsize_t amount, i;\n\t\tif (pos >= size)\n\t\t\treturn 0;\n\t\tamount = size - pos;\n\t\tfor (i = 0; i < amount; i++)\n\t\t\tresult ^= (unsigned) (data[pos + i] << (i * 8u));\n\t}\n\treturn result & HASH_BIT_MASK;\n}\n\nstatic unsigned countZeros(const unsigned char* data, size_t size, size_t pos) {\n\tconst unsigned char* start = data + pos;\n\tconst unsigned char* end = start + MAX_SUPPORTED_DEFLATE_LENGTH;\n\tif (end > data + size)\n\t\tend = data + size;\n\tdata = start;\n\twhile (data != end && *data == 0)\n\t\tdata++;\n\t/*subtracting two addresses returned as 32-bit number (max value is MAX_SUPPORTED_DEFLATE_LENGTH)*/\n\treturn (unsigned) (data - start);\n}\n\n/*wpos = pos & (windowsize - 1)*/\nstatic void updateHashChain(Hash* hash, size_t wpos, unsigned hashval,\n\t\tunsigned short numzeros) {\n\thash->val[wpos] = (int) hashval;\n\tif (hash->head[hashval] != -1)\n\t\thash->chain[wpos] = hash->head[hashval];\n\thash->head[hashval] = wpos;\n\n\thash->zeros[wpos] = numzeros;\n\tif (hash->headz[numzeros] != -1)\n\t\thash->chainz[wpos] = hash->headz[numzeros];\n\thash->headz[numzeros] = wpos;\n}\n\n/*\n LZ77-encode the data. Return value is error code. The input are raw bytes, the output\n is in the form of unsigned integers with codes representing for example literal bytes, or\n length/distance pairs.\n It uses a hash table technique to let it encode faster. When doing LZ77 encoding, a\n sliding window (of windowsize) is used, and all past bytes in that window can be used as\n the \"dictionary\". A brute force search through all possible distances would be slow, and\n this hash technique is one out of several ways to speed this up.\n */\nstatic unsigned encodeLZ77(uivector* out, Hash* hash, const unsigned char* in,\n\t\tsize_t inpos, size_t insize, unsigned windowsize, unsigned minmatch,\n\t\tunsigned nicematch, unsigned lazymatching) {\n\tsize_t pos;\n\tunsigned i, error = 0;\n\t/*for large window lengths, assume the user wants no compression loss. Otherwise, max hash chain length speedup.*/\n\tunsigned maxchainlength = windowsize >= 8192 ? windowsize : windowsize / 8;\n\tunsigned maxlazymatch =\n\t\t\twindowsize >= 8192 ? MAX_SUPPORTED_DEFLATE_LENGTH : 64;\n\n\tunsigned usezeros = 1; /*not sure if setting it to false for windowsize < 8192 is better or worse*/\n\tunsigned numzeros = 0;\n\n\tunsigned offset; /*the offset represents the distance in LZ77 terminology*/\n\tunsigned length;\n\tunsigned lazy = 0;\n\tunsigned lazylength = 0, lazyoffset = 0;\n\tunsigned hashval;\n\tunsigned current_offset, current_length;\n\tunsigned prev_offset;\n\tconst unsigned char *lastptr, *foreptr, *backptr;\n\tunsigned hashpos;\n\n\tif (windowsize <= 0 || windowsize > 32768)\n\t\treturn 60; /*error: windowsize smaller/larger than allowed*/\n\tif ((windowsize & (windowsize - 1)) != 0)\n\t\treturn 90; /*error: must be power of two*/\n\n\tif (nicematch > MAX_SUPPORTED_DEFLATE_LENGTH)\n\t\tnicematch = MAX_SUPPORTED_DEFLATE_LENGTH;\n\n\tfor (pos = inpos; pos < insize; pos++) {\n\t\tsize_t wpos = pos & (windowsize - 1); /*position for in 'circular' hash buffers*/\n\t\tunsigned chainlength = 0;\n\n\t\thashval = getHash(in, insize, pos);\n\n\t\tif (usezeros && hashval == 0) {\n\t\t\tif (numzeros == 0)\n\t\t\t\tnumzeros = countZeros(in, insize, pos);\n\t\t\telse if (pos + numzeros > insize || in[pos + numzeros - 1] != 0)\n\t\t\t\tnumzeros--;\n\t\t} else {\n\t\t\tnumzeros = 0;\n\t\t}\n\n\t\tupdateHashChain(hash, wpos, hashval, numzeros);\n\n\t\t/*the length and offset found for the current position*/\n\t\tlength = 0;\n\t\toffset = 0;\n\n\t\thashpos = hash->chain[wpos];\n\n\t\tlastptr = &in[\n\t\t\t\tinsize < pos + MAX_SUPPORTED_DEFLATE_LENGTH ?\n\t\t\t\t\t\tinsize : pos + MAX_SUPPORTED_DEFLATE_LENGTH];\n\n\t\t/*search for the longest string*/\n\t\tprev_offset = 0;\n\t\tfor (;;) {\n\t\t\tif (chainlength++ >= maxchainlength)\n\t\t\t\tbreak;\n\t\t\tcurrent_offset =\n\t\t\t\t\thashpos <= wpos ?\n\t\t\t\t\t\t\twpos - hashpos : wpos - hashpos + windowsize;\n\n\t\t\tif (current_offset < prev_offset)\n\t\t\t\tbreak; /*stop when went completely around the circular buffer*/\n\t\t\tprev_offset = current_offset;\n\t\t\tif (current_offset > 0) {\n\t\t\t\t/*test the next characters*/\n\t\t\t\tforeptr = &in[pos];\n\t\t\t\tbackptr = &in[pos - current_offset];\n\n\t\t\t\t/*common case in PNGs is lots of zeros. Quickly skip over them as a speedup*/\n\t\t\t\tif (numzeros >= 3) {\n\t\t\t\t\tunsigned skip = hash->zeros[hashpos];\n\t\t\t\t\tif (skip > numzeros)\n\t\t\t\t\t\tskip = numzeros;\n\t\t\t\t\tbackptr += skip;\n\t\t\t\t\tforeptr += skip;\n\t\t\t\t}\n\n\t\t\t\twhile (foreptr != lastptr && *backptr == *foreptr) /*maximum supported length by deflate is max length*/\n\t\t\t\t{\n\t\t\t\t\t++backptr;\n\t\t\t\t\t++foreptr;\n\t\t\t\t}\n\t\t\t\tcurrent_length = (unsigned) (foreptr - &in[pos]);\n\n\t\t\t\tif (current_length > length) {\n\t\t\t\t\tlength = current_length; /*the longest length*/\n\t\t\t\t\toffset = current_offset; /*the offset that is related to this longest length*/\n\t\t\t\t\t/*jump out once a length of max length is found (speed gain). This also jumps\n\t\t\t\t\t out if length is MAX_SUPPORTED_DEFLATE_LENGTH*/\n\t\t\t\t\tif (current_length >= nicematch)\n\t\t\t\t\t\tbreak;\n\t\t\t\t}\n\t\t\t}\n\n\t\t\tif (hashpos == hash->chain[hashpos])\n\t\t\t\tbreak;\n\n\t\t\tif (numzeros >= 3 && length > numzeros) {\n\t\t\t\thashpos = hash->chainz[hashpos];\n\t\t\t\tif (hash->zeros[hashpos] != numzeros)\n\t\t\t\t\tbreak;\n\t\t\t} else {\n\t\t\t\thashpos = hash->chain[hashpos];\n\t\t\t\t/*outdated hash value, happens if particular value was not encountered in whole last window*/\n\t\t\t\tif (hash->val[hashpos] != (int) hashval)\n\t\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\n\t\tif (lazymatching) {\n\t\t\tif (!lazy && length >= 3 && length <= maxlazymatch\n\t\t\t\t\t&& length < MAX_SUPPORTED_DEFLATE_LENGTH) {\n\t\t\t\tlazy = 1;\n\t\t\t\tlazylength = length;\n\t\t\t\tlazyoffset = offset;\n\t\t\t\tcontinue; /*try the next byte*/\n\t\t\t}\n\t\t\tif (lazy) {\n\t\t\t\tlazy = 0;\n\t\t\t\tif (pos == 0)\n\t\t\t\t\tERROR_BREAK(81);\n\t\t\t\tif (length > lazylength + 1) {\n\t\t\t\t\t/*push the previous character as literal*/\n\t\t\t\t\tif (!uivector_push_back(out, in[pos - 1]))\n\t\t\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t\t\t} else {\n\t\t\t\t\tlength = lazylength;\n\t\t\t\t\toffset = lazyoffset;\n\t\t\t\t\thash->head[hashval] = -1; /*the same hashchain update will be done, this ensures no wrong alteration*/\n\t\t\t\t\thash->headz[numzeros] = -1; /*idem*/\n\t\t\t\t\tpos--;\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t\tif (length >= 3 && offset > windowsize)\n\t\t\tERROR_BREAK(86 /*too big (or overflown negative) offset*/);\n\n\t\t/*encode it as length/distance pair or literal value*/\n\t\tif (length < 3) /*only lengths of 3 or higher are supported as length/distance pair*/\n\t\t{\n\t\t\tif (!uivector_push_back(out, in[pos]))\n\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t} else if (length < minmatch || (length == 3 && offset > 4096)) {\n\t\t\t/*compensate for the fact that longer offsets have more extra bits, a\n\t\t\t length of only 3 may be not worth it then*/\n\t\t\tif (!uivector_push_back(out, in[pos]))\n\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t} else {\n\t\t\taddLengthDistance(out, length, offset);\n\t\t\tfor (i = 1; i < length; i++) {\n\t\t\t\tpos++;\n\t\t\t\twpos = pos & (windowsize - 1);\n\t\t\t\thashval = getHash(in, insize, pos);\n\t\t\t\tif (usezeros && hashval == 0) {\n\t\t\t\t\tif (numzeros == 0)\n\t\t\t\t\t\tnumzeros = countZeros(in, insize, pos);\n\t\t\t\t\telse if (pos + numzeros > insize\n\t\t\t\t\t\t\t|| in[pos + numzeros - 1] != 0)\n\t\t\t\t\t\tnumzeros--;\n\t\t\t\t} else {\n\t\t\t\t\tnumzeros = 0;\n\t\t\t\t}\n\t\t\t\tupdateHashChain(hash, wpos, hashval, numzeros);\n\t\t\t}\n\t\t}\n\t} /*end of the loop through each character of input*/\n\n\treturn error;\n}\n\n/* /////////////////////////////////////////////////////////////////////////// */\n\nstatic unsigned deflateNoCompression(ucvector* out, const unsigned char* data,\n\t\tsize_t datasize) {\n\t/*non compressed deflate block data: 1 bit BFINAL,2 bits BTYPE,(5 bits): it jumps to start of next byte,\n\t 2 bytes LEN, 2 bytes NLEN, LEN bytes literal DATA*/\n\n\tsize_t i, j, numdeflateblocks = (datasize + 65534) / 65535;\n\tunsigned datapos = 0;\n\tfor (i = 0; i < numdeflateblocks; i++) {\n\t\tunsigned BFINAL, BTYPE, LEN, NLEN;\n\t\tunsigned char firstbyte;\n\n\t\tBFINAL = (i == numdeflateblocks - 1);\n\t\tBTYPE = 0;\n\n\t\tfirstbyte = (unsigned char) (BFINAL + ((BTYPE & 1) << 1)\n\t\t\t\t+ ((BTYPE & 2) << 1));\n\t\tucvector_push_back(out, firstbyte);\n\n\t\tLEN = 65535;\n\t\tif (datasize - datapos < 65535)\n\t\t\tLEN = (unsigned) datasize - datapos;\n\t\tNLEN = 65535 - LEN;\n\n\t\tucvector_push_back(out, (unsigned char) (LEN % 256));\n\t\tucvector_push_back(out, (unsigned char) (LEN / 256));\n\t\tucvector_push_back(out, (unsigned char) (NLEN % 256));\n\t\tucvector_push_back(out, (unsigned char) (NLEN / 256));\n\n\t\t/*Decompressed data*/\n\t\tfor (j = 0; j < 65535 && datapos < datasize; j++) {\n\t\t\tucvector_push_back(out, data[datapos++]);\n\t\t}\n\t}\n\n\treturn 0;\n}\n\n/*\n write the lz77-encoded data, which has lit, len and dist codes, to compressed stream using huffman trees.\n tree_ll: the tree for lit and len codes.\n tree_d: the tree for distance codes.\n */\nstatic void writeLZ77data(size_t* bp, ucvector* out,\n\t\tconst uivector* lz77_encoded, const HuffmanTree* tree_ll,\n\t\tconst HuffmanTree* tree_d) {\n\tsize_t i = 0;\n\tfor (i = 0; i < lz77_encoded->size; i++) {\n\t\tunsigned val = lz77_encoded->data[i];\n\t\taddHuffmanSymbol(bp, out, HuffmanTree_getCode(tree_ll, val),\n\t\t\t\tHuffmanTree_getLength(tree_ll, val));\n\t\tif (val > 256) /*for a length code, 3 more things have to be added*/\n\t\t{\n\t\t\tunsigned length_index = val - FIRST_LENGTH_CODE_INDEX;\n\t\t\tunsigned n_length_extra_bits = LENGTHEXTRA[length_index];\n\t\t\tunsigned length_extra_bits = lz77_encoded->data[++i];\n\n\t\t\tunsigned distance_code = lz77_encoded->data[++i];\n\n\t\t\tunsigned distance_index = distance_code;\n\t\t\tunsigned n_distance_extra_bits = DISTANCEEXTRA[distance_index];\n\t\t\tunsigned distance_extra_bits = lz77_encoded->data[++i];\n\n\t\t\taddBitsToStream(bp, out, length_extra_bits, n_length_extra_bits);\n\t\t\taddHuffmanSymbol(bp, out,\n\t\t\t\t\tHuffmanTree_getCode(tree_d, distance_code),\n\t\t\t\t\tHuffmanTree_getLength(tree_d, distance_code));\n\t\t\taddBitsToStream(bp, out, distance_extra_bits,\n\t\t\t\t\tn_distance_extra_bits);\n\t\t}\n\t}\n}\n\n/*Deflate for a block of type \"dynamic\", that is, with freely, optimally, created huffman trees*/\nstatic unsigned deflateDynamic(ucvector* out, size_t* bp, Hash* hash,\n\t\tconst unsigned char* data, size_t datapos, size_t dataend,\n\t\tconst LodePNGCompressSettings* settings, unsigned final) {\n\tunsigned error = 0;\n\n\t/*\n\t A block is compressed as follows: The PNG data is lz77 encoded, resulting in\n\t literal bytes and length/distance pairs. This is then huffman compressed with\n\t two huffman trees. One huffman tree is used for the lit and len values (\"ll\"),\n\t another huffman tree is used for the dist values (\"d\"). These two trees are\n\t stored using their code lengths, and to compress even more these code lengths\n\t are also run-length encoded and huffman compressed. This gives a huffman tree\n\t of code lengths \"cl\". The code lenghts used to describe this third tree are\n\t the code length code lengths (\"clcl\").\n\t */\n\n\t/*The lz77 encoded data, represented with integers since there will also be length and distance codes in it*/\n\tuivector lz77_encoded;\n\tHuffmanTree tree_ll; /*tree for lit,len values*/\n\tHuffmanTree tree_d; /*tree for distance codes*/\n\tHuffmanTree tree_cl; /*tree for encoding the code lengths representing tree_ll and tree_d*/\n\tuivector frequencies_ll; /*frequency of lit,len codes*/\n\tuivector frequencies_d; /*frequency of dist codes*/\n\tuivector frequencies_cl; /*frequency of code length codes*/\n\tuivector bitlen_lld; /*lit,len,dist code lenghts (int bits), literally (without repeat codes).*/\n\tuivector bitlen_lld_e; /*bitlen_lld encoded with repeat codes (this is a rudemtary run length compression)*/\n\t/*bitlen_cl is the code length code lengths (\"clcl\"). The bit lengths of codes to represent tree_cl\n\t (these are written as is in the file, it would be crazy to compress these using yet another huffman\n\t tree that needs to be represented by yet another set of code lengths)*/\n\tuivector bitlen_cl;\n\tsize_t datasize = dataend - datapos;\n\n\t/*\n\t Due to the huffman compression of huffman tree representations (\"two levels\"), there are some anologies:\n\t bitlen_lld is to tree_cl what data is to tree_ll and tree_d.\n\t bitlen_lld_e is to bitlen_lld what lz77_encoded is to data.\n\t bitlen_cl is to bitlen_lld_e what bitlen_lld is to lz77_encoded.\n\t */\n\n\tunsigned BFINAL = final;\n\tsize_t numcodes_ll, numcodes_d, i;\n\tunsigned HLIT, HDIST, HCLEN;\n\n\tuivector_init(&lz77_encoded);\n\tHuffmanTree_init(&tree_ll);\n\tHuffmanTree_init(&tree_d);\n\tHuffmanTree_init(&tree_cl);\n\tuivector_init(&frequencies_ll);\n\tuivector_init(&frequencies_d);\n\tuivector_init(&frequencies_cl);\n\tuivector_init(&bitlen_lld);\n\tuivector_init(&bitlen_lld_e);\n\tuivector_init(&bitlen_cl);\n\n\t/*This while loop never loops due to a break at the end, it is here to\n\t allow breaking out of it to the cleanup phase on error conditions.*/\n\twhile (!error) {\n\t\tif (settings->use_lz77) {\n\t\t\terror = encodeLZ77(&lz77_encoded, hash, data, datapos, dataend,\n\t\t\t\t\tsettings->windowsize, settings->minmatch,\n\t\t\t\t\tsettings->nicematch, settings->lazymatching);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\t\t} else {\n\t\t\tif (!uivector_resize(&lz77_encoded, datasize))\n\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t\tfor (i = datapos; i < dataend; i++)\n\t\t\t\tlz77_encoded.data[i] = data[i]; /*no LZ77, but still will be Huffman compressed*/\n\t\t}\n\n\t\tif (!uivector_resizev(&frequencies_ll, 286, 0))\n\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\tif (!uivector_resizev(&frequencies_d, 30, 0))\n\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\n\t\t/*Count the frequencies of lit, len and dist codes*/\n\t\tfor (i = 0; i < lz77_encoded.size; i++) {\n\t\t\tunsigned symbol = lz77_encoded.data[i];\n\t\t\tfrequencies_ll.data[symbol]++;\n\t\t\tif (symbol > 256) {\n\t\t\t\tunsigned dist = lz77_encoded.data[i + 2];\n\t\t\t\tfrequencies_d.data[dist]++;\n\t\t\t\ti += 3;\n\t\t\t}\n\t\t}\n\t\tfrequencies_ll.data[256] = 1; /*there will be exactly 1 end code, at the end of the block*/\n\n\t\t/*Make both huffman trees, one for the lit and len codes, one for the dist codes*/\n\t\terror = HuffmanTree_makeFromFrequencies(&tree_ll, frequencies_ll.data,\n\t\t\t\t257, frequencies_ll.size, 15);\n\t\tif (error)\n\t\t\tbreak;\n\t\t/*2, not 1, is chosen for mincodes: some buggy PNG decoders require at least 2 symbols in the dist tree*/\n\t\terror = HuffmanTree_makeFromFrequencies(&tree_d, frequencies_d.data, 2,\n\t\t\t\tfrequencies_d.size, 15);\n\t\tif (error)\n\t\t\tbreak;\n\n\t\tnumcodes_ll = tree_ll.numcodes;\n\t\tif (numcodes_ll > 286)\n\t\t\tnumcodes_ll = 286;\n\t\tnumcodes_d = tree_d.numcodes;\n\t\tif (numcodes_d > 30)\n\t\t\tnumcodes_d = 30;\n\t\t/*store the code lengths of both generated trees in bitlen_lld*/\n\t\tfor (i = 0; i < numcodes_ll; i++)\n\t\t\tuivector_push_back(&bitlen_lld,\n\t\t\t\t\tHuffmanTree_getLength(&tree_ll, (unsigned) i));\n\t\tfor (i = 0; i < numcodes_d; i++)\n\t\t\tuivector_push_back(&bitlen_lld,\n\t\t\t\t\tHuffmanTree_getLength(&tree_d, (unsigned) i));\n\n\t\t/*run-length compress bitlen_ldd into bitlen_lld_e by using repeat codes 16 (copy length 3-6 times),\n\t\t 17 (3-10 zeroes), 18 (11-138 zeroes)*/\n\t\tfor (i = 0; i < (unsigned) bitlen_lld.size; i++) {\n\t\t\tunsigned j = 0; /*amount of repititions*/\n\t\t\twhile (i + j + 1 < (unsigned) bitlen_lld.size\n\t\t\t\t\t&& bitlen_lld.data[i + j + 1] == bitlen_lld.data[i])\n\t\t\t\tj++;\n\n\t\t\tif (bitlen_lld.data[i] == 0 && j >= 2) /*repeat code for zeroes*/\n\t\t\t{\n\t\t\t\tj++; /*include the first zero*/\n\t\t\t\tif (j <= 10) /*repeat code 17 supports max 10 zeroes*/\n\t\t\t\t{\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, 17);\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, j - 3);\n\t\t\t\t} else /*repeat code 18 supports max 138 zeroes*/\n\t\t\t\t{\n\t\t\t\t\tif (j > 138)\n\t\t\t\t\t\tj = 138;\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, 18);\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, j - 11);\n\t\t\t\t}\n\t\t\t\ti += (j - 1);\n\t\t\t} else if (j >= 3) /*repeat code for value other than zero*/\n\t\t\t{\n\t\t\t\tsize_t k;\n\t\t\t\tunsigned num = j / 6, rest = j % 6;\n\t\t\t\tuivector_push_back(&bitlen_lld_e, bitlen_lld.data[i]);\n\t\t\t\tfor (k = 0; k < num; k++) {\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, 16);\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, 6 - 3);\n\t\t\t\t}\n\t\t\t\tif (rest >= 3) {\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, 16);\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, rest - 3);\n\t\t\t\t} else\n\t\t\t\t\tj -= rest;\n\t\t\t\ti += j;\n\t\t\t} else /*too short to benefit from repeat code*/\n\t\t\t{\n\t\t\t\tuivector_push_back(&bitlen_lld_e, bitlen_lld.data[i]);\n\t\t\t}\n\t\t}\n\n\t\t/*generate tree_cl, the huffmantree of huffmantrees*/\n\n\t\tif (!uivector_resizev(&frequencies_cl, NUM_CODE_LENGTH_CODES, 0))\n\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\tfor (i = 0; i < bitlen_lld_e.size; i++) {\n\t\t\tfrequencies_cl.data[bitlen_lld_e.data[i]]++;\n\t\t\t/*after a repeat code come the bits that specify the number of repetitions,\n\t\t\t those don't need to be in the frequencies_cl calculation*/\n\t\t\tif (bitlen_lld_e.data[i] >= 16)\n\t\t\t\ti++;\n\t\t}\n\n\t\terror = HuffmanTree_makeFromFrequencies(&tree_cl, frequencies_cl.data,\n\t\t\t\tfrequencies_cl.size, frequencies_cl.size, 7);\n\t\tif (error)\n\t\t\tbreak;\n\n\t\tif (!uivector_resize(&bitlen_cl, tree_cl.numcodes))\n\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\tfor (i = 0; i < tree_cl.numcodes; i++) {\n\t\t\t/*lenghts of code length tree is in the order as specified by deflate*/\n\t\t\tbitlen_cl.data[i] = HuffmanTree_getLength(&tree_cl, CLCL_ORDER[i]);\n\t\t}\n\t\twhile (bitlen_cl.data[bitlen_cl.size - 1] == 0 && bitlen_cl.size > 4) {\n\t\t\t/*remove zeros at the end, but minimum size must be 4*/\n\t\t\tif (!uivector_resize(&bitlen_cl, bitlen_cl.size - 1))\n\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t}\n\t\tif (error)\n\t\t\tbreak;\n\n\t\t/*\n\t\t Write everything into the output\n\n\t\t After the BFINAL and BTYPE, the dynamic block consists out of the following:\n\t\t - 5 bits HLIT, 5 bits HDIST, 4 bits HCLEN\n\t\t - (HCLEN+4)*3 bits code lengths of code length alphabet\n\t\t - HLIT + 257 code lenghts of lit/length alphabet (encoded using the code length\n\t\t alphabet, + possible repetition codes 16, 17, 18)\n\t\t - HDIST + 1 code lengths of distance alphabet (encoded using the code length\n\t\t alphabet, + possible repetition codes 16, 17, 18)\n\t\t - compressed data\n\t\t - 256 (end code)\n\t\t */\n\n\t\t/*Write block type*/\n\t\taddBitToStream(bp, out, BFINAL);\n\t\taddBitToStream(bp, out, 0); /*first bit of BTYPE \"dynamic\"*/\n\t\taddBitToStream(bp, out, 1); /*second bit of BTYPE \"dynamic\"*/\n\n\t\t/*write the HLIT, HDIST and HCLEN values*/\n\t\tHLIT = (unsigned) (numcodes_ll - 257);\n\t\tHDIST = (unsigned) (numcodes_d - 1);\n\t\tHCLEN = (unsigned) bitlen_cl.size - 4;\n\t\t/*trim zeroes for HCLEN. HLIT and HDIST were already trimmed at tree creation*/\n\t\twhile (!bitlen_cl.data[HCLEN + 4 - 1] && HCLEN > 0)\n\t\t\tHCLEN--;\n\t\taddBitsToStream(bp, out, HLIT, 5);\n\t\taddBitsToStream(bp, out, HDIST, 5);\n\t\taddBitsToStream(bp, out, HCLEN, 4);\n\n\t\t/*write the code lenghts of the code length alphabet*/\n\t\tfor (i = 0; i < HCLEN + 4; i++)\n\t\t\taddBitsToStream(bp, out, bitlen_cl.data[i], 3);\n\n\t\t/*write the lenghts of the lit/len AND the dist alphabet*/\n\t\tfor (i = 0; i < bitlen_lld_e.size; i++) {\n\t\t\taddHuffmanSymbol(bp, out,\n\t\t\t\t\tHuffmanTree_getCode(&tree_cl, bitlen_lld_e.data[i]),\n\t\t\t\t\tHuffmanTree_getLength(&tree_cl, bitlen_lld_e.data[i]));\n\t\t\t/*extra bits of repeat codes*/\n\t\t\tif (bitlen_lld_e.data[i] == 16)\n\t\t\t\taddBitsToStream(bp, out, bitlen_lld_e.data[++i], 2);\n\t\t\telse if (bitlen_lld_e.data[i] == 17)\n\t\t\t\taddBitsToStream(bp, out, bitlen_lld_e.data[++i], 3);\n\t\t\telse if (bitlen_lld_e.data[i] == 18)\n\t\t\t\taddBitsToStream(bp, out, bitlen_lld_e.data[++i], 7);\n\t\t}\n\n\t\t/*write the compressed data symbols*/\n\t\twriteLZ77data(bp, out, &lz77_encoded, &tree_ll, &tree_d);\n\t\t/*error: the length of the end code 256 must be larger than 0*/\n\t\tif (HuffmanTree_getLength(&tree_ll, 256) == 0)\n\t\t\tERROR_BREAK(64);\n\n\t\t/*write the end code*/\n\t\taddHuffmanSymbol(bp, out, HuffmanTree_getCode(&tree_ll, 256),\n\t\t\t\tHuffmanTree_getLength(&tree_ll, 256));\n\n\t\tbreak; /*end of error-while*/\n\t}\n\n\t/*cleanup*/\n\tuivector_cleanup(&lz77_encoded);\n\tHuffmanTree_cleanup(&tree_ll);\n\tHuffmanTree_cleanup(&tree_d);\n\tHuffmanTree_cleanup(&tree_cl);\n\tuivector_cleanup(&frequencies_ll);\n\tuivector_cleanup(&frequencies_d);\n\tuivector_cleanup(&frequencies_cl);\n\tuivector_cleanup(&bitlen_lld_e);\n\tuivector_cleanup(&bitlen_lld);\n\tuivector_cleanup(&bitlen_cl);\n\n\treturn error;\n}\n\nstatic unsigned deflateFixed(ucvector* out, size_t* bp, Hash* hash,\n\t\tconst unsigned char* data, size_t datapos, size_t dataend,\n\t\tconst LodePNGCompressSettings* settings, unsigned final) {\n\tHuffmanTree tree_ll; /*tree for literal values and length codes*/\n\tHuffmanTree tree_d; /*tree for distance codes*/\n\n\tunsigned BFINAL = final;\n\tunsigned error = 0;\n\tsize_t i;\n\n\tHuffmanTree_init(&tree_ll);\n\tHuffmanTree_init(&tree_d);\n\n\tgenerateFixedLitLenTree(&tree_ll);\n\tgenerateFixedDistanceTree(&tree_d);\n\n\taddBitToStream(bp, out, BFINAL);\n\taddBitToStream(bp, out, 1); /*first bit of BTYPE*/\n\taddBitToStream(bp, out, 0); /*second bit of BTYPE*/\n\n\tif (settings->use_lz77) /*LZ77 encoded*/\n\t{\n\t\tuivector lz77_encoded;\n\t\tuivector_init(&lz77_encoded);\n\t\terror = encodeLZ77(&lz77_encoded, hash, data, datapos, dataend,\n\t\t\t\tsettings->windowsize, settings->minmatch, settings->nicematch,\n\t\t\t\tsettings->lazymatching);\n\t\tif (!error)\n\t\t\twriteLZ77data(bp, out, &lz77_encoded, &tree_ll, &tree_d);\n\t\tuivector_cleanup(&lz77_encoded);\n\t} else /*no LZ77, but still will be Huffman compressed*/\n\t{\n\t\tfor (i = datapos; i < dataend; i++) {\n\t\t\taddHuffmanSymbol(bp, out, HuffmanTree_getCode(&tree_ll, data[i]),\n\t\t\t\t\tHuffmanTree_getLength(&tree_ll, data[i]));\n\t\t}\n\t}\n\t/*add END code*/\n\tif (!error)\n\t\taddHuffmanSymbol(bp, out, HuffmanTree_getCode(&tree_ll, 256),\n\t\t\t\tHuffmanTree_getLength(&tree_ll, 256));\n\n\t/*cleanup*/\n\tHuffmanTree_cleanup(&tree_ll);\n\tHuffmanTree_cleanup(&tree_d);\n\n\treturn error;\n}\n\nstatic unsigned lodepng_deflatev(ucvector* out, const unsigned char* in,\n\t\tsize_t insize, const LodePNGCompressSettings* settings) {\n\tunsigned error = 0;\n\tsize_t i, blocksize, numdeflateblocks;\n\tsize_t bp = 0; /*the bit pointer*/\n\tHash hash;\n\n\tif (settings->btype > 2)\n\t\treturn 61;\n\telse if (settings->btype == 0)\n\t\treturn deflateNoCompression(out, in, insize);\n\telse if (settings->btype == 1)\n\t\tblocksize = insize;\n\telse /*if(settings->btype == 2)*/\n\t{\n\t\tblocksize = insize / 8 + 8;\n\t\tif (blocksize < 65535)\n\t\t\tblocksize = 65535;\n\t}\n\n\tnumdeflateblocks = (insize + blocksize - 1) / blocksize;\n\tif (numdeflateblocks == 0)\n\t\tnumdeflateblocks = 1;\n\n\terror = hash_init(&hash, settings->windowsize);\n\tif (error)\n\t\treturn error;\n\n\tfor (i = 0; i < numdeflateblocks && !error; i++) {\n\t\tunsigned final = (i == numdeflateblocks - 1);\n\t\tsize_t start = i * blocksize;\n\t\tsize_t end = start + blocksize;\n\t\tif (end > insize)\n\t\t\tend = insize;\n\n\t\tif (settings->btype == 1)\n\t\t\terror = deflateFixed(out, &bp, &hash, in, start, end, settings,\n\t\t\t\t\tfinal);\n\t\telse if (settings->btype == 2)\n\t\t\terror = deflateDynamic(out, &bp, &hash, in, start, end, settings,\n\t\t\t\t\tfinal);\n\t}\n\n\thash_cleanup(&hash);\n\n\treturn error;\n}\n\nunsigned lodepng_deflate(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGCompressSettings* settings) {\n\tunsigned error;\n\tucvector v;\n\tucvector_init_buffer(&v, *out, *outsize);\n\terror = lodepng_deflatev(&v, in, insize, settings);\n\t*out = v.data;\n\t*outsize = v.size;\n\treturn error;\n}\n\nstatic unsigned deflate(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGCompressSettings* settings) {\n\tif (settings->custom_deflate) {\n\t\treturn settings->custom_deflate(out, outsize, in, insize, settings);\n\t} else {\n\t\treturn lodepng_deflate(out, outsize, in, insize, settings);\n\t}\n}\n\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Adler32 */\n/* ////////////////////////////////////////////////////////////////////////// */\n\nstatic unsigned update_adler32(unsigned adler, const unsigned char* data,\n\t\tunsigned len) {\n\tunsigned s1 = adler & 0xffff;\n\tunsigned s2 = (adler >> 16) & 0xffff;\n\n\twhile (len > 0) {\n\t\t/*at least 5550 sums can be done before the sums overflow, saving a lot of module divisions*/\n\t\tunsigned amount = len > 5550 ? 5550 : len;\n\t\tlen -= amount;\n\t\twhile (amount > 0) {\n\t\t\ts1 += (*data++);\n\t\t\ts2 += s1;\n\t\t\tamount--;\n\t\t}\n\t\ts1 %= 65521;\n\t\ts2 %= 65521;\n\t}\n\n\treturn (s2 << 16) | s1;\n}\n\n/*Return the adler32 of the bytes data[0..len-1]*/\nstatic unsigned adler32(const unsigned char* data, unsigned len) {\n\treturn update_adler32(1L, data, len);\n}\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Zlib / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_DECODER\n\nunsigned lodepng_zlib_decompress(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGDecompressSettings* settings) {\n\tunsigned error = 0;\n\tunsigned CM, CINFO, FDICT;\n\n\tif (insize < 2)\n\t\treturn 53; /*error, size of zlib data too small*/\n\t/*read information from zlib header*/\n\tif ((in[0] * 256 + in[1]) % 31 != 0) {\n\t\t/*error: 256 * in[0] + in[1] must be a multiple of 31, the FCHECK value is supposed to be made that way*/\n\t\treturn 24;\n\t}\n\n\tCM = in[0] & 15;\n\tCINFO = (in[0] >> 4) & 15;\n\t/*FCHECK = in[1] & 31;*//*FCHECK is already tested above*/\n\tFDICT = (in[1] >> 5) & 1;\n\t/*FLEVEL = (in[1] >> 6) & 3;*//*FLEVEL is not used here*/\n\n\tif (CM != 8 || CINFO > 7) {\n\t\t/*error: only compression method 8: inflate with sliding window of 32k is supported by the PNG spec*/\n\t\treturn 25;\n\t}\n\tif (FDICT != 0) {\n\t\t/*error: the specification of PNG says about the zlib stream:\n\t\t \"The additional flags shall not specify a preset dictionary.\"*/\n\t\treturn 26;\n\t}\n\n\terror = inflate(out, outsize, in + 2, insize - 2, settings);\n\tif (error)\n\t\treturn error;\n\n\tif (!settings->ignore_adler32) {\n\t\tunsigned ADLER32 = lodepng_read32bitInt(&in[insize - 4]);\n\t\tunsigned checksum = adler32(*out, (unsigned) (*outsize));\n\t\tif (checksum != ADLER32)\n\t\t\treturn 58; /*error, adler checksum not correct, data must be corrupted*/\n\t}\n\n\treturn 0; /*no error*/\n}\n\nstatic unsigned zlib_decompress(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGDecompressSettings* settings) {\n\tif (settings->custom_zlib) {\n\t\treturn settings->custom_zlib(out, outsize, in, insize, settings);\n\t} else {\n\t\treturn lodepng_zlib_decompress(out, outsize, in, insize, settings);\n\t}\n}\n\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n\nunsigned lodepng_zlib_compress(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGCompressSettings* settings) {\n\t/*initially, *out must be NULL and outsize 0, if you just give some random *out\n\t that's pointing to a non allocated buffer, this'll crash*/\n\tucvector outv;\n\tsize_t i;\n\tunsigned error;\n\tunsigned char* deflatedata = 0;\n\tsize_t deflatesize = 0;\n\n\tunsigned ADLER32;\n\t/*zlib data: 1 byte CMF (CM+CINFO), 1 byte FLG, deflate data, 4 byte ADLER32 checksum of the Decompressed data*/\n\tunsigned CMF = 120; /*0b01111000: CM 8, CINFO 7. With CINFO 7, any window size up to 32768 can be used.*/\n\tunsigned FLEVEL = 0;\n\tunsigned FDICT = 0;\n\tunsigned CMFFLG = 256 * CMF + FDICT * 32 + FLEVEL * 64;\n\tunsigned FCHECK = 31 - CMFFLG % 31;\n\tCMFFLG += FCHECK;\n\n\t/*ucvector-controlled version of the output buffer, for dynamic array*/\n\tucvector_init_buffer(&outv, *out, *outsize);\n\n\tucvector_push_back(&outv, (unsigned char) (CMFFLG / 256));\n\tucvector_push_back(&outv, (unsigned char) (CMFFLG % 256));\n\n\terror = deflate(&deflatedata, &deflatesize, in, insize, settings);\n\n\tif (!error) {\n\t\tADLER32 = adler32(in, (unsigned) insize);\n\t\tfor (i = 0; i < deflatesize; i++)\n\t\t\tucvector_push_back(&outv, deflatedata[i]);\n\t\tlodepng_free(deflatedata);\n\t\tlodepng_add32bitInt(&outv, ADLER32);\n\t}\n\n\t*out = outv.data;\n\t*outsize = outv.size;\n\n\treturn error;\n}\n\n/* compress using the default or custom zlib function */\nstatic unsigned zlib_compress(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGCompressSettings* settings) {\n\tif (settings->custom_zlib) {\n\t\treturn settings->custom_zlib(out, outsize, in, insize, settings);\n\t} else {\n\t\treturn lodepng_zlib_compress(out, outsize, in, insize, settings);\n\t}\n}\n\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#else /*no LODEPNG_COMPILE_ZLIB*/\n\n#ifdef LODEPNG_COMPILE_DECODER\nstatic unsigned zlib_decompress(unsigned char** out, size_t* outsize, const unsigned char* in,\n\t\tsize_t insize, const LodePNGDecompressSettings* settings)\n{\n\tif (!settings->custom_zlib) return 87; /*no custom zlib function provided */\n\treturn settings->custom_zlib(out, outsize, in, insize, settings);\n}\n#endif /*LODEPNG_COMPILE_DECODER*/\n#ifdef LODEPNG_COMPILE_ENCODER\nstatic unsigned zlib_compress(unsigned char** out, size_t* outsize, const unsigned char* in,\n\t\tsize_t insize, const LodePNGCompressSettings* settings)\n{\n\tif (!settings->custom_zlib) return 87; /*no custom zlib function provided */\n\treturn settings->custom_zlib(out, outsize, in, insize, settings);\n}\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#endif /*LODEPNG_COMPILE_ZLIB*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_ENCODER\n\n/*this is a good tradeoff between speed and compression ratio*/\n#define DEFAULT_WINDOWSIZE 2048\n\nvoid lodepng_compress_settings_init(LodePNGCompressSettings* settings) {\n\t/*compress with dynamic huffman tree (not in the mathematical sense, just not the predefined one)*/\n\tsettings->btype = 2;\n\tsettings->use_lz77 = 1;\n\tsettings->windowsize = DEFAULT_WINDOWSIZE;\n\tsettings->minmatch = 3;\n\tsettings->nicematch = 128;\n\tsettings->lazymatching = 1;\n\n\tsettings->custom_zlib = 0;\n\tsettings->custom_deflate = 0;\n\tsettings->custom_context = 0;\n}\n\nconst LodePNGCompressSettings lodepng_default_compress_settings = { 2, 1,\n\t\tDEFAULT_WINDOWSIZE, 3, 128, 1, 0, 0, 0 };\n\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#ifdef LODEPNG_COMPILE_DECODER\n\nvoid lodepng_decompress_settings_init(LodePNGDecompressSettings* settings) {\n\tsettings->ignore_adler32 = 0;\n\n\tsettings->custom_zlib = 0;\n\tsettings->custom_inflate = 0;\n\tsettings->custom_context = 0;\n}\n\nconst LodePNGDecompressSettings lodepng_default_decompress_settings = { 0, 0, 0,\n\t\t0 };\n\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* // End of Zlib related code. Begin of PNG related code. // */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_PNG\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / CRC32 / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/* CRC polynomial: 0xedb88320 */\nstatic unsigned lodepng_crc32_table[256] = { 0u, 1996959894u, 3993919788u,\n\t\t2567524794u, 124634137u, 1886057615u, 3915621685u, 2657392035u,\n\t\t249268274u, 2044508324u, 3772115230u, 2547177864u, 162941995u,\n\t\t2125561021u, 3887607047u, 2428444049u, 498536548u, 1789927666u,\n\t\t4089016648u, 2227061214u, 450548861u, 1843258603u, 4107580753u,\n\t\t2211677639u, 325883990u, 1684777152u, 4251122042u, 2321926636u,\n\t\t335633487u, 1661365465u, 4195302755u, 2366115317u, 997073096u,\n\t\t1281953886u, 3579855332u, 2724688242u, 1006888145u, 1258607687u,\n\t\t3524101629u, 2768942443u, 901097722u, 1119000684u, 3686517206u,\n\t\t2898065728u, 853044451u, 1172266101u, 3705015759u, 2882616665u,\n\t\t651767980u, 1373503546u, 3369554304u, 3218104598u, 565507253u,\n\t\t1454621731u, 3485111705u, 3099436303u, 671266974u, 1594198024u,\n\t\t3322730930u, 2970347812u, 795835527u, 1483230225u, 3244367275u,\n\t\t3060149565u, 1994146192u, 31158534u, 2563907772u, 4023717930u,\n\t\t1907459465u, 112637215u, 2680153253u, 3904427059u, 2013776290u,\n\t\t251722036u, 2517215374u, 3775830040u, 2137656763u, 141376813u,\n\t\t2439277719u, 3865271297u, 1802195444u, 476864866u, 2238001368u,\n\t\t4066508878u, 1812370925u, 453092731u, 2181625025u, 4111451223u,\n\t\t1706088902u, 314042704u, 2344532202u, 4240017532u, 1658658271u,\n\t\t366619977u, 2362670323u, 4224994405u, 1303535960u, 984961486u,\n\t\t2747007092u, 3569037538u, 1256170817u, 1037604311u, 2765210733u,\n\t\t3554079995u, 1131014506u, 879679996u, 2909243462u, 3663771856u,\n\t\t1141124467u, 855842277u, 2852801631u, 3708648649u, 1342533948u,\n\t\t654459306u, 3188396048u, 3373015174u, 1466479909u, 544179635u,\n\t\t3110523913u, 3462522015u, 1591671054u, 702138776u, 2966460450u,\n\t\t3352799412u, 1504918807u, 783551873u, 3082640443u, 3233442989u,\n\t\t3988292384u, 2596254646u, 62317068u, 1957810842u, 3939845945u,\n\t\t2647816111u, 81470997u, 1943803523u, 3814918930u, 2489596804u,\n\t\t225274430u, 2053790376u, 3826175755u, 2466906013u, 167816743u,\n\t\t2097651377u, 4027552580u, 2265490386u, 503444072u, 1762050814u,\n\t\t4150417245u, 2154129355u, 426522225u, 1852507879u, 4275313526u,\n\t\t2312317920u, 282753626u, 1742555852u, 4189708143u, 2394877945u,\n\t\t397917763u, 1622183637u, 3604390888u, 2714866558u, 953729732u,\n\t\t1340076626u, 3518719985u, 2797360999u, 1068828381u, 1219638859u,\n\t\t3624741850u, 2936675148u, 906185462u, 1090812512u, 3747672003u,\n\t\t2825379669u, 829329135u, 1181335161u, 3412177804u, 3160834842u,\n\t\t628085408u, 1382605366u, 3423369109u, 3138078467u, 570562233u,\n\t\t1426400815u, 3317316542u, 2998733608u, 733239954u, 1555261956u,\n\t\t3268935591u, 3050360625u, 752459403u, 1541320221u, 2607071920u,\n\t\t3965973030u, 1969922972u, 40735498u, 2617837225u, 3943577151u,\n\t\t1913087877u, 83908371u, 2512341634u, 3803740692u, 2075208622u,\n\t\t213261112u, 2463272603u, 3855990285u, 2094854071u, 198958881u,\n\t\t2262029012u, 4057260610u, 1759359992u, 534414190u, 2176718541u,\n\t\t4139329115u, 1873836001u, 414664567u, 2282248934u, 4279200368u,\n\t\t1711684554u, 285281116u, 2405801727u, 4167216745u, 1634467795u,\n\t\t376229701u, 2685067896u, 3608007406u, 1308918612u, 956543938u,\n\t\t2808555105u, 3495958263u, 1231636301u, 1047427035u, 2932959818u,\n\t\t3654703836u, 1088359270u, 936918000u, 2847714899u, 3736837829u,\n\t\t1202900863u, 817233897u, 3183342108u, 3401237130u, 1404277552u,\n\t\t615818150u, 3134207493u, 3453421203u, 1423857449u, 601450431u,\n\t\t3009837614u, 3294710456u, 1567103746u, 711928724u, 3020668471u,\n\t\t3272380065u, 1510334235u, 755167117u };\n\n/*Return the CRC of the bytes buf[0..len-1].*/\nunsigned lodepng_crc32(const unsigned char* buf, size_t len) {\n\tunsigned c = 0xffffffffL;\n\tsize_t n;\n\n\tfor (n = 0; n < len; n++) {\n\t\tc = lodepng_crc32_table[(c ^ buf[n]) & 0xff] ^ (c >> 8);\n\t}\n\treturn c ^ 0xffffffffL;\n}\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Reading and writing single bits and bytes from/to stream for LodePNG / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\nstatic unsigned char readBitFromReversedStream(size_t* bitpointer,\n\t\tconst unsigned char* bitstream) {\n\tunsigned char result = (unsigned char) ((bitstream[(*bitpointer) >> 3]\n\t\t\t>> (7 - ((*bitpointer) & 0x7))) & 1);\n\t(*bitpointer)++;\n\treturn result;\n}\n\nstatic unsigned readBitsFromReversedStream(size_t* bitpointer,\n\t\tconst unsigned char* bitstream, size_t nbits) {\n\tunsigned result = 0;\n\tsize_t i;\n\tfor (i = nbits - 1; i < nbits; i--) {\n\t\tresult += (unsigned) readBitFromReversedStream(bitpointer, bitstream)\n\t\t\t\t<< i;\n\t}\n\treturn result;\n}\n\n#ifdef LODEPNG_COMPILE_DECODER\nstatic void setBitOfReversedStream0(size_t* bitpointer,\n\t\tunsigned char* bitstream, unsigned char bit) {\n\t/*the current bit in bitstream must be 0 for this to work*/\n\tif (bit) {\n\t\t/*earlier bit of huffman code is in a lesser significant bit of an earlier byte*/\n\t\tbitstream[(*bitpointer) >> 3] |= (bit << (7 - ((*bitpointer) & 0x7)));\n\t}\n\t(*bitpointer)++;\n}\n#endif /*LODEPNG_COMPILE_DECODER*/\n\nstatic void setBitOfReversedStream(size_t* bitpointer, unsigned char* bitstream,\n\t\tunsigned char bit) {\n\t/*the current bit in bitstream may be 0 or 1 for this to work*/\n\tif (bit == 0)\n\t\tbitstream[(*bitpointer) >> 3] &= (unsigned char) (~(1\n\t\t\t\t<< (7 - ((*bitpointer) & 0x7))));\n\telse\n\t\tbitstream[(*bitpointer) >> 3] |= (1 << (7 - ((*bitpointer) & 0x7)));\n\t(*bitpointer)++;\n}\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / PNG chunks / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\nunsigned lodepng_chunk_length(const unsigned char* chunk) {\n\treturn lodepng_read32bitInt(&chunk[0]);\n}\n\nvoid lodepng_chunk_type(char type[5], const unsigned char* chunk) {\n\tunsigned i;\n\tfor (i = 0; i < 4; i++)\n\t\ttype[i] = (char) chunk[4 + i];\n\ttype[4] = 0; /*null termination char*/\n}\n\nunsigned char lodepng_chunk_type_equals(const unsigned char* chunk,\n\t\tconst char* type) {\n\tif (strlen(type) != 4)\n\t\treturn 0;\n\treturn (chunk[4] == type[0] && chunk[5] == type[1] && chunk[6] == type[2]\n\t\t\t&& chunk[7] == type[3]);\n}\n\nunsigned char lodepng_chunk_ancillary(const unsigned char* chunk) {\n\treturn ((chunk[4] & 32) != 0);\n}\n\nunsigned char lodepng_chunk_private(const unsigned char* chunk) {\n\treturn ((chunk[6] & 32) != 0);\n}\n\nunsigned char lodepng_chunk_safetocopy(const unsigned char* chunk) {\n\treturn ((chunk[7] & 32) != 0);\n}\n\nunsigned char* lodepng_chunk_data(unsigned char* chunk) {\n\treturn &chunk[8];\n}\n\nconst unsigned char* lodepng_chunk_data_const(const unsigned char* chunk) {\n\treturn &chunk[8];\n}\n\nunsigned lodepng_chunk_check_crc(const unsigned char* chunk) {\n\tunsigned length = lodepng_chunk_length(chunk);\n\tunsigned CRC = lodepng_read32bitInt(&chunk[length + 8]);\n\t/*the CRC is taken of the data and the 4 chunk type letters, not the length*/\n\tunsigned checksum = lodepng_crc32(&chunk[4], length + 4);\n\tif (CRC != checksum)\n\t\treturn 1;\n\telse\n\t\treturn 0;\n}\n\nvoid lodepng_chunk_generate_crc(unsigned char* chunk) {\n\tunsigned length = lodepng_chunk_length(chunk);\n\tunsigned CRC = lodepng_crc32(&chunk[4], length + 4);\n\tlodepng_set32bitInt(chunk + 8 + length, CRC);\n}\n\nunsigned char* lodepng_chunk_next(unsigned char* chunk) {\n\tunsigned total_chunk_length = lodepng_chunk_length(chunk) + 12;\n\treturn &chunk[total_chunk_length];\n}\n\nconst unsigned char* lodepng_chunk_next_const(const unsigned char* chunk) {\n\tunsigned total_chunk_length = lodepng_chunk_length(chunk) + 12;\n\treturn &chunk[total_chunk_length];\n}\n\nunsigned lodepng_chunk_append(unsigned char** out, size_t* outlength,\n\t\tconst unsigned char* chunk) {\n\tunsigned i;\n\tunsigned total_chunk_length = lodepng_chunk_length(chunk) + 12;\n\tunsigned char *chunk_start, *new_buffer;\n\tsize_t new_length = (*outlength) + total_chunk_length;\n\tif (new_length < total_chunk_length || new_length < (*outlength))\n\t\treturn 77; /*integer overflow happened*/\n\n\tnew_buffer = (unsigned char*) lodepng_realloc(*out, new_length);\n\tif (!new_buffer)\n\t\treturn 83; /*alloc fail*/\n\t(*out) = new_buffer;\n\t(*outlength) = new_length;\n\tchunk_start = &(*out)[new_length - total_chunk_length];\n\n\tfor (i = 0; i < total_chunk_length; i++)\n\t\tchunk_start[i] = chunk[i];\n\n\treturn 0;\n}\n\nunsigned lodepng_chunk_create(unsigned char** out, size_t* outlength,\n\t\tunsigned length, const char* type, const unsigned char* data) {\n\tunsigned i;\n\tunsigned char *chunk, *new_buffer;\n\tsize_t new_length = (*outlength) + length + 12;\n\tif (new_length < length + 12 || new_length < (*outlength))\n\t\treturn 77; /*integer overflow happened*/\n\tnew_buffer = (unsigned char*) lodepng_realloc(*out, new_length);\n\tif (!new_buffer)\n\t\treturn 83; /*alloc fail*/\n\t(*out) = new_buffer;\n\t(*outlength) = new_length;\n\tchunk = &(*out)[(*outlength) - length - 12];\n\n\t/*1: length*/\n\tlodepng_set32bitInt(chunk, (unsigned) length);\n\n\t/*2: chunk name (4 letters)*/\n\tchunk[4] = (unsigned char) type[0];\n\tchunk[5] = (unsigned char) type[1];\n\tchunk[6] = (unsigned char) type[2];\n\tchunk[7] = (unsigned char) type[3];\n\n\t/*3: the data*/\n\tfor (i = 0; i < length; i++)\n\t\tchunk[8 + i] = data[i];\n\n\t/*4: CRC (of the chunkname characters and the data)*/\n\tlodepng_chunk_generate_crc(chunk);\n\n\treturn 0;\n}\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Color types and such / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*return type is a LodePNG error code*/\nstatic unsigned checkColorValidity(LodePNGColorType colortype, unsigned bd) /*bd = bitdepth*/\n{\n\tswitch (colortype) {\n\tcase 0:\n\t\tif (!(bd == 1 || bd == 2 || bd == 4 || bd == 8 || bd == 16))\n\t\t\treturn 37;\n\t\tbreak; /*grey*/\n\tcase 2:\n\t\tif (!(bd == 8 || bd == 16))\n\t\t\treturn 37;\n\t\tbreak; /*RGB*/\n\tcase 3:\n\t\tif (!(bd == 1 || bd == 2 || bd == 4 || bd == 8))\n\t\t\treturn 37;\n\t\tbreak; /*palette*/\n\tcase 4:\n\t\tif (!(bd == 8 || bd == 16))\n\t\t\treturn 37;\n\t\tbreak; /*grey + alpha*/\n\tcase 6:\n\t\tif (!(bd == 8 || bd == 16))\n\t\t\treturn 37;\n\t\tbreak; /*RGBA*/\n\tdefault:\n\t\treturn 31;\n\t}\n\treturn 0; /*allowed color type / bits combination*/\n}\n\nstatic unsigned getNumColorChannels(LodePNGColorType colortype) {\n\tswitch (colortype) {\n\tcase 0:\n\t\treturn 1; /*grey*/\n\tcase 2:\n\t\treturn 3; /*RGB*/\n\tcase 3:\n\t\treturn 1; /*palette*/\n\tcase 4:\n\t\treturn 2; /*grey + alpha*/\n\tcase 6:\n\t\treturn 4; /*RGBA*/\n\t}\n\treturn 0; /*unexisting color type*/\n}\n\nstatic unsigned lodepng_get_bpp_lct(LodePNGColorType colortype,\n\t\tunsigned bitdepth) {\n\t/*bits per pixel is amount of channels * bits per channel*/\n\treturn getNumColorChannels(colortype) * bitdepth;\n}\n\n/* ////////////////////////////////////////////////////////////////////////// */\n\nvoid lodepng_color_mode_init(LodePNGColorMode* info) {\n\tinfo->key_defined = 0;\n\tinfo->key_r = info->key_g = info->key_b = 0;\n\tinfo->colortype = LCT_RGBA;\n\tinfo->bitdepth = 8;\n\tinfo->palette = 0;\n\tinfo->palettesize = 0;\n}\n\nvoid lodepng_color_mode_cleanup(LodePNGColorMode* info) {\n\tlodepng_palette_clear(info);\n}\n\nunsigned lodepng_color_mode_copy(LodePNGColorMode* dest,\n\t\tconst LodePNGColorMode* source) {\n\tsize_t i;\n\tlodepng_color_mode_cleanup(dest);\n\t*dest = *source;\n\tif (source->palette) {\n\t\tdest->palette = (unsigned char*) lodepng_malloc(1024);\n\t\tif (!dest->palette && source->palettesize)\n\t\t\treturn 83; /*alloc fail*/\n\t\tfor (i = 0; i < source->palettesize * 4; i++)\n\t\t\tdest->palette[i] = source->palette[i];\n\t}\n\treturn 0;\n}\n\nstatic int lodepng_color_mode_equal(const LodePNGColorMode* a,\n\t\tconst LodePNGColorMode* b) {\n\tsize_t i;\n\tif (a->colortype != b->colortype)\n\t\treturn 0;\n\tif (a->bitdepth != b->bitdepth)\n\t\treturn 0;\n\tif (a->key_defined != b->key_defined)\n\t\treturn 0;\n\tif (a->key_defined) {\n\t\tif (a->key_r != b->key_r)\n\t\t\treturn 0;\n\t\tif (a->key_g != b->key_g)\n\t\t\treturn 0;\n\t\tif (a->key_b != b->key_b)\n\t\t\treturn 0;\n\t}\n\tif (a->palettesize != b->palettesize)\n\t\treturn 0;\n\tfor (i = 0; i < a->palettesize * 4; i++) {\n\t\tif (a->palette[i] != b->palette[i])\n\t\t\treturn 0;\n\t}\n\treturn 1;\n}\n\nvoid lodepng_palette_clear(LodePNGColorMode* info) {\n\tif (info->palette)\n\t\tlodepng_free(info->palette);\n\tinfo->palette = 0;\n\tinfo->palettesize = 0;\n}\n\nunsigned lodepng_palette_add(LodePNGColorMode* info, unsigned char r,\n\t\tunsigned char g, unsigned char b, unsigned char a) {\n\tunsigned char* data;\n\t/*the same resize technique as C++ std::vectors is used, and here it's made so that for a palette with\n\t the max of 256 colors, it'll have the exact alloc size*/\n\tif (!info->palette) /*allocate palette if empty*/\n\t{\n\t\t/*room for 256 colors with 4 bytes each*/\n\t\tdata = (unsigned char*) lodepng_realloc(info->palette, 1024);\n\t\tif (!data)\n\t\t\treturn 83; /*alloc fail*/\n\t\telse\n\t\t\tinfo->palette = data;\n\t}\n\tinfo->palette[4 * info->palettesize + 0] = r;\n\tinfo->palette[4 * info->palettesize + 1] = g;\n\tinfo->palette[4 * info->palettesize + 2] = b;\n\tinfo->palette[4 * info->palettesize + 3] = a;\n\tinfo->palettesize++;\n\treturn 0;\n}\n\nunsigned lodepng_get_bpp(const LodePNGColorMode* info) {\n\t/*calculate bits per pixel out of colortype and bitdepth*/\n\treturn lodepng_get_bpp_lct(info->colortype, info->bitdepth);\n}\n\nunsigned lodepng_get_channels(const LodePNGColorMode* info) {\n\treturn getNumColorChannels(info->colortype);\n}\n\nunsigned lodepng_is_greyscale_type(const LodePNGColorMode* info) {\n\treturn info->colortype == LCT_GREY || info->colortype == LCT_GREY_ALPHA;\n}\n\nunsigned lodepng_is_alpha_type(const LodePNGColorMode* info) {\n\treturn (info->colortype & 4) != 0; /*4 or 6*/\n}\n\nunsigned lodepng_is_palette_type(const LodePNGColorMode* info) {\n\treturn info->colortype == LCT_PALETTE;\n}\n\nunsigned lodepng_has_palette_alpha(const LodePNGColorMode* info) {\n\tsize_t i;\n\tfor (i = 0; i < info->palettesize; i++) {\n\t\tif (info->palette[i * 4 + 3] < 255)\n\t\t\treturn 1;\n\t}\n\treturn 0;\n}\n\nunsigned lodepng_can_have_alpha(const LodePNGColorMode* info) {\n\treturn info->key_defined || lodepng_is_alpha_type(info)\n\t\t\t|| lodepng_has_palette_alpha(info);\n}\n\nsize_t lodepng_get_raw_size(unsigned w, unsigned h,\n\t\tconst LodePNGColorMode* color) {\n\treturn (w * h * lodepng_get_bpp(color) + 7) / 8;\n}\n\nsize_t lodepng_get_raw_size_lct(unsigned w, unsigned h,\n\t\tLodePNGColorType colortype, unsigned bitdepth) {\n\treturn (w * h * lodepng_get_bpp_lct(colortype, bitdepth) + 7) / 8;\n}\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\nstatic void LodePNGUnknownChunks_init(LodePNGInfo* info) {\n\tunsigned i;\n\tfor (i = 0; i < 3; i++)\n\t\tinfo->unknown_chunks_data[i] = 0;\n\tfor (i = 0; i < 3; i++)\n\t\tinfo->unknown_chunks_size[i] = 0;\n}\n\nstatic void LodePNGUnknownChunks_cleanup(LodePNGInfo* info) {\n\tunsigned i;\n\tfor (i = 0; i < 3; i++)\n\t\tlodepng_free(info->unknown_chunks_data[i]);\n}\n\nstatic unsigned LodePNGUnknownChunks_copy(LodePNGInfo* dest,\n\t\tconst LodePNGInfo* src) {\n\tunsigned i;\n\n\tLodePNGUnknownChunks_cleanup(dest);\n\n\tfor (i = 0; i < 3; i++) {\n\t\tsize_t j;\n\t\tdest->unknown_chunks_size[i] = src->unknown_chunks_size[i];\n\t\tdest->unknown_chunks_data[i] = (unsigned char*) lodepng_malloc(\n\t\t\t\tsrc->unknown_chunks_size[i]);\n\t\tif (!dest->unknown_chunks_data[i] && dest->unknown_chunks_size[i])\n\t\t\treturn 83; /*alloc fail*/\n\t\tfor (j = 0; j < src->unknown_chunks_size[i]; j++) {\n\t\t\tdest->unknown_chunks_data[i][j] = src->unknown_chunks_data[i][j];\n\t\t}\n\t}\n\n\treturn 0;\n}\n\n/******************************************************************************/\n\nstatic void LodePNGText_init(LodePNGInfo* info) {\n\tinfo->text_num = 0;\n\tinfo->text_keys = NULL;\n\tinfo->text_strings = NULL;\n}\n\nstatic void LodePNGText_cleanup(LodePNGInfo* info) {\n\tsize_t i;\n\tfor (i = 0; i < info->text_num; i++) {\n\t\tstring_cleanup(&info->text_keys[i]);\n\t\tstring_cleanup(&info->text_strings[i]);\n\t}\n\tlodepng_free(info->text_keys);\n\tlodepng_free(info->text_strings);\n}\n\nstatic unsigned LodePNGText_copy(LodePNGInfo* dest, const LodePNGInfo* source) {\n\tsize_t i = 0;\n\tdest->text_keys = 0;\n\tdest->text_strings = 0;\n\tdest->text_num = 0;\n\tfor (i = 0; i < source->text_num; i++) {\n\t\tCERROR_TRY_RETURN(\n\t\t\t\tlodepng_add_text(dest, source->text_keys[i],\n\t\t\t\t\t\tsource->text_strings[i]));\n\t}\n\treturn 0;\n}\n\nvoid lodepng_clear_text(LodePNGInfo* info) {\n\tLodePNGText_cleanup(info);\n}\n\nunsigned lodepng_add_text(LodePNGInfo* info, const char* key, const char* str) {\n\tchar** new_keys = (char**) (lodepng_realloc(info->text_keys,\n\t\t\tsizeof(char*) * (info->text_num + 1)));\n\tchar** new_strings = (char**) (lodepng_realloc(info->text_strings,\n\t\t\tsizeof(char*) * (info->text_num + 1)));\n\tif (!new_keys || !new_strings) {\n\t\tlodepng_free(new_keys);\n\t\tlodepng_free(new_strings);\n\t\treturn 83; /*alloc fail*/\n\t}\n\n\tinfo->text_num++;\n\tinfo->text_keys = new_keys;\n\tinfo->text_strings = new_strings;\n\n\tstring_init(&info->text_keys[info->text_num - 1]);\n\tstring_set(&info->text_keys[info->text_num - 1], key);\n\n\tstring_init(&info->text_strings[info->text_num - 1]);\n\tstring_set(&info->text_strings[info->text_num - 1], str);\n\n\treturn 0;\n}\n\n/******************************************************************************/\n\nstatic void LodePNGIText_init(LodePNGInfo* info) {\n\tinfo->itext_num = 0;\n\tinfo->itext_keys = NULL;\n\tinfo->itext_langtags = NULL;\n\tinfo->itext_transkeys = NULL;\n\tinfo->itext_strings = NULL;\n}\n\nstatic void LodePNGIText_cleanup(LodePNGInfo* info) {\n\tsize_t i;\n\tfor (i = 0; i < info->itext_num; i++) {\n\t\tstring_cleanup(&info->itext_keys[i]);\n\t\tstring_cleanup(&info->itext_langtags[i]);\n\t\tstring_cleanup(&info->itext_transkeys[i]);\n\t\tstring_cleanup(&info->itext_strings[i]);\n\t}\n\tlodepng_free(info->itext_keys);\n\tlodepng_free(info->itext_langtags);\n\tlodepng_free(info->itext_transkeys);\n\tlodepng_free(info->itext_strings);\n}\n\nstatic unsigned LodePNGIText_copy(LodePNGInfo* dest,\n\t\tconst LodePNGInfo* source) {\n\tsize_t i = 0;\n\tdest->itext_keys = 0;\n\tdest->itext_langtags = 0;\n\tdest->itext_transkeys = 0;\n\tdest->itext_strings = 0;\n\tdest->itext_num = 0;\n\tfor (i = 0; i < source->itext_num; i++) {\n\t\tCERROR_TRY_RETURN(\n\t\t\t\tlodepng_add_itext(dest, source->itext_keys[i],\n\t\t\t\t\t\tsource->itext_langtags[i], source->itext_transkeys[i],\n\t\t\t\t\t\tsource->itext_strings[i]));\n\t}\n\treturn 0;\n}\n\nvoid lodepng_clear_itext(LodePNGInfo* info) {\n\tLodePNGIText_cleanup(info);\n}\n\nunsigned lodepng_add_itext(LodePNGInfo* info, const char* key,\n\t\tconst char* langtag, const char* transkey, const char* str) {\n\tchar** new_keys = (char**) (lodepng_realloc(info->itext_keys,\n\t\t\tsizeof(char*) * (info->itext_num + 1)));\n\tchar** new_langtags = (char**) (lodepng_realloc(info->itext_langtags,\n\t\t\tsizeof(char*) * (info->itext_num + 1)));\n\tchar** new_transkeys = (char**) (lodepng_realloc(info->itext_transkeys,\n\t\t\tsizeof(char*) * (info->itext_num + 1)));\n\tchar** new_strings = (char**) (lodepng_realloc(info->itext_strings,\n\t\t\tsizeof(char*) * (info->itext_num + 1)));\n\tif (!new_keys || !new_langtags || !new_transkeys || !new_strings) {\n\t\tlodepng_free(new_keys);\n\t\tlodepng_free(new_langtags);\n\t\tlodepng_free(new_transkeys);\n\t\tlodepng_free(new_strings);\n\t\treturn 83; /*alloc fail*/\n\t}\n\n\tinfo->itext_num++;\n\tinfo->itext_keys = new_keys;\n\tinfo->itext_langtags = new_langtags;\n\tinfo->itext_transkeys = new_transkeys;\n\tinfo->itext_strings = new_strings;\n\n\tstring_init(&info->itext_keys[info->itext_num - 1]);\n\tstring_set(&info->itext_keys[info->itext_num - 1], key);\n\n\tstring_init(&info->itext_langtags[info->itext_num - 1]);\n\tstring_set(&info->itext_langtags[info->itext_num - 1], langtag);\n\n\tstring_init(&info->itext_transkeys[info->itext_num - 1]);\n\tstring_set(&info->itext_transkeys[info->itext_num - 1], transkey);\n\n\tstring_init(&info->itext_strings[info->itext_num - 1]);\n\tstring_set(&info->itext_strings[info->itext_num - 1], str);\n\n\treturn 0;\n}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\nvoid lodepng_info_init(LodePNGInfo* info) {\n\tlodepng_color_mode_init(&info->color);\n\tinfo->interlace_method = 0;\n\tinfo->compression_method = 0;\n\tinfo->filter_method = 0;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tinfo->background_defined = 0;\n\tinfo->background_r = info->background_g = info->background_b = 0;\n\n\tLodePNGText_init(info);\n\tLodePNGIText_init(info);\n\n\tinfo->time_defined = 0;\n\tinfo->phys_defined = 0;\n\n\tLodePNGUnknownChunks_init(info);\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n}\n\nvoid lodepng_info_cleanup(LodePNGInfo* info) {\n\tlodepng_color_mode_cleanup(&info->color);\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tLodePNGText_cleanup(info);\n\tLodePNGIText_cleanup(info);\n\n\tLodePNGUnknownChunks_cleanup(info);\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n}\n\nunsigned lodepng_info_copy(LodePNGInfo* dest, const LodePNGInfo* source) {\n\tlodepng_info_cleanup(dest);\n\t*dest = *source;\n\tlodepng_color_mode_init(&dest->color);\n\tCERROR_TRY_RETURN(lodepng_color_mode_copy(&dest->color, &source->color));\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tCERROR_TRY_RETURN(LodePNGText_copy(dest, source));\n\tCERROR_TRY_RETURN(LodePNGIText_copy(dest, source));\n\n\tLodePNGUnknownChunks_init(dest);\n\tCERROR_TRY_RETURN(LodePNGUnknownChunks_copy(dest, source));\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\treturn 0;\n}\n\nvoid lodepng_info_swap(LodePNGInfo* a, LodePNGInfo* b) {\n\tLodePNGInfo temp = *a;\n\t*a = *b;\n\t*b = temp;\n}\n\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*index: bitgroup index, bits: bitgroup size(1, 2 or 4), in: bitgroup value, out: octet array to add bits to*/\nstatic void addColorBits(unsigned char* out, size_t index, unsigned bits,\n\t\tunsigned in) {\n\tunsigned m = bits == 1 ? 7 : bits == 2 ? 3 : 1; /*8 / bits - 1*/\n\t/*p = the partial index in the byte, e.g. with 4 palettebits it is 0 for first half or 1 for second half*/\n\tunsigned p = index & m;\n\tin &= (1u << bits) - 1u; /*filter out any other bits of the input value*/\n\tin = in << (bits * (m - p));\n\tif (p == 0)\n\t\tout[index * bits / 8] = in;\n\telse\n\t\tout[index * bits / 8] |= in;\n}\n\ntypedef struct ColorTree ColorTree;\n\n/*\n One node of a color tree\n This is the data structure used to count the number of unique colors and to get a palette\n index for a color. It's like an octree, but because the alpha channel is used too, each\n node has 16 instead of 8 children.\n */\nstruct ColorTree {\n\tColorTree* children[16]; /*up to 16 pointers to ColorTree of next level*/\n\tint index; /*the payload. Only has a meaningful value if this is in the last level*/\n};\n\nstatic void color_tree_init(ColorTree* tree) {\n\tint i;\n\tfor (i = 0; i < 16; i++)\n\t\ttree->children[i] = 0;\n\ttree->index = -1;\n}\n\nstatic void color_tree_cleanup(ColorTree* tree) {\n\tint i;\n\tfor (i = 0; i < 16; i++) {\n\t\tif (tree->children[i]) {\n\t\t\tcolor_tree_cleanup(tree->children[i]);\n\t\t\tlodepng_free(tree->children[i]);\n\t\t}\n\t}\n}\n\n/*returns -1 if color not present, its index otherwise*/\nstatic int color_tree_get(ColorTree* tree, unsigned char r, unsigned char g,\n\t\tunsigned char b, unsigned char a) {\n\tint bit = 0;\n\tfor (bit = 0; bit < 8; bit++) {\n\t\tint i = 8 * ((r >> bit) & 1) + 4 * ((g >> bit) & 1)\n\t\t\t\t+ 2 * ((b >> bit) & 1) + 1 * ((a >> bit) & 1);\n\t\tif (!tree->children[i])\n\t\t\treturn -1;\n\t\telse\n\t\t\ttree = tree->children[i];\n\t}\n\treturn tree ? tree->index : -1;\n}\n\n#ifdef LODEPNG_COMPILE_ENCODER\nstatic int color_tree_has(ColorTree* tree, unsigned char r, unsigned char g,\n\t\tunsigned char b, unsigned char a) {\n\treturn color_tree_get(tree, r, g, b, a) >= 0;\n}\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n/*color is not allowed to already exist.\n Index should be >= 0 (it's signed to be compatible with using -1 for \"doesn't exist\")*/\nstatic void color_tree_add(ColorTree* tree, unsigned char r, unsigned char g,\n\t\tunsigned char b, unsigned char a, unsigned index) {\n\tint bit;\n\tfor (bit = 0; bit < 8; bit++) {\n\t\tint i = 8 * ((r >> bit) & 1) + 4 * ((g >> bit) & 1)\n\t\t\t\t+ 2 * ((b >> bit) & 1) + 1 * ((a >> bit) & 1);\n\t\tif (!tree->children[i]) {\n\t\t\ttree->children[i] = (ColorTree*) lodepng_malloc(sizeof(ColorTree));\n\t\t\tcolor_tree_init(tree->children[i]);\n\t\t}\n\t\ttree = tree->children[i];\n\t}\n\ttree->index = (int) index;\n}\n\n/*put a pixel, given its RGBA color, into image of any color type*/\nstatic unsigned rgba8ToPixel(unsigned char* out, size_t i,\n\t\tconst LodePNGColorMode* mode, ColorTree* tree /*for palette*/,\n\t\tunsigned char r, unsigned char g, unsigned char b, unsigned char a) {\n\tif (mode->colortype == LCT_GREY) {\n\t\tunsigned char grey = r; /*((unsigned short)r + g + b) / 3*/\n\t\t;\n\t\tif (mode->bitdepth == 8)\n\t\t\tout[i] = grey;\n\t\telse if (mode->bitdepth == 16)\n\t\t\tout[i * 2 + 0] = out[i * 2 + 1] = grey;\n\t\telse {\n\t\t\t/*take the most significant bits of grey*/\n\t\t\tgrey = (grey >> (8 - mode->bitdepth)) & ((1 << mode->bitdepth) - 1);\n\t\t\taddColorBits(out, i, mode->bitdepth, grey);\n\t\t}\n\t} else if (mode->colortype == LCT_RGB) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\tout[i * 3 + 0] = r;\n\t\t\tout[i * 3 + 1] = g;\n\t\t\tout[i * 3 + 2] = b;\n\t\t} else {\n\t\t\tout[i * 6 + 0] = out[i * 6 + 1] = r;\n\t\t\tout[i * 6 + 2] = out[i * 6 + 3] = g;\n\t\t\tout[i * 6 + 4] = out[i * 6 + 5] = b;\n\t\t}\n\t} else if (mode->colortype == LCT_PALETTE) {\n\t\tint index = color_tree_get(tree, r, g, b, a);\n\t\tif (index < 0)\n\t\t\treturn 82; /*color not in palette*/\n\t\tif (mode->bitdepth == 8)\n\t\t\tout[i] = index;\n\t\telse\n\t\t\taddColorBits(out, i, mode->bitdepth, (unsigned) index);\n\t} else if (mode->colortype == LCT_GREY_ALPHA) {\n\t\tunsigned char grey = r; /*((unsigned short)r + g + b) / 3*/\n\t\t;\n\t\tif (mode->bitdepth == 8) {\n\t\t\tout[i * 2 + 0] = grey;\n\t\t\tout[i * 2 + 1] = a;\n\t\t} else if (mode->bitdepth == 16) {\n\t\t\tout[i * 4 + 0] = out[i * 4 + 1] = grey;\n\t\t\tout[i * 4 + 2] = out[i * 4 + 3] = a;\n\t\t}\n\t} else if (mode->colortype == LCT_RGBA) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\tout[i * 4 + 0] = r;\n\t\t\tout[i * 4 + 1] = g;\n\t\t\tout[i * 4 + 2] = b;\n\t\t\tout[i * 4 + 3] = a;\n\t\t} else {\n\t\t\tout[i * 8 + 0] = out[i * 8 + 1] = r;\n\t\t\tout[i * 8 + 2] = out[i * 8 + 3] = g;\n\t\t\tout[i * 8 + 4] = out[i * 8 + 5] = b;\n\t\t\tout[i * 8 + 6] = out[i * 8 + 7] = a;\n\t\t}\n\t}\n\n\treturn 0; /*no error*/\n}\n\n/*put a pixel, given its RGBA16 color, into image of any color 16-bitdepth type*/\nstatic unsigned rgba16ToPixel(unsigned char* out, size_t i,\n\t\tconst LodePNGColorMode* mode, unsigned short r, unsigned short g,\n\t\tunsigned short b, unsigned short a) {\n\tif (mode->bitdepth != 16)\n\t\treturn 85; /*must be 16 for this function*/\n\tif (mode->colortype == LCT_GREY) {\n\t\tunsigned short grey = r; /*((unsigned)r + g + b) / 3*/\n\t\t;\n\t\tout[i * 2 + 0] = (grey >> 8) & 255;\n\t\tout[i * 2 + 1] = grey & 255;\n\t} else if (mode->colortype == LCT_RGB) {\n\t\tout[i * 6 + 0] = (r >> 8) & 255;\n\t\tout[i * 6 + 1] = r & 255;\n\t\tout[i * 6 + 2] = (g >> 8) & 255;\n\t\tout[i * 6 + 3] = g & 255;\n\t\tout[i * 6 + 4] = (b >> 8) & 255;\n\t\tout[i * 6 + 5] = b & 255;\n\t} else if (mode->colortype == LCT_GREY_ALPHA) {\n\t\tunsigned short grey = r; /*((unsigned)r + g + b) / 3*/\n\t\t;\n\t\tout[i * 4 + 0] = (grey >> 8) & 255;\n\t\tout[i * 4 + 1] = grey & 255;\n\t\tout[i * 4 + 2] = (a >> 8) & 255;\n\t\tout[i * 4 + 3] = a & 255;\n\t} else if (mode->colortype == LCT_RGBA) {\n\t\tout[i * 8 + 0] = (r >> 8) & 255;\n\t\tout[i * 8 + 1] = r & 255;\n\t\tout[i * 8 + 2] = (g >> 8) & 255;\n\t\tout[i * 8 + 3] = g & 255;\n\t\tout[i * 8 + 4] = (b >> 8) & 255;\n\t\tout[i * 8 + 5] = b & 255;\n\t\tout[i * 8 + 6] = (a >> 8) & 255;\n\t\tout[i * 8 + 7] = a & 255;\n\t}\n\n\treturn 0; /*no error*/\n}\n\n/*Get RGBA8 color of pixel with index i (y * width + x) from the raw image with given color type.*/\nstatic unsigned getPixelColorRGBA8(unsigned char* r, unsigned char* g,\n\t\tunsigned char* b, unsigned char* a, const unsigned char* in, size_t i,\n\t\tconst LodePNGColorMode* mode, unsigned fix_png) {\n\tif (mode->colortype == LCT_GREY) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\t*r = *g = *b = in[i];\n\t\t\tif (mode->key_defined && *r == mode->key_r)\n\t\t\t\t*a = 0;\n\t\t\telse\n\t\t\t\t*a = 255;\n\t\t} else if (mode->bitdepth == 16) {\n\t\t\t*r = *g = *b = in[i * 2 + 0];\n\t\t\tif (mode->key_defined\n\t\t\t\t\t&& 256U * in[i * 2 + 0] + in[i * 2 + 1] == mode->key_r)\n\t\t\t\t*a = 0;\n\t\t\telse\n\t\t\t\t*a = 255;\n\t\t} else {\n\t\t\tunsigned highest = ((1U << mode->bitdepth) - 1U); /*highest possible value for this bit depth*/\n\t\t\tsize_t j = i * mode->bitdepth;\n\t\t\tunsigned value = readBitsFromReversedStream(&j, in, mode->bitdepth);\n\t\t\t*r = *g = *b = (value * 255) / highest;\n\t\t\tif (mode->key_defined && value == mode->key_r)\n\t\t\t\t*a = 0;\n\t\t\telse\n\t\t\t\t*a = 255;\n\t\t}\n\t} else if (mode->colortype == LCT_RGB) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\t*r = in[i * 3 + 0];\n\t\t\t*g = in[i * 3 + 1];\n\t\t\t*b = in[i * 3 + 2];\n\t\t\tif (mode->key_defined && *r == mode->key_r && *g == mode->key_g\n\t\t\t\t\t&& *b == mode->key_b)\n\t\t\t\t*a = 0;\n\t\t\telse\n\t\t\t\t*a = 255;\n\t\t} else {\n\t\t\t*r = in[i * 6 + 0];\n\t\t\t*g = in[i * 6 + 2];\n\t\t\t*b = in[i * 6 + 4];\n\t\t\tif (mode->key_defined\n\t\t\t\t\t&& 256U * in[i * 6 + 0] + in[i * 6 + 1] == mode->key_r\n\t\t\t\t\t&& 256U * in[i * 6 + 2] + in[i * 6 + 3] == mode->key_g\n\t\t\t\t\t&& 256U * in[i * 6 + 4] + in[i * 6 + 5] == mode->key_b)\n\t\t\t\t*a = 0;\n\t\t\telse\n\t\t\t\t*a = 255;\n\t\t}\n\t} else if (mode->colortype == LCT_PALETTE) {\n\t\tunsigned index;\n\t\tif (mode->bitdepth == 8)\n\t\t\tindex = in[i];\n\t\telse {\n\t\t\tsize_t j = i * mode->bitdepth;\n\t\t\tindex = readBitsFromReversedStream(&j, in, mode->bitdepth);\n\t\t}\n\n\t\tif (index >= mode->palettesize) {\n\t\t\t/*This is an error according to the PNG spec, but fix_png can ignore it*/\n\t\t\tif (!fix_png)\n\t\t\t\treturn (mode->bitdepth == 8 ? 46 : 47); /*index out of palette*/\n\t\t\t*r = *g = *b = 0;\n\t\t\t*a = 255;\n\t\t} else {\n\t\t\t*r = mode->palette[index * 4 + 0];\n\t\t\t*g = mode->palette[index * 4 + 1];\n\t\t\t*b = mode->palette[index * 4 + 2];\n\t\t\t*a = mode->palette[index * 4 + 3];\n\t\t}\n\t} else if (mode->colortype == LCT_GREY_ALPHA) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\t*r = *g = *b = in[i * 2 + 0];\n\t\t\t*a = in[i * 2 + 1];\n\t\t} else {\n\t\t\t*r = *g = *b = in[i * 4 + 0];\n\t\t\t*a = in[i * 4 + 2];\n\t\t}\n\t} else if (mode->colortype == LCT_RGBA) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\t*r = in[i * 4 + 0];\n\t\t\t*g = in[i * 4 + 1];\n\t\t\t*b = in[i * 4 + 2];\n\t\t\t*a = in[i * 4 + 3];\n\t\t} else {\n\t\t\t*r = in[i * 8 + 0];\n\t\t\t*g = in[i * 8 + 2];\n\t\t\t*b = in[i * 8 + 4];\n\t\t\t*a = in[i * 8 + 6];\n\t\t}\n\t}\n\n\treturn 0; /*no error*/\n}\n\n/*Similar to getPixelColorRGBA8, but with all the for loops inside of the color\n mode test cases, optimized to convert the colors much faster, when converting\n to RGBA or RGB with 8 bit per cannel. buffer must be RGBA or RGB output with\n enough memory, if has_alpha is true the output is RGBA. mode has the color mode\n of the input buffer.*/\nstatic unsigned getPixelColorsRGBA8(unsigned char* buffer, size_t numpixels,\n\t\tunsigned has_alpha, const unsigned char* in,\n\t\tconst LodePNGColorMode* mode, unsigned fix_png) {\n\tunsigned num_channels = has_alpha ? 4 : 3;\n\tsize_t i;\n\tif (mode->colortype == LCT_GREY) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = buffer[1] = buffer[2] = in[i];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] =\n\t\t\t\t\t\t\tmode->key_defined && in[i] == mode->key_r ? 0 : 255;\n\t\t\t}\n\t\t} else if (mode->bitdepth == 16) {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = buffer[1] = buffer[2] = in[i * 2];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] =\n\t\t\t\t\t\t\tmode->key_defined\n\t\t\t\t\t\t\t\t\t&& 256U * in[i * 2 + 0] + in[i * 2 + 1]\n\t\t\t\t\t\t\t\t\t\t\t== mode->key_r ? 0 : 255;\n\t\t\t}\n\t\t} else {\n\t\t\tunsigned highest = ((1U << mode->bitdepth) - 1U); /*highest possible value for this bit depth*/\n\t\t\tsize_t j = 0;\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tunsigned value = readBitsFromReversedStream(&j, in,\n\t\t\t\t\t\tmode->bitdepth);\n\t\t\t\tbuffer[0] = buffer[1] = buffer[2] = (value * 255) / highest;\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] =\n\t\t\t\t\t\t\tmode->key_defined && value == mode->key_r ? 0 : 255;\n\t\t\t}\n\t\t}\n\t} else if (mode->colortype == LCT_RGB) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = in[i * 3 + 0];\n\t\t\t\tbuffer[1] = in[i * 3 + 1];\n\t\t\t\tbuffer[2] = in[i * 3 + 2];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] =\n\t\t\t\t\t\t\tmode->key_defined && buffer[0] == mode->key_r\n\t\t\t\t\t\t\t\t\t&& buffer[1] == mode->key_g\n\t\t\t\t\t\t\t\t\t&& buffer[2] == mode->key_b ? 0 : 255;\n\t\t\t}\n\t\t} else {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = in[i * 6 + 0];\n\t\t\t\tbuffer[1] = in[i * 6 + 2];\n\t\t\t\tbuffer[2] = in[i * 6 + 4];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] =\n\t\t\t\t\t\t\tmode->key_defined\n\t\t\t\t\t\t\t\t\t&& 256U * in[i * 6 + 0] + in[i * 6 + 1]\n\t\t\t\t\t\t\t\t\t\t\t== mode->key_r\n\t\t\t\t\t\t\t\t\t&& 256U * in[i * 6 + 2] + in[i * 6 + 3]\n\t\t\t\t\t\t\t\t\t\t\t== mode->key_g\n\t\t\t\t\t\t\t\t\t&& 256U * in[i * 6 + 4] + in[i * 6 + 5]\n\t\t\t\t\t\t\t\t\t\t\t== mode->key_b ? 0 : 255;\n\t\t\t}\n\t\t}\n\t} else if (mode->colortype == LCT_PALETTE) {\n\t\tunsigned index;\n\t\tsize_t j = 0;\n\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\tif (mode->bitdepth == 8)\n\t\t\t\tindex = in[i];\n\t\t\telse\n\t\t\t\tindex = readBitsFromReversedStream(&j, in, mode->bitdepth);\n\n\t\t\tif (index >= mode->palettesize) {\n\t\t\t\t/*This is an error according to the PNG spec, but fix_png can ignore it*/\n\t\t\t\tif (!fix_png)\n\t\t\t\t\treturn (mode->bitdepth == 8 ? 46 : 47); /*index out of palette*/\n\t\t\t\tbuffer[0] = buffer[1] = buffer[2] = 0;\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] = 255;\n\t\t\t} else {\n\t\t\t\tbuffer[0] = mode->palette[index * 4 + 0];\n\t\t\t\tbuffer[1] = mode->palette[index * 4 + 1];\n\t\t\t\tbuffer[2] = mode->palette[index * 4 + 2];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] = mode->palette[index * 4 + 3];\n\t\t\t}\n\t\t}\n\t} else if (mode->colortype == LCT_GREY_ALPHA) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = buffer[1] = buffer[2] = in[i * 2 + 0];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] = in[i * 2 + 1];\n\t\t\t}\n\t\t} else {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = buffer[1] = buffer[2] = in[i * 4 + 0];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] = in[i * 4 + 2];\n\t\t\t}\n\t\t}\n\t} else if (mode->colortype == LCT_RGBA) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = in[i * 4 + 0];\n\t\t\t\tbuffer[1] = in[i * 4 + 1];\n\t\t\t\tbuffer[2] = in[i * 4 + 2];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] = in[i * 4 + 3];\n\t\t\t}\n\t\t} else {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = in[i * 8 + 0];\n\t\t\t\tbuffer[1] = in[i * 8 + 2];\n\t\t\t\tbuffer[2] = in[i * 8 + 4];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] = in[i * 8 + 6];\n\t\t\t}\n\t\t}\n\t}\n\n\treturn 0; /*no error*/\n}\n\n/*Get RGBA16 color of pixel with index i (y * width + x) from the raw image with\n given color type, but the given color type must be 16-bit itself.*/\nstatic unsigned getPixelColorRGBA16(unsigned short* r, unsigned short* g,\n\t\tunsigned short* b, unsigned short* a, const unsigned char* in, size_t i,\n\t\tconst LodePNGColorMode* mode) {\n\tif (mode->bitdepth != 16)\n\t\treturn 85; /*error: this function only supports 16-bit input*/\n\n\tif (mode->colortype == LCT_GREY) {\n\t\t*r = *g = *b = 256 * in[i * 2 + 0] + in[i * 2 + 1];\n\t\tif (mode->key_defined\n\t\t\t\t&& 256U * in[i * 2 + 0] + in[i * 2 + 1] == mode->key_r)\n\t\t\t*a = 0;\n\t\telse\n\t\t\t*a = 65535;\n\t} else if (mode->colortype == LCT_RGB) {\n\t\t*r = 256 * in[i * 6 + 0] + in[i * 6 + 1];\n\t\t*g = 256 * in[i * 6 + 2] + in[i * 6 + 3];\n\t\t*b = 256 * in[i * 6 + 4] + in[i * 6 + 5];\n\t\tif (mode->key_defined\n\t\t\t\t&& 256U * in[i * 6 + 0] + in[i * 6 + 1] == mode->key_r\n\t\t\t\t&& 256U * in[i * 6 + 2] + in[i * 6 + 3] == mode->key_g\n\t\t\t\t&& 256U * in[i * 6 + 4] + in[i * 6 + 5] == mode->key_b)\n\t\t\t*a = 0;\n\t\telse\n\t\t\t*a = 65535;\n\t} else if (mode->colortype == LCT_GREY_ALPHA) {\n\t\t*r = *g = *b = 256 * in[i * 4 + 0] + in[i * 4 + 1];\n\t\t*a = 256 * in[i * 4 + 2] + in[i * 4 + 3];\n\t} else if (mode->colortype == LCT_RGBA) {\n\t\t*r = 256 * in[i * 8 + 0] + in[i * 8 + 1];\n\t\t*g = 256 * in[i * 8 + 2] + in[i * 8 + 3];\n\t\t*b = 256 * in[i * 8 + 4] + in[i * 8 + 5];\n\t\t*a = 256 * in[i * 8 + 6] + in[i * 8 + 7];\n\t} else\n\t\treturn 85; /*error: this function only supports 16-bit input, not palettes*/\n\n\treturn 0; /*no error*/\n}\n\n/*\n converts from any color type to 24-bit or 32-bit (later maybe more supported). return value = LodePNG error code\n the out buffer must have (w * h * bpp + 7) / 8 bytes, where bpp is the bits per pixel of the output color type\n (lodepng_get_bpp) for < 8 bpp images, there may _not_ be padding bits at the end of scanlines.\n */\nunsigned lodepng_convert(unsigned char* out, const unsigned char* in,\n\t\tLodePNGColorMode* mode_out, const LodePNGColorMode* mode_in, unsigned w,\n\t\tunsigned h, unsigned fix_png) {\n\tunsigned error = 0;\n\tsize_t i;\n\tColorTree tree;\n\tsize_t numpixels = w * h;\n\n\tif (lodepng_color_mode_equal(mode_out, mode_in)) {\n\t\tsize_t numbytes = lodepng_get_raw_size(w, h, mode_in);\n\t\tfor (i = 0; i < numbytes; i++)\n\t\t\tout[i] = in[i];\n\t\treturn error;\n\t}\n\n\tif (mode_out->colortype == LCT_PALETTE) {\n\t\tsize_t palsize = 1u << mode_out->bitdepth;\n\t\tif (mode_out->palettesize < palsize)\n\t\t\tpalsize = mode_out->palettesize;\n\t\tcolor_tree_init(&tree);\n\t\tfor (i = 0; i < palsize; i++) {\n\t\t\tunsigned char* p = &mode_out->palette[i * 4];\n\t\t\tcolor_tree_add(&tree, p[0], p[1], p[2], p[3], i);\n\t\t}\n\t}\n\n\tif (mode_in->bitdepth == 16 && mode_out->bitdepth == 16) {\n\t\tfor (i = 0; i < numpixels; i++) {\n\t\t\tunsigned short r = 0, g = 0, b = 0, a = 0;\n\t\t\terror = getPixelColorRGBA16(&r, &g, &b, &a, in, i, mode_in);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\t\t\terror = rgba16ToPixel(out, i, mode_out, r, g, b, a);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\t\t}\n\t} else if (mode_out->bitdepth == 8 && mode_out->colortype == LCT_RGBA) {\n\t\terror = getPixelColorsRGBA8(out, numpixels, 1, in, mode_in, fix_png);\n\t} else if (mode_out->bitdepth == 8 && mode_out->colortype == LCT_RGB) {\n\t\terror = getPixelColorsRGBA8(out, numpixels, 0, in, mode_in, fix_png);\n\t} else {\n\t\tunsigned char r = 0, g = 0, b = 0, a = 0;\n\t\tfor (i = 0; i < numpixels; i++) {\n\t\t\terror = getPixelColorRGBA8(&r, &g, &b, &a, in, i, mode_in, fix_png);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\t\t\terror = rgba8ToPixel(out, i, mode_out, &tree, r, g, b, a);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\t\t}\n\t}\n\n\tif (mode_out->colortype == LCT_PALETTE) {\n\t\tcolor_tree_cleanup(&tree);\n\t}\n\n\treturn error;\n}\n\n#ifdef LODEPNG_COMPILE_ENCODER\n\ntypedef struct ColorProfile {\n\tunsigned char sixteenbit; /*needs more than 8 bits per channel*/\n\tunsigned char sixteenbit_done;\n\n\tunsigned char colored; /*not greyscale*/\n\tunsigned char colored_done;\n\n\tunsigned char key; /*a color key is required, or more*/\n\tunsigned short key_r; /*these values are always in 16-bit bitdepth in the profile*/\n\tunsigned short key_g;\n\tunsigned short key_b;\n\tunsigned char alpha; /*alpha channel, or alpha palette, required*/\n\tunsigned char alpha_done;\n\n\tunsigned numcolors;\n\tColorTree tree; /*for listing the counted colors, up to 256*/\n\tunsigned char* palette; /*size 1024. Remember up to the first 256 RGBA colors*/\n\tunsigned maxnumcolors; /*if more than that amount counted*/\n\tunsigned char numcolors_done;\n\n\tunsigned greybits; /*amount of bits required for greyscale (1, 2, 4, 8). Does not take 16 bit into account.*/\n\tunsigned char greybits_done;\n\n} ColorProfile;\n\nstatic void color_profile_init(ColorProfile* profile,\n\t\tconst LodePNGColorMode* mode) {\n\tprofile->sixteenbit = 0;\n\tprofile->sixteenbit_done = mode->bitdepth == 16 ? 0 : 1;\n\n\tprofile->colored = 0;\n\tprofile->colored_done = lodepng_is_greyscale_type(mode) ? 1 : 0;\n\n\tprofile->key = 0;\n\tprofile->alpha = 0;\n\tprofile->alpha_done = lodepng_can_have_alpha(mode) ? 0 : 1;\n\n\tprofile->numcolors = 0;\n\tcolor_tree_init(&profile->tree);\n\tprofile->palette = (unsigned char*) lodepng_malloc(1024);\n\tprofile->maxnumcolors = 257;\n\tif (lodepng_get_bpp(mode) <= 8) {\n\t\tunsigned bpp = lodepng_get_bpp(mode);\n\t\tprofile->maxnumcolors =\n\t\t\t\tbpp == 1 ? 2 : (bpp == 2 ? 4 : (bpp == 4 ? 16 : 256));\n\t}\n\tprofile->numcolors_done = 0;\n\n\tprofile->greybits = 1;\n\tprofile->greybits_done = lodepng_get_bpp(mode) == 1 ? 1 : 0;\n}\n\nstatic void color_profile_cleanup(ColorProfile* profile) {\n\tcolor_tree_cleanup(&profile->tree);\n\tlodepng_free(profile->palette);\n}\n\n/*function used for debug purposes with C++*/\n/*void printColorProfile(ColorProfile* p)\n {\n std::cout << \"sixteenbit: \" << (int)p->sixteenbit << std::endl;\n std::cout << \"sixteenbit_done: \" << (int)p->sixteenbit_done << std::endl;\n std::cout << \"colored: \" << (int)p->colored << std::endl;\n std::cout << \"colored_done: \" << (int)p->colored_done << std::endl;\n std::cout << \"key: \" << (int)p->key << std::endl;\n std::cout << \"key_r: \" << (int)p->key_r << std::endl;\n std::cout << \"key_g: \" << (int)p->key_g << std::endl;\n std::cout << \"key_b: \" << (int)p->key_b << std::endl;\n std::cout << \"alpha: \" << (int)p->alpha << std::endl;\n std::cout << \"alpha_done: \" << (int)p->alpha_done << std::endl;\n std::cout << \"numcolors: \" << (int)p->numcolors << std::endl;\n std::cout << \"maxnumcolors: \" << (int)p->maxnumcolors << std::endl;\n std::cout << \"numcolors_done: \" << (int)p->numcolors_done << std::endl;\n std::cout << \"greybits: \" << (int)p->greybits << std::endl;\n std::cout << \"greybits_done: \" << (int)p->greybits_done << std::endl;\n }*/\n\n/*Returns how many bits needed to represent given value (max 8 bit)*/\nunsigned getValueRequiredBits(unsigned short value) {\n\tif (value == 0 || value == 255)\n\t\treturn 1;\n\t/*The scaling of 2-bit and 4-bit values uses multiples of 85 and 17*/\n\tif (value % 17 == 0)\n\t\treturn value % 85 == 0 ? 2 : 4;\n\treturn 8;\n}\n\n/*profile must already have been inited with mode.\n It's ok to set some parameters of profile to done already.*/\nstatic unsigned get_color_profile(ColorProfile* profile,\n\t\tconst unsigned char* in,\n\t\tsize_t numpixels /*must be full image size, for certain filesize based choices*/,\n\t\tconst LodePNGColorMode* mode, unsigned fix_png) {\n\tunsigned error = 0;\n\tsize_t i;\n\n\tif (mode->bitdepth == 16) {\n\t\tfor (i = 0; i < numpixels; i++) {\n\t\t\tunsigned short r, g, b, a;\n\t\t\terror = getPixelColorRGBA16(&r, &g, &b, &a, in, i, mode);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\n\t\t\t/*a color is considered good for 8-bit if the first byte and the second byte are equal,\n\t\t\t (so if it's divisible through 257), NOT necessarily if the second byte is 0*/\n\t\t\tif (!profile->sixteenbit_done\n\t\t\t\t\t&& (((r & 255) != ((r >> 8) & 255))\n\t\t\t\t\t\t\t|| ((g & 255) != ((g >> 8) & 255))\n\t\t\t\t\t\t\t|| ((b & 255) != ((b >> 8) & 255)))) {\n\t\t\t\tprofile->sixteenbit = 1;\n\t\t\t\tprofile->sixteenbit_done = 1;\n\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore at 16-bit*/\n\t\t\t\tprofile->numcolors_done = 1; /*counting colors no longer useful, palette doesn't support 16-bit*/\n\t\t\t}\n\n\t\t\tif (!profile->colored_done && (r != g || r != b)) {\n\t\t\t\tprofile->colored = 1;\n\t\t\t\tprofile->colored_done = 1;\n\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore*/\n\t\t\t}\n\n\t\t\tif (!profile->alpha_done && a != 65535) {\n\t\t\t\t/*only use color key if numpixels large enough to justify tRNS chunk size*/\n\t\t\t\tif (a == 0 && numpixels > 16\n\t\t\t\t\t\t&& !(profile->key\n\t\t\t\t\t\t\t\t&& (r != profile->key_r || g != profile->key_g\n\t\t\t\t\t\t\t\t\t\t|| b != profile->key_b))) {\n\t\t\t\t\tif (!profile->alpha && !profile->key) {\n\t\t\t\t\t\tprofile->key = 1;\n\t\t\t\t\t\tprofile->key_r = r;\n\t\t\t\t\t\tprofile->key_g = g;\n\t\t\t\t\t\tprofile->key_b = b;\n\t\t\t\t\t}\n\t\t\t\t} else {\n\t\t\t\t\tprofile->alpha = 1;\n\t\t\t\t\tprofile->alpha_done = 1;\n\t\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore*/\n\t\t\t\t}\n\t\t\t}\n\n\t\t\t/* Color key cannot be used if an opaque pixel also has that RGB color. */\n\t\t\tif (!profile->alpha_done && a == 65535 && profile->key\n\t\t\t\t\t&& r == profile->key_r && g == profile->key_g\n\t\t\t\t\t&& b == profile->key_b) {\n\t\t\t\tprofile->alpha = 1;\n\t\t\t\tprofile->alpha_done = 1;\n\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore*/\n\t\t\t}\n\n\t\t\tif (!profile->greybits_done) {\n\t\t\t\t/*assuming 8-bit r, this test does not care about 16-bit*/\n\t\t\t\tunsigned bits = getValueRequiredBits(r);\n\t\t\t\tif (bits > profile->greybits)\n\t\t\t\t\tprofile->greybits = bits;\n\t\t\t\tif (profile->greybits >= 8)\n\t\t\t\t\tprofile->greybits_done = 1;\n\t\t\t}\n\n\t\t\tif (!profile->numcolors_done) {\n\t\t\t\t/*assuming 8-bit rgba, this test does not care about 16-bit*/\n\t\t\t\tif (!color_tree_has(&profile->tree, (unsigned char) r,\n\t\t\t\t\t\t(unsigned char) g, (unsigned char) b,\n\t\t\t\t\t\t(unsigned char) a)) {\n\t\t\t\t\tcolor_tree_add(&profile->tree, (unsigned char) r,\n\t\t\t\t\t\t\t(unsigned char) g, (unsigned char) b,\n\t\t\t\t\t\t\t(unsigned char) a, profile->numcolors);\n\t\t\t\t\tif (profile->numcolors < 256) {\n\t\t\t\t\t\tunsigned char* p = profile->palette;\n\t\t\t\t\t\tunsigned i = profile->numcolors;\n\t\t\t\t\t\tp[i * 4 + 0] = (unsigned char) r;\n\t\t\t\t\t\tp[i * 4 + 1] = (unsigned char) g;\n\t\t\t\t\t\tp[i * 4 + 2] = (unsigned char) b;\n\t\t\t\t\t\tp[i * 4 + 3] = (unsigned char) a;\n\t\t\t\t\t}\n\t\t\t\t\tprofile->numcolors++;\n\t\t\t\t\tif (profile->numcolors >= profile->maxnumcolors)\n\t\t\t\t\t\tprofile->numcolors_done = 1;\n\t\t\t\t}\n\t\t\t}\n\n\t\t\tif (profile->alpha_done && profile->numcolors_done\n\t\t\t\t\t&& profile->colored_done && profile->sixteenbit_done\n\t\t\t\t\t&& profile->greybits_done) {\n\t\t\t\tbreak;\n\t\t\t}\n\t\t};\n\t} else /* < 16-bit */\n\t{\n\t\tfor (i = 0; i < numpixels; i++) {\n\t\t\tunsigned char r = 0, g = 0, b = 0, a = 0;\n\t\t\terror = getPixelColorRGBA8(&r, &g, &b, &a, in, i, mode, fix_png);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\n\t\t\tif (!profile->colored_done && (r != g || r != b)) {\n\t\t\t\tprofile->colored = 1;\n\t\t\t\tprofile->colored_done = 1;\n\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore*/\n\t\t\t}\n\n\t\t\tif (!profile->alpha_done && a != 255) {\n\t\t\t\tif (a == 0\n\t\t\t\t\t\t&& !(profile->key\n\t\t\t\t\t\t\t\t&& (r != profile->key_r || g != profile->key_g\n\t\t\t\t\t\t\t\t\t\t|| b != profile->key_b))) {\n\t\t\t\t\tif (!profile->key) {\n\t\t\t\t\t\tprofile->key = 1;\n\t\t\t\t\t\tprofile->key_r = r;\n\t\t\t\t\t\tprofile->key_g = g;\n\t\t\t\t\t\tprofile->key_b = b;\n\t\t\t\t\t}\n\t\t\t\t} else {\n\t\t\t\t\tprofile->alpha = 1;\n\t\t\t\t\tprofile->alpha_done = 1;\n\t\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore*/\n\t\t\t\t}\n\t\t\t}\n\n\t\t\t/* Color key cannot be used if an opaque pixel also has that RGB color. */\n\t\t\tif (!profile->alpha_done && a == 255 && profile->key\n\t\t\t\t\t&& r == profile->key_r && g == profile->key_g\n\t\t\t\t\t&& b == profile->key_b) {\n\t\t\t\tprofile->alpha = 1;\n\t\t\t\tprofile->alpha_done = 1;\n\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore*/\n\t\t\t}\n\n\t\t\tif (!profile->greybits_done) {\n\t\t\t\tunsigned bits = getValueRequiredBits(r);\n\t\t\t\tif (bits > profile->greybits)\n\t\t\t\t\tprofile->greybits = bits;\n\t\t\t\tif (profile->greybits >= 8)\n\t\t\t\t\tprofile->greybits_done = 1;\n\t\t\t}\n\n\t\t\tif (!profile->numcolors_done) {\n\t\t\t\tif (!color_tree_has(&profile->tree, r, g, b, a)) {\n\t\t\t\t\tcolor_tree_add(&profile->tree, r, g, b, a,\n\t\t\t\t\t\t\tprofile->numcolors);\n\t\t\t\t\tif (profile->numcolors < 256) {\n\t\t\t\t\t\tunsigned char* p = profile->palette;\n\t\t\t\t\t\tunsigned i = profile->numcolors;\n\t\t\t\t\t\tp[i * 4 + 0] = r;\n\t\t\t\t\t\tp[i * 4 + 1] = g;\n\t\t\t\t\t\tp[i * 4 + 2] = b;\n\t\t\t\t\t\tp[i * 4 + 3] = a;\n\t\t\t\t\t}\n\t\t\t\t\tprofile->numcolors++;\n\t\t\t\t\tif (profile->numcolors >= profile->maxnumcolors)\n\t\t\t\t\t\tprofile->numcolors_done = 1;\n\t\t\t\t}\n\t\t\t}\n\n\t\t\tif (profile->alpha_done && profile->numcolors_done\n\t\t\t\t\t&& profile->colored_done && profile->greybits_done) {\n\t\t\t\tbreak;\n\t\t\t}\n\t\t};\n\t}\n\n\t/*make the profile's key always 16-bit for consistency*/\n\tif (mode->bitdepth < 16) {\n\t\t/*repeat each byte twice*/\n\t\tprofile->key_r *= 257;\n\t\tprofile->key_g *= 257;\n\t\tprofile->key_b *= 257;\n\t}\n\n\treturn error;\n}\n\nstatic void setColorKeyFrom16bit(LodePNGColorMode* mode_out, unsigned r,\n\t\tunsigned g, unsigned b, unsigned bitdepth) {\n\tunsigned mask = (1u << bitdepth) - 1u;\n\tmode_out->key_defined = 1;\n\tmode_out->key_r = r & mask;\n\tmode_out->key_g = g & mask;\n\tmode_out->key_b = b & mask;\n}\n\n/*updates values of mode with a potentially smaller color model. mode_out should\n contain the user chosen color model, but will be overwritten with the new chosen one.*/\nunsigned lodepng_auto_choose_color(LodePNGColorMode* mode_out,\n\t\tconst unsigned char* image, unsigned w, unsigned h,\n\t\tconst LodePNGColorMode* mode_in, LodePNGAutoConvert auto_convert) {\n\tColorProfile profile;\n\tunsigned error = 0;\n\tint no_nibbles = auto_convert == LAC_AUTO_NO_NIBBLES\n\t\t\t|| auto_convert == LAC_AUTO_NO_NIBBLES_NO_PALETTE;\n\tint no_palette = auto_convert == LAC_AUTO_NO_PALETTE\n\t\t\t|| auto_convert == LAC_AUTO_NO_NIBBLES_NO_PALETTE;\n\n\tif (auto_convert == LAC_ALPHA) {\n\t\tif (mode_out->colortype != LCT_RGBA\n\t\t\t\t&& mode_out->colortype != LCT_GREY_ALPHA)\n\t\t\treturn 0;\n\t}\n\n\tcolor_profile_init(&profile, mode_in);\n\tif (auto_convert == LAC_ALPHA) {\n\t\tprofile.colored_done = 1;\n\t\tprofile.greybits_done = 1;\n\t\tprofile.numcolors_done = 1;\n\t\tprofile.sixteenbit_done = 1;\n\t}\n\terror = get_color_profile(&profile, image, w * h, mode_in, 0 /*fix_png*/);\n\tif (!error && auto_convert == LAC_ALPHA) {\n\t\tif (!profile.alpha) {\n\t\t\tmode_out->colortype = (\n\t\t\t\t\tmode_out->colortype == LCT_RGBA ? LCT_RGB : LCT_GREY);\n\t\t\tif (profile.key)\n\t\t\t\tsetColorKeyFrom16bit(mode_out, profile.key_r, profile.key_g,\n\t\t\t\t\t\tprofile.key_b, mode_out->bitdepth);\n\t\t}\n\t} else if (!error && auto_convert != LAC_ALPHA) {\n\t\tmode_out->key_defined = 0;\n\n\t\tif (profile.sixteenbit) {\n\t\t\tmode_out->bitdepth = 16;\n\t\t\tif (profile.alpha) {\n\t\t\t\tmode_out->colortype =\n\t\t\t\t\t\tprofile.colored ? LCT_RGBA : LCT_GREY_ALPHA;\n\t\t\t} else {\n\t\t\t\tmode_out->colortype = profile.colored ? LCT_RGB : LCT_GREY;\n\t\t\t\tif (profile.key)\n\t\t\t\t\tsetColorKeyFrom16bit(mode_out, profile.key_r, profile.key_g,\n\t\t\t\t\t\t\tprofile.key_b, mode_out->bitdepth);\n\t\t\t}\n\t\t} else /*less than 16 bits per channel*/\n\t\t{\n\t\t\t/*don't add palette overhead if image hasn't got a lot of pixels*/\n\t\t\tunsigned n = profile.numcolors;\n\t\t\tint palette_ok = !no_palette && n <= 256 && (n * 2 < w * h);\n\t\t\tunsigned palettebits =\n\t\t\t\t\tn <= 2 ? 1 : (n <= 4 ? 2 : (n <= 16 ? 4 : 8));\n\t\t\tint grey_ok = !profile.colored && !profile.alpha; /*grey without alpha, with potentially low bits*/\n\t\t\tif (palette_ok || grey_ok) {\n\t\t\t\tif (!palette_ok\n\t\t\t\t\t\t|| (grey_ok && profile.greybits <= palettebits)) {\n\t\t\t\t\tunsigned grey = profile.key_r;\n\t\t\t\t\tmode_out->colortype = LCT_GREY;\n\t\t\t\t\tmode_out->bitdepth = profile.greybits;\n\t\t\t\t\tif (profile.key)\n\t\t\t\t\t\tsetColorKeyFrom16bit(mode_out, grey, grey, grey,\n\t\t\t\t\t\t\t\tmode_out->bitdepth);\n\t\t\t\t} else {\n\t\t\t\t\t/*fill in the palette*/\n\t\t\t\t\tunsigned i;\n\t\t\t\t\tunsigned char* p = profile.palette;\n\t\t\t\t\t/*remove potential earlier palette*/\n\t\t\t\t\tlodepng_palette_clear(mode_out);\n\t\t\t\t\tfor (i = 0; i < profile.numcolors; i++) {\n\t\t\t\t\t\terror = lodepng_palette_add(mode_out, p[i * 4 + 0],\n\t\t\t\t\t\t\t\tp[i * 4 + 1], p[i * 4 + 2], p[i * 4 + 3]);\n\t\t\t\t\t\tif (error)\n\t\t\t\t\t\t\tbreak;\n\t\t\t\t\t}\n\n\t\t\t\t\tmode_out->colortype = LCT_PALETTE;\n\t\t\t\t\tmode_out->bitdepth = palettebits;\n\t\t\t\t}\n\t\t\t} else /*8-bit per channel*/\n\t\t\t{\n\t\t\t\tmode_out->bitdepth = 8;\n\t\t\t\tif (profile.alpha) {\n\t\t\t\t\tmode_out->colortype =\n\t\t\t\t\t\t\tprofile.colored ? LCT_RGBA : LCT_GREY_ALPHA;\n\t\t\t\t} else {\n\t\t\t\t\tmode_out->colortype =\n\t\t\t\t\t\t\tprofile.colored ?\n\t\t\t\t\t\t\t\t\tLCT_RGB :\n\t\t\t\t\t\t\t\t\tLCT_GREY /*LCT_GREY normally won't occur, already done earlier*/;\n\t\t\t\t\tif (profile.key)\n\t\t\t\t\t\tsetColorKeyFrom16bit(mode_out, profile.key_r,\n\t\t\t\t\t\t\t\tprofile.key_g, profile.key_b,\n\t\t\t\t\t\t\t\tmode_out->bitdepth);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t}\n\n\tcolor_profile_cleanup(&profile);\n\n\tif (mode_out->colortype == LCT_PALETTE\n\t\t\t&& mode_in->palettesize == mode_out->palettesize) {\n\t\t/*In this case keep the palette order of the input, so that the user can choose an optimal one*/\n\t\tsize_t i;\n\t\tfor (i = 0; i < mode_in->palettesize * 4; i++) {\n\t\t\tmode_out->palette[i] = mode_in->palette[i];\n\t\t}\n\t}\n\n\tif (no_nibbles && mode_out->bitdepth < 8) {\n\t\t/*palette can keep its small amount of colors, as long as no indices use it*/\n\t\tmode_out->bitdepth = 8;\n\t}\n\n\treturn error;\n}\n\n#endif /* #ifdef LODEPNG_COMPILE_ENCODER */\n\n/*\n Paeth predicter, used by PNG filter type 4\n The parameters are of type short, but should come from unsigned chars, the shorts\n are only needed to make the paeth calculation correct.\n */\nstatic unsigned char paethPredictor(short a, short b, short c) {\n\tshort pa = abs(b - c);\n\tshort pb = abs(a - c);\n\tshort pc = abs(a + b - c - c);\n\n\tif (pc < pa && pc < pb)\n\t\treturn (unsigned char) c;\n\telse if (pb < pa)\n\t\treturn (unsigned char) b;\n\telse\n\t\treturn (unsigned char) a;\n}\n\n/*shared values used by multiple Adam7 related functions*/\n\nstatic const unsigned ADAM7_IX[7] = { 0, 4, 0, 2, 0, 1, 0 }; /*x start values*/\nstatic const unsigned ADAM7_IY[7] = { 0, 0, 4, 0, 2, 0, 1 }; /*y start values*/\nstatic const unsigned ADAM7_DX[7] = { 8, 8, 4, 4, 2, 2, 1 }; /*x delta values*/\nstatic const unsigned ADAM7_DY[7] = { 8, 8, 8, 4, 4, 2, 2 }; /*y delta values*/\n\n/*\n Outputs various dimensions and positions in the image related to the Adam7 reduced images.\n passw: output containing the width of the 7 passes\n passh: output containing the height of the 7 passes\n filter_passstart: output containing the index of the start and end of each\n reduced image with filter bytes\n padded_passstart output containing the index of the start and end of each\n reduced image when without filter bytes but with padded scanlines\n passstart: output containing the index of the start and end of each reduced\n image without padding between scanlines, but still padding between the images\n w, h: width and height of non-interlaced image\n bpp: bits per pixel\n \"padded\" is only relevant if bpp is less than 8 and a scanline or image does not\n end at a full byte\n */\nstatic void Adam7_getpassvalues(unsigned passw[7], unsigned passh[7],\n\t\tsize_t filter_passstart[8], size_t padded_passstart[8],\n\t\tsize_t passstart[8], unsigned w, unsigned h, unsigned bpp) {\n\t/*the passstart values have 8 values: the 8th one indicates the byte after the end of the 7th (= last) pass*/\n\tunsigned i;\n\n\t/*calculate width and height in pixels of each pass*/\n\tfor (i = 0; i < 7; i++) {\n\t\tpassw[i] = (w + ADAM7_DX[i] - ADAM7_IX[i] - 1) / ADAM7_DX[i];\n\t\tpassh[i] = (h + ADAM7_DY[i] - ADAM7_IY[i] - 1) / ADAM7_DY[i];\n\t\tif (passw[i] == 0)\n\t\t\tpassh[i] = 0;\n\t\tif (passh[i] == 0)\n\t\t\tpassw[i] = 0;\n\t}\n\n\tfilter_passstart[0] = padded_passstart[0] = passstart[0] = 0;\n\tfor (i = 0; i < 7; i++) {\n\t\t/*if passw[i] is 0, it's 0 bytes, not 1 (no filtertype-byte)*/\n\t\tfilter_passstart[i + 1] = filter_passstart[i]\n\t\t\t\t+ ((passw[i] && passh[i]) ?\n\t\t\t\t\t\tpassh[i] * (1 + (passw[i] * bpp + 7) / 8) : 0);\n\t\t/*bits padded if needed to fill full byte at end of each scanline*/\n\t\tpadded_passstart[i + 1] = padded_passstart[i]\n\t\t\t\t+ passh[i] * ((passw[i] * bpp + 7) / 8);\n\t\t/*only padded at end of reduced image*/\n\t\tpassstart[i + 1] = passstart[i] + (passh[i] * passw[i] * bpp + 7) / 8;\n\t}\n}\n\n#ifdef LODEPNG_COMPILE_DECODER\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / PNG Decoder / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*read the information from the header and store it in the LodePNGInfo. return value is error*/\nunsigned lodepng_inspect(unsigned* w, unsigned* h, LodePNGState* state,\n\t\tconst unsigned char* in, size_t insize) {\n\tLodePNGInfo* info = &state->info_png;\n\tif (insize == 0 || in == 0) {\n\t\tCERROR_RETURN_ERROR(state->error, 48); /*error: the given data is empty*/\n\t}\n\tif (insize < 29) {\n\t\tCERROR_RETURN_ERROR(state->error, 27); /*error: the data length is smaller than the length of a PNG header*/\n\t}\n\n\t/*when decoding a new PNG image, make sure all parameters created after previous decoding are reset*/\n\tlodepng_info_cleanup(info);\n\tlodepng_info_init(info);\n\n\tif (in[0] != 137 || in[1] != 80 || in[2] != 78 || in[3] != 71 || in[4] != 13\n\t\t\t|| in[5] != 10 || in[6] != 26 || in[7] != 10) {\n\t\tCERROR_RETURN_ERROR(state->error, 28); /*error: the first 8 bytes are not the correct PNG signature*/\n\t}\n\tif (in[12] != 'I' || in[13] != 'H' || in[14] != 'D' || in[15] != 'R') {\n\t\tCERROR_RETURN_ERROR(state->error, 29); /*error: it doesn't start with a IHDR chunk!*/\n\t}\n\n\t/*read the values given in the header*/\n\t*w = lodepng_read32bitInt(&in[16]);\n\t*h = lodepng_read32bitInt(&in[20]);\n\tinfo->color.bitdepth = in[24];\n\tinfo->color.colortype = (LodePNGColorType) in[25];\n\tinfo->compression_method = in[26];\n\tinfo->filter_method = in[27];\n\tinfo->interlace_method = in[28];\n\n\tif (!state->decoder.ignore_crc) {\n\t\tunsigned CRC = lodepng_read32bitInt(&in[29]);\n\t\tunsigned checksum = lodepng_crc32(&in[12], 17);\n\t\tif (CRC != checksum) {\n\t\t\tCERROR_RETURN_ERROR(state->error, 57); /*invalid CRC*/\n\t\t}\n\t}\n\n\t/*error: only compression method 0 is allowed in the specification*/\n\tif (info->compression_method != 0)\n\t\tCERROR_RETURN_ERROR(state->error, 32);\n\t/*error: only filter method 0 is allowed in the specification*/\n\tif (info->filter_method != 0)\n\t\tCERROR_RETURN_ERROR(state->error, 33);\n\t/*error: only interlace methods 0 and 1 exist in the specification*/\n\tif (info->interlace_method > 1)\n\t\tCERROR_RETURN_ERROR(state->error, 34);\n\n\tstate->error = checkColorValidity(info->color.colortype,\n\t\t\tinfo->color.bitdepth);\n\treturn state->error;\n}\n\nstatic unsigned unfilterScanline(unsigned char* recon,\n\t\tconst unsigned char* scanline, const unsigned char* precon,\n\t\tsize_t bytewidth, unsigned char filterType, size_t length) {\n\t/*\n\t For PNG filter method 0\n\t unfilter a PNG image scanline by scanline. when the pixels are smaller than 1 byte,\n\t the filter works byte per byte (bytewidth = 1)\n\t precon is the previous unfiltered scanline, recon the result, scanline the current one\n\t the incoming scanlines do NOT include the filtertype byte, that one is given in the parameter filterType instead\n\t recon and scanline MAY be the same memory address! precon must be disjoint.\n\t */\n\n\tsize_t i;\n\tswitch (filterType) {\n\tcase 0:\n\t\tfor (i = 0; i < length; i++)\n\t\t\trecon[i] = scanline[i];\n\t\tbreak;\n\tcase 1:\n\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\trecon[i] = scanline[i];\n\t\tfor (i = bytewidth; i < length; i++)\n\t\t\trecon[i] = scanline[i] + recon[i - bytewidth];\n\t\tbreak;\n\tcase 2:\n\t\tif (precon) {\n\t\t\tfor (i = 0; i < length; i++)\n\t\t\t\trecon[i] = scanline[i] + precon[i];\n\t\t} else {\n\t\t\tfor (i = 0; i < length; i++)\n\t\t\t\trecon[i] = scanline[i];\n\t\t}\n\t\tbreak;\n\tcase 3:\n\t\tif (precon) {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\trecon[i] = scanline[i] + precon[i] / 2;\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\trecon[i] = scanline[i]\n\t\t\t\t\t\t+ ((recon[i - bytewidth] + precon[i]) / 2);\n\t\t} else {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\trecon[i] = scanline[i];\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\trecon[i] = scanline[i] + recon[i - bytewidth] / 2;\n\t\t}\n\t\tbreak;\n\tcase 4:\n\t\tif (precon) {\n\t\t\tfor (i = 0; i < bytewidth; i++) {\n\t\t\t\trecon[i] = (scanline[i] + precon[i]); /*paethPredictor(0, precon[i], 0) is always precon[i]*/\n\t\t\t}\n\t\t\tfor (i = bytewidth; i < length; i++) {\n\t\t\t\trecon[i] = (scanline[i]\n\t\t\t\t\t\t+ paethPredictor(recon[i - bytewidth], precon[i],\n\t\t\t\t\t\t\t\tprecon[i - bytewidth]));\n\t\t\t}\n\t\t} else {\n\t\t\tfor (i = 0; i < bytewidth; i++) {\n\t\t\t\trecon[i] = scanline[i];\n\t\t\t}\n\t\t\tfor (i = bytewidth; i < length; i++) {\n\t\t\t\t/*paethPredictor(recon[i - bytewidth], 0, 0) is always recon[i - bytewidth]*/\n\t\t\t\trecon[i] = (scanline[i] + recon[i - bytewidth]);\n\t\t\t}\n\t\t}\n\t\tbreak;\n\tdefault:\n\t\treturn 36; /*error: unexisting filter type given*/\n\t}\n\treturn 0;\n}\n\nstatic unsigned unfilter(unsigned char* out, const unsigned char* in,\n\t\tunsigned w, unsigned h, unsigned bpp) {\n\t/*\n\t For PNG filter method 0\n\t this function unfilters a single image (e.g. without interlacing this is called once, with Adam7 seven times)\n\t out must have enough bytes allocated already, in must have the scanlines + 1 filtertype byte per scanline\n\t w and h are image dimensions or dimensions of reduced image, bpp is bits per pixel\n\t in and out are allowed to be the same memory address (but aren't the same size since in has the extra filter bytes)\n\t */\n\n\tunsigned y;\n\tunsigned char* prevline = 0;\n\n\t/*bytewidth is used for filtering, is 1 when bpp < 8, number of bytes per pixel otherwise*/\n\tsize_t bytewidth = (bpp + 7) / 8;\n\tsize_t linebytes = (w * bpp + 7) / 8;\n\n\tfor (y = 0; y < h; y++) {\n\t\tsize_t outindex = linebytes * y;\n\t\tsize_t inindex = (1 + linebytes) * y; /*the extra filterbyte added to each row*/\n\t\tunsigned char filterType = in[inindex];\n\n\t\tCERROR_TRY_RETURN(\n\t\t\t\tunfilterScanline(&out[outindex], &in[inindex + 1], prevline,\n\t\t\t\t\t\tbytewidth, filterType, linebytes));\n\n\t\tprevline = &out[outindex];\n\t}\n\n\treturn 0;\n}\n\n/*\n in: Adam7 interlaced image, with no padding bits between scanlines, but between\n reduced images so that each reduced image starts at a byte.\n out: the same pixels, but re-ordered so that they're now a non-interlaced image with size w*h\n bpp: bits per pixel\n out has the following size in bits: w * h * bpp.\n in is possibly bigger due to padding bits between reduced images.\n out must be big enough AND must be 0 everywhere if bpp < 8 in the current implementation\n (because that's likely a little bit faster)\n NOTE: comments about padding bits are only relevant if bpp < 8\n */\nstatic void Adam7_deinterlace(unsigned char* out, const unsigned char* in,\n\t\tunsigned w, unsigned h, unsigned bpp) {\n\tunsigned passw[7], passh[7];\n\tsize_t filter_passstart[8], padded_passstart[8], passstart[8];\n\tunsigned i;\n\n\tAdam7_getpassvalues(passw, passh, filter_passstart, padded_passstart,\n\t\t\tpassstart, w, h, bpp);\n\n\tif (bpp >= 8) {\n\t\tfor (i = 0; i < 7; i++) {\n\t\t\tunsigned x, y, b;\n\t\t\tsize_t bytewidth = bpp / 8;\n\t\t\tfor (y = 0; y < passh[i]; y++)\n\t\t\t\tfor (x = 0; x < passw[i]; x++) {\n\t\t\t\t\tsize_t pixelinstart = passstart[i]\n\t\t\t\t\t\t\t+ (y * passw[i] + x) * bytewidth;\n\t\t\t\t\tsize_t pixeloutstart = ((ADAM7_IY[i] + y * ADAM7_DY[i]) * w\n\t\t\t\t\t\t\t+ ADAM7_IX[i] + x * ADAM7_DX[i]) * bytewidth;\n\t\t\t\t\tfor (b = 0; b < bytewidth; b++) {\n\t\t\t\t\t\tout[pixeloutstart + b] = in[pixelinstart + b];\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t}\n\t} else /*bpp < 8: Adam7 with pixels < 8 bit is a bit trickier: with bit pointers*/\n\t{\n\t\tfor (i = 0; i < 7; i++) {\n\t\t\tunsigned x, y, b;\n\t\t\tunsigned ilinebits = bpp * passw[i];\n\t\t\tunsigned olinebits = bpp * w;\n\t\t\tsize_t obp, ibp; /*bit pointers (for out and in buffer)*/\n\t\t\tfor (y = 0; y < passh[i]; y++)\n\t\t\t\tfor (x = 0; x < passw[i]; x++) {\n\t\t\t\t\tibp = (8 * passstart[i]) + (y * ilinebits + x * bpp);\n\t\t\t\t\tobp = (ADAM7_IY[i] + y * ADAM7_DY[i]) * olinebits\n\t\t\t\t\t\t\t+ (ADAM7_IX[i] + x * ADAM7_DX[i]) * bpp;\n\t\t\t\t\tfor (b = 0; b < bpp; b++) {\n\t\t\t\t\t\tunsigned char bit = readBitFromReversedStream(&ibp, in);\n\t\t\t\t\t\t/*note that this function assumes the out buffer is completely 0, use setBitOfReversedStream otherwise*/\n\t\t\t\t\t\tsetBitOfReversedStream0(&obp, out, bit);\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t}\n\t}\n}\n\nstatic void removePaddingBits(unsigned char* out, const unsigned char* in,\n\t\tsize_t olinebits, size_t ilinebits, unsigned h) {\n\t/*\n\t After filtering there are still padding bits if scanlines have non multiple of 8 bit amounts. They need\n\t to be removed (except at last scanline of (Adam7-reduced) image) before working with pure image buffers\n\t for the Adam7 code, the color convert code and the output to the user.\n\t in and out are allowed to be the same buffer, in may also be higher but still overlapping; in must\n\t have >= ilinebits*h bits, out must have >= olinebits*h bits, olinebits must be <= ilinebits\n\t also used to move bits after earlier such operations happened, e.g. in a sequence of reduced images from Adam7\n\t only useful if (ilinebits - olinebits) is a value in the range 1..7\n\t */\n\tunsigned y;\n\tsize_t diff = ilinebits - olinebits;\n\tsize_t ibp = 0, obp = 0; /*input and output bit pointers*/\n\tfor (y = 0; y < h; y++) {\n\t\tsize_t x;\n\t\tfor (x = 0; x < olinebits; x++) {\n\t\t\tunsigned char bit = readBitFromReversedStream(&ibp, in);\n\t\t\tsetBitOfReversedStream(&obp, out, bit);\n\t\t}\n\t\tibp += diff;\n\t}\n}\n\n/*out must be buffer big enough to contain full image, and in must contain the full decompressed data from\n the IDAT chunks (with filter index bytes and possible padding bits)\n return value is error*/\nstatic unsigned postProcessScanlines(unsigned char* out, unsigned char* in,\n\t\tunsigned w, unsigned h, const LodePNGInfo* info_png) {\n\t/*\n\t This function converts the filtered-padded-interlaced data into pure 2D image buffer with the PNG's colortype.\n\t Steps:\n\t *) if no Adam7: 1) unfilter 2) remove padding bits (= posible extra bits per scanline if bpp < 8)\n\t *) if adam7: 1) 7x unfilter 2) 7x remove padding bits 3) Adam7_deinterlace\n\t NOTE: the in buffer will be overwritten with intermediate data!\n\t */\n\tunsigned bpp = lodepng_get_bpp(&info_png->color);\n\tif (bpp == 0)\n\t\treturn 31; /*error: invalid colortype*/\n\n\tif (info_png->interlace_method == 0) {\n\t\tif (bpp < 8 && w * bpp != ((w * bpp + 7) / 8) * 8) {\n\t\t\tCERROR_TRY_RETURN(unfilter(in, in, w, h, bpp));\n\t\t\tremovePaddingBits(out, in, w * bpp, ((w * bpp + 7) / 8) * 8, h);\n\t\t}\n\t\t/*we can immediatly filter into the out buffer, no other steps needed*/\n\t\telse\n\t\t\tCERROR_TRY_RETURN(unfilter(out, in, w, h, bpp));\n\t} else /*interlace_method is 1 (Adam7)*/\n\t{\n\t\tunsigned passw[7], passh[7];\n\t\tsize_t filter_passstart[8], padded_passstart[8], passstart[8];\n\t\tunsigned i;\n\n\t\tAdam7_getpassvalues(passw, passh, filter_passstart, padded_passstart,\n\t\t\t\tpassstart, w, h, bpp);\n\n\t\tfor (i = 0; i < 7; i++) {\n\t\t\tCERROR_TRY_RETURN(\n\t\t\t\t\tunfilter(&in[padded_passstart[i]], &in[filter_passstart[i]],\n\t\t\t\t\t\t\tpassw[i], passh[i], bpp));\n\t\t\t/*TODO: possible efficiency improvement: if in this reduced image the bits fit nicely in 1 scanline,\n\t\t\t move bytes instead of bits or move not at all*/\n\t\t\tif (bpp < 8) {\n\t\t\t\t/*remove padding bits in scanlines; after this there still may be padding\n\t\t\t\t bits between the different reduced images: each reduced image still starts nicely at a byte*/\n\t\t\t\tremovePaddingBits(&in[passstart[i]], &in[padded_passstart[i]],\n\t\t\t\t\t\tpassw[i] * bpp, ((passw[i] * bpp + 7) / 8) * 8,\n\t\t\t\t\t\tpassh[i]);\n\t\t\t}\n\t\t}\n\n\t\tAdam7_deinterlace(out, in, w, h, bpp);\n\t}\n\n\treturn 0;\n}\n\nstatic unsigned readChunk_PLTE(LodePNGColorMode* color,\n\t\tconst unsigned char* data, size_t chunkLength) {\n\tunsigned pos = 0, i;\n\tif (color->palette)\n\t\tlodepng_free(color->palette);\n\tcolor->palettesize = chunkLength / 3;\n\tcolor->palette = (unsigned char*) lodepng_malloc(4 * color->palettesize);\n\tif (!color->palette && color->palettesize) {\n\t\tcolor->palettesize = 0;\n\t\treturn 83; /*alloc fail*/\n\t}\n\tif (color->palettesize > 256)\n\t\treturn 38; /*error: palette too big*/\n\n\tfor (i = 0; i < color->palettesize; i++) {\n\t\tcolor->palette[4 * i + 0] = data[pos++]; /*R*/\n\t\tcolor->palette[4 * i + 1] = data[pos++]; /*G*/\n\t\tcolor->palette[4 * i + 2] = data[pos++]; /*B*/\n\t\tcolor->palette[4 * i + 3] = 255; /*alpha*/\n\t}\n\n\treturn 0; /* OK */\n}\n\nstatic unsigned readChunk_tRNS(LodePNGColorMode* color,\n\t\tconst unsigned char* data, size_t chunkLength) {\n\tunsigned i;\n\tif (color->colortype == LCT_PALETTE) {\n\t\t/*error: more alpha values given than there are palette entries*/\n\t\tif (chunkLength > color->palettesize)\n\t\t\treturn 38;\n\n\t\tfor (i = 0; i < chunkLength; i++)\n\t\t\tcolor->palette[4 * i + 3] = data[i];\n\t} else if (color->colortype == LCT_GREY) {\n\t\t/*error: this chunk must be 2 bytes for greyscale image*/\n\t\tif (chunkLength != 2)\n\t\t\treturn 30;\n\n\t\tcolor->key_defined = 1;\n\t\tcolor->key_r = color->key_g = color->key_b = 256u * data[0] + data[1];\n\t} else if (color->colortype == LCT_RGB) {\n\t\t/*error: this chunk must be 6 bytes for RGB image*/\n\t\tif (chunkLength != 6)\n\t\t\treturn 41;\n\n\t\tcolor->key_defined = 1;\n\t\tcolor->key_r = 256u * data[0] + data[1];\n\t\tcolor->key_g = 256u * data[2] + data[3];\n\t\tcolor->key_b = 256u * data[4] + data[5];\n\t} else\n\t\treturn 42; /*error: tRNS chunk not allowed for other color models*/\n\n\treturn 0; /* OK */\n}\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n/*background color chunk (bKGD)*/\nstatic unsigned readChunk_bKGD(LodePNGInfo* info, const unsigned char* data,\n\t\tsize_t chunkLength) {\n\tif (info->color.colortype == LCT_PALETTE) {\n\t\t/*error: this chunk must be 1 byte for indexed color image*/\n\t\tif (chunkLength != 1)\n\t\t\treturn 43;\n\n\t\tinfo->background_defined = 1;\n\t\tinfo->background_r = info->background_g = info->background_b = data[0];\n\t} else if (info->color.colortype == LCT_GREY\n\t\t\t|| info->color.colortype == LCT_GREY_ALPHA) {\n\t\t/*error: this chunk must be 2 bytes for greyscale image*/\n\t\tif (chunkLength != 2)\n\t\t\treturn 44;\n\n\t\tinfo->background_defined = 1;\n\t\tinfo->background_r = info->background_g = info->background_b = 256u\n\t\t\t\t* data[0] + data[1];\n\t} else if (info->color.colortype == LCT_RGB\n\t\t\t|| info->color.colortype == LCT_RGBA) {\n\t\t/*error: this chunk must be 6 bytes for greyscale image*/\n\t\tif (chunkLength != 6)\n\t\t\treturn 45;\n\n\t\tinfo->background_defined = 1;\n\t\tinfo->background_r = 256u * data[0] + data[1];\n\t\tinfo->background_g = 256u * data[2] + data[3];\n\t\tinfo->background_b = 256u * data[4] + data[5];\n\t}\n\n\treturn 0; /* OK */\n}\n\n/*text chunk (tEXt)*/\nstatic unsigned readChunk_tEXt(LodePNGInfo* info, const unsigned char* data,\n\t\tsize_t chunkLength) {\n\tunsigned error = 0;\n\tchar *key = 0, *str = 0;\n\tunsigned i;\n\n\twhile (!error) /*not really a while loop, only used to break on error*/\n\t{\n\t\tunsigned length, string2_begin;\n\n\t\tlength = 0;\n\t\twhile (length < chunkLength && data[length] != 0)\n\t\t\tlength++;\n\t\t/*even though it's not allowed by the standard, no error is thrown if\n\t\t there's no null termination char, if the text is empty*/\n\t\tif (length < 1 || length > 79)\n\t\t\tCERROR_BREAK(error, 89); /*keyword too short or long*/\n\n\t\tkey = (char*) lodepng_malloc(length + 1);\n\t\tif (!key)\n\t\t\tCERROR_BREAK(error, 83); /*alloc fail*/\n\n\t\tkey[length] = 0;\n\t\tfor (i = 0; i < length; i++)\n\t\t\tkey[i] = (char) data[i];\n\n\t\tstring2_begin = length + 1; /*skip keyword null terminator*/\n\n\t\tlength = chunkLength < string2_begin ? 0 : chunkLength - string2_begin;\n\t\tstr = (char*) lodepng_malloc(length + 1);\n\t\tif (!str)\n\t\t\tCERROR_BREAK(error, 83); /*alloc fail*/\n\n\t\tstr[length] = 0;\n\t\tfor (i = 0; i < length; i++)\n\t\t\tstr[i] = (char) data[string2_begin + i];\n\n\t\terror = lodepng_add_text(info, key, str);\n\n\t\tbreak;\n\t}\n\n\tlodepng_free(key);\n\tlodepng_free(str);\n\n\treturn error;\n}\n\n/*compressed text chunk (zTXt)*/\nstatic unsigned readChunk_zTXt(LodePNGInfo* info,\n\t\tconst LodePNGDecompressSettings* zlibsettings,\n\t\tconst unsigned char* data, size_t chunkLength) {\n\tunsigned error = 0;\n\tunsigned i;\n\n\tunsigned length, string2_begin;\n\tchar *key = 0;\n\tucvector decoded;\n\n\tucvector_init(&decoded);\n\n\twhile (!error) /*not really a while loop, only used to break on error*/\n\t{\n\t\tfor (length = 0; length < chunkLength && data[length] != 0; length++)\n\t\t\t;\n\t\tif (length + 2 >= chunkLength)\n\t\t\tCERROR_BREAK(error, 75); /*no null termination, corrupt?*/\n\t\tif (length < 1 || length > 79)\n\t\t\tCERROR_BREAK(error, 89); /*keyword too short or long*/\n\n\t\tkey = (char*) lodepng_malloc(length + 1);\n\t\tif (!key)\n\t\t\tCERROR_BREAK(error, 83); /*alloc fail*/\n\n\t\tkey[length] = 0;\n\t\tfor (i = 0; i < length; i++)\n\t\t\tkey[i] = (char) data[i];\n\n\t\tif (data[length + 1] != 0)\n\t\t\tCERROR_BREAK(error, 72); /*the 0 byte indicating compression must be 0*/\n\n\t\tstring2_begin = length + 2;\n\t\tif (string2_begin > chunkLength)\n\t\t\tCERROR_BREAK(error, 75); /*no null termination, corrupt?*/\n\n\t\tlength = chunkLength - string2_begin;\n\t\t/*will fail if zlib error, e.g. if length is too small*/\n\t\terror = zlib_decompress(&decoded.data, &decoded.size,\n\t\t\t\t(unsigned char*) (&data[string2_begin]), length, zlibsettings);\n\t\tif (error)\n\t\t\tbreak;\n\t\tucvector_push_back(&decoded, 0);\n\n\t\terror = lodepng_add_text(info, key, (char*) decoded.data);\n\n\t\tbreak;\n\t}\n\n\tlodepng_free(key);\n\tucvector_cleanup(&decoded);\n\n\treturn error;\n}\n\n/*international text chunk (iTXt)*/\nstatic unsigned readChunk_iTXt(LodePNGInfo* info,\n\t\tconst LodePNGDecompressSettings* zlibsettings,\n\t\tconst unsigned char* data, size_t chunkLength) {\n\tunsigned error = 0;\n\tunsigned i;\n\n\tunsigned length, begin, compressed;\n\tchar *key = 0, *langtag = 0, *transkey = 0;\n\tucvector decoded;\n\tucvector_init(&decoded);\n\n\twhile (!error) /*not really a while loop, only used to break on error*/\n\t{\n\t\t/*Quick check if the chunk length isn't too small. Even without check\n\t\t it'd still fail with other error checks below if it's too short. This just gives a different error code.*/\n\t\tif (chunkLength < 5)\n\t\t\tCERROR_BREAK(error, 30); /*iTXt chunk too short*/\n\n\t\t/*read the key*/\n\t\tfor (length = 0; length < chunkLength && data[length] != 0; length++)\n\t\t\t;\n\t\tif (length + 3 >= chunkLength)\n\t\t\tCERROR_BREAK(error, 75); /*no null termination char, corrupt?*/\n\t\tif (length < 1 || length > 79)\n\t\t\tCERROR_BREAK(error, 89); /*keyword too short or long*/\n\n\t\tkey = (char*) lodepng_malloc(length + 1);\n\t\tif (!key)\n\t\t\tCERROR_BREAK(error, 83); /*alloc fail*/\n\n\t\tkey[length] = 0;\n\t\tfor (i = 0; i < length; i++)\n\t\t\tkey[i] = (char) data[i];\n\n\t\t/*read the compression method*/\n\t\tcompressed = data[length + 1];\n\t\tif (data[length + 2] != 0)\n\t\t\tCERROR_BREAK(error, 72); /*the 0 byte indicating compression must be 0*/\n\n\t\t/*even though it's not allowed by the standard, no error is thrown if\n\t\t there's no null termination char, if the text is empty for the next 3 texts*/\n\n\t\t/*read the langtag*/\n\t\tbegin = length + 3;\n\t\tlength = 0;\n\t\tfor (i = begin; i < chunkLength && data[i] != 0; i++)\n\t\t\tlength++;\n\n\t\tlangtag = (char*) lodepng_malloc(length + 1);\n\t\tif (!langtag)\n\t\t\tCERROR_BREAK(error, 83); /*alloc fail*/\n\n\t\tlangtag[length] = 0;\n\t\tfor (i = 0; i < length; i++)\n\t\t\tlangtag[i] = (char) data[begin + i];\n\n\t\t/*read the transkey*/\n\t\tbegin += length + 1;\n\t\tlength = 0;\n\t\tfor (i = begin; i < chunkLength && data[i] != 0; i++)\n\t\t\tlength++;\n\n\t\ttranskey = (char*) lodepng_malloc(length + 1);\n\t\tif (!transkey)\n\t\t\tCERROR_BREAK(error, 83); /*alloc fail*/\n\n\t\ttranskey[length] = 0;\n\t\tfor (i = 0; i < length; i++)\n\t\t\ttranskey[i] = (char) data[begin + i];\n\n\t\t/*read the actual text*/\n\t\tbegin += length + 1;\n\n\t\tlength = chunkLength < begin ? 0 : chunkLength - begin;\n\n\t\tif (compressed) {\n\t\t\t/*will fail if zlib error, e.g. if length is too small*/\n\t\t\terror = zlib_decompress(&decoded.data, &decoded.size,\n\t\t\t\t\t(unsigned char*) (&data[begin]), length, zlibsettings);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\t\t\tif (decoded.allocsize < decoded.size)\n\t\t\t\tdecoded.allocsize = decoded.size;\n\t\t\tucvector_push_back(&decoded, 0);\n\t\t} else {\n\t\t\tif (!ucvector_resize(&decoded, length + 1))\n\t\t\t\tCERROR_BREAK(error, 83 /*alloc fail*/);\n\n\t\t\tdecoded.data[length] = 0;\n\t\t\tfor (i = 0; i < length; i++)\n\t\t\t\tdecoded.data[i] = data[begin + i];\n\t\t}\n\n\t\terror = lodepng_add_itext(info, key, langtag, transkey,\n\t\t\t\t(char*) decoded.data);\n\n\t\tbreak;\n\t}\n\n\tlodepng_free(key);\n\tlodepng_free(langtag);\n\tlodepng_free(transkey);\n\tucvector_cleanup(&decoded);\n\n\treturn error;\n}\n\nstatic unsigned readChunk_tIME(LodePNGInfo* info, const unsigned char* data,\n\t\tsize_t chunkLength) {\n\tif (chunkLength != 7)\n\t\treturn 73; /*invalid tIME chunk size*/\n\n\tinfo->time_defined = 1;\n\tinfo->time.year = 256u * data[0] + data[1];\n\tinfo->time.month = data[2];\n\tinfo->time.day = data[3];\n\tinfo->time.hour = data[4];\n\tinfo->time.minute = data[5];\n\tinfo->time.second = data[6];\n\n\treturn 0; /* OK */\n}\n\nstatic unsigned readChunk_pHYs(LodePNGInfo* info, const unsigned char* data,\n\t\tsize_t chunkLength) {\n\tif (chunkLength != 9)\n\t\treturn 74; /*invalid pHYs chunk size*/\n\n\tinfo->phys_defined = 1;\n\tinfo->phys_x = 16777216u * data[0] + 65536u * data[1] + 256u * data[2]\n\t\t\t+ data[3];\n\tinfo->phys_y = 16777216u * data[4] + 65536u * data[5] + 256u * data[6]\n\t\t\t+ data[7];\n\tinfo->phys_unit = data[8];\n\n\treturn 0; /* OK */\n}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\n/*read a PNG, the result will be in the same color type as the PNG (hence \"generic\")*/\nstatic void decodeGeneric(unsigned char** out, unsigned* w, unsigned* h,\n\t\tLodePNGState* state, const unsigned char* in, size_t insize) {\n\tunsigned char IEND = 0;\n\tconst unsigned char* chunk;\n\tsize_t i;\n\tucvector idat; /*the data from idat chunks*/\n\tucvector scanlines;\n\n\t/*for unknown chunk order*/\n\tunsigned unknown = 0;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tunsigned critical_pos = 1; /*1 = after IHDR, 2 = after PLTE, 3 = after IDAT*/\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\n\t/*provide some proper output values if error will happen*/\n\t*out = 0;\n\n\tstate->error = lodepng_inspect(w, h, state, in, insize); /*reads header and resets other parameters in state->info_png*/\n\tif (state->error)\n\t\treturn;\n\n\tucvector_init(&idat);\n\tchunk = &in[33]; /*first byte of the first chunk after the header*/\n\n\t/*loop through the chunks, ignoring unknown chunks and stopping at IEND chunk.\n\t IDAT data is put at the start of the in buffer*/\n\twhile (!IEND && !state->error) {\n\t\tunsigned chunkLength;\n\t\tconst unsigned char* data; /*the data in the chunk*/\n\n\t\t/*error: size of the in buffer too small to contain next chunk*/\n\t\tif ((size_t) ((chunk - in) + 12) > insize || chunk < in)\n\t\t\tCERROR_BREAK(state->error, 30);\n\n\t\t/*length of the data of the chunk, excluding the length bytes, chunk type and CRC bytes*/\n\t\tchunkLength = lodepng_chunk_length(chunk);\n\t\t/*error: chunk length larger than the max PNG chunk size*/\n\t\tif (chunkLength > 2147483647)\n\t\t\tCERROR_BREAK(state->error, 63);\n\n\t\tif ((size_t) ((chunk - in) + chunkLength + 12) > insize\n\t\t\t\t|| (chunk + chunkLength + 12) < in) {\n\t\t\tCERROR_BREAK(state->error, 64); /*error: size of the in buffer too small to contain next chunk*/\n\t\t}\n\n\t\tdata = lodepng_chunk_data_const(chunk);\n\n\t\t/*IDAT chunk, containing compressed image data*/\n\t\tif (lodepng_chunk_type_equals(chunk, \"IDAT\")) {\n\t\t\tsize_t oldsize = idat.size;\n\t\t\tif (!ucvector_resize(&idat, oldsize + chunkLength))\n\t\t\t\tCERROR_BREAK(state->error, 83 /*alloc fail*/);\n\t\t\tfor (i = 0; i < chunkLength; i++)\n\t\t\t\tidat.data[oldsize + i] = data[i];\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t\tcritical_pos = 3;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\t}\n\t\t/*IEND chunk*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"IEND\")) {\n\t\t\tIEND = 1;\n\t\t}\n\t\t/*palette chunk (PLTE)*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"PLTE\")) {\n\t\t\tstate->error = readChunk_PLTE(&state->info_png.color, data,\n\t\t\t\t\tchunkLength);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t\tcritical_pos = 2;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\t}\n\t\t/*palette transparency chunk (tRNS)*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"tRNS\")) {\n\t\t\tstate->error = readChunk_tRNS(&state->info_png.color, data,\n\t\t\t\t\tchunkLength);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t}\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t/*background color chunk (bKGD)*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"bKGD\")) {\n\t\t\tstate->error = readChunk_bKGD(&state->info_png, data, chunkLength);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t}\n\t\t/*text chunk (tEXt)*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"tEXt\")) {\n\t\t\tif (state->decoder.read_text_chunks) {\n\t\t\t\tstate->error = readChunk_tEXt(&state->info_png, data,\n\t\t\t\t\t\tchunkLength);\n\t\t\t\tif (state->error)\n\t\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\t\t/*compressed text chunk (zTXt)*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"zTXt\")) {\n\t\t\tif (state->decoder.read_text_chunks) {\n\t\t\t\tstate->error = readChunk_zTXt(&state->info_png,\n\t\t\t\t\t\t&state->decoder.zlibsettings, data, chunkLength);\n\t\t\t\tif (state->error)\n\t\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\t\t/*international text chunk (iTXt)*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"iTXt\")) {\n\t\t\tif (state->decoder.read_text_chunks) {\n\t\t\t\tstate->error = readChunk_iTXt(&state->info_png,\n\t\t\t\t\t\t&state->decoder.zlibsettings, data, chunkLength);\n\t\t\t\tif (state->error)\n\t\t\t\t\tbreak;\n\t\t\t}\n\t\t} else if (lodepng_chunk_type_equals(chunk, \"tIME\")) {\n\t\t\tstate->error = readChunk_tIME(&state->info_png, data, chunkLength);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t} else if (lodepng_chunk_type_equals(chunk, \"pHYs\")) {\n\t\t\tstate->error = readChunk_pHYs(&state->info_png, data, chunkLength);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\telse /*it's not an implemented chunk type, so ignore it: skip over the data*/\n\t\t{\n\t\t\t/*error: unknown critical chunk (5th bit of first byte of chunk type is 0)*/\n\t\t\tif (!lodepng_chunk_ancillary(chunk))\n\t\t\t\tCERROR_BREAK(state->error, 69);\n\n\t\t\tunknown = 1;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t\tif (state->decoder.remember_unknown_chunks) {\n\t\t\t\tstate->error = lodepng_chunk_append(\n\t\t\t\t\t\t&state->info_png.unknown_chunks_data[critical_pos - 1],\n\t\t\t\t\t\t&state->info_png.unknown_chunks_size[critical_pos - 1],\n\t\t\t\t\t\tchunk);\n\t\t\t\tif (state->error)\n\t\t\t\t\tbreak;\n\t\t\t}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\t}\n\n\t\tif (!state->decoder.ignore_crc && !unknown) /*check CRC if wanted, only on known chunk types*/\n\t\t{\n\t\t\tif (lodepng_chunk_check_crc(chunk))\n\t\t\t\tCERROR_BREAK(state->error, 57); /*invalid CRC*/\n\t\t}\n\n\t\tif (!IEND)\n\t\t\tchunk = lodepng_chunk_next_const(chunk);\n\t}\n\n\tucvector_init(&scanlines);\n\tif (!state->error) {\n\t\t/*maximum final image length is already reserved in the vector's length - this is not really necessary*/\n\t\tif (!ucvector_resize(&scanlines,\n\t\t\t\tlodepng_get_raw_size(*w, *h, &state->info_png.color) + *h)) {\n\t\t\tstate->error = 83; /*alloc fail*/\n\t\t}\n\t}\n\tif (!state->error) {\n\t\t/*decompress with the Zlib decompressor*/\n\t\tstate->error = zlib_decompress(&scanlines.data, &scanlines.size,\n\t\t\t\tidat.data, idat.size, &state->decoder.zlibsettings);\n\t}\n\tucvector_cleanup(&idat);\n\n\tif (!state->error) {\n\t\tucvector outv;\n\t\tucvector_init(&outv);\n\t\tif (!ucvector_resizev(&outv,\n\t\t\t\tlodepng_get_raw_size(*w, *h, &state->info_png.color), 0))\n\t\t\tstate->error = 83; /*alloc fail*/\n\t\tif (!state->error)\n\t\t\tstate->error = postProcessScanlines(outv.data, scanlines.data, *w,\n\t\t\t\t\t*h, &state->info_png);\n\t\t*out = outv.data;\n\t}\n\tucvector_cleanup(&scanlines);\n}\n\nunsigned lodepng_decode(unsigned char** out, unsigned* w, unsigned* h,\n\t\tLodePNGState* state, const unsigned char* in, size_t insize) {\n\t*out = 0;\n\tdecodeGeneric(out, w, h, state, in, insize);\n\tif (state->error)\n\t\treturn state->error;\n\tif (!state->decoder.color_convert\n\t\t\t|| lodepng_color_mode_equal(&state->info_raw,\n\t\t\t\t\t&state->info_png.color)) {\n\t\t/*same color type, no copying or converting of data needed*/\n\t\t/*store the info_png color settings on the info_raw so that the info_raw still reflects what colortype\n\t\t the raw image has to the end user*/\n\t\tif (!state->decoder.color_convert) {\n\t\t\tstate->error = lodepng_color_mode_copy(&state->info_raw,\n\t\t\t\t\t&state->info_png.color);\n\t\t\tif (state->error)\n\t\t\t\treturn state->error;\n\t\t}\n\t} else {\n\t\t/*color conversion needed; sort of copy of the data*/\n\t\tunsigned char* data = *out;\n\t\tsize_t outsize;\n\n\t\t/*TODO: check if this works according to the statement in the documentation: \"The converter can convert\n\t\t from greyscale input color type, to 8-bit greyscale or greyscale with alpha\"*/\n\t\tif (!(state->info_raw.colortype == LCT_RGB\n\t\t\t\t|| state->info_raw.colortype == LCT_RGBA)\n\t\t\t\t&& !(state->info_raw.bitdepth == 8)) {\n\t\t\treturn 56; /*unsupported color mode conversion*/\n\t\t}\n\n\t\toutsize = lodepng_get_raw_size(*w, *h, &state->info_raw);\n\t\t*out = (unsigned char*) lodepng_malloc(outsize);\n\t\tif (!(*out)) {\n\t\t\tstate->error = 83; /*alloc fail*/\n\t\t} else\n\t\t\tstate->error = lodepng_convert(*out, data, &state->info_raw,\n\t\t\t\t\t&state->info_png.color, *w, *h, state->decoder.fix_png);\n\t\tlodepng_free(data);\n\t}\n\treturn state->error;\n}\n\nunsigned lodepng_decode_memory(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst unsigned char* in, size_t insize, LodePNGColorType colortype,\n\t\tunsigned bitdepth) {\n\tunsigned error;\n\tLodePNGState state;\n\tlodepng_state_init(&state);\n\tstate.info_raw.colortype = colortype;\n\tstate.info_raw.bitdepth = bitdepth;\n\terror = lodepng_decode(out, w, h, &state, in, insize);\n\tlodepng_state_cleanup(&state);\n\treturn error;\n}\n\nunsigned lodepng_decode32(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst unsigned char* in, size_t insize) {\n\treturn lodepng_decode_memory(out, w, h, in, insize, LCT_RGBA, 8);\n}\n\nunsigned lodepng_decode24(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst unsigned char* in, size_t insize) {\n\treturn lodepng_decode_memory(out, w, h, in, insize, LCT_RGB, 8);\n}\n\n#ifdef LODEPNG_COMPILE_DISK\nunsigned lodepng_decode_file(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst char* filename, LodePNGColorType colortype, unsigned bitdepth) {\n\tunsigned char* buffer;\n\tsize_t buffersize;\n\tunsigned error;\n\terror = lodepng_load_file(&buffer, &buffersize, filename);\n\tif (!error)\n\t\terror = lodepng_decode_memory(out, w, h, buffer, buffersize, colortype,\n\t\t\t\tbitdepth);\n\tlodepng_free(buffer);\n\treturn error;\n}\n\nunsigned lodepng_decode32_file(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst char* filename) {\n\treturn lodepng_decode_file(out, w, h, filename, LCT_RGBA, 8);\n}\n\nunsigned lodepng_decode24_file(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst char* filename) {\n\treturn lodepng_decode_file(out, w, h, filename, LCT_RGB, 8);\n}\n#endif /*LODEPNG_COMPILE_DISK*/\n\nvoid lodepng_decoder_settings_init(LodePNGDecoderSettings* settings) {\n\tsettings->color_convert = 1;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tsettings->read_text_chunks = 1;\n\tsettings->remember_unknown_chunks = 0;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\tsettings->ignore_crc = 0;\n\tsettings->fix_png = 0;\n\tlodepng_decompress_settings_init(&settings->zlibsettings);\n}\n\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#if defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER)\n\nvoid lodepng_state_init(LodePNGState* state) {\n#ifdef LODEPNG_COMPILE_DECODER\n\tlodepng_decoder_settings_init(&state->decoder);\n#endif /*LODEPNG_COMPILE_DECODER*/\n#ifdef LODEPNG_COMPILE_ENCODER\n\tlodepng_encoder_settings_init(&state->encoder);\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\tlodepng_color_mode_init(&state->info_raw);\n\tlodepng_info_init(&state->info_png);\n\tstate->error = 1;\n}\n\nvoid lodepng_state_cleanup(LodePNGState* state) {\n\tlodepng_color_mode_cleanup(&state->info_raw);\n\tlodepng_info_cleanup(&state->info_png);\n}\n\nvoid lodepng_state_copy(LodePNGState* dest, const LodePNGState* source) {\n\tlodepng_state_cleanup(dest);\n\t*dest = *source;\n\tlodepng_color_mode_init(&dest->info_raw);\n\tlodepng_info_init(&dest->info_png);\n\tdest->error = lodepng_color_mode_copy(&dest->info_raw, &source->info_raw);\n\tif (dest->error)\n\t\treturn;\n\tdest->error = lodepng_info_copy(&dest->info_png, &source->info_png);\n\tif (dest->error)\n\t\treturn;\n}\n\n#endif /* defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER) */\n\n#ifdef LODEPNG_COMPILE_ENCODER\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / PNG Encoder / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*chunkName must be string of 4 characters*/\nstatic unsigned addChunk(ucvector* out, const char* chunkName,\n\t\tconst unsigned char* data, size_t length) {\n\tCERROR_TRY_RETURN(\n\t\t\tlodepng_chunk_create(&out->data, &out->size, (unsigned )length,\n\t\t\t\t\tchunkName, data));\n\tout->allocsize = out->size; /*fix the allocsize again*/\n\treturn 0;\n}\n\nstatic void writeSignature(ucvector* out) {\n\t/*8 bytes PNG signature, aka the magic bytes*/\n\tucvector_push_back(out, 137);\n\tucvector_push_back(out, 80);\n\tucvector_push_back(out, 78);\n\tucvector_push_back(out, 71);\n\tucvector_push_back(out, 13);\n\tucvector_push_back(out, 10);\n\tucvector_push_back(out, 26);\n\tucvector_push_back(out, 10);\n}\n\nstatic unsigned addChunk_IHDR(ucvector* out, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype, unsigned bitdepth,\n\t\tunsigned interlace_method) {\n\tunsigned error = 0;\n\tucvector header;\n\tucvector_init(&header);\n\n\tlodepng_add32bitInt(&header, w); /*width*/\n\tlodepng_add32bitInt(&header, h); /*height*/\n\tucvector_push_back(&header, (unsigned char) bitdepth); /*bit depth*/\n\tucvector_push_back(&header, (unsigned char) colortype); /*color type*/\n\tucvector_push_back(&header, 0); /*compression method*/\n\tucvector_push_back(&header, 0); /*filter method*/\n\tucvector_push_back(&header, interlace_method); /*interlace method*/\n\n\terror = addChunk(out, \"IHDR\", header.data, header.size);\n\tucvector_cleanup(&header);\n\n\treturn error;\n}\n\nstatic unsigned addChunk_PLTE(ucvector* out, const LodePNGColorMode* info) {\n\tunsigned error = 0;\n\tsize_t i;\n\tucvector PLTE;\n\tucvector_init(&PLTE);\n\tfor (i = 0; i < info->palettesize * 4; i++) {\n\t\t/*add all channels except alpha channel*/\n\t\tif (i % 4 != 3)\n\t\t\tucvector_push_back(&PLTE, info->palette[i]);\n\t}\n\terror = addChunk(out, \"PLTE\", PLTE.data, PLTE.size);\n\tucvector_cleanup(&PLTE);\n\n\treturn error;\n}\n\nstatic unsigned addChunk_tRNS(ucvector* out, const LodePNGColorMode* info) {\n\tunsigned error = 0;\n\tsize_t i;\n\tucvector tRNS;\n\tucvector_init(&tRNS);\n\tif (info->colortype == LCT_PALETTE) {\n\t\tsize_t amount = info->palettesize;\n\t\t/*the tail of palette values that all have 255 as alpha, does not have to be encoded*/\n\t\tfor (i = info->palettesize; i > 0; i--) {\n\t\t\tif (info->palette[4 * (i - 1) + 3] == 255)\n\t\t\t\tamount--;\n\t\t\telse\n\t\t\t\tbreak;\n\t\t}\n\t\t/*add only alpha channel*/\n\t\tfor (i = 0; i < amount; i++)\n\t\t\tucvector_push_back(&tRNS, info->palette[4 * i + 3]);\n\t} else if (info->colortype == LCT_GREY) {\n\t\tif (info->key_defined) {\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_r / 256));\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_r % 256));\n\t\t}\n\t} else if (info->colortype == LCT_RGB) {\n\t\tif (info->key_defined) {\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_r / 256));\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_r % 256));\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_g / 256));\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_g % 256));\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_b / 256));\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_b % 256));\n\t\t}\n\t}\n\n\terror = addChunk(out, \"tRNS\", tRNS.data, tRNS.size);\n\tucvector_cleanup(&tRNS);\n\n\treturn error;\n}\n\nstatic unsigned addChunk_IDAT(ucvector* out, const unsigned char* data,\n\t\tsize_t datasize, LodePNGCompressSettings* zlibsettings) {\n\tucvector zlibdata;\n\tunsigned error = 0;\n\n\t/*compress with the Zlib compressor*/\n\tucvector_init(&zlibdata);\n\terror = zlib_compress(&zlibdata.data, &zlibdata.size, data, datasize,\n\t\t\tzlibsettings);\n\tif (!error)\n\t\terror = addChunk(out, \"IDAT\", zlibdata.data, zlibdata.size);\n\tucvector_cleanup(&zlibdata);\n\n\treturn error;\n}\n\nstatic unsigned addChunk_IEND(ucvector* out) {\n\tunsigned error = 0;\n\terror = addChunk(out, \"IEND\", 0, 0);\n\treturn error;\n}\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\nstatic unsigned addChunk_tEXt(ucvector* out, const char* keyword,\n\t\tconst char* textstring) {\n\tunsigned error = 0;\n\tsize_t i;\n\tucvector text;\n\tucvector_init(&text);\n\tfor (i = 0; keyword[i] != 0; i++)\n\t\tucvector_push_back(&text, (unsigned char) keyword[i]);\n\tif (i < 1 || i > 79)\n\t\treturn 89; /*error: invalid keyword size*/\n\tucvector_push_back(&text, 0); /*0 termination char*/\n\tfor (i = 0; textstring[i] != 0; i++)\n\t\tucvector_push_back(&text, (unsigned char) textstring[i]);\n\terror = addChunk(out, \"tEXt\", text.data, text.size);\n\tucvector_cleanup(&text);\n\n\treturn error;\n}\n\nstatic unsigned addChunk_zTXt(ucvector* out, const char* keyword,\n\t\tconst char* textstring, LodePNGCompressSettings* zlibsettings) {\n\tunsigned error = 0;\n\tucvector data, compressed;\n\tsize_t i, textsize = strlen(textstring);\n\n\tucvector_init(&data);\n\tucvector_init(&compressed);\n\tfor (i = 0; keyword[i] != 0; i++)\n\t\tucvector_push_back(&data, (unsigned char) keyword[i]);\n\tif (i < 1 || i > 79)\n\t\treturn 89; /*error: invalid keyword size*/\n\tucvector_push_back(&data, 0); /*0 termination char*/\n\tucvector_push_back(&data, 0); /*compression method: 0*/\n\n\terror = zlib_compress(&compressed.data, &compressed.size,\n\t\t\t(unsigned char*) textstring, textsize, zlibsettings);\n\tif (!error) {\n\t\tfor (i = 0; i < compressed.size; i++)\n\t\t\tucvector_push_back(&data, compressed.data[i]);\n\t\terror = addChunk(out, \"zTXt\", data.data, data.size);\n\t}\n\n\tucvector_cleanup(&compressed);\n\tucvector_cleanup(&data);\n\treturn error;\n}\n\nstatic unsigned addChunk_iTXt(ucvector* out, unsigned compressed,\n\t\tconst char* keyword, const char* langtag, const char* transkey,\n\t\tconst char* textstring, LodePNGCompressSettings* zlibsettings) {\n\tunsigned error = 0;\n\tucvector data;\n\tsize_t i, textsize = strlen(textstring);\n\n\tucvector_init(&data);\n\n\tfor (i = 0; keyword[i] != 0; i++)\n\t\tucvector_push_back(&data, (unsigned char) keyword[i]);\n\tif (i < 1 || i > 79)\n\t\treturn 89; /*error: invalid keyword size*/\n\tucvector_push_back(&data, 0); /*null termination char*/\n\tucvector_push_back(&data, compressed ? 1 : 0); /*compression flag*/\n\tucvector_push_back(&data, 0); /*compression method*/\n\tfor (i = 0; langtag[i] != 0; i++)\n\t\tucvector_push_back(&data, (unsigned char) langtag[i]);\n\tucvector_push_back(&data, 0); /*null termination char*/\n\tfor (i = 0; transkey[i] != 0; i++)\n\t\tucvector_push_back(&data, (unsigned char) transkey[i]);\n\tucvector_push_back(&data, 0); /*null termination char*/\n\n\tif (compressed) {\n\t\tucvector compressed_data;\n\t\tucvector_init(&compressed_data);\n\t\terror = zlib_compress(&compressed_data.data, &compressed_data.size,\n\t\t\t\t(unsigned char*) textstring, textsize, zlibsettings);\n\t\tif (!error) {\n\t\t\tfor (i = 0; i < compressed_data.size; i++)\n\t\t\t\tucvector_push_back(&data, compressed_data.data[i]);\n\t\t}\n\t\tucvector_cleanup(&compressed_data);\n\t} else /*not compressed*/\n\t{\n\t\tfor (i = 0; textstring[i] != 0; i++)\n\t\t\tucvector_push_back(&data, (unsigned char) textstring[i]);\n\t}\n\n\tif (!error)\n\t\terror = addChunk(out, \"iTXt\", data.data, data.size);\n\tucvector_cleanup(&data);\n\treturn error;\n}\n\nstatic unsigned addChunk_bKGD(ucvector* out, const LodePNGInfo* info) {\n\tunsigned error = 0;\n\tucvector bKGD;\n\tucvector_init(&bKGD);\n\tif (info->color.colortype == LCT_GREY\n\t\t\t|| info->color.colortype == LCT_GREY_ALPHA) {\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_r / 256));\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_r % 256));\n\t} else if (info->color.colortype == LCT_RGB\n\t\t\t|| info->color.colortype == LCT_RGBA) {\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_r / 256));\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_r % 256));\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_g / 256));\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_g % 256));\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_b / 256));\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_b % 256));\n\t} else if (info->color.colortype == LCT_PALETTE) {\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_r % 256)); /*palette index*/\n\t}\n\n\terror = addChunk(out, \"bKGD\", bKGD.data, bKGD.size);\n\tucvector_cleanup(&bKGD);\n\n\treturn error;\n}\n\nstatic unsigned addChunk_tIME(ucvector* out, const LodePNGTime* time) {\n\tunsigned error = 0;\n\tunsigned char* data = (unsigned char*) lodepng_malloc(7);\n\tif (!data)\n\t\treturn 83; /*alloc fail*/\n\tdata[0] = (unsigned char) (time->year / 256);\n\tdata[1] = (unsigned char) (time->year % 256);\n\tdata[2] = (unsigned char) time->month;\n\tdata[3] = (unsigned char) time->day;\n\tdata[4] = (unsigned char) time->hour;\n\tdata[5] = (unsigned char) time->minute;\n\tdata[6] = (unsigned char) time->second;\n\terror = addChunk(out, \"tIME\", data, 7);\n\tlodepng_free(data);\n\treturn error;\n}\n\nstatic unsigned addChunk_pHYs(ucvector* out, const LodePNGInfo* info) {\n\tunsigned error = 0;\n\tucvector data;\n\tucvector_init(&data);\n\n\tlodepng_add32bitInt(&data, info->phys_x);\n\tlodepng_add32bitInt(&data, info->phys_y);\n\tucvector_push_back(&data, info->phys_unit);\n\n\terror = addChunk(out, \"pHYs\", data.data, data.size);\n\tucvector_cleanup(&data);\n\n\treturn error;\n}\n\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\nstatic void filterScanline(unsigned char* out, const unsigned char* scanline,\n\t\tconst unsigned char* prevline, size_t length, size_t bytewidth,\n\t\tunsigned char filterType) {\n\tsize_t i;\n\tswitch (filterType) {\n\tcase 0: /*None*/\n\t\tfor (i = 0; i < length; i++)\n\t\t\tout[i] = scanline[i];\n\t\tbreak;\n\tcase 1: /*Sub*/\n\t\tif (prevline) {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\tout[i] = scanline[i];\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\tout[i] = scanline[i] - scanline[i - bytewidth];\n\t\t} else {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\tout[i] = scanline[i];\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\tout[i] = scanline[i] - scanline[i - bytewidth];\n\t\t}\n\t\tbreak;\n\tcase 2: /*Up*/\n\t\tif (prevline) {\n\t\t\tfor (i = 0; i < length; i++)\n\t\t\t\tout[i] = scanline[i] - prevline[i];\n\t\t} else {\n\t\t\tfor (i = 0; i < length; i++)\n\t\t\t\tout[i] = scanline[i];\n\t\t}\n\t\tbreak;\n\tcase 3: /*Average*/\n\t\tif (prevline) {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\tout[i] = scanline[i] - prevline[i] / 2;\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\tout[i] = scanline[i]\n\t\t\t\t\t\t- ((scanline[i - bytewidth] + prevline[i]) / 2);\n\t\t} else {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\tout[i] = scanline[i];\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\tout[i] = scanline[i] - scanline[i - bytewidth] / 2;\n\t\t}\n\t\tbreak;\n\tcase 4: /*Paeth*/\n\t\tif (prevline) {\n\t\t\t/*paethPredictor(0, prevline[i], 0) is always prevline[i]*/\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\tout[i] = (scanline[i] - prevline[i]);\n\t\t\tfor (i = bytewidth; i < length; i++) {\n\t\t\t\tout[i] = (scanline[i]\n\t\t\t\t\t\t- paethPredictor(scanline[i - bytewidth], prevline[i],\n\t\t\t\t\t\t\t\tprevline[i - bytewidth]));\n\t\t\t}\n\t\t} else {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\tout[i] = scanline[i];\n\t\t\t/*paethPredictor(scanline[i - bytewidth], 0, 0) is always scanline[i - bytewidth]*/\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\tout[i] = (scanline[i] - scanline[i - bytewidth]);\n\t\t}\n\t\tbreak;\n\tdefault:\n\t\treturn; /*unexisting filter type given*/\n\t}\n}\n\n/* log2 approximation. A slight bit faster than std::log. */\nstatic float flog2(float f) {\n\tfloat result = 0;\n\twhile (f > 32) {\n\t\tresult += 4;\n\t\tf /= 16;\n\t}\n\twhile (f > 2) {\n\t\tresult++;\n\t\tf /= 2;\n\t}\n\treturn result\n\t\t\t+ 1.442695f * (f * f * f / 3 - 3 * f * f / 2 + 3 * f - 1.83333f);\n}\n\nstatic unsigned filter(unsigned char* out, const unsigned char* in, unsigned w,\n\t\tunsigned h, const LodePNGColorMode* info,\n\t\tconst LodePNGEncoderSettings* settings) {\n\t/*\n\t For PNG filter method 0\n\t out must be a buffer with as size: h + (w * h * bpp + 7) / 8, because there are\n\t the scanlines with 1 extra byte per scanline\n\t */\n\n\tunsigned bpp = lodepng_get_bpp(info);\n\t/*the width of a scanline in bytes, not including the filter type*/\n\tsize_t linebytes = (w * bpp + 7) / 8;\n\t/*bytewidth is used for filtering, is 1 when bpp < 8, number of bytes per pixel otherwise*/\n\tsize_t bytewidth = (bpp + 7) / 8;\n\tconst unsigned char* prevline = 0;\n\tunsigned x, y;\n\tunsigned error = 0;\n\tLodePNGFilterStrategy strategy = settings->filter_strategy;\n\n\t/*\n\t There is a heuristic called the minimum sum of absolute differences heuristic, suggested by the PNG standard:\n\t * If the image type is Palette, or the bit depth is smaller than 8, then do not filter the image (i.e.\n\t use fixed filtering, with the filter None).\n\t * (The other case) If the image type is Grayscale or RGB (with or without Alpha), and the bit depth is\n\t not smaller than 8, then use adaptive filtering heuristic as follows: independently for each row, apply\n\t all five filters and select the filter that produces the smallest sum of absolute values per row.\n\t This heuristic is used if filter strategy is LFS_MINSUM and filter_palette_zero is true.\n\n\t If filter_palette_zero is true and filter_strategy is not LFS_MINSUM, the above heuristic is followed,\n\t but for \"the other case\", whatever strategy filter_strategy is set to instead of the minimum sum\n\t heuristic is used.\n\t */\n\tif (settings->filter_palette_zero\n\t\t\t&& (info->colortype == LCT_PALETTE || info->bitdepth < 8))\n\t\tstrategy = LFS_ZERO;\n\n\tif (bpp == 0)\n\t\treturn 31; /*error: invalid color type*/\n\n\tif (strategy == LFS_ZERO) {\n\t\tfor (y = 0; y < h; y++) {\n\t\t\tsize_t outindex = (1 + linebytes) * y; /*the extra filterbyte added to each row*/\n\t\t\tsize_t inindex = linebytes * y;\n\t\t\tout[outindex] = 0; /*filter type byte*/\n\t\t\tfilterScanline(&out[outindex + 1], &in[inindex], prevline,\n\t\t\t\t\tlinebytes, bytewidth, 0);\n\t\t\tprevline = &in[inindex];\n\t\t}\n\t} else if (strategy == LFS_MINSUM) {\n\t\t/*adaptive filtering*/\n\t\tsize_t sum[5];\n\t\tucvector attempt[5]; /*five filtering attempts, one for each filter type*/\n\t\tsize_t smallest = 0;\n\t\tunsigned char type, bestType = 0;\n\n\t\tfor (type = 0; type < 5; type++) {\n\t\t\tucvector_init(&attempt[type]);\n\t\t\tif (!ucvector_resize(&attempt[type], linebytes))\n\t\t\t\treturn 83; /*alloc fail*/\n\t\t}\n\n\t\tif (!error) {\n\t\t\tfor (y = 0; y < h; y++) {\n\t\t\t\t/*try the 5 filter types*/\n\t\t\t\tfor (type = 0; type < 5; type++) {\n\t\t\t\t\tfilterScanline(attempt[type].data, &in[y * linebytes],\n\t\t\t\t\t\t\tprevline, linebytes, bytewidth, type);\n\n\t\t\t\t\t/*calculate the sum of the result*/\n\t\t\t\t\tsum[type] = 0;\n\t\t\t\t\tif (type == 0) {\n\t\t\t\t\t\tfor (x = 0; x < linebytes; x++)\n\t\t\t\t\t\t\tsum[type] +=\n\t\t\t\t\t\t\t\t\t(unsigned char) (attempt[type].data[x]);\n\t\t\t\t\t} else {\n\t\t\t\t\t\tfor (x = 0; x < linebytes; x++) {\n\t\t\t\t\t\t\t/*For differences, each byte should be treated as signed, values above 127 are negative\n\t\t\t\t\t\t\t (converted to signed char). Filtertype 0 isn't a difference though, so use unsigned there.\n\t\t\t\t\t\t\t This means filtertype 0 is almost never chosen, but that is justified.*/\n\t\t\t\t\t\t\tunsigned char s = attempt[type].data[x];\n\t\t\t\t\t\t\tsum[type] += s < 128 ? s : (255U - s);\n\t\t\t\t\t\t}\n\t\t\t\t\t}\n\n\t\t\t\t\t/*check if this is smallest sum (or if type == 0 it's the first case so always store the values)*/\n\t\t\t\t\tif (type == 0 || sum[type] < smallest) {\n\t\t\t\t\t\tbestType = type;\n\t\t\t\t\t\tsmallest = sum[type];\n\t\t\t\t\t}\n\t\t\t\t}\n\n\t\t\t\tprevline = &in[y * linebytes];\n\n\t\t\t\t/*now fill the out values*/\n\t\t\t\tout[y * (linebytes + 1)] = bestType; /*the first byte of a scanline will be the filter type*/\n\t\t\t\tfor (x = 0; x < linebytes; x++)\n\t\t\t\t\tout[y * (linebytes + 1) + 1 + x] =\n\t\t\t\t\t\t\tattempt[bestType].data[x];\n\t\t\t}\n\t\t}\n\n\t\tfor (type = 0; type < 5; type++)\n\t\t\tucvector_cleanup(&attempt[type]);\n\t} else if (strategy == LFS_ENTROPY) {\n\t\tfloat sum[5];\n\t\tucvector attempt[5]; /*five filtering attempts, one for each filter type*/\n\t\tfloat smallest = 0;\n\t\tunsigned type, bestType = 0;\n\t\tunsigned count[256];\n\n\t\tfor (type = 0; type < 5; type++) {\n\t\t\tucvector_init(&attempt[type]);\n\t\t\tif (!ucvector_resize(&attempt[type], linebytes))\n\t\t\t\treturn 83; /*alloc fail*/\n\t\t}\n\n\t\tfor (y = 0; y < h; y++) {\n\t\t\t/*try the 5 filter types*/\n\t\t\tfor (type = 0; type < 5; type++) {\n\t\t\t\tfilterScanline(attempt[type].data, &in[y * linebytes], prevline,\n\t\t\t\t\t\tlinebytes, bytewidth, type);\n\t\t\t\tfor (x = 0; x < 256; x++)\n\t\t\t\t\tcount[x] = 0;\n\t\t\t\tfor (x = 0; x < linebytes; x++)\n\t\t\t\t\tcount[attempt[type].data[x]]++;\n\t\t\t\tcount[type]++; /*the filter type itself is part of the scanline*/\n\t\t\t\tsum[type] = 0;\n\t\t\t\tfor (x = 0; x < 256; x++) {\n\t\t\t\t\tfloat p = count[x] / (float) (linebytes + 1);\n\t\t\t\t\tsum[type] += count[x] == 0 ? 0 : flog2(1 / p) * p;\n\t\t\t\t}\n\t\t\t\t/*check if this is smallest sum (or if type == 0 it's the first case so always store the values)*/\n\t\t\t\tif (type == 0 || sum[type] < smallest) {\n\t\t\t\t\tbestType = type;\n\t\t\t\t\tsmallest = sum[type];\n\t\t\t\t}\n\t\t\t}\n\n\t\t\tprevline = &in[y * linebytes];\n\n\t\t\t/*now fill the out values*/\n\t\t\tout[y * (linebytes + 1)] = bestType; /*the first byte of a scanline will be the filter type*/\n\t\t\tfor (x = 0; x < linebytes; x++)\n\t\t\t\tout[y * (linebytes + 1) + 1 + x] = attempt[bestType].data[x];\n\t\t}\n\n\t\tfor (type = 0; type < 5; type++)\n\t\t\tucvector_cleanup(&attempt[type]);\n\t} else if (strategy == LFS_PREDEFINED) {\n\t\tfor (y = 0; y < h; y++) {\n\t\t\tsize_t outindex = (1 + linebytes) * y; /*the extra filterbyte added to each row*/\n\t\t\tsize_t inindex = linebytes * y;\n\t\t\tunsigned char type = settings->predefined_filters[y];\n\t\t\tout[outindex] = type; /*filter type byte*/\n\t\t\tfilterScanline(&out[outindex + 1], &in[inindex], prevline,\n\t\t\t\t\tlinebytes, bytewidth, type);\n\t\t\tprevline = &in[inindex];\n\t\t}\n\t} else if (strategy == LFS_BRUTE_FORCE) {\n\t\t/*brute force filter chooser.\n\t\t deflate the scanline after every filter attempt to see which one deflates best.\n\t\t This is very slow and gives only slightly smaller, sometimes even larger, result*/\n\t\tsize_t size[5];\n\t\tucvector attempt[5]; /*five filtering attempts, one for each filter type*/\n\t\tsize_t smallest = 0;\n\t\tunsigned type = 0, bestType = 0;\n\t\tunsigned char* dummy;\n\t\tLodePNGCompressSettings zlibsettings = settings->zlibsettings;\n\t\t/*use fixed tree on the attempts so that the tree is not adapted to the filtertype on purpose,\n\t\t to simulate the true case where the tree is the same for the whole image. Sometimes it gives\n\t\t better result with dynamic tree anyway. Using the fixed tree sometimes gives worse, but in rare\n\t\t cases better compression. It does make this a bit less slow, so it's worth doing this.*/\n\t\tzlibsettings.btype = 1;\n\t\t/*a custom encoder likely doesn't read the btype setting and is optimized for complete PNG\n\t\t images only, so disable it*/\n\t\tzlibsettings.custom_zlib = 0;\n\t\tzlibsettings.custom_deflate = 0;\n\t\tfor (type = 0; type < 5; type++) {\n\t\t\tucvector_init(&attempt[type]);\n\t\t\tucvector_resize(&attempt[type], linebytes); /*todo: give error if resize failed*/\n\t\t}\n\t\tfor (y = 0; y < h; y++) /*try the 5 filter types*/\n\t\t{\n\t\t\tfor (type = 0; type < 5; type++) {\n\t\t\t\tunsigned testsize = attempt[type].size;\n\t\t\t\t/*if(testsize > 8) testsize /= 8;*//*it already works good enough by testing a part of the row*/\n\n\t\t\t\tfilterScanline(attempt[type].data, &in[y * linebytes], prevline,\n\t\t\t\t\t\tlinebytes, bytewidth, type);\n\t\t\t\tsize[type] = 0;\n\t\t\t\tdummy = 0;\n\t\t\t\tzlib_compress(&dummy, &size[type], attempt[type].data, testsize,\n\t\t\t\t\t\t&zlibsettings);\n\t\t\t\tlodepng_free(dummy);\n\t\t\t\t/*check if this is smallest size (or if type == 0 it's the first case so always store the values)*/\n\t\t\t\tif (type == 0 || size[type] < smallest) {\n\t\t\t\t\tbestType = type;\n\t\t\t\t\tsmallest = size[type];\n\t\t\t\t}\n\t\t\t}\n\t\t\tprevline = &in[y * linebytes];\n\t\t\tout[y * (linebytes + 1)] = bestType; /*the first byte of a scanline will be the filter type*/\n\t\t\tfor (x = 0; x < linebytes; x++)\n\t\t\t\tout[y * (linebytes + 1) + 1 + x] = attempt[bestType].data[x];\n\t\t}\n\t\tfor (type = 0; type < 5; type++)\n\t\t\tucvector_cleanup(&attempt[type]);\n\t} else\n\t\treturn 88; /* unknown filter strategy */\n\n\treturn error;\n}\n\nstatic void addPaddingBits(unsigned char* out, const unsigned char* in,\n\t\tsize_t olinebits, size_t ilinebits, unsigned h) {\n\t/*The opposite of the removePaddingBits function\n\t olinebits must be >= ilinebits*/\n\tunsigned y;\n\tsize_t diff = olinebits - ilinebits;\n\tsize_t obp = 0, ibp = 0; /*bit pointers*/\n\tfor (y = 0; y < h; y++) {\n\t\tsize_t x;\n\t\tfor (x = 0; x < ilinebits; x++) {\n\t\t\tunsigned char bit = readBitFromReversedStream(&ibp, in);\n\t\t\tsetBitOfReversedStream(&obp, out, bit);\n\t\t}\n\t\t/*obp += diff; --> no, fill in some value in the padding bits too, to avoid\n\t\t \"Use of uninitialised value of size ###\" warning from valgrind*/\n\t\tfor (x = 0; x < diff; x++)\n\t\t\tsetBitOfReversedStream(&obp, out, 0);\n\t}\n}\n\n/*\n in: non-interlaced image with size w*h\n out: the same pixels, but re-ordered according to PNG's Adam7 interlacing, with\n no padding bits between scanlines, but between reduced images so that each\n reduced image starts at a byte.\n bpp: bits per pixel\n there are no padding bits, not between scanlines, not between reduced images\n in has the following size in bits: w * h * bpp.\n out is possibly bigger due to padding bits between reduced images\n NOTE: comments about padding bits are only relevant if bpp < 8\n */\nstatic void Adam7_interlace(unsigned char* out, const unsigned char* in,\n\t\tunsigned w, unsigned h, unsigned bpp) {\n\tunsigned passw[7], passh[7];\n\tsize_t filter_passstart[8], padded_passstart[8], passstart[8];\n\tunsigned i;\n\n\tAdam7_getpassvalues(passw, passh, filter_passstart, padded_passstart,\n\t\t\tpassstart, w, h, bpp);\n\n\tif (bpp >= 8) {\n\t\tfor (i = 0; i < 7; i++) {\n\t\t\tunsigned x, y, b;\n\t\t\tsize_t bytewidth = bpp / 8;\n\t\t\tfor (y = 0; y < passh[i]; y++)\n\t\t\t\tfor (x = 0; x < passw[i]; x++) {\n\t\t\t\t\tsize_t pixelinstart = ((ADAM7_IY[i] + y * ADAM7_DY[i]) * w\n\t\t\t\t\t\t\t+ ADAM7_IX[i] + x * ADAM7_DX[i]) * bytewidth;\n\t\t\t\t\tsize_t pixeloutstart = passstart[i]\n\t\t\t\t\t\t\t+ (y * passw[i] + x) * bytewidth;\n\t\t\t\t\tfor (b = 0; b < bytewidth; b++) {\n\t\t\t\t\t\tout[pixeloutstart + b] = in[pixelinstart + b];\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t}\n\t} else /*bpp < 8: Adam7 with pixels < 8 bit is a bit trickier: with bit pointers*/\n\t{\n\t\tfor (i = 0; i < 7; i++) {\n\t\t\tunsigned x, y, b;\n\t\t\tunsigned ilinebits = bpp * passw[i];\n\t\t\tunsigned olinebits = bpp * w;\n\t\t\tsize_t obp, ibp; /*bit pointers (for out and in buffer)*/\n\t\t\tfor (y = 0; y < passh[i]; y++)\n\t\t\t\tfor (x = 0; x < passw[i]; x++) {\n\t\t\t\t\tibp = (ADAM7_IY[i] + y * ADAM7_DY[i]) * olinebits\n\t\t\t\t\t\t\t+ (ADAM7_IX[i] + x * ADAM7_DX[i]) * bpp;\n\t\t\t\t\tobp = (8 * passstart[i]) + (y * ilinebits + x * bpp);\n\t\t\t\t\tfor (b = 0; b < bpp; b++) {\n\t\t\t\t\t\tunsigned char bit = readBitFromReversedStream(&ibp, in);\n\t\t\t\t\t\tsetBitOfReversedStream(&obp, out, bit);\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t}\n\t}\n}\n\n/*out must be buffer big enough to contain uncompressed IDAT chunk data, and in must contain the full image.\n return value is error**/\nstatic unsigned preProcessScanlines(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, unsigned w, unsigned h,\n\t\tconst LodePNGInfo* info_png, const LodePNGEncoderSettings* settings) {\n\t/*\n\t This function converts the pure 2D image with the PNG's colortype, into filtered-padded-interlaced data. Steps:\n\t *) if no Adam7: 1) add padding bits (= posible extra bits per scanline if bpp < 8) 2) filter\n\t *) if adam7: 1) Adam7_interlace 2) 7x add padding bits 3) 7x filter\n\t */\n\tunsigned bpp = lodepng_get_bpp(&info_png->color);\n\tunsigned error = 0;\n\n\tif (info_png->interlace_method == 0) {\n\t\t*outsize = h + (h * ((w * bpp + 7) / 8)); /*image size plus an extra byte per scanline + possible padding bits*/\n\t\t*out = (unsigned char*) lodepng_malloc(*outsize);\n\t\tif (!(*out) && (*outsize))\n\t\t\terror = 83; /*alloc fail*/\n\n\t\tif (!error) {\n\t\t\t/*non multiple of 8 bits per scanline, padding bits needed per scanline*/\n\t\t\tif (bpp < 8 && w * bpp != ((w * bpp + 7) / 8) * 8) {\n\t\t\t\tunsigned char* padded = (unsigned char*) lodepng_malloc(\n\t\t\t\t\t\th * ((w * bpp + 7) / 8));\n\t\t\t\tif (!padded)\n\t\t\t\t\terror = 83; /*alloc fail*/\n\t\t\t\tif (!error) {\n\t\t\t\t\taddPaddingBits(padded, in, ((w * bpp + 7) / 8) * 8, w * bpp,\n\t\t\t\t\t\t\th);\n\t\t\t\t\terror = filter(*out, padded, w, h, &info_png->color,\n\t\t\t\t\t\t\tsettings);\n\t\t\t\t}\n\t\t\t\tlodepng_free(padded);\n\t\t\t} else {\n\t\t\t\t/*we can immediatly filter into the out buffer, no other steps needed*/\n\t\t\t\terror = filter(*out, in, w, h, &info_png->color, settings);\n\t\t\t}\n\t\t}\n\t} else /*interlace_method is 1 (Adam7)*/\n\t{\n\t\tunsigned passw[7], passh[7];\n\t\tsize_t filter_passstart[8], padded_passstart[8], passstart[8];\n\t\tunsigned char* adam7;\n\n\t\tAdam7_getpassvalues(passw, passh, filter_passstart, padded_passstart,\n\t\t\t\tpassstart, w, h, bpp);\n\n\t\t*outsize = filter_passstart[7]; /*image size plus an extra byte per scanline + possible padding bits*/\n\t\t*out = (unsigned char*) lodepng_malloc(*outsize);\n\t\tif (!(*out))\n\t\t\terror = 83; /*alloc fail*/\n\n\t\tadam7 = (unsigned char*) lodepng_malloc(passstart[7]);\n\t\tif (!adam7 && passstart[7])\n\t\t\terror = 83; /*alloc fail*/\n\n\t\tif (!error) {\n\t\t\tunsigned i;\n\n\t\t\tAdam7_interlace(adam7, in, w, h, bpp);\n\t\t\tfor (i = 0; i < 7; i++) {\n\t\t\t\tif (bpp < 8) {\n\t\t\t\t\tunsigned char* padded = (unsigned char*) lodepng_malloc(\n\t\t\t\t\t\t\tpadded_passstart[i + 1] - padded_passstart[i]);\n\t\t\t\t\tif (!padded)\n\t\t\t\t\t\tERROR_BREAK(83); /*alloc fail*/\n\t\t\t\t\taddPaddingBits(padded, &adam7[passstart[i]],\n\t\t\t\t\t\t\t((passw[i] * bpp + 7) / 8) * 8, passw[i] * bpp,\n\t\t\t\t\t\t\tpassh[i]);\n\t\t\t\t\terror = filter(&(*out)[filter_passstart[i]], padded,\n\t\t\t\t\t\t\tpassw[i], passh[i], &info_png->color, settings);\n\t\t\t\t\tlodepng_free(padded);\n\t\t\t\t} else {\n\t\t\t\t\terror = filter(&(*out)[filter_passstart[i]],\n\t\t\t\t\t\t\t&adam7[padded_passstart[i]], passw[i], passh[i],\n\t\t\t\t\t\t\t&info_png->color, settings);\n\t\t\t\t}\n\n\t\t\t\tif (error)\n\t\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\n\t\tlodepng_free(adam7);\n\t}\n\n\treturn error;\n}\n\n/*\n palette must have 4 * palettesize bytes allocated, and given in format RGBARGBARGBARGBA...\n returns 0 if the palette is opaque,\n returns 1 if the palette has a single color with alpha 0 ==> color key\n returns 2 if the palette is semi-translucent.\n */\nstatic unsigned getPaletteTranslucency(const unsigned char* palette,\n\t\tsize_t palettesize) {\n\tsize_t i;\n\tunsigned key = 0;\n\tunsigned r = 0, g = 0, b = 0; /*the value of the color with alpha 0, so long as color keying is possible*/\n\tfor (i = 0; i < palettesize; i++) {\n\t\tif (!key && palette[4 * i + 3] == 0) {\n\t\t\tr = palette[4 * i + 0];\n\t\t\tg = palette[4 * i + 1];\n\t\t\tb = palette[4 * i + 2];\n\t\t\tkey = 1;\n\t\t\ti = (size_t) (-1); /*restart from beginning, to detect earlier opaque colors with key's value*/\n\t\t} else if (palette[4 * i + 3] != 255)\n\t\t\treturn 2;\n\t\t/*when key, no opaque RGB may have key's RGB*/\n\t\telse if (key && r == palette[i * 4 + 0] && g == palette[i * 4 + 1]\n\t\t\t\t&& b == palette[i * 4 + 2])\n\t\t\treturn 2;\n\t}\n\treturn key;\n}\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\nstatic unsigned addUnknownChunks(ucvector* out, unsigned char* data,\n\t\tsize_t datasize) {\n\tunsigned char* inchunk = data;\n\twhile ((size_t) (inchunk - data) < datasize) {\n\t\tCERROR_TRY_RETURN(lodepng_chunk_append(&out->data, &out->size, inchunk));\n\t\tout->allocsize = out->size; /*fix the allocsize again*/\n\t\tinchunk = lodepng_chunk_next(inchunk);\n\t}\n\treturn 0;\n}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\nunsigned lodepng_encode(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h,\n\t\tLodePNGState* state) {\n\tLodePNGInfo info;\n\tucvector outv;\n\tunsigned char* data = 0; /*uncompressed version of the IDAT chunk data*/\n\tsize_t datasize = 0;\n\n\t/*provide some proper output values if error will happen*/\n\t*out = 0;\n\t*outsize = 0;\n\tstate->error = 0;\n\n\tlodepng_info_init(&info);\n\tlodepng_info_copy(&info, &state->info_png);\n\n\tif ((info.color.colortype == LCT_PALETTE || state->encoder.force_palette)\n\t\t\t&& (info.color.palettesize == 0 || info.color.palettesize > 256)) {\n\t\tstate->error = 68; /*invalid palette size, it is only allowed to be 1-256*/\n\t\treturn state->error;\n\t}\n\n\tif (state->encoder.auto_convert != LAC_NO) {\n\t\tstate->error = lodepng_auto_choose_color(&info.color, image, w, h,\n\t\t\t\t&state->info_raw, state->encoder.auto_convert);\n\t}\n\tif (state->error)\n\t\treturn state->error;\n\n\tif (state->encoder.zlibsettings.btype > 2) {\n\t\tCERROR_RETURN_ERROR(state->error, 61); /*error: unexisting btype*/\n\t}\n\tif (state->info_png.interlace_method > 1) {\n\t\tCERROR_RETURN_ERROR(state->error, 71); /*error: unexisting interlace mode*/\n\t}\n\n\tstate->error = checkColorValidity(info.color.colortype,\n\t\t\tinfo.color.bitdepth);\n\tif (state->error)\n\t\treturn state->error; /*error: unexisting color type given*/\n\tstate->error = checkColorValidity(state->info_raw.colortype,\n\t\t\tstate->info_raw.bitdepth);\n\tif (state->error)\n\t\treturn state->error; /*error: unexisting color type given*/\n\n\tif (!lodepng_color_mode_equal(&state->info_raw, &info.color)) {\n\t\tunsigned char* converted;\n\t\tsize_t size = (w * h * lodepng_get_bpp(&info.color) + 7) / 8;\n\n\t\tconverted = (unsigned char*) lodepng_malloc(size);\n\t\tif (!converted && size)\n\t\t\tstate->error = 83; /*alloc fail*/\n\t\tif (!state->error) {\n\t\t\tstate->error = lodepng_convert(converted, image, &info.color,\n\t\t\t\t\t&state->info_raw, w, h, 0 /*fix_png*/);\n\t\t}\n\t\tif (!state->error)\n\t\t\tpreProcessScanlines(&data, &datasize, converted, w, h, &info,\n\t\t\t\t\t&state->encoder);\n\t\tlodepng_free(converted);\n\t} else\n\t\tpreProcessScanlines(&data, &datasize, image, w, h, &info,\n\t\t\t\t&state->encoder);\n\n\tucvector_init(&outv);\n\twhile (!state->error) /*while only executed once, to break on error*/\n\t{\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\tsize_t i;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\t/*write signature and chunks*/\n\t\twriteSignature(&outv);\n\t\t/*IHDR*/\n\t\taddChunk_IHDR(&outv, w, h, info.color.colortype, info.color.bitdepth,\n\t\t\t\tinfo.interlace_method);\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t/*unknown chunks between IHDR and PLTE*/\n\t\tif (info.unknown_chunks_data[0]) {\n\t\t\tstate->error = addUnknownChunks(&outv, info.unknown_chunks_data[0],\n\t\t\t\t\tinfo.unknown_chunks_size[0]);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\t/*PLTE*/\n\t\tif (info.color.colortype == LCT_PALETTE) {\n\t\t\taddChunk_PLTE(&outv, &info.color);\n\t\t}\n\t\tif (state->encoder.force_palette\n\t\t\t\t&& (info.color.colortype == LCT_RGB\n\t\t\t\t\t\t|| info.color.colortype == LCT_RGBA)) {\n\t\t\taddChunk_PLTE(&outv, &info.color);\n\t\t}\n\t\t/*tRNS*/\n\t\tif (info.color.colortype == LCT_PALETTE\n\t\t\t\t&& getPaletteTranslucency(info.color.palette,\n\t\t\t\t\t\tinfo.color.palettesize) != 0) {\n\t\t\taddChunk_tRNS(&outv, &info.color);\n\t\t}\n\t\tif ((info.color.colortype == LCT_GREY || info.color.colortype == LCT_RGB)\n\t\t\t\t&& info.color.key_defined) {\n\t\t\taddChunk_tRNS(&outv, &info.color);\n\t\t}\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t/*bKGD (must come between PLTE and the IDAt chunks*/\n\t\tif (info.background_defined)\n\t\t\taddChunk_bKGD(&outv, &info);\n\t\t/*pHYs (must come before the IDAT chunks)*/\n\t\tif (info.phys_defined)\n\t\t\taddChunk_pHYs(&outv, &info);\n\n\t\t/*unknown chunks between PLTE and IDAT*/\n\t\tif (info.unknown_chunks_data[1]) {\n\t\t\tstate->error = addUnknownChunks(&outv, info.unknown_chunks_data[1],\n\t\t\t\t\tinfo.unknown_chunks_size[1]);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\t/*IDAT (multiple IDAT chunks must be consecutive)*/\n\t\tstate->error = addChunk_IDAT(&outv, data, datasize,\n\t\t\t\t&state->encoder.zlibsettings);\n\t\tif (state->error)\n\t\t\tbreak;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t/*tIME*/\n\t\tif (info.time_defined)\n\t\t\taddChunk_tIME(&outv, &info.time);\n\t\t/*tEXt and/or zTXt*/\n\t\tfor (i = 0; i < info.text_num; i++) {\n\t\t\tif (strlen(info.text_keys[i]) > 79) {\n\t\t\t\tstate->error = 66; /*text chunk too large*/\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tif (strlen(info.text_keys[i]) < 1) {\n\t\t\t\tstate->error = 67; /*text chunk too small*/\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tif (state->encoder.text_compression) {\n\t\t\t\taddChunk_zTXt(&outv, info.text_keys[i], info.text_strings[i],\n\t\t\t\t\t\t&state->encoder.zlibsettings);\n\t\t\t} else {\n\t\t\t\taddChunk_tEXt(&outv, info.text_keys[i], info.text_strings[i]);\n\t\t\t}\n\t\t}\n\t\t/*LodePNG version id in text chunk*/\n\t\tif (state->encoder.add_id) {\n\t\t\tunsigned alread_added_id_text = 0;\n\t\t\tfor (i = 0; i < info.text_num; i++) {\n\t\t\t\tif (!strcmp(info.text_keys[i], \"LodePNG\")) {\n\t\t\t\t\talread_added_id_text = 1;\n\t\t\t\t\tbreak;\n\t\t\t\t}\n\t\t\t}\n\t\t\tif (alread_added_id_text == 0) {\n\t\t\t\taddChunk_tEXt(&outv, \"LodePNG\", VERSION_STRING); /*it's shorter as tEXt than as zTXt chunk*/\n\t\t\t}\n\t\t}\n\t\t/*iTXt*/\n\t\tfor (i = 0; i < info.itext_num; i++) {\n\t\t\tif (strlen(info.itext_keys[i]) > 79) {\n\t\t\t\tstate->error = 66; /*text chunk too large*/\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tif (strlen(info.itext_keys[i]) < 1) {\n\t\t\t\tstate->error = 67; /*text chunk too small*/\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\taddChunk_iTXt(&outv, state->encoder.text_compression,\n\t\t\t\t\tinfo.itext_keys[i], info.itext_langtags[i],\n\t\t\t\t\tinfo.itext_transkeys[i], info.itext_strings[i],\n\t\t\t\t\t&state->encoder.zlibsettings);\n\t\t}\n\n\t\t/*unknown chunks between IDAT and IEND*/\n\t\tif (info.unknown_chunks_data[2]) {\n\t\t\tstate->error = addUnknownChunks(&outv, info.unknown_chunks_data[2],\n\t\t\t\t\tinfo.unknown_chunks_size[2]);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\taddChunk_IEND(&outv);\n\n\t\tbreak; /*this isn't really a while loop; no error happened so break out now!*/\n\t}\n\n\tlodepng_info_cleanup(&info);\n\tlodepng_free(data);\n\t/*instead of cleaning the vector up, give it to the output*/\n\t*out = outv.data;\n\t*outsize = outv.size;\n\n\treturn state->error;\n}\n\nunsigned lodepng_encode_memory(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype, unsigned bitdepth) {\n\tunsigned error;\n\tLodePNGState state;\n\tlodepng_state_init(&state);\n\tstate.info_raw.colortype = colortype;\n\tstate.info_raw.bitdepth = bitdepth;\n\tstate.info_png.color.colortype = colortype;\n\tstate.info_png.color.bitdepth = bitdepth;\n\tlodepng_encode(out, outsize, image, w, h, &state);\n\terror = state.error;\n\tlodepng_state_cleanup(&state);\n\treturn error;\n}\n\nunsigned lodepng_encode32(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h) {\n\treturn lodepng_encode_memory(out, outsize, image, w, h, LCT_RGBA, 8);\n}\n\nunsigned lodepng_encode24(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h) {\n\treturn lodepng_encode_memory(out, outsize, image, w, h, LCT_RGB, 8);\n}\n\n#ifdef LODEPNG_COMPILE_DISK\nunsigned lodepng_encode_file(const char* filename, const unsigned char* image,\n\t\tunsigned w, unsigned h, LodePNGColorType colortype, unsigned bitdepth) {\n\tunsigned char* buffer;\n\tsize_t buffersize;\n\tunsigned error = lodepng_encode_memory(&buffer, &buffersize, image, w, h,\n\t\t\tcolortype, bitdepth);\n\tif (!error)\n\t\terror = lodepng_save_file(buffer, buffersize, filename);\n\tlodepng_free(buffer);\n\treturn error;\n}\n\nunsigned lodepng_encode32_file(const char* filename, const unsigned char* image,\n\t\tunsigned w, unsigned h) {\n\treturn lodepng_encode_file(filename, image, w, h, LCT_RGBA, 8);\n}\n\nunsigned lodepng_encode24_file(const char* filename, const unsigned char* image,\n\t\tunsigned w, unsigned h) {\n\treturn lodepng_encode_file(filename, image, w, h, LCT_RGB, 8);\n}\n#endif /*LODEPNG_COMPILE_DISK*/\n\nvoid lodepng_encoder_settings_init(LodePNGEncoderSettings* settings) {\n\tlodepng_compress_settings_init(&settings->zlibsettings);\n\tsettings->filter_palette_zero = 1;\n\tsettings->filter_strategy = LFS_MINSUM;\n\tsettings->auto_convert = LAC_AUTO;\n\tsettings->force_palette = 0;\n\tsettings->predefined_filters = 0;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tsettings->add_id = 0;\n\tsettings->text_compression = 1;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n}\n\n#endif /*LODEPNG_COMPILE_ENCODER*/\n#endif /*LODEPNG_COMPILE_PNG*/\n\n#ifdef LODEPNG_COMPILE_ERROR_TEXT\n/*\n This returns the description of a numerical error code in English. This is also\n the documentation of all the error codes.\n */\nconst char* lodepng_error_text(unsigned code) {\n\tswitch (code) {\n\tcase 0:\n\t\treturn \"no error, everything went ok\";\n\tcase 1:\n\t\treturn \"nothing done yet\"; /*the Encoder/Decoder has done nothing yet, error checking makes no sense yet*/\n\tcase 10:\n\t\treturn \"end of input memory reached without huffman end code\"; /*while huffman decoding*/\n\tcase 11:\n\t\treturn \"error in code tree made it jump outside of huffman tree\"; /*while huffman decoding*/\n\tcase 13:\n\t\treturn \"problem while processing dynamic deflate block\";\n\tcase 14:\n\t\treturn \"problem while processing dynamic deflate block\";\n\tcase 15:\n\t\treturn \"problem while processing dynamic deflate block\";\n\tcase 16:\n\t\treturn \"unexisting code while processing dynamic deflate block\";\n\tcase 17:\n\t\treturn \"end of out buffer memory reached while inflating\";\n\tcase 18:\n\t\treturn \"invalid distance code while inflating\";\n\tcase 19:\n\t\treturn \"end of out buffer memory reached while inflating\";\n\tcase 20:\n\t\treturn \"invalid deflate block BTYPE encountered while decoding\";\n\tcase 21:\n\t\treturn \"NLEN is not ones complement of LEN in a deflate block\";\n\t\t/*end of out buffer memory reached while inflating:\n\t\t This can happen if the inflated deflate data is longer than the amount of bytes required to fill up\n\t\t all the pixels of the image, given the color depth and image dimensions. Something that doesn't\n\t\t happen in a normal, well encoded, PNG image.*/\n\tcase 22:\n\t\treturn \"end of out buffer memory reached while inflating\";\n\tcase 23:\n\t\treturn \"end of in buffer memory reached while inflating\";\n\tcase 24:\n\t\treturn \"invalid FCHECK in zlib header\";\n\tcase 25:\n\t\treturn \"invalid compression method in zlib header\";\n\tcase 26:\n\t\treturn \"FDICT encountered in zlib header while it's not used for PNG\";\n\tcase 27:\n\t\treturn \"PNG file is smaller than a PNG header\";\n\t\t/*Checks the magic file header, the first 8 bytes of the PNG file*/\n\tcase 28:\n\t\treturn \"incorrect PNG signature, it's no PNG or corrupted\";\n\tcase 29:\n\t\treturn \"first chunk is not the header chunk\";\n\tcase 30:\n\t\treturn \"chunk length too large, chunk broken off at end of file\";\n\tcase 31:\n\t\treturn \"illegal PNG color type or bpp\";\n\tcase 32:\n\t\treturn \"illegal PNG compression method\";\n\tcase 33:\n\t\treturn \"illegal PNG filter method\";\n\tcase 34:\n\t\treturn \"illegal PNG interlace method\";\n\tcase 35:\n\t\treturn \"chunk length of a chunk is too large or the chunk too small\";\n\tcase 36:\n\t\treturn \"illegal PNG filter type encountered\";\n\tcase 37:\n\t\treturn \"illegal bit depth for this color type given\";\n\tcase 38:\n\t\treturn \"the palette is too big\"; /*more than 256 colors*/\n\tcase 39:\n\t\treturn \"more palette alpha values given in tRNS chunk than there are colors in the palette\";\n\tcase 40:\n\t\treturn \"tRNS chunk has wrong size for greyscale image\";\n\tcase 41:\n\t\treturn \"tRNS chunk has wrong size for RGB image\";\n\tcase 42:\n\t\treturn \"tRNS chunk appeared while it was not allowed for this color type\";\n\tcase 43:\n\t\treturn \"bKGD chunk has wrong size for palette image\";\n\tcase 44:\n\t\treturn \"bKGD chunk has wrong size for greyscale image\";\n\tcase 45:\n\t\treturn \"bKGD chunk has wrong size for RGB image\";\n\t\t/*Is the palette too small?*/\n\tcase 46:\n\t\treturn \"a value in indexed image is larger than the palette size (bitdepth = 8)\";\n\t\t/*Is the palette too small?*/\n\tcase 47:\n\t\treturn \"a value in indexed image is larger than the palette size (bitdepth < 8)\";\n\t\t/*the input data is empty, maybe a PNG file doesn't exist or is in the wrong path*/\n\tcase 48:\n\t\treturn \"empty input or file doesn't exist\";\n\tcase 49:\n\t\treturn \"jumped past memory while generating dynamic huffman tree\";\n\tcase 50:\n\t\treturn \"jumped past memory while generating dynamic huffman tree\";\n\tcase 51:\n\t\treturn \"jumped past memory while inflating huffman block\";\n\tcase 52:\n\t\treturn \"jumped past memory while inflating\";\n\tcase 53:\n\t\treturn \"size of zlib data too small\";\n\tcase 54:\n\t\treturn \"repeat symbol in tree while there was no value symbol yet\";\n\t\t/*jumped past tree while generating huffman tree, this could be when the\n\t\t tree will have more leaves than symbols after generating it out of the\n\t\t given lenghts. They call this an oversubscribed dynamic bit lengths tree in zlib.*/\n\tcase 55:\n\t\treturn \"jumped past tree while generating huffman tree\";\n\tcase 56:\n\t\treturn \"given output image colortype or bitdepth not supported for color conversion\";\n\tcase 57:\n\t\treturn \"invalid CRC encountered (checking CRC can be disabled)\";\n\tcase 58:\n\t\treturn \"invalid ADLER32 encountered (checking ADLER32 can be disabled)\";\n\tcase 59:\n\t\treturn \"requested color conversion not supported\";\n\tcase 60:\n\t\treturn \"invalid window size given in the settings of the encoder (must be 0-32768)\";\n\tcase 61:\n\t\treturn \"invalid BTYPE given in the settings of the encoder (only 0, 1 and 2 are allowed)\";\n\t\t/*LodePNG leaves the choice of RGB to greyscale conversion formula to the user.*/\n\tcase 62:\n\t\treturn \"conversion from color to greyscale not supported\";\n\tcase 63:\n\t\treturn \"length of a chunk too long, max allowed for PNG is 2147483647 bytes per chunk\"; /*(2^31-1)*/\n\t\t/*this would result in the inability of a deflated block to ever contain an end code. It must be at least 1.*/\n\tcase 64:\n\t\treturn \"the length of the END symbol 256 in the Huffman tree is 0\";\n\tcase 66:\n\t\treturn \"the length of a text chunk keyword given to the encoder is longer than the maximum of 79 bytes\";\n\tcase 67:\n\t\treturn \"the length of a text chunk keyword given to the encoder is smaller than the minimum of 1 byte\";\n\tcase 68:\n\t\treturn \"tried to encode a PLTE chunk with a palette that has less than 1 or more than 256 colors\";\n\tcase 69:\n\t\treturn \"unknown chunk type with 'critical' flag encountered by the decoder\";\n\tcase 71:\n\t\treturn \"unexisting interlace mode given to encoder (must be 0 or 1)\";\n\tcase 72:\n\t\treturn \"while decoding, unexisting compression method encountering in zTXt or iTXt chunk (it must be 0)\";\n\tcase 73:\n\t\treturn \"invalid tIME chunk size\";\n\tcase 74:\n\t\treturn \"invalid pHYs chunk size\";\n\t\t/*length could be wrong, or data chopped off*/\n\tcase 75:\n\t\treturn \"no null termination char found while decoding text chunk\";\n\tcase 76:\n\t\treturn \"iTXt chunk too short to contain required bytes\";\n\tcase 77:\n\t\treturn \"integer overflow in buffer size\";\n\tcase 78:\n\t\treturn \"failed to open file for reading\"; /*file doesn't exist or couldn't be opened for reading*/\n\tcase 79:\n\t\treturn \"failed to open file for writing\";\n\tcase 80:\n\t\treturn \"tried creating a tree of 0 symbols\";\n\tcase 81:\n\t\treturn \"lazy matching at pos 0 is impossible\";\n\tcase 82:\n\t\treturn \"color conversion to palette requested while a color isn't in palette\";\n\tcase 83:\n\t\treturn \"memory allocation failed\";\n\tcase 84:\n\t\treturn \"given image too small to contain all pixels to be encoded\";\n\tcase 85:\n\t\treturn \"internal color conversion bug\";\n\tcase 86:\n\t\treturn \"impossible offset in lz77 encoding (internal bug)\";\n\tcase 87:\n\t\treturn \"must provide custom zlib function pointer if LODEPNG_COMPILE_ZLIB is not defined\";\n\tcase 88:\n\t\treturn \"invalid filter strategy given for LodePNGEncoderSettings.filter_strategy\";\n\tcase 89:\n\t\treturn \"text chunk keyword too short or long: must have size 1-79\";\n\t\t/*the windowsize in the LodePNGCompressSettings. Requiring POT(==> & instead of %) makes encoding 12% faster.*/\n\tcase 90:\n\t\treturn \"windowsize must be a power of two\";\n\t}\n\treturn \"unknown error code\";\n}\n#endif /*LODEPNG_COMPILE_ERROR_TEXT*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* // C++ Wrapper // */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_CPP\nnamespace lodepng {\n\n#ifdef LODEPNG_COMPILE_DISK\nvoid load_file(std::vector& buffer,\n\t\tconst std::string& filename) {\n\tstd::ifstream file(filename.c_str(),\n\t\t\tstd::ios::in | std::ios::binary | std::ios::ate);\n\n\t/*get filesize*/\n\tstd::streamsize size = 0;\n\tif (file.seekg(0, std::ios::end).good())\n\t\tsize = file.tellg();\n\tif (file.seekg(0, std::ios::beg).good())\n\t\tsize -= file.tellg();\n\n\t/*read contents of the file into the vector*/\n\tbuffer.resize(size_t(size));\n\tif (size > 0)\n\t\tfile.read((char*) (&buffer[0]), size);\n}\n\n/*write given buffer to the file, overwriting the file, it doesn't append to it.*/\nvoid save_file(const std::vector& buffer,\n\t\tconst std::string& filename) {\n\tstd::ofstream file(filename.c_str(), std::ios::out | std::ios::binary);\n\tfile.write(buffer.empty() ? 0 : (char*) &buffer[0],\n\t\t\tstd::streamsize(buffer.size()));\n}\n#endif //LODEPNG_COMPILE_DISK\n\n#ifdef LODEPNG_COMPILE_ZLIB\n#ifdef LODEPNG_COMPILE_DECODER\nunsigned decompress(std::vector& out, const unsigned char* in,\n\t\tsize_t insize, const LodePNGDecompressSettings& settings) {\n\tunsigned char* buffer = 0;\n\tsize_t buffersize = 0;\n\tunsigned error = zlib_decompress(&buffer, &buffersize, in, insize,\n\t\t\t&settings);\n\tif (buffer) {\n\t\tout.insert(out.end(), &buffer[0], &buffer[buffersize]);\n\t\tlodepng_free(buffer);\n\t}\n\treturn error;\n}\n\nunsigned decompress(std::vector& out,\n\t\tconst std::vector& in,\n\t\tconst LodePNGDecompressSettings& settings) {\n\treturn decompress(out, in.empty() ? 0 : &in[0], in.size(), settings);\n}\n#endif //LODEPNG_COMPILE_DECODER\n\n#ifdef LODEPNG_COMPILE_ENCODER\nunsigned compress(std::vector& out, const unsigned char* in,\n\t\tsize_t insize, const LodePNGCompressSettings& settings) {\n\tunsigned char* buffer = 0;\n\tsize_t buffersize = 0;\n\tunsigned error = zlib_compress(&buffer, &buffersize, in, insize, &settings);\n\tif (buffer) {\n\t\tout.insert(out.end(), &buffer[0], &buffer[buffersize]);\n\t\tlodepng_free(buffer);\n\t}\n\treturn error;\n}\n\nunsigned compress(std::vector& out,\n\t\tconst std::vector& in,\n\t\tconst LodePNGCompressSettings& settings) {\n\treturn compress(out, in.empty() ? 0 : &in[0], in.size(), settings);\n}\n#endif //LODEPNG_COMPILE_ENCODER\n#endif //LODEPNG_COMPILE_ZLIB\n\n#ifdef LODEPNG_COMPILE_PNG\n\nState::State() {\n\tlodepng_state_init(this);\n}\n\nState::State(const State& other) {\n\tlodepng_state_init(this);\n\tlodepng_state_copy(this, &other);\n}\n\nState::~State() {\n\tlodepng_state_cleanup(this);\n}\n\nState& State::operator=(const State& other) {\n\tlodepng_state_copy(this, &other);\n\treturn *this;\n}\n\n#ifdef LODEPNG_COMPILE_DECODER\n\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tconst unsigned char* in, size_t insize, LodePNGColorType colortype,\n\t\tunsigned bitdepth) {\n\tunsigned char* buffer;\n\tunsigned error = lodepng_decode_memory(&buffer, &w, &h, in, insize,\n\t\t\tcolortype, bitdepth);\n\tif (buffer && !error) {\n\t\tState state;\n\t\tstate.info_raw.colortype = colortype;\n\t\tstate.info_raw.bitdepth = bitdepth;\n\t\tsize_t buffersize = lodepng_get_raw_size(w, h, &state.info_raw);\n\t\tout.insert(out.end(), &buffer[0], &buffer[buffersize]);\n\t\tlodepng_free(buffer);\n\t}\n\treturn error;\n}\n\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tconst std::vector& in, LodePNGColorType colortype,\n\t\tunsigned bitdepth) {\n\treturn decode(out, w, h, in.empty() ? 0 : &in[0], (unsigned) in.size(),\n\t\t\tcolortype, bitdepth);\n}\n\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tState& state, const unsigned char* in, size_t insize) {\n\tunsigned char* buffer = NULL;\n\tunsigned error = lodepng_decode(&buffer, &w, &h, &state, in, insize);\n\tif (buffer && !error) {\n\t\tsize_t buffersize = lodepng_get_raw_size(w, h, &state.info_raw);\n\t\tout.insert(out.end(), &buffer[0], &buffer[buffersize]);\n\t}\n\tlodepng_free(buffer);\n\treturn error;\n}\n\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tState& state, const std::vector& in) {\n\treturn decode(out, w, h, state, in.empty() ? 0 : &in[0], in.size());\n}\n\n#ifdef LODEPNG_COMPILE_DISK\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tconst std::string& filename, LodePNGColorType colortype,\n\t\tunsigned bitdepth) {\n\tstd::vector buffer;\n\tload_file(buffer, filename);\n\treturn decode(out, w, h, buffer, colortype, bitdepth);\n}\n#endif //LODEPNG_COMPILE_DECODER\n#endif //LODEPNG_COMPILE_DISK\n\n#ifdef LODEPNG_COMPILE_ENCODER\nunsigned encode(std::vector& out, const unsigned char* in,\n\t\tunsigned w, unsigned h, LodePNGColorType colortype, unsigned bitdepth) {\n\tunsigned char* buffer;\n\tsize_t buffersize;\n\tunsigned error = lodepng_encode_memory(&buffer, &buffersize, in, w, h,\n\t\t\tcolortype, bitdepth);\n\tif (buffer) {\n\t\tout.insert(out.end(), &buffer[0], &buffer[buffersize]);\n\t\tlodepng_free(buffer);\n\t}\n\treturn error;\n}\n\nunsigned encode(std::vector& out,\n\t\tconst std::vector& in, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype, unsigned bitdepth) {\n\tif (lodepng_get_raw_size_lct(w, h, colortype, bitdepth) > in.size())\n\t\treturn 84;\n\treturn encode(out, in.empty() ? 0 : &in[0], w, h, colortype, bitdepth);\n}\n\nunsigned encode(std::vector& out, const unsigned char* in,\n\t\tunsigned w, unsigned h, State& state) {\n\tunsigned char* buffer;\n\tsize_t buffersize;\n\tunsigned error = lodepng_encode(&buffer, &buffersize, in, w, h, &state);\n\tif (buffer) {\n\t\tout.insert(out.end(), &buffer[0], &buffer[buffersize]);\n\t\tlodepng_free(buffer);\n\t}\n\treturn error;\n}\n\nunsigned encode(std::vector& out,\n\t\tconst std::vector& in, unsigned w, unsigned h,\n\t\tState& state) {\n\tif (lodepng_get_raw_size(w, h, &state.info_raw) > in.size())\n\t\treturn 84;\n\treturn encode(out, in.empty() ? 0 : &in[0], w, h, state);\n}\n\n#ifdef LODEPNG_COMPILE_DISK\nunsigned encode(const std::string& filename, const unsigned char* in,\n\t\tunsigned w, unsigned h, LodePNGColorType colortype, unsigned bitdepth) {\n\tstd::vector buffer;\n\tunsigned error = encode(buffer, in, w, h, colortype, bitdepth);\n\tif (!error)\n\t\tsave_file(buffer, filename);\n\treturn error;\n}\n\nunsigned encode(const std::string& filename,\n\t\tconst std::vector& in, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype, unsigned bitdepth) {\n\tif (lodepng_get_raw_size_lct(w, h, colortype, bitdepth) > in.size())\n\t\treturn 84;\n\treturn encode(filename, in.empty() ? 0 : &in[0], w, h, colortype, bitdepth);\n}\n#endif //LODEPNG_COMPILE_DISK\n#endif //LODEPNG_COMPILE_ENCODER\n#endif //LODEPNG_COMPILE_PNG\n} //namespace lodepng\n#endif /*LODEPNG_COMPILE_CPP*/\n" }, { "path": "framework/shared/src/metrics/ATEMetric.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"metrics/ATEMetric.h\"\n#include \n#include \"outputs/TrajectoryAlignmentMethod.h\"\n#include \n\nusing namespace slambench::metrics;\n\n\n\nATEMetric::ATEMetric(const slambench::outputs::TrajectoryInterface* tested_trajectory, const slambench::outputs::TrajectoryInterface * ground_truth) : Metric(\"ATE\"), trajectory_(tested_trajectory), ground_truth_(ground_truth)\n{\n\tnext_gt_ts_ = {0,0};\n}\n\nconst slambench::values::ValueDescription &ATEMetric::GetValueDescription() const {\n\tstatic const slambench::values::ValueDescription desc = slambench::values::ValueDescription({\n\t\tstd::make_pair(\"AbsoluteError\", slambench::values::VT_DOUBLE),\n std::make_pair(\"OrientationError\", slambench::values::VT_DOUBLE),\n std::make_pair(\"MeanATE\", slambench::values::VT_DOUBLE),\n std::make_pair(\"MaxATE\", slambench::values::VT_DOUBLE)});\n\n\treturn desc;\n}\n\nconst std::string& ATEMetric::GetDescription() const\n{\n\tstatic std::string desc = \"Absolute Trajectory Error\";\n\treturn desc;\n}\n\nvoid ATEMetric::MeasureStart(Phase* phase)\n{\n\t(void)phase;\n}\n\nvoid ATEMetric::MeasureEnd(Phase* phase)\n{\n\t(void)phase;\n\tlatest_trajectory_ = trajectory_->GetAll();\n}\n\nValue *ATEMetric::GetValue(Phase* phase)\n{\n\t(void)phase;\n\n\tauto gt_traj = ground_truth_->GetAll();\n\tauto es_traj = latest_trajectory_;\n\n\tif(gt_traj.size() == 0) {\n\t\t\tstd::cerr << \"**** Error: Empty GT.\" << std::endl;\n\t\t\treturn new values::TypedValue((double(std::nan(\"\"))));\n\t}\n\n\tauto gt_iterator = gt_traj.begin() ;\n\tauto es_iterator = es_traj.begin() ;\n\n\tdouble LastATE = 0.0;\n\tdouble MaxATE = 0.0;\n\tdouble SumATE = 0.0;\n\tdouble CountATE = 0.0;\n\tdouble LastAOE = 0.0;\n\n\n\tfor (es_iterator = es_traj.begin() ; es_iterator != es_traj.end() ; es_iterator ++) {\n\n\n\n\t\t// Find closest gt point\n\t\t//****************************************************************************************\n\n\n\t\t// Step 1 : ensure GT in the futre exists\n\t\t//***************************************\n\n\t\twhile((gt_iterator->first < es_iterator->first) && gt_iterator != gt_traj.end() ) {\n\t\t\tgt_iterator++;\n\t\t}\n\n\n\t\tif(gt_iterator == gt_traj.end()) {\n\t\t\tstd::cerr << \"**** ATE Error: No more groundtruth to compare with.\" << std::endl;\n\t\t\tLastATE = double(std::nan(\"\"));\n\t\t\tbreak;\n\t\t}\n\n\n\t\t// Step 2 : Closest Future\n\t\t//************************\n\n\t\tauto closest = gt_iterator;\n\t\tfor (; gt_iterator != gt_traj.end(); ++gt_iterator) {\n\t\t\tauto GT_TS = gt_iterator;\n\t\t\tif ( GT_TS->first > es_iterator->first ) {\n\t\t\t\tbreak;\n\t\t\t}\n\n\t\t\tauto CL_TS = gt_iterator;\n\t\t\tif (es_iterator->first - CL_TS->first > es_iterator->first - GT_TS->first) {\n\t\t\t\tclosest = GT_TS;\n\t\t\t}\n\t\t}\n\t\tgt_iterator = closest;\n\n\n\t\t// compute Absolute Error for this point\n\t\t//****************************************************************************************\n\n\t\tconst Eigen::Matrix4f& gt_pose = gt_iterator->second.GetValue();\n\t\tconst Eigen::Matrix4f& aligned_pose = es_iterator->second.GetValue();\n\n\t\tEigen::Vector3f diff = {\n\t\t\t\t\tstd::abs(gt_pose(0,3) - aligned_pose(0,3)) ,\n\t\t\t\t\tstd::abs(gt_pose(1,3) - aligned_pose(1,3)) ,\n\t\t\t\t\tstd::abs(gt_pose(2,3) - aligned_pose(2,3)) } ;\n\n\t\tLastATE = std::sqrt( diff[0] * diff[0] + diff[1] * diff[1] + diff[2] * diff[2]);\n\n\n\t\t// compute Orientation Error for this point\n\t\t//****************************************************************************************\n\n\t\tEigen::Matrix3f gt_rot = gt_pose.block<3,3>(0,0);\n\t\tEigen::Matrix3f aligned_rot = aligned_pose.block<3,3>(0,0);\n\t\t// the rotation matrix in aligned pose has a scale factor, need be de-scaled to be a valid rotation matrix\n\t\taligned_rot /= aligned_rot.block<3,1>(0,0).norm();\n\t\tEigen::AngleAxisf diff_angle(gt_rot.transpose() * aligned_rot);\n\t\tLastAOE = diff_angle.angle() / M_PI * 180.;\n\n\t\t// cumul values\n\t\t//****************************************************************************************\n\n\t\tMaxATE = std::max(MaxATE,LastATE);\n\t\tSumATE += LastATE ;\n\t\tCountATE++;\n\n\t}\n\n\n\tdouble MeanATE = SumATE / CountATE;\n\n\tauto absolute_error = new slambench::values::TypeForVT::type(LastATE);\n\tauto orientation_error = new slambench::values::TypeForVT::type(LastAOE);\n\tauto mean_ate = new slambench::values::TypeForVT::type(MeanATE);\n\tauto max_ate = new slambench::values::TypeForVT::type(MaxATE);\n\n\treturn new slambench::values::TypeForVT::type({\n\t\t\t\t{\"AbsoluteError\",absolute_error},\n\t\t\t\t{\"OrientationError\",orientation_error},\n\t\t\t\t{\"MeanATE\",mean_ate},\n\t\t\t\t{\"MaxATE\",max_ate},\n\t\t\t});\n\n\n}\n" }, { "path": "framework/shared/src/metrics/DepthEstimationMetric.cpp", "content": "/*\n\n Copyright (c) 2018 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \n#include \"outputs/TrajectoryAlignmentMethod.h\"\n#include \n#include \n#include \n#include \n\nusing namespace slambench::metrics;\n\n\n\nDepthEstimationMetric::DepthEstimationMetric(const slambench::outputs::BaseOutput * const tested,\n const slambench::outputs::BaseOutput * const gt) : Metric(\"DepthEstimation\"),\n tested_(tested),\n gt_(gt)\n{}\n\nconst slambench::values::ValueDescription &DepthEstimationMetric::GetValueDescription() const {\n static const slambench::values::ValueDescription desc = slambench::values::ValueDescription({\n {\"Absolute Relative Difference\", slambench::values::VT_DOUBLE},\n {\"DepthEstimation (1.25)\", slambench::values::VT_DOUBLE},\n {\"DepthEstimation (1.25^2)\", slambench::values::VT_DOUBLE},\n {\"DepthEstimation (1.25^3)\", slambench::values::VT_DOUBLE},\n\n });\n return desc;\n}\n const std::string& DepthEstimationMetric::GetDescription() const\n {\n static std::string desc = \"Percentage of accurately estimated pixels\";\n return desc;\n }\n\n void DepthEstimationMetric::MeasureStart(Phase* /**/){}\n\n\n void DepthEstimationMetric::MeasureEnd(Phase* /**/)\n {}\n\n Value *DepthEstimationMetric::GetValue(Phase* /**/)\n {\n const float THR = 1.25;\n if (tested_->Empty())\n return new slambench::values::TypeForVT::type(std::nan(\"\"));\n\n const outputs::Output::value_map_t::value_type tested_frame = tested_->GetMostRecentValue();\n const outputs::Output::value_map_t::value_type gt_frame = gt_->GetMostRecentValue();\n\n auto tested_frame_sb = reinterpret_cast(tested_frame.second);\n auto gt_frame_sb = reinterpret_cast(gt_frame.second);\n\n assert(tested_frame_sb->GetWidth() == gt_frame_sb->GetWidth());\n assert(tested_frame_sb->GetHeight() == gt_frame_sb->GetHeight());\n assert(tested_frame_sb->GetFormat() == gt_frame_sb->GetFormat());\n // FIXME: extend support beyond 8-bit depth\n assert(tested_frame_sb->GetFormat() == slambench::io::pixelformat::EPixelFormat::D_I_8);\n\n auto width = tested_frame_sb->GetWidth();\n auto height = tested_frame_sb->GetHeight();\n auto pixcount = width * height;\n\n\n double rel = 0;\n double depth_est;\n double depth_est_thr_squared;\n double depth_est_thr_cubed;\n\n int count_depth_est = 0;\n int count_depth_est_thr_squared = 0;\n int count_depth_est_thr_cubed = 0;\n\n\n for (unsigned int ii = 0; ii < width; ++ii) {\n for (unsigned int jj = 0; jj < height; ++jj) {\n\n float test_depth = tested_frame_sb->at(ii,jj);\n float gt_depth = gt_frame_sb->at(ii, jj);\n\n rel += std::abs((gt_depth - test_depth) / test_depth);\n\n auto max_val = std::max(test_depth / gt_depth, gt_depth / test_depth);\n if(max_val > THR)\n count_depth_est++;\n if(max_val > THR*THR)\n count_depth_est_thr_squared++;\n if(max_val > THR*THR*THR)\n count_depth_est_thr_cubed++;\n\n }\n }\n\n\n rel /= pixcount;\n depth_est = count_depth_est * 100.0 / pixcount;\n depth_est_thr_squared = count_depth_est_thr_squared * 100.0 / pixcount;\n depth_est_thr_cubed = count_depth_est_thr_cubed * 100.0 / pixcount;\n\n\n auto rel_val = new slambench::values::TypeForVT::type(rel);\n auto depth_est_val = new slambench::values::TypeForVT::type(depth_est);\n auto depth_est_thr_squared_val = new slambench::values::TypeForVT::type(depth_est_thr_squared);\n auto depth_est_thr_cubed_val = new slambench::values::TypeForVT::type(depth_est_thr_cubed);\n return new slambench::values::TypeForVT::type({\n {\"Absolute Relative Difference\",rel_val},\n {\"DepthEstimation (1.25)\", depth_est_val},\n {\"DepthEstimation (1.25^2)\",depth_est_thr_squared_val},\n {\"DepthEstimation (1.25^3)\",depth_est_thr_cubed_val}\n });\n\n }\n" }, { "path": "framework/shared/src/metrics/DurationMetric.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"sb_malloc.h\"\n#include \"metrics/DurationMetric.h\"\n\n#include \n#include \n#include \n#include \n#include \n#include \n\nusing namespace slambench::metrics;\n\n/* Duration Metric */\n\nDurationMetric::DurationMetric() : Metric(\"Duration\")\n{\n\n}\n\nvoid DurationMetric::MeasureStart(Phase* phase)\n{\n\tassert(!phase_start_.count(phase));\n\tphase_start_[phase] = getTime();\n}\n\nvoid DurationMetric::MeasureEnd(Phase* phase)\n{\n\tassert(phase_start_.count(phase));\n\tassert(!phase_end_.count(phase));\n\t\n\tphase_end_[phase] = getTime();\n}\n\nValue *DurationMetric::GetValue(Phase *phase)\n{\n\tauto value = phase_end_.at(phase) - phase_start_.at(phase);\n\tphase_end_.erase(phase);\n\tphase_start_.erase(phase);\n\t\n\t// time is recorded in microseconds but report it in full seconds\n\treturn new values::TypedValue(value / 1000000.0);\n}\n\n\nconst slambench::values::ValueDescription &DurationMetric::GetValueDescription() const {\n\tstatic const slambench::values::ValueDescription desc = slambench::values::VT_DOUBLE;\n\treturn desc;\n}\nconst std::string &DurationMetric::GetDescription() const\n{\n\tstatic std::string desc = \"Duration of the phase in whole microseconds\";\n\treturn desc;\n}\n\nuint64_t DurationMetric::getTime() const\n{\n\tauto now = std::chrono::high_resolution_clock::now().time_since_epoch();\n\t\n\t// convert time into time in microseconds (1/1000000)\n\treturn std::chrono::duration_cast>>(now).count();\n}\n\n" }, { "path": "framework/shared/src/metrics/MemoryMetric.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"metrics/MemoryMetric.h\"\n\n#include \"sb_malloc.h\"\n#include \n#include \n#include \n#include \n#include \n#include \n\nusing namespace slambench::metrics;\n\n/* CPU Memory Metric */\n\n\nconst slambench::values::ValueDescription &MemoryMetric::GetValueDescription() const {\n\treturn desc_;\n}\n\nMemoryMetric::MemoryMetric() : Metric(\"Memory\") , desc_({})\n{\n\tslambench::memory::MemoryProfile::singleton.StartAlgorithm();\n\n//\tif (cuda_monitor.IsActive()) {\n//\t\tdesc_ = slambench::values::ValueDescription({\n//\t\t\t\t\t\t{\"CPU_Memory\", slambench::values::VT_U64},\n//\t\t\t\t\t\t{\"GPU_Memory\", slambench::values::VT_U64},\n//\t\t\t\t\t\t{\"CUDA_Memory\", slambench::values::VT_U64}});\n//\t} else {\n\t\tdesc_ = slambench::values::ValueDescription({\n\t\t\t\t\t\t{\"CPU_Memory\", slambench::values::VT_U64},\n\t\t\t\t\t\t{\"GPU_Memory\", slambench::values::VT_U64}});\n//\t}\n}\n\n\nMemoryMetric::~MemoryMetric() {\n\tslambench::memory::MemoryProfile::singleton.EndAlgorithm();\n}\n\nvoid MemoryMetric::MeasureStart(Phase* phase)\n{\n\n\t(void)phase;\n\tslambench::memory::MemoryProfile::singleton.ResetBytesAllocated();\n\tslambench::memory::MemoryProfile::singleton.ResetGPUBytesAllocated();\n\n\n\n}\n\nvoid MemoryMetric::MeasureEnd(Phase* phase)\n{\n\t(void)phase;\n\tassert(!CPU_Usage_.count(phase));\n\tCPU_Usage_[phase] = slambench::memory::MemoryProfile::singleton.GetOverallData().MaxBytesAllocated ;\n\tGPU_Usage_[phase] = slambench::memory::MemoryProfile::singleton.GetOverallGPUData().MaxBytesAllocated ;\n\n}\n\nValue *MemoryMetric::GetValue(Phase* phase)\n{\n\tauto cpu_mem = new slambench::values::TypeForVT::type(CPU_Usage_[phase]);\n\tauto gpu_mem = new slambench::values::TypeForVT::type(GPU_Usage_[phase]);\n\n\tCPU_Usage_.erase(phase);\n\tGPU_Usage_.erase(phase);\n\n//\tif (cuda_monitor.IsActive()) {\n//\t\tauto cuda_mem = new slambench::values::TypeForVT::type(cuda_monitor.getUsedBytes());\n//\t\treturn new slambench::values::TypeForVT::type({\n//\t\t\t{\"CPU_Memory\",cpu_mem},\n//\t\t\t{\"GPU_Memory\",gpu_mem},\n//\t\t\t{\"CUDA_Memory\",cuda_mem}\n//\t\t});\n//\t} else {\n\t\treturn new slambench::values::TypeForVT::type({\n\t\t\t{\"CPU_Memory\",cpu_mem},\n\t\t\t{\"GPU_Memory\",gpu_mem}\n\t\t});\n//\t}\n\n}\n\n\nconst std::string& MemoryMetric::GetDescription() const\n{\n\tstatic const std::string desc = \"Memory in Bytes\";\n\treturn desc;\n}\n\n" }, { "path": "framework/shared/src/metrics/Metric.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"sb_malloc.h\"\n#include \"metrics/Metric.h\"\n\n#include \n#include \n#include \n#include \n#include \n#include \n\nusing namespace slambench::metrics;\n\n/* Metric Base Class */\n\nMetric::Metric(const std::string& name) : name_(name)\n{\n}\n\nMetric::~Metric()\n{\n\n}\n\nconst std::string &Metric::GetDescription() const\n{\n\tstatic std::string desc = \"No description for metric\";\n\treturn desc;\n}\n" }, { "path": "framework/shared/src/metrics/MetricManager.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"metrics/Metric.h\"\n#include \"metrics/MetricManager.h\"\n#include \"metrics/Phase.h\"\n#include \"metrics/DurationMetric.h\"\n\n#include \n#include \n\nusing namespace slambench::metrics;\n\nMetricManager::MetricManager() : init_phase_(this,\"Initialisation\"), frame_phase_(this, \"Frame\"), frame_counter_(0)\n{\n strcpy(duration_metric_typeid_, typeid(DurationMetric).name());\n frame_phase_duration_.clear();\n}\n\nMetricManager::~MetricManager() {\n for(auto i : frame_data_) {\n delete i;\n }\n}\n\nvoid MetricManager::AddPhaseMetric(const MetricPtr& m)\n{\n phase_metrics_.push_back(m);\n all_metrics_.insert(m);\n}\n\nvoid MetricManager::AddFrameMetric(const MetricPtr& m)\n{\n frame_metrics_.push_back(m);\n all_metrics_.insert(m);\n}\n\nvoid MetricManager::AddPhase(Phase* p)\n{\n phases_.push_back(p);\n}\n\nvoid MetricManager::AddPhase(const std::string &phase_name) {\n AddPhase(new Phase(this, phase_name));\n}\n\nvoid MetricManager::BeginInit()\n{\n for(auto &i : frame_metrics_) {\n i->MeasureStart(&init_phase_);\n }\n}\n\nvoid MetricManager::EndInit()\n{\n for(auto &i : frame_metrics_ ) {\n i->MeasureEnd(&init_phase_);\n }\n\n for(auto &i : frame_metrics_) {\n init_data_.insert({&*i, i->GetValue(&init_phase_)});\n }\n\n}\n\nvoid MetricManager::BeginFrame()\n{\n for(auto &i : frame_metrics_) {\n i->MeasureStart(&frame_phase_);\n }\n}\n\nvoid MetricManager::BeginPhase(Phase* phase)\n{\n for(auto &i : phase_metrics_ ) {\n i->MeasureStart(phase);\n }\n}\n\nvoid MetricManager::EndFrame()\n{\n for(auto &i : frame_metrics_ ) {\n i->MeasureEnd(&frame_phase_);\n }\n\n auto &frame = *GetFrame(frame_counter_);\n auto &frame_data = frame.GetFrameData();\n for(auto &i : frame_metrics_) {\n frame_data.insert({&*i, i->GetValue(&frame_phase_)});\n if (!strcmp(duration_metric_typeid_, typeid(*i).name())) {\n frame_phase_duration_.push_back(dynamic_cast*>(frame_data[&*i])->GetValue());\n }\n }\n // yeaaaahhhhh\n frame.GetPhaseData(&frame_phase_) = frame_data;\n\n for(auto &i : phase_metrics_) {\n for(auto j : phases_) {\n frame.GetPhaseData(j).insert({&*i, i->GetValue(j)});\n }\n }\n\n frame_counter_++;\n}\n\nFrameData* MetricManager::GetFrame(uint64_t frame_number)\n{\n while(frame_data_.size() <= frame_number) {\n frame_data_.push_back(new FrameData());\n }\n assert(frame_data_.at(frame_number) != nullptr);\n return frame_data_.at(frame_number);\n}\n\nFrameData* MetricManager::GetLastFrame()\n{\n return *frame_data_.rbegin();\n}\n\nstd::string MetricManager::GetHeader() const\n{\n std::ostringstream str;\n\n for(auto &m : frame_metrics_) {\n str << \"Frame_\" << m->GetName() << \"\\t\";\n }\n\n for(auto p : phases_) {\n for(auto &m : phase_metrics_) {\n str << p->GetName() << \"_\" << m->GetName() << \"\\t\";\n }\n }\n return str.str();\n}\n\nvoid MetricManager::EndPhase(Phase* phase)\n{\n for(auto &i : phase_metrics_ ) {\n i->MeasureEnd(phase);\n }\n}\n\nPhase* MetricManager::GetPhase(const std::string& phasename)\n{\n for (auto &i : phases_) {\n if (i->GetName() == phasename) {\n return i;\n }\n }\n assert(false);\n}\n" }, { "path": "framework/shared/src/metrics/Phase.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"metrics/MetricManager.h\"\n#include \"metrics/Phase.h\"\n\nusing namespace slambench::metrics;\n\nPhase::Phase(MetricManager* mgr, const std::string &phasename) : name_(phasename), manager_(mgr)\n{\n\n}\n\nvoid Phase::Begin()\n{\n\tmanager_->BeginPhase(this);\n}\n\nvoid Phase::End()\n{\n\tmanager_->EndPhase(this);\n}\n" }, { "path": "framework/shared/src/metrics/PointCloudMetric.cpp", "content": "#include \"metrics/PointCloudMetric.h\"\n#include \"io/format/PointCloud.h\"\n\nusing slambench::values::PointCloudValue;\nusing namespace slambench::metrics;\n\nPointCloudMetric::PointCloudMetric(const slambench::outputs::BaseOutput * const heatmap_pointcloud) :\n Metric(\"PointCloud_Metric\"), heatmap_pointcloud(heatmap_pointcloud)\n{ }\n\nconst slambench::values::ValueDescription &PointCloudMetric::GetValueDescription() const {\n\tstatic const slambench::values::ValueDescription desc = slambench::values::ValueDescription({\n\t\t{\"PointCloud_Metric\", slambench::values::VT_DOUBLE}});\n\treturn desc;\n}\n\nconst std::string& PointCloudMetric::GetDescription() const {\n\tstatic std::string desc = \"Point Cloud Reconstruction Accuracy\";\n\treturn desc;\n}\n\nvoid PointCloudMetric::MeasureStart(Phase* /* unused */) { }\n\nvoid PointCloudMetric::MeasureEnd(Phase* /* unused */) { }\n\nconstexpr int COMPUTE_EVERY_FRAMES = 20;\n\nValue *PointCloudMetric::GetValue(Phase* /* unused */) {\n\n\tif (heatmap_pointcloud->Empty())\n\t return new slambench::values::TypeForVT::type(std::nan(\"\"));\n\n\tconst outputs::Output::value_map_t::value_type tested_frame = heatmap_pointcloud->GetMostRecentValue();\n\tconst auto pcv = reinterpret_cast(tested_frame.second);\n\n\tdouble total = 0;\n\tfor (const auto &value : pcv->GetPoints()) {\n\t\ttotal += value.value;\n\t}\n\n\tconst double average = total / pcv->GetPoints().size();\n\n\treturn new slambench::values::TypeForVT::type(average);\n\n}\n\n" }, { "path": "framework/shared/src/metrics/PowerMetric.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifdef PAPI_MONITORING\n#include \"metrics/power_utils/PAPIMonitor.h\"\n#endif\n\n#ifdef XU3_MONITORING\n#include \"metrics/power_utils/XU3Monitor.h\"\n#endif\n\n\n#include \"metrics/PowerMetric.h\"\n#include \"outputs/TrajectoryAlignmentMethod.h\"\n#include \n\nnamespace slambench {\n\tnamespace metrics {\n\nPowerMetric::PowerMetric() : Metric(\"Power\"), last_res_(nullptr) {\n\n pm_ = nullptr;\n\n#ifdef PAPI_MONITORING\n\tif (!pm_) {\n\t\tstd::cerr << \"*** Test PAPI Monitoring.\" << std::endl;\n\t\tpm_ = PAPIMonitor::generate();\n\t\tif (pm_) {std::cerr << \"*** PAPI Monitoring works.\" << std::endl;}\n\t\telse {std::cerr << \"*** PAPI Monitoring failed.\" << std::endl;}\n\t}\n#endif\n\n#ifdef XU3_MONITORING\n\tif (!pm_) {\n\t\tstd::cerr << \"*** Test XU3 Monitoring.\" << std::endl;\n pm_ = XU3Monitor::generate();\n\t\tif (pm_) {std::cerr << \"*** XU3 Monitoring works.\" << std::endl;}\n\t\telse {std::cerr << \"*** XU3 Monitoring failed.\" << std::endl;}\n\t}\n#endif\n\t\n\tif (!pm_) {std::cerr << \"*** There is no available power monitoring techniques on this system.\" << std::endl;}\n\n}\n\n\nconst values::ValueDescription &PowerMetric::GetValueDescription() const {\n\tstatic const slambench::values::ValueDescription desc = slambench::values::ValueDescription(slambench::values::VT_COLLECTION);\n\tif (!pm_) \treturn desc;\n\treturn pm_->GetType();\n}\nconst std::string& PowerMetric::GetDescription() const {\n\tstatic std::string with = \"PAPI Power consumption in Watts.\";\n\tstatic std::string without = \"Power Monitor not found.\";\n\treturn pm_ ? with : without;\n}\n\nvoid PowerMetric::MeasureStart(Phase* phase) {\n\t(void)phase;\n\tif (pm_) {\n\t\tpm_->startSample();\n\t}\n}\n\nvoid PowerMetric::MeasureEnd(Phase* phase) {\n\t(void)phase;\n\tif (pm_) {\n last_res_ = pm_->endSample();\n\t}\n}\n\nslambench::values::Value * PowerMetric::GetValue(Phase* phase) {\n\t(void)phase;\n\n\tif (pm_ != nullptr) {\n\t\treturn last_res_;\n\t} else {\n\t\treturn new slambench::values::TypeForVT::type({});\n\t}\n}\n\t}\n}\n" }, { "path": "framework/shared/src/metrics/RPEMetric.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"metrics/RPEMetric.h\"\n#include \"outputs/TrajectoryAlignmentMethod.h\"\n#include \n\nusing namespace slambench::metrics;\n\n\n\nRPEMetric::RPEMetric(const slambench::outputs::TrajectoryInterface* tested_trajectory, const slambench::outputs::TrajectoryInterface * ground_truth) : Metric(\"RPE\"), trajectory_(tested_trajectory), ground_truth_(ground_truth)\n{\n\tnext_gt_ts_ = {0,0};\n}\n\nconst slambench::values::ValueDescription &RPEMetric::GetValueDescription() const {\n\tstatic const slambench::values::ValueDescription desc = slambench::values::ValueDescription({\n\t\t{\"RPE_RMSE\", slambench::values::VT_DOUBLE}});\n\n\treturn desc;\n}\n\nconst std::string& RPEMetric::GetDescription() const\n{\n\tstatic std::string desc = \"Average Trajectory Error\";\n\treturn desc;\n}\n\nvoid RPEMetric::MeasureStart(Phase* phase)\n{\n\t(void)phase;\n}\n\n\nvoid RPEMetric::MeasureEnd(Phase* phase)\n{\n\t(void)phase;\n\tlatest_trajectory_ = trajectory_->GetAll();\n}\n\nValue *RPEMetric::GetValue(Phase* phase)\n{\n\t(void)phase;\n\n\tauto gt_traj = ground_truth_->GetAll();\n\tauto es_traj = latest_trajectory_;\n\n\tif(gt_traj.size() == 0) {\n\t\t\tstd::cerr << \"**** Error: Empty GT.\" << std::endl;\n\t\t\treturn new values::TypedValue((double(std::nan(\"\"))));\n\t}\n\n\tdouble norms = 0.0;\n\tint count = 0;\n\n // TODO TODO TODO TODO TODO TODO TODO TODO TODO TODO TODO TODO\n\t// Previously there was i_delta in original implementation\n\t// I drop the feature for now, will put it back later\n\t// TODO: The solution here is to have ParameterComponent for Metrics, so this parameter is visible externally\n\n\t// in RPE we compare shift from previous point, we need to store them\n\tauto gt_previous_iterator = gt_traj.end();\n\tauto es_previous_iterator = es_traj.end();\n\n\tauto gt_iterator = gt_traj.begin();\n\tauto es_iterator = es_traj.begin();\n\tbool first_point = true;\n\n\tfor (es_iterator = es_traj.begin(); es_iterator != es_traj.end(); es_iterator++) {\n\t\t// Find closest gt point\n\t\t//****************************************************************************************\n\t\t// Step 1 : ensure GT in the future exists\n\t\t//***************************************\n\n\t\twhile(gt_iterator->first < es_iterator->first ) {\n\t\t\tgt_iterator++;\n\t\t}\n\n\t\tif(gt_iterator == gt_traj.end()) {\n\t\t\tstd::cerr << \"**** RPE Error: No more groundtruth to compare with.\" << std::endl;\n\t\t\tbreak;\n\t\t}\n\n\t\t// Step 2 : Closest Future\n\t\t//************************\n\t\tauto closest = gt_iterator;\n\t\tfor (; gt_iterator != gt_traj.end(); ++gt_iterator) {\n\t\t\tauto GT_TS = gt_iterator;\n\t\t\tif ( GT_TS->first > es_iterator->first ) {\n\t\t\t\tbreak;\n\t\t\t}\n\n\t\t\tauto CL_TS = gt_iterator;\n\t\t\tif (es_iterator->first - CL_TS->first > es_iterator->first - GT_TS->first) {\n\t\t\t\tclosest = GT_TS;\n\t\t\t}\n\t\t}\n\t\tgt_iterator = closest;\n\n\t\t// If at least two points are processed, we can compute Relative Pose Error\n\t\t//****************************************************************************************\n\t\tif (!first_point) {\n\n\t auto pose_gt_i = gt_previous_iterator->second.GetValue();\n\t auto pose_gt_j = gt_iterator->second.GetValue();\n\t auto pose_gt_diff = pose_gt_i * pose_gt_j.inverse();\n\n\t auto pose_es_i = es_previous_iterator->second.GetValue();\n\t auto pose_es_j = es_iterator->second.GetValue();\n\t auto pose_es_diff = pose_es_i * pose_es_j.inverse();\n\n\t Eigen::Matrix4f E = pose_es_diff * pose_gt_diff.inverse();\n\t Eigen::Vector3f v = E.block<3,1>(0,3);\n\t double length = v.norm();\n\t norms = norms + length*length;\n\t count++;\n\n\t\t}\n\n\t\t// store previous values\n\t\t//****************************************************************************************\n\t\tgt_previous_iterator = gt_iterator ;\n\t\tes_previous_iterator = es_iterator ;\n\t\tfirst_point = false;\n\n\t}\n\n\tdouble RPE = (count == 0) ? 0 : std::sqrt(norms/ (double)count);\n\tauto rpe_rmse = new slambench::values::TypeForVT::type(RPE);\n\n\treturn new slambench::values::TypeForVT::type({\n\t\t\t\t{\"RPE_RMSE\",rpe_rmse},\n\t\t\t});\n\n}\n" }, { "path": "framework/shared/src/metrics/memory_utils/CUDAMonitor.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"metrics/memory_utils/CUDAMonitor.h\"\n#include \n#include \n\nbool CUDAMonitor::IsActive() {\n\t return libcuda_cudaMemGetInfo != nullptr;\n}\n\nbool CUDAMonitor::Init() {\n\t libcuda_cudaMemGetInfo = (cudaMemGetInfo_t)dlsym(RTLD_NEXT, \"cudaMemGetInfo\");\n\t\tif (libcuda_cudaMemGetInfo == nullptr) {\n\t\t\tstd::cerr << \"*** CUDA Monitor: cudaMemGetInfo is not available\" << std::endl;\n\t\t}\n libcuda_cudaGetDeviceProperties = (cudaGetDeviceProperties_t)dlsym(RTLD_NEXT, \"cudaGetDeviceProperties\");\n if (libcuda_cudaGetDeviceProperties == nullptr) {\n std::cerr << \"*** CUDA Monitor: cudaGetDeviceProperties is not available\" << std::endl;\n } else {\n cudaDeviceProp prop;\n libcuda_cudaGetDeviceProperties(&prop, 0);\n device_name = prop.name;\n }\n\t return libcuda_cudaMemGetInfo != nullptr;\n}\n\n\n\nsize_t CUDAMonitor::getUsedBytes() {\n\n\tif (libcuda_cudaMemGetInfo == nullptr) {\n\t\treturn 0;\n\t}\n\t// show memory usage of GPU\n\n\tsize_t free_byte ;\n\n\tsize_t total_byte ;\n\n\tcudaError_t error = libcuda_cudaMemGetInfo(&free_byte, &total_byte);\n\n\n\tif (error != 0) {\n\t\treturn 0.0;\n\t}\n\n\tdouble free_db = (double)free_byte ;\n\n\tdouble total_db = (double)total_byte ;\n\n\tdouble used_db = total_db - free_db ;\n\n\treturn used_db ;\n\n}\n\n\n" }, { "path": "framework/shared/src/metrics/power_utils/PAPIMonitor.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \n#include \n#include \"metrics/power_utils/PAPIMonitor.h\"\n#include \n\n#define DEBUG_INFO(msg) std::cerr << msg << std::endl;\n#undef DEBUG_INFO\n#define DEBUG_INFO(msg) ;\n\nbool PAPIMonitor::papi_init () {\n\n\tint cid,rapl_cid=-1,numcmp;\n\tint code;\n\tint r = 0;\n\tconst PAPI_component_info_t *cmpinfo = nullptr;\n\tPAPI_event_info_t evinfo;\n\n\tint retval = PAPI_library_init( PAPI_VER_CURRENT );\n\n\tif ( retval != PAPI_VER_CURRENT ) {\n\t\tstd::cerr << \"*** PAPI_library_init failed \" << retval << std::endl;\n\t\treturn false;\n\t}\n\n\n\tnumcmp = PAPI_num_components();\n\n\tDEBUG_INFO(\"Found \" << numcmp<< \"components\");\n\n\tfor(cid=0; cidshort_name << \"\");\n\t\tDEBUG_INFO(\" - Name=\" << cmpinfo->name << \"\");\n\t\tDEBUG_INFO(\" - Description=\" << cmpinfo->description << \"\");\n\t\tDEBUG_INFO(\" - Disabled=\" << cmpinfo->disabled << \"\");\n\n\t\tif (strstr(cmpinfo->name,\"rapl\")) {\n\n\t\t\trapl_cid=cid;\n\n\t\t\tDEBUG_INFO(\" - RAPL FOUND !\");\n\n\t\t\tif (cmpinfo->disabled) {\n\t\t\t\tstd::cerr <<\"*** RAPL component disabled: \" << cmpinfo->disabled_reason << std::endl;\n\t\t\t\treturn false;\n\t\t\t}\n\t\t\tbreak;\n\t\t}\n\t}\n\n\t/* Component not found */\n\tif (cid==numcmp) {\n\t\tstd::cerr << \"*** PAPI Rapl components not found\\n\";\n\t\treturn false;\n\t}\n;\n\t/* Create EventSet */\n\tEventSet = PAPI_NULL;\n\tretval = PAPI_create_eventset( &EventSet );\n\tif (retval != PAPI_OK) {\n\t\tstd::cerr << \"*** PAPI_create_eventset FAIL \"<< std::endl;\n\t\treturn false;\n\t}\n\n\t/* Add all events */\n\n\tcode = PAPI_NATIVE_MASK;\n\n\n\n\n\tr = PAPI_enum_cmp_event( &code, PAPI_ENUM_FIRST, rapl_cid );\n\n\n\twhile ( r == PAPI_OK ) {\n\n\n\t\tDEBUG_INFO(\" - Read event !\");\n\n\t\tretval = PAPI_event_code_to_name( code, event_names[num_events] );\n\n\t\tDEBUG_INFO(\" - Name = \" << event_names[num_events] );\n\t\tif ( retval != PAPI_OK ) {\n\t\t\tstd::cerr << \"Error translating \" << code << \" PAPI_event_code_to_name\" << std::endl << retval;\n\t\t\treturn false;\n\t\t}\n\n\t\tretval = PAPI_get_event_info(code,&evinfo);\n\t\tif (retval != PAPI_OK) {\n\t\t\tstd::cerr << \"Error getting event info \" << std::endl << retval;\n\t\t\treturn false;\n\t\t}\n\n\t\tstrncpy(units[num_events],evinfo.units,sizeof(units[0]));\n\t\t// buffer must be null terminated to safely use strstr operation on it below\n\t\tunits[num_events][sizeof(units[0])-1] = '\\0';\n\n\n\n\t\tretval = PAPI_add_event( EventSet, code );\n\t\tif (retval != PAPI_OK) {\n\t\t\tbreak; /* We've hit an event limit */\n\t\t}\n\t\tnum_events++;\n\n\t\tr = PAPI_enum_cmp_event( &code, PAPI_ENUM_EVENTS, rapl_cid );\n\t}\n\n\tvalues= (long long int *) calloc(num_events,sizeof(long long));\n\tif (values==NULL) {\n\t\tstd::cerr << \"Failed to allocate memory in PAPI initialisation\"<< std::endl;\n\t\treturn false;\n\t}\n\treturn true; // That means OK\n}\nbool PAPIMonitor::papi_start() {\n\n\t/* Start Counting */\n\tbefore_time=PAPI_get_real_nsec();\n\tint retval = PAPI_start( EventSet);\n\tif (retval != PAPI_OK) {\n\t\tstd::cerr << \"ERROR: PAPI_start() \" << std::endl<< retval;\n\t}\n\treturn retval == PAPI_OK;\n}\nbool PAPIMonitor::papi_read() {\n\n\t/* Stop Counting */\n\tafter_time=PAPI_get_real_nsec();\n\tint retval = PAPI_stop( EventSet, values);\n\tif (retval != PAPI_OK) {\n\t\tstd:: cerr << \"ERROR: PAPI_stop() \"<< std::endl<< retval;\n\t\treturn false;\n\t}\n\n\tDEBUG_INFO(\"before_time = \" << before_time);\n\tDEBUG_INFO(\"after_time = \" << after_time);\n\tdouble elapsed_time=(double)(((double)(after_time-before_time)) / (double)1.0e9);\n\n\n\tDEBUG_INFO(\"elapsed_time = \" << elapsed_time);\n\n\tfor(int i=0;i\n\n\nbool XU3Monitor::odroid_init () {\n\n\tpowerA7 = NULL;\n\tpowerA15 = NULL;\n\tpowerGPU = NULL;\n\tpowerDRAM = NULL;\n\n\tif (enableSensor(SENSOR_A7)) {\n\t\tenableSensor(SENSOR_A15);\n\t\tenableSensor(SENSOR_GPU);\n\t\tenableSensor(SENSOR_DRAM);\n\t\treturn true;\n\t} else {\n\t\treturn false;\n\t}\n\n}\n\n\nbool XU3Monitor::odroid_start () {\n\treturn true;\n}\n\n\nbool XU3Monitor::odroid_sample () {\n\n\tif (powerA7) this->vpowerA7 = getPower(SENSOR_A7);\n\tif (powerA15) this->vpowerA15 = getPower(SENSOR_A15);\n\tif (powerGPU) this->vpowerGPU = getPower(SENSOR_GPU);\n\tif (powerDRAM) this->vpowerDRAM = getPower(SENSOR_DRAM);\n\n\treturn true;\n}\n\nbool XU3Monitor::odroid_finish() {\n\n\tif (powerA7)\n\t\tfclose(powerA7);\n\tif (powerA15)\n\t\tfclose(powerA15);\n\tif (powerGPU)\n\t\tfclose(powerGPU);\n\tif (powerDRAM)\n\t\tfclose(powerDRAM);\n\treturn true;\n}\n\nfloat XU3Monitor::getPower(XU3Sensor sensor) {\n\tFILE *tmp = NULL;\n\tfloat power;\n\n\t\tswitch (sensor) {\n\t\tcase SENSOR_A7:\n\t\t\ttmp = powerA7;\n\t\t\tbreak;\n\t\tcase SENSOR_A15:\n\t\t\ttmp = powerA15;\n\t\t\tbreak;\n\t\tcase SENSOR_GPU:\n\t\t\ttmp = powerGPU;\n\t\t\tbreak;\n\t\tcase SENSOR_DRAM:\n\t\t\ttmp = powerDRAM;\n\t\t\tbreak;\n\t\t}\n\t\tif (tmp) {\n\t\t\trewind(tmp);\n\t\t\tfscanf(tmp, \"%f\\n\", &power);\n\t\t\treturn (power);\n\t\t}\n\n\treturn 0;\n}\n\nbool XU3Monitor::enableSensor(XU3Sensor sensor) {\n\tchar enableFile[256];\n\tFILE *tmp;\n\n\t\tfor (int dn = 0; dn < 5; dn++) {\n\t\t\tsprintf(enableFile, \"/sys/bus/i2c/drivers/INA231/%d-00%d/enable\", dn,\n\t\t\t\tsensor);\n\n\t\t\tif ((tmp = fopen(enableFile, \"a\"))!= 0) {\n\t\t\t\tfprintf(tmp, \"1\\n\");\n\t\t\t\tfclose(tmp);\n\n\t\t\t\tsprintf(enableFile, \"/sys/bus/i2c/drivers/INA231/%d-00%d/sensor_W\",\n\t\t\t\t\tdn, sensor);\n\t\t\t\tif ((tmp = fopen(enableFile, \"r\")) != 0) {\n\t\t\t\t\tswitch (sensor) {\n\t\t\t\t\tcase SENSOR_A7:\n\t\t\t\t\t\tpowerA7 = tmp;\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase SENSOR_A15:\n\t\t\t\t\t\tpowerA15 = tmp;\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase SENSOR_GPU:\n\t\t\t\t\t\tpowerGPU = tmp;\n\t\t\t\t\t\tbreak;\n\t\t\t\t\tcase SENSOR_DRAM:\n\t\t\t\t\t\tpowerDRAM = tmp;\n\t\t\t\t\t\tbreak;\n\t\t\t\t\t}\n\t\t\t\t\treturn true;\n\t\t\t\t}\n\t\t\t}\n\t}\n\treturn false;\n}\n\n\n" }, { "path": "framework/shared/src/outputs/Output.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"outputs/Output.h\"\n#include \"values/Value.h\"\n#include \"outputs/TrajectoryAlignmentMethod.h\"\n#include \"outputs/TrajectoryInterface.h\"\n\n#include \n#include \n\n#include \n\nusing namespace slambench::outputs;\nusing slambench::values::PointCloudValue;\ntypedef pcl::PointXYZ point_t;\n\nBaseOutput::BaseOutput(const std::string& name, const values::ValueDescription &type, bool main_output) : name_(name), type_(type), only_keep_most_recent_(false), active_(false), main_(main_output)\n{\n\n}\n\nconst BaseOutput::value_map_t::value_type& BaseOutput::GetMostRecentValue() const\n{\n\tif(GetValues().empty()) {\n\t\tthrow std::logic_error(\"No values in output\");\n\t}\n\n\treturn *GetValues().rbegin();\n}\n\nbool BaseOutput::Empty() const\n{\n\treturn GetValues().empty();\n}\n\n\nOutput::Output(const std::string& name, values::ValueType type, bool main_output) : BaseOutput(name, type, main_output)\n{\n\n}\n\nvoid Output::AddPoint(timestamp_t time, const values::Value *value)\n{\n\tassert(value->GetType() == GetType());\n\tassert(IsActive());\n\tif(GetKeepOnlyMostRecent()) {\n\t\tfor(auto i : values_) {\n\t\t\tdelete i.second;\n\t\t}\n\t\tvalues_.clear();\n\t}\n\tvalues_[time] = value;\n\n\tUpdated();\n}\n\nconst Output::value_map_t& Output::GetValues() const\n{\n\tassert(IsActive());\n\treturn values_;\n}\n\nconst BaseOutput::value_map_t::value_type& Output::GetMostRecentValue() const\n{\n\tif(values_.empty()) {\n\t\tthrow std::logic_error(\"No values available in output\");\n\t}\n\treturn *values_.rbegin();\n}\n\nvoid BaseOutput::Updated() const\n{\n\tfor(auto i : update_callbacks_) {\n\t\ti(this);\n\t}\n}\n\nDerivedOutput::DerivedOutput(const std::string &name, values::ValueType type, const std::initializer_list &derived_from, bool main) : BaseOutput(name, type, main), derived_from_(derived_from), up_to_date_(false)\n{\n\tfor(BaseOutput *i : derived_from_) {\n\t\ti->AddUpdateCallback([this](const BaseOutput*){this->Invalidate();});\n\t}\n}\n\nbool DerivedOutput::Empty() const\n{\n\tif(!up_to_date_) {\n\t\trecalculate();\n\t}\n\n\treturn cached_values_.empty();\n}\n\nvoid DerivedOutput::recalculate() const\n{\n\tconst_cast(this)->Recalculate();\n\tconst_cast(this)->up_to_date_ = true;\n\tUpdated();\n}\n\n\nconst BaseOutput::value_map_t::value_type& DerivedOutput::GetMostRecentValue() const\n{\n\tif(!up_to_date_) {\n\t\trecalculate();\n\t}\n\n\treturn *cached_values_.rbegin();\n}\n\nconst BaseOutput::value_map_t& DerivedOutput::GetValues() const\n{\n\tif(!up_to_date_) {\n\t\trecalculate();\n\t}\n\n\treturn cached_values_;\n}\n\nvoid DerivedOutput::Invalidate()\n{\n\tup_to_date_ = false;\n}\n\nBaseOutput::value_map_t& DerivedOutput::GetCachedValueMap()\n{\n\treturn cached_values_;\n}\n\n\nAlignmentOutput::AlignmentOutput(const std::string& name, TrajectoryInterface* gt_trajectory, BaseOutput* trajectory, TrajectoryAlignmentMethod *method) : DerivedOutput(name, values::VT_MATRIX, {trajectory}), freeze_(false), gt_trajectory_(gt_trajectory), trajectory_(trajectory), method_(method)\n{\n\n}\n\nvoid AlignmentOutput::Recalculate()\n{\n\tif (freeze_) return;\n\tassert(GetKeepOnlyMostRecent());\n\tauto &target = GetCachedValueMap();\n\n\tfor(auto i : target) {\n\t\tdelete i.second;\n\t}\n\ttarget.clear();\n\n\tif(trajectory_->Empty()) {\n\t\treturn;\n\t}\n\n\tslambench::outputs::PoseOutputTrajectoryInterface traj_int(trajectory_);\n\n //transformation_ = (*method_)(gt_trajectory_->GetAll(), traj_int.GetAll());\n auto transformation = (*method_)(gt_trajectory_->GetAll(), traj_int.GetAll());\n\tauto &last_point = trajectory_->GetMostRecentValue();\n\n\ttarget.insert({last_point.first, new values::TypedValue(transformation)});\n}\n\nAlignedPoseOutput::AlignedPoseOutput(const std::string& name, AlignmentOutput* alignment, BaseOutput* pose_output) : DerivedOutput(name, values::VT_POSE, {alignment, pose_output}), alignment_(alignment), pose_output_(pose_output)\n{\n\n}\n\nvoid AlignedPoseOutput::Recalculate()\n{\n\tauto &target = GetCachedValueMap();\n\n\tfor(auto i : target) {\n\t\tdelete i.second;\n\t}\n\ttarget.clear();\n\n\tif(!alignment_->IsActive()) return;\n\tif(alignment_->Empty()) return;\n\tif(!pose_output_->IsActive()) return;\n\tif(pose_output_->Empty()) return;\n\n auto newest_alignment = alignment_->GetMostRecentValue().second;\n values::TypedValue *mv = (values::TypedValue*)newest_alignment;\n\n for(auto traj_point : pose_output_->GetValues()) {\n auto pose = (values::PoseValue*)traj_point.second;\n\n\t\tEigen::Matrix4f tmp = mv->GetValue() * pose->GetValue();\n\t\ttarget.insert({traj_point.first, const_cast(new values::PoseValue(tmp))});\n\t}\n}\n\nAlignedPointCloudOutput::AlignedPointCloudOutput(const std::string& name, AlignmentOutput* alignment, BaseOutput* pc_output) : DerivedOutput(name, values::VT_POINTCLOUD, {alignment, pc_output}), alignment_(alignment), pointcloud_(pc_output)\n{\n\tSetKeepOnlyMostRecent(true);\n}\n\nvoid AlignedPointCloudOutput::Recalculate()\n{\n\tassert(GetKeepOnlyMostRecent());\n\tauto &target = GetCachedValueMap();\n\n\tfor(auto i : target) {\n\t\tdelete i.second;\n\t}\n\ttarget.clear();\n\n\tif(!pointcloud_->IsActive() || pointcloud_->GetValues().empty() || !alignment_->IsActive() || alignment_->GetValues().empty()) {\n\t\treturn;\n\t}\n\n\tauto latest_point = pointcloud_->GetMostRecentValue();\n\tauto latest_pc = (values::PointCloudValue*)latest_point.second;\n\tauto latest_ts = latest_point.first;\n\n\tauto latest_alignment = ((values::TypedValue*)alignment_->GetMostRecentValue().second)->GetValue();\n\n\tauto new_pc = new values::PointCloudValue(*latest_pc);\n\tnew_pc->SetTransform(latest_alignment);\n\ttarget.insert({latest_ts, new_pc});\n}\n\nAlignedTrajectoryOutput::AlignedTrajectoryOutput(const std::string &name, AlignmentOutput *alignment, BaseOutput *trajectory_output) : DerivedOutput(name, values::VT_TRAJECTORY, {alignment, trajectory_output}), alignment_(alignment), trajectory_(trajectory_output)\n{\n\tSetKeepOnlyMostRecent(true);\n}\n\nAlignedTrajectoryOutput::~AlignedTrajectoryOutput()\n{\n\tSetKeepOnlyMostRecent(true);\n}\n\nvoid AlignedTrajectoryOutput::Recalculate()\n{\n\tassert(GetKeepOnlyMostRecent());\n\tauto &target = GetCachedValueMap();\n\n\tfor(auto i : target) {\n\t\tdelete i.second;\n\t}\n\ttarget.clear();\n\n\tif(!trajectory_->IsActive() || trajectory_->GetValues().empty() || !alignment_->IsActive() || alignment_->GetValues().empty()) {\n\t\treturn;\n\t}\n\n\tauto latest_data_point = trajectory_->GetMostRecentValue();\n\tauto latest_trajectory = (values::TrajectoryValue*)latest_data_point.second;\n\tauto latest_ts = latest_data_point.first;\n\n\tauto latest_alignment = ((values::TypedValue*)alignment_->GetMostRecentValue().second)->GetValue();\n\n\tvalues::Trajectory *t = new values::Trajectory();\n\tfor (auto &point : latest_trajectory->GetPoints()) {\n\t\tauto &pose = point.second.GetValue();\n\n\t\tif ((pose.array().abs() == std::numeric_limits::infinity()).any())\n\t\t\tcontinue;\n\n\t\tEigen::Matrix4f transformed_pose = latest_alignment * pose;\n\n\t\tt->push_back(point.first, values::PoseValue(transformed_pose));\n\t}\n\n\tauto new_trajectory = new values::TrajectoryValue(*t);\n\ttarget.insert({latest_ts, new_trajectory});\n}\n\n\nPointCloudHeatMap::PointCloudHeatMap(const std::string &name,\n\t\t\t\t BaseOutput *gt_pointcloud, BaseOutput *pointcloud,\n\t\t\t\t const std::function &convert) :\n DerivedOutput(name, values::VT_HEATMAPPOINTCLOUD, {gt_pointcloud, pointcloud}, false),\n gt_pointcloud_(gt_pointcloud), pointcloud_(pointcloud), convert(convert)\n{ }\n\nslambench::values::HeatMapPointCloudValue *getValue(const pcl::PointCloud::Ptr >,\n\t\t\t\t\t\t const pcl::PointCloud::Ptr &test) {\n\n\tauto value = new slambench::values::HeatMapPointCloudValue();\n\n\tpcl::search::KdTree::Ptr tree (new pcl::search::KdTree);\n\ttree->setInputCloud(gt);\n\n\tstd::vector pointIdxNKNSearch(1);\n\tstd::vector pointNKNSquaredDistance(1);\n\n\tfor(size_t i = 0; i < test->size(); i++) {\n\t\tconst auto &point = test->at(i);\n\t\ttree->nearestKSearch(point, 1, pointIdxNKNSearch, pointNKNSquaredDistance);\n\t\tconst double distance = sqrt(pointNKNSquaredDistance.at(0));\n\t\tvalue->AddPoint(slambench::values::HeatMapPoint3DF(point.x, point.y, point.z, distance));\n\t}\n\n\treturn value;\n}\n\nvoid PointCloudHeatMap::Recalculate()\n{\n\tassert(GetKeepOnlyMostRecent());\n\tBaseOutput::value_map_t &target = GetCachedValueMap();\n\n\tfor(auto i : target) {\n\t\tdelete i.second;\n\t}\n\ttarget.clear();\n\n\tif (pointcloud_->Empty()) {\n\t\treturn;\n\t}\n\n\tconst BaseOutput::value_map_t::value_type &tested_frame = pointcloud_->GetMostRecentValue();\n\tconst BaseOutput::value_map_t::value_type >_frame = gt_pointcloud_->GetMostRecentValue();\n\n\tconst PointCloudValue *tested_pointcloud = reinterpret_cast(tested_frame.second);\n\tconst PointCloudValue *gt_pointcloud = reinterpret_cast(gt_frame.second);\n\n\tpcl::PointCloud::Ptr tested_cloud = pcl::PointCloud::Ptr(new pcl::PointCloud);\n\n\tfor (const auto &point : tested_pointcloud->GetPoints()) {\n\t\tconst Eigen::Matrix4f &transform = tested_pointcloud->GetTransform();\n\t\tconst Eigen::Vector4f eigenPoint(point.X, point.Y, point.Z, 1);\n\t\tconst Eigen::Vector4f transformedPoint = transform * eigenPoint;\n\n\t\ttested_cloud->push_back({transformedPoint(0), transformedPoint(1), transformedPoint(2)});\n\t}\n\n\tpcl::PointCloud::Ptr gt_cloud = pcl::PointCloud::Ptr(new pcl::PointCloud);\n\tfor (const auto &point : gt_pointcloud->GetPoints()) {\n\t\tgt_cloud->push_back({point.X, point.Y, point.Z});\n\t}\n\n\ttarget.insert({tested_frame.first, getValue(gt_cloud, tested_cloud)});\n}\n\nPoseToXYZOutput::PoseToXYZOutput(BaseOutput* pose_output) : BaseOutput(pose_output->GetName() + \" (XYZ)\", values::ValueDescription({{\"X\", values::VT_DOUBLE}, {\"Y\", values::VT_DOUBLE}, {\"Z\", values::VT_DOUBLE}})), pose_output_(pose_output)\n{\n\n}\n\nconst BaseOutput::value_map_t& PoseToXYZOutput::GetValues() const\n{\n\tGetMostRecentValue();\n\treturn cached_values_;\n}\n\nconst BaseOutput::value_map_t::value_type& PoseToXYZOutput::GetMostRecentValue() const\n{\n\tcached_values_.clear();\n\n\tauto pose_value = pose_output_->GetMostRecentValue();\n\tauto val = (values::TypeForVT::type*)pose_value.second;\n\n\tfloat x = val->GetValue()(0, 3);\n\tfloat y = val->GetValue()(1, 3);\n\tfloat z = val->GetValue()(2, 3);\n\n\tauto xv = new values::TypeForVT::type(x);\n\tauto yv = new values::TypeForVT::type(y);\n\tauto zv = new values::TypeForVT::type(z);\n\n\tcached_values_.insert({pose_value.first, new values::TypeForVT::type({{\"X\", xv}, {\"Y\", yv}, {\"Z\", zv}})});\n\treturn *cached_values_.begin();\n}\n" }, { "path": "framework/shared/src/outputs/OutputManager.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"outputs/OutputManager.h\"\n#include \"outputs/OutputManagerWriter.h\"\n\n#include \"io/sensor/Sensor.h\"\n#include \"io/sensor/GroundTruthSensor.h\"\n#include \"io/sensor/PointCloudSensor.h\"\n#include \"io/format/PointCloud.h\"\n\n#include \n\nusing namespace slambench::outputs;\n\nOutputManager::~OutputManager()\n{\n\tfor(auto &i : output_map_) {\n\t\tdelete i.second;\n\t}\n}\n\nBaseOutput* OutputManager::GetOutput(const std::string& outputname)\n{\n\treturn output_map_.at(outputname);\n}\n\nBaseOutput* OutputManager::GetMainOutput(slambench::values::ValueType type)\n{\n\tfor(auto &i : output_map_) {\n\t\tif(i.second->IsMainOutput() && i.second->GetType() == type) {\n\t\t\treturn i.second;\n\t\t}\n\t}\n\t\n\treturn nullptr;\n}\n\nvoid OutputManager::RegisterOutput(BaseOutput* output)\n{\n\tassert(output != nullptr);\n\tif(output->IsMainOutput() && GetMainOutput(output->GetType())) {\n\t\tdelete output_map_[output->GetName()];\n\t\toutput_map_.erase(output->GetName());\n\t\t// throw std::logic_error(\"A main output for this type is already registered\");\n\t}\n\t\n\toutput_map_[output->GetName()] = output;\n}\n\nbool OutputManager::WriteFile(const std::string& filename)\n{\n\tOutputManagerWriter writer;\n\treturn writer.Write(*this, filename);\n}\n\nvoid OutputManager::LoadGTOutputsFromSLAMFile(io::SLAMFile* file)\n{\n\tLoadGTOutputsFromSLAMFile(file->Sensors, file, true);\n}\n\nslambench::outputs::Output *createGTOutput(const slambench::io::Sensor* sensor) {\n\tassert(sensor->IsGroundTruth());\n\tif(sensor->GetType() == slambench::io::GroundTruthSensor::kGroundTruthTrajectoryType) {\n\t\treturn new slambench::outputs::Output(\"Trajectory\", slambench::values::VT_POSE, true);\n\t} else if(sensor->GetType() == slambench::io::PointCloudSensor::kPointCloudType) {\n\t\treturn new slambench::outputs::Output(\"PointCloud\", slambench::values::VT_POINTCLOUD, true);\n\t} else {\n\t\t// unknown GT type\n\t\tassert(false);\n\t}\n\tthrow std::logic_error(\"Unrecognised ground truth sensor type\");\n}\n\nvoid OutputManager::LoadGTOutputsFromSLAMFile(io::SensorCollection& sensors, io::FrameCollection* gt_frames, bool with_point_cloud) {\n\n\tstd::map gt_outputs;\n\t\n\t// Initialise ground truth outputs\n\tfor(slambench::io::Sensor *sensor : sensors) {\n\t\tif(sensor->IsGroundTruth()) {\n\t\t\t// we've found a GT sensor so try and create a GT output to represent it\n\t\t\tauto output = createGTOutput(sensor);\n\t\t\toutput->SetActive(true);\n\t\t\t\n\t\t\tgt_outputs[sensor] = output;\n\t\t\tRegisterOutput(output);\n\t\t}\n\t}\n\t\t\n\tfor(unsigned frame_idx = 0; frame_idx < gt_frames->GetFrameCount(); ++frame_idx) {\n\n\t\tauto i = gt_frames->GetFrame(frame_idx);\n\t\tif(!i->FrameSensor->IsGroundTruth()) {\n\t\t\tcontinue;\n\t\t}\n\n\t\tauto output = gt_outputs.at(i->FrameSensor);\n\n\t\tif(i->FrameSensor->GetType() == slambench::io::GroundTruthSensor::kGroundTruthTrajectoryType) {\n\t\t\tEigen::Matrix4f K;\n\t\t\tmemcpy(K.data(), i->GetData(), i->GetSize());\n\t\t\ti->FreeData();\n\t\t\t\n\t\t\toutput->AddPoint(i->Timestamp, new slambench::values::PoseValue(K));\n\t\t}\n\n\t\tif(with_point_cloud and i->FrameSensor->GetType() == slambench::io::PointCloudSensor::kPointCloudType) {\n\t\t\t\n\t\t\tslambench::io::PointCloud *pc = slambench::io::PointCloud::FromRaw((char*)i->GetData());\n\t\t\ti->FreeData();\n\t\t\t\n\t\t\tauto pcv = new slambench::values::PointCloudValue();\n\t\t\tfor(auto p : pc->Get()) {\n\t\t\t\tpcv->AddPoint({p.x,p.y,p.z});\n\t\t\t}\n\t\t\tdelete pc;\n\t\t\toutput->AddPoint(i->Timestamp, pcv);\n\t\t}\n\t}\n}\n" }, { "path": "framework/shared/src/outputs/OutputManagerWriter.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/sensor/Sensor.h\"\n#include \"io/sensor/GroundTruthSensor.h\"\n#include \"io/sensor/PointCloudSensor.h\"\n#include \"io/SLAMFrame.h\"\n#include \"io/format/PointCloud.h\"\n\n#include \"outputs/OutputManagerWriter.h\"\n#include \"outputs/OutputManager.h\"\n\nusing namespace slambench::outputs;\n\nslambench::io::SLAMFile* OutputManagerWriter::GetFile(OutputManager& outman)\n{\n\tauto file = new slambench::io::SLAMFile();\n\tstd::lock_guard lock (outman.GetLock());\n\t(void)lock; // I hate this werror\n\t\n\tif(!CreateSensors(outman, *file)) {\n\t\tdelete file;\n\t\treturn nullptr;\n\t}\n\tif(!CreateFrames(outman, *file)) {\n\t\tdelete file;\n\t\treturn nullptr;\n\t}\n\t\n\treturn file;\n}\n\n\nbool OutputManagerWriter::Write(OutputManager& outman, const std::string& filename)\n{\n\tauto file = GetFile(outman);\n\tif(!SerialiseFile(*file, filename)) {\n\t\treturn false;\n\t}\n\tdelete file;\n\treturn true;\n}\n\nbool OutputManagerWriter::CreateSensors(OutputManager& outman, slambench::io::SLAMFile& file)\n{\n\tfor(auto output : outman) {\n\t\tif(output.second->IsActive()) {\n\t\t\tauto sensor = CreateSensor(output.second);\n\t\t\tif(sensor == nullptr) {\n\t\t\t\tcontinue;\n\t\t\t}\n\t\t\toutput_map_.insert({output.second, sensor});\n\t\t\tfile.Sensors.AddSensor(sensor);\n\t\t}\n\t}\n\treturn true;\n}\n\nslambench::io::Sensor* OutputManagerWriter::CreateSensor(const BaseOutput* output)\n{\n\tswitch(output->GetType()) {\n\t\tcase slambench::values::VT_POSE:\n\t\t\treturn CreatePoseSensor(output);\n\t\tcase slambench::values::VT_POINTCLOUD:\n\t\t\treturn CreatePointCloudSensor(output);\n\t\tdefault:\n\t\t\treturn nullptr;\n\t}\n\t__builtin_unreachable();\n}\n\nslambench::io::Sensor* OutputManagerWriter::CreatePoseSensor(const BaseOutput* output)\n{\n\t// This is not really a ground truth. We need a 'trajectory' sensor\n\tauto sensor = new slambench::io::GroundTruthSensor(\"Output Trajectory\");\n\tsensor->Description = output->GetName();\n\t\n\treturn sensor;\n}\n\nslambench::io::Sensor* OutputManagerWriter::CreatePointCloudSensor(const BaseOutput* output)\n{\n\tauto sensor = new slambench::io::PointCloudSensor(\"Output Point Cloud\");\n\tsensor->Description = output->GetName();\n\n\treturn sensor;\n}\n\nbool OutputManagerWriter::CreateFrames(OutputManager& outman, slambench::io::SLAMFile& file)\n{\n\tfor(auto output : outman) {\n\t\tslambench::outputs::BaseOutput *op = output.second;\n\t\tif(op->IsActive()) {\n\t\t\tfor(auto frame : op->GetValues()) {\n\t\t\t\tauto output_frame = CreateFrame(op, frame.first, frame.second);\n\t\t\t\tif(output_frame != nullptr) {\n\t\t\t\t\tfile.AddFrame(output_frame);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t}\n\t\n\treturn true;\n}\n\nslambench::io::SLAMFrame* OutputManagerWriter::CreateFrame(BaseOutput *output, TimeStamp ts, const slambench::values::Value* value)\n{\n\tswitch(value->GetType()) {\n\t\tcase slambench::values::VT_POSE:\n\t\t\treturn CreatePoseFrame(output, ts, (const slambench::values::PoseValue*)value);\n\t\tcase slambench::values::VT_POINTCLOUD:\n\t\t\treturn CreatePointCloudFrame(output, ts, (const slambench::values::PointCloudValue*)value);\n\t\tdefault:\n\t\t\treturn nullptr;\n\t}\n\t__builtin_unreachable();\n}\n\nslambench::io::SLAMFrame* OutputManagerWriter::CreatePointCloudFrame(BaseOutput *output, TimeStamp ts, const slambench::values::PointCloudValue* value)\n{\n\tauto pointcloud = new slambench::io::PointCloud();\n\t\n\tfor(auto i : value->GetPoints()) {\n\t\tpointcloud->Get().push_back(slambench::io::Point(i.X, i.Y, i.Z));\n\t}\n\t\n\tauto frame = new slambench::io::SLAMInMemoryFrame();\n\t\n\tauto pointclouddata = pointcloud->ToRaw();\n\t\n\tframe->FrameSensor = output_map_.at(output);\n\tframe->Timestamp = ts;\n\tframe->SetData(pointclouddata.data(), pointclouddata.size());\n\tframe->SetVariableSize(pointclouddata.size());\n\t\n\treturn frame;\n}\n\nslambench::io::SLAMFrame* OutputManagerWriter::CreatePoseFrame(BaseOutput *output, TimeStamp ts, const slambench::values::PoseValue* value)\n{\n\tauto frame = new slambench::io::SLAMInMemoryFrame();\n\tframe->FrameSensor = output_map_.at(output);\n\tframe->Timestamp = ts;\n\tframe->SetData((void*)&value->GetValue());\n\n\treturn frame;\n}\n\n\nbool OutputManagerWriter::SerialiseFile(slambench::io::SLAMFile& file, const std::string& filename)\n{\n\tFILE *f = fopen(filename.c_str(), \"w\");\n\tslambench::io::SLAMFileSerialiser sfs(f);\n\tsfs.Serialise(file);\n\tfclose(f);\n\t\n\treturn true;\n}\n" }, { "path": "framework/shared/src/outputs/TrajectoryAlignmentMethod.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"outputs/TrajectoryAlignmentMethod.h\"\n#include \"outputs/Output.h\"\n\n#include \n#include \n\n#include \n\nusing namespace slambench::outputs;\n\n// TODO: this is duplicated in ATEMetric.cpp\nstatic boost::optional select_closest_before(const TrajectoryAlignmentMethod::trajectory_t & GT , slambench::TimeStamp start_from , const slambench::TimeStamp& LO_TS) {\n\n if(GT.size() == 0) {\n std::cerr << \"**** Error: Empty GT.\" << std::endl;\n return boost::none;\n }\n\n auto gt_iterator = GT.begin();\n while(gt_iterator->first < start_from) {\n gt_iterator++;\n }\n\n if(gt_iterator == GT.end()) {\n std::cerr << \"**** Error: No more GT to compare with.\" << std::endl;\n return boost::none;\n }\n\n /*\n * We iterate over GT.\n * If GT_TS happens after LO_TS we stop the loop.\n * It can be that the first GT_TS we found happens after, this means we should not compare with this one (skip long gap of empty GT).\n * Then closest is the first found, or the closest.\n * */\n\n slambench::TimeStamp closest = gt_iterator->first;\n for (; gt_iterator != GT.end(); ++gt_iterator) {\n const slambench::TimeStamp & GT_TS = gt_iterator->first;\n if ( GT_TS > LO_TS ) {\n break;\n }\n\n slambench::TimeStamp CL_TS = gt_iterator->first;\n if (LO_TS - CL_TS > LO_TS - GT_TS) {\n closest = GT_TS;\n }\n }\n\n return closest;\n}\n\nEigen::Matrix4f align_trajectories_original (const TrajectoryAlignmentMethod::trajectory_t & gt , const TrajectoryAlignmentMethod::trajectory_t & t) {\n\n Eigen::Matrix4f res = Eigen::Matrix4f::Identity();\n\n if (gt.size() != 0 and t.size() != 0){\n\n for (auto past_point : t) {\n auto closest = select_closest_before(gt,{0,0},past_point.first);\n if (closest) {\n\n res = ((gt.at(closest.get()))).GetValue() * past_point.second.GetValue().inverse();\n //std::cout << res << std::endl;\n return res ;\n }\n }\n\n }\n\n\n\n return res ;\n}\n\nbool associate(const TrajectoryAlignmentMethod::trajectory_t & gt,\n const TrajectoryAlignmentMethod::trajectory_t & t,\n std::vector& vGroundTruth,\n std::vector& vEstimate)\n{\n uint gid = 0;\n auto gt_time = [gt](uint id) { return gt.at(id).first.ToS(); };\n for (uint tid = 0; tid < t.size(); tid++) {\n\n vEstimate.push_back(t.at(tid).second.GetValue());\n\n double time = t.at(tid).first.ToS();\n // assume that gt is sorted wrt time\n while (gid < gt.size() && gt_time(gid) < time) gid++;\n\n // find the two closest points' indices in gt\n uint gid_a, gid_b;\n if (gid == 0) {\n gid_a = gid_b = 0;\n } else if (gid == gt.size()) {\n gid_a = gid_b = gid - 1;\n } else {\n gid_a = gt_time(gid) == time ? gid : gid - 1;\n gid_b = gid;\n }\n Eigen::Matrix4f gt_pose;\n if (gid_a == gid_b) {\n gt_pose = gt.at(gid_a).second.GetValue();\n } else {\n // interpolate between two gt poses\n double t = (time - gt_time(gid_a)) / (gt_time(gid_b) - gt_time(gid_a));\n Eigen::Matrix4f pose_a = gt.at(gid_a).second.GetValue();\n Eigen::Matrix4f pose_b = gt.at(gid_b).second.GetValue();\n Eigen::Quaternion q_a(pose_a.block<3, 3>(0, 0));\n Eigen::Quaternion q_b(pose_b.block<3, 3>(0, 0));\n auto q = q_a.slerp(t, q_b);\n gt_pose = pose_a * (1 - t) + pose_b * t;\n gt_pose.block<3, 3>(0, 0) = q.toRotationMatrix();\n }\n vGroundTruth.push_back(gt_pose);\n }\n return (bool)(vGroundTruth.size() * vEstimate.size());\n}\n\nEigen::Matrix4f align_trajectories_umeyama_eigen(const TrajectoryAlignmentMethod::trajectory_t & gt,\n const TrajectoryAlignmentMethod::trajectory_t & est) {\n std::vector vGroundTruth;\n std::vector vEstimate;\n\n //if(associate(gt, t, vGroundTruth, vEstimate))\n //{\n associate(gt, est, vGroundTruth, vEstimate);\n // convert pose vectors to Eigen matrices\n int N = vEstimate.size();\n\n Eigen::MatrixXf esMat(3,N);\n for (int i = 0; i < N; i++)\n {\n esMat(0,i) = vEstimate.at(i).block<3,1>(0,3)(0);\n esMat(1,i) = vEstimate.at(i).block<3,1>(0,3)(1);\n esMat(2,i) = vEstimate.at(i).block<3,1>(0,3)(2);\n }\n Eigen::MatrixXf gtMat(3,N);\n for (int i = 0; i < N; i++)\n {\n gtMat(0,i) = vGroundTruth.at(i).block<3,1>(0,3)(0);\n gtMat(1,i) = vGroundTruth.at(i).block<3,1>(0,3)(1);\n gtMat(2,i) = vGroundTruth.at(i).block<3,1>(0,3)(2);\n }\n\n return Eigen::umeyama(esMat, gtMat, true);\n}\n\nEigen::MatrixXd ATERotation(Eigen::MatrixXd model, Eigen::MatrixXd data)\n{\n Eigen::MatrixXd w;\n w = Eigen::MatrixXd::Identity(3,3);\n\n int cols = model.cols();\n\n //Model = [M0, M1, ...], Data = [D0, D1, ...]\n // W = M0*D0' + M1*D1' + ... = \\sum{Mi*Di}\n for (int i = 0; i < cols; i++)\n w = w + model.col(i) * data.col(i).transpose();\n\n Eigen::JacobiSVD svd(w.transpose(), Eigen::ComputeThinU | Eigen::ComputeThinV);\n\n Eigen::Matrix3d U = svd.matrixU();\n Eigen::Matrix3d V = svd.matrixV();\n float detV = V.determinant();\n float detU = U.determinant();\n\n Eigen::MatrixXd S;\n S = Eigen::MatrixXd::Identity(3,3);\n\n if(detU * detV < 0)\n S(2,2) = -1;\n\n Eigen::MatrixXd rot;\n rot = U * S * V.transpose();\n\n return rot;\n}\n\ndouble ATEScale(Eigen::MatrixXd model, Eigen::MatrixXd data, Eigen::MatrixXd rotation)\n{\n int cols = model.cols();\n Eigen::MatrixXd rotatedModel;\n rotatedModel = rotation * model;\n\n double dots = 0.0;\n double norms = 0.0;\n double normi = 0.0;\n\n //Model = [M0, M1, ...], Rotated Data = [R0, R1, ...]\n // W = M0.D0' + M1.D1' + ... = \\sum{Mi.Di}\n for (int i = 0; i < cols; i++)\n {\n Eigen::Vector3d v1 = data.col(i);\n Eigen::Vector3d v2 = rotatedModel.col(i);\n Eigen::Vector3d v3 = model.col(i);\n\n dots = dots + v1.transpose()*v2;\n normi = v3.norm();\n norms = norms + normi*normi;\n }\n\n // scale\n return (dots/norms);\n //return 1;\n}\n\nEigen::Vector3d ATETranslation(Eigen::MatrixXd model, Eigen::MatrixXd data, double scale, Eigen::MatrixXd rotation, float& ate)\n{\n int N = model.cols();\n Eigen::Vector3d translation = data.rowwise().mean() - (scale*rotation)*(model.rowwise().mean());\n Eigen::MatrixXd rotatedModel(3,N);\n rotatedModel = (scale*rotation)*model;\n\n // error matrix E = [E1, E2, ...]\n Eigen::MatrixXd errorMat(3, N);\n errorMat = (rotatedModel.colwise() + translation) - data;\n\n // Absoute Trajectory Error (ATE) = |||E1|| + ||E2||+ ... = \\sum(||Ei||)\n for (int i = 0; i < N; i++)\n ate = ate + errorMat.col(i).norm();\n\n ate = ate/N;\n return translation;\n\n}\n\nEigen::Matrix4d calculateATE(std::vector gt, std::vector es, float & ate)\n{\n // convert pose vectors to Eigen matrices\n int N = gt.size();\n Eigen::MatrixXd gtMat(3,N);\n for (int i = 0; i < N; i++)\n {\n gtMat(0,i) = gt.at(i).block<3,1>(0,3)(0);\n gtMat(1,i) = gt.at(i).block<3,1>(0,3)(1);\n gtMat(2,i) = gt.at(i).block<3,1>(0,3)(2);\n }\n\n\n int M = gt.size();\n Eigen::MatrixXd esMat(3,N);\n for (int i = 0; i < M; i++)\n {\n esMat(0,i) = es.at(i).block<3,1>(0,3)(0);\n esMat(1,i) = es.at(i).block<3,1>(0,3)(1);\n esMat(2,i) = es.at(i).block<3,1>(0,3)(2);\n }\n\n\n // calculate the mean pose to zero-shift the poses\n Eigen::Vector3d gtMean = gtMat.rowwise().mean();\n Eigen::Vector3d esMean = esMat.rowwise().mean();\n\n Eigen::MatrixXd gtZeroMat(3,N);\n Eigen::MatrixXd esZeroMat(3,N);\n\n gtZeroMat = gtMat.colwise() - gtMean;\n esZeroMat = esMat.colwise() - esMean;\n\n // absoulte trajector error (ate)\n float error = 0;\n //bool bOk = prepareData(gt, es, gtZeroMat, esZeroMat);\n Eigen::Matrix3d rotation = ATERotation(gtZeroMat, esZeroMat);\n double scale = ATEScale(gtZeroMat, esZeroMat, rotation);\n Eigen::Vector3d translation = ATETranslation(gtMat, esMat, scale, rotation, error);\n\n ate = error;\n\n Eigen::Matrix4d Mat;\n Mat = Eigen::Matrix4d::Identity();\n\n Mat.block<3,3>(0,0) = scale*rotation;\n Mat.block<3,1>(0,3) = translation;\n Mat.block<1,4>(3,0) << 0,0,0,1;\n\n return Mat;\n}\n\nEigen::Matrix4f align_trajectories_new (const TrajectoryAlignmentMethod::trajectory_t & gt , const TrajectoryAlignmentMethod::trajectory_t & t) {\n\n if (t.size() <= 100){ // do not align for the first 100 frames, because it will not be accurate\n return align_trajectories_original(gt , t) ;\n }\n\n if (t.size() > 100) // do not align for the first 100 frames, because it will not be accurate\n {\n std::vector vGroundTruth;\n std::vector vEstimate;\n\n //if(associate(gt, t, vGroundTruth, vEstimate))\n //{\n associate(gt, t, vGroundTruth, vEstimate);\n\n float error;\n Eigen::Matrix4d Mat = calculateATE(vGroundTruth, vEstimate, error);\n\n //std::cout << \" ------ \" << error << std::endl;\n //if (error < 0.1)\n //{\n return Mat.cast().inverse();\n //return Mat.cast();\n //}\n }\n else\n {\n return align_trajectories_original(gt , t) ;\n }\n}\n\nEigen::Matrix4f NewTrajectoryAlignmentMethod::operator()(const TrajectoryAlignmentMethod::trajectory_t & ground_truth,\n const TrajectoryAlignmentMethod::trajectory_t & trajectory)\n{\n return align_trajectories_new(ground_truth, trajectory);\n}\n\nEigen::Matrix4f OriginalTrajectoryAlignmentMethod::operator()(const TrajectoryAlignmentMethod::trajectory_t & ground_truth,\n const TrajectoryAlignmentMethod::trajectory_t & trajectory)\n{\n return align_trajectories_original(ground_truth, trajectory);\n}\n\nEigen::Matrix4f UmeyamaTrajectoryAlignmentMethod::operator()(const TrajectoryAlignmentMethod::trajectory_t & ground_truth,\n const TrajectoryAlignmentMethod::trajectory_t & trajectory)\n{\n return align_trajectories_umeyama_eigen(ground_truth, trajectory);\n}\n" }, { "path": "framework/shared/src/outputs/TrajectoryInterface.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"outputs/TrajectoryInterface.h\"\n\n#include \n\nusing namespace slambench;\nusing namespace slambench::outputs;\nusing namespace slambench::values;\n\nPoseOutputTrajectoryInterface::PoseOutputTrajectoryInterface(BaseOutput* pose_output) : pose_output_(pose_output), newest_point_(TimeStamp::get(0,0))\n{\n assert(pose_output_->GetType() == VT_POSE);\n}\n\nPoseValue PoseOutputTrajectoryInterface::Get(const TimeStamp& when) const\n{\n return *dynamic_cast(pose_output_->GetValues().at(when));\n}\n\nTrajectoryValue::pose_container_t PoseOutputTrajectoryInterface::GetAll() const\n{\n if(( ((!pose_output_->IsActive()) || !pose_output_->Empty()) &&\n ((!pose_output_->IsActive()) || pose_output_->GetMostRecentValue().first > newest_point_))\n || cached_traj_.empty()) {\n recalculate();\n }\n\n return cached_traj_;\n}\nvoid PoseOutputTrajectoryInterface::recalculate() const {\n cached_traj_.clear();\n\n for(auto i : pose_output_->GetValues()) {\n auto point = dynamic_cast(i.second);\n auto newval = new PoseValue(point->GetValue());\n cached_traj_.insert({i.first, *newval});\n }\n\n if(!cached_traj_.empty()) {\n newest_point_ = cached_traj_.rbegin()->first;\n }\n}\n\n\nTrajectoryValueWrapper::TrajectoryValueWrapper(const TrajectoryValue *t) : trajectoryValue_(t) {\n}\n\nvalues::PoseValue TrajectoryValueWrapper::Get(const TimeStamp &when) const {\n return trajectoryValue_->GetPoints().at(when);\n}\n\nvalues::TrajectoryValue::pose_container_t TrajectoryValueWrapper::GetAll() const {\n return trajectoryValue_->GetPoints();\n}\n\nTrajectoryOutputInterface::TrajectoryOutputInterface(const BaseOutput *t):\n trajectory_output_(t)\n{ }\n\nvalues::PoseValue TrajectoryOutputInterface::Get(const TimeStamp &when) const {\n const values::Value *raw_value = trajectory_output_->GetMostRecentValue().second;\n const auto tv = reinterpret_cast(raw_value);\n\n return tv->GetPoints().at(when);\n}\n\nvalues::TrajectoryValue::pose_container_t TrajectoryOutputInterface::GetAll() const {\n\n const values::Value *raw_value = trajectory_output_->GetMostRecentValue().second;\n const auto tv = reinterpret_cast(raw_value);\n\n return tv->GetPoints();\n}\n" }, { "path": "framework/shared/src/sb_malloc.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"sb_malloc.h\"\n\n#include \n\n#include \n#include \n\n#include \n#include \n#include \n\n#include \n\n#ifdef ANDROID\n#define __throw() \n#else\n#define __throw() throw()\n#endif\n\nstatic bool track_allocs_frame = false;\nstatic bool track_allocs = false;\n\nnamespace slambench {\nnamespace memory {\n\nMemoryProfile MemoryProfile::singleton;\n\n\n\nvoid MemoryProfile::StartFrame(int i) { _frame = i; data_[_frame]; gpu_data_[_frame]; track_allocs_frame = true;}\nvoid MemoryProfile::EndFrame() { track_allocs_frame = false; }\n\nvoid MemoryProfile::StartAlgorithm() {\n\tstd::cerr << \"*** Start memory tracking\" << std::endl;\n\ttrack_allocs = true;\n}\nvoid MemoryProfile::EndAlgorithm() { track_allocs = false; }\n\n\nclass MemoryProfiler {\n\tpublic:\n\t\tstatic MemoryProfiler &GetSingleton() { return *singleton_ptr_; }\n\t\tstatic bool SingletonAvailable() { return singleton_ptr_ != nullptr && singleton_ptr_->IsEnabled(); }\n\t\t\n\t\tMemoryProfiler() : _enabled(true) {}\n\t\t~MemoryProfiler() { singleton_ptr_ = nullptr; }\n\t\t\n\t\tMemoryData &GetData() { return MemoryProfile::singleton.DataForCurrentFrame(); }\n\t\tMemoryData &GetGPUData() { return MemoryProfile::singleton.GPUDataForCurrentFrame(); }\n\t\tMemoryData &GetOverallData() { return MemoryProfile::singleton.OverallData(); }\n\t\tMemoryData &GetOverallGPUData() { return MemoryProfile::singleton.OverallGPUData(); }\n\t\n\t\tbool IsEnabled() const { return _enabled; }\n\t\tvoid Enable() { _enabled = true; }\n\t\t\n\t\tvoid AddAllocation(void *ptr, size_t size) {\n\n\t\t\tif(!track_allocs) return;\n\t\t\t\n\t\t\ttrack_allocs = false;\n\t\t\t\n\t\t\t_allocation_sizes[ptr] = size;\n\t\t\t\n\t\t\tif(track_allocs_frame) {\n\t\t\t\tGetData().RecordAllocation(size);\n\t\t\t}\n\t\t\tGetOverallData().RecordAllocation(size);\n\t\t\t\n\t\t\ttrack_allocs = true;\n\t\t}\n\t\tvoid FreeAllocation(void *ptr) {\n\n\t\t\tif(!track_allocs) return;\n\t\t\t\n\t\t\ttrack_allocs = false;\n\t\t\t\n\t\t\tauto size = _allocation_sizes[ptr];\n\t\t\t\n\t\t\tif(track_allocs_frame) {\n\t\t\t\tGetData().RecordFree(size);\n\t\t\t}\n\t\t\tGetOverallData().RecordFree(size);\n\t\t\t\n\t\t\t_allocation_sizes.erase(ptr);\n\t\t\t\n\t\t\ttrack_allocs = true;\n\t\t}\n\t\tvoid AddAllocationGPU(void *ptr, size_t size) {\n\t\t\t\tif(!track_allocs) return;\n\n\t\t\t\ttrack_allocs = false;\n\n\t\t\t\t_gpu_allocation_sizes[ptr] = size;\n\n\t\t\t\tif(track_allocs_frame) {\n\t\t\t\t\tGetGPUData().RecordAllocation(size);\n\t\t\t\t}\n\t\t\t\tGetOverallGPUData().RecordAllocation(size);\n\n\t\t\t\ttrack_allocs = true;\n\t\t\t}\n\t\t\tvoid FreeAllocationGPU(void *ptr) {\n\t\t\t\tif(!track_allocs) return;\n\n\t\t\t\ttrack_allocs = false;\n\n\t\t\t\tauto size = _gpu_allocation_sizes[ptr];\n\n\t\t\t\tif(track_allocs_frame) {\n\t\t\t\t\tGetGPUData().RecordFree(size);\n\t\t\t\t}\n\t\t\t\tGetOverallGPUData().RecordFree(size);\n\n\t\t\t\t_gpu_allocation_sizes.erase(ptr);\n\n\t\t\t\ttrack_allocs = true;\n\t\t\t}\n\n\n\tprivate:\n\t\t\tstd::map _allocation_sizes;\n\t\t\tstd::map _gpu_allocation_sizes;\n\t\t\t\n\t\t\tstatic MemoryProfiler singleton_;\n\t\t\tstatic MemoryProfiler *singleton_ptr_;\n\t\tbool _enabled;\n\n};\n\nMemoryProfiler MemoryProfiler::singleton_;\nMemoryProfiler *MemoryProfiler::singleton_ptr_ = &singleton_;\n\t\n}\n}\n\n#define ENABLE_MEM_PROFILING\n#ifdef ENABLE_MEM_PROFILING\n\nextern \"C\" {\n\n//###################################################################################################################\n//###################################### SYNC ############################################################\n//###################################################################################################################\n\nstatic std::recursive_mutex gpu_alloc_lock;\ntypedef std::lock_guard gpu_lock_guard_t;\n\nstatic std::recursive_mutex alloc_lock;\ntypedef std::lock_guard lock_guard_t;\n\nstatic std::recursive_mutex opencl_alloc_lock;\ntypedef std::lock_guard opencl_lock_guard_t;\n\n//###################################################################################################################\n//###################################### GPU SIDE : CUDA ############################################################\n//###################################################################################################################\n\ntypedef int cudaError_t ;\ntypedef void * cudaArray_t ;\n\n#define ADD_CUDA_ALLOCATION2(FunName , Arg1 , Arg2 , ArgName1, ArgName2 , Ptr, Size ) \\\nstatic cudaError_t load_and_call_libcuda_##FunName(\tArg1 , Arg2 ) ; \\\ntypedef cudaError_t (*FunName##_t)(Arg1 , Arg2); \\\nstatic FunName##_t libcuda_##FunName = load_and_call_libcuda_##FunName; \\\nstatic cudaError_t load_and_call_libcuda_##FunName(\tArg1 , Arg2) { \\\n\tlibcuda_##FunName = (FunName##_t)dlsym(RTLD_NEXT, #FunName); \\\n\tif (!libcuda_##FunName) { \\\n\t\tMEM_ERROR(\"Bad day for %s.\\n\", #FunName); \\\n\t\texit(1); \\\n\t} \\\n\treturn libcuda_##FunName(ArgName1,ArgName2); \\\n} \\\ncudaError_t FunName (Arg1 , Arg2) __throw() \\\n{ \\\n\tgpu_lock_guard_t lock(gpu_alloc_lock); \\\n\tcudaError_t error = libcuda_##FunName(ArgName1,ArgName2); \\\n\tMEM_DEBUG(\"Call %s.\\n\", #FunName); \\\n\tif(slambench::memory::MemoryProfiler::SingletonAvailable()) { \\\n\t\tslambench::memory::MemoryProfiler::GetSingleton().AddAllocationGPU(Ptr, Size); \\\n\t} \\\n\treturn error; \\\n}; \\\n \\\n\n#define ADD_CUDA_ALLOCATION4(FunName , Arg1 , Arg2 , Arg3 , Arg4 , ArgName1, ArgName2 , ArgName3, ArgName4 , Ptr, Size ) \\\nstatic cudaError_t load_and_call_libcuda_##FunName(\tArg1 , Arg2 , Arg3 , Arg4 ) ; \\\ntypedef cudaError_t (*FunName##_t)(Arg1 , Arg2 , Arg3 , Arg4); \\\nstatic FunName##_t libcuda_##FunName = load_and_call_libcuda_##FunName; \\\nstatic cudaError_t load_and_call_libcuda_##FunName(\tArg1 , Arg2 , Arg3 , Arg4) { \\\n\tlibcuda_##FunName = (FunName##_t)dlsym(RTLD_NEXT, #FunName); \\\n\tif (!libcuda_##FunName) { \\\n\t\tMEM_ERROR(\"Bad day for %s.\\n\", #FunName); \\\n\t\texit(1); \\\n\t} \\\n\treturn libcuda_##FunName(ArgName1,ArgName2 , ArgName3, ArgName4); \\\n} \\\ncudaError_t FunName (Arg1 , Arg2 , Arg3 , Arg4) __throw() \\\n{ \\\n\tgpu_lock_guard_t lock(gpu_alloc_lock); \\\n\tcudaError_t error = libcuda_##FunName(ArgName1,ArgName2 , ArgName3, ArgName4); \\\n\tMEM_DEBUG(\"Call %s.\\n\", #FunName); \\\n\tif(slambench::memory::MemoryProfiler::SingletonAvailable()) { \\\n\t\tslambench::memory::MemoryProfiler::GetSingleton().AddAllocationGPU(Ptr, Size); \\\n\t} \\\n\treturn error; \\\n};\n\n\n\n#define CATCH_CUDA_FUNC4(FunName , Arg1 , Arg2 , Arg3 , Arg4 , ArgName1, ArgName2 , ArgName3, ArgName4 ) \\\nstatic cudaError_t load_and_call_libcuda_##FunName(\tArg1 , Arg2 , Arg3 , Arg4 ) ; \\\ntypedef cudaError_t (*FunName##_t)(Arg1 , Arg2 , Arg3 , Arg4); \\\nstatic FunName##_t libcuda_##FunName = load_and_call_libcuda_##FunName; \\\nstatic cudaError_t load_and_call_libcuda_##FunName(\tArg1 , Arg2 , Arg3 , Arg4) { \\\n\tlibcuda_##FunName = (FunName##_t)dlsym(RTLD_NEXT, #FunName); \\\n\tif (!libcuda_##FunName) { \\\n\t\tMEM_ERROR(\"Bad day for %s.\\n\", #FunName); \\\n\t\texit(1); \\\n\t} \\\n\treturn libcuda_##FunName(ArgName1,ArgName2 , ArgName3, ArgName4); \\\n} \\\ncudaError_t FunName (Arg1 , Arg2 , Arg3 , Arg4) __throw() \\\n{ \\\n\tgpu_lock_guard_t lock(gpu_alloc_lock); \\\n\tcudaError_t error = libcuda_##FunName(ArgName1,ArgName2 , ArgName3, ArgName4); \\\n\tMEM_DEBUG(\"Call %s.\\n\", #FunName); \\\n\treturn error; \\\n};\n\n#define CATCH_CUDA_FUNC5(FunName , Arg1 , Arg2 , Arg3 , Arg4 , Arg5 , ArgName1, ArgName2 , ArgName3, ArgName4 , ArgName5 ) \\\nstatic cudaError_t load_and_call_libcuda_##FunName(\tArg1 , Arg2 , Arg3 , Arg4 , Arg5) ; \\\ntypedef cudaError_t (*FunName##_t)(Arg1 , Arg2 , Arg3 , Arg4, Arg5); \\\nstatic FunName##_t libcuda_##FunName = load_and_call_libcuda_##FunName; \\\nstatic cudaError_t load_and_call_libcuda_##FunName(\tArg1 , Arg2 , Arg3 , Arg4, Arg5) { \\\n\tlibcuda_##FunName = (FunName##_t)dlsym(RTLD_NEXT, #FunName); \\\n\tif (!libcuda_##FunName) { \\\n\t\tMEM_ERROR(\"Bad day for %s.\\n\", #FunName); \\\n\t\texit(1); \\\n\t} \\\n\treturn libcuda_##FunName(ArgName1,ArgName2 , ArgName3, ArgName4 , ArgName5); \\\n} \\\ncudaError_t FunName (Arg1 , Arg2 , Arg3 , Arg4, Arg5) __throw() \\\n{ \\\n\tgpu_lock_guard_t lock(gpu_alloc_lock); \\\n\tcudaError_t error = libcuda_##FunName(ArgName1,ArgName2 , ArgName3, ArgName4 , ArgName5); \\\n\tMEM_DEBUG(\"Call %s.\\n\", #FunName); \\\n\treturn error; \\\n};\n\n\n\n\n// cudaError_t cudaMalloc ( void** devPtr, size_t size )\n//********************************************************\n\nADD_CUDA_ALLOCATION2(cudaMalloc ,\n\t\tvoid** devPtr, size_t size,\n\t\tdevPtr, size ,\n\t\t(void*) *devPtr, size );\n\n// cudaError_t cudaMallocHost ( void** ptr, size_t size )\n//********************************************************\n\nADD_CUDA_ALLOCATION2(cudaMallocHost ,\n\t\tvoid** devPtr, size_t size,\n\t\tdevPtr, size ,\n\t\t(void*) *devPtr, size );\n\n\n// cudaError_t cudaMallocPitch ( void** devPtr, size_t* pitch, size_t width, size_t height )\n//********************************************************\n\nADD_CUDA_ALLOCATION4(cudaMallocPitch ,\n\t\tvoid** devPtr, size_t size, size_t width, size_t height ,\n\t\tdevPtr, size , width, height ,\n\t\t(void*) *devPtr,width * height );\n\n\n// __host__ ​cudaError_t cudaMallocArray ( cudaArray_t* array, const cudaChannelFormatDesc* desc_, size_t width, size_t height = 0, unsigned int flags = 0 )\n// Allocate an array on the device.\n//********************************************************\n/*\nCATCH_CUDA_FUNC5(cudaMallocArray ,\n\t\tcudaArray_t* array, const void* desc_, size_t width, size_t height , unsigned int flags\n\t\t, array, desc_ , width, height , flags ) ;\n*/\n\n\n\n// cudaError_t cudaFree ( void* devPtr )\n//********************************************************\n\nstatic cudaError_t load_and_call_libcuda_cudaFree(\t void* devPtr) ;\n\ntypedef cudaError_t (*cudaFree_t)(\t void* devPtr);\n\nstatic cudaFree_t libcuda_cudaFree = load_and_call_libcuda_cudaFree;\n\nstatic cudaError_t load_and_call_libcuda_cudaFree(\t void* devPtr) {\n\n\tlibcuda_cudaFree = (cudaFree_t) dlsym(RTLD_NEXT, \"cudaFree\");\n\tif (!libcuda_cudaFree) {\n\t\tMEM_ERROR(\"The memory profiler did not find cudaFree. You may need to recompile without memory profiling.\\n\");\n\t\texit(1);\n\t}\n\n\tcudaError_t res = libcuda_cudaFree(devPtr);\n\n\treturn res;\n}\n\ncudaError_t cudaFree ( void* devPtr) __throw()\n{\n\n\tgpu_lock_guard_t lock(gpu_alloc_lock);\n\n\n\tif(slambench::memory::MemoryProfiler::SingletonAvailable()) {\n\t\tslambench::memory::MemoryProfiler::GetSingleton().FreeAllocationGPU(devPtr);\n\t\treturn libcuda_cudaFree(devPtr);\n\t} else {\n\t\treturn libcuda_cudaFree(devPtr);\n\t}\n\n}\n\n// cudaError_t cudaFreeHost ( void* devPtr)\n//********************************************************\n\nstatic cudaError_t load_and_call_libcuda_cudaFreeHost(\t void* devPtr) ;\n\ntypedef cudaError_t (*cudaFreeHost_t)(\t void* devPtr);\n\nstatic cudaFreeHost_t libcuda_cudaFreeHost = load_and_call_libcuda_cudaFreeHost;\n\nstatic cudaError_t load_and_call_libcuda_cudaFreeHost(\t void* devPtr) {\n\tlibcuda_cudaFreeHost = (cudaFreeHost_t)dlsym(RTLD_NEXT, \"cudaFreeHost\");\n\tif (!libcuda_cudaMalloc) {\n\t\tMEM_ERROR(\"Bad day for cudaFreeHost.\\n\");\n\t\texit(1);\n\t}\n\treturn libcuda_cudaFreeHost(devPtr);\n}\n\ncudaError_t cudaFreeHost ( void* devPtr) __throw()\n{\n\n\tgpu_lock_guard_t lock(gpu_alloc_lock);\n\n\tif(slambench::memory::MemoryProfiler::SingletonAvailable()) {\n\t\tslambench::memory::MemoryProfiler::GetSingleton().FreeAllocationGPU(devPtr);\n\t\treturn libcuda_cudaFreeHost(devPtr);\n\t} else {\n\t\treturn libcuda_cudaFreeHost(devPtr);\n\t}\n\n}\n\n\n//###################################################################################################################\n//###################################### GPU SIDE : OPENCL ##########################################################\n//###################################################################################################################\n\n// We provide our own clCreateBuffer/clReleaseMemObject\n#include \ntypedef int32_t cl_int __attribute__((aligned(4)));\ntypedef uint64_t cl_ulong __attribute__((aligned(8)));\n\ntypedef cl_ulong cl_bitfield;\ntypedef struct _cl_context * cl_context;\ntypedef cl_bitfield cl_mem_flags;\ntypedef struct _cl_mem * cl_mem;\n\nstatic cl_mem load_and_call_libopencl_clCreateBuffer(\tcl_context a, \tcl_mem_flags b, \tsize_t c, \tvoid *d, \tcl_int *e) ;\nstatic cl_int load_and_call_libopencl_clReleaseMemObject(cl_mem a) ;\n\ntypedef cl_mem (*clCreateBuffer_t)(\tcl_context , \tcl_mem_flags , \tsize_t , \tvoid *, \tcl_int *);\ntypedef cl_int (*clReleaseMemObject_t)(cl_mem);\n\nstatic clCreateBuffer_t libopencl_clCreateBuffer = load_and_call_libopencl_clCreateBuffer;\nstatic clReleaseMemObject_t libopencl_clReleaseMemObject = load_and_call_libopencl_clReleaseMemObject;\n\nstatic cl_mem load_and_call_libopencl_clCreateBuffer(\tcl_context a, \tcl_mem_flags b, \tsize_t c, \tvoid *d, \tcl_int *e) {\n\tlibopencl_clCreateBuffer = (clCreateBuffer_t)dlsym(RTLD_NEXT, \"clCreateBuffer\");\n\n\treturn libopencl_clCreateBuffer(a,b,c,d,e);\n}\nstatic cl_int load_and_call_libopencl_clReleaseMemObject(cl_mem a) {\n\tlibopencl_clReleaseMemObject = (clReleaseMemObject_t)dlsym(RTLD_NEXT, \"clReleaseMemObject\");\n\treturn libopencl_clReleaseMemObject(a);\n}\n\n\ncl_mem clCreateBuffer ( \tcl_context a , \tcl_mem_flags b , \tsize_t c , \tvoid * d, \tcl_int * e) __throw()\n{\n\tif(slambench::memory::MemoryProfiler::SingletonAvailable()) {\n\t\tlock_guard_t lock(opencl_alloc_lock);\n\t\tcl_mem ptr = libopencl_clCreateBuffer(a,b,c,d,e);\n\t\tslambench::memory::MemoryProfiler::GetSingleton().AddAllocationGPU((void*) ptr, c);\n\t\t\n\t\treturn ptr;\n\t} else {\n\t\treturn libopencl_clCreateBuffer(a,b,c,d,e);\n\t}\n}\n\ncl_int clReleaseMemObject ( \tcl_mem ptr )__throw()\n{\t\n\tif(slambench::memory::MemoryProfiler::SingletonAvailable()) {\n\t\tlock_guard_t lock(opencl_alloc_lock);\n\t\tslambench::memory::MemoryProfiler::GetSingleton().FreeAllocationGPU((void*) ptr);\n\t\treturn libopencl_clReleaseMemObject(ptr);\n\t} else {\n\t\treturn libopencl_clReleaseMemObject(ptr);\n\t}\n}\n\n//###################################################################################################################\n//###################################### CPU SIDE #############################################################\n//###################################################################################################################\n\n// We provide our own malloc/calloc/realloc/free, which are then used\n// by whatever we link against (i.e., SLAM implementations).\n\nstatic void *load_and_call_libc_malloc(size_t);\nstatic void load_and_call_libc_free(void*);\nstatic void *load_and_call_libc_calloc(size_t, size_t);\nstatic void *load_and_call_libc_realloc(void*, size_t);\n\ntypedef void *(*malloc_t)(size_t);\ntypedef void (*free_t)(void*);\ntypedef void *(*realloc_t)(void*, size_t);\ntypedef void *(*calloc_t)(size_t, size_t);\n\n// TODO: make this thread-safe\n\nstatic malloc_t libc_malloc = load_and_call_libc_malloc;\nstatic free_t libc_free = load_and_call_libc_free;\nstatic calloc_t libc_calloc = load_and_call_libc_calloc;\nstatic realloc_t libc_realloc = load_and_call_libc_realloc;\n\nstatic void* load_and_call_libc_malloc(size_t t) {\n\tlibc_malloc = (malloc_t)dlsym(RTLD_NEXT, \"malloc\");\n\treturn libc_malloc(t);\n}\nstatic void load_and_call_libc_free(void *t) {\n\tlibc_free = (free_t)dlsym(RTLD_NEXT, \"free\");\n\tlibc_free(t);\n}\n\nstatic void* load_and_call_libc_calloc(size_t nmemb, size_t size) {\n\tlibc_calloc = (calloc_t)dlsym(RTLD_NEXT, \"calloc\");\n\treturn libc_calloc(nmemb, size);\n}\nstatic void *load_and_call_libc_realloc(void *t, size_t size) {\n\tlibc_realloc = (realloc_t)dlsym(RTLD_NEXT, \"realloc\");\n\treturn libc_realloc(t, size);\n}\n\n//define a scratch space for calloc\nstatic char calloc_scratch[4096];\nstatic char* calloc_ptr = calloc_scratch;\n\n\nvoid *malloc(size_t size) __throw()\n{\n\tlock_guard_t lock(alloc_lock);\n\tvoid *ptr = libc_malloc(size);\n\t\n\tif(slambench::memory::MemoryProfiler::SingletonAvailable()) {\n\t\tslambench::memory::MemoryProfiler::GetSingleton().AddAllocation(ptr, size);\n\t}\n\t\t\n\treturn ptr;\n}\n\nvoid free(void* ptr) __throw()\n{\n\tlock_guard_t lock(alloc_lock);\n\t\n\tif(slambench::memory::MemoryProfiler::SingletonAvailable()) {\n\t\tif(ptr > calloc_scratch && ptr < calloc_scratch+sizeof(calloc_scratch)) {\n\t\t\t// do nothing\n\t\t}\n\t\telse\n\t\t{\n\t\t\tlibc_free(ptr);\n\t\t\tslambench::memory::MemoryProfiler::GetSingleton().FreeAllocation(ptr);\n\t\t}\n\t} else {\n\t\tlibc_free(ptr);\n\t}\n}\n\nvoid *realloc(void *ptr, size_t newsize) __throw() {\n\tlock_guard_t lock(alloc_lock);\n\t\n\tif(slambench::memory::MemoryProfiler::SingletonAvailable()) {\n\t\tif(ptr > calloc_scratch && ptr < calloc_scratch+sizeof(calloc_scratch)) {\n\t\t\tabort();\n\t\t}\n\n\t\tauto newptr = libc_realloc(ptr, newsize);\n\n\t\tslambench::memory::MemoryProfiler::GetSingleton().FreeAllocation(ptr);\n\t\tslambench::memory::MemoryProfiler::GetSingleton().AddAllocation(newptr, newsize);\n\n\t\treturn newptr;\n\t} else {\n\t\treturn libc_realloc(ptr, newsize);\n\t}\n}\n\nvoid *calloc(size_t nmemb, size_t size) __throw() {\n\tlock_guard_t lock(alloc_lock);\n\t\n\t// need to be careful with calloc since dlsym will use it! need to do this\n\t// even if the profiler is disabled.\n\tstatic bool reentered = false;\n\tif(reentered) {\n\t\tvoid *ptr = calloc_ptr;\n\t\tcalloc_ptr += nmemb*size;\n\t\tcalloc_ptr += 16-(((uintptr_t)calloc_ptr) % 16);\n\t\tif(calloc_ptr >= (calloc_scratch + sizeof(calloc_scratch))) abort();\n\t\treturn ptr;\n\t}\n\treentered = true;\n\t\n\tif(slambench::memory::MemoryProfiler::SingletonAvailable()) {\n\t\tvoid *result = libc_calloc(nmemb, size);\n\t\tslambench::memory::MemoryProfiler::GetSingleton().AddAllocation(result, nmemb * size);\n\t\treentered = false;\n\t\treturn result;\n\t} else {\n\t\tvoid *ptr = libc_calloc(nmemb, size);\n\t\treentered = false;\n\t\treturn ptr;\n\t}\n}\n\n}\n\nvoid *operator new(std::size_t size) {\n\tlock_guard_t lock(alloc_lock);\n\t\n\tvoid *mem = malloc(size);\n\t\n\tif(mem == nullptr) {\n\t\tthrow std::bad_alloc();\n\t} else {\n\t\treturn mem;\n\t}\n}\n\nvoid *operator new(std::size_t size, const std::nothrow_t ¬hrow_value) __throw() {\n\t(void)nothrow_value;\n\ttry {\n\t\treturn operator new(size);\n\t} catch (std::exception &e) {\n\t\treturn nullptr;\n\t}\n}\n\nvoid *operator new[](std::size_t size) {\n\tlock_guard_t lock(alloc_lock);\n\t\n\tvoid *mem = malloc(size);\n\t\n\tif(mem == nullptr) {\n\t\tthrow std::bad_alloc();\n\t} else {\n\t\treturn mem;\n\t}\n}\n\nvoid *operator new[](std::size_t size, const std::nothrow_t ¬hrow_value) __throw() {\n\t(void)nothrow_value;\n\ttry {\n\t\treturn operator new[](size);\n\t} catch (std::exception &e) {\n\t\treturn nullptr;\n\t}\n}\n\n#endif\n" }, { "path": "framework/shared/src/values/Value.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"values/Value.h\"\n#include \"values/ValueDispatch.h\"\n\nusing namespace slambench::values;\n\nValueDescription::ValueDescription(ValueType type) : type_(type)\n{\n\n}\n\nValueDescription::ValueDescription(const structured_description& structured_desc) : type_(VT_COLLECTION), structured_type_(structured_desc)\n{\n\t\n}\n\nValueType ValueDescription::GetType() const\n{\n\treturn type_;\n}\n\nconst ValueDescription::structured_description& ValueDescription::GetStructureDescription() const\n{\n\tif(GetType() != VT_COLLECTION) {\n\t\tthrow std::logic_error(\"\");\n\t}\n\treturn structured_type_;\n}\n\n\nValue::~Value()\n{\n\n}\n\n\nvoid Value::Dispatch(ValueDispatch* vd)\n{\n\tswitch(GetType()) {\n#define HANDLE(vt) case vt: vd->Dispatch((TypeForVT::type*)this); return;\n\t\t\n\t\tHANDLE(VT_COLLECTION);\n\t\tHANDLE(VT_U64);\n\t\tHANDLE(VT_DOUBLE);\n\t\tHANDLE(VT_STRING);\n\t\tHANDLE(VT_TRAJECTORY);\n\t\tHANDLE(VT_POSE);\n\t\tHANDLE(VT_POINTCLOUD);\n//\t\tHANDLE(VT_FEATURE);\n//\t\tHANDLE(VT_FEATURELIST);\n//\t\tHANDLE(VT_FRAME);\n\t\tHANDLE(VT_MATRIX);\n#undef HANDLE\n\t\tcase VT_UNKNOWN:\n\t\tdefault:\n\t\t\tassert(false);\n\t}\n}\n\nvoid Value::Dispatch(ConstValueDispatch* vd) const\n{\n\tswitch(GetType()) {\n#define HANDLE(vt) case vt: vd->Dispatch((const TypeForVT::type*)this); return;\n\t\t\n\t\tHANDLE(VT_COLLECTION);\n\t\tHANDLE(VT_U64);\n\t\tHANDLE(VT_DOUBLE);\n\t\tHANDLE(VT_STRING);\n\t\tHANDLE(VT_TRAJECTORY);\n\t\tHANDLE(VT_POSE);\n\t\tHANDLE(VT_POINTCLOUD);\n//\t\tHANDLE(VT_FEATURE);\n//\t\tHANDLE(VT_FEATURELIST);\n//\t\tHANDLE(VT_FRAME);\n\t\tHANDLE(VT_MATRIX);\n#undef HANDLE\n\t\tcase VT_UNKNOWN:\n\t\tdefault:\n\t\t\tassert(false);\n\t}\n}\n\n\nFrameValue::FrameValue(const FrameValue& other) : Value(VT_FRAME), width_(other.width_), height_(other.height_), pxl_format_(other.pxl_format_), data_(other.data_) \n{\n\n}\n\nFrameValue::FrameValue(uint32_t width, uint32_t height, slambench::io::pixelformat::EPixelFormat pxl_format, void* data) : Value(VT_FRAME), width_(width), height_(height), pxl_format_(pxl_format)\n{\n\tauto depth = slambench::io::pixelformat::GetPixelSize(pxl_format_);\n\t\n\tsize_t datasize = width * height * depth;\n\tdata_.resize(datasize);\n\tmemcpy(data_.data(), data, datasize);\n}\n\nFrameValue::FrameValue(uint32_t width, uint32_t height, slambench::io::pixelformat::EPixelFormat pxl_format) : Value(VT_FRAME), width_(width), height_(height), pxl_format_(pxl_format)\n{\n\tauto depth = slambench::io::pixelformat::GetPixelSize(pxl_format_);\n\t\n\tsize_t datasize = width * height * depth;\n\tdata_.resize(datasize);\n}\n\nValueCollectionValue::~ValueCollectionValue() {\n\tfor(auto i : values_) {\n\t\tdelete i.second;\n\t}\n}\n\nValueListValue::~ValueListValue() \n{\n\tfor(auto i : values_) {\n\t\tdelete i;\n\t}\n}\n\nFeatureValue::FeatureValue(const Eigen::Matrix4f& pose, const FrameValue& patch) : Value(VT_FEATURE), image_patch_(patch), pose_(pose)\n{\n\n}\n\nFeatureValue::~FeatureValue() {\n\t\n}\n" }, { "path": "framework/shared/src/values/ValueDispatch.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"values/ValueDispatch.h\"\n\nusing namespace slambench::values;\n\nValueDispatch::~ValueDispatch()\n{\n\n}\n\nConstValueDispatch::~ConstValueDispatch()\n{\n\n}\n" }, { "path": "framework/shared/src/values/ValueInterface.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"values/ValueInterface.h\"\n\nusing namespace slambench::values;\n\nValueInterface::~ValueInterface()\n{\n}\n" }, { "path": "framework/shared/src/values/ValuePrinter.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"values/ValuePrinter.h\"\n\nusing namespace slambench::values;\n\nValuePrinter::ValuePrinter(std::ostream& str) : str_(str)\n{\n\n}\n\nValuePrinter::~ValuePrinter()\n{\n\n}\n\nvoid ValuePrinter::Dispatch(const TypeForVT::type* value)\n{\n\tstr_ << value->GetValue();\n}\nvoid ValuePrinter::Dispatch(const TypeForVT::type* value)\n{\n\tstr_ << value->GetValue();\n}\nvoid ValuePrinter::Dispatch(const TypeForVT::type* value)\n{\n\tstr_ << value->GetValue();\n}\nvoid ValuePrinter::Dispatch(const TypeForVT::type* value)\n{\n\t(void)value;\n\tstr_ << \"(point cloud)\";\n}\nvoid ValuePrinter::Dispatch(const TypeForVT::type* value)\n{\n\t(void)value;\n\tstr_ << \"(collection)\";\n}\nvoid ValuePrinter::Dispatch(const TypeForVT::type* value)\n{\n\t(void)value;\n\tstr_ << \"(trajectory)\";\n}\nvoid ValuePrinter::Dispatch(const TypeForVT::type* value)\n{\n\t// extract x, y, z\n\tauto &matrix = value->GetValue();\n\tauto x = matrix(0, 3);\n\tauto y = matrix(1, 3);\n\tauto z = matrix(2, 3);\n\tstr_ << x << \", \" << y << \", \" << z;\n}\nvoid ValuePrinter::Dispatch(const TypeForVT::type* value)\n{\n\tstr_ << value->GetValue();\n}\n" }, { "path": "framework/tools/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.10)\n\ninclude_directories(${SLAMBENCH_INCLUDE_DIR})\n\nadd_subdirectory(accuracy-tools) # SLAMBench reconstruction Error etc...\nadd_subdirectory(dataset-tools) # SLAMBench Dataset Generator\nadd_subdirectory(profiling-tools) # SLAMBench Profiling\nadd_subdirectory(loaders) # SLAMBench Loaders\n\n" }, { "path": "framework/tools/README.md", "content": "# SLAMBench Tools #\n\n\n\n" }, { "path": "framework/tools/accuracy-tools/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.10)\nproject(accuracy_tools)\nfind_package(PCL REQUIRED)\nget_directory_property(DirDefs COMPILE_DEFINITIONS)\nmessage(STATUS \"VTK FIX:Previous properties=${DirDefs}\")\nset_directory_properties(PROPERTIES COMPILE_DEFINITIONS \"\")\n######################################################################################\n################# COMMONS\n######################################################################################\n\ninclude_directories(. ../../shared/include)\n\nset(CMAKE_C_FLAGS \"${CMAKE_C_FLAGS} --std=c++14 -Wno-error=unused-parameter -Wno-error=unused-variable -Wno-error=unused-but-set-variable -Wno-error=attributes\")\nset(CMAKE_CXX_FLAGS \"${CMAKE_CXX_FLAGS} --std=c++14 -Wno-error=unused-parameter -Wno-error=unused-variable -Wno-error=unused-but-set-variable -Wno-error=attributes\")\n\n\nfind_package(Pangolin QUIET)\nIF(Pangolin_FOUND)\n\tset(main_common_libraries ${SLAMBENCH_LIBRARIES})\n\tset(gui_pangolin_libraries ${main_common_libraries} slambench-ui-pangolin ${Pangolin_LIBRARIES} ${OPENGL_LIBRARIES} pthread)\nif (PCL_FOUND)\n include_directories(${PCL_INCLUDE_DIRS})\n link_directories(${PCL_LIBRARY_DIRS})\n add_definitions(${PCL_DEFINITIONS})\n\n\tadd_executable(pointcloud_aligner pointcloud_aligner.cpp)\n\t\n\tTARGET_INCLUDE_DIRECTORIES(pointcloud_aligner PUBLIC ${SLAMBENCH_INCLUDE_DIR})\n\tTARGET_INCLUDE_DIRECTORIES(pointcloud_aligner PUBLIC ${Pangolin_INCLUDE_DIR})\n\tTARGET_INCLUDE_DIRECTORIES(pointcloud_aligner PUBLIC ${TOON_INCLUDE_PATHS})\n\t\n\ttarget_link_libraries(pointcloud_aligner PRIVATE ${gui_pangolin_libraries} ${PCL_LIBRARIES})\n\ttarget_compile_options(pointcloud_aligner PRIVATE \"-Wno-error=comment\")\n \tif (CMAKE_COMPILER_IS_GNUCC AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 8.0)\n\t target_compile_options(pointcloud_aligner PRIVATE \"-Wno-error=catch-value=\")\n\tendif()\n\n\n install(TARGETS pointcloud_aligner DESTINATION bin/)\n\n \nelse (PCL_FOUND)\n message(STATUS \"Trajectory tool will not be compile, PCL not found.\")\nendif(PCL_FOUND)\n\n\t\nENDIF(Pangolin_FOUND)\n\n" }, { "path": "framework/tools/accuracy-tools/pointcloud_aligner.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n#undef HAVE_OPENNI\n#include \n\ntypedef pcl::PointXYZ point_t;\n\nfloat getScore( pcl::PointCloud::Ptr gt,pcl::PointCloud::Ptr test)\n{\n\n\tstd::cout << \"Building tree, may take a few minutes...\" << std::endl;\n pcl::search::KdTree::Ptr tree (new pcl::search::KdTree);\n tree->setInputCloud(gt);\n\n std::vector pointIdxNKNSearch(1);\n std::vector pointNKNSquaredDistance(1);\n\n double totalSum = 0;\n\n int count = 0;\n\n\tstd::cout << \"Start KNN search...\" << std::endl;\n for(size_t i = 0; i < test->size(); i++)\n {\n \tif ((i % 500) == 0)\n \t\tstd::cout << \"\\r\" << i << std::flush;\n tree->nearestKSearch(test->at(i), 1, pointIdxNKNSearch, pointNKNSquaredDistance);\n totalSum += sqrt(pointNKNSquaredDistance.at(0));\n count++;\n }\n std::cout << std::endl;\n\n return totalSum / (double)test->size();\n}\n\n\nvoid computeAlignment(std::vector outputs, slambench::outputs::AlignmentOutput *alignment) {\n\n\n\tstd::vector::Ptr> clouds ;\n\n\tfor(auto output_mgr : outputs) {\n\t\tfor(auto output : *output_mgr) {\n\t\t\tslambench::outputs::BaseOutput* bo = output.second;\n\n\t\t\tif (bo->GetType() == slambench::values::VT_POINTCLOUD) {\n\n\t\t\t\tstd::cout << \"Find one !\" << std::endl;\n\t\t\t\tif(bo->GetValues().empty()) {\n\n\t\t\t\t\t\tstd::cout << \"An empty one !\" << std::endl;\n\t\t\t\t\t\tcontinue;\n\t\t\t\t\t}\n\n\t\t\t\t\tconst slambench::values::PointCloudValue *latest_pc = static_cast(bo->GetValues().rbegin()->second);\n\t\t\t\t\tsize_t size = latest_pc->GetPoints().size();\n\t\t\t\t\tstd::cout << \"With \" << size << \" points.\" << std::endl;\n\n\t\t\t\t\tpcl::PointCloud::Ptr cloud = pcl::PointCloud::Ptr(new pcl::PointCloud);\n\t\t\t\t\tfor (auto point : latest_pc->GetPoints()) {\n\t\t\t\t\t\tcloud->push_back({point.X,point.Y,point.Z});\n\t\t\t\t\t}\n\t\t\t\t\tclouds.push_back(cloud);\n\n\t\t\t}\n\t\t}\n\t}\n\n\tif (clouds.size() != 2) {\n\t\tstd::cout << \"Too many point clouds founds.\" << std::endl;\n\t\tthrow std::invalid_argument(\"\");\n\t}\n\n\tauto alignment_value = (slambench::values::TypeForVT::type*)alignment->GetMostRecentValue().second;\n\t\n\tpcl::transformPointCloud(*clouds[0], *clouds[0], alignment_value->GetValue());\n\tstd::cout << \"Transformation done.\" << std::endl;\n\n\n\tstd::cout << \"WE NEED TO Do THE TRAJECTORy ALIGNEMENT HERE !!!!\" << std::endl;\n\tstd::cout << \"Initialize first scoring.\" << std::endl;\n\n\tint iteration = 0;\n float value = getScore(clouds[0],clouds[1]);\n\n\n\tstd::cout << \"First score is \" << value << std::endl;\n\n if(value < 0.05)\n {\n\n \tstd::cout << \"Interesting score, we start icp.\" << std::endl;\n\n pcl::IterativeClosestPoint icp;\n\n pcl::PointCloud::Ptr aligned (new pcl::PointCloud );\n\n icp.setInputSource(clouds[1]);\n icp.setInputTarget(clouds[0]);\n icp.setMaximumIterations(1);\n\n for(int i = 0; i < 10; i++)\n {\n\n \tstd::cout << \"Align pass \" << i << std::endl;\n icp.align(*aligned, icp.getFinalTransformation());\n iteration++;\n }\n\n \tstd::cout << \"Final scoring \" << std::endl;\n value = std::min(getScore(clouds[0],aligned), value);\n } else {\n \tstd::cout << \"Score is too far, no ICP.\" << std::endl;\n }\n\n std::cout << value << std::endl;\n\n return;\n}\n\n\nslambench::outputs::OutputManager *LoadSLAMFile(const std::string &filename, slambench::io::FrameBufferSource &fb_src) {\n\tauto mgr = new slambench::outputs::OutputManager ();\n\n\tauto file = slambench::io::SLAMFile::Read(filename, fb_src);\n\tmgr->LoadGTOutputsFromSLAMFile(file);\n\n\treturn mgr;\n}\n\nint main(int argc, char * argv[])\n{\n\t\n\t//***************************************************************************************\n\t// Init the GUI\n\t//***************************************************************************************\n\n\tstd::cerr << \"Creation of GUI interface.\" << std::endl;\n\tSLAMBenchUI_Pangolin * ui_pangolin = new SLAMBenchUI_Pangolin();\n\t\n\t// Initialise input data\n\tslambench::io::SingleFrameBufferSource fb_src;\n\t\n\t// for each arg, try and load an input file\n\tstd::vector outputs;\n\t\n\tif(argc != 3) {\n\t\tprintf(\"Usage: %s [slam file 1] [slam file 2]\\n\", argv[0]);\n\t\treturn 1;\n\t}\n\t\n\tauto slamfile_alignee_filename = argv[1];\n\tauto slamfile_target_filename = argv[2];\n\t\n\tauto output_mgr_alignee = LoadSLAMFile(slamfile_alignee_filename, fb_src);\n\tauto output_mgr_target = LoadSLAMFile(slamfile_target_filename, fb_src);\n\t\n\toutputs.push_back(output_mgr_alignee);\n\toutputs.push_back(output_mgr_target);\n\t\n\t// Align traj1 onto traj2\n\tauto alignee_traj = output_mgr_alignee->GetMainOutput(slambench::values::VT_POSE);\n\tauto alignee_pointcloud = (slambench::values::PointCloudValue*)output_mgr_alignee->GetMainOutput(slambench::values::VT_POINTCLOUD)->GetMostRecentValue().second;\n\tauto target_traj = output_mgr_target->GetMainOutput(slambench::values::VT_POSE);\n\t\n\tif(alignee_traj == nullptr || target_traj == nullptr) {\n\t\tstd::cerr << \"Both slamfiles must provide a pose output!\";\n\t\treturn 1;\n\t}\n\t\n\n\tstd::cerr << \"File loaded\" << std::endl;\n\n\tauto alignment = new slambench::outputs::AlignmentOutput(\"Alignment\", new slambench::outputs::PoseOutputTrajectoryInterface(target_traj), alignee_traj, new slambench::outputs::OriginalTrajectoryAlignmentMethod());\n\talignment->SetKeepOnlyMostRecent(true);\n\tauto aligned_traj1 = new slambench::outputs::AlignedPoseOutput(\"Aligned\", alignment, alignee_traj);\n\t\n\toutput_mgr_alignee->RegisterOutput(aligned_traj1);\n\t\n\tauto partially_aligned_pc_op = new slambench::outputs::Output(\"Partially aligned PC\", slambench::values::VT_POINTCLOUD);\n\tauto partially_aligned_pc = new slambench::values::PointCloudValue(*alignee_pointcloud);\n\tpartially_aligned_pc->SetTransform(((slambench::values::TypeForVT::type*)alignment->GetMostRecentValue().second)->GetValue());\n\t\n\tpartially_aligned_pc_op->SetActive(true);\n\tpartially_aligned_pc_op->AddPoint({0,0}, partially_aligned_pc);\n\t\n\tauto ui_output_manager = new slambench::outputs::OutputManager();\n\tui_output_manager->RegisterOutput(partially_aligned_pc_op);\n\t\n\t\n\tui_pangolin->AddOutputManager(\"Traj1\", output_mgr_alignee);\n\tui_pangolin->AddOutputManager(\"Traj2\", output_mgr_target);\n\tui_pangolin->AddOutputManager(\"UI\", ui_output_manager);\n\t\n\t// Initialise the UI\n\tui_pangolin->InitialiseOutputs();\n\t\n\tSLAMBenchUI * ui = dynamic_cast (ui_pangolin);\n\n\t// Provide the current camera position to the GUI\n\t// FIXME : temporary values (Toky)\n\tfloat fx = 520.9000244141;\n\tfloat fy = 521.0000000000;\n\tfloat cx = 324.5999755859;\n\tfloat cy = 249.2000122070;\n\tui->update_camera(480,640, fx, fy , cx , cy );\n\n\n\n\t//***************************************************************************************\n\t// GUI LOOP + GUI CLOSED\n\t//***************************************************************************************\n\n\n\tstd::cerr << \"Start to compute\" << std::endl;\n\n\tstd::thread compute_thread (computeAlignment, outputs, alignment);\n\n\n\n\tstd::cerr << \"Start rendering loop.\" << std::endl;\n\twhile( !pangolin::ShouldQuit() ) {\n\n\t\tusleep(40000);\n\t\tif (!ui->process ()) {\n\t\t\tstd::cerr << \"Rendering problem.\" << std::endl;\n\t\t\texit(1);\n\t\t}\n\t}\n\tstd::cout << \"Stop Pangolin...\" << std::endl;\n\tpangolin::Quit();\n\tstd::cout << \"GUI closed ... \" << std::endl;\n\n\tcompute_thread.join();\n\n\t//***************************************************************************************\n\t// CLOSE LIBRARIES\n\t//***************************************************************************************\n\n\tstd::cout << \"End of program.\" << std::endl;\n\n\n\treturn 0;\n}\n" }, { "path": "framework/tools/dataset-tools/BONN.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"include/BONN.h\"\n#include \"include/utils/RegexPattern.h\"\n#include \"include/utils/dataset_utils.h\"\n#include \"io/sensor/sensor_builder.h\"\n#include \"include/utils/PlyASCIIReader.h\"\n\n#include \n#include \n#include \n#include \n#include \n\n#include \n\n#include \n#include \n#include \n\nusing namespace slambench::io;\n\nconstexpr CameraSensor::intrinsics_t BONNReader::intrinsics_rgb;\nconstexpr DepthSensor::intrinsics_t BONNReader::intrinsics_depth;\nconstexpr CameraSensor::distortion_coefficients_t BONNReader::distortion_rgb;\nconstexpr DepthSensor::distortion_coefficients_t BONNReader::distortion_depth;\nconstexpr DepthSensor::disparity_params_t BONNReader::disparity_params;\nconstexpr DepthSensor::disparity_type_t BONNReader::disparity_type;\nconstexpr CameraSensor::distortion_type_t BONNReader::distortion_type;\n\nbool loadBONNDepthData(const std::string &dirname, SLAMFile &file) {\n\n std::string line;\n\n printf(\"Directory name: %s\\n\", dirname.c_str());\n std::ifstream infile(dirname + \"/\" + \"depth.txt\");\n\n boost::smatch match;\n\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& fn = RegexPattern::filename;\n\n // format: timestamp filename\n std::string expr = start\n + ts + ws // timestamp\n + fn + end; // filename\n\n boost::regex depth_line = boost::regex(expr);\n\n int lineCount = 0;\n\n while (std::getline(infile, line)) {\n printf(\"line %d: %s\\n\", lineCount, line.c_str());\n lineCount++;\n\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, depth_line)) {\n\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n\n std::string depth_filename = match[3];\n\n auto depth_frame = new ImageFileFrame();\n depth_frame->FrameSensor = *file.Sensors.end();\n depth_frame->Timestamp.S = timestampS;\n depth_frame->Timestamp.Ns = timestampNS;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/\" << depth_filename;\n depth_frame->filename = frame_name.str();\n\n if (access(depth_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No depth image for frame (%s)\\n\", frame_name.str().c_str());\n perror(\"\");\n continue;\n }\n\n file.AddFrame(depth_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadBONNRGBData(const std::string &dirname,\n SLAMFile &file) {\n\n std::string line;\n\n std::ifstream infile(dirname + \"/\" + \"rgb.txt\");\n\n boost::smatch match;\n\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& fn = RegexPattern::filename;\n\n // format: timestamp filename\n std::string expr = start\n + ts + ws // timestamp\n + fn + end; // filename\n\n boost::regex rgb_line = boost::regex(expr);\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, rgb_line)) {\n\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n\n std::string rgb_filename = match[3];\n\n auto rgb_frame = new ImageFileFrame();\n rgb_frame->FrameSensor = *file.Sensors.end();\n rgb_frame->Timestamp.S = timestampS;\n rgb_frame->Timestamp.Ns = timestampNS;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/\" << rgb_filename;\n rgb_frame->filename = frame_name.str();\n\n if (access(rgb_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No RGB image for frame (%s)\\n\", frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(rgb_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadBONNGreyData(const std::string &dirname, SLAMFile &file) {\n\n std::string line;\n\n std::ifstream infile(dirname + \"/\" + \"rgb.txt\");\n\n boost::smatch match;\n\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& fn = RegexPattern::filename;\n\n // format: timestamp filename\n std::string expr = start\n + ts + ws // timestamp\n + fn + end; // filename\n\n boost::regex rgb_line = boost::regex(expr);\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, rgb_line)) {\n\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n\n std::string rgb_filename = match[3];\n\n auto grey_frame = new ImageFileFrame();\n grey_frame->FrameSensor = *file.Sensors.end();\n grey_frame->Timestamp.S = timestampS;\n grey_frame->Timestamp.Ns = timestampNS;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/\" << rgb_filename;\n grey_frame->filename = frame_name.str();\n\n if (access(grey_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No RGB image for frame (%s)\\n\", frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(grey_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadBONNGroundTruthData(const std::string &dirname, SLAMFile &file) {\n\n std::ifstream infile(dirname + \"/\" + \"groundtruth.txt\");\n\n std::string line;\n boost::smatch match;\n\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& num = RegexPattern::number;\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n\n // format: timestamp tx ty tz qx qy qz qw\n std::string expr = start\n + ts + ws // timestamp\n + num + ws // tx\n + num + ws // ty\n + num + ws // tz\n + num + ws // qx\n + num + ws // qy\n + num + ws // qz\n + num + end; // qw\n\n boost::regex groundtruth_line = boost::regex(expr);\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, groundtruth_line)) {\n\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n\n float tx = std::stof(match[3]);\n float ty = std::stof(match[4]);\n float tz = std::stof(match[5]);\n\n float QX = std::stof(match[6]);\n float QY = std::stof(match[7]);\n float QZ = std::stof(match[8]);\n float QW = std::stof(match[9]);\n\n Eigen::Matrix3f rotationMat = Eigen::Quaternionf(QW, QX, QY, QZ).toRotationMatrix();\n Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();\n\n pose.block(0, 0, 3, 3) = rotationMat;\n pose.block(0, 3, 3, 1) << tx, ty, tz;\n\n auto gt_frame = new SLAMInMemoryFrame();\n gt_frame->FrameSensor = *file.Sensors.end();\n gt_frame->Timestamp.S = timestampS;\n gt_frame->Timestamp.Ns = timestampNS;\n gt_frame->Data = malloc(gt_frame->GetSize());\n\n memcpy(gt_frame->Data, pose.data(), gt_frame->GetSize());\n\n file.AddFrame(gt_frame);\n } else {\n std::cerr << \"Unknown line: \" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\n\nbool loadBONNPointCloudData(slambench::io::SLAMFile &slamfile, const std::string& plyname) {\n auto pcd = new slambench::io::PointCloudSensor(\"PointCloud\");\n pcd->Description = \"Ground truth point cloud\";\n pcd->Index = slamfile.Sensors.size();\n slamfile.Sensors.AddSensor(pcd);\n\n auto pointcloud = PlyASCIIReader::read(plyname);\n if(pointcloud == nullptr) {\n fprintf(stderr, \"Could not read point cloud\\n\");\n return false;\n }\n\n auto rawpointcloud = pointcloud->ToRaw();\n\n auto pcloudframe = new SLAMInMemoryFrame();\n pcloudframe->FrameSensor = slamfile.GetSensor(PointCloudSensor::kPointCloudType);\n\n int numBytes = rawpointcloud.size();\n pcloudframe->Data = malloc(numBytes);\n pcloudframe->SetVariableSize(rawpointcloud.size());\n std::copy(rawpointcloud.data(),\n rawpointcloud.data() + numBytes,\n reinterpret_cast(pcloudframe->Data));\n\n slamfile.AddFrame(pcloudframe);\n\n return true;\n}\n\nSLAMFile *BONNReader::GenerateSLAMFile() {\n\n if (!(grey || rgb || depth)) {\n std::cerr << \"No sensors defined\\n\";\n return nullptr;\n }\n\n std::string dirname = input;\n\n const std::vector requirements = {\"rgb.txt\",\n \"rgb\",\n \"depth.txt\",\n \"depth\",\n \"groundtruth.txt\"};\n\n if (!checkRequirements(dirname, requirements)) {\n std::cerr << \"Invalid folder.\" << std::endl;\n return nullptr;\n }\n\n auto slamfile_ptr = new SLAMFile();\n auto &slamfile = *slamfile_ptr;\n\n Sensor::pose_t pose = Eigen::Matrix4f::Identity();\n\n // load Depth\n if (depth) {\n auto depth_sensor = DepthSensorBuilder()\n .rate(image_params.rate)\n .size(image_params.width, image_params.height)\n .pose(pose)\n .intrinsics(intrinsics_depth)\n .distortion(distortion_type, distortion_depth)\n .disparity(disparity_type, disparity_params)\n .index(slamfile.Sensors.size())\n .build();\n\n slamfile.Sensors.AddSensor(depth_sensor);\n\n if (!loadBONNDepthData(dirname, slamfile)) {\n std::cout << \"Error while loading depth information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n }\n\n // load Grey\n if (grey) {\n auto grey_sensor = GreySensorBuilder()\n .rate(image_params.rate)\n .size(image_params.width, image_params.height)\n .pose(pose)\n .intrinsics(intrinsics_rgb)\n .distortion(distortion_type, distortion_rgb)\n .index(slamfile.Sensors.size())\n .build();\n\n slamfile.Sensors.AddSensor(grey_sensor);\n\n if (!loadBONNGreyData(dirname, slamfile)) {\n std::cerr << \"Error while loading Grey information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n }\n\n // load RGB\n if (rgb) {\n auto rgb_sensor = RGBSensorBuilder()\n .rate(image_params.rate)\n .size(image_params.width, image_params.height)\n .pose(pose)\n .intrinsics(intrinsics_rgb)\n .distortion(distortion_type, distortion_rgb)\n .index(slamfile.Sensors.size())\n .build();\n\n slamfile.Sensors.AddSensor(rgb_sensor);\n\n if (!loadBONNRGBData(dirname, slamfile)) {\n std::cerr << \"Error while loading RGB information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n }\n\n // load GT\n if (gt) {\n auto gt_sensor = GTSensorBuilder()\n .index(slamfile.Sensors.size())\n .build();\n\n slamfile.Sensors.AddSensor(gt_sensor);\n\n if(!loadBONNGroundTruthData(dirname, slamfile)) {\n std::cerr << \"Error while loading gt information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n }\n\n // load PointCloud\n if (!plyfile.empty() && !loadBONNPointCloudData(slamfile, plyfile)) {\n std::cerr << \"Error while loading point cloud information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n\n return slamfile_ptr;\n}\n" }, { "path": "framework/tools/dataset-tools/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.10)\n\ninclude_directories(./include)\n\nset(CMAKE_C_FLAGS \"${CMAKE_C_FLAGS} -Wno-error=unused-parameter -Wno-error=unused-variable -Wno-error=unused-but-set-variable\")\nset(CMAKE_CXX_FLAGS \"${CMAKE_CXX_FLAGS} -Wno-error=unused-parameter -Wno-error=unused-variable -Wno-error=unused-but-set-variable\")\n\n# use colour to highlight error messages\nstring(ASCII 27 ESC)\nstring(ASCII 10 LF)\nset(BoldRed \"${ESC}[1;31m\")\nset(BoldGreen \"${ESC}[1;32m\")\nset(ColourReset \"${ESC}[m\")\n\n#------------------------------------------------\n### find required external dependencies\n### NOTE: dependencies vary according to dataset\n#------------------------------------------------\n# Boost is required - abort if not found\nfind_package(Boost 1.54 REQUIRED COMPONENTS system filesystem program_options regex)\n\n# EUROCMAV datasets support requirements - skip if not found\nfind_package(LIBYAML QUIET)\nIF (NOT LIBYAML_FOUND)\n\tmessage(STATUS \"${BoldRed}LibYAML dependency for UZH-FPV, EuRoC-MAV and OpenLORIS datasets not found - datasets skipped${ColourReset}\")\nENDIF ()\n\n#------------------------------------------------\n# TUM rosbag datasets support requirements - skip if not found\n# OpenCV should be looked for before ROS packages in order to find\n# the OpenCV version used in SLAMBench, not any in the ROS environment\nfind_package(OpenCV QUIET)\nIF (NOT OpenCV_FOUND)\n\tmessage(STATUS \"${BoldRed}OpenCV dependency for TUM rosbag datasets not found${ColourReset}\")\nENDIF ()\n\n# Find ROS distribution - if one is installed\n# check if ROS environment has been setup\nif (NOT \"x$ENV{ROS_DISTRO}\" STREQUAL \"x\")\n\tset(ROS_DIST $ENV{ROS_DISTRO})\n\tmessage (STATUS \"Found ROS distribution: ${ROS_DIST}\")\nelse ()\n\t# if ROS not setup, try standard location\n\tif (EXISTS \"/opt/ros/\")\n\t\t# get ROS distribution name\n\t\texecute_process(COMMAND \"ls\" WORKING_DIRECTORY \"/opt/ros/\" OUTPUT_VARIABLE SDS)\n\t\tstring (STRIP ${SDS} SUBDIRS)\n\t\tstring(REPLACE ${LF} \";\" ROS_DISTS ${SUBDIRS})\n\t\tlist (LENGTH ROS_DISTS LENSD)\n\t\tif (${LENSD} EQUAL 1)\n\t\t\tlist (GET ROS_DISTS 0 ROS_DIST)\n\t\t\tlist (APPEND CMAKE_PREFIX_PATH \"/opt/ros/${ROS_DIST}\")\n\t\t\tmessage (STATUS \"Found ROS distribution: ${ROS_DIST}\")\n\t\telseif (${LENSD} GREATER 1)\n\t\t\tmessage (STATUS \"${BoldRed}Found more than one ROS distribution - please setup ROS environment before building SLAMBench${ColourReset}\")\n\t\telse ()\n\t\t\tmessage (STATUS \"${BoldRed}Could NOT find a ROS distribution${ColourReset}\")\n\t\tendif ()\n\tendif ()\nendif ()\n\n# Find required ROS packages\nset(ROSPKGS rosbag_storage roscpp_serialization)\nset(ROSPKGS_FOUND TRUE)\nforeach (ROSPKG ${ROSPKGS})\n\tfind_package(${ROSPKG} QUIET)\n\tif (NOT ${ROSPKG}_FOUND)\n\t\tset(ROSPKGS_FOUND FALSE)\n\t\tmessage(STATUS \"${BoldRed}${ROSPKG} dependency for TUM rosbag datasets not found${ColourReset}\")\n\tendif ()\nendforeach (ROSPKG)\n\n# report success or failure in finding tum-rosbag dependencies\nIF (OpenCV_FOUND AND ROSPKGS_FOUND)\n\tmessage (STATUS \"${BoldGreen}Generation of tum-rosbag dataset support : Activated${ColourReset}\")\nelse ()\n\tmessage(STATUS \"${BoldRed}Dependencies for TUM rosbag datasets not found - dataset skipped${ColourReset}\")\nendif ()\n#------------------------------------------------\n\n#------------------------------------------------\n### add executables and target libraries\n#------------------------------------------------\nadd_executable(io-readply io-readply.cpp)\ntarget_link_libraries(io-readply slambench-io slambench-metrics)\n\nadd_executable(io-inspect-file io-inspect.cpp)\ntarget_link_libraries(io-inspect-file PRIVATE -Wl,--whole-archive slambench-io slambench-metrics -Wl,--no-whole-archive)\n\nIF (LIBYAML_FOUND)\n\tadd_library(EUROCMAV EUROCMAV.cpp)\n\ttarget_link_libraries(EUROCMAV slambench-io ${Boost_LIBRARIES} ${LIBYAML_LIBRARY})\n\ttarget_include_directories(EUROCMAV PRIVATE ${Boost_INCLUDE_DIRS} ${LIBYAML_INCLUDE_DIR})\n\tset(EUROCMAV_LIB \"EUROCMAV\")\n\n\tadd_library(OpenLORIS OpenLORIS.cpp)\n\ttarget_link_libraries(OpenLORIS slambench-io ${Boost_LIBRARIES} ${LIBYAML_LIBRARY})\n\ttarget_include_directories(OpenLORIS PRIVATE ${Boost_INCLUDE_DIRS} ${LIBYAML_INCLUDE_DIR})\n\tset(OpenLORIS_LIB \"OpenLORIS\")\n\n\tadd_library(UZHFPV UZHFPV.cpp)\n\ttarget_link_libraries(UZHFPV slambench-io ${Boost_LIBRARIES} ${LIBYAML_LIBRARY})\n\ttarget_include_directories(UZHFPV PRIVATE ${Boost_INCLUDE_DIRS} ${LIBYAML_INCLUDE_DIR})\n\tset(UZHFPV_LIB \"UZHFPV\")\n\nENDIF (LIBYAML_FOUND)\n\nadd_library(SVO SVO.cpp)\ntarget_link_libraries(SVO slambench-io ${Boost_LIBRARIES})\ntarget_include_directories(SVO PRIVATE ${Boost_INCLUDE_DIRS})\n\nadd_library(ICL ICL.cpp)\ntarget_link_libraries(ICL slambench-io ${Boost_LIBRARIES})\ntarget_include_directories(ICL PRIVATE ${Boost_INCLUDE_DIRS})\n\nadd_library(TUM TUM.cpp)\ntarget_link_libraries(TUM slambench-io ${Boost_LIBRARIES})\ntarget_include_directories(TUM PRIVATE ${Boost_INCLUDE_DIRS})\n\nadd_library(BONN BONN.cpp)\ntarget_link_libraries(BONN slambench-io ${Boost_LIBRARIES})\ntarget_include_directories(BONN PRIVATE ${Boost_INCLUDE_DIRS})\n\nadd_library(ICLNUIM ICLNUIM.cpp)\ntarget_link_libraries(ICLNUIM slambench-io)\ntarget_include_directories(ICLNUIM PRIVATE ${Boost_INCLUDE_DIRS})\n\nadd_library(ETHI ETHI.cpp)\ntarget_link_libraries(ETHI slambench-io TUM ICLNUIM)\ntarget_include_directories(ETHI PRIVATE ${Boost_INCLUDE_DIRS})\n\nadd_library(VolumeDeform VolumeDeform.cpp)\ntarget_link_libraries(VolumeDeform slambench-io)\ntarget_include_directories(VolumeDeform PRIVATE ${Boost_INCLUDE_DIRS})\n\n# if all dependencies found add TUM-ROSBAG target\nIF (OpenCV_FOUND AND ROSPKGS_FOUND)\n\tadd_library(TUM-ROSBAG TUM-ROSBAG.cpp)\n\t# in some platforms, newer versions of the gnu linker\n\t# changed the search PATHs for dependency libraries.\n\t# This option uses old-style PATHs.\n\ttarget_link_libraries(TUM-ROSBAG \"-Wl,--disable-new-dtags\")\n\ttarget_link_libraries(TUM-ROSBAG slambench-io ${Boost_LIBRARIES})\n\ttarget_link_libraries(TUM-ROSBAG ${OpenCV_LIBRARIES})\n\tforeach (ROSPKG ${ROSPKGS})\n\t\ttarget_link_libraries(TUM-ROSBAG ${${ROSPKG}_LIBRARIES})\n\tendforeach (ROSPKG)\n\ttarget_include_directories(TUM-ROSBAG PRIVATE ${Boost_INCLUDE_DIRS})\n\ttarget_include_directories(TUM-ROSBAG PRIVATE ${OpenCV_INCLUDE_DIRS})\n\ttarget_include_directories(TUM-ROSBAG PRIVATE ${rosbag_storage_INCLUDE_DIRS})\n\tadd_definitions(-DROSBAG_SUPPORT=1)\n\tset(TUM-ROSBAG_LIB \"TUM-ROSBAG\")\nendif ()\n\nadd_executable(dataset-generator dataset-generator.cpp)\ntarget_link_libraries(dataset-generator TUM UZHFPV ICLNUIM ICL ETHI BONN VolumeDeform ${OpenLORIS_LIB} ${UZHFPV_LIB} ${EUROCMAV_LIB} SVO ${TUM-ROSBAG_LIB})\n" }, { "path": "framework/tools/dataset-tools/ETHI.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"include/ETHI.h\"\n\n#include \n#include \n\nusing namespace slambench::io;\n\nSLAMFile *ETHIReader::GenerateSLAMFile() {return nullptr;}\n" }, { "path": "framework/tools/dataset-tools/EUROCMAV.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"include/EUROCMAV.h\"\n#include \"include/utils/RegexPattern.h\"\n#include \"include/utils/dataset_utils.h\"\n#include \"io/sensor/sensor_builder.h\"\n\n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n\n#include \n#include \n#include \n\n#include \n\n#include \n#include \n#include \n\nusing namespace slambench::io;\n\nbool loadIMUData(const std::string &dirname,\n IMUSensor *IMU_sensor,\n SLAMFile *file) {\n\n std::string line;\n\n boost::smatch match;\n std::ifstream infile(dirname + \"/\" + \"data.csv\");\n\n const std::string& ns = RegexPattern::nanoseconds;\n const std::string& num = RegexPattern::decimal;\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n\n // format: timestamp,w_RS_S_x,w_RS_S_y,w_RS_S_z,a_RS_S_x,a_RS_S_y,a_RS_S_z\n std::string expr = start\n + ns + \",\" // nanosecond timestamp\n + num + \",\" // w_RS_S_x\n + num + \",\" // w_RS_S_y\n + num + \",\" // w_RS_S_z\n + num + \",\" // a_RS_S_x\n + num + \",\" // a_RS_S_y\n + num + \"\\\\s*\" // a_RS_S_z\n + end;\n\n boost::regex imu_line = boost::regex(expr);\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, imu_line)) {\n\n uint64_t timestamp = strtol(std::string(match[1]).c_str(), nullptr, 10);\n\n int timestampS = timestamp / 1000000000;\n int timestampNS = timestamp % 1000000000;\n\n float gx = std::stof(match[2]);\n float gy = std::stof(match[3]);\n float gz = std::stof(match[4]);\n float ax = std::stof(match[5]);\n float ay = std::stof(match[6]);\n float az = std::stof(match[7]);\n\n auto IMU_frame = new SLAMInMemoryFrame();\n IMU_frame->FrameSensor = IMU_sensor;\n IMU_frame->Timestamp.S = timestampS;\n IMU_frame->Timestamp.Ns = timestampNS;\n IMU_frame->Data = malloc(IMU_sensor->GetFrameSize(IMU_frame));\n\n ((float *)IMU_frame->Data)[0] = gx;\n ((float *)IMU_frame->Data)[1] = gy;\n ((float *)IMU_frame->Data)[2] = gz;\n\n ((float *)IMU_frame->Data)[3] = ax;\n ((float *)IMU_frame->Data)[4] = ay;\n ((float *)IMU_frame->Data)[5] = az;\n\n file->AddFrame(IMU_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadGTData(const std::string &dirname,\n Sensor *gt_sensor,\n SLAMFile *file) {\n\n std::string line;\n\n boost::smatch match;\n std::ifstream infile(dirname + \"/\" + \"data.csv\");\n\n const std::string& ns = RegexPattern::nanoseconds;\n const std::string& num = RegexPattern::decimal;\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n\n // format: timestamp, p_RS_R_x, p_RS_R_y, p_RS_R_z, q_RS_w, q_RS_x, q_RS_y, q_RS_z, v_RS_R_x, v_RS_R_y, v_RS_R_z,\n // b_w_RS_S_x, b_w_RS_S_y, b_w_RS_S_z, b_a_RS_S_x, b_a_RS_S_y, b_a_RS_S_z\n std::string expr = start\n + ns + \",\" // nanosecond timestamp\n + num + \",\" // p_RS_R_x\n + num + \",\" // p_RS_R_y\n + num + \",\" // p_RS_R_z\n + num + \",\" // q_RS_w\n + num + \",\" // q_RS_x\n + num + \",\" // q_RS_y\n + num + \",\" // q_RS_z\n + num + \",\" // v_RS_R_x\n + num + \",\" // v_RS_R_y\n + num + \",\" // v_RS_R_z\n + num + \",\" // b_w_RS_S_x\n + num + \",\" // b_w_RS_S_y\n + num + \",\" // b_w_RS_S_z\n + num + \",\" // b_a_RS_S_x\n + num + \",\" // b_a_RS_S_y\n + num + \"\\\\s*\" // b_a_RS_S_z\n + end;\n\n boost::regex groundtruth_line = boost::regex(expr);\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, groundtruth_line)) {\n\n uint64_t timestamp = strtol(std::string(match[1]).c_str(), nullptr, 10);\n int timestampS = timestamp / 1000000000;\n int timestampNS = timestamp % 1000000000;\n\n float p_RS_R_x = std::stof(match[2]); // [m],\n float p_RS_R_y = std::stof(match[3]); // [m],\n float p_RS_R_z = std::stof(match[4]); // [m],\n\n float q_RS_w = std::stof(match[5]); // [],\n float q_RS_x = std::stof(match[6]); // [],\n float q_RS_y = std::stof(match[7]); // [],\n float q_RS_z = std::stof(match[8]); // [],\n\n // float v_RS_R_x = std::stof(match[9]) ; // [m s^-1]\n // float v_RS_R_y = std::stof(match[10]) ; // [m s^-1]\n // float v_RS_R_z = std::stof(match[11]) ; // [m s^-1]\n\n // float b_w_RS_S_x = std::stof(match[11]) ; // [rad s^-1],\n // float b_w_RS_S_y = std::stof(match[12]) ; // [rad s^-1],\n // float b_w_RS_S_z = std::stof(match[13]) ; // [rad s^-1],\n\n // float b_a_RS_S_x = std::stof(match[14]) ; // [m s^-2]\n // float b_a_RS_S_y = std::stof(match[15]) ; // [m s^-2]\n // float b_a_RS_S_z = std::stof(match[16]) ; // [m s^-2]\n\n Eigen::Matrix3f rotationMat = Eigen::Quaternionf(q_RS_w, q_RS_x, q_RS_y, q_RS_z).toRotationMatrix();\n Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();\n pose.block(0, 0, 3, 3) = rotationMat;\n pose.block(0, 3, 3, 1) << p_RS_R_x, p_RS_R_y, p_RS_R_z;\n\n auto gt_frame = new SLAMInMemoryFrame();\n gt_frame->FrameSensor = gt_sensor;\n gt_frame->Timestamp.S = timestampS;\n gt_frame->Timestamp.Ns = timestampNS;\n gt_frame->Data = malloc(gt_sensor->GetFrameSize(gt_frame));\n\n memcpy(gt_frame->Data, pose.data(), gt_sensor->GetFrameSize(gt_frame));\n\n file->AddFrame(gt_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nSLAMFile *EUROCMAVReader::GenerateSLAMFile() {\n // first, see what sensors we have\n\n std::vector sensor_directories;\n std::string input_dir = input;\n DIR *dir = opendir(input_dir.c_str());\n dirent *pdir;\n while ((pdir = readdir(dir)) != nullptr) {\n if (pdir->d_type == DT_DIR) {\n if (strcmp(pdir->d_name, \".\") == 0) {\n continue;\n }\n if (strcmp(pdir->d_name, \"..\") == 0) {\n continue;\n }\n\n sensor_directories.emplace_back(pdir->d_name);\n }\n }\n\n auto slamfile = new SLAMFile();\n std::sort(sensor_directories.begin(), sensor_directories.end());\n for (auto &dirname : sensor_directories) {\n\n // try and get sensor.yaml file\n std::string cam_dirname = input_dir + \"/\" + dirname;\n std::string filename = cam_dirname + \"/sensor.yaml\";\n YAML::Node sensor = YAML::LoadFile(filename.c_str());\n\n // check sensor type\n auto sensor_type = sensor[\"sensor_type\"].as();\n\n if (sensor_type == \"camera\" and this->stereo) {\n std::cerr << \"Found sensor type \" << sensor_type << \" from directory \" << dirname << std::endl;\n\n // get pose\n Eigen::Matrix4f pose;\n\n for (int i = 0; i < 16; ++i) {\n int y = i % 4;\n int x = i / 4;\n std::cout << \" \" << sensor[\"T_BS\"][\"data\"][i].as();\n pose(x, y) = sensor[\"T_BS\"][\"data\"][i].as();\n if ((i + 1) % 4 == 0) std::cout << std::endl;\n }\n\n // get resolution\n int width = sensor[\"resolution\"][0].as();\n int height = sensor[\"resolution\"][1].as();\n float rate = sensor[\"rate_hz\"].as();\n\n // get intrinsics\n CameraSensor::intrinsics_t intrinsics = {\n sensor[\"intrinsics\"][0].as() / width,\n sensor[\"intrinsics\"][1].as() / height,\n sensor[\"intrinsics\"][2].as() / width,\n sensor[\"intrinsics\"][3].as() / height\n };\n\n // check expected distortion type\n if (sensor[\"distortion_model\"].as() != \"radial-tangential\") {\n std::cerr << \"Unsupported distortion type for Eurocmav.\" << std::endl;\n exit(1);\n }\n\n // get distortion coefficients\n CameraSensor::distortion_coefficients_t distortion = {\n sensor[\"distortion_coefficients\"][0].as(),\n sensor[\"distortion_coefficients\"][1].as(),\n sensor[\"distortion_coefficients\"][2].as(),\n sensor[\"distortion_coefficients\"][3].as(),\n 0\n };\n\n // Create a Grey sensor\n auto grey_sensor = GreySensorBuilder()\n .name(dirname)\n .rate(rate)\n .size(width, height)\n .description(sensor[\"comment\"].as())\n .intrinsics(intrinsics)\n .distortion(CameraSensor::distortion_type_t::RadialTangential, distortion)\n .pose(pose)\n .build();\n\n grey_sensor->Index = slamfile->Sensors.size();\n slamfile->Sensors.AddSensor(grey_sensor);\n\n // Create a RGB equivalent sensor\n auto rgb_sensor = RGBSensorBuilder()\n .name(dirname + \"clone\")\n .description(\"RGB clone from \" + sensor[\"comment\"].as())\n .rate(rate)\n .size(width, height)\n .intrinsics(intrinsics)\n .pose(pose)\n .distortion(CameraSensor::distortion_type_t::RadialTangential, distortion)\n .build();\n\n rgb_sensor->Index = slamfile->Sensors.size();\n\n if (this->rgb) {\n slamfile->Sensors.AddSensor(rgb_sensor);\n }\n\n // now, load frames\n dir = opendir((cam_dirname + \"/data/\").c_str());\n while ((pdir = readdir(dir)) != nullptr) {\n if (pdir->d_type == DT_REG) {\n // Add the original Grey Image\n\n auto frame = new ImageFileFrame();\n frame->FrameSensor = grey_sensor;\n frame->filename = cam_dirname + \"/data/\" + pdir->d_name;\n\n uint64_t timestamp = strtol(pdir->d_name, nullptr, 10);\n frame->Timestamp.S = timestamp / 1000000000;\n frame->Timestamp.Ns = timestamp % 1000000000;\n\n slamfile->AddFrame(frame);\n\n if (this->rgb) {\n // Add the clone RGB\n auto rgb_frame = new ImageFileFrame();\n rgb_frame->FrameSensor = rgb_sensor;\n rgb_frame->filename = cam_dirname + \"/data/\" + pdir->d_name;\n rgb_frame->Timestamp.S = timestamp / 1000000000;\n rgb_frame->Timestamp.Ns = timestamp % 1000000000;\n slamfile->AddFrame(rgb_frame);\n }\n }\n }\n } else if (sensor_type == \"imu\" and this->imu) {\n std::cerr << \"Found sensor type \" << sensor_type << \" from directory \" << dirname << std::endl;\n\n auto imu_sensor = new IMUSensor(dirname);\n imu_sensor->Index = slamfile->Sensors.size();\n imu_sensor->Description = sensor[\"comment\"].as();\n imu_sensor->Rate = sensor[\"rate_hz\"].as();\n\n imu_sensor->GyroscopeNoiseDensity = sensor[\"gyroscope_noise_density\"].as();\n imu_sensor->GyroscopeDriftNoiseDensity = 4.0e-6;\n imu_sensor->GyroscopeBiasDiffusion = sensor[\"gyroscope_random_walk\"].as();\n imu_sensor->GyroscopeSaturation = 7.8;\n\n imu_sensor->AcceleratorNoiseDensity = sensor[\"accelerometer_noise_density\"].as();\n imu_sensor->AcceleratorDriftNoiseDensity = 4.0e-5;\n imu_sensor->AcceleratorBiasDiffusion = sensor[\"accelerometer_random_walk\"].as();\n imu_sensor->AcceleratorSaturation = 176.0;\n\n// double tau = 3600.0; // # reversion time constant, currently not in use [s]\n// double g = 9.81007; // # Earth's acceleration due to gravity [m/s^2]\n\n// Eigen::Vector3d a0 = {0.0, 0.0, 0.0}; // # Accelerometer bias [m/s^2]\n\n Eigen::Matrix4f pose;\n\n for (int i = 0; i < 16; ++i) {\n int y = i % 4;\n int x = i / 4;\n std::cout << \" \" << sensor[\"T_BS\"][\"data\"][i].as();\n pose(x, y) = sensor[\"T_BS\"][\"data\"][i].as();\n if ((i + 1) % 4 == 0) std::cout << std::endl;\n }\n\n imu_sensor->CopyPose(pose);\n\n slamfile->Sensors.AddSensor(imu_sensor);\n\n if (not loadIMUData(cam_dirname, imu_sensor, slamfile)) {\n delete slamfile;\n return nullptr;\n }\n } else if (sensor_type == \"visual-inertial\" and this->gt) {\n std::cerr << \"Found sensor type \" << sensor_type << \" from directory \" << dirname << std::endl;\n\n auto gt_sensor = GTSensorBuilder()\n .name(dirname)\n .description(\"Ground Truth\")\n .build();\n\n gt_sensor->Index = slamfile->Sensors.size();\n slamfile->Sensors.AddSensor(gt_sensor);\n\n if (not loadGTData(cam_dirname, gt_sensor, slamfile)) {\n delete slamfile;\n return nullptr;\n }\n } else {\n std::cerr << \"Unknown sensor type \" << sensor_type << \" from directory \" << dirname << std::endl;\n }\n }\n\n return slamfile;\n}\n" }, { "path": "framework/tools/dataset-tools/ICL.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \"include/ICL.h\"\n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n\n#include \n#include \n#include \n\n#include \n#include \n\nusing namespace slambench::io ;\n\nstatic DepthSensor *GetDepthSensor(const Sensor::pose_t &pose, const DepthSensor::intrinsics_t &intrinsics, const DepthSensor::disparity_params_t &dparams, const DepthSensor::disparity_type_t &dtype) {\n\tDepthSensor *sensor = new DepthSensor(\"Depth\");\n\tsensor->Index = 0;\n\tsensor->Width = 640;\n\tsensor->Height = 480;\n\tsensor->FrameFormat = frameformat::Raster;\n\tsensor->PixelFormat = pixelformat::D_I_16;\n\tsensor->DisparityType = dtype;\n\tsensor->Description = \"Depth\";\n\tsensor->Rate = 1;\n\tsensor->CopyPose(pose);\n\tsensor->CopyIntrinsics(intrinsics);\n\tsensor->CopyDisparityParams(dparams);\n\n\treturn sensor;\n}\n\n\nstatic CameraSensor *GetRGBSensor(const Sensor::pose_t &pose, const CameraSensor::intrinsics_t &intrinsics) {\n\tCameraSensor *sensor = new CameraSensor(\"RGB\", CameraSensor::kCameraType);\n\tsensor->Index = 0;\n\tsensor->Width = 640;\n\tsensor->Height = 480;\n\tsensor->FrameFormat = frameformat::Raster;\n\tsensor->PixelFormat = pixelformat::RGB_III_888;\n\tsensor->Description = \"RGB\";\n\tsensor->Rate = 1;\n\n\tsensor->CopyPose(pose);\n\tsensor->CopyIntrinsics(intrinsics);\n\n\treturn sensor;\n}\n\nstatic CameraSensor *GetGreySensor(const Sensor::pose_t &pose, const CameraSensor::intrinsics_t &intrinsics) {\n\tCameraSensor *sensor = new CameraSensor(\"Grey\", CameraSensor::kCameraType);\n\tsensor->Index = 0;\n\tsensor->Width = 640;\n\tsensor->Height = 480;\n\tsensor->FrameFormat = frameformat::Raster;\n\tsensor->PixelFormat = pixelformat::G_I_8;\n\tsensor->Description = \"Grey\";\n\tsensor->Rate = 1;\n\n\tsensor->CopyPose(pose);\n\tsensor->CopyIntrinsics(intrinsics);\n\n\treturn sensor;\n}\n\n\nvoid undistort_frame(slambench::io::SLAMFileFrame *frame, void *data) {\n uint16_t *depthMap = (uint16_t*)data;\n\n uint32_t w = ((slambench::io::CameraSensor*)frame->FrameSensor)->Width;\n uint32_t h = ((slambench::io::CameraSensor*)frame->FrameSensor)->Height;\n\n float u0 = 320.00;\n float v0 = 240.00;\n float fx = -600.00;\n float fy = 600.00;\n\n for (uint32_t v = 0; v < h; v++) {\n for (uint32_t u = 0; u < w; u++) {\n double u_u0_by_fx = (u - u0) / fx;\n double v_v0_by_fy = (v - v0) / fy;\n\n depthMap[u + v * w] = depthMap[u + v * w] / std::sqrt(u_u0_by_fx * u_u0_by_fx\n + v_v0_by_fy * v_v0_by_fy\n + 1);\n }\n }\n}\n\n/*\n *\n * The dataset folder contains :\n * > accelerometer.txt depth depth.txt groundtruth.txt rgb rgb.txt\n *\n */\n\nbool analyseIclFolder(const std::string &dirname) {\n\n\tstatic const std::vector requirements = {\n //\"accelerometer.txt\",\n //\"rgb.txt\",\n //\"rgb\",\n //\"depth.txt\",\n //\"depth\",\n //\"groundtruth.txt\"\n //\"cam0.ccam\",\n //\"cam0_gt.visim\"\n\t};\n\n\ttry {\n\t\tif ( !boost::filesystem::exists( dirname ) ) return false;\n\n\t\tboost::filesystem::directory_iterator end_itr; // default construction yields past-the-end\n\t\tfor ( auto requirement : requirements ) {\n\t\t\tbool seen = false;\n\n\t\t\tfor ( boost::filesystem::directory_iterator itr( dirname ); itr != end_itr; ++itr ) {\n\t\t\t\tif (requirement == itr->path().filename()) {\n\t\t\t\t\tseen = true;\n\t\t\t\t}\n\t\t\t}\n\n\t\t\tif (!seen) {\n\t\t\t\tstd::cout << \"File not found: /\" << requirement << std::endl;\n\t\t\t\treturn false;\n\t\t\t}\n\t\t}\n\t} catch (boost::filesystem::filesystem_error& e) {\n\t\tstd::cerr << \"I/O Error with directory \" << dirname << std::endl;\n\t\tstd::cerr << e.what() << std::endl;\n\t\treturn false;\n\t}\n\n\treturn true;\n}\n\n\nbool loadICLDepthData(const std::string &dirname , SLAMFile &file, const Sensor::pose_t &pose_depth, const DepthSensor::intrinsics_t &intrinsics_depth, const DepthSensor::disparity_params_t &disparity_params, const DepthSensor::disparity_type_t &disparity_type) {\n\n\tDepthSensor *depth_sensor = GetDepthSensor(pose_depth, intrinsics_depth,disparity_params,disparity_type);\n\tdepth_sensor->Index = file.Sensors.size();\n\tfile.Sensors.AddSensor(depth_sensor);\n\n\tif(!depth_sensor) {\n\t\tstd::cout << \"depth sensor not found...\" << std::endl;\n\t\treturn false;\n\t}\n\n std::string cam_name = \"\";\n std::string trajectory_name = \"\";\n std::string light_name = \"\";\n std::string time_name = \"\";\n std::string root_name = \"\";\n std::string directory_head = \"\";\n std::size_t found = dirname.find_last_of(\"/\");\n if (found == dirname.length()-1) // the dirname ends with /\n {\n\n }\n else\n {\n cam_name = dirname.substr(found+1, 10);\n std::size_t found2 = dirname.rfind(\"/\", found-1);\n std::size_t found3 = dirname.rfind(\"/\", found2-1);\n std::size_t found4 = dirname.rfind(\"/\", found3-1);\n std::size_t found5 = dirname.rfind(\"/\", found4-1);\n trajectory_name = dirname.substr(found2+1,found-found2-1);\n light_name = dirname.substr(found3+1,found2-found3-1);\n time_name = dirname.substr(found4+1,found3-found4-1);\n root_name = dirname.substr(found5+1,found4-found5-1);\n directory_head = dirname.substr(0,found5);\n\n\n std::cout << \"cam_name: \" << cam_name << std::endl;\n std::cout << \"trajectory_name: \" << trajectory_name << std::endl;\n std::cout << \"light_name: \" << light_name << std::endl;\n std::cout << \"time_name: \" << time_name << std::endl;\n std::cout << \"root_name: \" << root_name << std::endl;\n //std::cout << \"directory_head: \" << directory_head << std::endl;\n }\n\n int frame_no = 0;\n\n std::string line;\n boost::smatch match;\n std::ifstream infile(directory_head + \"/\" + root_name + \"/trajectories/\" + trajectory_name + \"/\" + cam_name + \"/cam0_gt.visim\");\n\n while (std::getline(infile, line)){\n if (line.size() == 0) {\n continue;\n } else if (boost::regex_match(line,match,boost::regex(\"^\\\\s*#.*$\"))) {\n continue;\n } else if (boost::regex_match(line,match,boost::regex(\"^([-0-9.e]+).*\"))) {\n\n uint64_t time = std::stoull(match[1]);\n double time_float = time * std::pow(10, -9);\n uint32_t time_second = std::floor(time_float);\n uint32_t time_nsecond = std::round((time_float - time_second)*std::pow(10, 9));\n\n ImageFileFrame *depth_frame = new ImageFileFrame();\n depth_frame->FrameSensor = depth_sensor;\n depth_frame->Timestamp.S = time_second;\n depth_frame->Timestamp.Ns = time_nsecond;\n depth_frame->ProcessCallback = undistort_frame;\n\n\n std::stringstream frame_name;\n frame_name << dirname << \"/depth/\" << frame_no << \".png\";\n depth_frame->filename = frame_name.str();\n\n if(access(depth_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No depth image for frame (%s)\\n\", frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(depth_frame);\n frame_no++;\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n\n\n }\n\n std::cerr << \"Checked Depth frames:\" << frame_no << std::endl;\n\treturn true;\n}\n\n\nbool loadICLRGBData(const std::string &dirname , SLAMFile &file, const Sensor::pose_t &pose, const CameraSensor::intrinsics_t &intrinsics) {\n\n\tCameraSensor *rgb_sensor = GetRGBSensor(pose, intrinsics);\n\trgb_sensor->Index =file.Sensors.size();\n\tfile.Sensors.AddSensor(rgb_sensor);\n\n if(!rgb_sensor) {\n std::cout << \"rgb sensor not found...\" << std::endl;\n return false;\n }\n\n\n std::string cam_name = \"\";\n std::string trajectory_name = \"\";\n std::string light_name = \"\";\n std::string time_name = \"\";\n std::string root_name = \"\";\n std::string directory_head = \"\";\n std::size_t found = dirname.find_last_of(\"/\");\n if (found == dirname.length()-1) // the dirname ends with /\n {\n\n }\n else\n {\n cam_name = dirname.substr(found+1, 10);\n std::size_t found2 = dirname.rfind(\"/\", found-1);\n std::size_t found3 = dirname.rfind(\"/\", found2-1);\n std::size_t found4 = dirname.rfind(\"/\", found3-1);\n std::size_t found5 = dirname.rfind(\"/\", found4-1);\n trajectory_name = dirname.substr(found2+1,found-found2-1);\n light_name = dirname.substr(found3+1,found2-found3-1);\n time_name = dirname.substr(found4+1,found3-found4-1);\n root_name = dirname.substr(found5+1,found4-found5-1);\n directory_head = dirname.substr(0,found5);\n }\n int frame_no = 0;\n std::string line;\n boost::smatch match;\n std::ifstream infile(directory_head + \"/\" + root_name + \"/trajectories/\" + trajectory_name + \"/\" + cam_name + \"/cam0_gt.visim\");\n\n while (std::getline(infile, line)){\n if (line.size() == 0) {\n continue;\n } else if (boost::regex_match(line,match,boost::regex(\"^\\\\s*#.*$\"))) {\n continue;\n } else if (boost::regex_match(line,match,boost::regex(\"^([-0-9.e]+).*\"))) {//else if (boost::regex_match(line,match,boost::regex(\"^([0-9]+).*\"))) {\n\n uint64_t time = std::stoull(match[1]);\n double time_float = time * std::pow(10, -9);\n uint32_t time_second = std::floor(time_float);\n uint32_t time_nsecond = std::round((time_float - time_second)*std::pow(10, 9));\n\n ImageFileFrame *rgb_frame = new ImageFileFrame();\n rgb_frame->FrameSensor = rgb_sensor;\n rgb_frame->Timestamp.S = time_second;\n rgb_frame->Timestamp.Ns = time_nsecond;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/rgb/\" << frame_no << \".png\";\n rgb_frame->filename = frame_name.str();\n\n if(access(rgb_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No RGB image for frame (%s)\\n\", frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(rgb_frame);\n frame_no++;\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n std::cerr << \"Checked RGB frames:\" << frame_no << std::endl;\n return true;\n}\n\nbool loadICLGreyData(const std::string &dirname , SLAMFile &file, const Sensor::pose_t &pose, const CameraSensor::intrinsics_t &intrinsics) {\n\n\n CameraSensor *grey_sensor = GetGreySensor(pose, intrinsics);\n grey_sensor->Index =file.Sensors.size();\n file.Sensors.AddSensor(grey_sensor);\n\n if(!grey_sensor) {\n std::cout << \"grey sensor not found...\" << std::endl;\n return false;\n }\n\n\n std::string cam_name = \"\";\n std::string trajectory_name = \"\";\n std::string light_name = \"\";\n std::string time_name = \"\";\n std::string root_name = \"\";\n std::string directory_head = \"\";\n std::size_t found = dirname.find_last_of(\"/\");\n if (found == dirname.length()-1) // the dirname ends with /\n {\n\n }\n else\n {\n cam_name = dirname.substr(found+1, 10);\n std::size_t found2 = dirname.rfind(\"/\", found-1);\n std::size_t found3 = dirname.rfind(\"/\", found2-1);\n std::size_t found4 = dirname.rfind(\"/\", found3-1);\n std::size_t found5 = dirname.rfind(\"/\", found4-1);\n trajectory_name = dirname.substr(found2+1,found-found2-1);\n light_name = dirname.substr(found3+1,found2-found3-1);\n time_name = dirname.substr(found4+1,found3-found4-1);\n root_name = dirname.substr(found5+1,found4-found5-1);\n directory_head = dirname.substr(0,found5);\n }\n int frame_no = 0;\n std::string line;\n boost::smatch match;\n std::ifstream infile(directory_head + \"/\" + root_name + \"/trajectories/\" + trajectory_name + \"/\" + cam_name + \"/cam0_gt.visim\");\n\n while (std::getline(infile, line)){\n if (line.size() == 0) {\n continue;\n } else if (boost::regex_match(line,match,boost::regex(\"^\\\\s*#.*$\"))) {\n continue;\n } else if (boost::regex_match(line,match,boost::regex(\"^([-0-9.e]+).*\"))) {//else if (boost::regex_match(line,match,boost::regex(\"^([0-9]+).*\"))) {\n\n uint64_t time = std::stoull(match[1]);\n double time_float = time * std::pow(10, -9);\n uint32_t time_second = std::floor(time_float);\n uint32_t time_nsecond = std::round((time_float - time_second)*std::pow(10, 9));\n\n\n ImageFileFrame *grey_frame = new ImageFileFrame();\n grey_frame->FrameSensor = grey_sensor;\n grey_frame->Timestamp.S = time_second;\n grey_frame->Timestamp.Ns = time_nsecond;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/rgb/\" << frame_no << \".png\";\n grey_frame->filename = frame_name.str();\n\n if(access(grey_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No GREY image for frame (%s)\\n\", frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(grey_frame);\n frame_no++;\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n std::cerr << \"Checked GREY frames:\" << frame_no << std::endl;\n return true;\n}\n\n\nbool loadICLGroundTruthData(const std::string &dirname , SLAMFile &file) {\n\n\tGroundTruthSensor *gt_sensor = new GroundTruthSensor(\"GroundTruth\");\n\tgt_sensor->Index = file.Sensors.size();\n\tgt_sensor->Description = \"GroundTruthSensor\";\n\tgt_sensor->Rate = 1;\n\tfile.Sensors.AddSensor(gt_sensor);\n\n\tif(!gt_sensor) {\n\t\tstd::cout << \"gt sensor not found...\" << std::endl;\n\t\treturn false;\n\t} else {\n\t\tstd::cout << \"gt sensor created...\" << std::endl;\n\t}\n\n std::string cam_name = \"\";\n std::string trajectory_name = \"\";\n std::string light_name = \"\";\n std::string time_name = \"\";\n std::string root_name = \"\";\n std::string directory_head = \"\";\n std::size_t found = dirname.find_last_of(\"/\");\n if (found == dirname.length()-1) // the dirname ends with /\n {\n\n }\n else\n {\n cam_name = dirname.substr(found+1, 10);\n std::size_t found2 = dirname.rfind(\"/\", found-1);\n std::size_t found3 = dirname.rfind(\"/\", found2-1);\n std::size_t found4 = dirname.rfind(\"/\", found3-1);\n std::size_t found5 = dirname.rfind(\"/\", found4-1);\n trajectory_name = dirname.substr(found2+1,found-found2-1);\n light_name = dirname.substr(found3+1,found2-found3-1);\n time_name = dirname.substr(found4+1,found3-found4-1);\n root_name = dirname.substr(found5+1,found4-found5-1);\n directory_head = dirname.substr(0,found5);\n }\n std::string line;\n boost::smatch match;\n std::ifstream infile(directory_head + \"/\" + root_name + \"/trajectories/\" + trajectory_name + \"/\" + cam_name + \"/cam0_gt.visim\");\n\n int frame_no = 0;\n\n\twhile (std::getline(infile, line)){\n\t\tif (line.size() == 0) {\n\t\t\tcontinue;\n\t\t} else if (boost::regex_match(line,match,boost::regex(\"^\\\\s*#.*$\"))) {\n\t\t\tcontinue;\n } else if (boost::regex_match(line,match,boost::regex(\"^([0-9]+),+([-0-9.e]+),+([-0-9.e]+),+([-0-9.e]+),+([-0-9.e]+),+([-0-9.e]+),+([-0-9.e]+),+([-0-9.e]+).*\"))) {\n\n float tx = std::stof(match[2]);\n float ty = std::stof(match[3]);\n float tz = std::stof(match[4]);\n\n float QW = std::stof(match[5]);\n float QX = std::stof(match[6]);\n float QY = std::stof(match[7]);\n float QZ = std::stof(match[8]);\n\n //std::cout << timestampNS << \" \" << tx << \" \" << ty << \" \" << tz << \" \" << QW << \" \" << QX << \" \" << QY << \" \" << QZ << std::endl;\n\n Eigen::Matrix3f rotationMat = Eigen::Quaternionf(QW,QZ,QX,QY).toRotationMatrix();\n\n Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();\n //pose.block(0,0,3,3) = rotationMat;\n //pose.block(0,3,3,1) << tx , ty , tz;\n\n // convert to Povray here\n\n // modify translation/orientation\n pose(0,0) = rotationMat(0,0); pose(0,1) = rotationMat(0,1); pose(0,2) = rotationMat(0,2); pose(0,3) = tx;\n pose(1,0) = rotationMat(1,0); pose(1,1) = rotationMat(1,1); pose(1,2) = rotationMat(1,2); pose(1,3) = ty;\n pose(2,0) = rotationMat(2,0); pose(2,1) = rotationMat(2,1); pose(2,2) = rotationMat(2,2); pose(2,3) = tz;\n pose(3,0) = 0.0; pose(3,1) = 0.0; pose(3,2) = 0.0; pose(3,3) = 1.0;\n\n Sensor::pose_t pose_temp = Eigen::Matrix4f::Identity();\n pose_temp << 1, 0 , 0 , 0,\n 0, 1, 0, 0,\n 0, 0, 1, 0,\n 0, 0, 0, 1;\n\n /*pose.block<2,3>(0,0) = -pose.block<2,3>(0,0);\n\n Sensor::pose_t pose_temp = Eigen::Matrix4f::Identity();\n pose_temp << 1, 0 , 0 , 0,\n 0, 0, -1, 0,\n 0, 1, 0, 0,\n 0, 0, 0, 1;*/\n\n pose = pose * pose_temp;\n\n uint64_t time = std::stoull(match[1]);\n double time_float = time * std::pow(10, -9);\n uint32_t time_second = std::floor(time_float);\n uint32_t time_nsecond = std::round((time_float - time_second)*std::pow(10, 9));\n\n //std::cout<< std::fixed << time << \" \" << time_second << \" \" << time_nsecond << \" \" << (time_float - time_second)*std::pow(10, 9) << std::endl;\n\n\n\n\t\t SLAMInMemoryFrame *gt_frame = new SLAMInMemoryFrame();\n\t\t gt_frame->FrameSensor = gt_sensor;\n gt_frame->Data = malloc(gt_frame->GetSize());\n gt_frame->Timestamp.S = time_second;\n gt_frame->Timestamp.Ns = time_nsecond;\n\n memcpy(gt_frame->Data,pose.data(),gt_frame->GetSize());\n //FillPose(frame_name.str(), *((GroundTruthSensor::pose_t*)gt_frame->Data));\n\n file.AddFrame(gt_frame);\n frame_no++;\n\n\t\t} else {\n\t\t std::cerr << \"Unknown line:\" << line << std::endl;\n\t\t return false;\n\t\t}\n\n\n\t}\n\n std::cerr << \"Checked GT frames:\" << frame_no << std::endl;\n\treturn true;\n}\n\n\nbool loadICLAccelerometerData(const std::string &dirname , SLAMFile &file) {\n\n\tAccelerometerSensor *accelerometer_sensor = new AccelerometerSensor(\"Accelerometer\");\n\taccelerometer_sensor->Index = file.Sensors.size();\n\taccelerometer_sensor->Rate = 1;\n\taccelerometer_sensor->Description = \"AccelerometerSensor\";\n\tfile.Sensors.AddSensor(accelerometer_sensor);\n\n\tif(!accelerometer_sensor) {\n\t\tstd::cout << \"accelerometer_sensor not found...\" << std::endl;\n\t\treturn false;\n\t}else {\n\t\tstd::cout << \"accelerometer_sensor created...\" << std::endl;\n\t}\n\n\n\tstd::string line;\n\n\t boost::smatch match;\n\t std::ifstream infile(dirname + \"/\" + \"accelerometer.txt\");\n\n\twhile (std::getline(infile, line)){\n\n\t\tif (line.size() == 0) {\n\t\t\tcontinue;\n\t\t} else if (boost::regex_match(line,match,boost::regex(\"^\\\\s*#.*$\"))) {\n\t\t\tcontinue;\n\t\t} else if (boost::regex_match(line,match,boost::regex(\"^([0-9]+)[.]([0-9]+)\\\\s+([-0-9.]+)\\\\s+([-0-9.]+)\\\\s+([-0-9.]+)$\"))) {\n\n\t\t int timestampS = std::stoi(match[1]);\n\t\t int timestampNS = std::stoi(match[2]) * std::pow ( 10, 9 - match[2].length());\n\t\t float ax = std::stof(match[3]);\n\t\t float ay = std::stof(match[4]);\n\t\t float az = std::stof(match[5]);\n\n\t\t SLAMInMemoryFrame *accelerometer_frame = new SLAMInMemoryFrame();\n\t\t accelerometer_frame->FrameSensor = accelerometer_sensor;\n\t\t accelerometer_frame->Timestamp.S = timestampS;\n\t\t accelerometer_frame->Timestamp.Ns = timestampNS;\n\t\t accelerometer_frame->Data = malloc(accelerometer_frame->GetSize());\n\t\t ((float*)accelerometer_frame->Data)[0] = ax;\n\t\t ((float*)accelerometer_frame->Data)[1] = ay;\n\t\t ((float*)accelerometer_frame->Data)[2] = az;\n\n\t\t file.AddFrame(accelerometer_frame);\n\n\n\t\t} else {\n\t\t std::cerr << \"Unknown line:\" << line << std::endl;\n\t\t return false;\n\t\t}\n\n\n\t}\n\treturn true;\n}\n\n\nvoid frame_callback(int idx, int total) {\n\tprintf(\"\\r\");\n\n\t// print progress bar\n\tprintf(\"[\");\n\tconst int width = 50;\n\tfloat blocks = width * ((float)idx / total);\n\n\tfor(int i = 0; i < blocks; ++i) {\n\t\tprintf(\"#\");\n\t}\n\tfor(int i = blocks; i < width; ++i) {\n\t\tprintf(\" \");\n\t}\n\tprintf(\"] \");\n\n\tprintf(\"%u / %u\", idx, total);\n\tfflush(stdout);\n}\nbool Serialise(const std::string &filename, SLAMFile &file) {\n\treturn SLAMFile::Write(filename, file, frame_callback);\n}\n\n\n\n\nSLAMFile* ICLReader::GenerateSLAMFile () {\n\n\tif(!(grey || rgb || depth)) {\n\t\tstd::cerr << \"No sensors defined\\n\";\n\t\treturn nullptr;\n\t}\n\n\tstd::string dirname = input;\n\n\tif (!analyseIclFolder(dirname))\t{\n\t\tstd::cerr << \"Invalid folder.\" << std::endl;\n\t\treturn nullptr;\n\t}\n\n\n\tSLAMFile * slamfilep = new SLAMFile();\n\tSLAMFile & slamfile = *slamfilep;\n\n\n\t/**\n\t * init SLAMFile\n\t */\n\n\tSensor::pose_t pose = Eigen::Matrix4f::Identity();\n\n\t////// Default are freiburg1\n\n CameraSensor::intrinsics_t intrinsics;\n DepthSensor::intrinsics_t intrinsics_depth;\n\n for (int i = 0; i < 4; i++) {\n intrinsics[i] = fr1_intrinsics_rgb[i];\n intrinsics_depth[i] = fr1_intrinsics_depth[i];\n }\n\n\n DepthSensor::disparity_params_t disparity_params = {0.005,0.0};\n\tDepthSensor::disparity_type_t disparity_type = DepthSensor::affine_disparity;\n\n\n\t/**\n\t * load Depth\n\t */\n\n if(gt && depth && !loadICLDepthData(dirname, slamfile,pose,intrinsics_depth,disparity_params,disparity_type)) {\n\t\tstd::cout << \"Error while loading depth information.\" << std::endl;\n\t\tdelete slamfilep;\n\t\treturn nullptr;\n\n\t}\n\n\n\t/**\n\t * load Grey\n\t */\n\n if(grey && !loadICLGreyData(dirname, slamfile,pose,intrinsics)) {\n\t\tstd::cout << \"Error while loading Grey information.\" << std::endl;\n\t\tdelete slamfilep;\n\t\treturn nullptr;\n\n\t}\n\n\n\t/**\n\t * load RGB\n\t */\n\n if(gt && rgb && !loadICLRGBData(dirname, slamfile,pose,intrinsics)) {\n\t\tstd::cout << \"Error while loading RGB information.\" << std::endl;\n\t\tdelete slamfilep;\n\t\treturn nullptr;\n\n\t}\n\n\n\t/**\n\t * load GT\n\t */\n if(gt && !loadICLGroundTruthData(dirname, slamfile)) {\n\t\tstd::cout << \"Error while loading gt information.\" << std::endl;\n\t\tdelete slamfilep;\n\t\treturn nullptr;\n }\n\n\n\t/**\n\t * load Accelerometer: This one failed\n\t */\n if(accelerometer && !loadICLAccelerometerData(dirname, slamfile)) {\n\t\tstd::cout << \"Error while loading Accelerometer information.\" << std::endl;\n\t\tdelete slamfilep;\n\t\treturn nullptr;\n\n\t}\n\n\n\treturn slamfilep;\n\t}\n\n\n\n\n\n\n" }, { "path": "framework/tools/dataset-tools/ICLNUIM.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"include/ICLNUIM.h\"\n#include \"include/utils/dataset_utils.h\"\n#include \"io/sensor/sensor_builder.h\"\n\n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \n\n#include \n#include \n#include \n#include \n#include \n\nusing namespace slambench::io;\n\nconstexpr DepthSensor::disparity_params_t ICLNUIMReader::disparity_params;\nconstexpr DepthSensor::disparity_type_t ICLNUIMReader::disparity_type;\n\nstruct float3 {\n float x, y, z;\n};\n\nvoid ICLNUIMReader::AddSensors(SLAMFile &file) {\n // TODO This information should come from the dataset !!\n Sensor::pose_t pose_depth = Eigen::Matrix4f::Identity();\n Sensor::pose_t pose = Eigen::Matrix4f::Identity();\n\n CameraSensor::intrinsics_t intrinsics{0.751875, -1.0, 0.4992185, 0.4989583};\n if (this->positive_focal) intrinsics[1] = 1.0; // TODO : This is actually -1, bug .. no.\n\n CameraSensor::intrinsics_t intrinsics_depth{0.751875, -1.0, 0.4992185, 0.4989583};\n if (this->positive_focal) intrinsics_depth[1] = 1.0; // TODO : This is actually -1, bug .. no.\n\n if (this->rgb) {\n this->rgb_sensor = RGBSensorBuilder()\n .rate(image_params.rate)\n .size(image_params.width, image_params.height)\n .pose(pose)\n .intrinsics(intrinsics)\n .index(file.Sensors.size())\n .build();\n\n file.Sensors.AddSensor(this->rgb_sensor);\n }\n\n if (this->depth) {\n this->depth_sensor = DepthSensorBuilder()\n .rate(image_params.rate)\n .size(image_params.width, image_params.height)\n .disparity(disparity_type, disparity_params)\n .pose(pose_depth)\n .intrinsics(intrinsics_depth)\n .index(file.Sensors.size())\n .build();\n\n file.Sensors.AddSensor(this->depth_sensor);\n }\n\n if (this->grey) {\n this->grey_sensor = GreySensorBuilder()\n .rate(image_params.rate)\n .size(image_params.width, image_params.height)\n .pose(pose)\n .intrinsics(intrinsics)\n .index(file.Sensors.size())\n .build();\n file.Sensors.AddSensor(this->grey_sensor);\n }\n\n if (this->gt) {\n this->gt_sensor = GTSensorBuilder()\n .rate(image_params.rate)\n .pose(pose)\n .build();\n\n this->gt_sensor->Index = file.Sensors.size();\n file.Sensors.AddSensor(this->gt_sensor);\n }\n}\n\nstatic void undistort_frame(slambench::io::SLAMFileFrame *frame, void *data) {\n\n auto depthMap = (uint16_t *)data;\n\n uint32_t w = dynamic_cast(frame->FrameSensor)->Width;\n uint32_t h = dynamic_cast(frame->FrameSensor)->Height;\n\n float u0 = 319.50;\n float v0 = 239.50;\n float fx = 481.20;\n float fy = -480.00;\n\n for (uint32_t v = 0; v < h; v++) {\n for (uint32_t u = 0; u < w; u++) {\n double u_u0_by_fx = (u - u0) / fx;\n double v_v0_by_fy = (v - v0) / fy;\n\n depthMap[u + v * w] = depthMap[u + v * w] / std::sqrt(u_u0_by_fx * u_u0_by_fx + v_v0_by_fy * v_v0_by_fy + 1);\n }\n }\n}\n\nstatic float3 normalise(const float3 &input) {\n float3 output = input;\n float magnitude = std::abs(std::sqrt((output.x * output.x) + (output.y * output.y) + (output.z * output.z)));\n if (output.x != 0) output.x /= magnitude;\n if (output.y != 0) output.y /= magnitude;\n if (output.z != 0) output.z /= magnitude;\n return output;\n}\n\n// Function to print matrix values existed in commit d2c324d and earlier\n//void printMat(const Eigen::Matrix4f &mat, const std::string& color = \"\\033[0m\");\n\nbool FillPose(std::ifstream &istream, GroundTruthSensor::pose_t &pose, bool positive_focal) {\n\n const std::string& start = RegexPattern::start;\n const std::string& lkey = RegexPattern::lowercase_key;\n\n std::string key_expr = start + lkey;\n boost::regex key_regex(key_expr);\n\n const std::string& value = \"([-+]?[0-9]*\\\\.?[0-9]+([eE][-+]?[0-9]+)?)\";\n std::string value_expr = value + \", \" + value + \", \" + value;\n boost::regex value_regex(value_expr);\n\n // find the important features for calculating the pose\n std::map kvs;\n std::string line;\n\n while(std::getline(istream, line)) {\n\n boost::cmatch match;\n if(!boost::regex_search(line.c_str(), match, key_regex)) {\n continue;\n }\n\n std::string key = match.str(0);\n\n if(!boost::regex_search(line.c_str(), match, value_regex)) {\n if (key != \"cam_angle\") {\n std::cout << \"Error reading this line :\" << line << std::endl;\n exit(1);\n }\n\n continue;\n }\n\n kvs[key].x = strtof(match.str(1).c_str(), nullptr);\n kvs[key].y = strtof(match.str(3).c_str(), nullptr);\n kvs[key].z = strtof(match.str(5).c_str(), nullptr);\n }\n\n // row 3\n float3 los = normalise(kvs[\"cam_dir\"]);\n float3 up = normalise(kvs[\"cam_up\"]);\n float3 right = normalise(kvs[\"cam_right\"]);\n\n pose(0, 0) = right.x;\n pose(0, 1) = right.y;\n pose(0, 2) = right.z;\n pose(0, 3) = kvs[\"cam_pos\"].x;\n pose(1, 0) = up.x;\n pose(1, 1) = up.y;\n pose(1, 2) = up.z;\n pose(1, 3) = kvs[\"cam_pos\"].y;\n pose(2, 0) = los.x;\n pose(2, 1) = los.y;\n pose(2, 2) = los.z;\n pose(2, 3) = kvs[\"cam_pos\"].z;\n pose(3, 0) = 0.0;\n pose(3, 1) = 0.0;\n pose(3, 2) = 0.0;\n pose(3, 3) = 1.0;\n\n if (positive_focal) {\n // First The ground truth is not align with the point cloud we need to flip\n pose(0, 3) *= -1.0; // Pos\n\n // Second the ground truth is looking to the wrong Z direction\n static const GroundTruthSensor::pose_t origin = pose;\n pose = origin.inverse() * pose;\n pose(0, 2) *= -1.0; // Rot\n pose(1, 2) *= -1.0; // Rot\n pose(2, 0) *= -1.0; // Rot\n pose(2, 1) *= -1.0; // Rot\n pose = origin * pose;\n\n // Finally the camera is upside down !\n pose = origin.inverse() * pose;\n pose.block<2, 3>(0, 0) = -pose.block<2, 3>(0, 0);\n pose = origin * pose;\n }\n istream.close();\n return true;\n}\n\nbool GetPoseETHI(std::ifstream &istream, GroundTruthSensor::pose_t &pose) {\n\n std::string line;\n boost::smatch match;\n\n const std::string& f_no = RegexPattern::number;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& dec = RegexPattern::decimal;\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n\n // format: frame_no tx ty tz qx qy qz qw\n std::string expr = start\n + f_no + ws // frame_no\n + dec + ws // tx\n + dec + ws // ty\n + dec + ws // tz\n + dec + ws // qx\n + dec + ws // qy\n + dec + ws // qz\n + dec + end; // qw\n\n boost::regex groundtruth_line = boost::regex(expr);\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n std::getline(istream, line);\n if (line.empty()) {\n return false;\n } else if (boost::regex_match(line, match, comment)) {\n return false;\n } else if (boost::regex_match(line, match, groundtruth_line)) {\n\n float tx = std::stof(match[2]);\n float ty = std::stof(match[3]);\n float tz = std::stof(match[4]);\n\n float QX = std::stof(match[5]);\n float QY = std::stof(match[6]);\n float QZ = std::stof(match[7]);\n float QW = std::stof(match[8]);\n\n Eigen::Matrix3f rotationMat = Eigen::Quaternionf(QW, QX, QY, QZ).toRotationMatrix();\n pose = Eigen::Matrix4f::Identity();\n pose.block(0, 0, 3, 3) = rotationMat;\n pose.block(0, 3, 3, 1) << tx, ty, tz;\n\n } else {\n std::cout << \"Unknown line:\" << line << std::endl;\n return false;\n }\n return true;\n}\n\nbool ICLNUIMReader::GetFrame(const std::string &dirname, SLAMFile &file, int frame_no) {\n // two frames to add: one for rgb and one for depth\n\n const int frame_rate = 25;\n double frame_time = 1.0 / frame_rate;\n\n uint64_t total_ns = frame_time * frame_no * 1000000000;\n TimeStamp ts;\n ts.S = total_ns / 1000000000;\n ts.Ns = total_ns % 1000000000;\n\n if (rgb_sensor) {\n auto rgb_frame = new ImageFileFrame();\n rgb_frame->FrameSensor = rgb_sensor;\n\n rgb_frame->Timestamp = ts;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/scene_00_\" << std::setw(4) << std::setfill('0') << frame_no << \".png\";\n rgb_frame->filename = frame_name.str();\n\n if (access(rgb_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No RGB image for frame %d (%s)\\n\", frame_no, frame_name.str().c_str());\n return false;\n }\n\n file.AddFrame(rgb_frame);\n }\n if (grey_sensor) {\n auto rgb_frame = new ImageFileFrame();\n rgb_frame->FrameSensor = grey_sensor;\n rgb_frame->Timestamp = ts;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/scene_00_\" << std::setw(4) << std::setfill('0') << frame_no << \".png\";\n rgb_frame->filename = frame_name.str();\n\n if (access(rgb_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No Grey image for frame %d (%s)\\n\", frame_no, frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(rgb_frame);\n }\n\n if (depth_sensor) {\n SLAMFileFrame* depth_frame;\n std::stringstream frame_name;\n frame_name << dirname << \"/scene_00_\" << std::setw(4) << std::setfill('0') << frame_no << \".depth\";\n\n // ETHI sequence\n if(istream.is_open()) {\n depth_frame = new ImageFileFrame();\n frame_name << \".png\";\n }\n else {\n depth_frame = new TxtFileFrame();\n dynamic_cast(depth_frame)->input_pixel_format = pixelformat::D_F_32;\n depth_frame->ProcessCallback = undistort_frame;\n }\n\n depth_frame->filename = frame_name.str();\n depth_frame->FrameSensor = depth_sensor;\n depth_frame->Timestamp = ts;\n\n if (access(depth_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No depth image for frame %d (%s)\\n\", frame_no, frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(depth_frame);\n }\n\n if (gt_sensor) {\n auto frame = new SLAMInMemoryFrame();\n frame->FrameSensor = gt_sensor;\n frame->Timestamp = ts;\n frame->Data = malloc(frame->GetSize());\n bzero(frame->Data, frame->GetSize());\n\n if(istream.is_open()) {\n GetPoseETHI(istream, *((GroundTruthSensor::pose_t *)frame->Data));\n }\n else {\n std::stringstream frame_name;\n frame_name << dirname << \"/scene_00_\" << std::setw(4) << std::setfill('0') << frame_no << \".txt\";\n\n if (access(frame_name.str().c_str(), F_OK) < 0) {\n printf(\"No metadata for frame %d (%s)\\n\", frame_no, frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n istream = std::ifstream(frame_name.str());\n FillPose(istream, *((GroundTruthSensor::pose_t *)frame->Data), this->positive_focal);\n }\n\n file.AddFrame(frame);\n }\n\n return true;\n}\n\nbool ICLNUIMReader::AddFrames(const std::string &dirname, SLAMFile &file) {\n int frame_no = 0;\n auto gt_file = dirname+\"/groundtruth.txt\";\n if(access(gt_file.c_str(), F_OK) >= 0)\n {\n istream = std::ifstream(gt_file);\n }\n while (GetFrame(dirname, file, frame_no)) {\n frame_no++;\n }\n\n return true;\n}\n\nvoid AddPointCloudSensor(SLAMFile &slamfile) {\n auto pcd = new PointCloudSensor(\"PointCloud\");\n pcd->Description = \"Ground truth point cloud\";\n pcd->Index = slamfile.Sensors.size();\n slamfile.Sensors.AddSensor(pcd);\n}\n\nvoid AddPlyFile(SLAMFile &slamfile, const std::string& plyname) {\n PlyReader plyreader;\n std::ifstream file(plyname.c_str());\n if (!file.good()) {\n fprintf(stderr, \"Could not open PLY file\\n\");\n return;\n }\n auto pointcloud = plyreader.Read(file);\n if (pointcloud == nullptr) {\n fprintf(stderr, \"Could not build point cloud\\n\");\n return;\n }\n auto rawpointcloud = pointcloud->ToRaw();\n\n auto pcloudframe = new SLAMInMemoryFrame();\n pcloudframe->FrameSensor = slamfile.GetSensor(PointCloudSensor::kPointCloudType);\n pcloudframe->Data = malloc(rawpointcloud.size());\n pcloudframe->SetVariableSize(rawpointcloud.size());\n memcpy(pcloudframe->Data, rawpointcloud.data(), rawpointcloud.size());\n slamfile.AddFrame(pcloudframe);\n}\n\nSLAMFile *ICLNUIMReader::GenerateSLAMFile() {\n std::cout << \"Selection input file is \" << this->input << std::endl;\n\n auto slamfile = new SLAMFile();\n\n if (!(grey || rgb || depth || gt)) {\n std::cout << \"No sensor required.\" << std::endl;\n delete slamfile;\n return nullptr;\n }\n\n if (plyfile.length() != 0) {\n std::cout << \"Add point cloud.\" << std::endl;\n AddPointCloudSensor(*slamfile);\n }\n\n AddSensors(*slamfile);\n\n if (plyfile.length() != 0) {\n AddPlyFile(*slamfile, plyfile);\n }\n\n if (!AddFrames(input, *slamfile)) {\n std::cout << \"Failed to add frames.\" << std::endl;\n delete slamfile;\n return nullptr;\n }\n if(istream.is_open())\n istream.close();\n return slamfile;\n}\n" }, { "path": "framework/tools/dataset-tools/OpenLORIS.cpp", "content": "/*\n\n Copyright (c) 2019 Intel Corp.\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"include/OpenLORIS.h\"\n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \"io/sensor/sensor_builder.h\"\n#include \"utils/dataset_utils.h\"\n\nusing namespace slambench::io;\n\nvoid Dijkstra(int n, int s, std::vector > G, std::vector &vis, std::vector &d,\n std::vector &pre) {\n fill(d.begin(), d.end(), INF);\n for (int i = 0; i < n; ++i) pre[i] = i;\n\n d[s] = 0;\n for (int i = 0; i < n; ++i) {\n int u = -1;\n int MIN = INF;\n for (int j = 0; j < n; ++j) {\n if (vis[j] == false && d[j] < MIN) {\n u = j;\n MIN = d[j];\n }\n }\n\n if (u == -1) return;\n vis[u] = true;\n for (int v = 0; v < n; ++v) {\n if (vis[v] == false && d[u] + G[u][v] < d[v]) {\n d[v] = d[u] + G[u][v];\n pre[v] = u;\n }\n }\n }\n}\n\nvoid DFSPrint(int s, int v, std::vector pre, std::vector &result) {\n if (v == s) {\n result.push_back(s);\n return;\n }\n DFSPrint(s, pre[v], pre, result);\n result.push_back(v);\n}\n\nEigen::Matrix4f slambench::io::compute_trans_matrix(const std::string& input_name_1,\n const std::string& input_name_2,\n const std::string& filename) {\n auto yaml = YAML::LoadFile(filename);\n\n std::map name_to_index;\n std::map transforms;\n int num = 0;\n for (size_t i = 0; i < yaml[\"trans_matrix\"].size(); i++) {\n int index_1, index_2;\n std::string name_1 = yaml[\"trans_matrix\"][i][\"parent_frame\"].as();\n if (name_to_index.count(name_1) == 0) {\n name_to_index[name_1] = num;\n num++;\n }\n std::string name_2 = yaml[\"trans_matrix\"][i][\"child_frame\"].as();\n if (name_to_index.count(name_2) == 0) {\n name_to_index[name_2] = num;\n num++;\n }\n index_1 = name_to_index[name_1];\n index_2 = name_to_index[name_2];\n trans_direction dir(index_1, index_2);\n Eigen::Matrix4f trans_matrix;\n trans_matrix << yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][0].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][1].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][2].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][3].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][4].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][5].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][6].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][7].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][8].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][9].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][10].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][11].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][12].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][13].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][14].as(),\n yaml[\"trans_matrix\"][i][\"matrix\"][\"data\"][15].as(); // problem\n transforms[dir] = trans_matrix;\n trans_direction dir_inv(index_2, index_1);\n transforms[dir_inv] = trans_matrix.inverse();\n }\n\n int s = name_to_index[input_name_1];\n int v = name_to_index[input_name_2];\n int n = name_to_index.size();\n\n std::vector > G;\n std::vector g;\n for (int j = 0; j < n; j++) {\n g.push_back(INF);\n }\n for (int i = 0; i < n; i++) {\n G.push_back(g);\n }\n for (auto& transform : transforms) {\n trans_direction index_pair = transform.first;\n G[index_pair.first][index_pair.second] = 1;\n }\n\n std::vector vis(n);\n std::vector d(n);\n std::vector pre(n);\n Dijkstra(n, s, G, vis, d, pre);\n std::vector result;\n DFSPrint(s, v, pre, result);\n\n Eigen::Matrix4f result_matrix = Eigen::MatrixXf::Identity(4, 4);\n for (auto it = result.begin(); it != (result.end() - 1); it++) {\n trans_direction dir(*it, *(it + 1));\n Eigen::Matrix4f trans = transforms[dir];\n result_matrix = result_matrix * trans;\n }\n // std::cout<();\n auto height = yaml[sensor_name][\"height\"].as();\n slambench::io::CameraSensor::intrinsics_t intrinsics;\n intrinsics[0] = yaml[sensor_name][\"intrinsics\"][\"data\"][0].as() / width;\n intrinsics[1] = yaml[sensor_name][\"intrinsics\"][\"data\"][2].as() / height;\n intrinsics[2] = yaml[sensor_name][\"intrinsics\"][\"data\"][1].as() / width;\n intrinsics[3] = yaml[sensor_name][\"intrinsics\"][\"data\"][3].as() / height;\n\n slambench::io::CameraSensor::distortion_coefficients_t distortion;\n slambench::io::CameraSensor::distortion_type_t distortion_type;\n if (yaml[sensor_name][\"distortion_model\"].as() == \"radial-tangential\") {\n distortion_type = slambench::io::CameraSensor::RadialTangential;\n distortion[0] = yaml[sensor_name][\"distortion_coefficients\"][\"data\"][0].as();\n distortion[1] = yaml[sensor_name][\"distortion_coefficients\"][\"data\"][1].as();\n distortion[2] = yaml[sensor_name][\"distortion_coefficients\"][\"data\"][2].as();\n distortion[3] = yaml[sensor_name][\"distortion_coefficients\"][\"data\"][3].as();\n distortion[4] = 0; //??\n }\n\n auto depth_sensor = DepthSensorBuilder()\n .name(\"Depth\")\n .description(\"Depth\")\n .rate(yaml[sensor_name][\"fps\"].as())\n .size(width, height)\n .pose(pose)\n .intrinsics(intrinsics)\n .distortion(distortion_type, distortion)\n .disparity(disparity_type, disparity_params)\n .index(file.Sensors.size())\n .frameFormat(frameformat::Raster)\n .pixelFormat(pixelformat::D_I_16)\n .build();\n\n file.Sensors.AddSensor(depth_sensor);\n\n std::string line;\n std::string txt_name;\n if (aligned_depth) {\n txt_name = \"aligned_depth.txt\";\n } else {\n txt_name = \"depth.txt\";\n }\n std::ifstream infile(dirname + \"/\" + txt_name);\n boost::smatch match;\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, boost::regex(\"^\\\\s*#.*$\"))) {\n continue;\n } else if (boost::regex_match(line, match, boost::regex(\"^([0-9]+)[.]([0-9]+)\\\\s+(.*)$\"))) {\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n std::string depthfilename = match[3];\n\n auto depth_frame = new ImageFileFrame();\n depth_frame->FrameSensor = depth_sensor;\n depth_frame->Timestamp.S = timestampS;\n depth_frame->Timestamp.Ns = timestampNS;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/\" << depthfilename;\n depth_frame->filename = frame_name.str();\n\n if (access(depth_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No depth image for frame (%s)\\n\", frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(depth_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadOpenLORISImageData(const std::string &dirname, // directory of data\n const std::string &name_in_yaml, // sensor name in sensors.yaml\n const std::string &index_filename, // filename of the data index (.txt)\n bool greyscale,\n SLAMFile &file,\n const std::string &out_sensor_name, // name in .slam, should be identical\n const YAML::Node yaml)\n{\n slambench::io::CameraSensor::distortion_type_t distortion_type;\n if (yaml[name_in_yaml][\"distortion_model\"].as() == \"radial-tangential\") {\n distortion_type = slambench::io::CameraSensor::RadialTangential;\n } else if (yaml[name_in_yaml][\"distortion_model\"].as() == \"Kannala-Brandt\") {\n distortion_type = slambench::io::CameraSensor::KannalaBrandt;\n }\n auto pose = compute_trans_matrix(\"d400_color_optical_frame\", name_in_yaml, dirname + \"/trans_matrix.yaml\");\n\n auto width = yaml[name_in_yaml][\"width\"].as();\n auto height = yaml[name_in_yaml][\"height\"].as();\n slambench::io::CameraSensor::intrinsics_t intrinsics;\n intrinsics[0] = yaml[name_in_yaml][\"intrinsics\"][\"data\"][0].as() / width;\n intrinsics[1] = yaml[name_in_yaml][\"intrinsics\"][\"data\"][2].as() / height;\n intrinsics[2] = yaml[name_in_yaml][\"intrinsics\"][\"data\"][1].as() / width;\n intrinsics[3] = yaml[name_in_yaml][\"intrinsics\"][\"data\"][3].as() / height;\n\n slambench::io::CameraSensor::distortion_coefficients_t distortion;\n distortion[0] = yaml[name_in_yaml][\"distortion_coefficients\"][\"data\"][0].as();\n distortion[1] = yaml[name_in_yaml][\"distortion_coefficients\"][\"data\"][1].as();\n distortion[2] = yaml[name_in_yaml][\"distortion_coefficients\"][\"data\"][2].as();\n distortion[3] = yaml[name_in_yaml][\"distortion_coefficients\"][\"data\"][3].as();\n distortion[4] = 0;\n\n auto sensor = CameraSensorBuilder()\n .name(out_sensor_name)\n .description(greyscale ? \"Grey\" : \"RGB\")\n .rate(yaml[name_in_yaml][\"fps\"].as())\n .size(width, height)\n .pose(pose)\n .intrinsics(intrinsics)\n .distortion(distortion_type, distortion)\n .frameFormat(frameformat::Raster)\n .pixelFormat(greyscale ? pixelformat::G_I_8 : pixelformat::RGB_III_888)\n .index(file.Sensors.size())\n .build();\n\n file.Sensors.AddSensor(sensor);\n\n std::string line;\n std::ifstream infile(dirname + \"/\" + index_filename);\n boost::smatch match;\n\n while (std::getline(infile, line)) {\n if (line.size() == 0) {\n continue;\n } else if (boost::regex_match(line, match, boost::regex(\"^\\\\s*#.*$\"))) {\n continue;\n } else if (boost::regex_match(line, match, boost::regex(\"^([0-9]+)[.]([0-9]+)\\\\s+(.*)$\"))) {\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n std::string rgbfilename = match[3];\n\n auto grey_frame = new ImageFileFrame();\n grey_frame->FrameSensor = sensor;\n grey_frame->Timestamp.S = timestampS;\n grey_frame->Timestamp.Ns = timestampNS;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/\" << rgbfilename;\n grey_frame->filename = frame_name.str();\n\n if (access(grey_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No RGB image for frame (%s)\\n\", frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(grey_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadOpenLORISGroundTruthData(const std::string &dirname, SLAMFile &file) {\n auto gt_sensor = GTSensorBuilder()\n .name(\"GroundTruth\")\n .description(\"GroundTruthSensor\")\n .index(file.Sensors.size())\n .build();\n file.Sensors.AddSensor(gt_sensor);\n // The target frame of gt in OpenLORIS is base_link. We change it here to d400_color, because most algorithms\n // would report estimated poses of d400_color (I guess). Though the transformation_ between the estimate target\n // frame and gt traget frame SHOULD be considered in traj alignment / evaluation / visualization, it is not.\n Eigen::Matrix4f trans_mat =\n compute_trans_matrix(\"d400_color_optical_frame\", \"base_link\", dirname + \"/trans_matrix.yaml\");\n\n std::string line;\n boost::smatch match;\n std::ifstream infile(dirname + \"/\" + \"groundtruth.txt\");\n\n while (std::getline(infile, line)) {\n if (line.size() == 0) {\n continue;\n } else if (boost::regex_match(line, match, boost::regex(\"^\\\\s*#.*$\"))) {\n continue;\n } else if (boost::regex_match(\n line, match,\n boost::regex(\"^([0-9]+)[.]([0-9]+)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]\"\n \"+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\"\n \"\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?\"\n \")[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[0-9]\"\n \"+([Ee]([+-]?)[0-9]+)?)?)\\\\s*$\"))) {\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n\n float tx = std::stof(match[3]);\n float ty = std::stof(match[7]);\n float tz = std::stof(match[11]);\n float QX = std::stof(match[15]);\n float QY = std::stof(match[19]);\n float QZ = std::stof(match[23]);\n float QW = std::stof(match[27]);\n\n Eigen::Matrix3f rotationMat = Eigen::Quaternionf(QW, QX, QY, QZ).toRotationMatrix();\n Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();\n pose.block(0, 0, 3, 3) = rotationMat;\n pose.block(0, 3, 3, 1) << tx, ty, tz;\n pose = pose * trans_mat;\n\n auto gt_frame = new SLAMInMemoryFrame();\n gt_frame->FrameSensor = gt_sensor;\n gt_frame->Timestamp.S = timestampS;\n gt_frame->Timestamp.Ns = timestampNS;\n gt_frame->Data = malloc(gt_frame->GetSize());\n\n memcpy(gt_frame->Data, pose.data(), gt_frame->GetSize());\n\n file.AddFrame(gt_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadOpenLORISAccelerometerData(const std::string &dirname,\n const std::string &sensor_name,\n SLAMFile &file,\n const YAML::Node& yaml) {\n\n auto accelerometer_sensor = AccSensorBuilder()\n .name(sensor_name)\n .rate(yaml[sensor_name][\"fps\"].as())\n .description(\"AccelerometerSensor\")\n .index(file.Sensors.size())\n .pose(compute_trans_matrix(\"d400_color_optical_frame\", sensor_name, dirname + \"/trans_matrix.yaml\"))\n .build();\n\n // accelerometer_sensor->AcceleratorNoiseDensity = 2.0000e-3;\n // accelerometer_sensor->AcceleratorDriftNoiseDensity = 4.0e-5;\n // accelerometer_sensor->AcceleratorBiasDiffusion = 3.0000e-3;\n // accelerometer_sensor->AcceleratorSaturation = 176.0;\n\n for (int i = 0; i < 12; i++) {\n accelerometer_sensor->Intrinsic[i] = yaml[sensor_name][\"imu_intrinsic\"][\"data\"][i].as();\n }\n\n for (int i = 0; i < 3; i++) {\n accelerometer_sensor->NoiseVariances[i] = yaml[sensor_name][\"noise_variances\"][\"data\"][i].as();\n accelerometer_sensor->BiasVariances[i] = yaml[sensor_name][\"bias_variances\"][\"data\"][i].as();\n }\n\n file.Sensors.AddSensor(accelerometer_sensor);\n\n std::string line;\n boost::smatch match;\n std::ifstream infile(dirname + \"/\" + sensor_name + \".txt\");\n\n while (std::getline(infile, line)) {\n if (line.size() == 0) {\n continue;\n } else if (boost::regex_match(line, match, boost::regex(\"^\\\\s*#.*$\"))) {\n continue;\n } else if (boost::regex_match(line, match,\n boost::regex(\"^([0-9]+)[.]([0-9]+)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\"\n \"\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[\"\n \"0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s*$\"))) {\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n\n auto accelerometer_frame = new SLAMInMemoryFrame();\n accelerometer_frame->FrameSensor = accelerometer_sensor;\n accelerometer_frame->Timestamp.S = timestampS;\n accelerometer_frame->Timestamp.Ns = timestampNS;\n accelerometer_frame->Data = malloc(accelerometer_frame->GetSize());\n ((float *)accelerometer_frame->Data)[0] = std::stof(match[3]); // ax\n ((float *)accelerometer_frame->Data)[1] = std::stof(match[7]); // ay\n ((float *)accelerometer_frame->Data)[2] = std::stof(match[11]); // az\n\n file.AddFrame(accelerometer_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadOpenLORISGyroData(const std::string &dirname,\n const std::string &sensor_name,\n SLAMFile &file,\n const YAML::Node& yaml) {\n\n auto gyro_sensor = GyroSensorBuilder()\n .name(sensor_name)\n .rate(yaml[sensor_name][\"fps\"].as())\n .description(\"GyroSensor\")\n .index(file.Sensors.size())\n .pose(compute_trans_matrix(\"d400_color_optical_frame\", sensor_name, dirname + \"/trans_matrix.yaml\"))\n .build();\n\n // gyro_sensor->GyroscopeNoiseDensity = 1.6968e-04;\n // gyro_sensor->GyroscopeDriftNoiseDensity = 4.0e-6;\n // gyro_sensor->GyroscopeBiasDiffusion = 1.9393e-05;\n // gyro_sensor->GyroscopeSaturation = 7.8;\n\n for (int i = 0; i < 12; i++) {\n gyro_sensor->Intrinsic[i] = yaml[sensor_name][\"imu_intrinsic\"][\"data\"][i].as();\n }\n for (int i = 0; i < 3; i++) {\n gyro_sensor->NoiseVariances[i] = yaml[sensor_name][\"noise_variances\"][\"data\"][i].as();\n gyro_sensor->BiasVariances[i] = yaml[sensor_name][\"bias_variances\"][\"data\"][i].as();\n }\n\n file.Sensors.AddSensor(gyro_sensor);\n\n std::string line;\n boost::smatch match;\n std::ifstream infile(dirname + \"/\" + sensor_name + \".txt\");\n\n while (std::getline(infile, line)) {\n if (line.size() == 0) {\n continue;\n } else if (boost::regex_match(line, match, boost::regex(\"^\\\\s*#.*$\"))) {\n continue;\n } else if (boost::regex_match(line, match,\n boost::regex(\"^([0-9]+)[.]([0-9]+)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\"\n \"\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[\"\n \"0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s*$\"))) {\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n\n auto gyro_frame = new SLAMInMemoryFrame();\n gyro_frame->FrameSensor = gyro_sensor;\n gyro_frame->Timestamp.S = timestampS;\n gyro_frame->Timestamp.Ns = timestampNS;\n gyro_frame->Data = malloc(gyro_frame->GetSize());\n ((float *)gyro_frame->Data)[0] = std::stof(match[3]); // wx\n ((float *)gyro_frame->Data)[1] = std::stof(match[7]); // wy\n ((float *)gyro_frame->Data)[2] = std::stof( match[11]); // wz\n\n file.AddFrame(gyro_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadOpenLORISOdomData(const std::string &dirname, const std::string &sensor_name, SLAMFile &file) {\n\n auto odom_sensor = OdomSensorBuilder()\n .name(sensor_name)\n .description(\"OdomSensor\")\n .index(file.Sensors.size())\n .pose(Eigen::Matrix4f::Identity())\n .build();\n file.Sensors.AddSensor(odom_sensor);\n\n std::string line;\n boost::smatch match;\n std::ifstream infile(dirname + \"/\" + \"odom.txt\");\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, boost::regex(\"^\\\\s*#.*$\"))) {\n continue;\n } else if (boost::regex_match(\n line, match,\n boost::regex(\"^([0-9]+)[.]([0-9]+)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]\"\n \"+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\"\n \"\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?\"\n \")[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[0-9]\"\n \"+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[\"\n \"0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?\"\n \")\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]\"\n \"?)[0-9]+)?)?)\\\\s+([+-]?[0-9]+(.[0-9]+([Ee]([+-]?)[0-9]+)?)?)\\\\s*$\"))) {\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n\n auto odom_frame = new SLAMInMemoryFrame();\n odom_frame->FrameSensor = odom_sensor;\n odom_frame->Timestamp.S = timestampS;\n odom_frame->Timestamp.Ns = timestampNS;\n odom_frame->Data = malloc(odom_frame->GetSize());\n ((float *)odom_frame->Data)[0] = std::stof(match[3]); // px\n ((float *)odom_frame->Data)[1] = std::stof(match[7]); // py\n ((float *)odom_frame->Data)[2] = std::stof(match[11]); // pz\n ((float *)odom_frame->Data)[3] = std::stof(match[15]); // ox\n ((float *)odom_frame->Data)[4] = std::stof(match[19]); // oy\n ((float *)odom_frame->Data)[5] = std::stof(match[23]); // oz\n ((float *)odom_frame->Data)[6] = std::stof(match[27]); // ow\n ((float *)odom_frame->Data)[7] = std::stof(match[31]); // lx\n ((float *)odom_frame->Data)[8] = std::stof(match[35]); // ly\n ((float *)odom_frame->Data)[9] = std::stof(match[39]); // lz\n ((float *)odom_frame->Data)[10] = std::stof(match[43]); // ax\n ((float *)odom_frame->Data)[11] = std::stof(match[47]); // ay\n ((float *)odom_frame->Data)[12] = std::stof(match[51]); // az\n\n file.AddFrame(odom_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nSLAMFile *OpenLORISReader::GenerateSLAMFile() {\n if (!(grey || color || depth || aligned_depth || fisheye1 || fisheye2)) {\n std::cerr << \"No sensors defined\\n\";\n return nullptr;\n }\n\n std::string dirname = input;\n static const std::vector requirements = {\"d400_accelerometer.txt\",\n \"d400_gyroscope.txt\",\n \"t265_accelerometer.txt\",\n \"t265_gyroscope.txt\",\n \"odom.txt\",\n \"color.txt\",\n \"color\",\n \"depth.txt\",\n \"depth\",\n \"aligned_depth.txt\",\n \"aligned_depth\",\n \"fisheye1.txt\",\n \"fisheye1\",\n \"fisheye2.txt\",\n \"fisheye2\",\n \"groundtruth.txt\",\n \"sensors.yaml\",\n \"trans_matrix.yaml\"};\n if (!checkRequirements(dirname, requirements)) {\n std::cerr << \"Invalid folder.\" << std::endl;\n return nullptr;\n }\n\n auto slamfilep = new SLAMFile();\n SLAMFile &slamfile = *slamfilep;\n\n DepthSensor::disparity_params_t disparity_params = {0.001, 0.0};\n DepthSensor::disparity_type_t disparity_type = DepthSensor::affine_disparity;\n\n auto yaml = YAML::LoadFile(dirname + \"/sensors.yaml\");\n\n /*** load RGB ***/\n if (color && !loadOpenLORISImageData(dirname, \"d400_color_optical_frame\", \"color.txt\", false, slamfile,\"RGB\", yaml)) {\n std::cout << \"Error while loading OpenLORIS RGB information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n /*** load Grey ***/\n if (grey && !loadOpenLORISImageData(dirname, \"d400_color_optical_frame\", \"color.txt\", true, slamfile, \"Grey\", yaml)) {\n std::cout << \"Error while loading OpenLORIS Grey information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n /*** load Aligned_Depth ***/\n if (aligned_depth &&\n !loadOpenLORISDepthData(dirname, \"d400_color_optical_frame\", slamfile, disparity_params, disparity_type,\n yaml, true)) {\n std::cout << \"Error while loading OpenLORIS depth information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n /*** load Depth ***/\n if (depth &&\n !loadOpenLORISDepthData(dirname, \"d400_depth_optical_frame\", slamfile, disparity_params, disparity_type, yaml)) {\n std::cout << \"Error while loading OpenLORIS depth information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n /*** load Intel Realsense D400 Accelerometer ***/\n if (d400_accel && !loadOpenLORISAccelerometerData(dirname, \"d400_accelerometer\", slamfile, yaml)) {\n std::cout << \"Error while loading Accelerometer information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n /*** load Intel Realsense D400 Gyro ***/\n if (d400_gyro && !loadOpenLORISGyroData(dirname, \"d400_gyroscope\",slamfile, yaml)) {\n std::cout << \"Error while loading Gyro information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n /*** load Intel Realsense T265 Fisheye cameras ***/\n if (fisheye1 &&\n !loadOpenLORISImageData(dirname, \"t265_fisheye1_optical_frame\", \"fisheye1.txt\", true, slamfile,\n \"t265_fisheye1\", yaml)) {\n std::cout << \"Error while loading OpenLORIS fisheye1 information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n if (fisheye2 &&\n !loadOpenLORISImageData(dirname, \"t265_fisheye2_optical_frame\", \"fisheye2.txt\", true, slamfile,\n \"t265_fisheye2\", yaml)) {\n std::cout << \"Error while loading OpenLORIS fisheye2 information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n /*** load Intel Realsense T265 accelerometer ***/\n if (t265_accel && !loadOpenLORISAccelerometerData(dirname, \"t265_accelerometer\", slamfile, yaml)) {\n std::cout << \"Error while loading Accelerometer information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n /*** load Intel Realsense T265 accelerometer ***/\n if (t265_gyro && !loadOpenLORISGyroData(dirname, \"t265_gyroscope\",slamfile, yaml)) {\n std::cout << \"Error while loading Gyro information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n /*** load wheel odometry ***/\n if (odom && !loadOpenLORISOdomData(dirname, \"odometer\", slamfile)) {\n std::cout << \"Error while loading Odom information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n /*** load GT ***/\n if (gt && !loadOpenLORISGroundTruthData(dirname, slamfile)) {\n std::cout << \"Error while loading gt information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n return slamfilep;\n}\n" }, { "path": "framework/tools/dataset-tools/SVO.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"include/SVO.h\"\n#include \"io/sensor/sensor_builder.h\"\n\n#include \n#include \n#include \n#include \n#include \n\n#include \n\n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \n\nusing namespace slambench::io;\n\nconstexpr CameraSensor::intrinsics_t SVOReader::svo_grey;\nconstexpr float SVOReader::translation[];\nconstexpr float SVOReader::rotation[];\n\nbool loadSVOGreyData(const std::string &dirname,\n SLAMFile &file,\n CameraSensor* grey_sensor) {\n\n for (int frame_no = 2; frame_no < 188; frame_no++) {\n auto grey_frame = new ImageFileFrame();\n grey_frame->FrameSensor = grey_sensor;\n grey_frame->Timestamp.S = frame_no - 2;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/img/frame_\" << std::setw(6) << std::setfill('0') << frame_no << \"_0.png\";\n grey_frame->filename = frame_name.str();\n\n if (access(grey_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No grey image for frame %d (%s)\\n\", frame_no, frame_name.str().c_str());\n return false;\n }\n\n file.AddFrame(grey_frame);\n }\n return true;\n}\n\nbool loadSVOGroundTruthData(const std::string &dirname, SLAMFile &file, GroundTruthSensor* gt_sensor) {\n\n std::string line;\n std::vector results;\n std::ifstream infile(dirname + \"/\" + \"trajectory_nominal.txt\");\n\n int timestampS = 0;\n while (std::getline(infile, line)) {\n if (line.empty())\n continue;\n boost::split(results, line, boost::is_any_of(\" \"));\n // int timestampS = std::stoi(results[0]);\n float tx = std::stof(results[1]);\n float ty = std::stof(results[2]);\n float tz = std::stof(results[3]);\n\n float QX = std::stof(results[4]);\n float QY = std::stof(results[5]);\n float QZ = std::stof(results[6]);\n float QW = std::stof(results[7]);\n\n // the raw ground truth data are not normalized, we need normalized quaternions\n float Q_length = std::sqrt(std::pow(QX, 2) + std::pow(QY, 2) + std::pow(QZ, 2) + std::pow(QW, 2));\n\n QX /= Q_length;\n QY /= Q_length;\n QZ /= Q_length;\n QW /= Q_length;\n\n Eigen::Matrix3f rotationMat = Eigen::Quaternionf(QW, QX, QY, QZ).toRotationMatrix();\n Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();\n\n pose.block(0, 0, 3, 3) = rotationMat;\n pose.block(0, 3, 3, 1) << tx, ty, tz;\n\n auto gt_frame = new SLAMInMemoryFrame();\n gt_frame->FrameSensor = gt_sensor;\n gt_frame->Timestamp.S = timestampS++;\n gt_frame->Data = malloc(gt_frame->GetSize());\n\n memcpy(gt_frame->Data, pose.data(), gt_frame->GetSize());\n\n file.AddFrame(gt_frame);\n }\n return true;\n}\n\nSLAMFile *SVOReader::GenerateSLAMFile() {\n std::string dirname = input;\n\n auto slamfile_ptr = new SLAMFile();\n auto &slamfile = *slamfile_ptr;\n\n Sensor::pose_t pose = Eigen::Matrix4f::Identity();\n Eigen::Matrix3f rotationMat = Eigen::Quaternionf(rotation[0],\n rotation[1],\n rotation[2],\n rotation[3])\n .toRotationMatrix();\n\n pose.block(0, 0, 3, 3) = rotationMat;\n pose.block(0, 3, 3, 1) << translation[0], translation[1], translation[2];\n\n // load Grey\n auto grey_sensor = GreySensorBuilder()\n .name(\"Grey\")\n .size(752, 480)\n .description(\"Grey\")\n .pose(pose)\n .intrinsics(svo_grey)\n .index(slamfile.Sensors.size())\n .build();\n\n slamfile.Sensors.AddSensor(grey_sensor);\n\n if (!loadSVOGreyData(dirname, slamfile, grey_sensor)) {\n std::cout << \"Error while loading Grey information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n\n // load GT\n auto gt_sensor = GTSensorBuilder()\n .name(\"GT\")\n .description(\"GroundTruthSensor\")\n .index(slamfile.Sensors.size())\n .build();\n\n slamfile.Sensors.AddSensor(gt_sensor);\n\n if (!loadSVOGroundTruthData(dirname, slamfile, gt_sensor)) {\n std::cout << \"Error while loading gt information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n\n return slamfile_ptr;\n}\n" }, { "path": "framework/tools/dataset-tools/TUM-ROSBAG.cpp", "content": "/*\n\n Copyright (c) 2017-2020 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n The development of the interface with ROS datasets (rosbags) is supported\n by the RAIN Hub, which is funded by the Industrial Strategy Challenge Fund,\n part of the UK government’s modern Industrial Strategy. The fund is\n delivered by UK Research and Innovation and managed by EPSRC [EP/R026084/1].\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \n\n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \"TUM.h\"\n\n\nusing namespace slambench::io ;\n\n\nbool loadTUMROSBAG_DepthData(const std::string & dirname,\n const std::string & bagname,\n const std::string & topic,\n SLAMFile & file, const Sensor::pose_t & pose,\n const TUMROSBAGReader::image_params_t & image_params,\n const DepthSensor::intrinsics_t & intrinsics,\n const CameraSensor::distortion_coefficients_t & distortion,\n const CameraSensor::distortion_type_t & distortion_type,\n const DepthSensor::disparity_params_t & disparity_params,\n const DepthSensor::disparity_type_t & disparity_type) {\n\n // allocate new sensor\n auto *depth_sensor = new DepthSensor(\"Depth\");\n if (depth_sensor == nullptr) {\n std::cerr << \"error allocating depth sensor\" << std::endl;\n return false;\n }\n std::cout << \"depth sensor created\" << std::endl;\n\n // populate sensor data\n depth_sensor->Index = file.Sensors.size();\n depth_sensor->Width = image_params.width;\n depth_sensor->Height = image_params.height;\n depth_sensor->FrameFormat = frameformat::Raster;\n depth_sensor->PixelFormat = pixelformat::D_I_16;\n depth_sensor->DisparityType = disparity_type;\n depth_sensor->Description = \"Depth\";\n depth_sensor->CopyPose(pose);\n depth_sensor->CopyIntrinsics(intrinsics);\n depth_sensor->CopyDisparityParams(disparity_params);\n depth_sensor->DistortionType = distortion_type;\n depth_sensor->CopyRadialTangentialDistortion(distortion);\n depth_sensor->Rate = image_params.rate;\n file.Sensors.AddSensor(depth_sensor);\n\n // create directory for depth images\n std::string depthdir = dirname + \"/depth/\";\n if (!boost::filesystem::exists(depthdir)) {\n if (!boost::filesystem::create_directory(depthdir)) {\n std::cerr << \"error creating depth directory: \"\n << depthdir << std::endl;\n delete depth_sensor;\n return false;\n }\n }\n\n // open rosbag file\n rosbag::Bag bag;\n try {\n bag.open(bagname,rosbag::bagmode::Read);\n }\n catch (...) {\n std::cerr << \"error opening depth rosbag: \" << bagname << std::endl;\n delete depth_sensor;\n return false;\n }\n\n // create query to fetch depth topic messages\n rosbag::View view(bag, rosbag::TopicQuery(topic));\n\n // produce png image for every depth message\n for (const auto& msg : view) {\n sensor_msgs::Image::ConstPtr imgi = msg.instantiate();\n if (imgi == nullptr) {\n continue;\n }\n\n cv::Mat imgo = cv::Mat(imgi->height, imgi->width, CV_32FC1,\n const_cast(&imgi->data[0]), imgi->step);\n cv::Mat image = cv::Mat(imgi->height, imgi->width, CV_16UC1);\n for (uint r = 0; r < imgi->height; r++) {\n for (uint c = 0; c < imgi->width; c++) {\n float dist = imgo.at(r * imgi->width + c);\n auto dist16 = (ushort) (image_params.depthMapFactor * dist);\n image.at(r, c) = dist16;\n }\n }\n\n std::stringstream frame_name;\n frame_name << depthdir;\n frame_name << imgi->header.stamp.sec << \".\"\n << imgi->header.stamp.nsec << \".png\";\n\n if (!cv::imwrite(frame_name.str(), image)) {\n std::cerr << \"error writing depth image: \" <<\n frame_name.str() << std::endl;\n delete depth_sensor;\n return false;\n }\n\n // allocate new depth frame\n auto *depth_frame = new ImageFileFrame();\n if (depth_frame == nullptr) {\n std::cerr << \"error creating depth frame\" << std::endl;\n delete depth_sensor;\n return false;\n }\n\n // populate frame and update slambench file\n depth_frame->FrameSensor = depth_sensor;\n depth_frame->Timestamp.S = imgi->header.stamp.sec;\n depth_frame->Timestamp.Ns = imgi->header.stamp.nsec;\n depth_frame->filename = frame_name.str();\n file.AddFrame(depth_frame);\n }\n\n bag.close();\n\n return true;\n}\n\n\nbool loadTUMROSBAG_RGBGreyData(\n bool doRGB, bool doGrey, const std::string & dirname,\n const std::string & bagname, const std::string & topic,\n SLAMFile & file, const Sensor::pose_t & pose,\n const TUMROSBAGReader::image_params_t & image_params,\n const CameraSensor::intrinsics_t & intrinsics,\n const CameraSensor::distortion_coefficients_t & distortion,\n const CameraSensor::distortion_type_t & distortion_type) {\n\n auto *rgb_sensor = new CameraSensor(\"RGB\", CameraSensor::kCameraType);\n if (rgb_sensor == nullptr) {\n std::cerr << \"error allocating rgb sensor\" << std::endl;\n return false;\n }\n std::cout << \"rgb sensor created\" << std::endl;\n\n auto *grey_sensor = new CameraSensor(\"Grey\", CameraSensor::kCameraType);\n if (grey_sensor == nullptr) {\n std::cerr << \"error allocating grey sensor\" << std::endl;\n delete rgb_sensor;\n return false;\n }\n std::cout << \"grey sensor created\" << std::endl;\n\n // populate rgb sensor data\n if (doRGB) {\n rgb_sensor->Index = file.Sensors.size();\n rgb_sensor->Width = image_params.width;\n rgb_sensor->Height = image_params.height;\n rgb_sensor->FrameFormat = frameformat::Raster;\n rgb_sensor->PixelFormat = pixelformat::RGB_III_888;\n rgb_sensor->Description = \"RGB\";\n rgb_sensor->CopyPose(pose);\n rgb_sensor->CopyIntrinsics(intrinsics);\n rgb_sensor->DistortionType = distortion_type;\n rgb_sensor->CopyRadialTangentialDistortion(distortion);\n rgb_sensor->Rate = image_params.rate;\n file.Sensors.AddSensor(rgb_sensor);\n }\n\n // populate grey sensor data\n if (doGrey) {\n grey_sensor->Index = file.Sensors.size();\n grey_sensor->Width = image_params.width;\n grey_sensor->Height = image_params.height;\n grey_sensor->FrameFormat = frameformat::Raster;\n grey_sensor->PixelFormat = pixelformat::G_I_8;\n grey_sensor->Description = \"Grey\";\n grey_sensor->CopyPose(pose);\n grey_sensor->CopyIntrinsics(intrinsics);\n grey_sensor->CopyRadialTangentialDistortion(distortion);\n grey_sensor->DistortionType = distortion_type;\n grey_sensor->Rate = image_params.rate;\n file.Sensors.AddSensor(grey_sensor);\n }\n\n // create directory for rgb images\n std::string rgbdir = dirname + \"/rgb/\";\n if (!boost::filesystem::exists(rgbdir)) {\n if (!boost::filesystem::create_directory(rgbdir)) {\n std::cerr << \"error creating rgb directory: \"\n << rgbdir << std::endl;\n delete rgb_sensor;\n delete grey_sensor;\n return false;\n }\n }\n\n // open rosbag file\n rosbag::Bag bag;\n try {\n bag.open(bagname, rosbag::bagmode::Read);\n }\n catch (...) {\n std::cerr << \"error opening rgb rosbag: \" << bagname << std::endl;\n delete rgb_sensor;\n delete grey_sensor;\n return false;\n }\n\n // create query to fetch rgb images topic messages\n // NOTE: TUM rosbag files do not contain grey images - use rgb ones!\n rosbag::View view(bag, rosbag::TopicQuery(topic));\n\n // produce png image for every rgb message\n for (const auto& msg : view) {\n sensor_msgs::Image::ConstPtr imgi = msg.instantiate();\n if (imgi == nullptr) {\n continue;\n }\n\n cv::Mat imgo = cv::Mat(imgi->height, imgi->width, CV_8UC3,\n const_cast(&imgi->data[0]), imgi->step);\n cv::Mat image = cv::Mat(imgi->height, imgi->width, CV_8UC3);\n for (uint r = 0; r < imgi->height; r++) {\n for (uint c = 0; c < imgi->width; c++) {\n // NOTE: OpenCV defaults to BGR8 encoding!\n image.at(r, c)[0] = imgo.at(r, c)[2];\n image.at(r, c)[1] = imgo.at(r, c)[1];\n image.at(r, c)[2] = imgo.at(r, c)[0];\n }\n }\n\n std::stringstream frame_name;\n frame_name << rgbdir;\n frame_name << imgi->header.stamp.sec << \".\"\n << imgi->header.stamp.nsec << \".png\";\n\n if (!cv::imwrite(frame_name.str(), image)) {\n std::cerr << \"error writing rgb image: \"\n << frame_name.str() << std::endl;\n delete rgb_sensor;\n delete grey_sensor;\n return false;\n }\n\n if (doRGB) {\n // allocate new rgb frame\n auto *rgb_frame = new ImageFileFrame();\n if (rgb_frame == nullptr) {\n std::cerr << \"error creating rgb frame\" << std::endl;\n delete rgb_sensor;\n delete grey_sensor;\n return false;\n }\n\n // populate frame and update slambench file\n rgb_frame->FrameSensor = rgb_sensor;\n rgb_frame->Timestamp.S = imgi->header.stamp.sec;\n rgb_frame->Timestamp.Ns = imgi->header.stamp.nsec;\n rgb_frame->filename = frame_name.str();\n file.AddFrame(rgb_frame);\n }\n\n if (doGrey) {\n // allocate new grey frame\n auto *grey_frame = new ImageFileFrame();\n if (grey_frame == nullptr) {\n std::cerr << \"error creating grey frame\" << std::endl;\n delete rgb_sensor;\n delete grey_sensor;\n return false;\n }\n\n // populate frame and update slambench file\n grey_frame->FrameSensor = grey_sensor;\n grey_frame->Timestamp.S = imgi->header.stamp.sec;\n grey_frame->Timestamp.Ns = imgi->header.stamp.nsec;\n grey_frame->filename = frame_name.str();\n file.AddFrame(grey_frame);\n }\n }\n\n bag.close();\n\n return true;\n}\n\n\nbool loadTUMROSBAG_GroundTruthData(const std::string & bagname,\n const std::string & topic,\n const TUMROSBAGReader::gt_frame_ids_t & gt_ids,\n SLAMFile & file) {\n\n auto *gt_sensor = new GroundTruthSensor(\"GroundTruth\");\n if (gt_sensor == nullptr) {\n std::cerr << \"error allocating ground truth sensor\" << std::endl;\n return false;\n }\n std::cout << \"gt sensor created\" << std::endl;\n\n // populate sensor data\n gt_sensor->Index = file.Sensors.size();\n gt_sensor->Description = \"GroundTruthSensor\";\n file.Sensors.AddSensor(gt_sensor);\n\n // initialised to avoid warnings!\n tf::Transform w_k_trans = tf::Transform::getIdentity();\n tf::Transform k_c_trans = tf::Transform::getIdentity();\n tf::Transform c_r_trans = tf::Transform::getIdentity();\n tf::Transform r_o_trans = tf::Transform::getIdentity();\n\n bool w_k_new = false;\n bool k_c_rdy = false;\n bool c_r_rdy = false;\n bool r_o_rdy = false;\n bool all_rdy = false;\n\n // NOTE: initialised to avoid warning\n uint32_t ts_sec = 0;\n uint32_t ts_nsec = 0;\n\n // open rosbag\n // the ground truth topic contains several transformations\n // ground truth is built from the following composition:\n // optical frame -> rgb frame -> camera -> kinect -> world\n rosbag::Bag bag;\n try {\n bag.open(bagname,rosbag::bagmode::Read);\n }\n catch (...) {\n std::cerr << \"error opening gt rosbag: \" << bagname << std::endl;\n delete gt_sensor;\n return false;\n }\n\n // create query to fetch ground truth topic messages\n rosbag::View view(bag, rosbag::TopicQuery(topic));\n\n for (const auto& msg : view) {\n tf::tfMessage::ConstPtr msgi = msg.instantiate();\n if (msgi == nullptr) {\n continue;\n }\n\n for (const auto& msgii : msgi->transforms) {\n if (!r_o_rdy && msgii.child_frame_id == gt_ids.optical) {\n // record the /openni_rgb_frame to /openni_rgb_optical_frame\n // transformation_ only once\n if ((msgii.header.frame_id == gt_ids.rgb)) {\n r_o_rdy = true;\n all_rdy = r_o_rdy && c_r_rdy && k_c_rdy;\n tf::transformMsgToTF(msgii.transform, r_o_trans);\n }\n } else if (!c_r_rdy && msgii.child_frame_id == gt_ids.rgb) {\n // record the /openni_camera to /openni_rgb_frame\n // transformation_ only once\n if ((msgii.header.frame_id == gt_ids.camera)) {\n c_r_rdy = true;\n all_rdy = r_o_rdy && c_r_rdy && k_c_rdy;\n tf::transformMsgToTF(msgii.transform, c_r_trans);\n }\n } else if (!k_c_rdy && msgii.child_frame_id == gt_ids.camera) {\n // record the /kinect to /openni_camera\n // transformation_ only once\n if ((msgii.header.frame_id == gt_ids.kinect)) {\n k_c_rdy = true;\n all_rdy = r_o_rdy && c_r_rdy && k_c_rdy;\n tf::transformMsgToTF(msgii.transform, k_c_trans);\n }\n } else if (msgii.child_frame_id == gt_ids.kinect) {\n // track continuously the /world to /kinect transformation_\n if (msgii.header.frame_id == gt_ids.world) {\n w_k_new = true;\n\n tf::transformMsgToTF(msgii.transform, w_k_trans);\n\n // record time stamp to use later in frame\n ts_sec = msgii.header.stamp.sec;\n ts_nsec = msgii.header.stamp.nsec;\n }\n }\n\n if (all_rdy && w_k_new) {\n w_k_new = false;\n Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();\n tf::Transform w_o_trans = w_k_trans * k_c_trans *\n c_r_trans * r_o_trans;\n\n tf::Vector3 tr = w_o_trans.getOrigin();\n tf::Matrix3x3 rt = w_o_trans.getBasis();\n\n // NOTE: float64 (double) to float casts\n pose.block(0, 0, 3, 3)\n << (float) rt[0][0], (float) rt[0][1], (float) rt[0][2],\n (float) rt[1][0], (float) rt[1][1], (float) rt[1][2],\n (float) rt[2][0], (float) rt[2][1], (float) rt[2][2];\n pose.block(0, 3, 3, 1)\n << (float) tr.x(), (float) tr.y(), (float) tr.z();\n\n // allocate new gt frame\n auto *gt_frame = new SLAMInMemoryFrame();\n if (gt_frame == nullptr) {\n std::cerr << \"error creating gt frame\" << std::endl;\n delete gt_sensor;\n return false;\n }\n\n gt_frame->FrameSensor = gt_sensor;\n\n // allocate memory for gt data\n gt_frame->Data = malloc(gt_frame->GetSize());\n if (gt_frame->Data == nullptr) {\n std::cerr << \"error allocating memory for gt frame\"\n << std::endl;\n delete gt_sensor;\n return false;\n }\n\n // populate frame data and update slambench file\n gt_frame->Timestamp.S = ts_sec;\n gt_frame->Timestamp.Ns = ts_nsec;\n memcpy(gt_frame->Data, pose.data(), gt_frame->GetSize());\n file.AddFrame(gt_frame);\n\n // move on to next gt message (skip rest of transformations)\n break;\n }\n }\n }\n\n bag.close();\n\n return true;\n}\n\n\nbool loadTUMROSBAG_AccelerometerData(const std::string & bagname,\n const std::string & topic, SLAMFile & file) {\n\n auto *acc_sensor = new AccelerometerSensor(\"Accelerometer\");\n if (acc_sensor == nullptr) {\n std::cerr << \"error allocating accelerometer sensor\" << std::endl;\n return false;\n }\n std::cout << \"accelerometer sensor created\" << std::endl;\n\n // populate sensor data\n acc_sensor->Index = file.Sensors.size();\n acc_sensor->Description = \"AccelerometerSensor\";\n file.Sensors.AddSensor(acc_sensor);\n\n // open rosbag\n rosbag::Bag bag;\n try {\n bag.open(bagname,rosbag::bagmode::Read);\n }\n catch (...) {\n std::cerr << \"error opening accelerometer rosbag: \" <<\n bagname << std::endl;\n return false;\n }\n\n // create query to fetch ground truth topic messages\n rosbag::View view(bag, rosbag::TopicQuery(topic));\n\n for (const auto& msg : view) {\n sensor_msgs::Imu::ConstPtr msgi = msg.instantiate();\n if (msgi == nullptr) {\n continue;\n }\n\n // allocate new accelerometer frame\n auto *acc_frame = new SLAMInMemoryFrame();\n if (acc_frame == nullptr) {\n std::cerr << \"error creating acc frame\" << std::endl;\n delete acc_sensor;\n return false;\n }\n\n acc_frame->FrameSensor = acc_sensor;\n\n // allocate memory for accelerometer data\n acc_frame->Data = malloc(acc_frame->GetSize());\n if (acc_frame->Data == nullptr) {\n std::cerr << \"error allocating memory for acc frame\" << std::endl;\n delete acc_sensor;\n return false;\n }\n\n // populate frame and update slambench file\n acc_frame->Timestamp.S = msgi->header.stamp.sec;\n acc_frame->Timestamp.Ns = msgi->header.stamp.nsec;\n\n // NOTE: float64 (double) to float casts\n ((float *) acc_frame->Data)[0] = (float) (msgi->linear_acceleration).x;\n ((float *) acc_frame->Data)[1] = (float) (msgi->linear_acceleration).y;\n ((float *) acc_frame->Data)[2] = (float) (msgi->linear_acceleration).z;\n\n file.AddFrame(acc_frame);\n }\n\n bag.close();\n\n return true;\n}\n\n\nSLAMFile* TUMROSBAGReader::GenerateSLAMFile () {\n\n // NOTE: can accelerometer be used on its own?\n if (!(grey || rgb || depth || accelerometer)) {\n std::cerr << \"error: no sensors defined\" << std::endl;\n return nullptr;\n }\n\n std::string dirname = input;\n\n // rosbag file\n auto pos = dirname.rfind('/');\n if (pos == std::string::npos) {\n pos = 0;\n }\n std::string bagname = dirname + \"/../../\" + dirname.substr(pos) + \".bag\";\n\n auto * slamfilep = new SLAMFile();\n if (slamfilep == nullptr) {\n std::cerr << \"error creating slamfile handle\" << std::endl;\n return nullptr;\n }\n\n SLAMFile & slamfile = *slamfilep;\n\n Sensor::pose_t pose = Eigen::Matrix4f::Identity();\n\n image_params_t image_params = get_image_params();\n\n /**\n * get sensor parameters\n *\n * some of these parameters depend on the actual kinect device used\n *\n */\n DepthSensor::disparity_params_t disparity_params;\n DepthSensor::disparity_type_t disparity_type;\n CameraSensor::intrinsics_t intrinsics_rgb;\n DepthSensor::intrinsics_t intrinsics_depth;\n CameraSensor::distortion_coefficients_t distortion_rgb;\n DepthSensor::distortion_coefficients_t distortion_depth;\n CameraSensor::distortion_type_t distortion_type;\n\n uint32_t kinect = get_sensor_params(disparity_params, disparity_type,\n intrinsics_rgb, intrinsics_depth,\n distortion_rgb, distortion_depth,\n distortion_type);\n\n if (kinect) {\n std::cout << \"using freiburg\" << kinect\t<< \" camera calibration parameters\" << std::endl;\n } else {\n std::cout << \"using default camera calibration parameters\" << std::endl;\n std::cout << \"warning: camera calibration might be wrong!\" << std::endl;\n }\n\n\n /**\n * load Depth\n */\n if (depth && !loadTUMROSBAG_DepthData(dirname, bagname, depth_topic,\n slamfile, pose, image_params, intrinsics_depth, distortion_depth,\n distortion_type, disparity_params, disparity_type)) {\n std::cerr << \"error loading depth data.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n\n /**\n * load RGB and/or Grey\n * NOTE: TUM rosbag files do not contain grey images - use rgb ones!\n */\n if ((rgb || grey) && !loadTUMROSBAG_RGBGreyData(rgb, grey,\n dirname, bagname, rgb_topic, slamfile, pose, image_params,\n intrinsics_rgb, distortion_rgb, distortion_type)) {\n std::cerr << \"error loading RGB/Grey data.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n\n /**\n * load GT\n */\n if (gt && !loadTUMROSBAG_GroundTruthData(bagname, gt_topic,\n gt_frame_ids, slamfile)) {\n std::cerr << \"error loading gt data.\" << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n\n /**\n * load Accelerometer\n */\n if (accelerometer && !loadTUMROSBAG_AccelerometerData(bagname,\n acc_topic, slamfile)) {\n std::cerr << \"error loading Accelerometer data.\"\n << std::endl;\n delete slamfilep;\n return nullptr;\n }\n\n return slamfilep;\n}\n" }, { "path": "framework/tools/dataset-tools/TUM.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"include/TUM.h\"\n#include \"include/utils/RegexPattern.h\"\n#include \"include/utils/dataset_utils.h\"\n#include \"io/sensor/sensor_builder.h\"\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n#include \n\n#include \n#include \n\n\nusing namespace slambench::io;\n\nbool loadTUMDepthData(const std::string &dirname,\n SLAMFile &file,\n const Sensor::pose_t &pose,\n const DepthSensor::intrinsics_t &intrinsics,\n const CameraSensor::distortion_coefficients_t &distortion,\n const DepthSensor::disparity_params_t &disparity_params,\n const DepthSensor::disparity_type_t &disparity_type,\n const CameraSensor::distortion_type_t &distortion_type) {\n\n\n auto img_params = TUMReader::get_image_params();\n auto depth_sensor = DepthSensorBuilder()\n .name(\"Depth\")\n .rate(img_params.rate)\n .size(img_params.width, img_params.height)\n .pose(pose)\n .intrinsics(intrinsics)\n .distortion(distortion_type, distortion)\n .disparity(disparity_type, disparity_params)\n .index(file.Sensors.size())\n .build();\n\n file.Sensors.AddSensor(depth_sensor);\n\n std::string line;\n\n std::ifstream infile(dirname + \"/\" + \"depth.txt\");\n\n boost::smatch match;\n\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& fn = RegexPattern::filename;\n\n // format: timestamp filename\n std::string expr = start\n + ts + ws // timestamp\n + fn + end; // filename\n\n boost::regex depth_line = boost::regex(expr);\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, depth_line)) {\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n std::string depth_filename = match[3];\n\n auto depth_frame = new ImageFileFrame();\n depth_frame->FrameSensor = depth_sensor;\n depth_frame->Timestamp.S = timestampS;\n depth_frame->Timestamp.Ns = timestampNS;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/\" << depth_filename;\n depth_frame->filename = frame_name.str();\n\n if (access(depth_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No depth image for frame (%s)\\n\", frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(depth_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\n\nbool loadTUMRGBData(const std::string &dirname,\n SLAMFile &file,\n const Sensor::pose_t &pose,\n const CameraSensor::intrinsics_t &intrinsics,\n const CameraSensor::distortion_coefficients_t &distortion,\n const CameraSensor::distortion_type_t &distortion_type) {\n auto img_params = TUMReader::get_image_params();\n auto rgb_sensor = RGBSensorBuilder()\n .rate(img_params.rate)\n .size(img_params.width, img_params.height)\n .pose(pose)\n .intrinsics(intrinsics)\n .distortion(distortion_type, distortion)\n .index(file.Sensors.size())\n .build();\n\n\n file.Sensors.AddSensor(rgb_sensor);\n\n std::string line;\n\n std::ifstream infile(dirname + \"/\" + \"rgb.txt\");\n\n boost::smatch match;\n\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& fn = RegexPattern::filename;\n\n // format: timestamp filename\n std::string expr = start\n + ts + ws // timestamp\n + fn + end; // filename\n\n boost::regex rgb_line = boost::regex(expr);\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, rgb_line)) {\n\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n std::string rgb_filename = match[3];\n\n auto rgb_frame = new ImageFileFrame();\n rgb_frame->FrameSensor = rgb_sensor;\n rgb_frame->Timestamp.S = timestampS;\n rgb_frame->Timestamp.Ns = timestampNS;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/\" << rgb_filename;\n rgb_frame->filename = frame_name.str();\n\n if (access(rgb_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No RGB image for frame (%s)\\n\", frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(rgb_frame);\n\n } else {\n std::cerr << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadTUMGreyData(const std::string &dirname,\n SLAMFile &file,\n const Sensor::pose_t &pose,\n const CameraSensor::intrinsics_t &intrinsics,\n const CameraSensor::distortion_coefficients_t &distortion,\n const CameraSensor::distortion_type_t &distortion_type) {\n auto img_params = TUMReader::get_image_params();\n auto grey_sensor = GreySensorBuilder()\n .rate(img_params.rate)\n .size(img_params.width, img_params.height)\n .pose(pose)\n .intrinsics(intrinsics)\n .distortion(distortion_type, distortion)\n .index(file.Sensors.size())\n .build();\n file.Sensors.AddSensor(grey_sensor);\n\n std::string line;\n\n std::ifstream infile(dirname + \"/\" + \"rgb.txt\");\n\n boost::smatch match;\n\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& fn = RegexPattern::filename;\n\n // format: timestamp filename\n std::string expr = start\n + ts + ws // timestamp\n + fn + end; // filename\n\n boost::regex rgb_line = boost::regex(expr);\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, rgb_line)) {\n\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n std::string rgb_filename = match[3];\n\n auto grey_frame = new ImageFileFrame();\n grey_frame->FrameSensor = grey_sensor;\n grey_frame->Timestamp.S = timestampS;\n grey_frame->Timestamp.Ns = timestampNS;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/\" << rgb_filename;\n grey_frame->filename = frame_name.str();\n\n if (access(grey_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No RGB image for frame (%s)\\n\", frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(grey_frame);\n\n } else {\n std::cout << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\n\nbool loadTUMGroundTruthData(const std::string &dirname , SLAMFile &file) {\n\n auto gt_sensor = GTSensorBuilder()\n .index(file.Sensors.size())\n .build();\n\n file.Sensors.AddSensor(gt_sensor);\n\n std::ifstream infile(dirname + \"/\" + \"groundtruth.txt\");\n\n std::string line;\n boost::smatch match;\n\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& dec = RegexPattern::decimal;\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n\n // format: timestamp tx ty tz qx qy qz qw\n std::string expr = start\n + ts + ws // timestamp\n + dec + ws // tx\n + dec + ws // ty\n + dec + ws // tz\n + dec + ws // qx\n + dec + ws // qy\n + dec + ws // qz\n + dec + end; // qw\n\n boost::regex groundtruth_line = boost::regex(expr);\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n while (std::getline(infile, line)) {\n if (line.empty() || boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, groundtruth_line)) {\n\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n\n float tx = std::stof(match[3]);\n float ty = std::stof(match[4]);\n float tz = std::stof(match[5]);\n\n float QX = std::stof(match[6]);\n float QY = std::stof(match[7]);\n float QZ = std::stof(match[8]);\n float QW = std::stof(match[9]);\n\n Eigen::Matrix3f rotationMat = Eigen::Quaternionf(QW, QX, QY, QZ).toRotationMatrix();\n Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();\n pose.block(0, 0, 3, 3) = rotationMat;\n\n pose.block(0, 3, 3, 1) << tx, ty, tz;\n\n auto gt_frame = new SLAMInMemoryFrame();\n gt_frame->FrameSensor = gt_sensor;\n gt_frame->Timestamp.S = timestampS;\n gt_frame->Timestamp.Ns = timestampNS;\n gt_frame->Data = malloc(gt_frame->GetSize());\n\n memcpy(gt_frame->Data, pose.data(), gt_frame->GetSize());\n\n file.AddFrame(gt_frame);\n\n } else {\n std::cout << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadTUMAccelerometerData(const std::string &dirname, SLAMFile &file) {\n\n auto accelerometer_sensor = AccSensorBuilder()\n .index(file.Sensors.size())\n .build();\n\n file.Sensors.AddSensor(accelerometer_sensor);\n\n std::ifstream infile(dirname + \"/\" + \"accelerometer.txt\");\n\n std::string line;\n boost::smatch match;\n\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& dec = RegexPattern::decimal;\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n\n // format: timestamp ax ay az\n std::string expr = start\n + ts + ws // timestamp\n + dec + ws // ax\n + dec + ws // ay\n + dec + end; // az\n\n boost::regex accelerometer_line = boost::regex(expr);\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, accelerometer_line)) {\n\n int timestampS = std::stoi(match[1]);\n int timestampNS = std::stoi(match[2]) * std::pow(10, 9 - match[2].length());\n float ax = std::stof(match[3]);\n float ay = std::stof(match[4]);\n float az = std::stof(match[5]);\n\n auto accelerometer_frame = new SLAMInMemoryFrame();\n accelerometer_frame->FrameSensor = accelerometer_sensor;\n accelerometer_frame->Timestamp.S = timestampS;\n accelerometer_frame->Timestamp.Ns = timestampNS;\n accelerometer_frame->Data = malloc(accelerometer_frame->GetSize());\n ((float *)accelerometer_frame->Data)[0] = ax;\n ((float *)accelerometer_frame->Data)[1] = ay;\n ((float *)accelerometer_frame->Data)[2] = az;\n\n file.AddFrame(accelerometer_frame);\n\n } else {\n std::cout << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nSLAMFile* TUMReader::GenerateSLAMFile () {\n\n if(!(grey || rgb || depth)) {\n std::cerr << \"No sensors defined\\n\";\n return nullptr;\n }\n bool is_ethi = false;\n std::string dirname = input;\n\n const std::vector requirements = {\"accelerometer.txt\",\n \"rgb.txt\",\n \"rgb\",\n \"depth.txt\",\n \"depth\",\n \"groundtruth.txt\"};\n\n if (!checkRequirements(dirname, requirements)) {\n std::cerr << \"Invalid folder.\" << std::endl;\n return nullptr;\n }\n\n\n auto slamfilep = new SLAMFile();\n SLAMFile & slamfile = *slamfilep;\n\n Sensor::pose_t pose = Eigen::Matrix4f::Identity();\n\n /// Default parameters from freiburg1\n\n CameraSensor::intrinsics_t intrinsics_rgb;\n DepthSensor::intrinsics_t intrinsics_depth;\n\n CameraSensor::distortion_type_t distortion_type;\n CameraSensor::distortion_coefficients_t distortion_rgb;\n DepthSensor::distortion_coefficients_t distortion_depth;\n\n DepthSensor::disparity_params_t disparity_params;\n DepthSensor::disparity_type_t disparity_type;\n\n\n TUMReader::DatasetOrigin d_origin = get_sensor_params(disparity_params, disparity_type,\n intrinsics_rgb, intrinsics_depth,\n distortion_rgb, distortion_depth,\n distortion_type);\n if (d_origin == TUMReader::DatasetOrigin::Default)\n {\n std::cout << \"using default camera calibration parameters\" << std::endl;\n std::cout << \"warning: camera calibration might be wrong!\" << std::endl;\n\n } else if (d_origin == TUMReader::DatasetOrigin::ETHI) {\n is_ethi = true;\n std::cout << \"using ETH Illumination camera calibration parameters\" << std::endl;\n\n } else {\n std::cout << \"using freiburg\" << d_origin << \" camera calibration parameters\" << std::endl;\n }\n\n if(gt && !loadTUMGroundTruthData(dirname, slamfile)) {\n std::cout << \"Error while loading gt information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n\n }\n\n if(accelerometer && !loadTUMAccelerometerData(dirname, slamfile)) {\n std::cout << \"Error while loading Accelerometer information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n\n }\n\n if (is_ethi)\n dirname = input + \"/depth\";\n if(depth && !loadTUMDepthData(dirname, slamfile,pose,intrinsics_depth,distortion_depth,disparity_params,disparity_type,distortion_type)) {\n std::cout << \"Error while loading depth information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n\n }\n\n if (is_ethi)\n dirname = input + \"/rgb\";\n if(grey && !loadTUMGreyData(dirname, slamfile,pose,intrinsics_rgb,distortion_rgb,distortion_type)) {\n std::cout << \"Error while loading Grey information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n\n }\n\n if(rgb && !loadTUMRGBData(dirname, slamfile,pose,intrinsics_rgb,distortion_rgb,distortion_type)) {\n std::cout << \"Error while loading RGB information.\" << std::endl;\n delete slamfilep;\n return nullptr;\n\n }\n\n return slamfilep;\n}\n\n\n\n" }, { "path": "framework/tools/dataset-tools/UZHFPV.cpp", "content": "/*\n\n Copyright (c) 2019 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"include/UZHFPV.h\"\n#include \"include/utils/RegexPattern.h\"\n#include \"include/utils/dataset_utils.h\"\n#include \"io/sensor/sensor_builder.h\"\n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n\n#include \n#include \n#include \n\n#include \n\n#include \n#include \n#include \n\nusing namespace slambench::io;\n\nbool loadUZHFPVGreyData(const std::string& dirname,\n const std::string& filename,\n const std::string& sensor_name_yaml,\n SLAMFile &file,\n const YAML::Node& yaml) {\n auto width = yaml[sensor_name_yaml][\"resolution\"][0].as();\n auto height = yaml[sensor_name_yaml][\"resolution\"][1].as();\n slambench::io::CameraSensor::intrinsics_t intrinsics;\n intrinsics[0] = yaml[sensor_name_yaml][\"intrinsics\"][0].as() / width;\n intrinsics[1] = yaml[sensor_name_yaml][\"intrinsics\"][1].as() / height;\n intrinsics[2] = yaml[sensor_name_yaml][\"intrinsics\"][2].as() / width;\n intrinsics[3] = yaml[sensor_name_yaml][\"intrinsics\"][3].as() / height;\n\n slambench::io::CameraSensor::distortion_coefficients_t distortion;\n for(size_t i = 0; i < 4; i++)\n distortion[i] = yaml[sensor_name_yaml][\"distortion_coeffs\"][i].as();\n distortion[4] = 0;\n\n Eigen::Matrix4f pose;\n pose << yaml[sensor_name_yaml][\"T_cam_imu\"][0][0].as(), yaml[sensor_name_yaml][\"T_cam_imu\"][1][0].as(), yaml[sensor_name_yaml][\"T_cam_imu\"][2][0].as(), yaml[sensor_name_yaml][\"T_cam_imu\"][3][0].as(),\n yaml[sensor_name_yaml][\"T_cam_imu\"][0][1].as(), yaml[sensor_name_yaml][\"T_cam_imu\"][1][1].as(), yaml[sensor_name_yaml][\"T_cam_imu\"][2][1].as(), yaml[sensor_name_yaml][\"T_cam_imu\"][3][1].as(),\n yaml[sensor_name_yaml][\"T_cam_imu\"][0][2].as(), yaml[sensor_name_yaml][\"T_cam_imu\"][1][2].as(), yaml[sensor_name_yaml][\"T_cam_imu\"][2][2].as(), yaml[sensor_name_yaml][\"T_cam_imu\"][3][2].as(),\n yaml[sensor_name_yaml][\"T_cam_imu\"][0][3].as(), yaml[sensor_name_yaml][\"T_cam_imu\"][1][3].as(), yaml[sensor_name_yaml][\"T_cam_imu\"][2][3].as(), yaml[sensor_name_yaml][\"T_cam_imu\"][3][3].as();\n\n auto rate = yaml[\"cam1\"] ? 30 : 50; // if cam1 exists, it's Snapdragon (30fps), else it's Davis (50fps).\n auto grey_sensor = GreySensorBuilder()\n .name(\"Grey \" + sensor_name_yaml)\n .size(width, height)\n .pose(pose.transpose())\n .intrinsics(intrinsics)\n .distortion(CameraSensor::distortion_type_t::Equidistant, distortion)\n .rate(rate)\n .index(file.Sensors.size())\n .build();\n //if(sensor_name_yaml.find(\"cam1\"))\n grey_sensor->Delay = yaml[sensor_name_yaml][\"timeshift_cam_imu\"].as();\n file.Sensors.AddSensor(grey_sensor);\n\n std::string line;\n std::ifstream infile(dirname + \"/\" + filename);\n boost::smatch match;\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n const std::string& id = RegexPattern::decimal;\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& fn = RegexPattern::filename;\n\n // format: id timestamp filename\n std::string expr = start\n + id + ws // id\n + ts + ws // timestamp\n + fn + ws // filename\n + end;\n\n boost::regex grey_line = boost::regex(expr);\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, grey_line)) {\n\n// int identifer = std::stoi(match[1]);\n\n int timestampS = std::stoi(match[2]);\n int timestampNS = std::stod(match[3]) * std::pow(10, 9 - match[3].length());\n std::string grey_filename = match[4];\n\n auto grey_frame = new ImageFileFrame();\n grey_frame->FrameSensor = grey_sensor;\n grey_frame->Timestamp.S = timestampS;\n grey_frame->Timestamp.Ns = timestampNS;\n\n std::stringstream frame_name;\n frame_name << dirname << \"/\" << grey_filename;\n grey_frame->filename = frame_name.str();\n\n if (access(grey_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No Grey image for frame (%s)\\n\", frame_name.str().c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(grey_frame);\n\n } else {\n std::cout << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadUZHFPVGroundTruthData(const std::string &dirname,\n SLAMFile &file,\n GroundTruthSensor* gt_sensor) {\n\n std::ifstream infile(dirname + \"/\" + \"groundtruth.txt\");\n\n std::string line;\n boost::smatch match;\n\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& id = RegexPattern::integer;\n const std::string& dec = RegexPattern::decimal;\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n\n // format: id timestamp tx ty tz qx qy qz qw\n std::string expr = start\n + id + ws // id\n + ts + ws // timestamp\n + dec + ws // tx\n + dec + ws // ty\n + dec + ws // tz\n + dec + ws // qx\n + dec + ws // qy\n + dec + ws // qz\n + dec + end; // qw\n\n boost::regex groundtruth_line = boost::regex(expr);\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, groundtruth_line)) {\n\n// int identifier = std::stoi(match[1]);\n\n int timestampS = std::stoi(match[2]);\n int timestampNS = std::stod(match[3]) * std::pow(10, 9 - match[3].length());\n\n float tx = std::stof(match[4]);\n float ty = std::stof(match[5]);\n float tz = std::stof(match[6]);\n\n float QX = std::stof(match[7]);\n float QY = std::stof(match[8]);\n float QZ = std::stof(match[9]);\n float QW = std::stof(match[10]);\n\n Eigen::Matrix3f rotationMat = Eigen::Quaternionf(QW, QX, QY, QZ).toRotationMatrix();\n Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();\n pose.block(0, 0, 3, 3) = rotationMat;\n pose.block(0, 3, 3, 1) << tx, ty, tz;\n\n auto gt_frame = new SLAMInMemoryFrame();\n gt_frame->FrameSensor = gt_sensor;\n gt_frame->Timestamp.S = timestampS;\n gt_frame->Timestamp.Ns = timestampNS;\n gt_frame->Data = malloc(gt_frame->GetSize());\n\n memcpy(gt_frame->Data, pose.data(), gt_frame->GetSize());\n\n file.AddFrame(gt_frame);\n\n } else {\n std::cout << \"Unknown line:\" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadUZHFPVIMUData(const std::string &dirname,\n SLAMFile &file,\n const YAML::Node& yaml) {\n auto imu_sensor = new IMUSensor(dirname);\n\n // parameters from calibration imu.yaml\n imu_sensor->AcceleratorNoiseDensity = yaml[\"accelerometer_noise_density\"].as();\n imu_sensor->AcceleratorBiasDiffusion = yaml[\"accelerometer_random_walk\"].as();\n imu_sensor->GyroscopeNoiseDensity = yaml[\"gyroscope_noise_density\"].as();\n imu_sensor->GyroscopeBiasDiffusion = yaml[\"gyroscope_random_walk\"].as();\n imu_sensor->Rate = yaml[\"update_rate\"].as();\n imu_sensor->Index = file.Sensors.size();\n file.Sensors.AddSensor(imu_sensor);\n\n std::string line;\n boost::smatch match;\n std::ifstream infile(dirname + \"/\" + \"imu.txt\");\n\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& id = RegexPattern::integer;\n const std::string& dec = RegexPattern::decimal;\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n\n // format: timestamp ang_vel_x ang_vel_y ang_vel_z lin_acc_x lin_acc_y lin_acc_z\n std::string expr = start\n + id + ws // id\n + ts + ws // timestamp\n + dec + ws // ang_vel_x\n + dec + ws // ang_vel_y\n + dec + ws // ang_vel_z\n + dec + ws // lin_acc_x\n + dec + ws // lin_acc_y\n + dec + end; // lin_acc_z\n\n boost::regex imu_line = boost::regex(expr);\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, imu_line)) {\n\n// int identifier = std::stoi(match[1]);\n\n int timestampS = std::stoi(match[2]);\n int timestampNS = std::stod(match[3]) * std::pow(10, 9 - match[3].length());\n\n float gx = std::stof(match[4]);\n float gy = std::stof(match[5]);\n float gz = std::stof(match[6]);\n float ax = std::stof(match[7]);\n float ay = std::stof(match[8]);\n float az = std::stof(match[9]);\n\n auto IMU_frame = new SLAMInMemoryFrame();\n IMU_frame->FrameSensor = imu_sensor;\n IMU_frame->Timestamp.S = timestampS;\n IMU_frame->Timestamp.Ns = timestampNS;\n IMU_frame->Data = malloc(imu_sensor->GetFrameSize(IMU_frame));\n\n ((float *)IMU_frame->Data)[0] = gx;\n ((float *)IMU_frame->Data)[1] = gy;\n ((float *)IMU_frame->Data)[2] = gz;\n\n ((float *)IMU_frame->Data)[3] = ax;\n ((float *)IMU_frame->Data)[4] = ay;\n ((float *)IMU_frame->Data)[5] = az;\n\n file.AddFrame(IMU_frame);\n\n } else {\n std::cerr << \"Unknown line: \" << line << std::endl;\n return false;\n }\n }\n return true;\n}\n\nbool loadUZHFPVEventData(const std::string &dirname,\n SLAMFile &file,\n EventCameraSensor *event_sensor) {\n\n using namespace slambench;\n\n std::string line;\n\n boost::smatch match;\n std::ifstream infile(dirname + \"/\" + \"events.txt\");\n\n const std::string& ts = RegexPattern::timestamp;\n const std::string& ws = RegexPattern::whitespace;\n const std::string& num = RegexPattern::integer;\n const std::string& start = RegexPattern::start;\n const std::string& end = RegexPattern::end;\n\n // format: timestamp x y polarity\n std::string expr = start\n + ts + ws // timestamp\n + num + ws // x\n + num + ws // y\n + num + end; // polarity\n\n boost::regex events_line = boost::regex(expr);\n boost::regex comment = boost::regex(RegexPattern::comment);\n\n std::vector events = {};\n\n while (std::getline(infile, line)) {\n if (line.empty()) {\n continue;\n } else if (boost::regex_match(line, match, comment)) {\n continue;\n } else if (boost::regex_match(line, match, events_line)) {\n\n uint32_t timestampS = std::stoi(match[0]);\n uint32_t timestampNs = std::stod(match[2]) * std::pow(10, 9 - match[2].length());\n\n auto timestamp = TimeStamp{timestampS, timestampNs};\n int x = std::stoi(match[3]);\n int y = std::stoi(match[4]);\n bool p = std::stoi(match[5]);\n\n events.emplace_back(timestamp, x, y, p);\n\n } else {\n std::cerr << \"Unknown line: \" << line << std::endl;\n return false;\n }\n }\n\n size_t current_index = 0, i;\n auto current_ts = events[current_index].ts;\n\n // loop runs once per SLAM Frame\n while(current_index < events.size() - 1) {\n\n auto event_frame = new SLAMInMemoryFrame();\n event_frame->FrameSensor = event_sensor;\n event_frame->Timestamp = current_ts;\n\n // loop from current position until frame found with time difference greater than framerate\n for(i = current_index; i < events.size(); ++i) {\n auto delta = events[i].ts - current_ts;\n if (delta > std::chrono::milliseconds{20}) break;\n }\n\n size_t count = (i - 1) - current_index;\n size_t variable_size = sizeof(Event) * count;\n\n // copy from and to points into malloc'd memory\n event_frame->SetVariableSize(variable_size);\n event_frame->Data = malloc(variable_size);\n memcpy(event_frame->Data, &events[current_index], variable_size);\n\n file.AddFrame(event_frame);\n\n // set index to beginning of next frame\n current_index = i;\n current_ts = events[current_index].ts;\n }\n\n return true;\n}\n\nSLAMFile *UZHFPVReader::GenerateSLAMFile() {\n\n std::string dirname = input;\n // check requirements for slamfile\n std::vector requirements = {\"img\"};\n\n if (imu) {\n requirements.emplace_back(\"imu.txt\");\n requirements.emplace_back(\"imu.yaml\");\n }\n\n if (gt) {\n requirements.emplace_back(\"groundtruth.txt\");\n }\n\n if (stereo) {\n requirements.emplace_back(\"left_images.txt\");\n requirements.emplace_back(\"right_images.txt\");\n\n } else {\n\n requirements.emplace_back(\"images.txt\");\n }\n\n if (events) {\n requirements.emplace_back(\"events.txt\");\n }\n\n if (!checkRequirements(dirname, requirements)) {\n std::cerr << \"Invalid folder.\" << std::endl;\n return nullptr;\n }\n YAML::Node yaml = YAML::LoadFile(dirname + \"/sensors.yaml\");\n\n // Setup slamfile\n auto slamfile_ptr = new SLAMFile();\n auto &slamfile = *slamfile_ptr;\n\n Sensor::pose_t pose = Eigen::Matrix4f::Identity();\n\n // load events data\n if (events) {\n auto event_sensor = new EventCameraSensor(dirname);\n event_sensor->Width = 346;\n event_sensor->Height = 260;\n event_sensor->Index = slamfile.Sensors.size();\n slamfile.Sensors.AddSensor(event_sensor);\n\n if (!loadUZHFPVEventData(dirname, slamfile, event_sensor)) {\n std::cerr << \"Error while loading grey left stereo information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n }\n\n // load camera data\n if (stereo) {\n\n // snapdragon stereo left\n if (!loadUZHFPVGreyData(dirname, \"left_images.txt\", \"cam0\", slamfile, yaml)) {\n std::cerr << \"Error while loading grey left stereo information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n\n // snapdragon stereo right\n if (!loadUZHFPVGreyData(dirname, \"right_images.txt\", \"cam1\", slamfile, yaml)) {\n std::cerr << \"Error while loading grey right stereo information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n\n } else {\n // davis grey camera\n auto grey_sensor = GreySensorBuilder()\n .name(\"Grey\")\n .size(346, 260)\n .pose(pose)\n .intrinsics(davis_intrinsics)\n .distortion(CameraSensor::distortion_type_t::Equidistant, davis_distortion)\n .rate(50) // from paper\n .index(slamfile.Sensors.size())\n .build();\n\n slamfile.Sensors.AddSensor(grey_sensor);\n\n if (!loadUZHFPVGreyData(dirname, \"images.txt\", \"cam0\", slamfile, yaml)) {\n std::cerr << \"Error while loading Grey information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n }\n\n // load GT\n if (gt) {\n auto gt_sensor = GTSensorBuilder()\n .name(\"GroundTruth\")\n .description(\"GroundTruthSensor\")\n .index(slamfile.Sensors.size())\n .build();\n\n slamfile.Sensors.AddSensor(gt_sensor);\n\n if(!loadUZHFPVGroundTruthData(dirname, slamfile, gt_sensor)) {\n std::cerr << \"Error while loading gt information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n }\n\n yaml = YAML::LoadFile(dirname + \"/imu.yaml\");\n // load IMU data\n if (imu) {\n if(!loadUZHFPVIMUData(dirname, slamfile, yaml)) {\n std::cerr << \"Error while loading gt information.\" << std::endl;\n delete slamfile_ptr;\n return nullptr;\n }\n }\n\n return slamfile_ptr;\n}\n" }, { "path": "framework/tools/dataset-tools/VolumeDeform.cpp", "content": "/*\n\n Copyright (c) 2020 University of Manchester.\n Supported by the RAIN Hub, which is funded by the Industrial Strategy Challenge Fund,\n part of the UK government’s modern Industrial Strategy. The fund is\n delivered by UK Research and Innovation and managed by EPSRC [EP/R026084/1].\n This code is licensed under the MIT License.\n\n */\n\n#include \"include/VolumeDeform.h\"\n#include \"include/utils/dataset_utils.h\"\n#include \"io/sensor/sensor_builder.h\"\n\n#include \n#include \n#include \n#include \n\n#include \n\nusing namespace slambench::io;\n\nstd::string GetFileName(const std::string& dirname, size_t frame_idx, bool is_depth_img)\n{\n //Construct the file_name\n char frame_idx_str[20];\n sprintf(frame_idx_str, \"%06d\", static_cast(frame_idx));\n std::string file_name = \"frame-\";\n file_name += std::string(frame_idx_str);\n if (is_depth_img) {\n file_name += \".depth\";\n }\n else {\n file_name += \".color\";\n }\n file_name += \".png\";\n\n return dirname + \"/\" + file_name;\n}\n\nbool VolumeDeformReader::GetFrame(const std::string &dirname,\n int frame_no,\n SLAMFile &file,\n std::ifstream& infile,\n CameraSensor* rgb_sensor,\n CameraSensor* grey_sensor,\n DepthSensor* depth_sensor,\n GroundTruthSensor* gt_sensor) {\n\n double frame_time = 1.0 / image_params.rate;\n\n uint64_t total_ns = frame_time * frame_no * 1000000000;\n slambench::TimeStamp ts;\n ts.S = total_ns / 1000000000;\n ts.Ns = total_ns % 1000000000;\n\n if (rgb_sensor) {\n auto rgb_frame = new ImageFileFrame();\n rgb_frame->FrameSensor = rgb_sensor;\n rgb_frame->Timestamp = ts;;\n rgb_frame->filename = GetFileName(dirname, frame_no, false);\n\n if (access(rgb_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No RGB image for frame %d (%s)\\n\", frame_no, rgb_frame->filename.c_str());\n return false;\n }\n\n file.AddFrame(rgb_frame);\n }\n if (grey_sensor) {\n auto grey_frame = new ImageFileFrame();\n grey_frame->FrameSensor = grey_sensor;\n grey_frame->Timestamp = ts;\n grey_frame->filename = GetFileName(dirname, frame_no, false);\n\n if (access(grey_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No Grey image for frame %d (%s)\\n\", frame_no, grey_frame->filename.c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(grey_frame);\n }\n\n if (depth_sensor) {\n auto depth_frame = new ImageFileFrame();\n depth_frame->filename = GetFileName(dirname, frame_no, true);\n depth_frame->FrameSensor = depth_sensor;\n depth_frame->Timestamp = ts;\n\n if (access(depth_frame->filename.c_str(), F_OK) < 0) {\n printf(\"No depth image for frame %d (%s)\\n\", frame_no, depth_frame->filename.c_str());\n perror(\"\");\n return false;\n }\n\n file.AddFrame(depth_frame);\n }\n\n if (gt_sensor) {\n std::vector myNumbers;\n float number;\n std::string line;\n std::getline(infile, line);\n if(line.empty())\n return false;\n std::stringstream iss( line );\n while ( iss >> number )\n myNumbers.push_back( number );\n auto pose = Eigen::Map(myNumbers.data()).transpose(); // FIXME: why doesn't using ColMajor instead fix this?\n auto gt_frame = new SLAMInMemoryFrame();\n gt_frame->FrameSensor = gt_sensor;\n gt_frame->Timestamp = ts;\n gt_frame->Data = malloc(sizeof(slambench::io::Sensor::pose_t));\n\n memcpy(gt_frame->Data, pose.data(), gt_frame->GetSize());\n file.AddFrame(gt_frame);\n }\n\n return true;\n}\n\nSLAMFile *VolumeDeformReader::GenerateSLAMFile() {\n\n if (!(grey || rgb || depth)) {\n std::cerr << \"No sensors defined\\n\";\n return nullptr;\n }\n\n const std::vector requirements = {\"data\",\n \"canonical\",\n \"reconstruction\",\n \"poses.txt\"};\n\n if (!checkRequirements(input, requirements)) {\n std::cerr << \"Invalid folder.\" << std::endl;\n return nullptr;\n }\n\n auto slamfile_ptr = new SLAMFile();\n auto &slamfile = *slamfile_ptr;\n CameraSensor *rgb_sensor, *grey_sensor;\n DepthSensor *depth_sensor;\n GroundTruthSensor *gt_sensor;\n // load Depth\n if (depth) {\n depth_sensor = DepthSensorBuilder()\n .rate(image_params.rate)\n .size(image_params.width, image_params.height)\n .intrinsics(intrinsics)\n .build();\n\n slamfile.Sensors.AddSensor(depth_sensor);\n }\n\n // load Grey\n if (grey) {\n grey_sensor = GreySensorBuilder()\n .rate(image_params.rate)\n .size(image_params.width, image_params.height)\n .intrinsics(intrinsics)\n .build();\n\n slamfile.Sensors.AddSensor(grey_sensor);\n }\n\n // load RGB\n if (rgb) {\n rgb_sensor = RGBSensorBuilder()\n .rate(image_params.rate)\n .size(image_params.width, image_params.height)\n .intrinsics(intrinsics)\n .build();\n\n slamfile.Sensors.AddSensor(rgb_sensor);\n }\n\n // load GT\n if (gt) {\n gt_sensor = GTSensorBuilder().build();\n slamfile.Sensors.AddSensor(gt_sensor);\n }\n auto gt_file = input + \"/poses.txt\";\n std::ifstream istream;\n if(access(gt_file.c_str(), F_OK) >= 0)\n istream = std::ifstream(gt_file);\n\n int frame_no = 0;\n while (GetFrame(input+\"/data\", frame_no, slamfile, istream, rgb_sensor, grey_sensor, depth_sensor, gt_sensor)) {\n frame_no++;\n }\n if(istream.is_open())\n istream.close();\n\n return slamfile_ptr;\n}\n" }, { "path": "framework/tools/dataset-tools/dataset-generator.cpp", "content": "/*\n\n Copyright (c) 2017-2020 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n The development of the interface with ROS datasets (rosbags) is supported\n by the RAIN Hub, which is funded by the Industrial Strategy Challenge Fund,\n part of the UK government’s modern Industrial Strategy. The fund is\n delivered by UK Research and Innovation and managed by EPSRC [EP/R026084/1].\n\n This code is licensed under the MIT License.\n\n */\n\n#include \n#include \n#include \n\n#include \n#include \n#include \n\n#include \n#include \n#include \n\n#include \"include/BONN.h\"\n#include \"include/EUROCMAV.h\"\n#include \"include/ICL.h\"\n#include \"include/ICLNUIM.h\"\n#include \"include/SVO.h\"\n#include \"include/TUM.h\"\n#include \"include/UZHFPV.h\"\n#include \"include/OpenLORIS.h\"\n#include \"include/VolumeDeform.h\"\n\nusing namespace slambench::io;\n\nclass MainComponent : public ParameterComponent {\nprivate:\n slambench::ParameterManager param_manager;\n DatasetReader *reader = nullptr;\n\npublic:\n std::string binary_name;\n std::string dataset;\n std::string output;\n bool quiet;\n\npublic:\n static void help_callback(Parameter *, ParameterComponent *caller) {\n\n auto config = dynamic_cast(caller);\n\n std::cerr << \"\\n\"\n \"== =========================== ==\\n\"\n \"== SLAMBench Dataset Generator ==\\n\"\n \"== =========================== ==\\n\"\n \"\\n\"\n \"Description:\\n The dataset generator is used to produce *.slam files\"\n \"(dataset files compatible with the SLAMBench loader).\\n\"\n \"\\n\"\n \"Usage:\\n \" << config->binary_name << \" -d dataset-type -o output-slam-file \"\n \"[with extra arguments required for the different dataset type]\\n\"\n \"\\n\"\n \"Parameters:\\n\";\n\n config->param_manager.PrintArguments(std::cerr);\n\n exit(0);\n }\n\n static void dataset_callback(Parameter *p, ParameterComponent *caller) {\n\n auto config = dynamic_cast(caller);\n\n auto dataset = dynamic_cast *>(p);\n std::string dataset_name = dataset->getTypedValue();\n\n if (dataset_name == \"iclnuim\") {\n config->reader = new ICLNUIMReader(\"\");\n } else if (dataset_name == \"tum\") {\n config->reader = new TUMReader(\"\");\n } else if (dataset_name == \"tum-rosbag\") {\n#ifdef ROSBAG_SUPPORT\n config->reader = new TUMROSBAGReader(\"\");\n#else\n std::cerr << \"\\033[1;31mError: ROS support not enabled for this dataset. Please rebuild SLAMBench with ROS dependencies.\\033[0m\" << std::endl;\n\t\t\texit(1);\n#endif\n } else if (dataset_name == \"eurocmav\") {\n config->reader = new EUROCMAVReader(\"\");\n } else if (dataset_name == \"icl\") {\n config->reader = new ICLReader(\"\");\n } else if (dataset_name == \"svo\") {\n config->reader = new SVOReader(\"\");\n } else if (dataset_name == \"bonn\") {\n config->reader = new BONNReader(\"\");\n } else if (dataset_name == \"uzhfpv\") {\n config->reader = new UZHFPVReader(\"\");\n } else if (dataset_name == \"OpenLORIS\") {\n config->reader = new OpenLORISReader(\"\");\n } else if (dataset_name == \"VolumeDeform\") {\n config->reader = new VolumeDeformReader(\"\");\n } else if (dataset_name == \"ethi\") {\n auto eth_reader = new ETHIReader(\"\");\n if(eth_reader->dataset == \"iclnuim\")\n config->reader =new ICLNUIMReader(\"\");\n else if(eth_reader->dataset == \"tum\")\n config->reader = new TUMReader(\"\");\n } else\n std::cerr<<\"The base dataset must be either iclnuim or tum\"<reader) {\n config->param_manager.AddComponent(config->reader);\n } else {\n std::cout << \"Data format not found\" << std::endl;\n exit(1);\n }\n }\n\n static void frame_callback(int idx, int total) {\n printf(\"\\r\");\n\n // print progress bar\n printf(\"[\");\n const int width = 50;\n float blocks = width * ((float)idx / total);\n\n int i = 0;\n for (; i < blocks; ++i) {\n printf(\"#\");\n }\n for (; i < width; ++i) {\n printf(\" \");\n }\n printf(\"] \");\n\n printf(\"%i / %i\", idx, total);\n fflush(stdout);\n }\n\n MainComponent(int argc, char *argv[]) : ParameterComponent(\"\"), binary_name(argv[0]), quiet(false) {\n\n this->addParameter(TypedParameter(\"d\", \"dataset\",\n \"Name of the input dataset type \"\n \"(iclnuim, tum, eurocmav, icl, svo, bonn, ethi, uzhfpv, OpenLORIS)\",\n &this->dataset, nullptr, dataset_callback));\n this->addParameter(TypedParameter(\"o\",\"output\",\"Output slam file\", &this->output, nullptr));\n this->addParameter(TypedParameter(\"q\", \"quiet\",\"Hide the progress bar\", &this->quiet, nullptr));\n this->addParameter(TriggeredParameter(\"h\", \"help\",\"Print the help.\", help_callback));\n\n this->param_manager.AddComponent(this);\n this->param_manager.ReadArguments(argc, argv);\n }\n\n bool Run() {\n\n SLAMFile *slam_file = reader->GenerateSLAMFile();\n\n if (slam_file == nullptr) {\n std::cout << \"No SLAM File generated.\" << std::endl;\n return false;\n }\n\n std::cout << \"Writing output.\" << std::endl;\n return SLAMFile::Write(this->output, *slam_file, this->quiet ? nullptr : frame_callback);\n }\n};\n\nint main(int argc, char *argv[]) {\n\n auto main = new MainComponent(argc, argv);\n\n if (main->dataset.empty()) {\n std::cout << \" Please define the dataset type using the -d argument.\\n\"\n \" Possible values are: iclnuim, tum, eurocmav, icl, svo, bonn, ethi, uzhfpv, OpenLORIS\\n\\n\"\n \" To have details of arguments for any type of dataset you are interested by,\\n\"\n \" Please run the help mode for this dataset (e.g \" << argv[0] << \" -d tum)\\n\";\n return EXIT_FAILURE;\n }\n\n if (main->output.empty()) {\n std::cout << \"Please define the output file using the -o argument.\\n\";\n return EXIT_FAILURE;\n }\n\n std::cout << \"Selected Dataset is \" << main->dataset << std::endl;\n std::cout << \"Selected output is \" << main->output << std::endl;\n\n std::cout << \"Run generation...\\n\";\n\n bool res = main->Run();\n\n std::cout << std::endl << \"Done.\\n\";\n\n assert(res);\n}\n" }, { "path": "framework/tools/dataset-tools/include/BONN.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of\n Manchester. Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_BONN_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_BONN_H_\n\n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n\n#include \"DatasetReader.h\"\n\nnamespace slambench {\n\n namespace io {\n\n class BONNReader : public DatasetReader {\n private:\n static constexpr image_params_t image_params =\n { 640, 480, 30.0, 5000.0 };\n\n static constexpr CameraSensor::intrinsics_t intrinsics_rgb =\n {0.8481606891, 1.1303684792, 0.493114875, 0.4953252042};\n\n static constexpr DepthSensor::intrinsics_t intrinsics_depth =\n {0.8481606891, 1.1303684792, 0.493114875, 0.4953252042};\n\n static constexpr CameraSensor::distortion_coefficients_t distortion_rgb =\n {0.039903, -0.099343, -0.000730, -0.000144, 0.000000};\n\n static constexpr DepthSensor::distortion_coefficients_t distortion_depth =\n {0.039903, -0.099343, -0.000730, -0.000144, 0.000000};\n\n static constexpr DepthSensor::disparity_params_t disparity_params = {0.0002, 0.0};\n static constexpr DepthSensor::disparity_type_t disparity_type = DepthSensor::affine_disparity;\n static constexpr CameraSensor::distortion_type_t distortion_type = CameraSensor::distortion_type_t::RadialTangential;\n\n public:\n std::string input;\n std::string plyfile;\n bool grey = true, rgb = true, depth = true, gt = true;\n\n explicit BONNReader(const std::string& name) : DatasetReader(name) {\n\n this->addParameter(TypedParameter(\"i\", \"input-directory\",\n \"path of the BONN dataset directory\",\n &this->input, nullptr));\n\n this->addParameter(TypedParameter(\"grey\", \"grey\",\n \"set to true or false to specify if the GREY \"\n \"stream need to be include in the slam file.\",\n &this->grey, nullptr));\n\n this->addParameter(TypedParameter(\"rgb\", \"rgb\",\n \"set to true or false to specify if the RGB \"\n \"stream need to be include in the slam file.\",\n &this->rgb, nullptr));\n\n this->addParameter(TypedParameter(\"depth\", \"depth\",\n \"set to true or false to specify if the DEPTH \"\n \"stream need to be include in the slam file.\",\n &this->depth, nullptr));\n\n this->addParameter(TypedParameter(\"gt\", \"gt\",\n \"set to true or false to specify if the GROUNDTRUTH \"\n \"POSE stream need to be include in the slam file.\",\n &this->gt, nullptr));\n\n this->addParameter(TypedParameter(\"ply\", \"ply-file\",\n \"When a PLY file is specified, the GROUNDTRUTH POINT \"\n \"CLOUD will be included in the slam file.\",\n &this->plyfile, nullptr));\n }\n\n SLAMFile* GenerateSLAMFile() override;\n };\n } // namespace io\n} // namespace slambench\n\n#endif /* FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_BONN_H_ */\n" }, { "path": "framework/tools/dataset-tools/include/DatasetReader.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_DATASETREADER_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_DATASETREADER_H_\n\n#include \n\nnamespace slambench {\n namespace io {\n class SLAMFile;\n class DatasetReader : public ParameterComponent {\n public :\n typedef struct {\n const uint32_t width;\n const uint32_t height;\n const float rate;\n const float depthMapFactor;\n } image_params_t;\n DatasetReader(const std::string &name) : ParameterComponent(name) {}\n virtual slambench::io::SLAMFile *GenerateSLAMFile() = 0;\n };\n }\n}\n#endif /* FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_DATASETREADER_H_ */\n" }, { "path": "framework/tools/dataset-tools/include/ETHI.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_ETHI_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_ETHI_H_\n\n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \"DatasetReader.h\"\n\nnamespace slambench {\n\n namespace io {\n\n class ETHIReader : public DatasetReader {\n\n public:\n\n std::string dataset = \"\";\n explicit ETHIReader(const std::string &name) : DatasetReader(name) {\n this->addParameter(TypedParameter(\"dataset\", \"base-dataset\", \"If this is iclnuim or tum\",\n &this->dataset, nullptr));\n }\n\n SLAMFile *GenerateSLAMFile() override;\n };\n\n } // namespace io\n} // namespace slambench\n\n#endif /* FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_ETHI_H_ */\n" }, { "path": "framework/tools/dataset-tools/include/EUROCMAV.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_EUROCMAV_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_EUROCMAV_H_\n\n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n\n#include \"DatasetReader.h\"\n\nnamespace slambench {\n\n namespace io {\n\n class EUROCMAVReader : public DatasetReader {\n private:\n static constexpr CameraSensor::intrinsics_t fr1_intrinsics_rgb = {0.9375, 1.25, 0.5, 0.5};\n static constexpr DepthSensor::intrinsics_t fr1_intrinsics_depth = {0.9375, 1.25, 0.5, 0.5};\n\n public:\n std::string input;\n bool imu = true, gt = true, stereo = true, rgb = false;\n\n explicit EUROCMAVReader(const std::string& name) : DatasetReader(name) {\n\n this->addParameter(TypedParameter(\"i\", \"input-directory\",\n \"path of the EUROCMAV dataset directory\",\n &this->input,\n nullptr));\n\n this->addParameter(TypedParameter(\"sgrey\", \"stereo-grey\",\n \"set to true or false to specify if the STEREO GREY \"\n \"stream need to be include in the slam file.\",\n &this->stereo,\n nullptr));\n\n this->addParameter(TypedParameter(\"srgb\", \"srgb\",\n \"set to true or false to specify if the STEREO RGB \"\n \"stream need to be include in the slam file.\",\n &this->rgb,\n nullptr));\n\n this->addParameter(TypedParameter(\"gt\", \"gt\",\n \"set to true or false to specify if the GROUNDTRUTH POSE \"\n \"stream need to be include in the slam file.\",\n &this->gt,\n nullptr));\n\n this->addParameter(TypedParameter(\"imu\", \"imu\",\n \"set to true or false to specify if the IMU \"\n \"stream need to be include in the slam file.\",\n &this->imu,\n nullptr));\n }\n\n SLAMFile* GenerateSLAMFile() override;\n };\n\n } // namespace io\n} // namespace slambench\n\n#endif /* FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_EUROCMAV_H_ */\n" }, { "path": "framework/tools/dataset-tools/include/ICL.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_ICL_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_ICL_H_\n\n\n\n\n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \"../../dataset-tools/include/DatasetReader.h\"\n\nnamespace slambench {\n\nnamespace io {\n\nclass ICLReader : public DatasetReader {\n\nprivate :\n\tstatic constexpr CameraSensor::intrinsics_t fr1_intrinsics_rgb = { 0.9375, 1.25, 0.5, 0.5 };\n\tstatic constexpr DepthSensor::intrinsics_t fr1_intrinsics_depth = { 0.9375, 1.25, 0.5, 0.5 };\n\npublic :\n\tstd::string input;\n\tbool grey = true, rgb = true, depth = true, gt = true, accelerometer = false;\n\n\tICLReader (std::string name) : DatasetReader(name) {\n\n\t\tthis->addParameter(TypedParameter(\"i\", \"input-directory\", \"path of the ICL dataset directory\", &this->input, NULL));\n\t\tthis->addParameter(TypedParameter(\"grey\", \"grey\", \"set to true or false to specify if the GREY stream need to be include in the slam file.\", &this->grey, NULL));\n\t\tthis->addParameter(TypedParameter(\"rgb\", \"rgb\", \"set to true or false to specify if the RGB stream need to be include in the slam file.\", &this->rgb, NULL));\n\t\tthis->addParameter(TypedParameter(\"depth\", \"depth\", \"set to true or false to specify if the DEPTH stream need to be include in the slam file.\", &this->depth, NULL));\n\t\tthis->addParameter(TypedParameter(\"gt\", \"gt\", \"set to true or false to specify if the GROUNDTRUTH POSE stream need to be include in the slam file.\", &this->gt, NULL));\n\t\tthis->addParameter(TypedParameter(\"acc\", \"accelerometer\", \"set to true or false to specify if the ACCELEROMETER stream need to be include in the slam file.\", &this->accelerometer, NULL));\n\n\t}\n\n\tSLAMFile* GenerateSLAMFile () ;\n\n};\n\n}\n}\n\n\n\n\n#endif /* FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_ICL_H_ */\n" }, { "path": "framework/tools/dataset-tools/include/ICLNUIM.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_ICLNUIM_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_ICLNUIM_H_\n\n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \"DatasetReader.h\"\n\nnamespace slambench {\n\n namespace io {\n\n class ICLNUIMReader : public DatasetReader {\n private:\n CameraSensor *rgb_sensor = nullptr;\n DepthSensor *depth_sensor = nullptr;\n CameraSensor *grey_sensor = nullptr;\n GroundTruthSensor *gt_sensor = nullptr;\n\n std::ifstream istream;\n static constexpr DepthSensor::disparity_params_t disparity_params = {0.0002, 0.0};\n static constexpr DepthSensor::disparity_type_t disparity_type = DepthSensor::affine_disparity;\n\n void AddSensors(SLAMFile &file);\n bool GetFrame(const std::string &dirname, SLAMFile &file, int frame_no);\n bool AddFrames(const std::string &dirname, SLAMFile &file);\n\n public:\n static constexpr image_params_t image_params = { 640, 480, 1, 5000.0 };\n\n std::string input;\n bool grey = true, rgb = true, depth = true, gt = true;\n std::string plyfile = \"\";\n bool positive_focal = false;\n\n explicit ICLNUIMReader(const std::string &name) : DatasetReader(name) {\n this->addParameter(TypedParameter(\"i\", \"input-directory\",\n \"path of the ICLNUIM dataset directory\",\n &this->input, nullptr));\n\n this->addParameter(TypedParameter(\"grey\", \"grey\",\n \"set to true or false to specify if the GREY \"\n \"stream need to be include in the slam file.\",\n &this->grey, nullptr));\n\n this->addParameter(TypedParameter(\"rgb\", \"rgb\",\n \"set to true or false to specify if the RGB \"\n \"stream need to be include in the slam file.\",\n &this->rgb, nullptr));\n\n this->addParameter(TypedParameter(\"depth\", \"depth\",\n \"set to true or false to specify if the DEPTH \"\n \"stream need to be include in the slam file.\",\n &this->depth, nullptr));\n\n this->addParameter(TypedParameter(\"gt\", \"gt\",\n \"set to true or false to specify if the \"\n \"GROUNDTRUTH POSE stream need to be include in the slam file.\",\n &this->gt, nullptr));\n\n this->addParameter(TypedParameter(\"ply\", \"ply-file\",\n \"When a PLY file is specified, the GROUNDTRUTH POINT CLOUD \"\n \"will be included in the slam file.\",\n &this->plyfile, nullptr));\n\n this->addParameter(TypedParameter(\"pf\", \"positive-focal\",\n \"This is a workaround to correct the ICLNUIM \"\n \"to a positive focal length.\",\n &this->positive_focal, nullptr));\n }\n\n SLAMFile *GenerateSLAMFile() override;\n };\n\n } // namespace io\n} // namespace slambench\n\n#endif /* FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_ICLNUIM_H_ */\n" }, { "path": "framework/tools/dataset-tools/include/OpenLORIS.h", "content": "/*\n\n Copyright (c) 2019 Intel Corp.\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_OPENLORIS_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_OPENLORIS_H_\n\n\n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \"DatasetReader.h\"\n\n#include \n#include \n#include \n#include \n\nnamespace slambench {\n\nnamespace io {\n const int INF = 99;\n typedef std::pair trans_direction;\n\n Eigen::Matrix4f compute_trans_matrix(const std::string &input_name_1,\n const std::string &input_name_2,\n const std::string &filename);\n\nclass OpenLORISReader : public DatasetReader {\n\npublic :\n std::string input;\n bool color = true, grey = true, depth = true, aligned_depth = true, fisheye1 = true, fisheye2 = true,\n d400_accel = true, d400_gyro = true, t265_accel = true, t265_gyro = true, odom = true, gt = true;\n\n OpenLORISReader(std::string name) : DatasetReader(name) {\n\n this->addParameter(TypedParameter(\"i\", \"input-directory\", \"path of the OpenLORIS dataset directory\", &this->input, nullptr));\n this->addParameter(TypedParameter(\"grey\", \"grey\", \"set to true or false to specify if the GREY stream need to be include in the slam file.\", &this->grey, nullptr));\n this->addParameter(TypedParameter(\"color\", \"color\", \"set to true or false to specify if the RGB stream need to be include in the slam file.\", &this->color, nullptr));\n this->addParameter(TypedParameter(\"depth\", \"depth\", \"set to true or false to specify if the DEPTH stream need to be include in the slam file.\", &this->depth, nullptr));\n this->addParameter(TypedParameter(\"aligned_depth\", \"aligned_depth\", \"set to true or false to specify if the ALIGNED_DEPTH stream need to be include in the slam file.\", &this->aligned_depth, nullptr));\n this->addParameter(TypedParameter(\"fisheye1\", \"fisheye1\", \"set to true or false to specify if the FISHEYE1 stream need to be include in the slam file.\", &this->fisheye1, nullptr));\n this->addParameter(TypedParameter(\"fisheye2\", \"fisheye2\", \"set to true or false to specify if the FISHEYE2 GREY stream need to be include in the slam file.\", &this->fisheye2, nullptr));\n this->addParameter(TypedParameter(\"d400_accel\", \"d400_accelerometer\", \"set to true or false to specify if the D400_ACCELEROMETER stream need to be include in the slam file.\", &this->d400_accel, nullptr));\n this->addParameter(TypedParameter(\"d400_gyro\", \"d400_gyro\", \"set to true or false to specify if the D400_GYRO stream need to be include in the slam file.\", &this->d400_gyro, nullptr));\n this->addParameter(TypedParameter(\"t265_accel\", \"t265_accelerometer\", \"set to true or false to specify if the T265_ACCELEROMETER stream need to be include in the slam file.\", &this->t265_accel, nullptr));\n this->addParameter(TypedParameter(\"t265_gyro\", \"t265_gyro\", \"set to true or false to specify if the T265_GYRO stream need to be include in the slam file.\", &this->t265_gyro, nullptr));\n this->addParameter(TypedParameter(\"odom\", \"odom\", \"set to true or false to specify if the ODOMETRY stream need to be include in the slam file.\", &this->odom, nullptr));\n this->addParameter(TypedParameter(\"gt\", \"gt\", \"set to true or false to specify if the GROUNDTRUTH POSE stream need to be include in the slam file.\", &this->gt, nullptr));\n\n }\n\n SLAMFile* GenerateSLAMFile ();\n\n};\n}\n}\n\n\n\n#endif /* FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_OPENLORIS_H_ */" }, { "path": "framework/tools/dataset-tools/include/SVO.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_SVO_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_SVO_H_\n\n#include \n#include \n#include \n#include \n\n#include \n\n#include \"DatasetReader.h\"\n\n#include \n#include \n#include \n\n\nnamespace slambench {\n\n namespace io {\n\n class SVOReader : public DatasetReader {\n private:\n static constexpr CameraSensor::intrinsics_t svo_grey = {0.419547872, 0.657291667, 0.5, 0.5}; // ATAN\n // static constexpr CameraSensor::intrinsics_t svo_grey = { 315.5, 315.5, 376.0, 240.0 }; // Pinhole\n\n static constexpr float translation[] = {0.1131, 0.1131, 2.0}; // x, y, z\n static constexpr float rotation[] = {0.0, 0.9675388, 0.2527226, 0.0}; // w, x, y, z\n\n public:\n std::string input;\n\n explicit SVOReader(const std::string& name) : DatasetReader(name) {\n this->addParameter(TypedParameter(\n \"i\", \"input-directory\",\n \"path of the SVO dataset directory\",\n &this->input, nullptr));\n }\n\n SLAMFile* GenerateSLAMFile() override;\n };\n\n } // namespace io\n} // namespace slambench\n\n#endif /* FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_SVO_H_ */\n" }, { "path": "framework/tools/dataset-tools/include/TUM.h", "content": "/*\n\n Copyright (c) 2017-2020 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n The development of the interface with ROS datasets (rosbags) is supported\n by the RAIN Hub, which is funded by the Industrial Strategy Challenge Fund,\n part of the UK government’s modern Industrial Strategy. The fund is\n delivered by UK Research and Innovation and managed by EPSRC [EP/R026084/1].\n\n This code is licensed under the MIT License.\n\n */\n\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_TUM_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_TUM_H_\n\n\n#include \n#include \n#include \n\n#include \n#include \n#include \n\n#include \"DatasetReader.h\"\n\n\nnamespace slambench {\n namespace io {\n class TUMReader : public DatasetReader {\n enum DatasetOrigin { Default = 0, Freiburg1, Freiburg2, Freiburg3, ETHI };\n private:\n /****\n * Taken from:\n * https://vision.in.tum.de/_media/spezial/bib/sturm12iros.pdf\n * data recorded on three Microsoft Xbox Kinect sensors\n * (freiburg1, freiburg2 and freiburg3)\n * at full resolution (640Ă—480) and full frame rate (30 Hz)\n * depth images are expected to be scaled by a factor of 5000 [5000 : 1 m]\n * (no indication as to the reason).\n *\n */\n static constexpr image_params_t fr_image_params\n = { 640, 480, 30.0, 5000.0 };\n\n /****\n * source of these parameters unknown\n */\n static constexpr DepthSensor::disparity_params_t fr_disparity_params\n = { 0.0002, 0.0 };\n static const DepthSensor::disparity_type_t fr_disparity_type\n = DepthSensor::affine_disparity;\n\n /****\n * intrinsic parameters: focal length and optical center {fx, fy, cx, cy}\n * expressed as fractions of image width (fx and cx) and height (fy and cy)\n * Taken from:\n * https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats#intrinsic_camera_calibration_of_the_kinect\n * data recorded on three Microsoft Xbox Kinect sensors\n * (freiburg1, freiburg2 and freiburg3)\n Camera fx \t fy \t cx \t cy\n (ROS default) \t525.0 \t525.0 \t319.5 \t239.5\n Freiburg 1 RGB \t517.3 \t516.5 \t318.6 \t255.3\n Freiburg 2 RGB \t520.9 \t521.0 \t325.1 \t249.7\n Freiburg 3 RGB \t535.4 \t539.2 \t320.1 \t247.6\n ETHI RGB \t538.7 \t540.7 \t319.2 \t233.6\n\n Camera \t fx \tfy \t cx \t cy\n Freiburg 1 IR \t591.1 \t590.1 \t331.0 \t234.0\n Freiburg 2 IR \t580.8 \t581.8 \t308.8 \t253.0\n Freiburg 3 IR \t567.6 \t570.2 \t324.7 \t250.1\n ETHI IR \t538.7 \t540.7 \t319.2 \t233.6\n *\n */\n static constexpr CameraSensor::intrinsics_t fr1_intrinsics_rgb\n = { 517.3 / fr_image_params.width, 516.5 / fr_image_params.height,\n 318.6 / fr_image_params.width, 255.3 / fr_image_params.height };\n\n static constexpr CameraSensor::intrinsics_t fr2_intrinsics_rgb\n = { 520.9 / fr_image_params.width, 521.0 / fr_image_params.height,\n 325.1 / fr_image_params.width, 249.7 / fr_image_params.height };\n\n static constexpr CameraSensor::intrinsics_t fr3_intrinsics_rgb\n = { 535.4 / fr_image_params.width, 539.2 / fr_image_params.height,\n 320.1 / fr_image_params.width, 247.6 / fr_image_params.height };\n static constexpr CameraSensor::intrinsics_t ethi_intrinsics_rgb\n = {538.7 / fr_image_params.width, 540.7 / fr_image_params.height,\n 319.2 / fr_image_params.width, 233.6 / fr_image_params.height};\n\n // default ROS values -- use with caution\n static constexpr CameraSensor::intrinsics_t default_intrinsics_rgb\n = { 525.0 / fr_image_params.width, 525.0 / fr_image_params.height,\n 319.5 / fr_image_params.width, 239.5 / fr_image_params.height };\n\n // depth images are taken by the IR camera\n static constexpr DepthSensor::intrinsics_t fr1_intrinsics_depth\n = { 591.1 / fr_image_params.width, 590.1 / fr_image_params.height,\n 331.0 / fr_image_params.width, 234.0 / fr_image_params.height };\n\n static constexpr DepthSensor::intrinsics_t fr2_intrinsics_depth\n = { 580.8 / fr_image_params.width, 581.8 / fr_image_params.height,\n 308.8 / fr_image_params.width, 253.0 / fr_image_params.height };\n\n static constexpr DepthSensor::intrinsics_t fr3_intrinsics_depth\n = { 567.6 / fr_image_params.width, 570.2 / fr_image_params.height,\n 324.7 / fr_image_params.width, 250.1 / fr_image_params.height };\n\n static constexpr DepthSensor::intrinsics_t ethi_intrinsics_depth\n = { 538.7 / fr_image_params.width, 540.7 / fr_image_params.height,\n 319.2 / fr_image_params.width, 233.6 / fr_image_params.height};\n\n // default ROS values -- use with caution\n static constexpr DepthSensor::intrinsics_t default_intrinsics_depth\n = { 525.0 / fr_image_params.width, 525.0 / fr_image_params.height,\n 319.5 / fr_image_params.width, 239.5 / fr_image_params.height };\n\n\n /****\n * distortion parameters: radial and tangential factors {k1, k2, p1, p2, k3}\n * Taken from:\n * https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats#intrinsic_camera_calibration_of_the_kinect\n * data recorded on three Microsoft Xbox Kinect sensors (freiburg1, freiburg2 and freiburg3)\n Camera d0 \t d1 \t d2 \td3 d4\n (ROS default) \t0.0 \t0.0 \t0.0 \t0.0 \t0.0\n Freiburg 1 RGB \t0.2624\t-0.9531\t-0.0054\t0.0026 \t1.1633\n Freiburg 2 RGB \t0.2312\t-0.7849\t-0.0033\t-0.0001 0.9172\n Freiburg 3 RGB \t0 \t 0 \t 0 \t 0 \t 0\n ETHI RGB \t0 \t 0 \t 0 \t 0 \t 0\n\n Camera \t d0 \t d1 \t d2 \t d3 \t d4\n Freiburg 1 IR \t-0.0410\t0.3286\t0.0087\t0.0051 \t-0.5643\n Freiburg 2 IR \t-0.2297\t1.4766\t0.0005\t-0.0075 -3.4194\n Freiburg 3 IR \t0 \t 0 \t 0 \t 0 \t 0\n ETHI IR \t0 \t 0 \t 0 \t 0 \t 0\n *\n */\n static const CameraSensor::distortion_type_t camera_distortion_type\n = CameraSensor::RadialTangential;\n\n // these numbers taken from ORBSLAM2 examples\n // (appear to have higher precision than table above)\n static constexpr CameraSensor::distortion_coefficients_t fr1_distortion_rgb\n = { 0.262383, -0.953104, -0.005358, 0.002628 , 1.163314 };\n\n static constexpr CameraSensor::distortion_coefficients_t fr2_distortion_rgb\n = { 0.231222, -0.784899, -0.003257, -0.000105, 0.917205 };\n\n static constexpr CameraSensor::distortion_coefficients_t fr3_distortion_rgb\n = { 0.0, 0.0, 0.0, 0.0, 0.0 };\n\n static constexpr CameraSensor::distortion_coefficients_t ethi_distortion_rgb\n = { 0.0, 0.0, 0.0, 0.0, 0.0 };\n\n // default ROS values -- use with caution\n static constexpr CameraSensor::distortion_coefficients_t default_distortion_rgb\n = { 0.0, 0.0, 0.0, 0.0, 0.0 };\n\n // depth images are pre-registered to the RGB images, thus rectifying\n // depth images based on intrinsic parameters is not straight forward\n // use RGB (not IR) distortion parameters as an approximation\n static constexpr DepthSensor::distortion_coefficients_t fr1_distortion_depth\n = { 0.262383 , -0.953104, -0.005358, 0.002628 , 1.163314 };\n\n static constexpr DepthSensor::distortion_coefficients_t fr2_distortion_depth\n = { 0.231222, -0.784899, -0.003257, -0.000105, 0.917205 };\n\n static constexpr DepthSensor::distortion_coefficients_t fr3_distortion_depth\n = { 0.0, 0.0, 0.0, 0.0, 0.0 };\n\n static constexpr DepthSensor::distortion_coefficients_t ethi_distortion_depth\n = { 0.0, 0.0, 0.0, 0.0, 0.0 };\n\n // default ROS values -- use with caution\n static constexpr DepthSensor::distortion_coefficients_t default_distortion_depth\n = { 0.0, 0.0, 0.0, 0.0, 0.0 };\n\n public :\n std::string input;\n bool grey = true, rgb = true, depth = true, gt = true, accelerometer = true;\n\n explicit TUMReader(std::string name) : DatasetReader(std::move(name)) {\n this->addParameter(TypedParameter(\"i\",\n \"input-directory\", \"path of the TUM dataset directory\",\n &this->input, nullptr));\n this->addParameter(TypedParameter(\"grey\", \"grey\",\n \"set to true or false to specify if the GREY stream need to be include in the slam file.\",\n &this->grey, nullptr));\n this->addParameter(TypedParameter(\"rgb\", \"rgb\",\n \"set to true or false to specify if the RGB stream need to be include in the slam file.\",\n &this->rgb, nullptr));\n this->addParameter(TypedParameter(\"depth\", \"depth\",\n \"set to true or false to specify if the DEPTH stream need to be include in the slam file.\",\n &this->depth, nullptr));\n this->addParameter(TypedParameter(\"gt\", \"gt\",\n \"set to true or false to specify if the GROUNDTRUTH POSE stream need to be include in the slam file.\",\n &this->gt, nullptr));\n this->addParameter(TypedParameter(\"acc\", \"accelerometer\",\n \"set to true or false to specify if the ACCELEROMETER stream need to be include in the slam file.\",\n &this->accelerometer, nullptr));\n }\n\n static image_params_t get_image_params () {\n return fr_image_params;\n }\n\n // these parameters depend on the particular kinect sensor used\n // return the kinect number (0 for default values)\n DatasetOrigin get_sensor_params(DepthSensor::disparity_params_t & depth_disparity_params,\n DepthSensor::disparity_type_t & depth_disparity_type,\n CameraSensor::intrinsics_t & rgb_intrinsics,\n DepthSensor::intrinsics_t & depth_intrinsics,\n CameraSensor::distortion_coefficients_t & rgb_distortion,\n DepthSensor::distortion_coefficients_t & depth_distortion,\n CameraSensor::distortion_type_t & distortion_type\n ) {\n for (uint32_t i = 0; i < 2; i++) {\n depth_disparity_params[i] = fr_disparity_params[i];\n }\n depth_disparity_type = fr_disparity_type;\n\n distortion_type = camera_distortion_type;\n\n if (input.find(\"freiburg1\") != std::string::npos) {\n for (uint32_t i = 0; i < 4; i++) {\n rgb_intrinsics[i] = fr1_intrinsics_rgb[i];\n depth_intrinsics[i] = fr1_intrinsics_depth[i];\n }\n for (uint32_t i = 0; i < 5; i++) {\n rgb_distortion[i] = fr1_distortion_rgb[i];\n depth_distortion[i] = fr1_distortion_depth[i];\n }\n return DatasetOrigin::Freiburg1;\n }\n\n if (input.find(\"freiburg2\") != std::string::npos) {\n for (uint32_t i = 0; i < 4; i++) {\n rgb_intrinsics[i] = fr2_intrinsics_rgb[i];\n depth_intrinsics[i] = fr2_intrinsics_depth[i];\n }\n for (uint32_t i = 0; i < 5; i++) {\n rgb_distortion[i] = fr2_distortion_rgb[i];\n depth_distortion[i] = fr2_distortion_depth[i];\n }\n return DatasetOrigin::Freiburg2;\n }\n\n if (input.find(\"freiburg3\") != std::string::npos) {\n for (uint32_t i = 0; i < 4; i++) {\n rgb_intrinsics[i] = fr3_intrinsics_rgb[i];\n depth_intrinsics[i] = fr3_intrinsics_depth[i];\n }\n for (uint32_t i = 0; i < 5; i++) {\n rgb_distortion[i] = fr3_distortion_rgb[i];\n depth_distortion[i] = fr3_distortion_depth[i];\n }\n return DatasetOrigin::Freiburg3;\n }\n\n if (input.find(\"ethi\") != std::string::npos) {\n for (uint32_t i = 0; i < 4; i++) {\n rgb_intrinsics[i] = ethi_intrinsics_rgb[i];\n depth_intrinsics[i] = ethi_intrinsics_depth[i];\n }\n for (uint32_t i = 0; i < 5; i++) {\n rgb_distortion[i] = ethi_distortion_rgb[i];\n depth_distortion[i] = ethi_distortion_depth[i];\n }\n return DatasetOrigin::ETHI;\n }\n\n // use default parameters\n for (uint32_t i = 0; i < 4; i++) {\n rgb_intrinsics[i] = default_intrinsics_rgb[i];\n depth_intrinsics[i] = default_intrinsics_depth[i];\n }\n for (uint32_t i = 0; i < 5; i++) {\n rgb_distortion[i] = default_distortion_rgb[i];\n depth_distortion[i] = default_distortion_depth[i];\n }\n return DatasetOrigin::Default;\n }\n\n SLAMFile *GenerateSLAMFile() override;\n };\n\n /****\n * reader used to process TUM rosbags\n * image and sensor parameters derived from TUMReader\n */\n class TUMROSBAGReader : public TUMReader {\n public:\n typedef struct {\n const std::string world;\n const std::string kinect;\n const std::string camera;\n const std::string rgb;\n const std::string optical;\n } gt_frame_ids_t;\n\n private:\n // ROS topic associated with each sensor\n const std::string depth_topic = \"/camera/depth/image\";\n const std::string rgb_topic = \"/camera/rgb/image_color\";\n const std::string gt_topic = \"/tf\";\n const std::string acc_topic = \"/imu\";\n\n // the ground truth topic (/tf) contains several transformations\n // ground truth is built from the following composition:\n // optical frame -> rgb frame -> camera -> kinect -> world\n const gt_frame_ids_t gt_frame_ids = {\n \"/world\",\n \"/kinect\",\n \"/openni_camera\",\n \"/openni_rgb_frame\",\n \"/openni_rgb_optical_frame\"\n };\n\n public :\n explicit TUMROSBAGReader(std::string name) : TUMReader(std::move(name)) {\n }\n\n SLAMFile * GenerateSLAMFile() override;\n };\n }\n}\n\n\n#endif /* FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_TUM_H_ */\n" }, { "path": "framework/tools/dataset-tools/include/UZHFPV.h", "content": "/*\n\n Copyright (c) 2019 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_UZHFPV_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_UZHFPV_H_\n\n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n\n#include \"DatasetReader.h\"\n\nnamespace slambench {\n\n namespace io {\n\n class UZHFPVReader : public DatasetReader {\n private:\n // Parameters taken from indoor_forward calibration file: camchain-..indoor_forward_calib_snapdragon_cam.yaml\n static constexpr CameraSensor::intrinsics_t snapdragon_cam0_intrinsics = {278.66723066149086, 278.48991409740296,\n 319.75221200593535, 241.96858910358173};\n\n static constexpr CameraSensor::distortion_coefficients_t snapdragon_cam0_distortion = {-0.013721808247486035, 0.020727425669427896,\n -0.012786476702685545, 0.0025242267320687625};\n\n static constexpr CameraSensor::intrinsics_t snapdragon_cam1_intrinsics = {277.61640629770613, 277.63749695723294,\n 314.8944703346039, 236.04310050462587};\n\n static constexpr CameraSensor::distortion_coefficients_t snapdragon_cam1_distortion = {-0.008456929295619607, 0.011407590938612062,\n -0.006951788325762078, 0.0015368127092821786};\n\n // Parameters taken from indoor_forward calibration file: camchain-..indoor_forward_calib_davis_cam.yaml\n static constexpr CameraSensor::intrinsics_t davis_intrinsics = {172.98992850734132, 172.98303181090185,\n 163.33639726024606, 134.99537889030861};\n\n static constexpr CameraSensor::distortion_coefficients_t davis_distortion = {-0.027576733308582076, -0.006593578674675004,\n 0.0008566938165177085, -0.00030899587045247486};\n\n public:\n std::string input;\n bool imu = true, gt = false, stereo = false, events = false;\n\n explicit UZHFPVReader(const std::string& name) : DatasetReader(name) {\n\n this->addParameter(TypedParameter(\"i\", \"input-directory\",\n \"path of the UZHFPV dataset directory\",\n &this->input,\n nullptr));\n\n this->addParameter(TypedParameter(\"s\", \"stereo\",\n \"set to true or false to specify if the STEREO \"\n \"stream need to be include in the slam file.\",\n &this->stereo,\n nullptr));\n\n this->addParameter(TypedParameter(\"e\", \"event\",\n \"set to true or false to specify if the EVENT \"\n \"stream need to be include in the slam file.\",\n &this->events,\n nullptr));\n\n this->addParameter(TypedParameter(\"gt\", \"gt\",\n \"set to true or false to specify if the GROUNDTRUTH POSE \"\n \"stream need to be include in the slam file.\",\n &this->gt,\n nullptr));\n\n this->addParameter(TypedParameter(\"imu\", \"imu\",\n \"set to true or false to specify if the IMU \"\n \"stream need to be include in the slam file.\",\n &this->imu,\n nullptr));\n }\n\n SLAMFile* GenerateSLAMFile() override;\n };\n\n } // namespace io\n} // namespace slambench\n\n#endif /* FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_UZHFPV_H_ */\n" }, { "path": "framework/tools/dataset-tools/include/VolumeDeform.h", "content": "/*\n\n Copyright (c) 2020 University of Edinburgh, Imperial College, University of\n Manchester. Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_VOLUMEDEFORM_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_VOLUMEDEFORM_H_\n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \"DatasetReader.h\"\n\nnamespace slambench {\n\n namespace io {\n\n class VolumeDeformReader : public DatasetReader {\n private:\n static constexpr image_params_t image_params =\n { 640, 480, 30.0, 1000.0 };\n// fx,fy,cx,cy same for rgb and depth\n static constexpr CameraSensor::intrinsics_t intrinsics = {570.0 / image_params.width, 570.0 / image_params.height, 320.0 / image_params.width, 240.0 / image_params.height};\n\n public:\n std::string input;\n std::string plyfile;\n bool grey = true, rgb = true, depth = true, gt = true;\n bool GetFrame(const std::string &dirname,\n int frame_no,\n SLAMFile &file,\n std::ifstream& infile,\n CameraSensor* rgb_sensor = nullptr,\n CameraSensor* grey_sensor = nullptr,\n DepthSensor* depth_sensor = nullptr,\n GroundTruthSensor* gt_sensor = nullptr);\n explicit VolumeDeformReader(const std::string& name) : DatasetReader(name) {\n\n this->addParameter(TypedParameter(\"i\", \"input-directory\",\n \"path of the VolumeDeform dataset directory\",\n &this->input, nullptr));\n\n this->addParameter(TypedParameter(\"grey\", \"grey\",\n \"set to true or false to specify if the GREY \"\n \"stream need to be include in the slam file.\",\n &this->grey, nullptr));\n\n this->addParameter(TypedParameter(\"rgb\", \"rgb\",\n \"set to true or false to specify if the RGB \"\n \"stream need to be include in the slam file.\",\n &this->rgb, nullptr));\n\n this->addParameter(TypedParameter(\"depth\", \"depth\",\n \"set to true or false to specify if the DEPTH \"\n \"stream need to be include in the slam file.\",\n &this->depth, nullptr));\n\n this->addParameter(TypedParameter(\"gt\", \"gt\",\n \"set to true or false to specify if the GROUNDTRUTH \"\n \"POSE stream need to be include in the slam file.\",\n &this->gt, nullptr));\n\n this->addParameter(TypedParameter(\"ply\", \"ply-file\",\n \"When a PLY file is specified, the GROUNDTRUTH POINT \"\n \"CLOUD will be included in the slam file.\",\n &this->plyfile, nullptr));\n }\n\n SLAMFile* GenerateSLAMFile() override;\n };\n } // namespace io\n} // namespace slambench\n\n#endif /* FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_VOLUMEDEFORM_H_ */\n" }, { "path": "framework/tools/dataset-tools/include/utils/PlyASCIIReader.h", "content": "/*\n\n Copyright (c) 2019 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_UTILS_PLYASCIIREADER_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_UTILS_PLYASCIIREADER_H_\n\n#include \n#include \n#include \n#include \n#include \n\n#include \n\n#include \"timings.h\"\n\n// Due to -Werror flag the implementation of tinyply fails, these directive allow it to build\n#pragma GCC diagnostic push\n#pragma GCC diagnostic ignored \"-Wswitch\"\n#pragma GCC diagnostic ignored \"-Wsign-compare\"\n#define TINYPLY_IMPLEMENTATION\n#include \"./tinyply.h\"\n#pragma GCC diagnostic pop\n\n\nclass PlyASCIIReader {\n public:\n static slambench::io::PointCloud* read(const std::string &filepath) {\n\n using namespace tinyply;\n using namespace slambench::io;\n\n std::ifstream ss(filepath, std::ios::binary);\n if (ss.fail()) {\n throw std::runtime_error(\"failed to open \" + filepath);\n }\n\n PlyFile file;\n file.parse_header(ss);\n\n std::cout << \"Reading ASCII Plyfile: \" << filepath << std::endl;\n std::cout << \"........................................................................\\n\";\n for (const auto& c : file.get_comments()) std::cout << \"Comment: \" << c << std::endl;\n for (const auto& e : file.get_elements()) {\n std::cout << \"element - \" << e.name << \" (\" << e.size << \")\" << std::endl;\n for (const auto& p : e.properties) {\n std::cout << \"\\tproperty - \" << p.name\n << \" (\" << tinyply::PropertyTable[p.propertyType].str << \")\" << std::endl;\n }\n }\n std::cout << \"........................................................................\\n\";\n\n // tinyply treats parsed data as untyped byte buffers.\n std::shared_ptr points_data;\n const int list_size_hint = 54000000;\n\n try {\n points_data = file.request_properties_from_element(\"vertex\",\n {\"x\", \"y\", \"z\" },\n list_size_hint);\n } catch (const std::exception & e) {\n std::cerr << \"tinyply exception: \" << e.what() << std::endl;\n }\n\n double start = tock();\n file.read(ss);\n double end = tock();\n\n std::cout << \"Reading took \" << (end-start) << \" seconds.\" << std::endl;\n std::cout << \"Read \" << points_data->count << \" total points \"<< std::endl;\n\n // move from untyped bytes buffers to point objects\n const size_t numBytes = points_data->buffer.size_bytes();\n std::vector points(points_data->count);\n\n std::copy(points_data->buffer.get(),\n points_data->buffer.get() + numBytes,\n reinterpret_cast(points.data()));\n\n // create pointcloud and assign points\n auto pc = new PointCloud();\n pc->Get() = points;\n\n return pc;\n }\n};\n\n#endif // FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_UTILS_PLYASCIIREADER_H_\n" }, { "path": "framework/tools/dataset-tools/include/utils/RegexPattern.h", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of\n Manchester. Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_REGEXPATTERN_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_REGEXPATTERN_H_\n\nclass RegexPattern {\n public:\n // characters\n static constexpr auto start = \"^\";\n static constexpr auto end = \"$\";\n\n // components\n static constexpr auto whitespace = \"\\\\s+\";\n static constexpr auto integer = \"(\\\\d+)\";\n static constexpr auto decimal = \"([-0-9.]+)\";\n static constexpr auto nanoseconds = \"([0-9]+)\";\n static constexpr auto number = R\"(([+\\-]?(?:0|[1-9]\\d*)(?:\\.\\d*)?(?:[eE][+\\-]?\\d+)?|[-0-9.]+))\";\n static constexpr auto timestamp = \"([0-9]+)[.]([0-9]+)\";\n static constexpr auto filename = \"(.*)\";\n static constexpr auto lowercase_key = \"([a-z_]+)\";\n\n // full patterns\n static constexpr auto comment = \"^\\\\s*#.*$\";\n};\n\n#endif" }, { "path": "framework/tools/dataset-tools/include/utils/dataset_utils.h", "content": "/*\n\n Copyright (c) 2019 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifndef FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_DATASET_UTILS_H_\n#define FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_DATASET_UTILS_H_\n\n#include \nnamespace slambench {\n namespace io {\n\n /**\n * Check for files and folders in a given directory and return true iff all exist\n *\n * @param directory_name directory to check for requirements\n * @param required vector of names of required files / folders\n */\n inline bool checkRequirements(const std::string& directory_name,\n const std::vector& requirements) {\n\n try {\n if (!boost::filesystem::exists(directory_name)) return false;\n for (auto const &requirement : requirements) {\n auto fullpath = directory_name+\"/\"+requirement;\n if (!boost::filesystem::exists(fullpath)) {\n std::cout << \"File not found:\" << fullpath << std::endl;\n return false;\n }\n }\n } catch (boost::filesystem::filesystem_error &e) {\n std::cerr << \"I/O Error with directory \" << directory_name << std::endl;\n std::cerr << e.what() << std::endl;\n return false;\n }\n\n return true;\n }\n } // namespace io\n} // namespace slambench\n\n#endif // FRAMEWORK_TOOLS_DATASET_TOOLS_INCLUDE_DATASET_UTILS_H_\n" }, { "path": "framework/tools/dataset-tools/include/utils/tinyply.h", "content": "/*\n * tinyply 2.2 (https://github.com/ddiakopoulos/tinyply)\n *\n * A single-header, zero-dependency (except the C++ STL) public domain implementation \n * of the PLY mesh file format. Requires C++11; errors are handled through exceptions.\n *\n * This software is in the public domain. Where that dedication is not\n * recognized, you are granted a perpetual, irrevocable license to copy,\n * distribute, and modify this file as you see fit.\n *\n * Authored by Dimitri Diakopoulos (http://www.dimitridiakopoulos.com)\n *\n * tinyply.h may be included in many files, however in a single compiled file,\n * the implementation must be created with the following defined\n * before including the header.\n * #define TINYPLY_IMPLEMENTATION\n */\n\n////////////////////////\n// tinyply header //\n////////////////////////\n\n#ifndef tinyply_h\n#define tinyply_h\n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\nnamespace tinyply\n{\n\n enum class Type : uint8_t\n {\n INVALID,\n INT8,\n UINT8,\n INT16,\n UINT16,\n INT32,\n UINT32,\n FLOAT32,\n FLOAT64\n };\n\n struct PropertyInfo\n {\n int stride;\n std::string str;\n };\n\n static std::map PropertyTable\n {\n { Type::INT8, { 1, \"char\" } },\n { Type::UINT8, { 1, \"uchar\" } },\n { Type::INT16, { 2, \"short\" } },\n { Type::UINT16, { 2, \"ushort\" } },\n { Type::INT32, { 4, \"int\" } },\n { Type::UINT32, { 4, \"uint\" } },\n { Type::FLOAT32, { 4, \"float\" } },\n { Type::FLOAT64, { 8, \"double\" } },\n { Type::INVALID, { 0, \"INVALID\" } }\n };\n\n class Buffer\n {\n uint8_t * alias{ nullptr };\n struct delete_array { void operator()(uint8_t * p) { delete[] p; } };\n std::unique_ptr data;\n size_t size;\n public:\n Buffer() {};\n Buffer(const size_t size) : data(new uint8_t[size], delete_array()), size(size) { alias = data.get(); } // allocating\n Buffer(uint8_t * ptr) { alias = ptr; } // non-allocating, todo: set size?\n uint8_t * get() { return alias; }\n size_t size_bytes() const { return size; }\n };\n\n struct PlyData\n {\n Type t;\n size_t count;\n Buffer buffer;\n bool isList;\n };\n\n struct PlyProperty\n {\n PlyProperty(std::istream & is);\n PlyProperty(Type type, std::string & _name) : name(_name), propertyType(type) {}\n PlyProperty(Type list_type, Type prop_type, std::string & _name, size_t list_count) \n : name(_name), propertyType(prop_type), isList(true), listType(list_type), listCount(list_count) {}\n std::string name;\n Type propertyType;\n bool isList{ false };\n Type listType{ Type::INVALID };\n size_t listCount{ 0 };\n };\n\n struct PlyElement\n {\n PlyElement(std::istream & istream);\n PlyElement(const std::string & _name, size_t count) : name(_name), size(count) {}\n std::string name;\n size_t size;\n std::vector properties;\n };\n\n struct PlyFile\n {\n struct PlyFileImpl;\n std::unique_ptr impl;\n\n PlyFile();\n ~PlyFile();\n\n /*\n * The ply format requires an ascii header. This can be used to determine at \n * runtime which properties or elements exist in the file. Limited validation of the \n * header is performed; it is assumed the header correctly reflects the contents of the \n * payload. This function may throw. Returns true on success, false on failure. \n */ \n bool parse_header(std::istream & is);\n\n /* \n * Execute a read operation. Data must be requested via `request_properties_from_element(...)` \n * prior to calling this function.\n */\n void read(std::istream & is);\n\n /* \n * `write` performs no validation and assumes that the data passed into \n * `add_properties_to_element` is well-formed. \n */\n void write(std::ostream & os, bool isBinary);\n\n /* \n * These functions are valid after a call to `parse_header(...)`. In the case of\n * writing, get_comments() may also be used to add new comments to the ply header.\n */\n std::vector get_elements() const;\n std::vector get_info() const;\n std::vector & get_comments();\n\n /*\n * In the general case where |list_size_hint| is zero, `read` performs a two-pass\n * parse to support variable length lists. The most general use of the\n * ply format is storing triangle meshes. When this fact is known a-priori, we can pass\n * an expected list length that will apply to this element. Doing so results in an up-front\n * memory allocation and a single-pass import, a 2x performance optimization.\n */\n std::shared_ptr request_properties_from_element(const std::string & elementKey, \n const std::initializer_list propertyKeys, const uint32_t list_size_hint = 0);\n\n void add_properties_to_element(const std::string & elementKey, \n const std::initializer_list propertyKeys, \n const Type type, \n const size_t count, \n uint8_t * data, \n const Type listType, \n const size_t listCount);\n };\n\n} // end namespace tinyply\n\n#endif // end tinyply_h\n\n////////////////////////////////\n// tinyply implementation //\n////////////////////////////////\n\n#ifdef TINYPLY_IMPLEMENTATION\n\n#include \n#include \n#include \n#include \n#include \n\nusing namespace tinyply;\nusing namespace std;\n\ntemplate inline T2 endian_swap(const T & v) { return v; }\ntemplate<> inline uint16_t endian_swap(const uint16_t & v) { return (v << 8) | (v >> 8); }\ntemplate<> inline uint32_t endian_swap(const uint32_t & v) { return (v << 24) | ((v << 8) & 0x00ff0000) | ((v >> 8) & 0x0000ff00) | (v >> 24); }\ntemplate<> inline uint64_t endian_swap(const uint64_t & v)\n{\n return (((v & 0x00000000000000ffLL) << 56) |\n ((v & 0x000000000000ff00LL) << 40) |\n ((v & 0x0000000000ff0000LL) << 24) |\n ((v & 0x00000000ff000000LL) << 8) |\n ((v & 0x000000ff00000000LL) >> 8) |\n ((v & 0x0000ff0000000000LL) >> 24) |\n ((v & 0x00ff000000000000LL) >> 40) |\n ((v & 0xff00000000000000LL) >> 56));\n}\ntemplate<> inline int16_t endian_swap(const int16_t & v) { uint16_t r = endian_swap(*(uint16_t*)&v); return *(int16_t*)&r; }\ntemplate<> inline int32_t endian_swap(const int32_t & v) { uint32_t r = endian_swap(*(uint32_t*)&v); return *(int32_t*)&r; }\ntemplate<> inline int64_t endian_swap(const int64_t & v) { uint64_t r = endian_swap(*(uint64_t*)&v); return *(int64_t*)&r; }\ntemplate<> inline float endian_swap(const uint32_t & v) { union { float f; uint32_t i; }; i = endian_swap(v); return f; }\ntemplate<> inline double endian_swap(const uint64_t & v) { union { double d; uint64_t i; }; i = endian_swap(v); return d; }\n\ninline uint32_t hash_fnv1a(const std::string & str)\n{\n static const uint32_t fnv1aBase32 = 0x811C9DC5u;\n static const uint32_t fnv1aPrime32 = 0x01000193u;\n uint32_t result = fnv1aBase32;\n for (auto & c : str) { result ^= static_cast(c); result *= fnv1aPrime32; }\n return result;\n}\n\ninline Type property_type_from_string(const std::string & t)\n{\n if (t == \"int8\" || t == \"char\") return Type::INT8;\n else if (t == \"uint8\" || t == \"uchar\") return Type::UINT8;\n else if (t == \"int16\" || t == \"short\") return Type::INT16;\n else if (t == \"uint16\" || t == \"ushort\") return Type::UINT16;\n else if (t == \"int32\" || t == \"int\") return Type::INT32;\n else if (t == \"uint32\" || t == \"uint\") return Type::UINT32;\n else if (t == \"float32\" || t == \"float\") return Type::FLOAT32;\n else if (t == \"float64\" || t == \"double\") return Type::FLOAT64;\n return Type::INVALID;\n}\n\ntypedef std::function cast_t;\n\nstruct PlyFile::PlyFileImpl\n{\n struct PlyDataCursor\n {\n size_t byteOffset{ 0 };\n size_t totalSizeBytes{ 0 };\n };\n\n struct ParsingHelper\n {\n std::shared_ptr data;\n std::shared_ptr cursor;\n uint32_t list_size_hint;\n };\n\n struct PropertyLookup\n {\n ParsingHelper * helper{ nullptr };\n bool skip{ false };\n size_t prop_stride{ 0 }; // precomputed\n size_t list_stride{ 0 }; // precomputed\n };\n\n std::unordered_map userData;\n\n bool isBinary = false;\n bool isBigEndian = false;\n std::vector elements;\n std::vector comments;\n std::vector objInfo;\n uint8_t scratch[64]; // large enough for max list size\n\n void read(std::istream & is);\n void write(std::ostream & os, bool isBinary);\n\n std::shared_ptr request_properties_from_element(const std::string & elementKey,\n const std::initializer_list propertyKeys,\n const uint32_t list_size_hint);\n\n void add_properties_to_element(const std::string & elementKey,\n const std::initializer_list propertyKeys,\n const Type type, const size_t count, uint8_t * data, const Type listType, const size_t listCount);\n\n size_t read_property_binary(const Type & t, const size_t & stride, void * dest, size_t & destOffset, std::istream & is);\n size_t read_property_ascii(const Type & t, const size_t & stride, void * dest, size_t & destOffset, std::istream & is);\n\n std::vector> make_property_lookup_table()\n {\n std::vector> element_property_lookup;\n\n for (auto & element : elements)\n {\n std::vector lookups;\n\n for (auto & property : element.properties)\n {\n PropertyLookup f;\n\n auto cursorIt = userData.find(hash_fnv1a(element.name + property.name));\n if (cursorIt != userData.end()) f.helper = &cursorIt->second;\n else f.skip = true;\n\n f.prop_stride = PropertyTable[property.propertyType].stride;\n if (property.isList) f.list_stride = PropertyTable[property.listType].stride;\n\n lookups.push_back(f);\n }\n\n element_property_lookup.push_back(lookups);\n }\n\n return element_property_lookup;\n }\n\n bool parse_header(std::istream & is);\n void parse_data(std::istream & is, bool firstPass);\n void read_header_format(std::istream & is);\n void read_header_element(std::istream & is);\n void read_header_property(std::istream & is);\n void read_header_text(std::string line, std::istream & is, std::vector & place, int erase = 0);\n\n void write_header(std::ostream & os);\n void write_ascii_internal(std::ostream & os);\n void write_binary_internal(std::ostream & os);\n void write_property_ascii(Type t, std::ostream & os, uint8_t * src, size_t & srcOffset);\n void write_property_binary(Type t, std::ostream & os, uint8_t * src, size_t & srcOffset, const size_t & stride);\n};\n\nPlyProperty::PlyProperty(std::istream & is) : isList(false)\n{\n std::string type;\n is >> type;\n if (type == \"list\")\n {\n std::string countType;\n is >> countType >> type;\n listType = property_type_from_string(countType);\n isList = true;\n }\n propertyType = property_type_from_string(type);\n is >> name;\n}\n\nPlyElement::PlyElement(std::istream & is)\n{\n is >> name >> size;\n}\n\ntemplate inline T ply_read_ascii(std::istream & is)\n{\n T data;\n is >> data;\n return data;\n}\n\ntemplate\ninline void endian_swap_buffer(uint8_t * data_ptr, const size_t num_bytes, const size_t stride)\n{\n for (size_t count = 0; count < num_bytes; count += stride)\n {\n *(reinterpret_cast(data_ptr)) = endian_swap(*(reinterpret_cast(data_ptr)));\n data_ptr += stride;\n }\n}\n\ntemplate void ply_cast_ascii(void * dest, std::istream & is)\n{\n *(static_cast(dest)) = ply_read_ascii(is);\n}\n\nint64_t find_element(const std::string & key, const std::vector & list)\n{\n for (size_t i = 0; i < list.size(); i++) if (list[i].name == key) return i;\n return -1;\n}\n\nint64_t find_property(const std::string & key, const std::vector & list)\n{\n for (size_t i = 0; i < list.size(); ++i) if (list[i].name == key) return i;\n return -1;\n}\n\nbool PlyFile::PlyFileImpl::parse_header(std::istream & is)\n{\n std::string line;\n while (std::getline(is, line))\n {\n std::istringstream ls(line);\n std::string token;\n ls >> token;\n if (token == \"ply\" || token == \"PLY\" || token == \"\") continue;\n else if (token == \"comment\") read_header_text(line, ls, comments, 8);\n else if (token == \"format\") read_header_format(ls);\n else if (token == \"element\") read_header_element(ls);\n else if (token == \"property\") read_header_property(ls);\n else if (token == \"obj_info\") read_header_text(line, ls, objInfo, 9);\n else if (token == \"end_header\") break;\n else return false; // unexpected header field\n }\n return true;\n}\n\nvoid PlyFile::PlyFileImpl::read_header_text(std::string line, std::istream & is, std::vector& place, int erase)\n{\n place.push_back((erase > 0) ? line.erase(0, erase) : line);\n}\n\nvoid PlyFile::PlyFileImpl::read_header_format(std::istream & is)\n{\n std::string s;\n (is >> s);\n if (s == \"binary_little_endian\") isBinary = true;\n else if (s == \"binary_big_endian\") isBinary = isBigEndian = true;\n}\n\nvoid PlyFile::PlyFileImpl::read_header_element(std::istream & is)\n{\n elements.emplace_back(is);\n}\n\nvoid PlyFile::PlyFileImpl::read_header_property(std::istream & is)\n{\n if (!elements.size()) throw std::runtime_error(\"no elements defined; file is malformed\");\n elements.back().properties.emplace_back(is);\n}\n\nsize_t PlyFile::PlyFileImpl::read_property_binary(const Type & t, const size_t & stride, void * dest, size_t & destOffset, std::istream & is)\n{\n destOffset += stride;\n is.read((char*)dest, stride);\n return stride;\n}\n\nsize_t PlyFile::PlyFileImpl::read_property_ascii(const Type & t, const size_t & stride, void * dest, size_t & destOffset, std::istream & is)\n{\n destOffset += stride;\n switch (t)\n {\n case Type::INT8: *((int8_t *)dest) = ply_read_ascii(is); break;\n case Type::UINT8: *((uint8_t *)dest) = ply_read_ascii(is); break;\n case Type::INT16: ply_cast_ascii(dest, is); break;\n case Type::UINT16: ply_cast_ascii(dest, is); break;\n case Type::INT32: ply_cast_ascii(dest, is); break;\n case Type::UINT32: ply_cast_ascii(dest, is); break;\n case Type::FLOAT32: ply_cast_ascii(dest, is); break;\n case Type::FLOAT64: ply_cast_ascii(dest, is); break;\n case Type::INVALID: throw std::invalid_argument(\"invalid ply property\");\n }\n return stride;\n}\n\nvoid PlyFile::PlyFileImpl::write_property_ascii(Type t, std::ostream & os, uint8_t * src, size_t & srcOffset)\n{\n switch (t)\n {\n case Type::INT8: os << static_cast(*reinterpret_cast(src)); break;\n case Type::UINT8: os << static_cast(*reinterpret_cast(src)); break;\n case Type::INT16: os << *reinterpret_cast(src); break;\n case Type::UINT16: os << *reinterpret_cast(src); break;\n case Type::INT32: os << *reinterpret_cast(src); break;\n case Type::UINT32: os << *reinterpret_cast(src); break;\n case Type::FLOAT32: os << *reinterpret_cast(src); break;\n case Type::FLOAT64: os << *reinterpret_cast(src); break;\n case Type::INVALID: throw std::invalid_argument(\"invalid ply property\");\n }\n os << \" \";\n srcOffset += PropertyTable[t].stride;\n}\n\nvoid PlyFile::PlyFileImpl::write_property_binary(Type t, std::ostream & os, uint8_t * src, size_t & srcOffset, const size_t & stride)\n{\n os.write((char *)src, stride);\n srcOffset += stride;\n}\n\nvoid PlyFile::PlyFileImpl::read(std::istream & is)\n{\n std::vector> buffers;\n for (auto & entry : userData) buffers.push_back(entry.second.data);\n\n // Discover if we can allocate up front without parsing the file twice \n uint32_t list_hints = 0;\n for (auto & b : buffers) for (auto & entry : userData) list_hints += entry.second.list_size_hint;\n\n // No list hints? Then we need to calculate how much memory to allocate\n if (list_hints == 0) parse_data(is, true);\n\n // Count the number of properties (required for allocation)\n // e.g. if we have properties x y and z requested, we ensure\n // that their buffer points to the same PlyData \n std::unordered_map unique_data_count;\n for (auto & ptr : buffers) unique_data_count[ptr.get()] += 1;\n\n // Since group-requested properties share the same cursor, \n // we need to find unique cursors so we only allocate once\n std::sort(buffers.begin(), buffers.end());\n buffers.erase(std::unique(buffers.begin(), buffers.end()), buffers.end());\n\n // We sorted by ptrs on PlyData, need to remap back onto its cursor in the userData table\n for (auto & b : buffers)\n {\n for (auto & entry : userData)\n {\n if (entry.second.data == b && b->buffer.get() == nullptr)\n {\n // If we didn't receive any list hints, it means we did two passes over the\n // file to compute the total length of all (potentially) variable-length lists\n if (list_hints == 0)\n {\n b->buffer = Buffer(entry.second.cursor->totalSizeBytes);\n }\n else\n {\n // otherwise, we can allocate up front, skipping the first pass.\n const size_t list_size_multiplier = (entry.second.data->isList ? entry.second.list_size_hint : 1);\n auto bytes_per_property = entry.second.data->count * PropertyTable[entry.second.data->t].stride * list_size_multiplier;\n bytes_per_property *= unique_data_count[b.get()];\n b->buffer = Buffer(bytes_per_property);\n }\n\n }\n }\n }\n\n // Populate the data\n parse_data(is, false);\n\n if (isBigEndian)\n {\n for (auto & b : buffers)\n {\n uint8_t * data_ptr = b->buffer.get();\n const size_t stride = PropertyTable[b->t].stride;\n const size_t buffer_size_bytes = b->buffer.size_bytes();\n \n switch (b->t)\n {\n case Type::INT16: endian_swap_buffer(data_ptr, buffer_size_bytes, stride); break;\n case Type::UINT16: endian_swap_buffer(data_ptr, buffer_size_bytes, stride); break;\n case Type::INT32: endian_swap_buffer(data_ptr, buffer_size_bytes, stride); break;\n case Type::UINT32: endian_swap_buffer(data_ptr, buffer_size_bytes, stride); break;\n case Type::FLOAT32: endian_swap_buffer(data_ptr, buffer_size_bytes, stride); break;\n case Type::FLOAT64: endian_swap_buffer(data_ptr, buffer_size_bytes, stride); break;\n }\n }\n }\n}\n\nvoid PlyFile::PlyFileImpl::write(std::ostream & os, bool _isBinary)\n{\n\t// reset cursors\n\tfor (auto & d : userData) { d.second.cursor->byteOffset = 0; }\n if (_isBinary) write_binary_internal(os);\n else write_ascii_internal(os);\n}\n\nvoid PlyFile::PlyFileImpl::write_binary_internal(std::ostream & os)\n{\n isBinary = true;\n write_header(os);\n\n uint8_t listSize[4] = { 0, 0, 0, 0 };\n size_t dummyCount = 0;\n\n auto element_property_lookup = make_property_lookup_table();\n\n size_t element_idx = 0;\n for (auto & e : elements)\n {\n for (size_t i = 0; i < e.size; ++i)\n {\n size_t property_index = 0;\n for (auto & p : e.properties)\n {\n auto & f = element_property_lookup[element_idx][property_index];\n auto * helper = f.helper;\n\n if (p.isList)\n {\n std::memcpy(listSize, &p.listCount, sizeof(uint32_t));\n write_property_binary(p.listType, os, listSize, dummyCount, f.list_stride);\n write_property_binary(p.propertyType, os, (helper->data->buffer.get() + helper->cursor->byteOffset), helper->cursor->byteOffset, f.prop_stride * p.listCount);\n }\n else\n {\n write_property_binary(p.propertyType, os, (helper->data->buffer.get() + helper->cursor->byteOffset), helper->cursor->byteOffset, f.prop_stride);\n }\n property_index++;\n }\n }\n element_idx++;\n }\n}\n\nvoid PlyFile::PlyFileImpl::write_ascii_internal(std::ostream & os)\n{\n write_header(os);\n\n for (auto & e : elements)\n {\n for (size_t i = 0; i < e.size; ++i)\n {\n for (auto & p : e.properties)\n {\n auto & helper = userData[hash_fnv1a(e.name + p.name)];\n if (p.isList)\n {\n os << p.listCount << \" \";\n for (int j = 0; j < p.listCount; ++j)\n {\n write_property_ascii(p.propertyType, os, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset);\n }\n }\n else\n {\n write_property_ascii(p.propertyType, os, (helper.data->buffer.get() + helper.cursor->byteOffset), helper.cursor->byteOffset);\n }\n }\n os << \"\\n\";\n }\n }\n}\n\nvoid PlyFile::PlyFileImpl::write_header(std::ostream & os)\n{\n const std::locale & fixLoc = std::locale(\"C\");\n os.imbue(fixLoc);\n\n os << \"ply\\n\";\n if (isBinary) os << ((isBigEndian) ? \"format binary_big_endian 1.0\" : \"format binary_little_endian 1.0\") << \"\\n\";\n else os << \"format ascii 1.0\\n\";\n\n for (const auto & comment : comments) os << \"comment \" << comment << \"\\n\";\n\n for (auto & e : elements)\n {\n os << \"element \" << e.name << \" \" << e.size << \"\\n\";\n for (const auto & p : e.properties)\n {\n if (p.isList)\n {\n os << \"property list \" << PropertyTable[p.listType].str << \" \"\n << PropertyTable[p.propertyType].str << \" \" << p.name << \"\\n\";\n }\n else\n {\n os << \"property \" << PropertyTable[p.propertyType].str << \" \" << p.name << \"\\n\";\n }\n }\n }\n os << \"end_header\\n\";\n}\n\nstd::shared_ptr PlyFile::PlyFileImpl::request_properties_from_element(const std::string & elementKey,\n const std::initializer_list propertyKeys,\n const uint32_t list_size_hint)\n{\n // Each key in `propertyKey` gets an entry into the userData map (keyed by a hash of\n // element name and property name), but groups of properties (requested from the\n // public api through this function) all share the same `ParsingHelper`. When it comes \n // time to .read(), we check the number of unique PlyData shared pointers\n // and allocate a single buffer that will be used by each individual property. \n ParsingHelper helper;\n helper.data = std::make_shared();\n helper.data->count = 0;\n helper.data->isList = false;\n helper.data->t = Type::INVALID;\n helper.cursor = std::make_shared();\n helper.list_size_hint = list_size_hint;\n\n if (elements.empty()) throw std::runtime_error(\"header had no elements defined. malformed file?\");\n if (elementKey.empty()) throw std::invalid_argument(\"`elementKey` argument is empty\");\n if (!propertyKeys.size()) throw std::invalid_argument(\"`propertyKeys` argument is empty\");\n\n const int64_t elementIndex = find_element(elementKey, elements);\n\n std::vector keys_not_found;\n\n // Sanity check if the user requested element is in the pre-parsed header\n if (elementIndex >= 0)\n {\n // We found the element\n const PlyElement & element = elements[elementIndex];\n\n helper.data->count = element.size;\n\n // Find each of the keys\n for (auto key : propertyKeys)\n {\n const int64_t propertyIndex = find_property(key, element.properties);\n if (propertyIndex >= 0)\n {\n // We found the property\n const PlyProperty & property = element.properties[propertyIndex];\n helper.data->t = property.propertyType;\n helper.data->isList = property.isList;\n auto result = userData.insert(std::pair(hash_fnv1a(element.name + property.name), helper));\n if (result.second == false)\n {\n throw std::invalid_argument(\"element-property key has already been requested: \" + hash_fnv1a(element.name + property.name));\n }\n }\n else keys_not_found.push_back(key);\n }\n }\n else throw std::invalid_argument(\"the element key was not found in the header: \" + elementKey);\n\n if (keys_not_found.size())\n {\n std::stringstream ss;\n for (auto & str : keys_not_found) ss << str << \", \";\n throw std::invalid_argument(\"the following property keys were not found in the header: \" + ss.str());\n }\n return helper.data;\n}\n\nvoid PlyFile::PlyFileImpl::add_properties_to_element(const std::string & elementKey, \n const std::initializer_list propertyKeys, \n const Type type, const size_t count, uint8_t * data, const Type listType, const size_t listCount)\n{\n ParsingHelper helper;\n helper.data = std::make_shared();\n helper.data->count = count;\n helper.data->t = type;\n helper.data->buffer = Buffer(data);\n helper.cursor = std::make_shared();\n\n auto create_property_on_element = [&](PlyElement & e)\n {\n for (auto key : propertyKeys)\n {\n PlyProperty newProp = (listType == Type::INVALID) ? PlyProperty(type, key) : PlyProperty(listType, type, key, listCount);\n userData.insert(std::pair(hash_fnv1a(elementKey + key), helper));\n e.properties.push_back(newProp);\n }\n };\n\n const int64_t idx = find_element(elementKey, elements);\n if (idx >= 0)\n {\n PlyElement & e = elements[idx];\n create_property_on_element(e);\n }\n else\n {\n PlyElement newElement = (listType == Type::INVALID) ? PlyElement(elementKey, count) : PlyElement(elementKey, count);\n create_property_on_element(newElement);\n elements.push_back(newElement);\n }\n}\n\nvoid PlyFile::PlyFileImpl::parse_data(std::istream & is, bool firstPass)\n{\n std::function read;\n std::function skip;\n\n const auto start = is.tellg();\n\n size_t listSize = 0;\n size_t dummyCount = 0;\n std::string skip_ascii_buffer;\n\n // Special case mirroring read_property_binary but for list types; this\n // has an additional big endian check to flip the data in place immediately\n // after reading. We do this as a performance optimization; endian flipping is\n // done on regular properties as a post-process after reading (also for optimization)\n // but we need the correct little-endian list count as we read the file. \n auto read_list_binary = [this](const Type & t, void * dst, size_t & destOffset, std::istream & _is)\n {\n const size_t stride = PropertyTable[t].stride; // @todo - this is already precomputed\n destOffset += stride;\n _is.read((char*)dst, stride);\n\n if (isBigEndian)\n {\n switch (t)\n {\n case Type::INT16: endian_swap(*(int16_t*)dst); break;\n case Type::UINT16: endian_swap(*(uint16_t*)dst); break;\n case Type::INT32: endian_swap(*(int32_t*)dst); break;\n case Type::UINT32: endian_swap(*(uint32_t*)dst); break;\n }\n }\n\n return stride;\n };\n\n if (isBinary)\n {\n read = [this, &listSize, &dummyCount, &read_list_binary](PropertyLookup & f, const PlyProperty & p, uint8_t * dest, size_t & destOffset, std::istream & _is)\n {\n if (!p.isList)\n {\n read_property_binary(p.propertyType, f.prop_stride, dest + destOffset, destOffset, _is);\n }\n else\n {\n read_list_binary(p.listType, &listSize, dummyCount, _is); // the list size\n read_property_binary(p.propertyType, f.prop_stride * listSize, dest + destOffset, destOffset, _is); // properties in list\n }\n };\n skip = [this, &listSize, &dummyCount, &read_list_binary](PropertyLookup & f, const PlyProperty & p, std::istream & _is)\n {\n if (!p.isList)\n {\n _is.read((char*)scratch, f.prop_stride);\n return f.prop_stride;\n }\n read_list_binary(p.listType, &listSize, dummyCount, _is); // the list size (does not count for memory alloc)\n return read_property_binary(p.propertyType, f.prop_stride * listSize, scratch, dummyCount, _is);\n };\n }\n else\n {\n read = [this, &listSize, &dummyCount](PropertyLookup & f, const PlyProperty & p, uint8_t * dest, size_t & destOffset, std::istream & _is) \n { \n if (!p.isList)\n {\n read_property_ascii(p.propertyType, f.prop_stride, dest + destOffset, destOffset, _is); \n }\n else\n {\n read_property_ascii(p.listType, f.list_stride, &listSize, dummyCount, _is); // the list size\n for (size_t i = 0; i < listSize; ++i) \n {\n read_property_ascii(p.propertyType, f.prop_stride, dest + destOffset, destOffset, _is);\n }\n }\n };\n skip = [this, &listSize, &dummyCount, &skip_ascii_buffer](PropertyLookup & f, const PlyProperty & p, std::istream & _is)\n { \n skip_ascii_buffer.clear();\n if (p.isList)\n {\n read_property_ascii(p.listType, f.list_stride, &listSize, dummyCount, _is); // the list size\n for (size_t i = 0; i < listSize; ++i) _is >> skip_ascii_buffer; // properties in list\n return listSize * f.prop_stride;\n }\n _is >> skip_ascii_buffer;\n return f.prop_stride;\n };\n }\n\n auto element_property_lookup = make_property_lookup_table();\n\n size_t element_idx = 0;\n size_t property_index = 0;\n for (auto & element : elements)\n {\n for (size_t count = 0; count < element.size; ++count)\n {\n property_index = 0;\n for (auto & property : element.properties)\n {\n auto & f = element_property_lookup[element_idx][property_index];\n if (!f.skip)\n {\n auto * helper = f.helper;\n if (firstPass) helper->cursor->totalSizeBytes += skip(f, property, is);\n else read(f, property, helper->data->buffer.get(), helper->cursor->byteOffset, is);\n }\n else skip(f, property, is);\n property_index++;\n }\n }\n element_idx++;\n }\n\n // Reset istream reader to the beginning\n if (firstPass) is.seekg(start, is.beg);\n}\n\n// Wrap the public interface:\n\nPlyFile::PlyFile() { impl.reset(new PlyFileImpl()); };\nPlyFile::~PlyFile() { };\nbool PlyFile::parse_header(std::istream & is) { return impl->parse_header(is); }\nvoid PlyFile::read(std::istream & is) { return impl->read(is); }\nvoid PlyFile::write(std::ostream & os, bool isBinary) { return impl->write(os, isBinary); }\nstd::vector PlyFile::get_elements() const { return impl->elements; }\nstd::vector & PlyFile::get_comments() { return impl->comments; }\nstd::vector PlyFile::get_info() const { return impl->objInfo; }\nstd::shared_ptr PlyFile::request_properties_from_element(const std::string & elementKey,\n const std::initializer_list propertyKeys,\n const uint32_t list_size_hint)\n{\n return impl->request_properties_from_element(elementKey, propertyKeys, list_size_hint);\n}\nvoid PlyFile::add_properties_to_element(const std::string & elementKey,\n const std::initializer_list propertyKeys,\n const Type type, const size_t count, uint8_t * data, const Type listType, const size_t listCount)\n{\n return impl->add_properties_to_element(elementKey, propertyKeys, type, count, data, listType, listCount);\n}\n\n#endif // end TINYPLY_IMPLEMENTATION" }, { "path": "framework/tools/dataset-tools/io-inspect.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/SLAMFile.h\"\n#include \"io/SLAMFrame.h\"\n#include \"io/FrameBufferSource.h\"\n#include \"io/deserialisation/SLAMFileDeserialiser.h\"\n#include \"io/format/ImageDataFormatter.h\"\n\n#include \n#include \n\nusing namespace slambench::io;\n\nslambench::io::SingleFrameBufferSource single_fb_source;\n\n\nvoid printFrame (SLAMFrame *frame , unsigned int index ) {\n\tstd::cout << \"Frame \" << index << std::endl;\n\tstd::cout << \" -> Timestamp \" << std::fixed << std::setprecision(9) << (double)frame->Timestamp.S + (frame->Timestamp.Ns / 1000000000.0) << std::endl;\n\n\tif (frame->FrameSensor->GetType() == CameraSensor::kCameraType) {\n\t\tslambench::io::CameraSensor * rgb_sensor = dynamic_cast (frame->FrameSensor) ;\n\t}\n\tstd::cout << \" -> Sensor \" << frame->FrameSensor->GetType() << \" \" << (uint32_t)frame->FrameSensor->Index << \" (\" << frame->FrameSensor->Description.c_str() << \")\" << std::endl;\n\n\n}\n\nvoid Deserialise(const std::string &filename, SLAMFile &file) {\n\tFILE *input_file = fopen(filename.c_str(), \"r\");\n\tSLAMFileDeserialiser deserialiser(input_file, &single_fb_source);\n\t\n\tif(deserialiser.Deserialise(file)) {\n\t\tprintf(\"Deserialisation success\\n\");\n\t} else {\n\t\tprintf(\"Deserialisation failure\\n\");\n\t}\n}\n\nvoid Check(SLAMFile &file) {\n\n\tstd::cout << \"File version: \" << SLAMFile::Version << std::endl;\n\tstd::cout << \"Sensor count: \" << file.Sensors.size() << std::endl;\n\tstd::cout << \"Frame count: \" << file.GetFrameCount() << std::endl;\n\t\n\tfor(const auto &sensor : file.Sensors) {\n\t\tunsigned int count = 0;\n\t\tfor(unsigned int index = 0; index < file.GetFrameCount(); ++index) {\n\t\t\tSLAMFrame *frame = file.GetFrame(index);\n\t\t\tif (frame->FrameSensor->Index == sensor->Index) count++;\n\t\t}\n\t\tif (sensor->GetType() == CameraSensor::kCameraType) {\n\t\t\tslambench::io::CameraSensor * rgb_sensor = dynamic_cast (sensor) ;\n\t\t\tstd::cout << \"Sensor \" << (uint32_t)sensor->Index << \": \" << \" (\" << count << \" frames)\" << std::endl\n\t\t\t\t\t << \" Type: \" << sensor->GetType() << std::endl\n\t\t\t\t\t << \" FrameFormat: \" << rgb_sensor->FrameFormat << std::endl\n\t\t\t\t\t << \" PixelFormat: \" << slambench::io::pixelformat::TypeOf(rgb_sensor->PixelFormat) << std::endl\n\t\t\t\t << \" Desc: \" << sensor->Description.c_str() << std::endl;\n\n\t\t} else {\n\t\t\tstd::cout << \"Sensor \" << (uint32_t)sensor->Index << \": \" << \" (\" << count << \" frames)\" << std::endl\n\t\t\t\t << \" Type: \" << sensor->GetType() << std::endl\n\t\t\t\t << \" Desc: \" << sensor->Description.c_str() << std::endl;\n\t\t}\n\t}\n\n\n\tfor(unsigned int index = 0; index < file.GetFrameCount(); ++index) {\n\t\tSLAMFrame *frame = file.GetFrame(index);\n\t\tprintFrame(frame,index);\n\t}\n}\n\nint main(int , char **argv) {\n\tSLAMFile file;\n\tDeserialise(argv[1], file);\n\tCheck(file);\n\t\n\treturn 0;\n}\n" }, { "path": "framework/tools/dataset-tools/io-monoslam.cpp", "content": "/*\n * To change this license header, choose License Headers in Project Properties.\n * To change this template file, choose Tools | Templates\n * and open the template in the editor.\n */\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \n\n#include \n\n#include \nusing namespace slambench::io;\n\nCameraSensor *GetGreySensor(const Sensor::pose_t &pose, const CameraSensor::intrinsics_t &intrinsics) {\n\tCameraSensor *sensor = new CameraSensor(sensortype::Grey);\n\tsensor->Index = 0;\n\tsensor->Width = 320;\n\tsensor->Height = 240;\n\tsensor->FrameFormat = frameformat::Raster;\n\tsensor->PixelFormat = pixelformat::G_I_8;\n\t\n\tsensor->CopyPose(pose);\t\n\tsensor->CopyIntrinsics(intrinsics);\n\t\n\treturn sensor;\n}\n\n\nvoid AddSensors(SLAMFile &file, bool Depth, bool RGB, bool Grey, bool GT) {\n\n\t// TODO This information should come from the dataset !!\n\n\tSensor::pose_t pose_depth = Eigen::Matrix4f::Identity();\n\tSensor::pose_t pose = Eigen::Matrix4f::Identity();\n\t\n\tCameraSensor::intrinsics_t intrinsics;\n\tintrinsics[0] = 1.0;\n\tintrinsics[1] = 1.0;\n\tintrinsics[2] = 0.5;\n\tintrinsics[3] = 0.5;\n\n\tDepthSensor::intrinsics_t intrinsics_depth;\n\tintrinsics_depth[0] = 0.751875;\n\tintrinsics_depth[1] = 1.0;\n\tintrinsics_depth[2] = 0.5;\n\tintrinsics_depth[3] = 0.5;\n\n\tDepthSensor::disparity_params_t disparity_params = {0.0002,0.0};\n\tDepthSensor::disparity_type_t disparity_type = DepthSensor::affine_disparity;\n\t\n\tint idx = 0;\n\t\n\tif(Grey) {\n\t\tCameraSensor *grey_sensor = GetGreySensor(pose, intrinsics);\n\t\tgrey_sensor->Index = idx++;\n\t\tfile.Sensors.AddSensor(grey_sensor);\n\t}\n\t\n}\n\n\nbool GetFrame(const std::string &dirname, SLAMFile &file, int frame_no) {\n\t// two frames to add: one for rgb and one for depth\n\tSensor *grey_sensor = file.Sensors.GetSensor(sensortype::Grey);\n\t\n\tif(grey_sensor) {\n\t\tImageFileFrame *rgb_frame = new ImageFileFrame();\n\t\trgb_frame->FrameSensor = grey_sensor;\n\t\trgb_frame->Timestamp.S = frame_no;\n\t\t\n\t\tstd::stringstream frame_name;\n\t\tframe_name << dirname << \"/rawoutput\" << std::setw(4) << std::setfill('0') << frame_no << \".pgm\";\n\t\trgb_frame->Filename = frame_name.str();\n\t\t\n\t\tif(access(rgb_frame->Filename.c_str(), F_OK) < 0) {\n\t\t\tprintf(\"No greyscale image for frame %u (%s)\\n\", frame_no, frame_name.str().c_str());\n\t\t\tperror(\"\");\n\t\t\treturn false;\n\t\t}\n\t\t\n\t\tfile.AddFrame(rgb_frame);\n\t}\n\treturn true;\n}\n\nbool AddFrames(const std::string &dirname, SLAMFile &file) {\n\tint frame_no = 0;\n\t\n\twhile(GetFrame(dirname, file, frame_no)) {\n\t\tprintf(\"\\rRead frame %u \", frame_no);\n\t\tframe_no++;\n\t}\n\tprintf(\"\\n\");\n\t\n\treturn true;\n}\n\n\nvoid frame_callback(int idx, int total) {\n\tprintf(\"\\r\");\n\t\n\t// print progress bar\n\tprintf(\"[\");\n\tconst int width = 50;\n\tfloat blocks = width * ((float)idx / total);\n\t\n\tfor(int i = 0; i < blocks; ++i) {\n\t\tprintf(\"#\");\n\t}\n\tfor(int i = blocks; i < width; ++i) {\n\t\tprintf(\" \");\n\t}\n\tprintf(\"] \");\n\t\n\tprintf(\"%u / %u\", idx, total);\n\tfflush(stdout);\n}\nbool Serialise(const std::string &filename, SLAMFile &file) {\n\treturn SLAMFile::Write(filename, file, frame_callback);\n}\n\n\n\nint main(int argc, char **argv) {\n\t\n\tSLAMFile slamfile;\n\tAddSensors(slamfile, 0, 0,1, 0);\n\t\n\tif(!AddFrames(argv[1], slamfile)) {\n\t\tfprintf(stderr, \"Failed to add frames\\n\");\n\t\treturn 1;\n\t}\n\t\n\tprintf(\"Writing output\\n\");\n\tif(!Serialise(argv[2], slamfile)) {\n\t\tfprintf(stderr, \"\\nFailed to write output\\n\");\n\t\treturn 1;\n\t}\n\t\n\tprintf(\"\\nSerialisation succeeded\\n\");\n\t\n\treturn 0;\n}" }, { "path": "framework/tools/dataset-tools/io-readply.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \"io/format/PointCloud.h\"\n\n#include \n\nint main(int argc, char **argv) {\n\tslambench::io::PlyReader reader;\n\tstd::ifstream str (argv[1]);\n\tauto pc = reader.Read(str);\n\t\n\tif(pc == nullptr) {\n\t\tprintf(\"Could not read pointcloud!\\n\");\n\t\treturn 1;\n\t} else {\n\t\tfor(auto p : pc->Get()) {\n\t\t\tprintf(\"%f %f %f\\n\", p.x, p.y, p.z);\n\t\t}\n\t}\n\treturn 0;\n}\n" }, { "path": "framework/tools/dataset-tools/lodepng.cpp", "content": "/*\n LodePNG version 20140624\n\n Copyright (c) 2005-2014 Lode Vandevenne\n\n This software is provided 'as-is', without any express or implied\n warranty. In no event will the authors be held liable for any damages\n arising from the use of this software.\n\n Permission is granted to anyone to use this software for any purpose,\n including commercial applications, and to alter it and redistribute it\n freely, subject to the following restrictions:\n\n 1. The origin of this software must not be misrepresented; you must not\n claim that you wrote the original software. If you use this software\n in a product, an acknowledgment in the product documentation would be\n appreciated but is not required.\n\n 2. Altered source versions must be plainly marked as such, and must not be\n misrepresented as being the original software.\n\n 3. This notice may not be removed or altered from any source\n distribution.\n */\n\n/*\n The manual and changelog are in the header file \"lodepng.h\"\n Rename this file to lodepng.cpp to use it for C++, or to lodepng.c to use it for C.\n */\n\n#include \"lodepng.h\"\n\n#include \n#include \n\n#ifdef LODEPNG_COMPILE_CPP\n#include \n#endif /*LODEPNG_COMPILE_CPP*/\n\n#define VERSION_STRING \"20140624\"\n\n#if (_MSC_VER >= 1310) /*Visual Studio: Kept warning-free but a few warning types are not desired here.*/\n#pragma warning( disable : 4244 ) /*implicit conversions: not warned by gcc -Wall -Wextra and requires too much casts*/\n#pragma warning( disable : 4996 ) /*VS does not like fopen, but fopen_s is not standard C so unusable here*/\n#endif /*_MSC_VER >= 1310*/\n\n/*\n This source file is built up in the following large parts. The code sections\n with the \"LODEPNG_COMPILE_\" #defines divide this up further in an intermixed way.\n -Tools for C and common code for PNG and Zlib\n -C Code for Zlib (huffman, deflate, ...)\n -C Code for PNG (file format chunks, adam7, PNG filters, color conversions, ...)\n -The C++ wrapper around all of the above\n */\n\n/*The malloc, realloc and free functions defined here with \"lodepng_\" in front\n of the name, so that you can easily change them to others related to your\n platform if needed. Everything else in the code calls these. Pass\n -DLODEPNG_NO_COMPILE_ALLOCATORS to the compiler, or comment out\n #define LODEPNG_COMPILE_ALLOCATORS in the header, to disable the ones here and\n define them in your own project's source files without needing to change\n lodepng source code. Don't forget to remove \"static\" if you copypaste them\n from here.*/\n\n#ifdef LODEPNG_COMPILE_ALLOCATORS\nstatic void* lodepng_malloc(size_t size) {\n\treturn malloc(size);\n}\n\nstatic void* lodepng_realloc(void* ptr, size_t new_size) {\n\treturn realloc(ptr, new_size);\n}\n\nstatic void lodepng_free(void* ptr) {\n\tfree(ptr);\n}\n#else /*LODEPNG_COMPILE_ALLOCATORS*/\nvoid* lodepng_malloc(size_t size);\nvoid* lodepng_realloc(void* ptr, size_t new_size);\nvoid lodepng_free(void* ptr);\n#endif /*LODEPNG_COMPILE_ALLOCATORS*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* // Tools for C, and common code for PNG and Zlib. // */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*\n Often in case of an error a value is assigned to a variable and then it breaks\n out of a loop (to go to the cleanup phase of a function). This macro does that.\n It makes the error handling code shorter and more readable.\n\n Example: if(!uivector_resizev(&frequencies_ll, 286, 0)) ERROR_BREAK(83);\n */\n#define CERROR_BREAK(errorvar, code)\\\n{\\\n errorvar = code;\\\n break;\\\n}\n\n/*version of CERROR_BREAK that assumes the common case where the error variable is named \"error\"*/\n#define ERROR_BREAK(code) CERROR_BREAK(error, code)\n\n/*Set error var to the error code, and return it.*/\n#define CERROR_RETURN_ERROR(errorvar, code)\\\n{\\\n errorvar = code;\\\n return code;\\\n}\n\n/*Try the code, if it returns error, also return the error.*/\n#define CERROR_TRY_RETURN(call)\\\n{\\\n unsigned error = call;\\\n if(error) return error;\\\n}\n\n/*\n About uivector, ucvector and string:\n -All of them wrap dynamic arrays or text strings in a similar way.\n -LodePNG was originally written in C++. The vectors replace the std::vectors that were used in the C++ version.\n -The string tools are made to avoid problems with compilers that declare things like strncat as deprecated.\n -They're not used in the interface, only internally in this file as static functions.\n -As with many other structs in this file, the init and cleanup functions serve as ctor and dtor.\n */\n\n#ifdef LODEPNG_COMPILE_ZLIB\n/*dynamic vector of unsigned ints*/\ntypedef struct uivector {\n\tunsigned* data;\n\tsize_t size; /*size in number of unsigned longs*/\n\tsize_t allocsize; /*allocated size in bytes*/\n} uivector;\n\nstatic void uivector_cleanup(void* p) {\n\t((uivector*) p)->size = ((uivector*) p)->allocsize = 0;\n\tlodepng_free(((uivector*) p)->data);\n\t((uivector*) p)->data = NULL;\n}\n\n/*returns 1 if success, 0 if failure ==> nothing done*/\nstatic unsigned uivector_resize(uivector* p, size_t size) {\n\tif (size * sizeof(unsigned) > p->allocsize) {\n\t\tsize_t newsize = size * sizeof(unsigned) * 2;\n\t\tvoid* data = lodepng_realloc(p->data, newsize);\n\t\tif (data) {\n\t\t\tp->allocsize = newsize;\n\t\t\tp->data = (unsigned*) data;\n\t\t\tp->size = size;\n\t\t} else\n\t\t\treturn 0;\n\t} else\n\t\tp->size = size;\n\treturn 1;\n}\n\n/*resize and give all new elements the value*/\nstatic unsigned uivector_resizev(uivector* p, size_t size, unsigned value) {\n\tsize_t oldsize = p->size, i;\n\tif (!uivector_resize(p, size))\n\t\treturn 0;\n\tfor (i = oldsize; i < size; i++)\n\t\tp->data[i] = value;\n\treturn 1;\n}\n\nstatic void uivector_init(uivector* p) {\n\tp->data = NULL;\n\tp->size = p->allocsize = 0;\n}\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*returns 1 if success, 0 if failure ==> nothing done*/\nstatic unsigned uivector_push_back(uivector* p, unsigned c) {\n\tif (!uivector_resize(p, p->size + 1))\n\t\treturn 0;\n\tp->data[p->size - 1] = c;\n\treturn 1;\n}\n\n/*copy q to p, returns 1 if success, 0 if failure ==> nothing done*/\nstatic unsigned uivector_copy(uivector* p, const uivector* q) {\n\tsize_t i;\n\tif (!uivector_resize(p, q->size))\n\t\treturn 0;\n\tfor (i = 0; i < q->size; i++)\n\t\tp->data[i] = q->data[i];\n\treturn 1;\n}\n#endif /*LODEPNG_COMPILE_ENCODER*/\n#endif /*LODEPNG_COMPILE_ZLIB*/\n\n/* /////////////////////////////////////////////////////////////////////////// */\n\n/*dynamic vector of unsigned chars*/\ntypedef struct ucvector {\n\tunsigned char* data;\n\tsize_t size; /*used size*/\n\tsize_t allocsize; /*allocated size*/\n} ucvector;\n\n/*returns 1 if success, 0 if failure ==> nothing done*/\nstatic unsigned ucvector_resize(ucvector* p, size_t size) {\n\tif (size * sizeof(unsigned char) > p->allocsize) {\n\t\tsize_t newsize = size * sizeof(unsigned char) * 2;\n\t\tvoid* data = lodepng_realloc(p->data, newsize);\n\t\tif (data) {\n\t\t\tp->allocsize = newsize;\n\t\t\tp->data = (unsigned char*) data;\n\t\t\tp->size = size;\n\t\t} else\n\t\t\treturn 0; /*error: not enough memory*/\n\t} else\n\t\tp->size = size;\n\treturn 1;\n}\n\n#ifdef LODEPNG_COMPILE_PNG\n\nstatic void ucvector_cleanup(void* p) {\n\t((ucvector*) p)->size = ((ucvector*) p)->allocsize = 0;\n\tlodepng_free(((ucvector*) p)->data);\n\t((ucvector*) p)->data = NULL;\n}\n\nstatic void ucvector_init(ucvector* p) {\n\tp->data = NULL;\n\tp->size = p->allocsize = 0;\n}\n\n#ifdef LODEPNG_COMPILE_DECODER\n/*resize and give all new elements the value*/\nstatic unsigned ucvector_resizev(ucvector* p, size_t size,\n\t\tunsigned char value) {\n\tsize_t oldsize = p->size, i;\n\tif (!ucvector_resize(p, size))\n\t\treturn 0;\n\tfor (i = oldsize; i < size; i++)\n\t\tp->data[i] = value;\n\treturn 1;\n}\n#endif /*LODEPNG_COMPILE_DECODER*/\n#endif /*LODEPNG_COMPILE_PNG*/\n\n#ifdef LODEPNG_COMPILE_ZLIB\n/*you can both convert from vector to buffer&size and vica versa. If you use\n init_buffer to take over a buffer and size, it is not needed to use cleanup*/\nstatic void ucvector_init_buffer(ucvector* p, unsigned char* buffer,\n\t\tsize_t size) {\n\tp->data = buffer;\n\tp->allocsize = p->size = size;\n}\n#endif /*LODEPNG_COMPILE_ZLIB*/\n\n#if (defined(LODEPNG_COMPILE_PNG) && defined(LODEPNG_COMPILE_ANCILLARY_CHUNKS)) || defined(LODEPNG_COMPILE_ENCODER)\n/*returns 1 if success, 0 if failure ==> nothing done*/\nstatic unsigned ucvector_push_back(ucvector* p, unsigned char c) {\n\tif (!ucvector_resize(p, p->size + 1))\n\t\treturn 0;\n\tp->data[p->size - 1] = c;\n\treturn 1;\n}\n#endif /*defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_ENCODER)*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_PNG\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n/*returns 1 if success, 0 if failure ==> nothing done*/\nstatic unsigned string_resize(char** out, size_t size) {\n\tchar* data = (char*) lodepng_realloc(*out, size + 1);\n\tif (data) {\n\t\tdata[size] = 0; /*null termination char*/\n\t\t*out = data;\n\t}\n\treturn data != 0;\n}\n\n/*init a {char*, size_t} pair for use as string*/\nstatic void string_init(char** out) {\n\t*out = NULL;\n\tstring_resize(out, 0);\n}\n\n/*free the above pair again*/\nstatic void string_cleanup(char** out) {\n\tlodepng_free(*out);\n\t*out = NULL;\n}\n\nstatic void string_set(char** out, const char* in) {\n\tsize_t insize = strlen(in), i = 0;\n\tif (string_resize(out, insize)) {\n\t\tfor (i = 0; i < insize; i++) {\n\t\t\t(*out)[i] = in[i];\n\t\t}\n\t}\n}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n#endif /*LODEPNG_COMPILE_PNG*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n\nunsigned lodepng_read32bitInt(const unsigned char* buffer) {\n\treturn (unsigned) ((buffer[0] << 24) | (buffer[1] << 16) | (buffer[2] << 8)\n\t\t\t| buffer[3]);\n}\n\n#if defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_ENCODER)\n/*buffer must have at least 4 allocated bytes available*/\nstatic void lodepng_set32bitInt(unsigned char* buffer, unsigned value) {\n\tbuffer[0] = (unsigned char) ((value >> 24) & 0xff);\n\tbuffer[1] = (unsigned char) ((value >> 16) & 0xff);\n\tbuffer[2] = (unsigned char) ((value >> 8) & 0xff);\n\tbuffer[3] = (unsigned char) ((value) & 0xff);\n}\n#endif /*defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_ENCODER)*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\nstatic void lodepng_add32bitInt(ucvector* buffer, unsigned value) {\n\tucvector_resize(buffer, buffer->size + 4); /*todo: give error if resize failed*/\n\tlodepng_set32bitInt(&buffer->data[buffer->size - 4], value);\n}\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / File IO / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_DISK\n\nunsigned lodepng_load_file(unsigned char** out, size_t* outsize,\n\t\tconst char* filename) {\n\tFILE* file;\n\tlong size;\n\n\t/*provide some proper output values if error will happen*/\n\t*out = 0;\n\t*outsize = 0;\n\n\tfile = fopen(filename, \"rb\");\n\tif (!file)\n\t\treturn 78;\n\n\t/*get filesize:*/\n\tfseek(file, 0, SEEK_END);\n\tsize = ftell(file);\n\trewind(file);\n\n\t/*read contents of the file into the vector*/\n\t*outsize = 0;\n\t*out = (unsigned char*) lodepng_malloc((size_t) size);\n\tif (size && (*out))\n\t\t(*outsize) = fread(*out, 1, (size_t) size, file);\n\n\tfclose(file);\n\tif (!(*out) && size)\n\t\treturn 83; /*the above malloc failed*/\n\treturn 0;\n}\n\n/*write given buffer to the file, overwriting the file, it doesn't append to it.*/\nunsigned lodepng_save_file(const unsigned char* buffer, size_t buffersize,\n\t\tconst char* filename) {\n\tFILE* file;\n\tfile = fopen(filename, \"wb\");\n\tif (!file)\n\t\treturn 79;\n\tfwrite((char*) buffer, 1, buffersize, file);\n\tfclose(file);\n\treturn 0;\n}\n\n#endif /*LODEPNG_COMPILE_DISK*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* // End of common code and tools. Begin of Zlib related code. // */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_ZLIB\n#ifdef LODEPNG_COMPILE_ENCODER\n/*TODO: this ignores potential out of memory errors*/\n#define addBitToStream(/*size_t**/ bitpointer, /*ucvector**/ bitstream, /*unsigned char*/ bit)\\\n{\\\n /*add a new byte at the end*/\\\n if(((*bitpointer) & 7) == 0) ucvector_push_back(bitstream, (unsigned char)0);\\\n /*earlier bit of huffman code is in a lesser significant bit of an earlier byte*/\\\n (bitstream->data[bitstream->size - 1]) |= (bit << ((*bitpointer) & 0x7));\\\n (*bitpointer)++;\\\n}\n\nstatic void addBitsToStream(size_t* bitpointer, ucvector* bitstream,\n\t\tunsigned value, size_t nbits) {\n\tsize_t i;\n\tfor (i = 0; i < nbits; i++)\n\t\taddBitToStream(bitpointer, bitstream,\n\t\t\t\t(unsigned char )((value >> i) & 1));\n}\n\nstatic void addBitsToStreamReversed(size_t* bitpointer, ucvector* bitstream,\n\t\tunsigned value, size_t nbits) {\n\tsize_t i;\n\tfor (i = 0; i < nbits; i++)\n\t\taddBitToStream(bitpointer, bitstream,\n\t\t\t\t(unsigned char )((value >> (nbits - 1 - i)) & 1));\n}\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#ifdef LODEPNG_COMPILE_DECODER\n\n#define READBIT(bitpointer, bitstream) ((bitstream[bitpointer >> 3] >> (bitpointer & 0x7)) & (unsigned char)1)\n\nstatic unsigned char readBitFromStream(size_t* bitpointer,\n\t\tconst unsigned char* bitstream) {\n\tunsigned char result = (unsigned char) (READBIT(*bitpointer, bitstream));\n\t(*bitpointer)++;\n\treturn result;\n}\n\nstatic unsigned readBitsFromStream(size_t* bitpointer,\n\t\tconst unsigned char* bitstream, size_t nbits) {\n\tunsigned result = 0, i;\n\tfor (i = 0; i < nbits; i++) {\n\t\tresult += ((unsigned) READBIT(*bitpointer, bitstream)) << i;\n\t\t(*bitpointer)++;\n\t}\n\treturn result;\n}\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Deflate - Huffman / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#define FIRST_LENGTH_CODE_INDEX 257\n#define LAST_LENGTH_CODE_INDEX 285\n/*256 literals, the end code, some length codes, and 2 unused codes*/\n#define NUM_DEFLATE_CODE_SYMBOLS 288\n/*the distance codes have their own symbols, 30 used, 2 unused*/\n#define NUM_DISTANCE_SYMBOLS 32\n/*the code length codes. 0-15: code lengths, 16: copy previous 3-6 times, 17: 3-10 zeros, 18: 11-138 zeros*/\n#define NUM_CODE_LENGTH_CODES 19\n\n/*the base lengths represented by codes 257-285*/\nstatic const unsigned LENGTHBASE[29] = { 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 15,\n\t\t17, 19, 23, 27, 31, 35, 43, 51, 59, 67, 83, 99, 115, 131, 163, 195, 227,\n\t\t258 };\n\n/*the extra bits used by codes 257-285 (added to base length)*/\nstatic const unsigned LENGTHEXTRA[29] = { 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 2,\n\t\t2, 2, 2, 3, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5, 0 };\n\n/*the base backwards distances (the bits of distance codes appear after length codes and use their own huffman tree)*/\nstatic const unsigned DISTANCEBASE[30] = { 1, 2, 3, 4, 5, 7, 9, 13, 17, 25, 33,\n\t\t49, 65, 97, 129, 193, 257, 385, 513, 769, 1025, 1537, 2049, 3073, 4097,\n\t\t6145, 8193, 12289, 16385, 24577 };\n\n/*the extra bits of backwards distances (added to base)*/\nstatic const unsigned DISTANCEEXTRA[30] = { 0, 0, 0, 0, 1, 1, 2, 2, 3, 3, 4, 4,\n\t\t5, 5, 6, 6, 7, 7, 8, 8, 9, 9, 10, 10, 11, 11, 12, 12, 13, 13 };\n\n/*the order in which \"code length alphabet code lengths\" are stored, out of this\n the huffman tree of the dynamic huffman tree lengths is generated*/\nstatic const unsigned CLCL_ORDER[NUM_CODE_LENGTH_CODES] = { 16, 17, 18, 0, 8, 7,\n\t\t9, 6, 10, 5, 11, 4, 12, 3, 13, 2, 14, 1, 15 };\n\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*\n Huffman tree struct, containing multiple representations of the tree\n */\ntypedef struct HuffmanTree {\n\tunsigned* tree2d;\n\tunsigned* tree1d;\n\tunsigned* lengths; /*the lengths of the codes of the 1d-tree*/\n\tunsigned maxbitlen; /*maximum number of bits a single code can get*/\n\tunsigned numcodes; /*number of symbols in the alphabet = number of codes*/\n} HuffmanTree;\n\n/*function used for debug purposes to draw the tree in ascii art with C++*/\n/*\n static void HuffmanTree_draw(HuffmanTree* tree)\n {\n std::cout << \"tree. length: \" << tree->numcodes << \" maxbitlen: \" << tree->maxbitlen << std::endl;\n for(size_t i = 0; i < tree->tree1d.size; i++)\n {\n if(tree->lengths.data[i])\n std::cout << i << \" \" << tree->tree1d.data[i] << \" \" << tree->lengths.data[i] << std::endl;\n }\n std::cout << std::endl;\n }*/\n\nstatic void HuffmanTree_init(HuffmanTree* tree) {\n\ttree->tree2d = 0;\n\ttree->tree1d = 0;\n\ttree->lengths = 0;\n}\n\nstatic void HuffmanTree_cleanup(HuffmanTree* tree) {\n\tlodepng_free(tree->tree2d);\n\tlodepng_free(tree->tree1d);\n\tlodepng_free(tree->lengths);\n}\n\n/*the tree representation used by the decoder. return value is error*/\nstatic unsigned HuffmanTree_make2DTree(HuffmanTree* tree) {\n\tunsigned nodefilled = 0; /*up to which node it is filled*/\n\tunsigned treepos = 0; /*position in the tree (1 of the numcodes columns)*/\n\tunsigned n, i;\n\n\ttree->tree2d = (unsigned*) lodepng_malloc(\n\t\t\ttree->numcodes * 2 * sizeof(unsigned));\n\tif (!tree->tree2d)\n\t\treturn 83; /*alloc fail*/\n\n\t/*\n\t convert tree1d[] to tree2d[][]. In the 2D array, a value of 32767 means\n\t uninited, a value >= numcodes is an address to another bit, a value < numcodes\n\t is a code. The 2 rows are the 2 possible bit values (0 or 1), there are as\n\t many columns as codes - 1.\n\t A good huffmann tree has N * 2 - 1 nodes, of which N - 1 are internal nodes.\n\t Here, the internal nodes are stored (what their 0 and 1 option point to).\n\t There is only memory for such good tree currently, if there are more nodes\n\t (due to too long length codes), error 55 will happen\n\t */\n\tfor (n = 0; n < tree->numcodes * 2; n++) {\n\t\ttree->tree2d[n] = 32767; /*32767 here means the tree2d isn't filled there yet*/\n\t}\n\n\tfor (n = 0; n < tree->numcodes; n++) /*the codes*/\n\t{\n\t\tfor (i = 0; i < tree->lengths[n]; i++) /*the bits for this code*/\n\t\t{\n\t\t\tunsigned char bit = (unsigned char) ((tree->tree1d[n]\n\t\t\t\t\t>> (tree->lengths[n] - i - 1)) & 1);\n\t\t\tif (treepos > tree->numcodes - 2)\n\t\t\t\treturn 55; /*oversubscribed, see comment in lodepng_error_text*/\n\t\t\tif (tree->tree2d[2 * treepos + bit] == 32767) /*not yet filled in*/\n\t\t\t{\n\t\t\t\tif (i + 1 == tree->lengths[n]) /*last bit*/\n\t\t\t\t{\n\t\t\t\t\ttree->tree2d[2 * treepos + bit] = n; /*put the current code in it*/\n\t\t\t\t\ttreepos = 0;\n\t\t\t\t} else {\n\t\t\t\t\t/*put address of the next step in here, first that address has to be found of course\n\t\t\t\t\t (it's just nodefilled + 1)...*/\n\t\t\t\t\tnodefilled++;\n\t\t\t\t\t/*addresses encoded with numcodes added to it*/\n\t\t\t\t\ttree->tree2d[2 * treepos + bit] = nodefilled\n\t\t\t\t\t\t\t+ tree->numcodes;\n\t\t\t\t\ttreepos = nodefilled;\n\t\t\t\t}\n\t\t\t} else\n\t\t\t\ttreepos = tree->tree2d[2 * treepos + bit] - tree->numcodes;\n\t\t}\n\t}\n\n\tfor (n = 0; n < tree->numcodes * 2; n++) {\n\t\tif (tree->tree2d[n] == 32767)\n\t\t\ttree->tree2d[n] = 0; /*remove possible remaining 32767's*/\n\t}\n\n\treturn 0;\n}\n\n/*\n Second step for the ...makeFromLengths and ...makeFromFrequencies functions.\n numcodes, lengths and maxbitlen must already be filled in correctly. return\n value is error.\n */\nstatic unsigned HuffmanTree_makeFromLengths2(HuffmanTree* tree) {\n\tuivector blcount;\n\tuivector nextcode;\n\tunsigned bits, n, error = 0;\n\n\tuivector_init(&blcount);\n\tuivector_init(&nextcode);\n\n\ttree->tree1d = (unsigned*) lodepng_malloc(\n\t\t\ttree->numcodes * sizeof(unsigned));\n\tif (!tree->tree1d)\n\t\terror = 83; /*alloc fail*/\n\n\tif (!uivector_resizev(&blcount, tree->maxbitlen + 1, 0)\n\t\t\t|| !uivector_resizev(&nextcode, tree->maxbitlen + 1, 0))\n\t\terror = 83; /*alloc fail*/\n\n\tif (!error) {\n\t\t/*step 1: count number of instances of each code length*/\n\t\tfor (bits = 0; bits < tree->numcodes; bits++)\n\t\t\tblcount.data[tree->lengths[bits]]++;\n\t\t/*step 2: generate the nextcode values*/\n\t\tfor (bits = 1; bits <= tree->maxbitlen; bits++) {\n\t\t\tnextcode.data[bits] = (nextcode.data[bits - 1]\n\t\t\t\t\t+ blcount.data[bits - 1]) << 1;\n\t\t}\n\t\t/*step 3: generate all the codes*/\n\t\tfor (n = 0; n < tree->numcodes; n++) {\n\t\t\tif (tree->lengths[n] != 0)\n\t\t\t\ttree->tree1d[n] = nextcode.data[tree->lengths[n]]++;\n\t\t}\n\t}\n\n\tuivector_cleanup(&blcount);\n\tuivector_cleanup(&nextcode);\n\n\tif (!error)\n\t\treturn HuffmanTree_make2DTree(tree);\n\telse\n\t\treturn error;\n}\n\n/*\n given the code lengths (as stored in the PNG file), generate the tree as defined\n by Deflate. maxbitlen is the maximum bits that a code in the tree can have.\n return value is error.\n */\nstatic unsigned HuffmanTree_makeFromLengths(HuffmanTree* tree,\n\t\tconst unsigned* bitlen, size_t numcodes, unsigned maxbitlen) {\n\tunsigned i;\n\ttree->lengths = (unsigned*) lodepng_malloc(numcodes * sizeof(unsigned));\n\tif (!tree->lengths)\n\t\treturn 83; /*alloc fail*/\n\tfor (i = 0; i < numcodes; i++)\n\t\ttree->lengths[i] = bitlen[i];\n\ttree->numcodes = (unsigned) numcodes; /*number of symbols*/\n\ttree->maxbitlen = maxbitlen;\n\treturn HuffmanTree_makeFromLengths2(tree);\n}\n\n#ifdef LODEPNG_COMPILE_ENCODER\n\n/*\n A coin, this is the terminology used for the package-merge algorithm and the\n coin collector's problem. This is used to generate the huffman tree.\n A coin can be multiple coins (when they're merged)\n */\ntypedef struct Coin {\n\tuivector symbols;\n\tfloat weight; /*the sum of all weights in this coin*/\n} Coin;\n\nstatic void coin_init(Coin* c) {\n\tuivector_init(&c->symbols);\n}\n\n/*argument c is void* so that this dtor can be given as function pointer to the vector resize function*/\nstatic void coin_cleanup(void* c) {\n\tuivector_cleanup(&((Coin*) c)->symbols);\n}\n\nstatic void coin_copy(Coin* c1, const Coin* c2) {\n\tc1->weight = c2->weight;\n\tuivector_copy(&c1->symbols, &c2->symbols);\n}\n\nstatic void add_coins(Coin* c1, const Coin* c2) {\n\tsize_t i;\n\tfor (i = 0; i < c2->symbols.size; i++)\n\t\tuivector_push_back(&c1->symbols, c2->symbols.data[i]);\n\tc1->weight += c2->weight;\n}\n\nstatic void init_coins(Coin* coins, size_t num) {\n\tsize_t i;\n\tfor (i = 0; i < num; i++)\n\t\tcoin_init(&coins[i]);\n}\n\nstatic void cleanup_coins(Coin* coins, size_t num) {\n\tsize_t i;\n\tfor (i = 0; i < num; i++)\n\t\tcoin_cleanup(&coins[i]);\n}\n\nstatic int coin_compare(const void* a, const void* b) {\n\tfloat wa = ((const Coin*) a)->weight;\n\tfloat wb = ((const Coin*) b)->weight;\n\treturn wa > wb ? 1 : wa < wb ? -1 : 0;\n}\n\nstatic unsigned append_symbol_coins(Coin* coins, const unsigned* frequencies,\n\t\tunsigned numcodes, size_t sum) {\n\tunsigned i;\n\tunsigned j = 0; /*index of present symbols*/\n\tfor (i = 0; i < numcodes; i++) {\n\t\tif (frequencies[i] != 0) /*only include symbols that are present*/\n\t\t{\n\t\t\tcoins[j].weight = frequencies[i] / (float) sum;\n\t\t\tuivector_push_back(&coins[j].symbols, i);\n\t\t\tj++;\n\t\t}\n\t}\n\treturn 0;\n}\n\nunsigned lodepng_huffman_code_lengths(unsigned* lengths,\n\t\tconst unsigned* frequencies, size_t numcodes, unsigned maxbitlen) {\n\tunsigned i, j;\n\tsize_t sum = 0, numpresent = 0;\n\tunsigned error = 0;\n\tCoin* coins; /*the coins of the currently calculated row*/\n\tCoin* prev_row; /*the previous row of coins*/\n\tsize_t numcoins;\n\tsize_t coinmem;\n\n\tif (numcodes == 0)\n\t\treturn 80; /*error: a tree of 0 symbols is not supposed to be made*/\n\n\tfor (i = 0; i < numcodes; i++) {\n\t\tif (frequencies[i] > 0) {\n\t\t\tnumpresent++;\n\t\t\tsum += frequencies[i];\n\t\t}\n\t}\n\n\tfor (i = 0; i < numcodes; i++)\n\t\tlengths[i] = 0;\n\n\t/*ensure at least two present symbols. There should be at least one symbol\n\t according to RFC 1951 section 3.2.7. To decoders incorrectly require two. To\n\t make these work as well ensure there are at least two symbols. The\n\t Package-Merge code below also doesn't work correctly if there's only one\n\t symbol, it'd give it the theoritical 0 bits but in practice zlib wants 1 bit*/\n\tif (numpresent == 0) {\n\t\tlengths[0] = lengths[1] = 1; /*note that for RFC 1951 section 3.2.7, only lengths[0] = 1 is needed*/\n\t} else if (numpresent == 1) {\n\t\tfor (i = 0; i < numcodes; i++) {\n\t\t\tif (frequencies[i]) {\n\t\t\t\tlengths[i] = 1;\n\t\t\t\tlengths[i == 0 ? 1 : 0] = 1;\n\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\t} else {\n\t\t/*Package-Merge algorithm represented by coin collector's problem\n\t\t For every symbol, maxbitlen coins will be created*/\n\n\t\tcoinmem = numpresent * 2; /*max amount of coins needed with the current algo*/\n\t\tcoins = (Coin*) lodepng_malloc(sizeof(Coin) * coinmem);\n\t\tprev_row = (Coin*) lodepng_malloc(sizeof(Coin) * coinmem);\n\t\tif (!coins || !prev_row) {\n\t\t\tlodepng_free(coins);\n\t\t\tlodepng_free(prev_row);\n\t\t\treturn 83; /*alloc fail*/\n\t\t}\n\t\tinit_coins(coins, coinmem);\n\t\tinit_coins(prev_row, coinmem);\n\n\t\t/*first row, lowest denominator*/\n\t\terror = append_symbol_coins(coins, frequencies, numcodes, sum);\n\t\tnumcoins = numpresent;\n\t\tqsort(coins, numcoins, sizeof(Coin), coin_compare);\n\t\tif (!error) {\n\t\t\tunsigned numprev = 0;\n\t\t\tfor (j = 1; j <= maxbitlen && !error; j++) /*each of the remaining rows*/\n\t\t\t{\n\t\t\t\tunsigned tempnum;\n\t\t\t\tCoin* tempcoins;\n\t\t\t\t/*swap prev_row and coins, and their amounts*/\n\t\t\t\ttempcoins = prev_row;\n\t\t\t\tprev_row = coins;\n\t\t\t\tcoins = tempcoins;\n\t\t\t\ttempnum = numprev;\n\t\t\t\tnumprev = numcoins;\n\t\t\t\tnumcoins = tempnum;\n\n\t\t\t\tcleanup_coins(coins, numcoins);\n\t\t\t\tinit_coins(coins, numcoins);\n\n\t\t\t\tnumcoins = 0;\n\n\t\t\t\t/*fill in the merged coins of the previous row*/\n\t\t\t\tfor (i = 0; i + 1 < numprev; i += 2) {\n\t\t\t\t\t/*merge prev_row[i] and prev_row[i + 1] into new coin*/\n\t\t\t\t\tCoin* coin = &coins[numcoins++];\n\t\t\t\t\tcoin_copy(coin, &prev_row[i]);\n\t\t\t\t\tadd_coins(coin, &prev_row[i + 1]);\n\t\t\t\t}\n\t\t\t\t/*fill in all the original symbols again*/\n\t\t\t\tif (j < maxbitlen) {\n\t\t\t\t\terror = append_symbol_coins(coins + numcoins, frequencies,\n\t\t\t\t\t\t\tnumcodes, sum);\n\t\t\t\t\tnumcoins += numpresent;\n\t\t\t\t}\n\t\t\t\tqsort(coins, numcoins, sizeof(Coin), coin_compare);\n\t\t\t}\n\t\t}\n\n\t\tif (!error) {\n\t\t\t/*calculate the lenghts of each symbol, as the amount of times a coin of each symbol is used*/\n\t\t\tfor (i = 0; i < numpresent - 1; i++) {\n\t\t\t\tCoin* coin = &coins[i];\n\t\t\t\tfor (j = 0; j < coin->symbols.size; j++)\n\t\t\t\t\tlengths[coin->symbols.data[j]]++;\n\t\t\t}\n\t\t}\n\n\t\tcleanup_coins(coins, coinmem);\n\t\tlodepng_free(coins);\n\t\tcleanup_coins(prev_row, coinmem);\n\t\tlodepng_free(prev_row);\n\t}\n\n\treturn error;\n}\n\n/*Create the Huffman tree given the symbol frequencies*/\nstatic unsigned HuffmanTree_makeFromFrequencies(HuffmanTree* tree,\n\t\tconst unsigned* frequencies, size_t mincodes, size_t numcodes,\n\t\tunsigned maxbitlen) {\n\tunsigned error = 0;\n\twhile (!frequencies[numcodes - 1] && numcodes > mincodes)\n\t\tnumcodes--; /*trim zeroes*/\n\ttree->maxbitlen = maxbitlen;\n\ttree->numcodes = (unsigned) numcodes; /*number of symbols*/\n\ttree->lengths = (unsigned*) lodepng_realloc(tree->lengths,\n\t\t\tnumcodes * sizeof(unsigned));\n\tif (!tree->lengths)\n\t\treturn 83; /*alloc fail*/\n\t/*initialize all lengths to 0*/\n\tmemset(tree->lengths, 0, numcodes * sizeof(unsigned));\n\n\terror = lodepng_huffman_code_lengths(tree->lengths, frequencies, numcodes,\n\t\t\tmaxbitlen);\n\tif (!error)\n\t\terror = HuffmanTree_makeFromLengths2(tree);\n\treturn error;\n}\n\nstatic unsigned HuffmanTree_getCode(const HuffmanTree* tree, unsigned index) {\n\treturn tree->tree1d[index];\n}\n\nstatic unsigned HuffmanTree_getLength(const HuffmanTree* tree, unsigned index) {\n\treturn tree->lengths[index];\n}\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n/*get the literal and length code tree of a deflated block with fixed tree, as per the deflate specification*/\nstatic unsigned generateFixedLitLenTree(HuffmanTree* tree) {\n\tunsigned i, error = 0;\n\tunsigned* bitlen = (unsigned*) lodepng_malloc(\n\t\t\tNUM_DEFLATE_CODE_SYMBOLS * sizeof(unsigned));\n\tif (!bitlen)\n\t\treturn 83; /*alloc fail*/\n\n\t/*288 possible codes: 0-255=literals, 256=endcode, 257-285=lengthcodes, 286-287=unused*/\n\tfor (i = 0; i <= 143; i++)\n\t\tbitlen[i] = 8;\n\tfor (i = 144; i <= 255; i++)\n\t\tbitlen[i] = 9;\n\tfor (i = 256; i <= 279; i++)\n\t\tbitlen[i] = 7;\n\tfor (i = 280; i <= 287; i++)\n\t\tbitlen[i] = 8;\n\n\terror = HuffmanTree_makeFromLengths(tree, bitlen, NUM_DEFLATE_CODE_SYMBOLS,\n\t\t\t15);\n\n\tlodepng_free(bitlen);\n\treturn error;\n}\n\n/*get the distance code tree of a deflated block with fixed tree, as specified in the deflate specification*/\nstatic unsigned generateFixedDistanceTree(HuffmanTree* tree) {\n\tunsigned i, error = 0;\n\tunsigned* bitlen = (unsigned*) lodepng_malloc(\n\t\t\tNUM_DISTANCE_SYMBOLS * sizeof(unsigned));\n\tif (!bitlen)\n\t\treturn 83; /*alloc fail*/\n\n\t/*there are 32 distance codes, but 30-31 are unused*/\n\tfor (i = 0; i < NUM_DISTANCE_SYMBOLS; i++)\n\t\tbitlen[i] = 5;\n\terror = HuffmanTree_makeFromLengths(tree, bitlen, NUM_DISTANCE_SYMBOLS, 15);\n\n\tlodepng_free(bitlen);\n\treturn error;\n}\n\n#ifdef LODEPNG_COMPILE_DECODER\n\n/*\n returns the code, or (unsigned)(-1) if error happened\n inbitlength is the length of the complete buffer, in bits (so its byte length times 8)\n */\nstatic unsigned huffmanDecodeSymbol(const unsigned char* in, size_t* bp,\n\t\tconst HuffmanTree* codetree, size_t inbitlength) {\n\tunsigned treepos = 0, ct;\n\tfor (;;) {\n\t\tif (*bp >= inbitlength)\n\t\t\treturn (unsigned) (-1); /*error: end of input memory reached without endcode*/\n\t\t/*\n\t\t decode the symbol from the tree. The \"readBitFromStream\" code is inlined in\n\t\t the expression below because this is the biggest bottleneck while decoding\n\t\t */\n\t\tct = codetree->tree2d[(treepos << 1) + READBIT(*bp, in)];\n\t\t(*bp)++;\n\t\tif (ct < codetree->numcodes)\n\t\t\treturn ct; /*the symbol is decoded, return it*/\n\t\telse\n\t\t\ttreepos = ct - codetree->numcodes; /*symbol not yet decoded, instead move tree position*/\n\n\t\tif (treepos >= codetree->numcodes)\n\t\t\treturn (unsigned) (-1); /*error: it appeared outside the codetree*/\n\t}\n}\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_DECODER\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Inflator (Decompressor) / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*get the tree of a deflated block with fixed tree, as specified in the deflate specification*/\nstatic void getTreeInflateFixed(HuffmanTree* tree_ll, HuffmanTree* tree_d) {\n\t/*TODO: check for out of memory errors*/\n\tgenerateFixedLitLenTree(tree_ll);\n\tgenerateFixedDistanceTree(tree_d);\n}\n\n/*get the tree of a deflated block with dynamic tree, the tree itself is also Huffman compressed with a known tree*/\nstatic unsigned getTreeInflateDynamic(HuffmanTree* tree_ll, HuffmanTree* tree_d,\n\t\tconst unsigned char* in, size_t* bp, size_t inlength) {\n\t/*make sure that length values that aren't filled in will be 0, or a wrong tree will be generated*/\n\tunsigned error = 0;\n\tunsigned n, HLIT, HDIST, HCLEN, i;\n\tsize_t inbitlength = inlength * 8;\n\n\t/*see comments in deflateDynamic for explanation of the context and these variables, it is analogous*/\n\tunsigned* bitlen_ll = 0; /*lit,len code lengths*/\n\tunsigned* bitlen_d = 0; /*dist code lengths*/\n\t/*code length code lengths (\"clcl\"), the bit lengths of the huffman tree used to compress bitlen_ll and bitlen_d*/\n\tunsigned* bitlen_cl = 0;\n\tHuffmanTree tree_cl; /*the code tree for code length codes (the huffman tree for compressed huffman trees)*/\n\n\tif ((*bp) >> 3 >= inlength - 2)\n\t\treturn 49; /*error: the bit pointer is or will go past the memory*/\n\n\t/*number of literal/length codes + 257. Unlike the spec, the value 257 is added to it here already*/\n\tHLIT = readBitsFromStream(bp, in, 5) + 257;\n\t/*number of distance codes. Unlike the spec, the value 1 is added to it here already*/\n\tHDIST = readBitsFromStream(bp, in, 5) + 1;\n\t/*number of code length codes. Unlike the spec, the value 4 is added to it here already*/\n\tHCLEN = readBitsFromStream(bp, in, 4) + 4;\n\n\tHuffmanTree_init(&tree_cl);\n\n\twhile (!error) {\n\t\t/*read the code length codes out of 3 * (amount of code length codes) bits*/\n\n\t\tbitlen_cl = (unsigned*) lodepng_malloc(\n\t\t\t\tNUM_CODE_LENGTH_CODES * sizeof(unsigned));\n\t\tif (!bitlen_cl)\n\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\n\t\tfor (i = 0; i < NUM_CODE_LENGTH_CODES; i++) {\n\t\t\tif (i < HCLEN)\n\t\t\t\tbitlen_cl[CLCL_ORDER[i]] = readBitsFromStream(bp, in, 3);\n\t\t\telse\n\t\t\t\tbitlen_cl[CLCL_ORDER[i]] = 0; /*if not, it must stay 0*/\n\t\t}\n\n\t\terror = HuffmanTree_makeFromLengths(&tree_cl, bitlen_cl,\n\t\t\t\tNUM_CODE_LENGTH_CODES, 7);\n\t\tif (error)\n\t\t\tbreak;\n\n\t\t/*now we can use this tree to read the lengths for the tree that this function will return*/\n\t\tbitlen_ll = (unsigned*) lodepng_malloc(\n\t\t\t\tNUM_DEFLATE_CODE_SYMBOLS * sizeof(unsigned));\n\t\tbitlen_d = (unsigned*) lodepng_malloc(\n\t\t\t\tNUM_DISTANCE_SYMBOLS * sizeof(unsigned));\n\t\tif (!bitlen_ll || !bitlen_d)\n\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\tfor (i = 0; i < NUM_DEFLATE_CODE_SYMBOLS; i++)\n\t\t\tbitlen_ll[i] = 0;\n\t\tfor (i = 0; i < NUM_DISTANCE_SYMBOLS; i++)\n\t\t\tbitlen_d[i] = 0;\n\n\t\t/*i is the current symbol we're reading in the part that contains the code lengths of lit/len and dist codes*/\n\t\ti = 0;\n\t\twhile (i < HLIT + HDIST) {\n\t\t\tunsigned code = huffmanDecodeSymbol(in, bp, &tree_cl, inbitlength);\n\t\t\tif (code <= 15) /*a length code*/\n\t\t\t{\n\t\t\t\tif (i < HLIT)\n\t\t\t\t\tbitlen_ll[i] = code;\n\t\t\t\telse\n\t\t\t\t\tbitlen_d[i - HLIT] = code;\n\t\t\t\ti++;\n\t\t\t} else if (code == 16) /*repeat previous*/\n\t\t\t{\n\t\t\t\tunsigned replength = 3; /*read in the 2 bits that indicate repeat length (3-6)*/\n\t\t\t\tunsigned value; /*set value to the previous code*/\n\n\t\t\t\tif (*bp >= inbitlength)\n\t\t\t\t\tERROR_BREAK(50); /*error, bit pointer jumps past memory*/\n\t\t\t\tif (i == 0)\n\t\t\t\t\tERROR_BREAK(54); /*can't repeat previous if i is 0*/\n\n\t\t\t\treplength += readBitsFromStream(bp, in, 2);\n\n\t\t\t\tif (i < HLIT + 1)\n\t\t\t\t\tvalue = bitlen_ll[i - 1];\n\t\t\t\telse\n\t\t\t\t\tvalue = bitlen_d[i - HLIT - 1];\n\t\t\t\t/*repeat this value in the next lengths*/\n\t\t\t\tfor (n = 0; n < replength; n++) {\n\t\t\t\t\tif (i >= HLIT + HDIST)\n\t\t\t\t\t\tERROR_BREAK(13); /*error: i is larger than the amount of codes*/\n\t\t\t\t\tif (i < HLIT)\n\t\t\t\t\t\tbitlen_ll[i] = value;\n\t\t\t\t\telse\n\t\t\t\t\t\tbitlen_d[i - HLIT] = value;\n\t\t\t\t\ti++;\n\t\t\t\t}\n\t\t\t} else if (code == 17) /*repeat \"0\" 3-10 times*/\n\t\t\t{\n\t\t\t\tunsigned replength = 3; /*read in the bits that indicate repeat length*/\n\t\t\t\tif (*bp >= inbitlength)\n\t\t\t\t\tERROR_BREAK(50); /*error, bit pointer jumps past memory*/\n\n\t\t\t\treplength += readBitsFromStream(bp, in, 3);\n\n\t\t\t\t/*repeat this value in the next lengths*/\n\t\t\t\tfor (n = 0; n < replength; n++) {\n\t\t\t\t\tif (i >= HLIT + HDIST)\n\t\t\t\t\t\tERROR_BREAK(14); /*error: i is larger than the amount of codes*/\n\n\t\t\t\t\tif (i < HLIT)\n\t\t\t\t\t\tbitlen_ll[i] = 0;\n\t\t\t\t\telse\n\t\t\t\t\t\tbitlen_d[i - HLIT] = 0;\n\t\t\t\t\ti++;\n\t\t\t\t}\n\t\t\t} else if (code == 18) /*repeat \"0\" 11-138 times*/\n\t\t\t{\n\t\t\t\tunsigned replength = 11; /*read in the bits that indicate repeat length*/\n\t\t\t\tif (*bp >= inbitlength)\n\t\t\t\t\tERROR_BREAK(50); /*error, bit pointer jumps past memory*/\n\n\t\t\t\treplength += readBitsFromStream(bp, in, 7);\n\n\t\t\t\t/*repeat this value in the next lengths*/\n\t\t\t\tfor (n = 0; n < replength; n++) {\n\t\t\t\t\tif (i >= HLIT + HDIST)\n\t\t\t\t\t\tERROR_BREAK(15); /*error: i is larger than the amount of codes*/\n\n\t\t\t\t\tif (i < HLIT)\n\t\t\t\t\t\tbitlen_ll[i] = 0;\n\t\t\t\t\telse\n\t\t\t\t\t\tbitlen_d[i - HLIT] = 0;\n\t\t\t\t\ti++;\n\t\t\t\t}\n\t\t\t} else /*if(code == (unsigned)(-1))*//*huffmanDecodeSymbol returns (unsigned)(-1) in case of error*/\n\t\t\t{\n\t\t\t\tif (code == (unsigned) (-1)) {\n\t\t\t\t\t/*return error code 10 or 11 depending on the situation that happened in huffmanDecodeSymbol\n\t\t\t\t\t (10=no endcode, 11=wrong jump outside of tree)*/\n\t\t\t\t\terror = (*bp) > inbitlength ? 10 : 11;\n\t\t\t\t} else\n\t\t\t\t\terror = 16; /*unexisting code, this can never happen*/\n\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\t\tif (error)\n\t\t\tbreak;\n\n\t\tif (bitlen_ll[256] == 0)\n\t\t\tERROR_BREAK(64); /*the length of the end code 256 must be larger than 0*/\n\n\t\t/*now we've finally got HLIT and HDIST, so generate the code trees, and the function is done*/\n\t\terror = HuffmanTree_makeFromLengths(tree_ll, bitlen_ll,\n\t\t\t\tNUM_DEFLATE_CODE_SYMBOLS, 15);\n\t\tif (error)\n\t\t\tbreak;\n\t\terror = HuffmanTree_makeFromLengths(tree_d, bitlen_d,\n\t\t\t\tNUM_DISTANCE_SYMBOLS, 15);\n\n\t\tbreak; /*end of error-while*/\n\t}\n\n\tlodepng_free(bitlen_cl);\n\tlodepng_free(bitlen_ll);\n\tlodepng_free(bitlen_d);\n\tHuffmanTree_cleanup(&tree_cl);\n\n\treturn error;\n}\n\n/*inflate a block with dynamic of fixed Huffman tree*/\nstatic unsigned inflateHuffmanBlock(ucvector* out, const unsigned char* in,\n\t\tsize_t* bp, size_t* pos, size_t inlength, unsigned btype) {\n\tunsigned error = 0;\n\tHuffmanTree tree_ll; /*the huffman tree for literal and length codes*/\n\tHuffmanTree tree_d; /*the huffman tree for distance codes*/\n\tsize_t inbitlength = inlength * 8;\n\n\tHuffmanTree_init(&tree_ll);\n\tHuffmanTree_init(&tree_d);\n\n\tif (btype == 1)\n\t\tgetTreeInflateFixed(&tree_ll, &tree_d);\n\telse if (btype == 2)\n\t\terror = getTreeInflateDynamic(&tree_ll, &tree_d, in, bp, inlength);\n\n\twhile (!error) /*decode all symbols until end reached, breaks at end code*/\n\t{\n\t\t/*code_ll is literal, length or end code*/\n\t\tunsigned code_ll = huffmanDecodeSymbol(in, bp, &tree_ll, inbitlength);\n\t\tif (code_ll <= 255) /*literal symbol*/\n\t\t{\n\t\t\tif ((*pos) >= out->size) {\n\t\t\t\t/*reserve more room at once*/\n\t\t\t\tif (!ucvector_resize(out, ((*pos) + 1) * 2))\n\t\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t\t}\n\t\t\tout->data[(*pos)] = (unsigned char) (code_ll);\n\t\t\t(*pos)++;\n\t\t} else if (code_ll >= FIRST_LENGTH_CODE_INDEX\n\t\t\t\t&& code_ll <= LAST_LENGTH_CODE_INDEX) /*length code*/\n\t\t{\n\t\t\tunsigned code_d, distance;\n\t\t\tunsigned numextrabits_l, numextrabits_d; /*extra bits for length and distance*/\n\t\t\tsize_t start, forward, backward, length;\n\n\t\t\t/*part 1: get length base*/\n\t\t\tlength = LENGTHBASE[code_ll - FIRST_LENGTH_CODE_INDEX];\n\n\t\t\t/*part 2: get extra bits and add the value of that to length*/\n\t\t\tnumextrabits_l = LENGTHEXTRA[code_ll - FIRST_LENGTH_CODE_INDEX];\n\t\t\tif (*bp >= inbitlength)\n\t\t\t\tERROR_BREAK(51); /*error, bit pointer will jump past memory*/\n\t\t\tlength += readBitsFromStream(bp, in, numextrabits_l);\n\n\t\t\t/*part 3: get distance code*/\n\t\t\tcode_d = huffmanDecodeSymbol(in, bp, &tree_d, inbitlength);\n\t\t\tif (code_d > 29) {\n\t\t\t\tif (code_ll == (unsigned) (-1)) /*huffmanDecodeSymbol returns (unsigned)(-1) in case of error*/\n\t\t\t\t{\n\t\t\t\t\t/*return error code 10 or 11 depending on the situation that happened in huffmanDecodeSymbol\n\t\t\t\t\t (10=no endcode, 11=wrong jump outside of tree)*/\n\t\t\t\t\terror = (*bp) > inlength * 8 ? 10 : 11;\n\t\t\t\t} else\n\t\t\t\t\terror = 18; /*error: invalid distance code (30-31 are never used)*/\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tdistance = DISTANCEBASE[code_d];\n\n\t\t\t/*part 4: get extra bits from distance*/\n\t\t\tnumextrabits_d = DISTANCEEXTRA[code_d];\n\t\t\tif (*bp >= inbitlength)\n\t\t\t\tERROR_BREAK(51); /*error, bit pointer will jump past memory*/\n\n\t\t\tdistance += readBitsFromStream(bp, in, numextrabits_d);\n\n\t\t\t/*part 5: fill in all the out[n] values based on the length and dist*/\n\t\t\tstart = (*pos);\n\t\t\tif (distance > start)\n\t\t\t\tERROR_BREAK(52); /*too long backward distance*/\n\t\t\tbackward = start - distance;\n\t\t\tif ((*pos) + length >= out->size) {\n\t\t\t\t/*reserve more room at once*/\n\t\t\t\tif (!ucvector_resize(out, ((*pos) + length) * 2))\n\t\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t\t}\n\n\t\t\tfor (forward = 0; forward < length; forward++) {\n\t\t\t\tout->data[(*pos)] = out->data[backward];\n\t\t\t\t(*pos)++;\n\t\t\t\tbackward++;\n\t\t\t\tif (backward >= start)\n\t\t\t\t\tbackward = start - distance;\n\t\t\t}\n\t\t} else if (code_ll == 256) {\n\t\t\tbreak; /*end code, break the loop*/\n\t\t} else /*if(code == (unsigned)(-1))*//*huffmanDecodeSymbol returns (unsigned)(-1) in case of error*/\n\t\t{\n\t\t\t/*return error code 10 or 11 depending on the situation that happened in huffmanDecodeSymbol\n\t\t\t (10=no endcode, 11=wrong jump outside of tree)*/\n\t\t\terror = (*bp) > inlength * 8 ? 10 : 11;\n\t\t\tbreak;\n\t\t}\n\t}\n\n\tHuffmanTree_cleanup(&tree_ll);\n\tHuffmanTree_cleanup(&tree_d);\n\n\treturn error;\n}\n\nstatic unsigned inflateNoCompression(ucvector* out, const unsigned char* in,\n\t\tsize_t* bp, size_t* pos, size_t inlength) {\n\t/*go to first boundary of byte*/\n\tsize_t p;\n\tunsigned LEN, NLEN, n, error = 0;\n\twhile (((*bp) & 0x7) != 0)\n\t\t(*bp)++;\n\tp = (*bp) / 8; /*byte position*/\n\n\t/*read LEN (2 bytes) and NLEN (2 bytes)*/\n\tif (p >= inlength - 4)\n\t\treturn 52; /*error, bit pointer will jump past memory*/\n\tLEN = in[p] + 256u * in[p + 1];\n\tp += 2;\n\tNLEN = in[p] + 256u * in[p + 1];\n\tp += 2;\n\n\t/*check if 16-bit NLEN is really the one's complement of LEN*/\n\tif (LEN + NLEN != 65535)\n\t\treturn 21; /*error: NLEN is not one's complement of LEN*/\n\n\tif ((*pos) + LEN >= out->size) {\n\t\tif (!ucvector_resize(out, (*pos) + LEN))\n\t\t\treturn 83; /*alloc fail*/\n\t}\n\n\t/*read the literal data: LEN bytes are now stored in the out buffer*/\n\tif (p + LEN > inlength)\n\t\treturn 23; /*error: reading outside of in buffer*/\n\tfor (n = 0; n < LEN; n++)\n\t\tout->data[(*pos)++] = in[p++];\n\n\t(*bp) = p * 8;\n\n\treturn error;\n}\n\nstatic unsigned lodepng_inflatev(ucvector* out, const unsigned char* in,\n\t\tsize_t insize, const LodePNGDecompressSettings* settings) {\n\t/*bit pointer in the \"in\" data, current byte is bp >> 3, current bit is bp & 0x7 (from lsb to msb of the byte)*/\n\tsize_t bp = 0;\n\tunsigned BFINAL = 0;\n\tsize_t pos = 0; /*byte position in the out buffer*/\n\n\tunsigned error = 0;\n\n\t(void) settings;\n\n\twhile (!BFINAL) {\n\t\tunsigned BTYPE;\n\t\tif (bp + 2 >= insize * 8)\n\t\t\treturn 52; /*error, bit pointer will jump past memory*/\n\t\tBFINAL = readBitFromStream(&bp, in);\n\t\tBTYPE = 1u * readBitFromStream(&bp, in);\n\t\tBTYPE += 2u * readBitFromStream(&bp, in);\n\n\t\tif (BTYPE == 3)\n\t\t\treturn 20; /*error: invalid BTYPE*/\n\t\telse if (BTYPE == 0)\n\t\t\terror = inflateNoCompression(out, in, &bp, &pos, insize); /*no compression*/\n\t\telse\n\t\t\terror = inflateHuffmanBlock(out, in, &bp, &pos, insize, BTYPE); /*compression, BTYPE 01 or 10*/\n\n\t\tif (error)\n\t\t\treturn error;\n\t}\n\n\t/*Only now we know the true size of out, resize it to that*/\n\tif (!ucvector_resize(out, pos))\n\t\terror = 83; /*alloc fail*/\n\n\treturn error;\n}\n\nunsigned lodepng_inflate(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGDecompressSettings* settings) {\n\tunsigned error;\n\tucvector v;\n\tucvector_init_buffer(&v, *out, *outsize);\n\terror = lodepng_inflatev(&v, in, insize, settings);\n\t*out = v.data;\n\t*outsize = v.size;\n\treturn error;\n}\n\nstatic unsigned inflate(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGDecompressSettings* settings) {\n\tif (settings->custom_inflate) {\n\t\treturn settings->custom_inflate(out, outsize, in, insize, settings);\n\t} else {\n\t\treturn lodepng_inflate(out, outsize, in, insize, settings);\n\t}\n}\n\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Deflator (Compressor) / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\nstatic const size_t MAX_SUPPORTED_DEFLATE_LENGTH = 258;\n\n/*bitlen is the size in bits of the code*/\nstatic void addHuffmanSymbol(size_t* bp, ucvector* compressed, unsigned code,\n\t\tunsigned bitlen) {\n\taddBitsToStreamReversed(bp, compressed, code, bitlen);\n}\n\n/*search the index in the array, that has the largest value smaller than or equal to the given value,\n given array must be sorted (if no value is smaller, it returns the size of the given array)*/\nstatic size_t searchCodeIndex(const unsigned* array, size_t array_size,\n\t\tsize_t value) {\n\t/*linear search implementation*/\n\t/*for(size_t i = 1; i < array_size; i++) if(array[i] > value) return i - 1;\n\t return array_size - 1;*/\n\n\t/*binary search implementation (not that much faster) (precondition: array_size > 0)*/\n\tsize_t left = 1;\n\tsize_t right = array_size - 1;\n\twhile (left <= right) {\n\t\tsize_t mid = (left + right) / 2;\n\t\tif (array[mid] <= value)\n\t\t\tleft = mid + 1; /*the value to find is more to the right*/\n\t\telse if (array[mid - 1] > value)\n\t\t\tright = mid - 1; /*the value to find is more to the left*/\n\t\telse\n\t\t\treturn mid - 1;\n\t}\n\treturn array_size - 1;\n}\n\nstatic void addLengthDistance(uivector* values, size_t length,\n\t\tsize_t distance) {\n\t/*values in encoded vector are those used by deflate:\n\t 0-255: literal bytes\n\t 256: end\n\t 257-285: length/distance pair (length code, followed by extra length bits, distance code, extra distance bits)\n\t 286-287: invalid*/\n\n\tunsigned length_code = (unsigned) searchCodeIndex(LENGTHBASE, 29, length);\n\tunsigned extra_length = (unsigned) (length - LENGTHBASE[length_code]);\n\tunsigned dist_code = (unsigned) searchCodeIndex(DISTANCEBASE, 30, distance);\n\tunsigned extra_distance = (unsigned) (distance - DISTANCEBASE[dist_code]);\n\n\tuivector_push_back(values, length_code + FIRST_LENGTH_CODE_INDEX);\n\tuivector_push_back(values, extra_length);\n\tuivector_push_back(values, dist_code);\n\tuivector_push_back(values, extra_distance);\n}\n\n/*3 bytes of data get encoded into two bytes. The hash cannot use more than 3\n bytes as input because 3 is the minimum match length for deflate*/\nstatic const unsigned HASH_NUM_VALUES = 65536;\nstatic const unsigned HASH_BIT_MASK = 65535; /*HASH_NUM_VALUES - 1, but C90 does not like that as initializer*/\n\ntypedef struct Hash {\n\tint* head; /*hash value to head circular pos - can be outdated if went around window*/\n\t/*circular pos to prev circular pos*/\n\tunsigned short* chain;\n\tint* val; /*circular pos to hash value*/\n\n\t/*TODO: do this not only for zeros but for any repeated byte. However for PNG\n\t it's always going to be the zeros that dominate, so not important for PNG*/\n\tint* headz; /*similar to head, but for chainz*/\n\tunsigned short* chainz; /*those with same amount of zeros*/\n\tunsigned short* zeros; /*length of zeros streak, used as a second hash chain*/\n} Hash;\n\nstatic unsigned hash_init(Hash* hash, unsigned windowsize) {\n\tunsigned i;\n\thash->head = (int*) lodepng_malloc(sizeof(int) * HASH_NUM_VALUES);\n\thash->val = (int*) lodepng_malloc(sizeof(int) * windowsize);\n\thash->chain = (unsigned short*) lodepng_malloc(\n\t\t\tsizeof(unsigned short) * windowsize);\n\n\thash->zeros = (unsigned short*) lodepng_malloc(\n\t\t\tsizeof(unsigned short) * windowsize);\n\thash->headz = (int*) lodepng_malloc(\n\t\t\tsizeof(int) * (MAX_SUPPORTED_DEFLATE_LENGTH + 1));\n\thash->chainz = (unsigned short*) lodepng_malloc(\n\t\t\tsizeof(unsigned short) * windowsize);\n\n\tif (!hash->head || !hash->chain || !hash->val || !hash->headz\n\t\t\t|| !hash->chainz || !hash->zeros) {\n\t\treturn 83; /*alloc fail*/\n\t}\n\n\t/*initialize hash table*/\n\tfor (i = 0; i < HASH_NUM_VALUES; i++)\n\t\thash->head[i] = -1;\n\tfor (i = 0; i < windowsize; i++)\n\t\thash->val[i] = -1;\n\tfor (i = 0; i < windowsize; i++)\n\t\thash->chain[i] = i; /*same value as index indicates uninitialized*/\n\n\tfor (i = 0; i <= MAX_SUPPORTED_DEFLATE_LENGTH; i++)\n\t\thash->headz[i] = -1;\n\tfor (i = 0; i < windowsize; i++)\n\t\thash->chainz[i] = i; /*same value as index indicates uninitialized*/\n\n\treturn 0;\n}\n\nstatic void hash_cleanup(Hash* hash) {\n\tlodepng_free(hash->head);\n\tlodepng_free(hash->val);\n\tlodepng_free(hash->chain);\n\n\tlodepng_free(hash->zeros);\n\tlodepng_free(hash->headz);\n\tlodepng_free(hash->chainz);\n}\n\nstatic unsigned getHash(const unsigned char* data, size_t size, size_t pos) {\n\tunsigned result = 0;\n\tif (pos + 2 < size) {\n\t\t/*A simple shift and xor hash is used. Since the data of PNGs is dominated\n\t\t by zeroes due to the filters, a better hash does not have a significant\n\t\t effect on speed in traversing the chain, and causes more time spend on\n\t\t calculating the hash.*/\n\t\tresult ^= (unsigned) (data[pos + 0] << 0u);\n\t\tresult ^= (unsigned) (data[pos + 1] << 4u);\n\t\tresult ^= (unsigned) (data[pos + 2] << 8u);\n\t} else {\n\t\tsize_t amount, i;\n\t\tif (pos >= size)\n\t\t\treturn 0;\n\t\tamount = size - pos;\n\t\tfor (i = 0; i < amount; i++)\n\t\t\tresult ^= (unsigned) (data[pos + i] << (i * 8u));\n\t}\n\treturn result & HASH_BIT_MASK;\n}\n\nstatic unsigned countZeros(const unsigned char* data, size_t size, size_t pos) {\n\tconst unsigned char* start = data + pos;\n\tconst unsigned char* end = start + MAX_SUPPORTED_DEFLATE_LENGTH;\n\tif (end > data + size)\n\t\tend = data + size;\n\tdata = start;\n\twhile (data != end && *data == 0)\n\t\tdata++;\n\t/*subtracting two addresses returned as 32-bit number (max value is MAX_SUPPORTED_DEFLATE_LENGTH)*/\n\treturn (unsigned) (data - start);\n}\n\n/*wpos = pos & (windowsize - 1)*/\nstatic void updateHashChain(Hash* hash, size_t wpos, unsigned hashval,\n\t\tunsigned short numzeros) {\n\thash->val[wpos] = (int) hashval;\n\tif (hash->head[hashval] != -1)\n\t\thash->chain[wpos] = hash->head[hashval];\n\thash->head[hashval] = wpos;\n\n\thash->zeros[wpos] = numzeros;\n\tif (hash->headz[numzeros] != -1)\n\t\thash->chainz[wpos] = hash->headz[numzeros];\n\thash->headz[numzeros] = wpos;\n}\n\n/*\n LZ77-encode the data. Return value is error code. The input are raw bytes, the output\n is in the form of unsigned integers with codes representing for example literal bytes, or\n length/distance pairs.\n It uses a hash table technique to let it encode faster. When doing LZ77 encoding, a\n sliding window (of windowsize) is used, and all past bytes in that window can be used as\n the \"dictionary\". A brute force search through all possible distances would be slow, and\n this hash technique is one out of several ways to speed this up.\n */\nstatic unsigned encodeLZ77(uivector* out, Hash* hash, const unsigned char* in,\n\t\tsize_t inpos, size_t insize, unsigned windowsize, unsigned minmatch,\n\t\tunsigned nicematch, unsigned lazymatching) {\n\tsize_t pos;\n\tunsigned i, error = 0;\n\t/*for large window lengths, assume the user wants no compression loss. Otherwise, max hash chain length speedup.*/\n\tunsigned maxchainlength = windowsize >= 8192 ? windowsize : windowsize / 8;\n\tunsigned maxlazymatch =\n\t\t\twindowsize >= 8192 ? MAX_SUPPORTED_DEFLATE_LENGTH : 64;\n\n\tunsigned usezeros = 1; /*not sure if setting it to false for windowsize < 8192 is better or worse*/\n\tunsigned numzeros = 0;\n\n\tunsigned offset; /*the offset represents the distance in LZ77 terminology*/\n\tunsigned length;\n\tunsigned lazy = 0;\n\tunsigned lazylength = 0, lazyoffset = 0;\n\tunsigned hashval;\n\tunsigned current_offset, current_length;\n\tunsigned prev_offset;\n\tconst unsigned char *lastptr, *foreptr, *backptr;\n\tunsigned hashpos;\n\n\tif (windowsize <= 0 || windowsize > 32768)\n\t\treturn 60; /*error: windowsize smaller/larger than allowed*/\n\tif ((windowsize & (windowsize - 1)) != 0)\n\t\treturn 90; /*error: must be power of two*/\n\n\tif (nicematch > MAX_SUPPORTED_DEFLATE_LENGTH)\n\t\tnicematch = MAX_SUPPORTED_DEFLATE_LENGTH;\n\n\tfor (pos = inpos; pos < insize; pos++) {\n\t\tsize_t wpos = pos & (windowsize - 1); /*position for in 'circular' hash buffers*/\n\t\tunsigned chainlength = 0;\n\n\t\thashval = getHash(in, insize, pos);\n\n\t\tif (usezeros && hashval == 0) {\n\t\t\tif (numzeros == 0)\n\t\t\t\tnumzeros = countZeros(in, insize, pos);\n\t\t\telse if (pos + numzeros > insize || in[pos + numzeros - 1] != 0)\n\t\t\t\tnumzeros--;\n\t\t} else {\n\t\t\tnumzeros = 0;\n\t\t}\n\n\t\tupdateHashChain(hash, wpos, hashval, numzeros);\n\n\t\t/*the length and offset found for the current position*/\n\t\tlength = 0;\n\t\toffset = 0;\n\n\t\thashpos = hash->chain[wpos];\n\n\t\tlastptr = &in[\n\t\t\t\tinsize < pos + MAX_SUPPORTED_DEFLATE_LENGTH ?\n\t\t\t\t\t\tinsize : pos + MAX_SUPPORTED_DEFLATE_LENGTH];\n\n\t\t/*search for the longest string*/\n\t\tprev_offset = 0;\n\t\tfor (;;) {\n\t\t\tif (chainlength++ >= maxchainlength)\n\t\t\t\tbreak;\n\t\t\tcurrent_offset =\n\t\t\t\t\thashpos <= wpos ?\n\t\t\t\t\t\t\twpos - hashpos : wpos - hashpos + windowsize;\n\n\t\t\tif (current_offset < prev_offset)\n\t\t\t\tbreak; /*stop when went completely around the circular buffer*/\n\t\t\tprev_offset = current_offset;\n\t\t\tif (current_offset > 0) {\n\t\t\t\t/*test the next characters*/\n\t\t\t\tforeptr = &in[pos];\n\t\t\t\tbackptr = &in[pos - current_offset];\n\n\t\t\t\t/*common case in PNGs is lots of zeros. Quickly skip over them as a speedup*/\n\t\t\t\tif (numzeros >= 3) {\n\t\t\t\t\tunsigned skip = hash->zeros[hashpos];\n\t\t\t\t\tif (skip > numzeros)\n\t\t\t\t\t\tskip = numzeros;\n\t\t\t\t\tbackptr += skip;\n\t\t\t\t\tforeptr += skip;\n\t\t\t\t}\n\n\t\t\t\twhile (foreptr != lastptr && *backptr == *foreptr) /*maximum supported length by deflate is max length*/\n\t\t\t\t{\n\t\t\t\t\t++backptr;\n\t\t\t\t\t++foreptr;\n\t\t\t\t}\n\t\t\t\tcurrent_length = (unsigned) (foreptr - &in[pos]);\n\n\t\t\t\tif (current_length > length) {\n\t\t\t\t\tlength = current_length; /*the longest length*/\n\t\t\t\t\toffset = current_offset; /*the offset that is related to this longest length*/\n\t\t\t\t\t/*jump out once a length of max length is found (speed gain). This also jumps\n\t\t\t\t\t out if length is MAX_SUPPORTED_DEFLATE_LENGTH*/\n\t\t\t\t\tif (current_length >= nicematch)\n\t\t\t\t\t\tbreak;\n\t\t\t\t}\n\t\t\t}\n\n\t\t\tif (hashpos == hash->chain[hashpos])\n\t\t\t\tbreak;\n\n\t\t\tif (numzeros >= 3 && length > numzeros) {\n\t\t\t\thashpos = hash->chainz[hashpos];\n\t\t\t\tif (hash->zeros[hashpos] != numzeros)\n\t\t\t\t\tbreak;\n\t\t\t} else {\n\t\t\t\thashpos = hash->chain[hashpos];\n\t\t\t\t/*outdated hash value, happens if particular value was not encountered in whole last window*/\n\t\t\t\tif (hash->val[hashpos] != (int) hashval)\n\t\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\n\t\tif (lazymatching) {\n\t\t\tif (!lazy && length >= 3 && length <= maxlazymatch\n\t\t\t\t\t&& length < MAX_SUPPORTED_DEFLATE_LENGTH) {\n\t\t\t\tlazy = 1;\n\t\t\t\tlazylength = length;\n\t\t\t\tlazyoffset = offset;\n\t\t\t\tcontinue; /*try the next byte*/\n\t\t\t}\n\t\t\tif (lazy) {\n\t\t\t\tlazy = 0;\n\t\t\t\tif (pos == 0)\n\t\t\t\t\tERROR_BREAK(81);\n\t\t\t\tif (length > lazylength + 1) {\n\t\t\t\t\t/*push the previous character as literal*/\n\t\t\t\t\tif (!uivector_push_back(out, in[pos - 1]))\n\t\t\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t\t\t} else {\n\t\t\t\t\tlength = lazylength;\n\t\t\t\t\toffset = lazyoffset;\n\t\t\t\t\thash->head[hashval] = -1; /*the same hashchain update will be done, this ensures no wrong alteration*/\n\t\t\t\t\thash->headz[numzeros] = -1; /*idem*/\n\t\t\t\t\tpos--;\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t\tif (length >= 3 && offset > windowsize)\n\t\t\tERROR_BREAK(86 /*too big (or overflown negative) offset*/);\n\n\t\t/*encode it as length/distance pair or literal value*/\n\t\tif (length < 3) /*only lengths of 3 or higher are supported as length/distance pair*/\n\t\t{\n\t\t\tif (!uivector_push_back(out, in[pos]))\n\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t} else if (length < minmatch || (length == 3 && offset > 4096)) {\n\t\t\t/*compensate for the fact that longer offsets have more extra bits, a\n\t\t\t length of only 3 may be not worth it then*/\n\t\t\tif (!uivector_push_back(out, in[pos]))\n\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t} else {\n\t\t\taddLengthDistance(out, length, offset);\n\t\t\tfor (i = 1; i < length; i++) {\n\t\t\t\tpos++;\n\t\t\t\twpos = pos & (windowsize - 1);\n\t\t\t\thashval = getHash(in, insize, pos);\n\t\t\t\tif (usezeros && hashval == 0) {\n\t\t\t\t\tif (numzeros == 0)\n\t\t\t\t\t\tnumzeros = countZeros(in, insize, pos);\n\t\t\t\t\telse if (pos + numzeros > insize\n\t\t\t\t\t\t\t|| in[pos + numzeros - 1] != 0)\n\t\t\t\t\t\tnumzeros--;\n\t\t\t\t} else {\n\t\t\t\t\tnumzeros = 0;\n\t\t\t\t}\n\t\t\t\tupdateHashChain(hash, wpos, hashval, numzeros);\n\t\t\t}\n\t\t}\n\t} /*end of the loop through each character of input*/\n\n\treturn error;\n}\n\n/* /////////////////////////////////////////////////////////////////////////// */\n\nstatic unsigned deflateNoCompression(ucvector* out, const unsigned char* data,\n\t\tsize_t datasize) {\n\t/*non compressed deflate block data: 1 bit BFINAL,2 bits BTYPE,(5 bits): it jumps to start of next byte,\n\t 2 bytes LEN, 2 bytes NLEN, LEN bytes literal DATA*/\n\n\tsize_t i, j, numdeflateblocks = (datasize + 65534) / 65535;\n\tunsigned datapos = 0;\n\tfor (i = 0; i < numdeflateblocks; i++) {\n\t\tunsigned BFINAL, BTYPE, LEN, NLEN;\n\t\tunsigned char firstbyte;\n\n\t\tBFINAL = (i == numdeflateblocks - 1);\n\t\tBTYPE = 0;\n\n\t\tfirstbyte = (unsigned char) (BFINAL + ((BTYPE & 1) << 1)\n\t\t\t\t+ ((BTYPE & 2) << 1));\n\t\tucvector_push_back(out, firstbyte);\n\n\t\tLEN = 65535;\n\t\tif (datasize - datapos < 65535)\n\t\t\tLEN = (unsigned) datasize - datapos;\n\t\tNLEN = 65535 - LEN;\n\n\t\tucvector_push_back(out, (unsigned char) (LEN % 256));\n\t\tucvector_push_back(out, (unsigned char) (LEN / 256));\n\t\tucvector_push_back(out, (unsigned char) (NLEN % 256));\n\t\tucvector_push_back(out, (unsigned char) (NLEN / 256));\n\n\t\t/*Decompressed data*/\n\t\tfor (j = 0; j < 65535 && datapos < datasize; j++) {\n\t\t\tucvector_push_back(out, data[datapos++]);\n\t\t}\n\t}\n\n\treturn 0;\n}\n\n/*\n write the lz77-encoded data, which has lit, len and dist codes, to compressed stream using huffman trees.\n tree_ll: the tree for lit and len codes.\n tree_d: the tree for distance codes.\n */\nstatic void writeLZ77data(size_t* bp, ucvector* out,\n\t\tconst uivector* lz77_encoded, const HuffmanTree* tree_ll,\n\t\tconst HuffmanTree* tree_d) {\n\tsize_t i = 0;\n\tfor (i = 0; i < lz77_encoded->size; i++) {\n\t\tunsigned val = lz77_encoded->data[i];\n\t\taddHuffmanSymbol(bp, out, HuffmanTree_getCode(tree_ll, val),\n\t\t\t\tHuffmanTree_getLength(tree_ll, val));\n\t\tif (val > 256) /*for a length code, 3 more things have to be added*/\n\t\t{\n\t\t\tunsigned length_index = val - FIRST_LENGTH_CODE_INDEX;\n\t\t\tunsigned n_length_extra_bits = LENGTHEXTRA[length_index];\n\t\t\tunsigned length_extra_bits = lz77_encoded->data[++i];\n\n\t\t\tunsigned distance_code = lz77_encoded->data[++i];\n\n\t\t\tunsigned distance_index = distance_code;\n\t\t\tunsigned n_distance_extra_bits = DISTANCEEXTRA[distance_index];\n\t\t\tunsigned distance_extra_bits = lz77_encoded->data[++i];\n\n\t\t\taddBitsToStream(bp, out, length_extra_bits, n_length_extra_bits);\n\t\t\taddHuffmanSymbol(bp, out,\n\t\t\t\t\tHuffmanTree_getCode(tree_d, distance_code),\n\t\t\t\t\tHuffmanTree_getLength(tree_d, distance_code));\n\t\t\taddBitsToStream(bp, out, distance_extra_bits,\n\t\t\t\t\tn_distance_extra_bits);\n\t\t}\n\t}\n}\n\n/*Deflate for a block of type \"dynamic\", that is, with freely, optimally, created huffman trees*/\nstatic unsigned deflateDynamic(ucvector* out, size_t* bp, Hash* hash,\n\t\tconst unsigned char* data, size_t datapos, size_t dataend,\n\t\tconst LodePNGCompressSettings* settings, unsigned final) {\n\tunsigned error = 0;\n\n\t/*\n\t A block is compressed as follows: The PNG data is lz77 encoded, resulting in\n\t literal bytes and length/distance pairs. This is then huffman compressed with\n\t two huffman trees. One huffman tree is used for the lit and len values (\"ll\"),\n\t another huffman tree is used for the dist values (\"d\"). These two trees are\n\t stored using their code lengths, and to compress even more these code lengths\n\t are also run-length encoded and huffman compressed. This gives a huffman tree\n\t of code lengths \"cl\". The code lenghts used to describe this third tree are\n\t the code length code lengths (\"clcl\").\n\t */\n\n\t/*The lz77 encoded data, represented with integers since there will also be length and distance codes in it*/\n\tuivector lz77_encoded;\n\tHuffmanTree tree_ll; /*tree for lit,len values*/\n\tHuffmanTree tree_d; /*tree for distance codes*/\n\tHuffmanTree tree_cl; /*tree for encoding the code lengths representing tree_ll and tree_d*/\n\tuivector frequencies_ll; /*frequency of lit,len codes*/\n\tuivector frequencies_d; /*frequency of dist codes*/\n\tuivector frequencies_cl; /*frequency of code length codes*/\n\tuivector bitlen_lld; /*lit,len,dist code lenghts (int bits), literally (without repeat codes).*/\n\tuivector bitlen_lld_e; /*bitlen_lld encoded with repeat codes (this is a rudemtary run length compression)*/\n\t/*bitlen_cl is the code length code lengths (\"clcl\"). The bit lengths of codes to represent tree_cl\n\t (these are written as is in the file, it would be crazy to compress these using yet another huffman\n\t tree that needs to be represented by yet another set of code lengths)*/\n\tuivector bitlen_cl;\n\tsize_t datasize = dataend - datapos;\n\n\t/*\n\t Due to the huffman compression of huffman tree representations (\"two levels\"), there are some anologies:\n\t bitlen_lld is to tree_cl what data is to tree_ll and tree_d.\n\t bitlen_lld_e is to bitlen_lld what lz77_encoded is to data.\n\t bitlen_cl is to bitlen_lld_e what bitlen_lld is to lz77_encoded.\n\t */\n\n\tunsigned BFINAL = final;\n\tsize_t numcodes_ll, numcodes_d, i;\n\tunsigned HLIT, HDIST, HCLEN;\n\n\tuivector_init(&lz77_encoded);\n\tHuffmanTree_init(&tree_ll);\n\tHuffmanTree_init(&tree_d);\n\tHuffmanTree_init(&tree_cl);\n\tuivector_init(&frequencies_ll);\n\tuivector_init(&frequencies_d);\n\tuivector_init(&frequencies_cl);\n\tuivector_init(&bitlen_lld);\n\tuivector_init(&bitlen_lld_e);\n\tuivector_init(&bitlen_cl);\n\n\t/*This while loop never loops due to a break at the end, it is here to\n\t allow breaking out of it to the cleanup phase on error conditions.*/\n\twhile (!error) {\n\t\tif (settings->use_lz77) {\n\t\t\terror = encodeLZ77(&lz77_encoded, hash, data, datapos, dataend,\n\t\t\t\t\tsettings->windowsize, settings->minmatch,\n\t\t\t\t\tsettings->nicematch, settings->lazymatching);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\t\t} else {\n\t\t\tif (!uivector_resize(&lz77_encoded, datasize))\n\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t\tfor (i = datapos; i < dataend; i++)\n\t\t\t\tlz77_encoded.data[i] = data[i]; /*no LZ77, but still will be Huffman compressed*/\n\t\t}\n\n\t\tif (!uivector_resizev(&frequencies_ll, 286, 0))\n\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\tif (!uivector_resizev(&frequencies_d, 30, 0))\n\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\n\t\t/*Count the frequencies of lit, len and dist codes*/\n\t\tfor (i = 0; i < lz77_encoded.size; i++) {\n\t\t\tunsigned symbol = lz77_encoded.data[i];\n\t\t\tfrequencies_ll.data[symbol]++;\n\t\t\tif (symbol > 256) {\n\t\t\t\tunsigned dist = lz77_encoded.data[i + 2];\n\t\t\t\tfrequencies_d.data[dist]++;\n\t\t\t\ti += 3;\n\t\t\t}\n\t\t}\n\t\tfrequencies_ll.data[256] = 1; /*there will be exactly 1 end code, at the end of the block*/\n\n\t\t/*Make both huffman trees, one for the lit and len codes, one for the dist codes*/\n\t\terror = HuffmanTree_makeFromFrequencies(&tree_ll, frequencies_ll.data,\n\t\t\t\t257, frequencies_ll.size, 15);\n\t\tif (error)\n\t\t\tbreak;\n\t\t/*2, not 1, is chosen for mincodes: some buggy PNG decoders require at least 2 symbols in the dist tree*/\n\t\terror = HuffmanTree_makeFromFrequencies(&tree_d, frequencies_d.data, 2,\n\t\t\t\tfrequencies_d.size, 15);\n\t\tif (error)\n\t\t\tbreak;\n\n\t\tnumcodes_ll = tree_ll.numcodes;\n\t\tif (numcodes_ll > 286)\n\t\t\tnumcodes_ll = 286;\n\t\tnumcodes_d = tree_d.numcodes;\n\t\tif (numcodes_d > 30)\n\t\t\tnumcodes_d = 30;\n\t\t/*store the code lengths of both generated trees in bitlen_lld*/\n\t\tfor (i = 0; i < numcodes_ll; i++)\n\t\t\tuivector_push_back(&bitlen_lld,\n\t\t\t\t\tHuffmanTree_getLength(&tree_ll, (unsigned) i));\n\t\tfor (i = 0; i < numcodes_d; i++)\n\t\t\tuivector_push_back(&bitlen_lld,\n\t\t\t\t\tHuffmanTree_getLength(&tree_d, (unsigned) i));\n\n\t\t/*run-length compress bitlen_ldd into bitlen_lld_e by using repeat codes 16 (copy length 3-6 times),\n\t\t 17 (3-10 zeroes), 18 (11-138 zeroes)*/\n\t\tfor (i = 0; i < (unsigned) bitlen_lld.size; i++) {\n\t\t\tunsigned j = 0; /*amount of repititions*/\n\t\t\twhile (i + j + 1 < (unsigned) bitlen_lld.size\n\t\t\t\t\t&& bitlen_lld.data[i + j + 1] == bitlen_lld.data[i])\n\t\t\t\tj++;\n\n\t\t\tif (bitlen_lld.data[i] == 0 && j >= 2) /*repeat code for zeroes*/\n\t\t\t{\n\t\t\t\tj++; /*include the first zero*/\n\t\t\t\tif (j <= 10) /*repeat code 17 supports max 10 zeroes*/\n\t\t\t\t{\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, 17);\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, j - 3);\n\t\t\t\t} else /*repeat code 18 supports max 138 zeroes*/\n\t\t\t\t{\n\t\t\t\t\tif (j > 138)\n\t\t\t\t\t\tj = 138;\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, 18);\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, j - 11);\n\t\t\t\t}\n\t\t\t\ti += (j - 1);\n\t\t\t} else if (j >= 3) /*repeat code for value other than zero*/\n\t\t\t{\n\t\t\t\tsize_t k;\n\t\t\t\tunsigned num = j / 6, rest = j % 6;\n\t\t\t\tuivector_push_back(&bitlen_lld_e, bitlen_lld.data[i]);\n\t\t\t\tfor (k = 0; k < num; k++) {\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, 16);\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, 6 - 3);\n\t\t\t\t}\n\t\t\t\tif (rest >= 3) {\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, 16);\n\t\t\t\t\tuivector_push_back(&bitlen_lld_e, rest - 3);\n\t\t\t\t} else\n\t\t\t\t\tj -= rest;\n\t\t\t\ti += j;\n\t\t\t} else /*too short to benefit from repeat code*/\n\t\t\t{\n\t\t\t\tuivector_push_back(&bitlen_lld_e, bitlen_lld.data[i]);\n\t\t\t}\n\t\t}\n\n\t\t/*generate tree_cl, the huffmantree of huffmantrees*/\n\n\t\tif (!uivector_resizev(&frequencies_cl, NUM_CODE_LENGTH_CODES, 0))\n\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\tfor (i = 0; i < bitlen_lld_e.size; i++) {\n\t\t\tfrequencies_cl.data[bitlen_lld_e.data[i]]++;\n\t\t\t/*after a repeat code come the bits that specify the number of repetitions,\n\t\t\t those don't need to be in the frequencies_cl calculation*/\n\t\t\tif (bitlen_lld_e.data[i] >= 16)\n\t\t\t\ti++;\n\t\t}\n\n\t\terror = HuffmanTree_makeFromFrequencies(&tree_cl, frequencies_cl.data,\n\t\t\t\tfrequencies_cl.size, frequencies_cl.size, 7);\n\t\tif (error)\n\t\t\tbreak;\n\n\t\tif (!uivector_resize(&bitlen_cl, tree_cl.numcodes))\n\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\tfor (i = 0; i < tree_cl.numcodes; i++) {\n\t\t\t/*lenghts of code length tree is in the order as specified by deflate*/\n\t\t\tbitlen_cl.data[i] = HuffmanTree_getLength(&tree_cl, CLCL_ORDER[i]);\n\t\t}\n\t\twhile (bitlen_cl.data[bitlen_cl.size - 1] == 0 && bitlen_cl.size > 4) {\n\t\t\t/*remove zeros at the end, but minimum size must be 4*/\n\t\t\tif (!uivector_resize(&bitlen_cl, bitlen_cl.size - 1))\n\t\t\t\tERROR_BREAK(83 /*alloc fail*/);\n\t\t}\n\t\tif (error)\n\t\t\tbreak;\n\n\t\t/*\n\t\t Write everything into the output\n\n\t\t After the BFINAL and BTYPE, the dynamic block consists out of the following:\n\t\t - 5 bits HLIT, 5 bits HDIST, 4 bits HCLEN\n\t\t - (HCLEN+4)*3 bits code lengths of code length alphabet\n\t\t - HLIT + 257 code lenghts of lit/length alphabet (encoded using the code length\n\t\t alphabet, + possible repetition codes 16, 17, 18)\n\t\t - HDIST + 1 code lengths of distance alphabet (encoded using the code length\n\t\t alphabet, + possible repetition codes 16, 17, 18)\n\t\t - compressed data\n\t\t - 256 (end code)\n\t\t */\n\n\t\t/*Write block type*/\n\t\taddBitToStream(bp, out, BFINAL);\n\t\taddBitToStream(bp, out, 0); /*first bit of BTYPE \"dynamic\"*/\n\t\taddBitToStream(bp, out, 1); /*second bit of BTYPE \"dynamic\"*/\n\n\t\t/*write the HLIT, HDIST and HCLEN values*/\n\t\tHLIT = (unsigned) (numcodes_ll - 257);\n\t\tHDIST = (unsigned) (numcodes_d - 1);\n\t\tHCLEN = (unsigned) bitlen_cl.size - 4;\n\t\t/*trim zeroes for HCLEN. HLIT and HDIST were already trimmed at tree creation*/\n\t\twhile (!bitlen_cl.data[HCLEN + 4 - 1] && HCLEN > 0)\n\t\t\tHCLEN--;\n\t\taddBitsToStream(bp, out, HLIT, 5);\n\t\taddBitsToStream(bp, out, HDIST, 5);\n\t\taddBitsToStream(bp, out, HCLEN, 4);\n\n\t\t/*write the code lenghts of the code length alphabet*/\n\t\tfor (i = 0; i < HCLEN + 4; i++)\n\t\t\taddBitsToStream(bp, out, bitlen_cl.data[i], 3);\n\n\t\t/*write the lenghts of the lit/len AND the dist alphabet*/\n\t\tfor (i = 0; i < bitlen_lld_e.size; i++) {\n\t\t\taddHuffmanSymbol(bp, out,\n\t\t\t\t\tHuffmanTree_getCode(&tree_cl, bitlen_lld_e.data[i]),\n\t\t\t\t\tHuffmanTree_getLength(&tree_cl, bitlen_lld_e.data[i]));\n\t\t\t/*extra bits of repeat codes*/\n\t\t\tif (bitlen_lld_e.data[i] == 16)\n\t\t\t\taddBitsToStream(bp, out, bitlen_lld_e.data[++i], 2);\n\t\t\telse if (bitlen_lld_e.data[i] == 17)\n\t\t\t\taddBitsToStream(bp, out, bitlen_lld_e.data[++i], 3);\n\t\t\telse if (bitlen_lld_e.data[i] == 18)\n\t\t\t\taddBitsToStream(bp, out, bitlen_lld_e.data[++i], 7);\n\t\t}\n\n\t\t/*write the compressed data symbols*/\n\t\twriteLZ77data(bp, out, &lz77_encoded, &tree_ll, &tree_d);\n\t\t/*error: the length of the end code 256 must be larger than 0*/\n\t\tif (HuffmanTree_getLength(&tree_ll, 256) == 0)\n\t\t\tERROR_BREAK(64);\n\n\t\t/*write the end code*/\n\t\taddHuffmanSymbol(bp, out, HuffmanTree_getCode(&tree_ll, 256),\n\t\t\t\tHuffmanTree_getLength(&tree_ll, 256));\n\n\t\tbreak; /*end of error-while*/\n\t}\n\n\t/*cleanup*/\n\tuivector_cleanup(&lz77_encoded);\n\tHuffmanTree_cleanup(&tree_ll);\n\tHuffmanTree_cleanup(&tree_d);\n\tHuffmanTree_cleanup(&tree_cl);\n\tuivector_cleanup(&frequencies_ll);\n\tuivector_cleanup(&frequencies_d);\n\tuivector_cleanup(&frequencies_cl);\n\tuivector_cleanup(&bitlen_lld_e);\n\tuivector_cleanup(&bitlen_lld);\n\tuivector_cleanup(&bitlen_cl);\n\n\treturn error;\n}\n\nstatic unsigned deflateFixed(ucvector* out, size_t* bp, Hash* hash,\n\t\tconst unsigned char* data, size_t datapos, size_t dataend,\n\t\tconst LodePNGCompressSettings* settings, unsigned final) {\n\tHuffmanTree tree_ll; /*tree for literal values and length codes*/\n\tHuffmanTree tree_d; /*tree for distance codes*/\n\n\tunsigned BFINAL = final;\n\tunsigned error = 0;\n\tsize_t i;\n\n\tHuffmanTree_init(&tree_ll);\n\tHuffmanTree_init(&tree_d);\n\n\tgenerateFixedLitLenTree(&tree_ll);\n\tgenerateFixedDistanceTree(&tree_d);\n\n\taddBitToStream(bp, out, BFINAL);\n\taddBitToStream(bp, out, 1); /*first bit of BTYPE*/\n\taddBitToStream(bp, out, 0); /*second bit of BTYPE*/\n\n\tif (settings->use_lz77) /*LZ77 encoded*/\n\t{\n\t\tuivector lz77_encoded;\n\t\tuivector_init(&lz77_encoded);\n\t\terror = encodeLZ77(&lz77_encoded, hash, data, datapos, dataend,\n\t\t\t\tsettings->windowsize, settings->minmatch, settings->nicematch,\n\t\t\t\tsettings->lazymatching);\n\t\tif (!error)\n\t\t\twriteLZ77data(bp, out, &lz77_encoded, &tree_ll, &tree_d);\n\t\tuivector_cleanup(&lz77_encoded);\n\t} else /*no LZ77, but still will be Huffman compressed*/\n\t{\n\t\tfor (i = datapos; i < dataend; i++) {\n\t\t\taddHuffmanSymbol(bp, out, HuffmanTree_getCode(&tree_ll, data[i]),\n\t\t\t\t\tHuffmanTree_getLength(&tree_ll, data[i]));\n\t\t}\n\t}\n\t/*add END code*/\n\tif (!error)\n\t\taddHuffmanSymbol(bp, out, HuffmanTree_getCode(&tree_ll, 256),\n\t\t\t\tHuffmanTree_getLength(&tree_ll, 256));\n\n\t/*cleanup*/\n\tHuffmanTree_cleanup(&tree_ll);\n\tHuffmanTree_cleanup(&tree_d);\n\n\treturn error;\n}\n\nstatic unsigned lodepng_deflatev(ucvector* out, const unsigned char* in,\n\t\tsize_t insize, const LodePNGCompressSettings* settings) {\n\tunsigned error = 0;\n\tsize_t i, blocksize, numdeflateblocks;\n\tsize_t bp = 0; /*the bit pointer*/\n\tHash hash;\n\n\tif (settings->btype > 2)\n\t\treturn 61;\n\telse if (settings->btype == 0)\n\t\treturn deflateNoCompression(out, in, insize);\n\telse if (settings->btype == 1)\n\t\tblocksize = insize;\n\telse /*if(settings->btype == 2)*/\n\t{\n\t\tblocksize = insize / 8 + 8;\n\t\tif (blocksize < 65535)\n\t\t\tblocksize = 65535;\n\t}\n\n\tnumdeflateblocks = (insize + blocksize - 1) / blocksize;\n\tif (numdeflateblocks == 0)\n\t\tnumdeflateblocks = 1;\n\n\terror = hash_init(&hash, settings->windowsize);\n\tif (error)\n\t\treturn error;\n\n\tfor (i = 0; i < numdeflateblocks && !error; i++) {\n\t\tunsigned final = (i == numdeflateblocks - 1);\n\t\tsize_t start = i * blocksize;\n\t\tsize_t end = start + blocksize;\n\t\tif (end > insize)\n\t\t\tend = insize;\n\n\t\tif (settings->btype == 1)\n\t\t\terror = deflateFixed(out, &bp, &hash, in, start, end, settings,\n\t\t\t\t\tfinal);\n\t\telse if (settings->btype == 2)\n\t\t\terror = deflateDynamic(out, &bp, &hash, in, start, end, settings,\n\t\t\t\t\tfinal);\n\t}\n\n\thash_cleanup(&hash);\n\n\treturn error;\n}\n\nunsigned lodepng_deflate(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGCompressSettings* settings) {\n\tunsigned error;\n\tucvector v;\n\tucvector_init_buffer(&v, *out, *outsize);\n\terror = lodepng_deflatev(&v, in, insize, settings);\n\t*out = v.data;\n\t*outsize = v.size;\n\treturn error;\n}\n\nstatic unsigned deflate(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGCompressSettings* settings) {\n\tif (settings->custom_deflate) {\n\t\treturn settings->custom_deflate(out, outsize, in, insize, settings);\n\t} else {\n\t\treturn lodepng_deflate(out, outsize, in, insize, settings);\n\t}\n}\n\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Adler32 */\n/* ////////////////////////////////////////////////////////////////////////// */\n\nstatic unsigned update_adler32(unsigned adler, const unsigned char* data,\n\t\tunsigned len) {\n\tunsigned s1 = adler & 0xffff;\n\tunsigned s2 = (adler >> 16) & 0xffff;\n\n\twhile (len > 0) {\n\t\t/*at least 5550 sums can be done before the sums overflow, saving a lot of module divisions*/\n\t\tunsigned amount = len > 5550 ? 5550 : len;\n\t\tlen -= amount;\n\t\twhile (amount > 0) {\n\t\t\ts1 += (*data++);\n\t\t\ts2 += s1;\n\t\t\tamount--;\n\t\t}\n\t\ts1 %= 65521;\n\t\ts2 %= 65521;\n\t}\n\n\treturn (s2 << 16) | s1;\n}\n\n/*Return the adler32 of the bytes data[0..len-1]*/\nstatic unsigned adler32(const unsigned char* data, unsigned len) {\n\treturn update_adler32(1L, data, len);\n}\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Zlib / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_DECODER\n\nunsigned lodepng_zlib_decompress(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGDecompressSettings* settings) {\n\tunsigned error = 0;\n\tunsigned CM, CINFO, FDICT;\n\n\tif (insize < 2)\n\t\treturn 53; /*error, size of zlib data too small*/\n\t/*read information from zlib header*/\n\tif ((in[0] * 256 + in[1]) % 31 != 0) {\n\t\t/*error: 256 * in[0] + in[1] must be a multiple of 31, the FCHECK value is supposed to be made that way*/\n\t\treturn 24;\n\t}\n\n\tCM = in[0] & 15;\n\tCINFO = (in[0] >> 4) & 15;\n\t/*FCHECK = in[1] & 31;*//*FCHECK is already tested above*/\n\tFDICT = (in[1] >> 5) & 1;\n\t/*FLEVEL = (in[1] >> 6) & 3;*//*FLEVEL is not used here*/\n\n\tif (CM != 8 || CINFO > 7) {\n\t\t/*error: only compression method 8: inflate with sliding window of 32k is supported by the PNG spec*/\n\t\treturn 25;\n\t}\n\tif (FDICT != 0) {\n\t\t/*error: the specification of PNG says about the zlib stream:\n\t\t \"The additional flags shall not specify a preset dictionary.\"*/\n\t\treturn 26;\n\t}\n\n\terror = inflate(out, outsize, in + 2, insize - 2, settings);\n\tif (error)\n\t\treturn error;\n\n\tif (!settings->ignore_adler32) {\n\t\tunsigned ADLER32 = lodepng_read32bitInt(&in[insize - 4]);\n\t\tunsigned checksum = adler32(*out, (unsigned) (*outsize));\n\t\tif (checksum != ADLER32)\n\t\t\treturn 58; /*error, adler checksum not correct, data must be corrupted*/\n\t}\n\n\treturn 0; /*no error*/\n}\n\nstatic unsigned zlib_decompress(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGDecompressSettings* settings) {\n\tif (settings->custom_zlib) {\n\t\treturn settings->custom_zlib(out, outsize, in, insize, settings);\n\t} else {\n\t\treturn lodepng_zlib_decompress(out, outsize, in, insize, settings);\n\t}\n}\n\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n\nunsigned lodepng_zlib_compress(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGCompressSettings* settings) {\n\t/*initially, *out must be NULL and outsize 0, if you just give some random *out\n\t that's pointing to a non allocated buffer, this'll crash*/\n\tucvector outv;\n\tsize_t i;\n\tunsigned error;\n\tunsigned char* deflatedata = 0;\n\tsize_t deflatesize = 0;\n\n\tunsigned ADLER32;\n\t/*zlib data: 1 byte CMF (CM+CINFO), 1 byte FLG, deflate data, 4 byte ADLER32 checksum of the Decompressed data*/\n\tunsigned CMF = 120; /*0b01111000: CM 8, CINFO 7. With CINFO 7, any window size up to 32768 can be used.*/\n\tunsigned FLEVEL = 0;\n\tunsigned FDICT = 0;\n\tunsigned CMFFLG = 256 * CMF + FDICT * 32 + FLEVEL * 64;\n\tunsigned FCHECK = 31 - CMFFLG % 31;\n\tCMFFLG += FCHECK;\n\n\t/*ucvector-controlled version of the output buffer, for dynamic array*/\n\tucvector_init_buffer(&outv, *out, *outsize);\n\n\tucvector_push_back(&outv, (unsigned char) (CMFFLG / 256));\n\tucvector_push_back(&outv, (unsigned char) (CMFFLG % 256));\n\n\terror = deflate(&deflatedata, &deflatesize, in, insize, settings);\n\n\tif (!error) {\n\t\tADLER32 = adler32(in, (unsigned) insize);\n\t\tfor (i = 0; i < deflatesize; i++)\n\t\t\tucvector_push_back(&outv, deflatedata[i]);\n\t\tlodepng_free(deflatedata);\n\t\tlodepng_add32bitInt(&outv, ADLER32);\n\t}\n\n\t*out = outv.data;\n\t*outsize = outv.size;\n\n\treturn error;\n}\n\n/* compress using the default or custom zlib function */\nstatic unsigned zlib_compress(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGCompressSettings* settings) {\n\tif (settings->custom_zlib) {\n\t\treturn settings->custom_zlib(out, outsize, in, insize, settings);\n\t} else {\n\t\treturn lodepng_zlib_compress(out, outsize, in, insize, settings);\n\t}\n}\n\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#else /*no LODEPNG_COMPILE_ZLIB*/\n\n#ifdef LODEPNG_COMPILE_DECODER\nstatic unsigned zlib_decompress(unsigned char** out, size_t* outsize, const unsigned char* in,\n\t\tsize_t insize, const LodePNGDecompressSettings* settings)\n{\n\tif (!settings->custom_zlib) return 87; /*no custom zlib function provided */\n\treturn settings->custom_zlib(out, outsize, in, insize, settings);\n}\n#endif /*LODEPNG_COMPILE_DECODER*/\n#ifdef LODEPNG_COMPILE_ENCODER\nstatic unsigned zlib_compress(unsigned char** out, size_t* outsize, const unsigned char* in,\n\t\tsize_t insize, const LodePNGCompressSettings* settings)\n{\n\tif (!settings->custom_zlib) return 87; /*no custom zlib function provided */\n\treturn settings->custom_zlib(out, outsize, in, insize, settings);\n}\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#endif /*LODEPNG_COMPILE_ZLIB*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_ENCODER\n\n/*this is a good tradeoff between speed and compression ratio*/\n#define DEFAULT_WINDOWSIZE 2048\n\nvoid lodepng_compress_settings_init(LodePNGCompressSettings* settings) {\n\t/*compress with dynamic huffman tree (not in the mathematical sense, just not the predefined one)*/\n\tsettings->btype = 2;\n\tsettings->use_lz77 = 1;\n\tsettings->windowsize = DEFAULT_WINDOWSIZE;\n\tsettings->minmatch = 3;\n\tsettings->nicematch = 128;\n\tsettings->lazymatching = 1;\n\n\tsettings->custom_zlib = 0;\n\tsettings->custom_deflate = 0;\n\tsettings->custom_context = 0;\n}\n\nconst LodePNGCompressSettings lodepng_default_compress_settings = { 2, 1,\n\t\tDEFAULT_WINDOWSIZE, 3, 128, 1, 0, 0, 0 };\n\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#ifdef LODEPNG_COMPILE_DECODER\n\nvoid lodepng_decompress_settings_init(LodePNGDecompressSettings* settings) {\n\tsettings->ignore_adler32 = 0;\n\n\tsettings->custom_zlib = 0;\n\tsettings->custom_inflate = 0;\n\tsettings->custom_context = 0;\n}\n\nconst LodePNGDecompressSettings lodepng_default_decompress_settings = { 0, 0, 0,\n\t\t0 };\n\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* // End of Zlib related code. Begin of PNG related code. // */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_PNG\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / CRC32 / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/* CRC polynomial: 0xedb88320 */\nstatic unsigned lodepng_crc32_table[256] = { 0u, 1996959894u, 3993919788u,\n\t\t2567524794u, 124634137u, 1886057615u, 3915621685u, 2657392035u,\n\t\t249268274u, 2044508324u, 3772115230u, 2547177864u, 162941995u,\n\t\t2125561021u, 3887607047u, 2428444049u, 498536548u, 1789927666u,\n\t\t4089016648u, 2227061214u, 450548861u, 1843258603u, 4107580753u,\n\t\t2211677639u, 325883990u, 1684777152u, 4251122042u, 2321926636u,\n\t\t335633487u, 1661365465u, 4195302755u, 2366115317u, 997073096u,\n\t\t1281953886u, 3579855332u, 2724688242u, 1006888145u, 1258607687u,\n\t\t3524101629u, 2768942443u, 901097722u, 1119000684u, 3686517206u,\n\t\t2898065728u, 853044451u, 1172266101u, 3705015759u, 2882616665u,\n\t\t651767980u, 1373503546u, 3369554304u, 3218104598u, 565507253u,\n\t\t1454621731u, 3485111705u, 3099436303u, 671266974u, 1594198024u,\n\t\t3322730930u, 2970347812u, 795835527u, 1483230225u, 3244367275u,\n\t\t3060149565u, 1994146192u, 31158534u, 2563907772u, 4023717930u,\n\t\t1907459465u, 112637215u, 2680153253u, 3904427059u, 2013776290u,\n\t\t251722036u, 2517215374u, 3775830040u, 2137656763u, 141376813u,\n\t\t2439277719u, 3865271297u, 1802195444u, 476864866u, 2238001368u,\n\t\t4066508878u, 1812370925u, 453092731u, 2181625025u, 4111451223u,\n\t\t1706088902u, 314042704u, 2344532202u, 4240017532u, 1658658271u,\n\t\t366619977u, 2362670323u, 4224994405u, 1303535960u, 984961486u,\n\t\t2747007092u, 3569037538u, 1256170817u, 1037604311u, 2765210733u,\n\t\t3554079995u, 1131014506u, 879679996u, 2909243462u, 3663771856u,\n\t\t1141124467u, 855842277u, 2852801631u, 3708648649u, 1342533948u,\n\t\t654459306u, 3188396048u, 3373015174u, 1466479909u, 544179635u,\n\t\t3110523913u, 3462522015u, 1591671054u, 702138776u, 2966460450u,\n\t\t3352799412u, 1504918807u, 783551873u, 3082640443u, 3233442989u,\n\t\t3988292384u, 2596254646u, 62317068u, 1957810842u, 3939845945u,\n\t\t2647816111u, 81470997u, 1943803523u, 3814918930u, 2489596804u,\n\t\t225274430u, 2053790376u, 3826175755u, 2466906013u, 167816743u,\n\t\t2097651377u, 4027552580u, 2265490386u, 503444072u, 1762050814u,\n\t\t4150417245u, 2154129355u, 426522225u, 1852507879u, 4275313526u,\n\t\t2312317920u, 282753626u, 1742555852u, 4189708143u, 2394877945u,\n\t\t397917763u, 1622183637u, 3604390888u, 2714866558u, 953729732u,\n\t\t1340076626u, 3518719985u, 2797360999u, 1068828381u, 1219638859u,\n\t\t3624741850u, 2936675148u, 906185462u, 1090812512u, 3747672003u,\n\t\t2825379669u, 829329135u, 1181335161u, 3412177804u, 3160834842u,\n\t\t628085408u, 1382605366u, 3423369109u, 3138078467u, 570562233u,\n\t\t1426400815u, 3317316542u, 2998733608u, 733239954u, 1555261956u,\n\t\t3268935591u, 3050360625u, 752459403u, 1541320221u, 2607071920u,\n\t\t3965973030u, 1969922972u, 40735498u, 2617837225u, 3943577151u,\n\t\t1913087877u, 83908371u, 2512341634u, 3803740692u, 2075208622u,\n\t\t213261112u, 2463272603u, 3855990285u, 2094854071u, 198958881u,\n\t\t2262029012u, 4057260610u, 1759359992u, 534414190u, 2176718541u,\n\t\t4139329115u, 1873836001u, 414664567u, 2282248934u, 4279200368u,\n\t\t1711684554u, 285281116u, 2405801727u, 4167216745u, 1634467795u,\n\t\t376229701u, 2685067896u, 3608007406u, 1308918612u, 956543938u,\n\t\t2808555105u, 3495958263u, 1231636301u, 1047427035u, 2932959818u,\n\t\t3654703836u, 1088359270u, 936918000u, 2847714899u, 3736837829u,\n\t\t1202900863u, 817233897u, 3183342108u, 3401237130u, 1404277552u,\n\t\t615818150u, 3134207493u, 3453421203u, 1423857449u, 601450431u,\n\t\t3009837614u, 3294710456u, 1567103746u, 711928724u, 3020668471u,\n\t\t3272380065u, 1510334235u, 755167117u };\n\n/*Return the CRC of the bytes buf[0..len-1].*/\nunsigned lodepng_crc32(const unsigned char* buf, size_t len) {\n\tunsigned c = 0xffffffffL;\n\tsize_t n;\n\n\tfor (n = 0; n < len; n++) {\n\t\tc = lodepng_crc32_table[(c ^ buf[n]) & 0xff] ^ (c >> 8);\n\t}\n\treturn c ^ 0xffffffffL;\n}\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Reading and writing single bits and bytes from/to stream for LodePNG / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\nstatic unsigned char readBitFromReversedStream(size_t* bitpointer,\n\t\tconst unsigned char* bitstream) {\n\tunsigned char result = (unsigned char) ((bitstream[(*bitpointer) >> 3]\n\t\t\t>> (7 - ((*bitpointer) & 0x7))) & 1);\n\t(*bitpointer)++;\n\treturn result;\n}\n\nstatic unsigned readBitsFromReversedStream(size_t* bitpointer,\n\t\tconst unsigned char* bitstream, size_t nbits) {\n\tunsigned result = 0;\n\tsize_t i;\n\tfor (i = nbits - 1; i < nbits; i--) {\n\t\tresult += (unsigned) readBitFromReversedStream(bitpointer, bitstream)\n\t\t\t\t<< i;\n\t}\n\treturn result;\n}\n\n#ifdef LODEPNG_COMPILE_DECODER\nstatic void setBitOfReversedStream0(size_t* bitpointer,\n\t\tunsigned char* bitstream, unsigned char bit) {\n\t/*the current bit in bitstream must be 0 for this to work*/\n\tif (bit) {\n\t\t/*earlier bit of huffman code is in a lesser significant bit of an earlier byte*/\n\t\tbitstream[(*bitpointer) >> 3] |= (bit << (7 - ((*bitpointer) & 0x7)));\n\t}\n\t(*bitpointer)++;\n}\n#endif /*LODEPNG_COMPILE_DECODER*/\n\nstatic void setBitOfReversedStream(size_t* bitpointer, unsigned char* bitstream,\n\t\tunsigned char bit) {\n\t/*the current bit in bitstream may be 0 or 1 for this to work*/\n\tif (bit == 0)\n\t\tbitstream[(*bitpointer) >> 3] &= (unsigned char) (~(1\n\t\t\t\t<< (7 - ((*bitpointer) & 0x7))));\n\telse\n\t\tbitstream[(*bitpointer) >> 3] |= (1 << (7 - ((*bitpointer) & 0x7)));\n\t(*bitpointer)++;\n}\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / PNG chunks / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\nunsigned lodepng_chunk_length(const unsigned char* chunk) {\n\treturn lodepng_read32bitInt(&chunk[0]);\n}\n\nvoid lodepng_chunk_type(char type[5], const unsigned char* chunk) {\n\tunsigned i;\n\tfor (i = 0; i < 4; i++)\n\t\ttype[i] = (char) chunk[4 + i];\n\ttype[4] = 0; /*null termination char*/\n}\n\nunsigned char lodepng_chunk_type_equals(const unsigned char* chunk,\n\t\tconst char* type) {\n\tif (strlen(type) != 4)\n\t\treturn 0;\n\treturn (chunk[4] == type[0] && chunk[5] == type[1] && chunk[6] == type[2]\n\t\t\t&& chunk[7] == type[3]);\n}\n\nunsigned char lodepng_chunk_ancillary(const unsigned char* chunk) {\n\treturn ((chunk[4] & 32) != 0);\n}\n\nunsigned char lodepng_chunk_private(const unsigned char* chunk) {\n\treturn ((chunk[6] & 32) != 0);\n}\n\nunsigned char lodepng_chunk_safetocopy(const unsigned char* chunk) {\n\treturn ((chunk[7] & 32) != 0);\n}\n\nunsigned char* lodepng_chunk_data(unsigned char* chunk) {\n\treturn &chunk[8];\n}\n\nconst unsigned char* lodepng_chunk_data_const(const unsigned char* chunk) {\n\treturn &chunk[8];\n}\n\nunsigned lodepng_chunk_check_crc(const unsigned char* chunk) {\n\tunsigned length = lodepng_chunk_length(chunk);\n\tunsigned CRC = lodepng_read32bitInt(&chunk[length + 8]);\n\t/*the CRC is taken of the data and the 4 chunk type letters, not the length*/\n\tunsigned checksum = lodepng_crc32(&chunk[4], length + 4);\n\tif (CRC != checksum)\n\t\treturn 1;\n\telse\n\t\treturn 0;\n}\n\nvoid lodepng_chunk_generate_crc(unsigned char* chunk) {\n\tunsigned length = lodepng_chunk_length(chunk);\n\tunsigned CRC = lodepng_crc32(&chunk[4], length + 4);\n\tlodepng_set32bitInt(chunk + 8 + length, CRC);\n}\n\nunsigned char* lodepng_chunk_next(unsigned char* chunk) {\n\tunsigned total_chunk_length = lodepng_chunk_length(chunk) + 12;\n\treturn &chunk[total_chunk_length];\n}\n\nconst unsigned char* lodepng_chunk_next_const(const unsigned char* chunk) {\n\tunsigned total_chunk_length = lodepng_chunk_length(chunk) + 12;\n\treturn &chunk[total_chunk_length];\n}\n\nunsigned lodepng_chunk_append(unsigned char** out, size_t* outlength,\n\t\tconst unsigned char* chunk) {\n\tunsigned i;\n\tunsigned total_chunk_length = lodepng_chunk_length(chunk) + 12;\n\tunsigned char *chunk_start, *new_buffer;\n\tsize_t new_length = (*outlength) + total_chunk_length;\n\tif (new_length < total_chunk_length || new_length < (*outlength))\n\t\treturn 77; /*integer overflow happened*/\n\n\tnew_buffer = (unsigned char*) lodepng_realloc(*out, new_length);\n\tif (!new_buffer)\n\t\treturn 83; /*alloc fail*/\n\t(*out) = new_buffer;\n\t(*outlength) = new_length;\n\tchunk_start = &(*out)[new_length - total_chunk_length];\n\n\tfor (i = 0; i < total_chunk_length; i++)\n\t\tchunk_start[i] = chunk[i];\n\n\treturn 0;\n}\n\nunsigned lodepng_chunk_create(unsigned char** out, size_t* outlength,\n\t\tunsigned length, const char* type, const unsigned char* data) {\n\tunsigned i;\n\tunsigned char *chunk, *new_buffer;\n\tsize_t new_length = (*outlength) + length + 12;\n\tif (new_length < length + 12 || new_length < (*outlength))\n\t\treturn 77; /*integer overflow happened*/\n\tnew_buffer = (unsigned char*) lodepng_realloc(*out, new_length);\n\tif (!new_buffer)\n\t\treturn 83; /*alloc fail*/\n\t(*out) = new_buffer;\n\t(*outlength) = new_length;\n\tchunk = &(*out)[(*outlength) - length - 12];\n\n\t/*1: length*/\n\tlodepng_set32bitInt(chunk, (unsigned) length);\n\n\t/*2: chunk name (4 letters)*/\n\tchunk[4] = (unsigned char) type[0];\n\tchunk[5] = (unsigned char) type[1];\n\tchunk[6] = (unsigned char) type[2];\n\tchunk[7] = (unsigned char) type[3];\n\n\t/*3: the data*/\n\tfor (i = 0; i < length; i++)\n\t\tchunk[8 + i] = data[i];\n\n\t/*4: CRC (of the chunkname characters and the data)*/\n\tlodepng_chunk_generate_crc(chunk);\n\n\treturn 0;\n}\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / Color types and such / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*return type is a LodePNG error code*/\nstatic unsigned checkColorValidity(LodePNGColorType colortype, unsigned bd) /*bd = bitdepth*/\n{\n\tswitch (colortype) {\n\tcase 0:\n\t\tif (!(bd == 1 || bd == 2 || bd == 4 || bd == 8 || bd == 16))\n\t\t\treturn 37;\n\t\tbreak; /*grey*/\n\tcase 2:\n\t\tif (!(bd == 8 || bd == 16))\n\t\t\treturn 37;\n\t\tbreak; /*RGB*/\n\tcase 3:\n\t\tif (!(bd == 1 || bd == 2 || bd == 4 || bd == 8))\n\t\t\treturn 37;\n\t\tbreak; /*palette*/\n\tcase 4:\n\t\tif (!(bd == 8 || bd == 16))\n\t\t\treturn 37;\n\t\tbreak; /*grey + alpha*/\n\tcase 6:\n\t\tif (!(bd == 8 || bd == 16))\n\t\t\treturn 37;\n\t\tbreak; /*RGBA*/\n\tdefault:\n\t\treturn 31;\n\t}\n\treturn 0; /*allowed color type / bits combination*/\n}\n\nstatic unsigned getNumColorChannels(LodePNGColorType colortype) {\n\tswitch (colortype) {\n\tcase 0:\n\t\treturn 1; /*grey*/\n\tcase 2:\n\t\treturn 3; /*RGB*/\n\tcase 3:\n\t\treturn 1; /*palette*/\n\tcase 4:\n\t\treturn 2; /*grey + alpha*/\n\tcase 6:\n\t\treturn 4; /*RGBA*/\n\t}\n\treturn 0; /*unexisting color type*/\n}\n\nstatic unsigned lodepng_get_bpp_lct(LodePNGColorType colortype,\n\t\tunsigned bitdepth) {\n\t/*bits per pixel is amount of channels * bits per channel*/\n\treturn getNumColorChannels(colortype) * bitdepth;\n}\n\n/* ////////////////////////////////////////////////////////////////////////// */\n\nvoid lodepng_color_mode_init(LodePNGColorMode* info) {\n\tinfo->key_defined = 0;\n\tinfo->key_r = info->key_g = info->key_b = 0;\n\tinfo->colortype = LCT_RGBA;\n\tinfo->bitdepth = 8;\n\tinfo->palette = 0;\n\tinfo->palettesize = 0;\n}\n\nvoid lodepng_color_mode_cleanup(LodePNGColorMode* info) {\n\tlodepng_palette_clear(info);\n}\n\nunsigned lodepng_color_mode_copy(LodePNGColorMode* dest,\n\t\tconst LodePNGColorMode* source) {\n\tsize_t i;\n\tlodepng_color_mode_cleanup(dest);\n\t*dest = *source;\n\tif (source->palette) {\n\t\tdest->palette = (unsigned char*) lodepng_malloc(1024);\n\t\tif (!dest->palette && source->palettesize)\n\t\t\treturn 83; /*alloc fail*/\n\t\tfor (i = 0; i < source->palettesize * 4; i++)\n\t\t\tdest->palette[i] = source->palette[i];\n\t}\n\treturn 0;\n}\n\nstatic int lodepng_color_mode_equal(const LodePNGColorMode* a,\n\t\tconst LodePNGColorMode* b) {\n\tsize_t i;\n\tif (a->colortype != b->colortype)\n\t\treturn 0;\n\tif (a->bitdepth != b->bitdepth)\n\t\treturn 0;\n\tif (a->key_defined != b->key_defined)\n\t\treturn 0;\n\tif (a->key_defined) {\n\t\tif (a->key_r != b->key_r)\n\t\t\treturn 0;\n\t\tif (a->key_g != b->key_g)\n\t\t\treturn 0;\n\t\tif (a->key_b != b->key_b)\n\t\t\treturn 0;\n\t}\n\tif (a->palettesize != b->palettesize)\n\t\treturn 0;\n\tfor (i = 0; i < a->palettesize * 4; i++) {\n\t\tif (a->palette[i] != b->palette[i])\n\t\t\treturn 0;\n\t}\n\treturn 1;\n}\n\nvoid lodepng_palette_clear(LodePNGColorMode* info) {\n\tif (info->palette)\n\t\tlodepng_free(info->palette);\n\tinfo->palette = 0;\n\tinfo->palettesize = 0;\n}\n\nunsigned lodepng_palette_add(LodePNGColorMode* info, unsigned char r,\n\t\tunsigned char g, unsigned char b, unsigned char a) {\n\tunsigned char* data;\n\t/*the same resize technique as C++ std::vectors is used, and here it's made so that for a palette with\n\t the max of 256 colors, it'll have the exact alloc size*/\n\tif (!info->palette) /*allocate palette if empty*/\n\t{\n\t\t/*room for 256 colors with 4 bytes each*/\n\t\tdata = (unsigned char*) lodepng_realloc(info->palette, 1024);\n\t\tif (!data)\n\t\t\treturn 83; /*alloc fail*/\n\t\telse\n\t\t\tinfo->palette = data;\n\t}\n\tinfo->palette[4 * info->palettesize + 0] = r;\n\tinfo->palette[4 * info->palettesize + 1] = g;\n\tinfo->palette[4 * info->palettesize + 2] = b;\n\tinfo->palette[4 * info->palettesize + 3] = a;\n\tinfo->palettesize++;\n\treturn 0;\n}\n\nunsigned lodepng_get_bpp(const LodePNGColorMode* info) {\n\t/*calculate bits per pixel out of colortype and bitdepth*/\n\treturn lodepng_get_bpp_lct(info->colortype, info->bitdepth);\n}\n\nunsigned lodepng_get_channels(const LodePNGColorMode* info) {\n\treturn getNumColorChannels(info->colortype);\n}\n\nunsigned lodepng_is_greyscale_type(const LodePNGColorMode* info) {\n\treturn info->colortype == LCT_GREY || info->colortype == LCT_GREY_ALPHA;\n}\n\nunsigned lodepng_is_alpha_type(const LodePNGColorMode* info) {\n\treturn (info->colortype & 4) != 0; /*4 or 6*/\n}\n\nunsigned lodepng_is_palette_type(const LodePNGColorMode* info) {\n\treturn info->colortype == LCT_PALETTE;\n}\n\nunsigned lodepng_has_palette_alpha(const LodePNGColorMode* info) {\n\tsize_t i;\n\tfor (i = 0; i < info->palettesize; i++) {\n\t\tif (info->palette[i * 4 + 3] < 255)\n\t\t\treturn 1;\n\t}\n\treturn 0;\n}\n\nunsigned lodepng_can_have_alpha(const LodePNGColorMode* info) {\n\treturn info->key_defined || lodepng_is_alpha_type(info)\n\t\t\t|| lodepng_has_palette_alpha(info);\n}\n\nsize_t lodepng_get_raw_size(unsigned w, unsigned h,\n\t\tconst LodePNGColorMode* color) {\n\treturn (w * h * lodepng_get_bpp(color) + 7) / 8;\n}\n\nsize_t lodepng_get_raw_size_lct(unsigned w, unsigned h,\n\t\tLodePNGColorType colortype, unsigned bitdepth) {\n\treturn (w * h * lodepng_get_bpp_lct(colortype, bitdepth) + 7) / 8;\n}\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\nstatic void LodePNGUnknownChunks_init(LodePNGInfo* info) {\n\tunsigned i;\n\tfor (i = 0; i < 3; i++)\n\t\tinfo->unknown_chunks_data[i] = 0;\n\tfor (i = 0; i < 3; i++)\n\t\tinfo->unknown_chunks_size[i] = 0;\n}\n\nstatic void LodePNGUnknownChunks_cleanup(LodePNGInfo* info) {\n\tunsigned i;\n\tfor (i = 0; i < 3; i++)\n\t\tlodepng_free(info->unknown_chunks_data[i]);\n}\n\nstatic unsigned LodePNGUnknownChunks_copy(LodePNGInfo* dest,\n\t\tconst LodePNGInfo* src) {\n\tunsigned i;\n\n\tLodePNGUnknownChunks_cleanup(dest);\n\n\tfor (i = 0; i < 3; i++) {\n\t\tsize_t j;\n\t\tdest->unknown_chunks_size[i] = src->unknown_chunks_size[i];\n\t\tdest->unknown_chunks_data[i] = (unsigned char*) lodepng_malloc(\n\t\t\t\tsrc->unknown_chunks_size[i]);\n\t\tif (!dest->unknown_chunks_data[i] && dest->unknown_chunks_size[i])\n\t\t\treturn 83; /*alloc fail*/\n\t\tfor (j = 0; j < src->unknown_chunks_size[i]; j++) {\n\t\t\tdest->unknown_chunks_data[i][j] = src->unknown_chunks_data[i][j];\n\t\t}\n\t}\n\n\treturn 0;\n}\n\n/******************************************************************************/\n\nstatic void LodePNGText_init(LodePNGInfo* info) {\n\tinfo->text_num = 0;\n\tinfo->text_keys = NULL;\n\tinfo->text_strings = NULL;\n}\n\nstatic void LodePNGText_cleanup(LodePNGInfo* info) {\n\tsize_t i;\n\tfor (i = 0; i < info->text_num; i++) {\n\t\tstring_cleanup(&info->text_keys[i]);\n\t\tstring_cleanup(&info->text_strings[i]);\n\t}\n\tlodepng_free(info->text_keys);\n\tlodepng_free(info->text_strings);\n}\n\nstatic unsigned LodePNGText_copy(LodePNGInfo* dest, const LodePNGInfo* source) {\n\tsize_t i = 0;\n\tdest->text_keys = 0;\n\tdest->text_strings = 0;\n\tdest->text_num = 0;\n\tfor (i = 0; i < source->text_num; i++) {\n\t\tCERROR_TRY_RETURN(\n\t\t\t\tlodepng_add_text(dest, source->text_keys[i],\n\t\t\t\t\t\tsource->text_strings[i]));\n\t}\n\treturn 0;\n}\n\nvoid lodepng_clear_text(LodePNGInfo* info) {\n\tLodePNGText_cleanup(info);\n}\n\nunsigned lodepng_add_text(LodePNGInfo* info, const char* key, const char* str) {\n\tchar** new_keys = (char**) (lodepng_realloc(info->text_keys,\n\t\t\tsizeof(char*) * (info->text_num + 1)));\n\tchar** new_strings = (char**) (lodepng_realloc(info->text_strings,\n\t\t\tsizeof(char*) * (info->text_num + 1)));\n\tif (!new_keys || !new_strings) {\n\t\tlodepng_free(new_keys);\n\t\tlodepng_free(new_strings);\n\t\treturn 83; /*alloc fail*/\n\t}\n\n\tinfo->text_num++;\n\tinfo->text_keys = new_keys;\n\tinfo->text_strings = new_strings;\n\n\tstring_init(&info->text_keys[info->text_num - 1]);\n\tstring_set(&info->text_keys[info->text_num - 1], key);\n\n\tstring_init(&info->text_strings[info->text_num - 1]);\n\tstring_set(&info->text_strings[info->text_num - 1], str);\n\n\treturn 0;\n}\n\n/******************************************************************************/\n\nstatic void LodePNGIText_init(LodePNGInfo* info) {\n\tinfo->itext_num = 0;\n\tinfo->itext_keys = NULL;\n\tinfo->itext_langtags = NULL;\n\tinfo->itext_transkeys = NULL;\n\tinfo->itext_strings = NULL;\n}\n\nstatic void LodePNGIText_cleanup(LodePNGInfo* info) {\n\tsize_t i;\n\tfor (i = 0; i < info->itext_num; i++) {\n\t\tstring_cleanup(&info->itext_keys[i]);\n\t\tstring_cleanup(&info->itext_langtags[i]);\n\t\tstring_cleanup(&info->itext_transkeys[i]);\n\t\tstring_cleanup(&info->itext_strings[i]);\n\t}\n\tlodepng_free(info->itext_keys);\n\tlodepng_free(info->itext_langtags);\n\tlodepng_free(info->itext_transkeys);\n\tlodepng_free(info->itext_strings);\n}\n\nstatic unsigned LodePNGIText_copy(LodePNGInfo* dest,\n\t\tconst LodePNGInfo* source) {\n\tsize_t i = 0;\n\tdest->itext_keys = 0;\n\tdest->itext_langtags = 0;\n\tdest->itext_transkeys = 0;\n\tdest->itext_strings = 0;\n\tdest->itext_num = 0;\n\tfor (i = 0; i < source->itext_num; i++) {\n\t\tCERROR_TRY_RETURN(\n\t\t\t\tlodepng_add_itext(dest, source->itext_keys[i],\n\t\t\t\t\t\tsource->itext_langtags[i], source->itext_transkeys[i],\n\t\t\t\t\t\tsource->itext_strings[i]));\n\t}\n\treturn 0;\n}\n\nvoid lodepng_clear_itext(LodePNGInfo* info) {\n\tLodePNGIText_cleanup(info);\n}\n\nunsigned lodepng_add_itext(LodePNGInfo* info, const char* key,\n\t\tconst char* langtag, const char* transkey, const char* str) {\n\tchar** new_keys = (char**) (lodepng_realloc(info->itext_keys,\n\t\t\tsizeof(char*) * (info->itext_num + 1)));\n\tchar** new_langtags = (char**) (lodepng_realloc(info->itext_langtags,\n\t\t\tsizeof(char*) * (info->itext_num + 1)));\n\tchar** new_transkeys = (char**) (lodepng_realloc(info->itext_transkeys,\n\t\t\tsizeof(char*) * (info->itext_num + 1)));\n\tchar** new_strings = (char**) (lodepng_realloc(info->itext_strings,\n\t\t\tsizeof(char*) * (info->itext_num + 1)));\n\tif (!new_keys || !new_langtags || !new_transkeys || !new_strings) {\n\t\tlodepng_free(new_keys);\n\t\tlodepng_free(new_langtags);\n\t\tlodepng_free(new_transkeys);\n\t\tlodepng_free(new_strings);\n\t\treturn 83; /*alloc fail*/\n\t}\n\n\tinfo->itext_num++;\n\tinfo->itext_keys = new_keys;\n\tinfo->itext_langtags = new_langtags;\n\tinfo->itext_transkeys = new_transkeys;\n\tinfo->itext_strings = new_strings;\n\n\tstring_init(&info->itext_keys[info->itext_num - 1]);\n\tstring_set(&info->itext_keys[info->itext_num - 1], key);\n\n\tstring_init(&info->itext_langtags[info->itext_num - 1]);\n\tstring_set(&info->itext_langtags[info->itext_num - 1], langtag);\n\n\tstring_init(&info->itext_transkeys[info->itext_num - 1]);\n\tstring_set(&info->itext_transkeys[info->itext_num - 1], transkey);\n\n\tstring_init(&info->itext_strings[info->itext_num - 1]);\n\tstring_set(&info->itext_strings[info->itext_num - 1], str);\n\n\treturn 0;\n}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\nvoid lodepng_info_init(LodePNGInfo* info) {\n\tlodepng_color_mode_init(&info->color);\n\tinfo->interlace_method = 0;\n\tinfo->compression_method = 0;\n\tinfo->filter_method = 0;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tinfo->background_defined = 0;\n\tinfo->background_r = info->background_g = info->background_b = 0;\n\n\tLodePNGText_init(info);\n\tLodePNGIText_init(info);\n\n\tinfo->time_defined = 0;\n\tinfo->phys_defined = 0;\n\n\tLodePNGUnknownChunks_init(info);\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n}\n\nvoid lodepng_info_cleanup(LodePNGInfo* info) {\n\tlodepng_color_mode_cleanup(&info->color);\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tLodePNGText_cleanup(info);\n\tLodePNGIText_cleanup(info);\n\n\tLodePNGUnknownChunks_cleanup(info);\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n}\n\nunsigned lodepng_info_copy(LodePNGInfo* dest, const LodePNGInfo* source) {\n\tlodepng_info_cleanup(dest);\n\t*dest = *source;\n\tlodepng_color_mode_init(&dest->color);\n\tCERROR_TRY_RETURN(lodepng_color_mode_copy(&dest->color, &source->color));\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tCERROR_TRY_RETURN(LodePNGText_copy(dest, source));\n\tCERROR_TRY_RETURN(LodePNGIText_copy(dest, source));\n\n\tLodePNGUnknownChunks_init(dest);\n\tCERROR_TRY_RETURN(LodePNGUnknownChunks_copy(dest, source));\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\treturn 0;\n}\n\nvoid lodepng_info_swap(LodePNGInfo* a, LodePNGInfo* b) {\n\tLodePNGInfo temp = *a;\n\t*a = *b;\n\t*b = temp;\n}\n\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*index: bitgroup index, bits: bitgroup size(1, 2 or 4), in: bitgroup value, out: octet array to add bits to*/\nstatic void addColorBits(unsigned char* out, size_t index, unsigned bits,\n\t\tunsigned in) {\n\tunsigned m = bits == 1 ? 7 : bits == 2 ? 3 : 1; /*8 / bits - 1*/\n\t/*p = the partial index in the byte, e.g. with 4 palettebits it is 0 for first half or 1 for second half*/\n\tunsigned p = index & m;\n\tin &= (1u << bits) - 1u; /*filter out any other bits of the input value*/\n\tin = in << (bits * (m - p));\n\tif (p == 0)\n\t\tout[index * bits / 8] = in;\n\telse\n\t\tout[index * bits / 8] |= in;\n}\n\ntypedef struct ColorTree ColorTree;\n\n/*\n One node of a color tree\n This is the data structure used to count the number of unique colors and to get a palette\n index for a color. It's like an octree, but because the alpha channel is used too, each\n node has 16 instead of 8 children.\n */\nstruct ColorTree {\n\tColorTree* children[16]; /*up to 16 pointers to ColorTree of next level*/\n\tint index; /*the payload. Only has a meaningful value if this is in the last level*/\n};\n\nstatic void color_tree_init(ColorTree* tree) {\n\tint i;\n\tfor (i = 0; i < 16; i++)\n\t\ttree->children[i] = 0;\n\ttree->index = -1;\n}\n\nstatic void color_tree_cleanup(ColorTree* tree) {\n\tint i;\n\tfor (i = 0; i < 16; i++) {\n\t\tif (tree->children[i]) {\n\t\t\tcolor_tree_cleanup(tree->children[i]);\n\t\t\tlodepng_free(tree->children[i]);\n\t\t}\n\t}\n}\n\n/*returns -1 if color not present, its index otherwise*/\nstatic int color_tree_get(ColorTree* tree, unsigned char r, unsigned char g,\n\t\tunsigned char b, unsigned char a) {\n\tint bit = 0;\n\tfor (bit = 0; bit < 8; bit++) {\n\t\tint i = 8 * ((r >> bit) & 1) + 4 * ((g >> bit) & 1)\n\t\t\t\t+ 2 * ((b >> bit) & 1) + 1 * ((a >> bit) & 1);\n\t\tif (!tree->children[i])\n\t\t\treturn -1;\n\t\telse\n\t\t\ttree = tree->children[i];\n\t}\n\treturn tree ? tree->index : -1;\n}\n\n#ifdef LODEPNG_COMPILE_ENCODER\nstatic int color_tree_has(ColorTree* tree, unsigned char r, unsigned char g,\n\t\tunsigned char b, unsigned char a) {\n\treturn color_tree_get(tree, r, g, b, a) >= 0;\n}\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n/*color is not allowed to already exist.\n Index should be >= 0 (it's signed to be compatible with using -1 for \"doesn't exist\")*/\nstatic void color_tree_add(ColorTree* tree, unsigned char r, unsigned char g,\n\t\tunsigned char b, unsigned char a, unsigned index) {\n\tint bit;\n\tfor (bit = 0; bit < 8; bit++) {\n\t\tint i = 8 * ((r >> bit) & 1) + 4 * ((g >> bit) & 1)\n\t\t\t\t+ 2 * ((b >> bit) & 1) + 1 * ((a >> bit) & 1);\n\t\tif (!tree->children[i]) {\n\t\t\ttree->children[i] = (ColorTree*) lodepng_malloc(sizeof(ColorTree));\n\t\t\tcolor_tree_init(tree->children[i]);\n\t\t}\n\t\ttree = tree->children[i];\n\t}\n\ttree->index = (int) index;\n}\n\n/*put a pixel, given its RGBA color, into image of any color type*/\nstatic unsigned rgba8ToPixel(unsigned char* out, size_t i,\n\t\tconst LodePNGColorMode* mode, ColorTree* tree /*for palette*/,\n\t\tunsigned char r, unsigned char g, unsigned char b, unsigned char a) {\n\tif (mode->colortype == LCT_GREY) {\n\t\tunsigned char grey = r; /*((unsigned short)r + g + b) / 3*/\n\t\t;\n\t\tif (mode->bitdepth == 8)\n\t\t\tout[i] = grey;\n\t\telse if (mode->bitdepth == 16)\n\t\t\tout[i * 2 + 0] = out[i * 2 + 1] = grey;\n\t\telse {\n\t\t\t/*take the most significant bits of grey*/\n\t\t\tgrey = (grey >> (8 - mode->bitdepth)) & ((1 << mode->bitdepth) - 1);\n\t\t\taddColorBits(out, i, mode->bitdepth, grey);\n\t\t}\n\t} else if (mode->colortype == LCT_RGB) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\tout[i * 3 + 0] = r;\n\t\t\tout[i * 3 + 1] = g;\n\t\t\tout[i * 3 + 2] = b;\n\t\t} else {\n\t\t\tout[i * 6 + 0] = out[i * 6 + 1] = r;\n\t\t\tout[i * 6 + 2] = out[i * 6 + 3] = g;\n\t\t\tout[i * 6 + 4] = out[i * 6 + 5] = b;\n\t\t}\n\t} else if (mode->colortype == LCT_PALETTE) {\n\t\tint index = color_tree_get(tree, r, g, b, a);\n\t\tif (index < 0)\n\t\t\treturn 82; /*color not in palette*/\n\t\tif (mode->bitdepth == 8)\n\t\t\tout[i] = index;\n\t\telse\n\t\t\taddColorBits(out, i, mode->bitdepth, (unsigned) index);\n\t} else if (mode->colortype == LCT_GREY_ALPHA) {\n\t\tunsigned char grey = r; /*((unsigned short)r + g + b) / 3*/\n\t\t;\n\t\tif (mode->bitdepth == 8) {\n\t\t\tout[i * 2 + 0] = grey;\n\t\t\tout[i * 2 + 1] = a;\n\t\t} else if (mode->bitdepth == 16) {\n\t\t\tout[i * 4 + 0] = out[i * 4 + 1] = grey;\n\t\t\tout[i * 4 + 2] = out[i * 4 + 3] = a;\n\t\t}\n\t} else if (mode->colortype == LCT_RGBA) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\tout[i * 4 + 0] = r;\n\t\t\tout[i * 4 + 1] = g;\n\t\t\tout[i * 4 + 2] = b;\n\t\t\tout[i * 4 + 3] = a;\n\t\t} else {\n\t\t\tout[i * 8 + 0] = out[i * 8 + 1] = r;\n\t\t\tout[i * 8 + 2] = out[i * 8 + 3] = g;\n\t\t\tout[i * 8 + 4] = out[i * 8 + 5] = b;\n\t\t\tout[i * 8 + 6] = out[i * 8 + 7] = a;\n\t\t}\n\t}\n\n\treturn 0; /*no error*/\n}\n\n/*put a pixel, given its RGBA16 color, into image of any color 16-bitdepth type*/\nstatic unsigned rgba16ToPixel(unsigned char* out, size_t i,\n\t\tconst LodePNGColorMode* mode, unsigned short r, unsigned short g,\n\t\tunsigned short b, unsigned short a) {\n\tif (mode->bitdepth != 16)\n\t\treturn 85; /*must be 16 for this function*/\n\tif (mode->colortype == LCT_GREY) {\n\t\tunsigned short grey = r; /*((unsigned)r + g + b) / 3*/\n\t\t;\n\t\tout[i * 2 + 0] = (grey >> 8) & 255;\n\t\tout[i * 2 + 1] = grey & 255;\n\t} else if (mode->colortype == LCT_RGB) {\n\t\tout[i * 6 + 0] = (r >> 8) & 255;\n\t\tout[i * 6 + 1] = r & 255;\n\t\tout[i * 6 + 2] = (g >> 8) & 255;\n\t\tout[i * 6 + 3] = g & 255;\n\t\tout[i * 6 + 4] = (b >> 8) & 255;\n\t\tout[i * 6 + 5] = b & 255;\n\t} else if (mode->colortype == LCT_GREY_ALPHA) {\n\t\tunsigned short grey = r; /*((unsigned)r + g + b) / 3*/\n\t\t;\n\t\tout[i * 4 + 0] = (grey >> 8) & 255;\n\t\tout[i * 4 + 1] = grey & 255;\n\t\tout[i * 4 + 2] = (a >> 8) & 255;\n\t\tout[i * 4 + 3] = a & 255;\n\t} else if (mode->colortype == LCT_RGBA) {\n\t\tout[i * 8 + 0] = (r >> 8) & 255;\n\t\tout[i * 8 + 1] = r & 255;\n\t\tout[i * 8 + 2] = (g >> 8) & 255;\n\t\tout[i * 8 + 3] = g & 255;\n\t\tout[i * 8 + 4] = (b >> 8) & 255;\n\t\tout[i * 8 + 5] = b & 255;\n\t\tout[i * 8 + 6] = (a >> 8) & 255;\n\t\tout[i * 8 + 7] = a & 255;\n\t}\n\n\treturn 0; /*no error*/\n}\n\n/*Get RGBA8 color of pixel with index i (y * width + x) from the raw image with given color type.*/\nstatic unsigned getPixelColorRGBA8(unsigned char* r, unsigned char* g,\n\t\tunsigned char* b, unsigned char* a, const unsigned char* in, size_t i,\n\t\tconst LodePNGColorMode* mode, unsigned fix_png) {\n\tif (mode->colortype == LCT_GREY) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\t*r = *g = *b = in[i];\n\t\t\tif (mode->key_defined && *r == mode->key_r)\n\t\t\t\t*a = 0;\n\t\t\telse\n\t\t\t\t*a = 255;\n\t\t} else if (mode->bitdepth == 16) {\n\t\t\t*r = *g = *b = in[i * 2 + 0];\n\t\t\tif (mode->key_defined\n\t\t\t\t\t&& 256U * in[i * 2 + 0] + in[i * 2 + 1] == mode->key_r)\n\t\t\t\t*a = 0;\n\t\t\telse\n\t\t\t\t*a = 255;\n\t\t} else {\n\t\t\tunsigned highest = ((1U << mode->bitdepth) - 1U); /*highest possible value for this bit depth*/\n\t\t\tsize_t j = i * mode->bitdepth;\n\t\t\tunsigned value = readBitsFromReversedStream(&j, in, mode->bitdepth);\n\t\t\t*r = *g = *b = (value * 255) / highest;\n\t\t\tif (mode->key_defined && value == mode->key_r)\n\t\t\t\t*a = 0;\n\t\t\telse\n\t\t\t\t*a = 255;\n\t\t}\n\t} else if (mode->colortype == LCT_RGB) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\t*r = in[i * 3 + 0];\n\t\t\t*g = in[i * 3 + 1];\n\t\t\t*b = in[i * 3 + 2];\n\t\t\tif (mode->key_defined && *r == mode->key_r && *g == mode->key_g\n\t\t\t\t\t&& *b == mode->key_b)\n\t\t\t\t*a = 0;\n\t\t\telse\n\t\t\t\t*a = 255;\n\t\t} else {\n\t\t\t*r = in[i * 6 + 0];\n\t\t\t*g = in[i * 6 + 2];\n\t\t\t*b = in[i * 6 + 4];\n\t\t\tif (mode->key_defined\n\t\t\t\t\t&& 256U * in[i * 6 + 0] + in[i * 6 + 1] == mode->key_r\n\t\t\t\t\t&& 256U * in[i * 6 + 2] + in[i * 6 + 3] == mode->key_g\n\t\t\t\t\t&& 256U * in[i * 6 + 4] + in[i * 6 + 5] == mode->key_b)\n\t\t\t\t*a = 0;\n\t\t\telse\n\t\t\t\t*a = 255;\n\t\t}\n\t} else if (mode->colortype == LCT_PALETTE) {\n\t\tunsigned index;\n\t\tif (mode->bitdepth == 8)\n\t\t\tindex = in[i];\n\t\telse {\n\t\t\tsize_t j = i * mode->bitdepth;\n\t\t\tindex = readBitsFromReversedStream(&j, in, mode->bitdepth);\n\t\t}\n\n\t\tif (index >= mode->palettesize) {\n\t\t\t/*This is an error according to the PNG spec, but fix_png can ignore it*/\n\t\t\tif (!fix_png)\n\t\t\t\treturn (mode->bitdepth == 8 ? 46 : 47); /*index out of palette*/\n\t\t\t*r = *g = *b = 0;\n\t\t\t*a = 255;\n\t\t} else {\n\t\t\t*r = mode->palette[index * 4 + 0];\n\t\t\t*g = mode->palette[index * 4 + 1];\n\t\t\t*b = mode->palette[index * 4 + 2];\n\t\t\t*a = mode->palette[index * 4 + 3];\n\t\t}\n\t} else if (mode->colortype == LCT_GREY_ALPHA) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\t*r = *g = *b = in[i * 2 + 0];\n\t\t\t*a = in[i * 2 + 1];\n\t\t} else {\n\t\t\t*r = *g = *b = in[i * 4 + 0];\n\t\t\t*a = in[i * 4 + 2];\n\t\t}\n\t} else if (mode->colortype == LCT_RGBA) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\t*r = in[i * 4 + 0];\n\t\t\t*g = in[i * 4 + 1];\n\t\t\t*b = in[i * 4 + 2];\n\t\t\t*a = in[i * 4 + 3];\n\t\t} else {\n\t\t\t*r = in[i * 8 + 0];\n\t\t\t*g = in[i * 8 + 2];\n\t\t\t*b = in[i * 8 + 4];\n\t\t\t*a = in[i * 8 + 6];\n\t\t}\n\t}\n\n\treturn 0; /*no error*/\n}\n\n/*Similar to getPixelColorRGBA8, but with all the for loops inside of the color\n mode test cases, optimized to convert the colors much faster, when converting\n to RGBA or RGB with 8 bit per cannel. buffer must be RGBA or RGB output with\n enough memory, if has_alpha is true the output is RGBA. mode has the color mode\n of the input buffer.*/\nstatic unsigned getPixelColorsRGBA8(unsigned char* buffer, size_t numpixels,\n\t\tunsigned has_alpha, const unsigned char* in,\n\t\tconst LodePNGColorMode* mode, unsigned fix_png) {\n\tunsigned num_channels = has_alpha ? 4 : 3;\n\tsize_t i;\n\tif (mode->colortype == LCT_GREY) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = buffer[1] = buffer[2] = in[i];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] =\n\t\t\t\t\t\t\tmode->key_defined && in[i] == mode->key_r ? 0 : 255;\n\t\t\t}\n\t\t} else if (mode->bitdepth == 16) {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = buffer[1] = buffer[2] = in[i * 2];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] =\n\t\t\t\t\t\t\tmode->key_defined\n\t\t\t\t\t\t\t\t\t&& 256U * in[i * 2 + 0] + in[i * 2 + 1]\n\t\t\t\t\t\t\t\t\t\t\t== mode->key_r ? 0 : 255;\n\t\t\t}\n\t\t} else {\n\t\t\tunsigned highest = ((1U << mode->bitdepth) - 1U); /*highest possible value for this bit depth*/\n\t\t\tsize_t j = 0;\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tunsigned value = readBitsFromReversedStream(&j, in,\n\t\t\t\t\t\tmode->bitdepth);\n\t\t\t\tbuffer[0] = buffer[1] = buffer[2] = (value * 255) / highest;\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] =\n\t\t\t\t\t\t\tmode->key_defined && value == mode->key_r ? 0 : 255;\n\t\t\t}\n\t\t}\n\t} else if (mode->colortype == LCT_RGB) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = in[i * 3 + 0];\n\t\t\t\tbuffer[1] = in[i * 3 + 1];\n\t\t\t\tbuffer[2] = in[i * 3 + 2];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] =\n\t\t\t\t\t\t\tmode->key_defined && buffer[0] == mode->key_r\n\t\t\t\t\t\t\t\t\t&& buffer[1] == mode->key_g\n\t\t\t\t\t\t\t\t\t&& buffer[2] == mode->key_b ? 0 : 255;\n\t\t\t}\n\t\t} else {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = in[i * 6 + 0];\n\t\t\t\tbuffer[1] = in[i * 6 + 2];\n\t\t\t\tbuffer[2] = in[i * 6 + 4];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] =\n\t\t\t\t\t\t\tmode->key_defined\n\t\t\t\t\t\t\t\t\t&& 256U * in[i * 6 + 0] + in[i * 6 + 1]\n\t\t\t\t\t\t\t\t\t\t\t== mode->key_r\n\t\t\t\t\t\t\t\t\t&& 256U * in[i * 6 + 2] + in[i * 6 + 3]\n\t\t\t\t\t\t\t\t\t\t\t== mode->key_g\n\t\t\t\t\t\t\t\t\t&& 256U * in[i * 6 + 4] + in[i * 6 + 5]\n\t\t\t\t\t\t\t\t\t\t\t== mode->key_b ? 0 : 255;\n\t\t\t}\n\t\t}\n\t} else if (mode->colortype == LCT_PALETTE) {\n\t\tunsigned index;\n\t\tsize_t j = 0;\n\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\tif (mode->bitdepth == 8)\n\t\t\t\tindex = in[i];\n\t\t\telse\n\t\t\t\tindex = readBitsFromReversedStream(&j, in, mode->bitdepth);\n\n\t\t\tif (index >= mode->palettesize) {\n\t\t\t\t/*This is an error according to the PNG spec, but fix_png can ignore it*/\n\t\t\t\tif (!fix_png)\n\t\t\t\t\treturn (mode->bitdepth == 8 ? 46 : 47); /*index out of palette*/\n\t\t\t\tbuffer[0] = buffer[1] = buffer[2] = 0;\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] = 255;\n\t\t\t} else {\n\t\t\t\tbuffer[0] = mode->palette[index * 4 + 0];\n\t\t\t\tbuffer[1] = mode->palette[index * 4 + 1];\n\t\t\t\tbuffer[2] = mode->palette[index * 4 + 2];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] = mode->palette[index * 4 + 3];\n\t\t\t}\n\t\t}\n\t} else if (mode->colortype == LCT_GREY_ALPHA) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = buffer[1] = buffer[2] = in[i * 2 + 0];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] = in[i * 2 + 1];\n\t\t\t}\n\t\t} else {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = buffer[1] = buffer[2] = in[i * 4 + 0];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] = in[i * 4 + 2];\n\t\t\t}\n\t\t}\n\t} else if (mode->colortype == LCT_RGBA) {\n\t\tif (mode->bitdepth == 8) {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = in[i * 4 + 0];\n\t\t\t\tbuffer[1] = in[i * 4 + 1];\n\t\t\t\tbuffer[2] = in[i * 4 + 2];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] = in[i * 4 + 3];\n\t\t\t}\n\t\t} else {\n\t\t\tfor (i = 0; i < numpixels; i++, buffer += num_channels) {\n\t\t\t\tbuffer[0] = in[i * 8 + 0];\n\t\t\t\tbuffer[1] = in[i * 8 + 2];\n\t\t\t\tbuffer[2] = in[i * 8 + 4];\n\t\t\t\tif (has_alpha)\n\t\t\t\t\tbuffer[3] = in[i * 8 + 6];\n\t\t\t}\n\t\t}\n\t}\n\n\treturn 0; /*no error*/\n}\n\n/*Get RGBA16 color of pixel with index i (y * width + x) from the raw image with\n given color type, but the given color type must be 16-bit itself.*/\nstatic unsigned getPixelColorRGBA16(unsigned short* r, unsigned short* g,\n\t\tunsigned short* b, unsigned short* a, const unsigned char* in, size_t i,\n\t\tconst LodePNGColorMode* mode) {\n\tif (mode->bitdepth != 16)\n\t\treturn 85; /*error: this function only supports 16-bit input*/\n\n\tif (mode->colortype == LCT_GREY) {\n\t\t*r = *g = *b = 256 * in[i * 2 + 0] + in[i * 2 + 1];\n\t\tif (mode->key_defined\n\t\t\t\t&& 256U * in[i * 2 + 0] + in[i * 2 + 1] == mode->key_r)\n\t\t\t*a = 0;\n\t\telse\n\t\t\t*a = 65535;\n\t} else if (mode->colortype == LCT_RGB) {\n\t\t*r = 256 * in[i * 6 + 0] + in[i * 6 + 1];\n\t\t*g = 256 * in[i * 6 + 2] + in[i * 6 + 3];\n\t\t*b = 256 * in[i * 6 + 4] + in[i * 6 + 5];\n\t\tif (mode->key_defined\n\t\t\t\t&& 256U * in[i * 6 + 0] + in[i * 6 + 1] == mode->key_r\n\t\t\t\t&& 256U * in[i * 6 + 2] + in[i * 6 + 3] == mode->key_g\n\t\t\t\t&& 256U * in[i * 6 + 4] + in[i * 6 + 5] == mode->key_b)\n\t\t\t*a = 0;\n\t\telse\n\t\t\t*a = 65535;\n\t} else if (mode->colortype == LCT_GREY_ALPHA) {\n\t\t*r = *g = *b = 256 * in[i * 4 + 0] + in[i * 4 + 1];\n\t\t*a = 256 * in[i * 4 + 2] + in[i * 4 + 3];\n\t} else if (mode->colortype == LCT_RGBA) {\n\t\t*r = 256 * in[i * 8 + 0] + in[i * 8 + 1];\n\t\t*g = 256 * in[i * 8 + 2] + in[i * 8 + 3];\n\t\t*b = 256 * in[i * 8 + 4] + in[i * 8 + 5];\n\t\t*a = 256 * in[i * 8 + 6] + in[i * 8 + 7];\n\t} else\n\t\treturn 85; /*error: this function only supports 16-bit input, not palettes*/\n\n\treturn 0; /*no error*/\n}\n\n/*\n converts from any color type to 24-bit or 32-bit (later maybe more supported). return value = LodePNG error code\n the out buffer must have (w * h * bpp + 7) / 8 bytes, where bpp is the bits per pixel of the output color type\n (lodepng_get_bpp) for < 8 bpp images, there may _not_ be padding bits at the end of scanlines.\n */\nunsigned lodepng_convert(unsigned char* out, const unsigned char* in,\n\t\tLodePNGColorMode* mode_out, const LodePNGColorMode* mode_in, unsigned w,\n\t\tunsigned h, unsigned fix_png) {\n\tunsigned error = 0;\n\tsize_t i;\n\tColorTree tree;\n\tsize_t numpixels = w * h;\n\n\tif (lodepng_color_mode_equal(mode_out, mode_in)) {\n\t\tsize_t numbytes = lodepng_get_raw_size(w, h, mode_in);\n\t\tfor (i = 0; i < numbytes; i++)\n\t\t\tout[i] = in[i];\n\t\treturn error;\n\t}\n\n\tif (mode_out->colortype == LCT_PALETTE) {\n\t\tsize_t palsize = 1u << mode_out->bitdepth;\n\t\tif (mode_out->palettesize < palsize)\n\t\t\tpalsize = mode_out->palettesize;\n\t\tcolor_tree_init(&tree);\n\t\tfor (i = 0; i < palsize; i++) {\n\t\t\tunsigned char* p = &mode_out->palette[i * 4];\n\t\t\tcolor_tree_add(&tree, p[0], p[1], p[2], p[3], i);\n\t\t}\n\t}\n\n\tif (mode_in->bitdepth == 16 && mode_out->bitdepth == 16) {\n\t\tfor (i = 0; i < numpixels; i++) {\n\t\t\tunsigned short r = 0, g = 0, b = 0, a = 0;\n\t\t\terror = getPixelColorRGBA16(&r, &g, &b, &a, in, i, mode_in);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\t\t\terror = rgba16ToPixel(out, i, mode_out, r, g, b, a);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\t\t}\n\t} else if (mode_out->bitdepth == 8 && mode_out->colortype == LCT_RGBA) {\n\t\terror = getPixelColorsRGBA8(out, numpixels, 1, in, mode_in, fix_png);\n\t} else if (mode_out->bitdepth == 8 && mode_out->colortype == LCT_RGB) {\n\t\terror = getPixelColorsRGBA8(out, numpixels, 0, in, mode_in, fix_png);\n\t} else {\n\t\tunsigned char r = 0, g = 0, b = 0, a = 0;\n\t\tfor (i = 0; i < numpixels; i++) {\n\t\t\terror = getPixelColorRGBA8(&r, &g, &b, &a, in, i, mode_in, fix_png);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\t\t\terror = rgba8ToPixel(out, i, mode_out, &tree, r, g, b, a);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\t\t}\n\t}\n\n\tif (mode_out->colortype == LCT_PALETTE) {\n\t\tcolor_tree_cleanup(&tree);\n\t}\n\n\treturn error;\n}\n\n#ifdef LODEPNG_COMPILE_ENCODER\n\ntypedef struct ColorProfile {\n\tunsigned char sixteenbit; /*needs more than 8 bits per channel*/\n\tunsigned char sixteenbit_done;\n\n\tunsigned char colored; /*not greyscale*/\n\tunsigned char colored_done;\n\n\tunsigned char key; /*a color key is required, or more*/\n\tunsigned short key_r; /*these values are always in 16-bit bitdepth in the profile*/\n\tunsigned short key_g;\n\tunsigned short key_b;\n\tunsigned char alpha; /*alpha channel, or alpha palette, required*/\n\tunsigned char alpha_done;\n\n\tunsigned numcolors;\n\tColorTree tree; /*for listing the counted colors, up to 256*/\n\tunsigned char* palette; /*size 1024. Remember up to the first 256 RGBA colors*/\n\tunsigned maxnumcolors; /*if more than that amount counted*/\n\tunsigned char numcolors_done;\n\n\tunsigned greybits; /*amount of bits required for greyscale (1, 2, 4, 8). Does not take 16 bit into account.*/\n\tunsigned char greybits_done;\n\n} ColorProfile;\n\nstatic void color_profile_init(ColorProfile* profile,\n\t\tconst LodePNGColorMode* mode) {\n\tprofile->sixteenbit = 0;\n\tprofile->sixteenbit_done = mode->bitdepth == 16 ? 0 : 1;\n\n\tprofile->colored = 0;\n\tprofile->colored_done = lodepng_is_greyscale_type(mode) ? 1 : 0;\n\n\tprofile->key = 0;\n\tprofile->alpha = 0;\n\tprofile->alpha_done = lodepng_can_have_alpha(mode) ? 0 : 1;\n\n\tprofile->numcolors = 0;\n\tcolor_tree_init(&profile->tree);\n\tprofile->palette = (unsigned char*) lodepng_malloc(1024);\n\tprofile->maxnumcolors = 257;\n\tif (lodepng_get_bpp(mode) <= 8) {\n\t\tunsigned bpp = lodepng_get_bpp(mode);\n\t\tprofile->maxnumcolors =\n\t\t\t\tbpp == 1 ? 2 : (bpp == 2 ? 4 : (bpp == 4 ? 16 : 256));\n\t}\n\tprofile->numcolors_done = 0;\n\n\tprofile->greybits = 1;\n\tprofile->greybits_done = lodepng_get_bpp(mode) == 1 ? 1 : 0;\n}\n\nstatic void color_profile_cleanup(ColorProfile* profile) {\n\tcolor_tree_cleanup(&profile->tree);\n\tlodepng_free(profile->palette);\n}\n\n/*function used for debug purposes with C++*/\n/*void printColorProfile(ColorProfile* p)\n {\n std::cout << \"sixteenbit: \" << (int)p->sixteenbit << std::endl;\n std::cout << \"sixteenbit_done: \" << (int)p->sixteenbit_done << std::endl;\n std::cout << \"colored: \" << (int)p->colored << std::endl;\n std::cout << \"colored_done: \" << (int)p->colored_done << std::endl;\n std::cout << \"key: \" << (int)p->key << std::endl;\n std::cout << \"key_r: \" << (int)p->key_r << std::endl;\n std::cout << \"key_g: \" << (int)p->key_g << std::endl;\n std::cout << \"key_b: \" << (int)p->key_b << std::endl;\n std::cout << \"alpha: \" << (int)p->alpha << std::endl;\n std::cout << \"alpha_done: \" << (int)p->alpha_done << std::endl;\n std::cout << \"numcolors: \" << (int)p->numcolors << std::endl;\n std::cout << \"maxnumcolors: \" << (int)p->maxnumcolors << std::endl;\n std::cout << \"numcolors_done: \" << (int)p->numcolors_done << std::endl;\n std::cout << \"greybits: \" << (int)p->greybits << std::endl;\n std::cout << \"greybits_done: \" << (int)p->greybits_done << std::endl;\n }*/\n\n/*Returns how many bits needed to represent given value (max 8 bit)*/\nunsigned getValueRequiredBits(unsigned short value) {\n\tif (value == 0 || value == 255)\n\t\treturn 1;\n\t/*The scaling of 2-bit and 4-bit values uses multiples of 85 and 17*/\n\tif (value % 17 == 0)\n\t\treturn value % 85 == 0 ? 2 : 4;\n\treturn 8;\n}\n\n/*profile must already have been inited with mode.\n It's ok to set some parameters of profile to done already.*/\nstatic unsigned get_color_profile(ColorProfile* profile,\n\t\tconst unsigned char* in,\n\t\tsize_t numpixels /*must be full image size, for certain filesize based choices*/,\n\t\tconst LodePNGColorMode* mode, unsigned fix_png) {\n\tunsigned error = 0;\n\tsize_t i;\n\n\tif (mode->bitdepth == 16) {\n\t\tfor (i = 0; i < numpixels; i++) {\n\t\t\tunsigned short r, g, b, a;\n\t\t\terror = getPixelColorRGBA16(&r, &g, &b, &a, in, i, mode);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\n\t\t\t/*a color is considered good for 8-bit if the first byte and the second byte are equal,\n\t\t\t (so if it's divisible through 257), NOT necessarily if the second byte is 0*/\n\t\t\tif (!profile->sixteenbit_done\n\t\t\t\t\t&& (((r & 255) != ((r >> 8) & 255))\n\t\t\t\t\t\t\t|| ((g & 255) != ((g >> 8) & 255))\n\t\t\t\t\t\t\t|| ((b & 255) != ((b >> 8) & 255)))) {\n\t\t\t\tprofile->sixteenbit = 1;\n\t\t\t\tprofile->sixteenbit_done = 1;\n\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore at 16-bit*/\n\t\t\t\tprofile->numcolors_done = 1; /*counting colors no longer useful, palette doesn't support 16-bit*/\n\t\t\t}\n\n\t\t\tif (!profile->colored_done && (r != g || r != b)) {\n\t\t\t\tprofile->colored = 1;\n\t\t\t\tprofile->colored_done = 1;\n\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore*/\n\t\t\t}\n\n\t\t\tif (!profile->alpha_done && a != 65535) {\n\t\t\t\t/*only use color key if numpixels large enough to justify tRNS chunk size*/\n\t\t\t\tif (a == 0 && numpixels > 16\n\t\t\t\t\t\t&& !(profile->key\n\t\t\t\t\t\t\t\t&& (r != profile->key_r || g != profile->key_g\n\t\t\t\t\t\t\t\t\t\t|| b != profile->key_b))) {\n\t\t\t\t\tif (!profile->alpha && !profile->key) {\n\t\t\t\t\t\tprofile->key = 1;\n\t\t\t\t\t\tprofile->key_r = r;\n\t\t\t\t\t\tprofile->key_g = g;\n\t\t\t\t\t\tprofile->key_b = b;\n\t\t\t\t\t}\n\t\t\t\t} else {\n\t\t\t\t\tprofile->alpha = 1;\n\t\t\t\t\tprofile->alpha_done = 1;\n\t\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore*/\n\t\t\t\t}\n\t\t\t}\n\n\t\t\t/* Color key cannot be used if an opaque pixel also has that RGB color. */\n\t\t\tif (!profile->alpha_done && a == 65535 && profile->key\n\t\t\t\t\t&& r == profile->key_r && g == profile->key_g\n\t\t\t\t\t&& b == profile->key_b) {\n\t\t\t\tprofile->alpha = 1;\n\t\t\t\tprofile->alpha_done = 1;\n\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore*/\n\t\t\t}\n\n\t\t\tif (!profile->greybits_done) {\n\t\t\t\t/*assuming 8-bit r, this test does not care about 16-bit*/\n\t\t\t\tunsigned bits = getValueRequiredBits(r);\n\t\t\t\tif (bits > profile->greybits)\n\t\t\t\t\tprofile->greybits = bits;\n\t\t\t\tif (profile->greybits >= 8)\n\t\t\t\t\tprofile->greybits_done = 1;\n\t\t\t}\n\n\t\t\tif (!profile->numcolors_done) {\n\t\t\t\t/*assuming 8-bit rgba, this test does not care about 16-bit*/\n\t\t\t\tif (!color_tree_has(&profile->tree, (unsigned char) r,\n\t\t\t\t\t\t(unsigned char) g, (unsigned char) b,\n\t\t\t\t\t\t(unsigned char) a)) {\n\t\t\t\t\tcolor_tree_add(&profile->tree, (unsigned char) r,\n\t\t\t\t\t\t\t(unsigned char) g, (unsigned char) b,\n\t\t\t\t\t\t\t(unsigned char) a, profile->numcolors);\n\t\t\t\t\tif (profile->numcolors < 256) {\n\t\t\t\t\t\tunsigned char* p = profile->palette;\n\t\t\t\t\t\tunsigned i = profile->numcolors;\n\t\t\t\t\t\tp[i * 4 + 0] = (unsigned char) r;\n\t\t\t\t\t\tp[i * 4 + 1] = (unsigned char) g;\n\t\t\t\t\t\tp[i * 4 + 2] = (unsigned char) b;\n\t\t\t\t\t\tp[i * 4 + 3] = (unsigned char) a;\n\t\t\t\t\t}\n\t\t\t\t\tprofile->numcolors++;\n\t\t\t\t\tif (profile->numcolors >= profile->maxnumcolors)\n\t\t\t\t\t\tprofile->numcolors_done = 1;\n\t\t\t\t}\n\t\t\t}\n\n\t\t\tif (profile->alpha_done && profile->numcolors_done\n\t\t\t\t\t&& profile->colored_done && profile->sixteenbit_done\n\t\t\t\t\t&& profile->greybits_done) {\n\t\t\t\tbreak;\n\t\t\t}\n\t\t};\n\t} else /* < 16-bit */\n\t{\n\t\tfor (i = 0; i < numpixels; i++) {\n\t\t\tunsigned char r = 0, g = 0, b = 0, a = 0;\n\t\t\terror = getPixelColorRGBA8(&r, &g, &b, &a, in, i, mode, fix_png);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\n\t\t\tif (!profile->colored_done && (r != g || r != b)) {\n\t\t\t\tprofile->colored = 1;\n\t\t\t\tprofile->colored_done = 1;\n\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore*/\n\t\t\t}\n\n\t\t\tif (!profile->alpha_done && a != 255) {\n\t\t\t\tif (a == 0\n\t\t\t\t\t\t&& !(profile->key\n\t\t\t\t\t\t\t\t&& (r != profile->key_r || g != profile->key_g\n\t\t\t\t\t\t\t\t\t\t|| b != profile->key_b))) {\n\t\t\t\t\tif (!profile->key) {\n\t\t\t\t\t\tprofile->key = 1;\n\t\t\t\t\t\tprofile->key_r = r;\n\t\t\t\t\t\tprofile->key_g = g;\n\t\t\t\t\t\tprofile->key_b = b;\n\t\t\t\t\t}\n\t\t\t\t} else {\n\t\t\t\t\tprofile->alpha = 1;\n\t\t\t\t\tprofile->alpha_done = 1;\n\t\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore*/\n\t\t\t\t}\n\t\t\t}\n\n\t\t\t/* Color key cannot be used if an opaque pixel also has that RGB color. */\n\t\t\tif (!profile->alpha_done && a == 255 && profile->key\n\t\t\t\t\t&& r == profile->key_r && g == profile->key_g\n\t\t\t\t\t&& b == profile->key_b) {\n\t\t\t\tprofile->alpha = 1;\n\t\t\t\tprofile->alpha_done = 1;\n\t\t\t\tprofile->greybits_done = 1; /*greybits is not applicable anymore*/\n\t\t\t}\n\n\t\t\tif (!profile->greybits_done) {\n\t\t\t\tunsigned bits = getValueRequiredBits(r);\n\t\t\t\tif (bits > profile->greybits)\n\t\t\t\t\tprofile->greybits = bits;\n\t\t\t\tif (profile->greybits >= 8)\n\t\t\t\t\tprofile->greybits_done = 1;\n\t\t\t}\n\n\t\t\tif (!profile->numcolors_done) {\n\t\t\t\tif (!color_tree_has(&profile->tree, r, g, b, a)) {\n\t\t\t\t\tcolor_tree_add(&profile->tree, r, g, b, a,\n\t\t\t\t\t\t\tprofile->numcolors);\n\t\t\t\t\tif (profile->numcolors < 256) {\n\t\t\t\t\t\tunsigned char* p = profile->palette;\n\t\t\t\t\t\tunsigned i = profile->numcolors;\n\t\t\t\t\t\tp[i * 4 + 0] = r;\n\t\t\t\t\t\tp[i * 4 + 1] = g;\n\t\t\t\t\t\tp[i * 4 + 2] = b;\n\t\t\t\t\t\tp[i * 4 + 3] = a;\n\t\t\t\t\t}\n\t\t\t\t\tprofile->numcolors++;\n\t\t\t\t\tif (profile->numcolors >= profile->maxnumcolors)\n\t\t\t\t\t\tprofile->numcolors_done = 1;\n\t\t\t\t}\n\t\t\t}\n\n\t\t\tif (profile->alpha_done && profile->numcolors_done\n\t\t\t\t\t&& profile->colored_done && profile->greybits_done) {\n\t\t\t\tbreak;\n\t\t\t}\n\t\t};\n\t}\n\n\t/*make the profile's key always 16-bit for consistency*/\n\tif (mode->bitdepth < 16) {\n\t\t/*repeat each byte twice*/\n\t\tprofile->key_r *= 257;\n\t\tprofile->key_g *= 257;\n\t\tprofile->key_b *= 257;\n\t}\n\n\treturn error;\n}\n\nstatic void setColorKeyFrom16bit(LodePNGColorMode* mode_out, unsigned r,\n\t\tunsigned g, unsigned b, unsigned bitdepth) {\n\tunsigned mask = (1u << bitdepth) - 1u;\n\tmode_out->key_defined = 1;\n\tmode_out->key_r = r & mask;\n\tmode_out->key_g = g & mask;\n\tmode_out->key_b = b & mask;\n}\n\n/*updates values of mode with a potentially smaller color model. mode_out should\n contain the user chosen color model, but will be overwritten with the new chosen one.*/\nunsigned lodepng_auto_choose_color(LodePNGColorMode* mode_out,\n\t\tconst unsigned char* image, unsigned w, unsigned h,\n\t\tconst LodePNGColorMode* mode_in, LodePNGAutoConvert auto_convert) {\n\tColorProfile profile;\n\tunsigned error = 0;\n\tint no_nibbles = auto_convert == LAC_AUTO_NO_NIBBLES\n\t\t\t|| auto_convert == LAC_AUTO_NO_NIBBLES_NO_PALETTE;\n\tint no_palette = auto_convert == LAC_AUTO_NO_PALETTE\n\t\t\t|| auto_convert == LAC_AUTO_NO_NIBBLES_NO_PALETTE;\n\n\tif (auto_convert == LAC_ALPHA) {\n\t\tif (mode_out->colortype != LCT_RGBA\n\t\t\t\t&& mode_out->colortype != LCT_GREY_ALPHA)\n\t\t\treturn 0;\n\t}\n\n\tcolor_profile_init(&profile, mode_in);\n\tif (auto_convert == LAC_ALPHA) {\n\t\tprofile.colored_done = 1;\n\t\tprofile.greybits_done = 1;\n\t\tprofile.numcolors_done = 1;\n\t\tprofile.sixteenbit_done = 1;\n\t}\n\terror = get_color_profile(&profile, image, w * h, mode_in, 0 /*fix_png*/);\n\tif (!error && auto_convert == LAC_ALPHA) {\n\t\tif (!profile.alpha) {\n\t\t\tmode_out->colortype = (\n\t\t\t\t\tmode_out->colortype == LCT_RGBA ? LCT_RGB : LCT_GREY);\n\t\t\tif (profile.key)\n\t\t\t\tsetColorKeyFrom16bit(mode_out, profile.key_r, profile.key_g,\n\t\t\t\t\t\tprofile.key_b, mode_out->bitdepth);\n\t\t}\n\t} else if (!error && auto_convert != LAC_ALPHA) {\n\t\tmode_out->key_defined = 0;\n\n\t\tif (profile.sixteenbit) {\n\t\t\tmode_out->bitdepth = 16;\n\t\t\tif (profile.alpha) {\n\t\t\t\tmode_out->colortype =\n\t\t\t\t\t\tprofile.colored ? LCT_RGBA : LCT_GREY_ALPHA;\n\t\t\t} else {\n\t\t\t\tmode_out->colortype = profile.colored ? LCT_RGB : LCT_GREY;\n\t\t\t\tif (profile.key)\n\t\t\t\t\tsetColorKeyFrom16bit(mode_out, profile.key_r, profile.key_g,\n\t\t\t\t\t\t\tprofile.key_b, mode_out->bitdepth);\n\t\t\t}\n\t\t} else /*less than 16 bits per channel*/\n\t\t{\n\t\t\t/*don't add palette overhead if image hasn't got a lot of pixels*/\n\t\t\tunsigned n = profile.numcolors;\n\t\t\tint palette_ok = !no_palette && n <= 256 && (n * 2 < w * h);\n\t\t\tunsigned palettebits =\n\t\t\t\t\tn <= 2 ? 1 : (n <= 4 ? 2 : (n <= 16 ? 4 : 8));\n\t\t\tint grey_ok = !profile.colored && !profile.alpha; /*grey without alpha, with potentially low bits*/\n\t\t\tif (palette_ok || grey_ok) {\n\t\t\t\tif (!palette_ok\n\t\t\t\t\t\t|| (grey_ok && profile.greybits <= palettebits)) {\n\t\t\t\t\tunsigned grey = profile.key_r;\n\t\t\t\t\tmode_out->colortype = LCT_GREY;\n\t\t\t\t\tmode_out->bitdepth = profile.greybits;\n\t\t\t\t\tif (profile.key)\n\t\t\t\t\t\tsetColorKeyFrom16bit(mode_out, grey, grey, grey,\n\t\t\t\t\t\t\t\tmode_out->bitdepth);\n\t\t\t\t} else {\n\t\t\t\t\t/*fill in the palette*/\n\t\t\t\t\tunsigned i;\n\t\t\t\t\tunsigned char* p = profile.palette;\n\t\t\t\t\t/*remove potential earlier palette*/\n\t\t\t\t\tlodepng_palette_clear(mode_out);\n\t\t\t\t\tfor (i = 0; i < profile.numcolors; i++) {\n\t\t\t\t\t\terror = lodepng_palette_add(mode_out, p[i * 4 + 0],\n\t\t\t\t\t\t\t\tp[i * 4 + 1], p[i * 4 + 2], p[i * 4 + 3]);\n\t\t\t\t\t\tif (error)\n\t\t\t\t\t\t\tbreak;\n\t\t\t\t\t}\n\n\t\t\t\t\tmode_out->colortype = LCT_PALETTE;\n\t\t\t\t\tmode_out->bitdepth = palettebits;\n\t\t\t\t}\n\t\t\t} else /*8-bit per channel*/\n\t\t\t{\n\t\t\t\tmode_out->bitdepth = 8;\n\t\t\t\tif (profile.alpha) {\n\t\t\t\t\tmode_out->colortype =\n\t\t\t\t\t\t\tprofile.colored ? LCT_RGBA : LCT_GREY_ALPHA;\n\t\t\t\t} else {\n\t\t\t\t\tmode_out->colortype =\n\t\t\t\t\t\t\tprofile.colored ?\n\t\t\t\t\t\t\t\t\tLCT_RGB :\n\t\t\t\t\t\t\t\t\tLCT_GREY /*LCT_GREY normally won't occur, already done earlier*/;\n\t\t\t\t\tif (profile.key)\n\t\t\t\t\t\tsetColorKeyFrom16bit(mode_out, profile.key_r,\n\t\t\t\t\t\t\t\tprofile.key_g, profile.key_b,\n\t\t\t\t\t\t\t\tmode_out->bitdepth);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t}\n\n\tcolor_profile_cleanup(&profile);\n\n\tif (mode_out->colortype == LCT_PALETTE\n\t\t\t&& mode_in->palettesize == mode_out->palettesize) {\n\t\t/*In this case keep the palette order of the input, so that the user can choose an optimal one*/\n\t\tsize_t i;\n\t\tfor (i = 0; i < mode_in->palettesize * 4; i++) {\n\t\t\tmode_out->palette[i] = mode_in->palette[i];\n\t\t}\n\t}\n\n\tif (no_nibbles && mode_out->bitdepth < 8) {\n\t\t/*palette can keep its small amount of colors, as long as no indices use it*/\n\t\tmode_out->bitdepth = 8;\n\t}\n\n\treturn error;\n}\n\n#endif /* #ifdef LODEPNG_COMPILE_ENCODER */\n\n/*\n Paeth predicter, used by PNG filter type 4\n The parameters are of type short, but should come from unsigned chars, the shorts\n are only needed to make the paeth calculation correct.\n */\nstatic unsigned char paethPredictor(short a, short b, short c) {\n\tshort pa = abs(b - c);\n\tshort pb = abs(a - c);\n\tshort pc = abs(a + b - c - c);\n\n\tif (pc < pa && pc < pb)\n\t\treturn (unsigned char) c;\n\telse if (pb < pa)\n\t\treturn (unsigned char) b;\n\telse\n\t\treturn (unsigned char) a;\n}\n\n/*shared values used by multiple Adam7 related functions*/\n\nstatic const unsigned ADAM7_IX[7] = { 0, 4, 0, 2, 0, 1, 0 }; /*x start values*/\nstatic const unsigned ADAM7_IY[7] = { 0, 0, 4, 0, 2, 0, 1 }; /*y start values*/\nstatic const unsigned ADAM7_DX[7] = { 8, 8, 4, 4, 2, 2, 1 }; /*x delta values*/\nstatic const unsigned ADAM7_DY[7] = { 8, 8, 8, 4, 4, 2, 2 }; /*y delta values*/\n\n/*\n Outputs various dimensions and positions in the image related to the Adam7 reduced images.\n passw: output containing the width of the 7 passes\n passh: output containing the height of the 7 passes\n filter_passstart: output containing the index of the start and end of each\n reduced image with filter bytes\n padded_passstart output containing the index of the start and end of each\n reduced image when without filter bytes but with padded scanlines\n passstart: output containing the index of the start and end of each reduced\n image without padding between scanlines, but still padding between the images\n w, h: width and height of non-interlaced image\n bpp: bits per pixel\n \"padded\" is only relevant if bpp is less than 8 and a scanline or image does not\n end at a full byte\n */\nstatic void Adam7_getpassvalues(unsigned passw[7], unsigned passh[7],\n\t\tsize_t filter_passstart[8], size_t padded_passstart[8],\n\t\tsize_t passstart[8], unsigned w, unsigned h, unsigned bpp) {\n\t/*the passstart values have 8 values: the 8th one indicates the byte after the end of the 7th (= last) pass*/\n\tunsigned i;\n\n\t/*calculate width and height in pixels of each pass*/\n\tfor (i = 0; i < 7; i++) {\n\t\tpassw[i] = (w + ADAM7_DX[i] - ADAM7_IX[i] - 1) / ADAM7_DX[i];\n\t\tpassh[i] = (h + ADAM7_DY[i] - ADAM7_IY[i] - 1) / ADAM7_DY[i];\n\t\tif (passw[i] == 0)\n\t\t\tpassh[i] = 0;\n\t\tif (passh[i] == 0)\n\t\t\tpassw[i] = 0;\n\t}\n\n\tfilter_passstart[0] = padded_passstart[0] = passstart[0] = 0;\n\tfor (i = 0; i < 7; i++) {\n\t\t/*if passw[i] is 0, it's 0 bytes, not 1 (no filtertype-byte)*/\n\t\tfilter_passstart[i + 1] = filter_passstart[i]\n\t\t\t\t+ ((passw[i] && passh[i]) ?\n\t\t\t\t\t\tpassh[i] * (1 + (passw[i] * bpp + 7) / 8) : 0);\n\t\t/*bits padded if needed to fill full byte at end of each scanline*/\n\t\tpadded_passstart[i + 1] = padded_passstart[i]\n\t\t\t\t+ passh[i] * ((passw[i] * bpp + 7) / 8);\n\t\t/*only padded at end of reduced image*/\n\t\tpassstart[i + 1] = passstart[i] + (passh[i] * passw[i] * bpp + 7) / 8;\n\t}\n}\n\n#ifdef LODEPNG_COMPILE_DECODER\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / PNG Decoder / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*read the information from the header and store it in the LodePNGInfo. return value is error*/\nunsigned lodepng_inspect(unsigned* w, unsigned* h, LodePNGState* state,\n\t\tconst unsigned char* in, size_t insize) {\n\tLodePNGInfo* info = &state->info_png;\n\tif (insize == 0 || in == 0) {\n\t\tCERROR_RETURN_ERROR(state->error, 48); /*error: the given data is empty*/\n\t}\n\tif (insize < 29) {\n\t\tCERROR_RETURN_ERROR(state->error, 27); /*error: the data length is smaller than the length of a PNG header*/\n\t}\n\n\t/*when decoding a new PNG image, make sure all parameters created after previous decoding are reset*/\n\tlodepng_info_cleanup(info);\n\tlodepng_info_init(info);\n\n\tif (in[0] != 137 || in[1] != 80 || in[2] != 78 || in[3] != 71 || in[4] != 13\n\t\t\t|| in[5] != 10 || in[6] != 26 || in[7] != 10) {\n\t\tCERROR_RETURN_ERROR(state->error, 28); /*error: the first 8 bytes are not the correct PNG signature*/\n\t}\n\tif (in[12] != 'I' || in[13] != 'H' || in[14] != 'D' || in[15] != 'R') {\n\t\tCERROR_RETURN_ERROR(state->error, 29); /*error: it doesn't start with a IHDR chunk!*/\n\t}\n\n\t/*read the values given in the header*/\n\t*w = lodepng_read32bitInt(&in[16]);\n\t*h = lodepng_read32bitInt(&in[20]);\n\tinfo->color.bitdepth = in[24];\n\tinfo->color.colortype = (LodePNGColorType) in[25];\n\tinfo->compression_method = in[26];\n\tinfo->filter_method = in[27];\n\tinfo->interlace_method = in[28];\n\n\tif (!state->decoder.ignore_crc) {\n\t\tunsigned CRC = lodepng_read32bitInt(&in[29]);\n\t\tunsigned checksum = lodepng_crc32(&in[12], 17);\n\t\tif (CRC != checksum) {\n\t\t\tCERROR_RETURN_ERROR(state->error, 57); /*invalid CRC*/\n\t\t}\n\t}\n\n\t/*error: only compression method 0 is allowed in the specification*/\n\tif (info->compression_method != 0)\n\t\tCERROR_RETURN_ERROR(state->error, 32);\n\t/*error: only filter method 0 is allowed in the specification*/\n\tif (info->filter_method != 0)\n\t\tCERROR_RETURN_ERROR(state->error, 33);\n\t/*error: only interlace methods 0 and 1 exist in the specification*/\n\tif (info->interlace_method > 1)\n\t\tCERROR_RETURN_ERROR(state->error, 34);\n\n\tstate->error = checkColorValidity(info->color.colortype,\n\t\t\tinfo->color.bitdepth);\n\treturn state->error;\n}\n\nstatic unsigned unfilterScanline(unsigned char* recon,\n\t\tconst unsigned char* scanline, const unsigned char* precon,\n\t\tsize_t bytewidth, unsigned char filterType, size_t length) {\n\t/*\n\t For PNG filter method 0\n\t unfilter a PNG image scanline by scanline. when the pixels are smaller than 1 byte,\n\t the filter works byte per byte (bytewidth = 1)\n\t precon is the previous unfiltered scanline, recon the result, scanline the current one\n\t the incoming scanlines do NOT include the filtertype byte, that one is given in the parameter filterType instead\n\t recon and scanline MAY be the same memory address! precon must be disjoint.\n\t */\n\n\tsize_t i;\n\tswitch (filterType) {\n\tcase 0:\n\t\tfor (i = 0; i < length; i++)\n\t\t\trecon[i] = scanline[i];\n\t\tbreak;\n\tcase 1:\n\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\trecon[i] = scanline[i];\n\t\tfor (i = bytewidth; i < length; i++)\n\t\t\trecon[i] = scanline[i] + recon[i - bytewidth];\n\t\tbreak;\n\tcase 2:\n\t\tif (precon) {\n\t\t\tfor (i = 0; i < length; i++)\n\t\t\t\trecon[i] = scanline[i] + precon[i];\n\t\t} else {\n\t\t\tfor (i = 0; i < length; i++)\n\t\t\t\trecon[i] = scanline[i];\n\t\t}\n\t\tbreak;\n\tcase 3:\n\t\tif (precon) {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\trecon[i] = scanline[i] + precon[i] / 2;\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\trecon[i] = scanline[i]\n\t\t\t\t\t\t+ ((recon[i - bytewidth] + precon[i]) / 2);\n\t\t} else {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\trecon[i] = scanline[i];\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\trecon[i] = scanline[i] + recon[i - bytewidth] / 2;\n\t\t}\n\t\tbreak;\n\tcase 4:\n\t\tif (precon) {\n\t\t\tfor (i = 0; i < bytewidth; i++) {\n\t\t\t\trecon[i] = (scanline[i] + precon[i]); /*paethPredictor(0, precon[i], 0) is always precon[i]*/\n\t\t\t}\n\t\t\tfor (i = bytewidth; i < length; i++) {\n\t\t\t\trecon[i] = (scanline[i]\n\t\t\t\t\t\t+ paethPredictor(recon[i - bytewidth], precon[i],\n\t\t\t\t\t\t\t\tprecon[i - bytewidth]));\n\t\t\t}\n\t\t} else {\n\t\t\tfor (i = 0; i < bytewidth; i++) {\n\t\t\t\trecon[i] = scanline[i];\n\t\t\t}\n\t\t\tfor (i = bytewidth; i < length; i++) {\n\t\t\t\t/*paethPredictor(recon[i - bytewidth], 0, 0) is always recon[i - bytewidth]*/\n\t\t\t\trecon[i] = (scanline[i] + recon[i - bytewidth]);\n\t\t\t}\n\t\t}\n\t\tbreak;\n\tdefault:\n\t\treturn 36; /*error: unexisting filter type given*/\n\t}\n\treturn 0;\n}\n\nstatic unsigned unfilter(unsigned char* out, const unsigned char* in,\n\t\tunsigned w, unsigned h, unsigned bpp) {\n\t/*\n\t For PNG filter method 0\n\t this function unfilters a single image (e.g. without interlacing this is called once, with Adam7 seven times)\n\t out must have enough bytes allocated already, in must have the scanlines + 1 filtertype byte per scanline\n\t w and h are image dimensions or dimensions of reduced image, bpp is bits per pixel\n\t in and out are allowed to be the same memory address (but aren't the same size since in has the extra filter bytes)\n\t */\n\n\tunsigned y;\n\tunsigned char* prevline = 0;\n\n\t/*bytewidth is used for filtering, is 1 when bpp < 8, number of bytes per pixel otherwise*/\n\tsize_t bytewidth = (bpp + 7) / 8;\n\tsize_t linebytes = (w * bpp + 7) / 8;\n\n\tfor (y = 0; y < h; y++) {\n\t\tsize_t outindex = linebytes * y;\n\t\tsize_t inindex = (1 + linebytes) * y; /*the extra filterbyte added to each row*/\n\t\tunsigned char filterType = in[inindex];\n\n\t\tCERROR_TRY_RETURN(\n\t\t\t\tunfilterScanline(&out[outindex], &in[inindex + 1], prevline,\n\t\t\t\t\t\tbytewidth, filterType, linebytes));\n\n\t\tprevline = &out[outindex];\n\t}\n\n\treturn 0;\n}\n\n/*\n in: Adam7 interlaced image, with no padding bits between scanlines, but between\n reduced images so that each reduced image starts at a byte.\n out: the same pixels, but re-ordered so that they're now a non-interlaced image with size w*h\n bpp: bits per pixel\n out has the following size in bits: w * h * bpp.\n in is possibly bigger due to padding bits between reduced images.\n out must be big enough AND must be 0 everywhere if bpp < 8 in the current implementation\n (because that's likely a little bit faster)\n NOTE: comments about padding bits are only relevant if bpp < 8\n */\nstatic void Adam7_deinterlace(unsigned char* out, const unsigned char* in,\n\t\tunsigned w, unsigned h, unsigned bpp) {\n\tunsigned passw[7], passh[7];\n\tsize_t filter_passstart[8], padded_passstart[8], passstart[8];\n\tunsigned i;\n\n\tAdam7_getpassvalues(passw, passh, filter_passstart, padded_passstart,\n\t\t\tpassstart, w, h, bpp);\n\n\tif (bpp >= 8) {\n\t\tfor (i = 0; i < 7; i++) {\n\t\t\tunsigned x, y, b;\n\t\t\tsize_t bytewidth = bpp / 8;\n\t\t\tfor (y = 0; y < passh[i]; y++)\n\t\t\t\tfor (x = 0; x < passw[i]; x++) {\n\t\t\t\t\tsize_t pixelinstart = passstart[i]\n\t\t\t\t\t\t\t+ (y * passw[i] + x) * bytewidth;\n\t\t\t\t\tsize_t pixeloutstart = ((ADAM7_IY[i] + y * ADAM7_DY[i]) * w\n\t\t\t\t\t\t\t+ ADAM7_IX[i] + x * ADAM7_DX[i]) * bytewidth;\n\t\t\t\t\tfor (b = 0; b < bytewidth; b++) {\n\t\t\t\t\t\tout[pixeloutstart + b] = in[pixelinstart + b];\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t}\n\t} else /*bpp < 8: Adam7 with pixels < 8 bit is a bit trickier: with bit pointers*/\n\t{\n\t\tfor (i = 0; i < 7; i++) {\n\t\t\tunsigned x, y, b;\n\t\t\tunsigned ilinebits = bpp * passw[i];\n\t\t\tunsigned olinebits = bpp * w;\n\t\t\tsize_t obp, ibp; /*bit pointers (for out and in buffer)*/\n\t\t\tfor (y = 0; y < passh[i]; y++)\n\t\t\t\tfor (x = 0; x < passw[i]; x++) {\n\t\t\t\t\tibp = (8 * passstart[i]) + (y * ilinebits + x * bpp);\n\t\t\t\t\tobp = (ADAM7_IY[i] + y * ADAM7_DY[i]) * olinebits\n\t\t\t\t\t\t\t+ (ADAM7_IX[i] + x * ADAM7_DX[i]) * bpp;\n\t\t\t\t\tfor (b = 0; b < bpp; b++) {\n\t\t\t\t\t\tunsigned char bit = readBitFromReversedStream(&ibp, in);\n\t\t\t\t\t\t/*note that this function assumes the out buffer is completely 0, use setBitOfReversedStream otherwise*/\n\t\t\t\t\t\tsetBitOfReversedStream0(&obp, out, bit);\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t}\n\t}\n}\n\nstatic void removePaddingBits(unsigned char* out, const unsigned char* in,\n\t\tsize_t olinebits, size_t ilinebits, unsigned h) {\n\t/*\n\t After filtering there are still padding bits if scanlines have non multiple of 8 bit amounts. They need\n\t to be removed (except at last scanline of (Adam7-reduced) image) before working with pure image buffers\n\t for the Adam7 code, the color convert code and the output to the user.\n\t in and out are allowed to be the same buffer, in may also be higher but still overlapping; in must\n\t have >= ilinebits*h bits, out must have >= olinebits*h bits, olinebits must be <= ilinebits\n\t also used to move bits after earlier such operations happened, e.g. in a sequence of reduced images from Adam7\n\t only useful if (ilinebits - olinebits) is a value in the range 1..7\n\t */\n\tunsigned y;\n\tsize_t diff = ilinebits - olinebits;\n\tsize_t ibp = 0, obp = 0; /*input and output bit pointers*/\n\tfor (y = 0; y < h; y++) {\n\t\tsize_t x;\n\t\tfor (x = 0; x < olinebits; x++) {\n\t\t\tunsigned char bit = readBitFromReversedStream(&ibp, in);\n\t\t\tsetBitOfReversedStream(&obp, out, bit);\n\t\t}\n\t\tibp += diff;\n\t}\n}\n\n/*out must be buffer big enough to contain full image, and in must contain the full decompressed data from\n the IDAT chunks (with filter index bytes and possible padding bits)\n return value is error*/\nstatic unsigned postProcessScanlines(unsigned char* out, unsigned char* in,\n\t\tunsigned w, unsigned h, const LodePNGInfo* info_png) {\n\t/*\n\t This function converts the filtered-padded-interlaced data into pure 2D image buffer with the PNG's colortype.\n\t Steps:\n\t *) if no Adam7: 1) unfilter 2) remove padding bits (= posible extra bits per scanline if bpp < 8)\n\t *) if adam7: 1) 7x unfilter 2) 7x remove padding bits 3) Adam7_deinterlace\n\t NOTE: the in buffer will be overwritten with intermediate data!\n\t */\n\tunsigned bpp = lodepng_get_bpp(&info_png->color);\n\tif (bpp == 0)\n\t\treturn 31; /*error: invalid colortype*/\n\n\tif (info_png->interlace_method == 0) {\n\t\tif (bpp < 8 && w * bpp != ((w * bpp + 7) / 8) * 8) {\n\t\t\tCERROR_TRY_RETURN(unfilter(in, in, w, h, bpp));\n\t\t\tremovePaddingBits(out, in, w * bpp, ((w * bpp + 7) / 8) * 8, h);\n\t\t}\n\t\t/*we can immediatly filter into the out buffer, no other steps needed*/\n\t\telse\n\t\t\tCERROR_TRY_RETURN(unfilter(out, in, w, h, bpp));\n\t} else /*interlace_method is 1 (Adam7)*/\n\t{\n\t\tunsigned passw[7], passh[7];\n\t\tsize_t filter_passstart[8], padded_passstart[8], passstart[8];\n\t\tunsigned i;\n\n\t\tAdam7_getpassvalues(passw, passh, filter_passstart, padded_passstart,\n\t\t\t\tpassstart, w, h, bpp);\n\n\t\tfor (i = 0; i < 7; i++) {\n\t\t\tCERROR_TRY_RETURN(\n\t\t\t\t\tunfilter(&in[padded_passstart[i]], &in[filter_passstart[i]],\n\t\t\t\t\t\t\tpassw[i], passh[i], bpp));\n\t\t\t/*TODO: possible efficiency improvement: if in this reduced image the bits fit nicely in 1 scanline,\n\t\t\t move bytes instead of bits or move not at all*/\n\t\t\tif (bpp < 8) {\n\t\t\t\t/*remove padding bits in scanlines; after this there still may be padding\n\t\t\t\t bits between the different reduced images: each reduced image still starts nicely at a byte*/\n\t\t\t\tremovePaddingBits(&in[passstart[i]], &in[padded_passstart[i]],\n\t\t\t\t\t\tpassw[i] * bpp, ((passw[i] * bpp + 7) / 8) * 8,\n\t\t\t\t\t\tpassh[i]);\n\t\t\t}\n\t\t}\n\n\t\tAdam7_deinterlace(out, in, w, h, bpp);\n\t}\n\n\treturn 0;\n}\n\nstatic unsigned readChunk_PLTE(LodePNGColorMode* color,\n\t\tconst unsigned char* data, size_t chunkLength) {\n\tunsigned pos = 0, i;\n\tif (color->palette)\n\t\tlodepng_free(color->palette);\n\tcolor->palettesize = chunkLength / 3;\n\tcolor->palette = (unsigned char*) lodepng_malloc(4 * color->palettesize);\n\tif (!color->palette && color->palettesize) {\n\t\tcolor->palettesize = 0;\n\t\treturn 83; /*alloc fail*/\n\t}\n\tif (color->palettesize > 256)\n\t\treturn 38; /*error: palette too big*/\n\n\tfor (i = 0; i < color->palettesize; i++) {\n\t\tcolor->palette[4 * i + 0] = data[pos++]; /*R*/\n\t\tcolor->palette[4 * i + 1] = data[pos++]; /*G*/\n\t\tcolor->palette[4 * i + 2] = data[pos++]; /*B*/\n\t\tcolor->palette[4 * i + 3] = 255; /*alpha*/\n\t}\n\n\treturn 0; /* OK */\n}\n\nstatic unsigned readChunk_tRNS(LodePNGColorMode* color,\n\t\tconst unsigned char* data, size_t chunkLength) {\n\tunsigned i;\n\tif (color->colortype == LCT_PALETTE) {\n\t\t/*error: more alpha values given than there are palette entries*/\n\t\tif (chunkLength > color->palettesize)\n\t\t\treturn 38;\n\n\t\tfor (i = 0; i < chunkLength; i++)\n\t\t\tcolor->palette[4 * i + 3] = data[i];\n\t} else if (color->colortype == LCT_GREY) {\n\t\t/*error: this chunk must be 2 bytes for greyscale image*/\n\t\tif (chunkLength != 2)\n\t\t\treturn 30;\n\n\t\tcolor->key_defined = 1;\n\t\tcolor->key_r = color->key_g = color->key_b = 256u * data[0] + data[1];\n\t} else if (color->colortype == LCT_RGB) {\n\t\t/*error: this chunk must be 6 bytes for RGB image*/\n\t\tif (chunkLength != 6)\n\t\t\treturn 41;\n\n\t\tcolor->key_defined = 1;\n\t\tcolor->key_r = 256u * data[0] + data[1];\n\t\tcolor->key_g = 256u * data[2] + data[3];\n\t\tcolor->key_b = 256u * data[4] + data[5];\n\t} else\n\t\treturn 42; /*error: tRNS chunk not allowed for other color models*/\n\n\treturn 0; /* OK */\n}\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n/*background color chunk (bKGD)*/\nstatic unsigned readChunk_bKGD(LodePNGInfo* info, const unsigned char* data,\n\t\tsize_t chunkLength) {\n\tif (info->color.colortype == LCT_PALETTE) {\n\t\t/*error: this chunk must be 1 byte for indexed color image*/\n\t\tif (chunkLength != 1)\n\t\t\treturn 43;\n\n\t\tinfo->background_defined = 1;\n\t\tinfo->background_r = info->background_g = info->background_b = data[0];\n\t} else if (info->color.colortype == LCT_GREY\n\t\t\t|| info->color.colortype == LCT_GREY_ALPHA) {\n\t\t/*error: this chunk must be 2 bytes for greyscale image*/\n\t\tif (chunkLength != 2)\n\t\t\treturn 44;\n\n\t\tinfo->background_defined = 1;\n\t\tinfo->background_r = info->background_g = info->background_b = 256u\n\t\t\t\t* data[0] + data[1];\n\t} else if (info->color.colortype == LCT_RGB\n\t\t\t|| info->color.colortype == LCT_RGBA) {\n\t\t/*error: this chunk must be 6 bytes for greyscale image*/\n\t\tif (chunkLength != 6)\n\t\t\treturn 45;\n\n\t\tinfo->background_defined = 1;\n\t\tinfo->background_r = 256u * data[0] + data[1];\n\t\tinfo->background_g = 256u * data[2] + data[3];\n\t\tinfo->background_b = 256u * data[4] + data[5];\n\t}\n\n\treturn 0; /* OK */\n}\n\n/*text chunk (tEXt)*/\nstatic unsigned readChunk_tEXt(LodePNGInfo* info, const unsigned char* data,\n\t\tsize_t chunkLength) {\n\tunsigned error = 0;\n\tchar *key = 0, *str = 0;\n\tunsigned i;\n\n\twhile (!error) /*not really a while loop, only used to break on error*/\n\t{\n\t\tunsigned length, string2_begin;\n\n\t\tlength = 0;\n\t\twhile (length < chunkLength && data[length] != 0)\n\t\t\tlength++;\n\t\t/*even though it's not allowed by the standard, no error is thrown if\n\t\t there's no null termination char, if the text is empty*/\n\t\tif (length < 1 || length > 79)\n\t\t\tCERROR_BREAK(error, 89); /*keyword too short or long*/\n\n\t\tkey = (char*) lodepng_malloc(length + 1);\n\t\tif (!key)\n\t\t\tCERROR_BREAK(error, 83); /*alloc fail*/\n\n\t\tkey[length] = 0;\n\t\tfor (i = 0; i < length; i++)\n\t\t\tkey[i] = (char) data[i];\n\n\t\tstring2_begin = length + 1; /*skip keyword null terminator*/\n\n\t\tlength = chunkLength < string2_begin ? 0 : chunkLength - string2_begin;\n\t\tstr = (char*) lodepng_malloc(length + 1);\n\t\tif (!str)\n\t\t\tCERROR_BREAK(error, 83); /*alloc fail*/\n\n\t\tstr[length] = 0;\n\t\tfor (i = 0; i < length; i++)\n\t\t\tstr[i] = (char) data[string2_begin + i];\n\n\t\terror = lodepng_add_text(info, key, str);\n\n\t\tbreak;\n\t}\n\n\tlodepng_free(key);\n\tlodepng_free(str);\n\n\treturn error;\n}\n\n/*compressed text chunk (zTXt)*/\nstatic unsigned readChunk_zTXt(LodePNGInfo* info,\n\t\tconst LodePNGDecompressSettings* zlibsettings,\n\t\tconst unsigned char* data, size_t chunkLength) {\n\tunsigned error = 0;\n\tunsigned i;\n\n\tunsigned length, string2_begin;\n\tchar *key = 0;\n\tucvector decoded;\n\n\tucvector_init(&decoded);\n\n\twhile (!error) /*not really a while loop, only used to break on error*/\n\t{\n\t\tfor (length = 0; length < chunkLength && data[length] != 0; length++)\n\t\t\t;\n\t\tif (length + 2 >= chunkLength)\n\t\t\tCERROR_BREAK(error, 75); /*no null termination, corrupt?*/\n\t\tif (length < 1 || length > 79)\n\t\t\tCERROR_BREAK(error, 89); /*keyword too short or long*/\n\n\t\tkey = (char*) lodepng_malloc(length + 1);\n\t\tif (!key)\n\t\t\tCERROR_BREAK(error, 83); /*alloc fail*/\n\n\t\tkey[length] = 0;\n\t\tfor (i = 0; i < length; i++)\n\t\t\tkey[i] = (char) data[i];\n\n\t\tif (data[length + 1] != 0)\n\t\t\tCERROR_BREAK(error, 72); /*the 0 byte indicating compression must be 0*/\n\n\t\tstring2_begin = length + 2;\n\t\tif (string2_begin > chunkLength)\n\t\t\tCERROR_BREAK(error, 75); /*no null termination, corrupt?*/\n\n\t\tlength = chunkLength - string2_begin;\n\t\t/*will fail if zlib error, e.g. if length is too small*/\n\t\terror = zlib_decompress(&decoded.data, &decoded.size,\n\t\t\t\t(unsigned char*) (&data[string2_begin]), length, zlibsettings);\n\t\tif (error)\n\t\t\tbreak;\n\t\tucvector_push_back(&decoded, 0);\n\n\t\terror = lodepng_add_text(info, key, (char*) decoded.data);\n\n\t\tbreak;\n\t}\n\n\tlodepng_free(key);\n\tucvector_cleanup(&decoded);\n\n\treturn error;\n}\n\n/*international text chunk (iTXt)*/\nstatic unsigned readChunk_iTXt(LodePNGInfo* info,\n\t\tconst LodePNGDecompressSettings* zlibsettings,\n\t\tconst unsigned char* data, size_t chunkLength) {\n\tunsigned error = 0;\n\tunsigned i;\n\n\tunsigned length, begin, compressed;\n\tchar *key = 0, *langtag = 0, *transkey = 0;\n\tucvector decoded;\n\tucvector_init(&decoded);\n\n\twhile (!error) /*not really a while loop, only used to break on error*/\n\t{\n\t\t/*Quick check if the chunk length isn't too small. Even without check\n\t\t it'd still fail with other error checks below if it's too short. This just gives a different error code.*/\n\t\tif (chunkLength < 5)\n\t\t\tCERROR_BREAK(error, 30); /*iTXt chunk too short*/\n\n\t\t/*read the key*/\n\t\tfor (length = 0; length < chunkLength && data[length] != 0; length++)\n\t\t\t;\n\t\tif (length + 3 >= chunkLength)\n\t\t\tCERROR_BREAK(error, 75); /*no null termination char, corrupt?*/\n\t\tif (length < 1 || length > 79)\n\t\t\tCERROR_BREAK(error, 89); /*keyword too short or long*/\n\n\t\tkey = (char*) lodepng_malloc(length + 1);\n\t\tif (!key)\n\t\t\tCERROR_BREAK(error, 83); /*alloc fail*/\n\n\t\tkey[length] = 0;\n\t\tfor (i = 0; i < length; i++)\n\t\t\tkey[i] = (char) data[i];\n\n\t\t/*read the compression method*/\n\t\tcompressed = data[length + 1];\n\t\tif (data[length + 2] != 0)\n\t\t\tCERROR_BREAK(error, 72); /*the 0 byte indicating compression must be 0*/\n\n\t\t/*even though it's not allowed by the standard, no error is thrown if\n\t\t there's no null termination char, if the text is empty for the next 3 texts*/\n\n\t\t/*read the langtag*/\n\t\tbegin = length + 3;\n\t\tlength = 0;\n\t\tfor (i = begin; i < chunkLength && data[i] != 0; i++)\n\t\t\tlength++;\n\n\t\tlangtag = (char*) lodepng_malloc(length + 1);\n\t\tif (!langtag)\n\t\t\tCERROR_BREAK(error, 83); /*alloc fail*/\n\n\t\tlangtag[length] = 0;\n\t\tfor (i = 0; i < length; i++)\n\t\t\tlangtag[i] = (char) data[begin + i];\n\n\t\t/*read the transkey*/\n\t\tbegin += length + 1;\n\t\tlength = 0;\n\t\tfor (i = begin; i < chunkLength && data[i] != 0; i++)\n\t\t\tlength++;\n\n\t\ttranskey = (char*) lodepng_malloc(length + 1);\n\t\tif (!transkey)\n\t\t\tCERROR_BREAK(error, 83); /*alloc fail*/\n\n\t\ttranskey[length] = 0;\n\t\tfor (i = 0; i < length; i++)\n\t\t\ttranskey[i] = (char) data[begin + i];\n\n\t\t/*read the actual text*/\n\t\tbegin += length + 1;\n\n\t\tlength = chunkLength < begin ? 0 : chunkLength - begin;\n\n\t\tif (compressed) {\n\t\t\t/*will fail if zlib error, e.g. if length is too small*/\n\t\t\terror = zlib_decompress(&decoded.data, &decoded.size,\n\t\t\t\t\t(unsigned char*) (&data[begin]), length, zlibsettings);\n\t\t\tif (error)\n\t\t\t\tbreak;\n\t\t\tif (decoded.allocsize < decoded.size)\n\t\t\t\tdecoded.allocsize = decoded.size;\n\t\t\tucvector_push_back(&decoded, 0);\n\t\t} else {\n\t\t\tif (!ucvector_resize(&decoded, length + 1))\n\t\t\t\tCERROR_BREAK(error, 83 /*alloc fail*/);\n\n\t\t\tdecoded.data[length] = 0;\n\t\t\tfor (i = 0; i < length; i++)\n\t\t\t\tdecoded.data[i] = data[begin + i];\n\t\t}\n\n\t\terror = lodepng_add_itext(info, key, langtag, transkey,\n\t\t\t\t(char*) decoded.data);\n\n\t\tbreak;\n\t}\n\n\tlodepng_free(key);\n\tlodepng_free(langtag);\n\tlodepng_free(transkey);\n\tucvector_cleanup(&decoded);\n\n\treturn error;\n}\n\nstatic unsigned readChunk_tIME(LodePNGInfo* info, const unsigned char* data,\n\t\tsize_t chunkLength) {\n\tif (chunkLength != 7)\n\t\treturn 73; /*invalid tIME chunk size*/\n\n\tinfo->time_defined = 1;\n\tinfo->time.year = 256u * data[0] + data[1];\n\tinfo->time.month = data[2];\n\tinfo->time.day = data[3];\n\tinfo->time.hour = data[4];\n\tinfo->time.minute = data[5];\n\tinfo->time.second = data[6];\n\n\treturn 0; /* OK */\n}\n\nstatic unsigned readChunk_pHYs(LodePNGInfo* info, const unsigned char* data,\n\t\tsize_t chunkLength) {\n\tif (chunkLength != 9)\n\t\treturn 74; /*invalid pHYs chunk size*/\n\n\tinfo->phys_defined = 1;\n\tinfo->phys_x = 16777216u * data[0] + 65536u * data[1] + 256u * data[2]\n\t\t\t+ data[3];\n\tinfo->phys_y = 16777216u * data[4] + 65536u * data[5] + 256u * data[6]\n\t\t\t+ data[7];\n\tinfo->phys_unit = data[8];\n\n\treturn 0; /* OK */\n}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\n/*read a PNG, the result will be in the same color type as the PNG (hence \"generic\")*/\nstatic void decodeGeneric(unsigned char** out, unsigned* w, unsigned* h,\n\t\tLodePNGState* state, const unsigned char* in, size_t insize) {\n\tunsigned char IEND = 0;\n\tconst unsigned char* chunk;\n\tsize_t i;\n\tucvector idat; /*the data from idat chunks*/\n\tucvector scanlines;\n\n\t/*for unknown chunk order*/\n\tunsigned unknown = 0;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tunsigned critical_pos = 1; /*1 = after IHDR, 2 = after PLTE, 3 = after IDAT*/\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\n\t/*provide some proper output values if error will happen*/\n\t*out = 0;\n\n\tstate->error = lodepng_inspect(w, h, state, in, insize); /*reads header and resets other parameters in state->info_png*/\n\tif (state->error)\n\t\treturn;\n\n\tucvector_init(&idat);\n\tchunk = &in[33]; /*first byte of the first chunk after the header*/\n\n\t/*loop through the chunks, ignoring unknown chunks and stopping at IEND chunk.\n\t IDAT data is put at the start of the in buffer*/\n\twhile (!IEND && !state->error) {\n\t\tunsigned chunkLength;\n\t\tconst unsigned char* data; /*the data in the chunk*/\n\n\t\t/*error: size of the in buffer too small to contain next chunk*/\n\t\tif ((size_t) ((chunk - in) + 12) > insize || chunk < in)\n\t\t\tCERROR_BREAK(state->error, 30);\n\n\t\t/*length of the data of the chunk, excluding the length bytes, chunk type and CRC bytes*/\n\t\tchunkLength = lodepng_chunk_length(chunk);\n\t\t/*error: chunk length larger than the max PNG chunk size*/\n\t\tif (chunkLength > 2147483647)\n\t\t\tCERROR_BREAK(state->error, 63);\n\n\t\tif ((size_t) ((chunk - in) + chunkLength + 12) > insize\n\t\t\t\t|| (chunk + chunkLength + 12) < in) {\n\t\t\tCERROR_BREAK(state->error, 64); /*error: size of the in buffer too small to contain next chunk*/\n\t\t}\n\n\t\tdata = lodepng_chunk_data_const(chunk);\n\n\t\t/*IDAT chunk, containing compressed image data*/\n\t\tif (lodepng_chunk_type_equals(chunk, \"IDAT\")) {\n\t\t\tsize_t oldsize = idat.size;\n\t\t\tif (!ucvector_resize(&idat, oldsize + chunkLength))\n\t\t\t\tCERROR_BREAK(state->error, 83 /*alloc fail*/);\n\t\t\tfor (i = 0; i < chunkLength; i++)\n\t\t\t\tidat.data[oldsize + i] = data[i];\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t\tcritical_pos = 3;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\t}\n\t\t/*IEND chunk*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"IEND\")) {\n\t\t\tIEND = 1;\n\t\t}\n\t\t/*palette chunk (PLTE)*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"PLTE\")) {\n\t\t\tstate->error = readChunk_PLTE(&state->info_png.color, data,\n\t\t\t\t\tchunkLength);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t\tcritical_pos = 2;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\t}\n\t\t/*palette transparency chunk (tRNS)*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"tRNS\")) {\n\t\t\tstate->error = readChunk_tRNS(&state->info_png.color, data,\n\t\t\t\t\tchunkLength);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t}\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t/*background color chunk (bKGD)*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"bKGD\")) {\n\t\t\tstate->error = readChunk_bKGD(&state->info_png, data, chunkLength);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t}\n\t\t/*text chunk (tEXt)*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"tEXt\")) {\n\t\t\tif (state->decoder.read_text_chunks) {\n\t\t\t\tstate->error = readChunk_tEXt(&state->info_png, data,\n\t\t\t\t\t\tchunkLength);\n\t\t\t\tif (state->error)\n\t\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\t\t/*compressed text chunk (zTXt)*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"zTXt\")) {\n\t\t\tif (state->decoder.read_text_chunks) {\n\t\t\t\tstate->error = readChunk_zTXt(&state->info_png,\n\t\t\t\t\t\t&state->decoder.zlibsettings, data, chunkLength);\n\t\t\t\tif (state->error)\n\t\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\t\t/*international text chunk (iTXt)*/\n\t\telse if (lodepng_chunk_type_equals(chunk, \"iTXt\")) {\n\t\t\tif (state->decoder.read_text_chunks) {\n\t\t\t\tstate->error = readChunk_iTXt(&state->info_png,\n\t\t\t\t\t\t&state->decoder.zlibsettings, data, chunkLength);\n\t\t\t\tif (state->error)\n\t\t\t\t\tbreak;\n\t\t\t}\n\t\t} else if (lodepng_chunk_type_equals(chunk, \"tIME\")) {\n\t\t\tstate->error = readChunk_tIME(&state->info_png, data, chunkLength);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t} else if (lodepng_chunk_type_equals(chunk, \"pHYs\")) {\n\t\t\tstate->error = readChunk_pHYs(&state->info_png, data, chunkLength);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\telse /*it's not an implemented chunk type, so ignore it: skip over the data*/\n\t\t{\n\t\t\t/*error: unknown critical chunk (5th bit of first byte of chunk type is 0)*/\n\t\t\tif (!lodepng_chunk_ancillary(chunk))\n\t\t\t\tCERROR_BREAK(state->error, 69);\n\n\t\t\tunknown = 1;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t\tif (state->decoder.remember_unknown_chunks) {\n\t\t\t\tstate->error = lodepng_chunk_append(\n\t\t\t\t\t\t&state->info_png.unknown_chunks_data[critical_pos - 1],\n\t\t\t\t\t\t&state->info_png.unknown_chunks_size[critical_pos - 1],\n\t\t\t\t\t\tchunk);\n\t\t\t\tif (state->error)\n\t\t\t\t\tbreak;\n\t\t\t}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\t}\n\n\t\tif (!state->decoder.ignore_crc && !unknown) /*check CRC if wanted, only on known chunk types*/\n\t\t{\n\t\t\tif (lodepng_chunk_check_crc(chunk))\n\t\t\t\tCERROR_BREAK(state->error, 57); /*invalid CRC*/\n\t\t}\n\n\t\tif (!IEND)\n\t\t\tchunk = lodepng_chunk_next_const(chunk);\n\t}\n\n\tucvector_init(&scanlines);\n\tif (!state->error) {\n\t\t/*maximum final image length is already reserved in the vector's length - this is not really necessary*/\n\t\tif (!ucvector_resize(&scanlines,\n\t\t\t\tlodepng_get_raw_size(*w, *h, &state->info_png.color) + *h)) {\n\t\t\tstate->error = 83; /*alloc fail*/\n\t\t}\n\t}\n\tif (!state->error) {\n\t\t/*decompress with the Zlib decompressor*/\n\t\tstate->error = zlib_decompress(&scanlines.data, &scanlines.size,\n\t\t\t\tidat.data, idat.size, &state->decoder.zlibsettings);\n\t}\n\tucvector_cleanup(&idat);\n\n\tif (!state->error) {\n\t\tucvector outv;\n\t\tucvector_init(&outv);\n\t\tif (!ucvector_resizev(&outv,\n\t\t\t\tlodepng_get_raw_size(*w, *h, &state->info_png.color), 0))\n\t\t\tstate->error = 83; /*alloc fail*/\n\t\tif (!state->error)\n\t\t\tstate->error = postProcessScanlines(outv.data, scanlines.data, *w,\n\t\t\t\t\t*h, &state->info_png);\n\t\t*out = outv.data;\n\t}\n\tucvector_cleanup(&scanlines);\n}\n\nunsigned lodepng_decode(unsigned char** out, unsigned* w, unsigned* h,\n\t\tLodePNGState* state, const unsigned char* in, size_t insize) {\n\t*out = 0;\n\tdecodeGeneric(out, w, h, state, in, insize);\n\tif (state->error)\n\t\treturn state->error;\n\tif (!state->decoder.color_convert\n\t\t\t|| lodepng_color_mode_equal(&state->info_raw,\n\t\t\t\t\t&state->info_png.color)) {\n\t\t/*same color type, no copying or converting of data needed*/\n\t\t/*store the info_png color settings on the info_raw so that the info_raw still reflects what colortype\n\t\t the raw image has to the end user*/\n\t\tif (!state->decoder.color_convert) {\n\t\t\tstate->error = lodepng_color_mode_copy(&state->info_raw,\n\t\t\t\t\t&state->info_png.color);\n\t\t\tif (state->error)\n\t\t\t\treturn state->error;\n\t\t}\n\t} else {\n\t\t/*color conversion needed; sort of copy of the data*/\n\t\tunsigned char* data = *out;\n\t\tsize_t outsize;\n\n\t\t/*TODO: check if this works according to the statement in the documentation: \"The converter can convert\n\t\t from greyscale input color type, to 8-bit greyscale or greyscale with alpha\"*/\n\t\tif (!(state->info_raw.colortype == LCT_RGB\n\t\t\t\t|| state->info_raw.colortype == LCT_RGBA)\n\t\t\t\t&& !(state->info_raw.bitdepth == 8)) {\n\t\t\treturn 56; /*unsupported color mode conversion*/\n\t\t}\n\n\t\toutsize = lodepng_get_raw_size(*w, *h, &state->info_raw);\n\t\t*out = (unsigned char*) lodepng_malloc(outsize);\n\t\tif (!(*out)) {\n\t\t\tstate->error = 83; /*alloc fail*/\n\t\t} else\n\t\t\tstate->error = lodepng_convert(*out, data, &state->info_raw,\n\t\t\t\t\t&state->info_png.color, *w, *h, state->decoder.fix_png);\n\t\tlodepng_free(data);\n\t}\n\treturn state->error;\n}\n\nunsigned lodepng_decode_memory(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst unsigned char* in, size_t insize, LodePNGColorType colortype,\n\t\tunsigned bitdepth) {\n\tunsigned error;\n\tLodePNGState state;\n\tlodepng_state_init(&state);\n\tstate.info_raw.colortype = colortype;\n\tstate.info_raw.bitdepth = bitdepth;\n\terror = lodepng_decode(out, w, h, &state, in, insize);\n\tlodepng_state_cleanup(&state);\n\treturn error;\n}\n\nunsigned lodepng_decode32(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst unsigned char* in, size_t insize) {\n\treturn lodepng_decode_memory(out, w, h, in, insize, LCT_RGBA, 8);\n}\n\nunsigned lodepng_decode24(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst unsigned char* in, size_t insize) {\n\treturn lodepng_decode_memory(out, w, h, in, insize, LCT_RGB, 8);\n}\n\n#ifdef LODEPNG_COMPILE_DISK\nunsigned lodepng_decode_file(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst char* filename, LodePNGColorType colortype, unsigned bitdepth) {\n\tunsigned char* buffer;\n\tsize_t buffersize;\n\tunsigned error;\n\terror = lodepng_load_file(&buffer, &buffersize, filename);\n\tif (!error)\n\t\terror = lodepng_decode_memory(out, w, h, buffer, buffersize, colortype,\n\t\t\t\tbitdepth);\n\tlodepng_free(buffer);\n\treturn error;\n}\n\nunsigned lodepng_decode32_file(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst char* filename) {\n\treturn lodepng_decode_file(out, w, h, filename, LCT_RGBA, 8);\n}\n\nunsigned lodepng_decode24_file(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst char* filename) {\n\treturn lodepng_decode_file(out, w, h, filename, LCT_RGB, 8);\n}\n#endif /*LODEPNG_COMPILE_DISK*/\n\nvoid lodepng_decoder_settings_init(LodePNGDecoderSettings* settings) {\n\tsettings->color_convert = 1;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tsettings->read_text_chunks = 1;\n\tsettings->remember_unknown_chunks = 0;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\tsettings->ignore_crc = 0;\n\tsettings->fix_png = 0;\n\tlodepng_decompress_settings_init(&settings->zlibsettings);\n}\n\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#if defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER)\n\nvoid lodepng_state_init(LodePNGState* state) {\n#ifdef LODEPNG_COMPILE_DECODER\n\tlodepng_decoder_settings_init(&state->decoder);\n#endif /*LODEPNG_COMPILE_DECODER*/\n#ifdef LODEPNG_COMPILE_ENCODER\n\tlodepng_encoder_settings_init(&state->encoder);\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\tlodepng_color_mode_init(&state->info_raw);\n\tlodepng_info_init(&state->info_png);\n\tstate->error = 1;\n}\n\nvoid lodepng_state_cleanup(LodePNGState* state) {\n\tlodepng_color_mode_cleanup(&state->info_raw);\n\tlodepng_info_cleanup(&state->info_png);\n}\n\nvoid lodepng_state_copy(LodePNGState* dest, const LodePNGState* source) {\n\tlodepng_state_cleanup(dest);\n\t*dest = *source;\n\tlodepng_color_mode_init(&dest->info_raw);\n\tlodepng_info_init(&dest->info_png);\n\tdest->error = lodepng_color_mode_copy(&dest->info_raw, &source->info_raw);\n\tif (dest->error)\n\t\treturn;\n\tdest->error = lodepng_info_copy(&dest->info_png, &source->info_png);\n\tif (dest->error)\n\t\treturn;\n}\n\n#endif /* defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER) */\n\n#ifdef LODEPNG_COMPILE_ENCODER\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* / PNG Encoder / */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n/*chunkName must be string of 4 characters*/\nstatic unsigned addChunk(ucvector* out, const char* chunkName,\n\t\tconst unsigned char* data, size_t length) {\n\tCERROR_TRY_RETURN(\n\t\t\tlodepng_chunk_create(&out->data, &out->size, (unsigned )length,\n\t\t\t\t\tchunkName, data));\n\tout->allocsize = out->size; /*fix the allocsize again*/\n\treturn 0;\n}\n\nstatic void writeSignature(ucvector* out) {\n\t/*8 bytes PNG signature, aka the magic bytes*/\n\tucvector_push_back(out, 137);\n\tucvector_push_back(out, 80);\n\tucvector_push_back(out, 78);\n\tucvector_push_back(out, 71);\n\tucvector_push_back(out, 13);\n\tucvector_push_back(out, 10);\n\tucvector_push_back(out, 26);\n\tucvector_push_back(out, 10);\n}\n\nstatic unsigned addChunk_IHDR(ucvector* out, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype, unsigned bitdepth,\n\t\tunsigned interlace_method) {\n\tunsigned error = 0;\n\tucvector header;\n\tucvector_init(&header);\n\n\tlodepng_add32bitInt(&header, w); /*width*/\n\tlodepng_add32bitInt(&header, h); /*height*/\n\tucvector_push_back(&header, (unsigned char) bitdepth); /*bit depth*/\n\tucvector_push_back(&header, (unsigned char) colortype); /*color type*/\n\tucvector_push_back(&header, 0); /*compression method*/\n\tucvector_push_back(&header, 0); /*filter method*/\n\tucvector_push_back(&header, interlace_method); /*interlace method*/\n\n\terror = addChunk(out, \"IHDR\", header.data, header.size);\n\tucvector_cleanup(&header);\n\n\treturn error;\n}\n\nstatic unsigned addChunk_PLTE(ucvector* out, const LodePNGColorMode* info) {\n\tunsigned error = 0;\n\tsize_t i;\n\tucvector PLTE;\n\tucvector_init(&PLTE);\n\tfor (i = 0; i < info->palettesize * 4; i++) {\n\t\t/*add all channels except alpha channel*/\n\t\tif (i % 4 != 3)\n\t\t\tucvector_push_back(&PLTE, info->palette[i]);\n\t}\n\terror = addChunk(out, \"PLTE\", PLTE.data, PLTE.size);\n\tucvector_cleanup(&PLTE);\n\n\treturn error;\n}\n\nstatic unsigned addChunk_tRNS(ucvector* out, const LodePNGColorMode* info) {\n\tunsigned error = 0;\n\tsize_t i;\n\tucvector tRNS;\n\tucvector_init(&tRNS);\n\tif (info->colortype == LCT_PALETTE) {\n\t\tsize_t amount = info->palettesize;\n\t\t/*the tail of palette values that all have 255 as alpha, does not have to be encoded*/\n\t\tfor (i = info->palettesize; i > 0; i--) {\n\t\t\tif (info->palette[4 * (i - 1) + 3] == 255)\n\t\t\t\tamount--;\n\t\t\telse\n\t\t\t\tbreak;\n\t\t}\n\t\t/*add only alpha channel*/\n\t\tfor (i = 0; i < amount; i++)\n\t\t\tucvector_push_back(&tRNS, info->palette[4 * i + 3]);\n\t} else if (info->colortype == LCT_GREY) {\n\t\tif (info->key_defined) {\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_r / 256));\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_r % 256));\n\t\t}\n\t} else if (info->colortype == LCT_RGB) {\n\t\tif (info->key_defined) {\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_r / 256));\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_r % 256));\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_g / 256));\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_g % 256));\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_b / 256));\n\t\t\tucvector_push_back(&tRNS, (unsigned char) (info->key_b % 256));\n\t\t}\n\t}\n\n\terror = addChunk(out, \"tRNS\", tRNS.data, tRNS.size);\n\tucvector_cleanup(&tRNS);\n\n\treturn error;\n}\n\nstatic unsigned addChunk_IDAT(ucvector* out, const unsigned char* data,\n\t\tsize_t datasize, LodePNGCompressSettings* zlibsettings) {\n\tucvector zlibdata;\n\tunsigned error = 0;\n\n\t/*compress with the Zlib compressor*/\n\tucvector_init(&zlibdata);\n\terror = zlib_compress(&zlibdata.data, &zlibdata.size, data, datasize,\n\t\t\tzlibsettings);\n\tif (!error)\n\t\terror = addChunk(out, \"IDAT\", zlibdata.data, zlibdata.size);\n\tucvector_cleanup(&zlibdata);\n\n\treturn error;\n}\n\nstatic unsigned addChunk_IEND(ucvector* out) {\n\tunsigned error = 0;\n\terror = addChunk(out, \"IEND\", 0, 0);\n\treturn error;\n}\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\nstatic unsigned addChunk_tEXt(ucvector* out, const char* keyword,\n\t\tconst char* textstring) {\n\tunsigned error = 0;\n\tsize_t i;\n\tucvector text;\n\tucvector_init(&text);\n\tfor (i = 0; keyword[i] != 0; i++)\n\t\tucvector_push_back(&text, (unsigned char) keyword[i]);\n\tif (i < 1 || i > 79)\n\t\treturn 89; /*error: invalid keyword size*/\n\tucvector_push_back(&text, 0); /*0 termination char*/\n\tfor (i = 0; textstring[i] != 0; i++)\n\t\tucvector_push_back(&text, (unsigned char) textstring[i]);\n\terror = addChunk(out, \"tEXt\", text.data, text.size);\n\tucvector_cleanup(&text);\n\n\treturn error;\n}\n\nstatic unsigned addChunk_zTXt(ucvector* out, const char* keyword,\n\t\tconst char* textstring, LodePNGCompressSettings* zlibsettings) {\n\tunsigned error = 0;\n\tucvector data, compressed;\n\tsize_t i, textsize = strlen(textstring);\n\n\tucvector_init(&data);\n\tucvector_init(&compressed);\n\tfor (i = 0; keyword[i] != 0; i++)\n\t\tucvector_push_back(&data, (unsigned char) keyword[i]);\n\tif (i < 1 || i > 79)\n\t\treturn 89; /*error: invalid keyword size*/\n\tucvector_push_back(&data, 0); /*0 termination char*/\n\tucvector_push_back(&data, 0); /*compression method: 0*/\n\n\terror = zlib_compress(&compressed.data, &compressed.size,\n\t\t\t(unsigned char*) textstring, textsize, zlibsettings);\n\tif (!error) {\n\t\tfor (i = 0; i < compressed.size; i++)\n\t\t\tucvector_push_back(&data, compressed.data[i]);\n\t\terror = addChunk(out, \"zTXt\", data.data, data.size);\n\t}\n\n\tucvector_cleanup(&compressed);\n\tucvector_cleanup(&data);\n\treturn error;\n}\n\nstatic unsigned addChunk_iTXt(ucvector* out, unsigned compressed,\n\t\tconst char* keyword, const char* langtag, const char* transkey,\n\t\tconst char* textstring, LodePNGCompressSettings* zlibsettings) {\n\tunsigned error = 0;\n\tucvector data;\n\tsize_t i, textsize = strlen(textstring);\n\n\tucvector_init(&data);\n\n\tfor (i = 0; keyword[i] != 0; i++)\n\t\tucvector_push_back(&data, (unsigned char) keyword[i]);\n\tif (i < 1 || i > 79)\n\t\treturn 89; /*error: invalid keyword size*/\n\tucvector_push_back(&data, 0); /*null termination char*/\n\tucvector_push_back(&data, compressed ? 1 : 0); /*compression flag*/\n\tucvector_push_back(&data, 0); /*compression method*/\n\tfor (i = 0; langtag[i] != 0; i++)\n\t\tucvector_push_back(&data, (unsigned char) langtag[i]);\n\tucvector_push_back(&data, 0); /*null termination char*/\n\tfor (i = 0; transkey[i] != 0; i++)\n\t\tucvector_push_back(&data, (unsigned char) transkey[i]);\n\tucvector_push_back(&data, 0); /*null termination char*/\n\n\tif (compressed) {\n\t\tucvector compressed_data;\n\t\tucvector_init(&compressed_data);\n\t\terror = zlib_compress(&compressed_data.data, &compressed_data.size,\n\t\t\t\t(unsigned char*) textstring, textsize, zlibsettings);\n\t\tif (!error) {\n\t\t\tfor (i = 0; i < compressed_data.size; i++)\n\t\t\t\tucvector_push_back(&data, compressed_data.data[i]);\n\t\t}\n\t\tucvector_cleanup(&compressed_data);\n\t} else /*not compressed*/\n\t{\n\t\tfor (i = 0; textstring[i] != 0; i++)\n\t\t\tucvector_push_back(&data, (unsigned char) textstring[i]);\n\t}\n\n\tif (!error)\n\t\terror = addChunk(out, \"iTXt\", data.data, data.size);\n\tucvector_cleanup(&data);\n\treturn error;\n}\n\nstatic unsigned addChunk_bKGD(ucvector* out, const LodePNGInfo* info) {\n\tunsigned error = 0;\n\tucvector bKGD;\n\tucvector_init(&bKGD);\n\tif (info->color.colortype == LCT_GREY\n\t\t\t|| info->color.colortype == LCT_GREY_ALPHA) {\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_r / 256));\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_r % 256));\n\t} else if (info->color.colortype == LCT_RGB\n\t\t\t|| info->color.colortype == LCT_RGBA) {\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_r / 256));\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_r % 256));\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_g / 256));\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_g % 256));\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_b / 256));\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_b % 256));\n\t} else if (info->color.colortype == LCT_PALETTE) {\n\t\tucvector_push_back(&bKGD, (unsigned char) (info->background_r % 256)); /*palette index*/\n\t}\n\n\terror = addChunk(out, \"bKGD\", bKGD.data, bKGD.size);\n\tucvector_cleanup(&bKGD);\n\n\treturn error;\n}\n\nstatic unsigned addChunk_tIME(ucvector* out, const LodePNGTime* time) {\n\tunsigned error = 0;\n\tunsigned char* data = (unsigned char*) lodepng_malloc(7);\n\tif (!data)\n\t\treturn 83; /*alloc fail*/\n\tdata[0] = (unsigned char) (time->year / 256);\n\tdata[1] = (unsigned char) (time->year % 256);\n\tdata[2] = (unsigned char) time->month;\n\tdata[3] = (unsigned char) time->day;\n\tdata[4] = (unsigned char) time->hour;\n\tdata[5] = (unsigned char) time->minute;\n\tdata[6] = (unsigned char) time->second;\n\terror = addChunk(out, \"tIME\", data, 7);\n\tlodepng_free(data);\n\treturn error;\n}\n\nstatic unsigned addChunk_pHYs(ucvector* out, const LodePNGInfo* info) {\n\tunsigned error = 0;\n\tucvector data;\n\tucvector_init(&data);\n\n\tlodepng_add32bitInt(&data, info->phys_x);\n\tlodepng_add32bitInt(&data, info->phys_y);\n\tucvector_push_back(&data, info->phys_unit);\n\n\terror = addChunk(out, \"pHYs\", data.data, data.size);\n\tucvector_cleanup(&data);\n\n\treturn error;\n}\n\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\nstatic void filterScanline(unsigned char* out, const unsigned char* scanline,\n\t\tconst unsigned char* prevline, size_t length, size_t bytewidth,\n\t\tunsigned char filterType) {\n\tsize_t i;\n\tswitch (filterType) {\n\tcase 0: /*None*/\n\t\tfor (i = 0; i < length; i++)\n\t\t\tout[i] = scanline[i];\n\t\tbreak;\n\tcase 1: /*Sub*/\n\t\tif (prevline) {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\tout[i] = scanline[i];\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\tout[i] = scanline[i] - scanline[i - bytewidth];\n\t\t} else {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\tout[i] = scanline[i];\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\tout[i] = scanline[i] - scanline[i - bytewidth];\n\t\t}\n\t\tbreak;\n\tcase 2: /*Up*/\n\t\tif (prevline) {\n\t\t\tfor (i = 0; i < length; i++)\n\t\t\t\tout[i] = scanline[i] - prevline[i];\n\t\t} else {\n\t\t\tfor (i = 0; i < length; i++)\n\t\t\t\tout[i] = scanline[i];\n\t\t}\n\t\tbreak;\n\tcase 3: /*Average*/\n\t\tif (prevline) {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\tout[i] = scanline[i] - prevline[i] / 2;\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\tout[i] = scanline[i]\n\t\t\t\t\t\t- ((scanline[i - bytewidth] + prevline[i]) / 2);\n\t\t} else {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\tout[i] = scanline[i];\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\tout[i] = scanline[i] - scanline[i - bytewidth] / 2;\n\t\t}\n\t\tbreak;\n\tcase 4: /*Paeth*/\n\t\tif (prevline) {\n\t\t\t/*paethPredictor(0, prevline[i], 0) is always prevline[i]*/\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\tout[i] = (scanline[i] - prevline[i]);\n\t\t\tfor (i = bytewidth; i < length; i++) {\n\t\t\t\tout[i] = (scanline[i]\n\t\t\t\t\t\t- paethPredictor(scanline[i - bytewidth], prevline[i],\n\t\t\t\t\t\t\t\tprevline[i - bytewidth]));\n\t\t\t}\n\t\t} else {\n\t\t\tfor (i = 0; i < bytewidth; i++)\n\t\t\t\tout[i] = scanline[i];\n\t\t\t/*paethPredictor(scanline[i - bytewidth], 0, 0) is always scanline[i - bytewidth]*/\n\t\t\tfor (i = bytewidth; i < length; i++)\n\t\t\t\tout[i] = (scanline[i] - scanline[i - bytewidth]);\n\t\t}\n\t\tbreak;\n\tdefault:\n\t\treturn; /*unexisting filter type given*/\n\t}\n}\n\n/* log2 approximation. A slight bit faster than std::log. */\nstatic float flog2(float f) {\n\tfloat result = 0;\n\twhile (f > 32) {\n\t\tresult += 4;\n\t\tf /= 16;\n\t}\n\twhile (f > 2) {\n\t\tresult++;\n\t\tf /= 2;\n\t}\n\treturn result\n\t\t\t+ 1.442695f * (f * f * f / 3 - 3 * f * f / 2 + 3 * f - 1.83333f);\n}\n\nstatic unsigned filter(unsigned char* out, const unsigned char* in, unsigned w,\n\t\tunsigned h, const LodePNGColorMode* info,\n\t\tconst LodePNGEncoderSettings* settings) {\n\t/*\n\t For PNG filter method 0\n\t out must be a buffer with as size: h + (w * h * bpp + 7) / 8, because there are\n\t the scanlines with 1 extra byte per scanline\n\t */\n\n\tunsigned bpp = lodepng_get_bpp(info);\n\t/*the width of a scanline in bytes, not including the filter type*/\n\tsize_t linebytes = (w * bpp + 7) / 8;\n\t/*bytewidth is used for filtering, is 1 when bpp < 8, number of bytes per pixel otherwise*/\n\tsize_t bytewidth = (bpp + 7) / 8;\n\tconst unsigned char* prevline = 0;\n\tunsigned x, y;\n\tunsigned error = 0;\n\tLodePNGFilterStrategy strategy = settings->filter_strategy;\n\n\t/*\n\t There is a heuristic called the minimum sum of absolute differences heuristic, suggested by the PNG standard:\n\t * If the image type is Palette, or the bit depth is smaller than 8, then do not filter the image (i.e.\n\t use fixed filtering, with the filter None).\n\t * (The other case) If the image type is Grayscale or RGB (with or without Alpha), and the bit depth is\n\t not smaller than 8, then use adaptive filtering heuristic as follows: independently for each row, apply\n\t all five filters and select the filter that produces the smallest sum of absolute values per row.\n\t This heuristic is used if filter strategy is LFS_MINSUM and filter_palette_zero is true.\n\n\t If filter_palette_zero is true and filter_strategy is not LFS_MINSUM, the above heuristic is followed,\n\t but for \"the other case\", whatever strategy filter_strategy is set to instead of the minimum sum\n\t heuristic is used.\n\t */\n\tif (settings->filter_palette_zero\n\t\t\t&& (info->colortype == LCT_PALETTE || info->bitdepth < 8))\n\t\tstrategy = LFS_ZERO;\n\n\tif (bpp == 0)\n\t\treturn 31; /*error: invalid color type*/\n\n\tif (strategy == LFS_ZERO) {\n\t\tfor (y = 0; y < h; y++) {\n\t\t\tsize_t outindex = (1 + linebytes) * y; /*the extra filterbyte added to each row*/\n\t\t\tsize_t inindex = linebytes * y;\n\t\t\tout[outindex] = 0; /*filter type byte*/\n\t\t\tfilterScanline(&out[outindex + 1], &in[inindex], prevline,\n\t\t\t\t\tlinebytes, bytewidth, 0);\n\t\t\tprevline = &in[inindex];\n\t\t}\n\t} else if (strategy == LFS_MINSUM) {\n\t\t/*adaptive filtering*/\n\t\tsize_t sum[5];\n\t\tucvector attempt[5]; /*five filtering attempts, one for each filter type*/\n\t\tsize_t smallest = 0;\n\t\tunsigned char type, bestType = 0;\n\n\t\tfor (type = 0; type < 5; type++) {\n\t\t\tucvector_init(&attempt[type]);\n\t\t\tif (!ucvector_resize(&attempt[type], linebytes))\n\t\t\t\treturn 83; /*alloc fail*/\n\t\t}\n\n\t\tif (!error) {\n\t\t\tfor (y = 0; y < h; y++) {\n\t\t\t\t/*try the 5 filter types*/\n\t\t\t\tfor (type = 0; type < 5; type++) {\n\t\t\t\t\tfilterScanline(attempt[type].data, &in[y * linebytes],\n\t\t\t\t\t\t\tprevline, linebytes, bytewidth, type);\n\n\t\t\t\t\t/*calculate the sum of the result*/\n\t\t\t\t\tsum[type] = 0;\n\t\t\t\t\tif (type == 0) {\n\t\t\t\t\t\tfor (x = 0; x < linebytes; x++)\n\t\t\t\t\t\t\tsum[type] +=\n\t\t\t\t\t\t\t\t\t(unsigned char) (attempt[type].data[x]);\n\t\t\t\t\t} else {\n\t\t\t\t\t\tfor (x = 0; x < linebytes; x++) {\n\t\t\t\t\t\t\t/*For differences, each byte should be treated as signed, values above 127 are negative\n\t\t\t\t\t\t\t (converted to signed char). Filtertype 0 isn't a difference though, so use unsigned there.\n\t\t\t\t\t\t\t This means filtertype 0 is almost never chosen, but that is justified.*/\n\t\t\t\t\t\t\tunsigned char s = attempt[type].data[x];\n\t\t\t\t\t\t\tsum[type] += s < 128 ? s : (255U - s);\n\t\t\t\t\t\t}\n\t\t\t\t\t}\n\n\t\t\t\t\t/*check if this is smallest sum (or if type == 0 it's the first case so always store the values)*/\n\t\t\t\t\tif (type == 0 || sum[type] < smallest) {\n\t\t\t\t\t\tbestType = type;\n\t\t\t\t\t\tsmallest = sum[type];\n\t\t\t\t\t}\n\t\t\t\t}\n\n\t\t\t\tprevline = &in[y * linebytes];\n\n\t\t\t\t/*now fill the out values*/\n\t\t\t\tout[y * (linebytes + 1)] = bestType; /*the first byte of a scanline will be the filter type*/\n\t\t\t\tfor (x = 0; x < linebytes; x++)\n\t\t\t\t\tout[y * (linebytes + 1) + 1 + x] =\n\t\t\t\t\t\t\tattempt[bestType].data[x];\n\t\t\t}\n\t\t}\n\n\t\tfor (type = 0; type < 5; type++)\n\t\t\tucvector_cleanup(&attempt[type]);\n\t} else if (strategy == LFS_ENTROPY) {\n\t\tfloat sum[5];\n\t\tucvector attempt[5]; /*five filtering attempts, one for each filter type*/\n\t\tfloat smallest = 0;\n\t\tunsigned type, bestType = 0;\n\t\tunsigned count[256];\n\n\t\tfor (type = 0; type < 5; type++) {\n\t\t\tucvector_init(&attempt[type]);\n\t\t\tif (!ucvector_resize(&attempt[type], linebytes))\n\t\t\t\treturn 83; /*alloc fail*/\n\t\t}\n\n\t\tfor (y = 0; y < h; y++) {\n\t\t\t/*try the 5 filter types*/\n\t\t\tfor (type = 0; type < 5; type++) {\n\t\t\t\tfilterScanline(attempt[type].data, &in[y * linebytes], prevline,\n\t\t\t\t\t\tlinebytes, bytewidth, type);\n\t\t\t\tfor (x = 0; x < 256; x++)\n\t\t\t\t\tcount[x] = 0;\n\t\t\t\tfor (x = 0; x < linebytes; x++)\n\t\t\t\t\tcount[attempt[type].data[x]]++;\n\t\t\t\tcount[type]++; /*the filter type itself is part of the scanline*/\n\t\t\t\tsum[type] = 0;\n\t\t\t\tfor (x = 0; x < 256; x++) {\n\t\t\t\t\tfloat p = count[x] / (float) (linebytes + 1);\n\t\t\t\t\tsum[type] += count[x] == 0 ? 0 : flog2(1 / p) * p;\n\t\t\t\t}\n\t\t\t\t/*check if this is smallest sum (or if type == 0 it's the first case so always store the values)*/\n\t\t\t\tif (type == 0 || sum[type] < smallest) {\n\t\t\t\t\tbestType = type;\n\t\t\t\t\tsmallest = sum[type];\n\t\t\t\t}\n\t\t\t}\n\n\t\t\tprevline = &in[y * linebytes];\n\n\t\t\t/*now fill the out values*/\n\t\t\tout[y * (linebytes + 1)] = bestType; /*the first byte of a scanline will be the filter type*/\n\t\t\tfor (x = 0; x < linebytes; x++)\n\t\t\t\tout[y * (linebytes + 1) + 1 + x] = attempt[bestType].data[x];\n\t\t}\n\n\t\tfor (type = 0; type < 5; type++)\n\t\t\tucvector_cleanup(&attempt[type]);\n\t} else if (strategy == LFS_PREDEFINED) {\n\t\tfor (y = 0; y < h; y++) {\n\t\t\tsize_t outindex = (1 + linebytes) * y; /*the extra filterbyte added to each row*/\n\t\t\tsize_t inindex = linebytes * y;\n\t\t\tunsigned char type = settings->predefined_filters[y];\n\t\t\tout[outindex] = type; /*filter type byte*/\n\t\t\tfilterScanline(&out[outindex + 1], &in[inindex], prevline,\n\t\t\t\t\tlinebytes, bytewidth, type);\n\t\t\tprevline = &in[inindex];\n\t\t}\n\t} else if (strategy == LFS_BRUTE_FORCE) {\n\t\t/*brute force filter chooser.\n\t\t deflate the scanline after every filter attempt to see which one deflates best.\n\t\t This is very slow and gives only slightly smaller, sometimes even larger, result*/\n\t\tsize_t size[5];\n\t\tucvector attempt[5]; /*five filtering attempts, one for each filter type*/\n\t\tsize_t smallest = 0;\n\t\tunsigned type = 0, bestType = 0;\n\t\tunsigned char* dummy;\n\t\tLodePNGCompressSettings zlibsettings = settings->zlibsettings;\n\t\t/*use fixed tree on the attempts so that the tree is not adapted to the filtertype on purpose,\n\t\t to simulate the true case where the tree is the same for the whole image. Sometimes it gives\n\t\t better result with dynamic tree anyway. Using the fixed tree sometimes gives worse, but in rare\n\t\t cases better compression. It does make this a bit less slow, so it's worth doing this.*/\n\t\tzlibsettings.btype = 1;\n\t\t/*a custom encoder likely doesn't read the btype setting and is optimized for complete PNG\n\t\t images only, so disable it*/\n\t\tzlibsettings.custom_zlib = 0;\n\t\tzlibsettings.custom_deflate = 0;\n\t\tfor (type = 0; type < 5; type++) {\n\t\t\tucvector_init(&attempt[type]);\n\t\t\tucvector_resize(&attempt[type], linebytes); /*todo: give error if resize failed*/\n\t\t}\n\t\tfor (y = 0; y < h; y++) /*try the 5 filter types*/\n\t\t{\n\t\t\tfor (type = 0; type < 5; type++) {\n\t\t\t\tunsigned testsize = attempt[type].size;\n\t\t\t\t/*if(testsize > 8) testsize /= 8;*//*it already works good enough by testing a part of the row*/\n\n\t\t\t\tfilterScanline(attempt[type].data, &in[y * linebytes], prevline,\n\t\t\t\t\t\tlinebytes, bytewidth, type);\n\t\t\t\tsize[type] = 0;\n\t\t\t\tdummy = 0;\n\t\t\t\tzlib_compress(&dummy, &size[type], attempt[type].data, testsize,\n\t\t\t\t\t\t&zlibsettings);\n\t\t\t\tlodepng_free(dummy);\n\t\t\t\t/*check if this is smallest size (or if type == 0 it's the first case so always store the values)*/\n\t\t\t\tif (type == 0 || size[type] < smallest) {\n\t\t\t\t\tbestType = type;\n\t\t\t\t\tsmallest = size[type];\n\t\t\t\t}\n\t\t\t}\n\t\t\tprevline = &in[y * linebytes];\n\t\t\tout[y * (linebytes + 1)] = bestType; /*the first byte of a scanline will be the filter type*/\n\t\t\tfor (x = 0; x < linebytes; x++)\n\t\t\t\tout[y * (linebytes + 1) + 1 + x] = attempt[bestType].data[x];\n\t\t}\n\t\tfor (type = 0; type < 5; type++)\n\t\t\tucvector_cleanup(&attempt[type]);\n\t} else\n\t\treturn 88; /* unknown filter strategy */\n\n\treturn error;\n}\n\nstatic void addPaddingBits(unsigned char* out, const unsigned char* in,\n\t\tsize_t olinebits, size_t ilinebits, unsigned h) {\n\t/*The opposite of the removePaddingBits function\n\t olinebits must be >= ilinebits*/\n\tunsigned y;\n\tsize_t diff = olinebits - ilinebits;\n\tsize_t obp = 0, ibp = 0; /*bit pointers*/\n\tfor (y = 0; y < h; y++) {\n\t\tsize_t x;\n\t\tfor (x = 0; x < ilinebits; x++) {\n\t\t\tunsigned char bit = readBitFromReversedStream(&ibp, in);\n\t\t\tsetBitOfReversedStream(&obp, out, bit);\n\t\t}\n\t\t/*obp += diff; --> no, fill in some value in the padding bits too, to avoid\n\t\t \"Use of uninitialised value of size ###\" warning from valgrind*/\n\t\tfor (x = 0; x < diff; x++)\n\t\t\tsetBitOfReversedStream(&obp, out, 0);\n\t}\n}\n\n/*\n in: non-interlaced image with size w*h\n out: the same pixels, but re-ordered according to PNG's Adam7 interlacing, with\n no padding bits between scanlines, but between reduced images so that each\n reduced image starts at a byte.\n bpp: bits per pixel\n there are no padding bits, not between scanlines, not between reduced images\n in has the following size in bits: w * h * bpp.\n out is possibly bigger due to padding bits between reduced images\n NOTE: comments about padding bits are only relevant if bpp < 8\n */\nstatic void Adam7_interlace(unsigned char* out, const unsigned char* in,\n\t\tunsigned w, unsigned h, unsigned bpp) {\n\tunsigned passw[7], passh[7];\n\tsize_t filter_passstart[8], padded_passstart[8], passstart[8];\n\tunsigned i;\n\n\tAdam7_getpassvalues(passw, passh, filter_passstart, padded_passstart,\n\t\t\tpassstart, w, h, bpp);\n\n\tif (bpp >= 8) {\n\t\tfor (i = 0; i < 7; i++) {\n\t\t\tunsigned x, y, b;\n\t\t\tsize_t bytewidth = bpp / 8;\n\t\t\tfor (y = 0; y < passh[i]; y++)\n\t\t\t\tfor (x = 0; x < passw[i]; x++) {\n\t\t\t\t\tsize_t pixelinstart = ((ADAM7_IY[i] + y * ADAM7_DY[i]) * w\n\t\t\t\t\t\t\t+ ADAM7_IX[i] + x * ADAM7_DX[i]) * bytewidth;\n\t\t\t\t\tsize_t pixeloutstart = passstart[i]\n\t\t\t\t\t\t\t+ (y * passw[i] + x) * bytewidth;\n\t\t\t\t\tfor (b = 0; b < bytewidth; b++) {\n\t\t\t\t\t\tout[pixeloutstart + b] = in[pixelinstart + b];\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t}\n\t} else /*bpp < 8: Adam7 with pixels < 8 bit is a bit trickier: with bit pointers*/\n\t{\n\t\tfor (i = 0; i < 7; i++) {\n\t\t\tunsigned x, y, b;\n\t\t\tunsigned ilinebits = bpp * passw[i];\n\t\t\tunsigned olinebits = bpp * w;\n\t\t\tsize_t obp, ibp; /*bit pointers (for out and in buffer)*/\n\t\t\tfor (y = 0; y < passh[i]; y++)\n\t\t\t\tfor (x = 0; x < passw[i]; x++) {\n\t\t\t\t\tibp = (ADAM7_IY[i] + y * ADAM7_DY[i]) * olinebits\n\t\t\t\t\t\t\t+ (ADAM7_IX[i] + x * ADAM7_DX[i]) * bpp;\n\t\t\t\t\tobp = (8 * passstart[i]) + (y * ilinebits + x * bpp);\n\t\t\t\t\tfor (b = 0; b < bpp; b++) {\n\t\t\t\t\t\tunsigned char bit = readBitFromReversedStream(&ibp, in);\n\t\t\t\t\t\tsetBitOfReversedStream(&obp, out, bit);\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t}\n\t}\n}\n\n/*out must be buffer big enough to contain uncompressed IDAT chunk data, and in must contain the full image.\n return value is error**/\nstatic unsigned preProcessScanlines(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, unsigned w, unsigned h,\n\t\tconst LodePNGInfo* info_png, const LodePNGEncoderSettings* settings) {\n\t/*\n\t This function converts the pure 2D image with the PNG's colortype, into filtered-padded-interlaced data. Steps:\n\t *) if no Adam7: 1) add padding bits (= posible extra bits per scanline if bpp < 8) 2) filter\n\t *) if adam7: 1) Adam7_interlace 2) 7x add padding bits 3) 7x filter\n\t */\n\tunsigned bpp = lodepng_get_bpp(&info_png->color);\n\tunsigned error = 0;\n\n\tif (info_png->interlace_method == 0) {\n\t\t*outsize = h + (h * ((w * bpp + 7) / 8)); /*image size plus an extra byte per scanline + possible padding bits*/\n\t\t*out = (unsigned char*) lodepng_malloc(*outsize);\n\t\tif (!(*out) && (*outsize))\n\t\t\terror = 83; /*alloc fail*/\n\n\t\tif (!error) {\n\t\t\t/*non multiple of 8 bits per scanline, padding bits needed per scanline*/\n\t\t\tif (bpp < 8 && w * bpp != ((w * bpp + 7) / 8) * 8) {\n\t\t\t\tunsigned char* padded = (unsigned char*) lodepng_malloc(\n\t\t\t\t\t\th * ((w * bpp + 7) / 8));\n\t\t\t\tif (!padded)\n\t\t\t\t\terror = 83; /*alloc fail*/\n\t\t\t\tif (!error) {\n\t\t\t\t\taddPaddingBits(padded, in, ((w * bpp + 7) / 8) * 8, w * bpp,\n\t\t\t\t\t\t\th);\n\t\t\t\t\terror = filter(*out, padded, w, h, &info_png->color,\n\t\t\t\t\t\t\tsettings);\n\t\t\t\t}\n\t\t\t\tlodepng_free(padded);\n\t\t\t} else {\n\t\t\t\t/*we can immediatly filter into the out buffer, no other steps needed*/\n\t\t\t\terror = filter(*out, in, w, h, &info_png->color, settings);\n\t\t\t}\n\t\t}\n\t} else /*interlace_method is 1 (Adam7)*/\n\t{\n\t\tunsigned passw[7], passh[7];\n\t\tsize_t filter_passstart[8], padded_passstart[8], passstart[8];\n\t\tunsigned char* adam7;\n\n\t\tAdam7_getpassvalues(passw, passh, filter_passstart, padded_passstart,\n\t\t\t\tpassstart, w, h, bpp);\n\n\t\t*outsize = filter_passstart[7]; /*image size plus an extra byte per scanline + possible padding bits*/\n\t\t*out = (unsigned char*) lodepng_malloc(*outsize);\n\t\tif (!(*out))\n\t\t\terror = 83; /*alloc fail*/\n\n\t\tadam7 = (unsigned char*) lodepng_malloc(passstart[7]);\n\t\tif (!adam7 && passstart[7])\n\t\t\terror = 83; /*alloc fail*/\n\n\t\tif (!error) {\n\t\t\tunsigned i;\n\n\t\t\tAdam7_interlace(adam7, in, w, h, bpp);\n\t\t\tfor (i = 0; i < 7; i++) {\n\t\t\t\tif (bpp < 8) {\n\t\t\t\t\tunsigned char* padded = (unsigned char*) lodepng_malloc(\n\t\t\t\t\t\t\tpadded_passstart[i + 1] - padded_passstart[i]);\n\t\t\t\t\tif (!padded)\n\t\t\t\t\t\tERROR_BREAK(83); /*alloc fail*/\n\t\t\t\t\taddPaddingBits(padded, &adam7[passstart[i]],\n\t\t\t\t\t\t\t((passw[i] * bpp + 7) / 8) * 8, passw[i] * bpp,\n\t\t\t\t\t\t\tpassh[i]);\n\t\t\t\t\terror = filter(&(*out)[filter_passstart[i]], padded,\n\t\t\t\t\t\t\tpassw[i], passh[i], &info_png->color, settings);\n\t\t\t\t\tlodepng_free(padded);\n\t\t\t\t} else {\n\t\t\t\t\terror = filter(&(*out)[filter_passstart[i]],\n\t\t\t\t\t\t\t&adam7[padded_passstart[i]], passw[i], passh[i],\n\t\t\t\t\t\t\t&info_png->color, settings);\n\t\t\t\t}\n\n\t\t\t\tif (error)\n\t\t\t\t\tbreak;\n\t\t\t}\n\t\t}\n\n\t\tlodepng_free(adam7);\n\t}\n\n\treturn error;\n}\n\n/*\n palette must have 4 * palettesize bytes allocated, and given in format RGBARGBARGBARGBA...\n returns 0 if the palette is opaque,\n returns 1 if the palette has a single color with alpha 0 ==> color key\n returns 2 if the palette is semi-translucent.\n */\nstatic unsigned getPaletteTranslucency(const unsigned char* palette,\n\t\tsize_t palettesize) {\n\tsize_t i;\n\tunsigned key = 0;\n\tunsigned r = 0, g = 0, b = 0; /*the value of the color with alpha 0, so long as color keying is possible*/\n\tfor (i = 0; i < palettesize; i++) {\n\t\tif (!key && palette[4 * i + 3] == 0) {\n\t\t\tr = palette[4 * i + 0];\n\t\t\tg = palette[4 * i + 1];\n\t\t\tb = palette[4 * i + 2];\n\t\t\tkey = 1;\n\t\t\ti = (size_t) (-1); /*restart from beginning, to detect earlier opaque colors with key's value*/\n\t\t} else if (palette[4 * i + 3] != 255)\n\t\t\treturn 2;\n\t\t/*when key, no opaque RGB may have key's RGB*/\n\t\telse if (key && r == palette[i * 4 + 0] && g == palette[i * 4 + 1]\n\t\t\t\t&& b == palette[i * 4 + 2])\n\t\t\treturn 2;\n\t}\n\treturn key;\n}\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\nstatic unsigned addUnknownChunks(ucvector* out, unsigned char* data,\n\t\tsize_t datasize) {\n\tunsigned char* inchunk = data;\n\twhile ((size_t) (inchunk - data) < datasize) {\n\t\tCERROR_TRY_RETURN(lodepng_chunk_append(&out->data, &out->size, inchunk));\n\t\tout->allocsize = out->size; /*fix the allocsize again*/\n\t\tinchunk = lodepng_chunk_next(inchunk);\n\t}\n\treturn 0;\n}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\nunsigned lodepng_encode(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h,\n\t\tLodePNGState* state) {\n\tLodePNGInfo info;\n\tucvector outv;\n\tunsigned char* data = 0; /*uncompressed version of the IDAT chunk data*/\n\tsize_t datasize = 0;\n\n\t/*provide some proper output values if error will happen*/\n\t*out = 0;\n\t*outsize = 0;\n\tstate->error = 0;\n\n\tlodepng_info_init(&info);\n\tlodepng_info_copy(&info, &state->info_png);\n\n\tif ((info.color.colortype == LCT_PALETTE || state->encoder.force_palette)\n\t\t\t&& (info.color.palettesize == 0 || info.color.palettesize > 256)) {\n\t\tstate->error = 68; /*invalid palette size, it is only allowed to be 1-256*/\n\t\treturn state->error;\n\t}\n\n\tif (state->encoder.auto_convert != LAC_NO) {\n\t\tstate->error = lodepng_auto_choose_color(&info.color, image, w, h,\n\t\t\t\t&state->info_raw, state->encoder.auto_convert);\n\t}\n\tif (state->error)\n\t\treturn state->error;\n\n\tif (state->encoder.zlibsettings.btype > 2) {\n\t\tCERROR_RETURN_ERROR(state->error, 61); /*error: unexisting btype*/\n\t}\n\tif (state->info_png.interlace_method > 1) {\n\t\tCERROR_RETURN_ERROR(state->error, 71); /*error: unexisting interlace mode*/\n\t}\n\n\tstate->error = checkColorValidity(info.color.colortype,\n\t\t\tinfo.color.bitdepth);\n\tif (state->error)\n\t\treturn state->error; /*error: unexisting color type given*/\n\tstate->error = checkColorValidity(state->info_raw.colortype,\n\t\t\tstate->info_raw.bitdepth);\n\tif (state->error)\n\t\treturn state->error; /*error: unexisting color type given*/\n\n\tif (!lodepng_color_mode_equal(&state->info_raw, &info.color)) {\n\t\tunsigned char* converted;\n\t\tsize_t size = (w * h * lodepng_get_bpp(&info.color) + 7) / 8;\n\n\t\tconverted = (unsigned char*) lodepng_malloc(size);\n\t\tif (!converted && size)\n\t\t\tstate->error = 83; /*alloc fail*/\n\t\tif (!state->error) {\n\t\t\tstate->error = lodepng_convert(converted, image, &info.color,\n\t\t\t\t\t&state->info_raw, w, h, 0 /*fix_png*/);\n\t\t}\n\t\tif (!state->error)\n\t\t\tpreProcessScanlines(&data, &datasize, converted, w, h, &info,\n\t\t\t\t\t&state->encoder);\n\t\tlodepng_free(converted);\n\t} else\n\t\tpreProcessScanlines(&data, &datasize, image, w, h, &info,\n\t\t\t\t&state->encoder);\n\n\tucvector_init(&outv);\n\twhile (!state->error) /*while only executed once, to break on error*/\n\t{\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\tsize_t i;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\t/*write signature and chunks*/\n\t\twriteSignature(&outv);\n\t\t/*IHDR*/\n\t\taddChunk_IHDR(&outv, w, h, info.color.colortype, info.color.bitdepth,\n\t\t\t\tinfo.interlace_method);\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t/*unknown chunks between IHDR and PLTE*/\n\t\tif (info.unknown_chunks_data[0]) {\n\t\t\tstate->error = addUnknownChunks(&outv, info.unknown_chunks_data[0],\n\t\t\t\t\tinfo.unknown_chunks_size[0]);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\t/*PLTE*/\n\t\tif (info.color.colortype == LCT_PALETTE) {\n\t\t\taddChunk_PLTE(&outv, &info.color);\n\t\t}\n\t\tif (state->encoder.force_palette\n\t\t\t\t&& (info.color.colortype == LCT_RGB\n\t\t\t\t\t\t|| info.color.colortype == LCT_RGBA)) {\n\t\t\taddChunk_PLTE(&outv, &info.color);\n\t\t}\n\t\t/*tRNS*/\n\t\tif (info.color.colortype == LCT_PALETTE\n\t\t\t\t&& getPaletteTranslucency(info.color.palette,\n\t\t\t\t\t\tinfo.color.palettesize) != 0) {\n\t\t\taddChunk_tRNS(&outv, &info.color);\n\t\t}\n\t\tif ((info.color.colortype == LCT_GREY || info.color.colortype == LCT_RGB)\n\t\t\t\t&& info.color.key_defined) {\n\t\t\taddChunk_tRNS(&outv, &info.color);\n\t\t}\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t/*bKGD (must come between PLTE and the IDAt chunks*/\n\t\tif (info.background_defined)\n\t\t\taddChunk_bKGD(&outv, &info);\n\t\t/*pHYs (must come before the IDAT chunks)*/\n\t\tif (info.phys_defined)\n\t\t\taddChunk_pHYs(&outv, &info);\n\n\t\t/*unknown chunks between PLTE and IDAT*/\n\t\tif (info.unknown_chunks_data[1]) {\n\t\t\tstate->error = addUnknownChunks(&outv, info.unknown_chunks_data[1],\n\t\t\t\t\tinfo.unknown_chunks_size[1]);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\t/*IDAT (multiple IDAT chunks must be consecutive)*/\n\t\tstate->error = addChunk_IDAT(&outv, data, datasize,\n\t\t\t\t&state->encoder.zlibsettings);\n\t\tif (state->error)\n\t\t\tbreak;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t\t/*tIME*/\n\t\tif (info.time_defined)\n\t\t\taddChunk_tIME(&outv, &info.time);\n\t\t/*tEXt and/or zTXt*/\n\t\tfor (i = 0; i < info.text_num; i++) {\n\t\t\tif (strlen(info.text_keys[i]) > 79) {\n\t\t\t\tstate->error = 66; /*text chunk too large*/\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tif (strlen(info.text_keys[i]) < 1) {\n\t\t\t\tstate->error = 67; /*text chunk too small*/\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tif (state->encoder.text_compression) {\n\t\t\t\taddChunk_zTXt(&outv, info.text_keys[i], info.text_strings[i],\n\t\t\t\t\t\t&state->encoder.zlibsettings);\n\t\t\t} else {\n\t\t\t\taddChunk_tEXt(&outv, info.text_keys[i], info.text_strings[i]);\n\t\t\t}\n\t\t}\n\t\t/*LodePNG version id in text chunk*/\n\t\tif (state->encoder.add_id) {\n\t\t\tunsigned alread_added_id_text = 0;\n\t\t\tfor (i = 0; i < info.text_num; i++) {\n\t\t\t\tif (!strcmp(info.text_keys[i], \"LodePNG\")) {\n\t\t\t\t\talread_added_id_text = 1;\n\t\t\t\t\tbreak;\n\t\t\t\t}\n\t\t\t}\n\t\t\tif (alread_added_id_text == 0) {\n\t\t\t\taddChunk_tEXt(&outv, \"LodePNG\", VERSION_STRING); /*it's shorter as tEXt than as zTXt chunk*/\n\t\t\t}\n\t\t}\n\t\t/*iTXt*/\n\t\tfor (i = 0; i < info.itext_num; i++) {\n\t\t\tif (strlen(info.itext_keys[i]) > 79) {\n\t\t\t\tstate->error = 66; /*text chunk too large*/\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\tif (strlen(info.itext_keys[i]) < 1) {\n\t\t\t\tstate->error = 67; /*text chunk too small*/\n\t\t\t\tbreak;\n\t\t\t}\n\t\t\taddChunk_iTXt(&outv, state->encoder.text_compression,\n\t\t\t\t\tinfo.itext_keys[i], info.itext_langtags[i],\n\t\t\t\t\tinfo.itext_transkeys[i], info.itext_strings[i],\n\t\t\t\t\t&state->encoder.zlibsettings);\n\t\t}\n\n\t\t/*unknown chunks between IDAT and IEND*/\n\t\tif (info.unknown_chunks_data[2]) {\n\t\t\tstate->error = addUnknownChunks(&outv, info.unknown_chunks_data[2],\n\t\t\t\t\tinfo.unknown_chunks_size[2]);\n\t\t\tif (state->error)\n\t\t\t\tbreak;\n\t\t}\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\t\taddChunk_IEND(&outv);\n\n\t\tbreak; /*this isn't really a while loop; no error happened so break out now!*/\n\t}\n\n\tlodepng_info_cleanup(&info);\n\tlodepng_free(data);\n\t/*instead of cleaning the vector up, give it to the output*/\n\t*out = outv.data;\n\t*outsize = outv.size;\n\n\treturn state->error;\n}\n\nunsigned lodepng_encode_memory(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype, unsigned bitdepth) {\n\tunsigned error;\n\tLodePNGState state;\n\tlodepng_state_init(&state);\n\tstate.info_raw.colortype = colortype;\n\tstate.info_raw.bitdepth = bitdepth;\n\tstate.info_png.color.colortype = colortype;\n\tstate.info_png.color.bitdepth = bitdepth;\n\tlodepng_encode(out, outsize, image, w, h, &state);\n\terror = state.error;\n\tlodepng_state_cleanup(&state);\n\treturn error;\n}\n\nunsigned lodepng_encode32(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h) {\n\treturn lodepng_encode_memory(out, outsize, image, w, h, LCT_RGBA, 8);\n}\n\nunsigned lodepng_encode24(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h) {\n\treturn lodepng_encode_memory(out, outsize, image, w, h, LCT_RGB, 8);\n}\n\n#ifdef LODEPNG_COMPILE_DISK\nunsigned lodepng_encode_file(const char* filename, const unsigned char* image,\n\t\tunsigned w, unsigned h, LodePNGColorType colortype, unsigned bitdepth) {\n\tunsigned char* buffer;\n\tsize_t buffersize;\n\tunsigned error = lodepng_encode_memory(&buffer, &buffersize, image, w, h,\n\t\t\tcolortype, bitdepth);\n\tif (!error)\n\t\terror = lodepng_save_file(buffer, buffersize, filename);\n\tlodepng_free(buffer);\n\treturn error;\n}\n\nunsigned lodepng_encode32_file(const char* filename, const unsigned char* image,\n\t\tunsigned w, unsigned h) {\n\treturn lodepng_encode_file(filename, image, w, h, LCT_RGBA, 8);\n}\n\nunsigned lodepng_encode24_file(const char* filename, const unsigned char* image,\n\t\tunsigned w, unsigned h) {\n\treturn lodepng_encode_file(filename, image, w, h, LCT_RGB, 8);\n}\n#endif /*LODEPNG_COMPILE_DISK*/\n\nvoid lodepng_encoder_settings_init(LodePNGEncoderSettings* settings) {\n\tlodepng_compress_settings_init(&settings->zlibsettings);\n\tsettings->filter_palette_zero = 1;\n\tsettings->filter_strategy = LFS_MINSUM;\n\tsettings->auto_convert = LAC_AUTO;\n\tsettings->force_palette = 0;\n\tsettings->predefined_filters = 0;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tsettings->add_id = 0;\n\tsettings->text_compression = 1;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n}\n\n#endif /*LODEPNG_COMPILE_ENCODER*/\n#endif /*LODEPNG_COMPILE_PNG*/\n\n#ifdef LODEPNG_COMPILE_ERROR_TEXT\n/*\n This returns the description of a numerical error code in English. This is also\n the documentation of all the error codes.\n */\nconst char* lodepng_error_text(unsigned code) {\n\tswitch (code) {\n\tcase 0:\n\t\treturn \"no error, everything went ok\";\n\tcase 1:\n\t\treturn \"nothing done yet\"; /*the Encoder/Decoder has done nothing yet, error checking makes no sense yet*/\n\tcase 10:\n\t\treturn \"end of input memory reached without huffman end code\"; /*while huffman decoding*/\n\tcase 11:\n\t\treturn \"error in code tree made it jump outside of huffman tree\"; /*while huffman decoding*/\n\tcase 13:\n\t\treturn \"problem while processing dynamic deflate block\";\n\tcase 14:\n\t\treturn \"problem while processing dynamic deflate block\";\n\tcase 15:\n\t\treturn \"problem while processing dynamic deflate block\";\n\tcase 16:\n\t\treturn \"unexisting code while processing dynamic deflate block\";\n\tcase 17:\n\t\treturn \"end of out buffer memory reached while inflating\";\n\tcase 18:\n\t\treturn \"invalid distance code while inflating\";\n\tcase 19:\n\t\treturn \"end of out buffer memory reached while inflating\";\n\tcase 20:\n\t\treturn \"invalid deflate block BTYPE encountered while decoding\";\n\tcase 21:\n\t\treturn \"NLEN is not ones complement of LEN in a deflate block\";\n\t\t/*end of out buffer memory reached while inflating:\n\t\t This can happen if the inflated deflate data is longer than the amount of bytes required to fill up\n\t\t all the pixels of the image, given the color depth and image dimensions. Something that doesn't\n\t\t happen in a normal, well encoded, PNG image.*/\n\tcase 22:\n\t\treturn \"end of out buffer memory reached while inflating\";\n\tcase 23:\n\t\treturn \"end of in buffer memory reached while inflating\";\n\tcase 24:\n\t\treturn \"invalid FCHECK in zlib header\";\n\tcase 25:\n\t\treturn \"invalid compression method in zlib header\";\n\tcase 26:\n\t\treturn \"FDICT encountered in zlib header while it's not used for PNG\";\n\tcase 27:\n\t\treturn \"PNG file is smaller than a PNG header\";\n\t\t/*Checks the magic file header, the first 8 bytes of the PNG file*/\n\tcase 28:\n\t\treturn \"incorrect PNG signature, it's no PNG or corrupted\";\n\tcase 29:\n\t\treturn \"first chunk is not the header chunk\";\n\tcase 30:\n\t\treturn \"chunk length too large, chunk broken off at end of file\";\n\tcase 31:\n\t\treturn \"illegal PNG color type or bpp\";\n\tcase 32:\n\t\treturn \"illegal PNG compression method\";\n\tcase 33:\n\t\treturn \"illegal PNG filter method\";\n\tcase 34:\n\t\treturn \"illegal PNG interlace method\";\n\tcase 35:\n\t\treturn \"chunk length of a chunk is too large or the chunk too small\";\n\tcase 36:\n\t\treturn \"illegal PNG filter type encountered\";\n\tcase 37:\n\t\treturn \"illegal bit depth for this color type given\";\n\tcase 38:\n\t\treturn \"the palette is too big\"; /*more than 256 colors*/\n\tcase 39:\n\t\treturn \"more palette alpha values given in tRNS chunk than there are colors in the palette\";\n\tcase 40:\n\t\treturn \"tRNS chunk has wrong size for greyscale image\";\n\tcase 41:\n\t\treturn \"tRNS chunk has wrong size for RGB image\";\n\tcase 42:\n\t\treturn \"tRNS chunk appeared while it was not allowed for this color type\";\n\tcase 43:\n\t\treturn \"bKGD chunk has wrong size for palette image\";\n\tcase 44:\n\t\treturn \"bKGD chunk has wrong size for greyscale image\";\n\tcase 45:\n\t\treturn \"bKGD chunk has wrong size for RGB image\";\n\t\t/*Is the palette too small?*/\n\tcase 46:\n\t\treturn \"a value in indexed image is larger than the palette size (bitdepth = 8)\";\n\t\t/*Is the palette too small?*/\n\tcase 47:\n\t\treturn \"a value in indexed image is larger than the palette size (bitdepth < 8)\";\n\t\t/*the input data is empty, maybe a PNG file doesn't exist or is in the wrong path*/\n\tcase 48:\n\t\treturn \"empty input or file doesn't exist\";\n\tcase 49:\n\t\treturn \"jumped past memory while generating dynamic huffman tree\";\n\tcase 50:\n\t\treturn \"jumped past memory while generating dynamic huffman tree\";\n\tcase 51:\n\t\treturn \"jumped past memory while inflating huffman block\";\n\tcase 52:\n\t\treturn \"jumped past memory while inflating\";\n\tcase 53:\n\t\treturn \"size of zlib data too small\";\n\tcase 54:\n\t\treturn \"repeat symbol in tree while there was no value symbol yet\";\n\t\t/*jumped past tree while generating huffman tree, this could be when the\n\t\t tree will have more leaves than symbols after generating it out of the\n\t\t given lenghts. They call this an oversubscribed dynamic bit lengths tree in zlib.*/\n\tcase 55:\n\t\treturn \"jumped past tree while generating huffman tree\";\n\tcase 56:\n\t\treturn \"given output image colortype or bitdepth not supported for color conversion\";\n\tcase 57:\n\t\treturn \"invalid CRC encountered (checking CRC can be disabled)\";\n\tcase 58:\n\t\treturn \"invalid ADLER32 encountered (checking ADLER32 can be disabled)\";\n\tcase 59:\n\t\treturn \"requested color conversion not supported\";\n\tcase 60:\n\t\treturn \"invalid window size given in the settings of the encoder (must be 0-32768)\";\n\tcase 61:\n\t\treturn \"invalid BTYPE given in the settings of the encoder (only 0, 1 and 2 are allowed)\";\n\t\t/*LodePNG leaves the choice of RGB to greyscale conversion formula to the user.*/\n\tcase 62:\n\t\treturn \"conversion from color to greyscale not supported\";\n\tcase 63:\n\t\treturn \"length of a chunk too long, max allowed for PNG is 2147483647 bytes per chunk\"; /*(2^31-1)*/\n\t\t/*this would result in the inability of a deflated block to ever contain an end code. It must be at least 1.*/\n\tcase 64:\n\t\treturn \"the length of the END symbol 256 in the Huffman tree is 0\";\n\tcase 66:\n\t\treturn \"the length of a text chunk keyword given to the encoder is longer than the maximum of 79 bytes\";\n\tcase 67:\n\t\treturn \"the length of a text chunk keyword given to the encoder is smaller than the minimum of 1 byte\";\n\tcase 68:\n\t\treturn \"tried to encode a PLTE chunk with a palette that has less than 1 or more than 256 colors\";\n\tcase 69:\n\t\treturn \"unknown chunk type with 'critical' flag encountered by the decoder\";\n\tcase 71:\n\t\treturn \"unexisting interlace mode given to encoder (must be 0 or 1)\";\n\tcase 72:\n\t\treturn \"while decoding, unexisting compression method encountering in zTXt or iTXt chunk (it must be 0)\";\n\tcase 73:\n\t\treturn \"invalid tIME chunk size\";\n\tcase 74:\n\t\treturn \"invalid pHYs chunk size\";\n\t\t/*length could be wrong, or data chopped off*/\n\tcase 75:\n\t\treturn \"no null termination char found while decoding text chunk\";\n\tcase 76:\n\t\treturn \"iTXt chunk too short to contain required bytes\";\n\tcase 77:\n\t\treturn \"integer overflow in buffer size\";\n\tcase 78:\n\t\treturn \"failed to open file for reading\"; /*file doesn't exist or couldn't be opened for reading*/\n\tcase 79:\n\t\treturn \"failed to open file for writing\";\n\tcase 80:\n\t\treturn \"tried creating a tree of 0 symbols\";\n\tcase 81:\n\t\treturn \"lazy matching at pos 0 is impossible\";\n\tcase 82:\n\t\treturn \"color conversion to palette requested while a color isn't in palette\";\n\tcase 83:\n\t\treturn \"memory allocation failed\";\n\tcase 84:\n\t\treturn \"given image too small to contain all pixels to be encoded\";\n\tcase 85:\n\t\treturn \"internal color conversion bug\";\n\tcase 86:\n\t\treturn \"impossible offset in lz77 encoding (internal bug)\";\n\tcase 87:\n\t\treturn \"must provide custom zlib function pointer if LODEPNG_COMPILE_ZLIB is not defined\";\n\tcase 88:\n\t\treturn \"invalid filter strategy given for LodePNGEncoderSettings.filter_strategy\";\n\tcase 89:\n\t\treturn \"text chunk keyword too short or long: must have size 1-79\";\n\t\t/*the windowsize in the LodePNGCompressSettings. Requiring POT(==> & instead of %) makes encoding 12% faster.*/\n\tcase 90:\n\t\treturn \"windowsize must be a power of two\";\n\t}\n\treturn \"unknown error code\";\n}\n#endif /*LODEPNG_COMPILE_ERROR_TEXT*/\n\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* // C++ Wrapper // */\n/* ////////////////////////////////////////////////////////////////////////// */\n/* ////////////////////////////////////////////////////////////////////////// */\n\n#ifdef LODEPNG_COMPILE_CPP\nnamespace lodepng {\n\n#ifdef LODEPNG_COMPILE_DISK\nvoid load_file(std::vector& buffer,\n\t\tconst std::string& filename) {\n\tstd::ifstream file(filename.c_str(),\n\t\t\tstd::ios::in | std::ios::binary | std::ios::ate);\n\n\t/*get filesize*/\n\tstd::streamsize size = 0;\n\tif (file.seekg(0, std::ios::end).good())\n\t\tsize = file.tellg();\n\tif (file.seekg(0, std::ios::beg).good())\n\t\tsize -= file.tellg();\n\n\t/*read contents of the file into the vector*/\n\tbuffer.resize(size_t(size));\n\tif (size > 0)\n\t\tfile.read((char*) (&buffer[0]), size);\n}\n\n/*write given buffer to the file, overwriting the file, it doesn't append to it.*/\nvoid save_file(const std::vector& buffer,\n\t\tconst std::string& filename) {\n\tstd::ofstream file(filename.c_str(), std::ios::out | std::ios::binary);\n\tfile.write(buffer.empty() ? 0 : (char*) &buffer[0],\n\t\t\tstd::streamsize(buffer.size()));\n}\n#endif //LODEPNG_COMPILE_DISK\n\n#ifdef LODEPNG_COMPILE_ZLIB\n#ifdef LODEPNG_COMPILE_DECODER\nunsigned decompress(std::vector& out, const unsigned char* in,\n\t\tsize_t insize, const LodePNGDecompressSettings& settings) {\n\tunsigned char* buffer = 0;\n\tsize_t buffersize = 0;\n\tunsigned error = zlib_decompress(&buffer, &buffersize, in, insize,\n\t\t\t&settings);\n\tif (buffer) {\n\t\tout.insert(out.end(), &buffer[0], &buffer[buffersize]);\n\t\tlodepng_free(buffer);\n\t}\n\treturn error;\n}\n\nunsigned decompress(std::vector& out,\n\t\tconst std::vector& in,\n\t\tconst LodePNGDecompressSettings& settings) {\n\treturn decompress(out, in.empty() ? 0 : &in[0], in.size(), settings);\n}\n#endif //LODEPNG_COMPILE_DECODER\n\n#ifdef LODEPNG_COMPILE_ENCODER\nunsigned compress(std::vector& out, const unsigned char* in,\n\t\tsize_t insize, const LodePNGCompressSettings& settings) {\n\tunsigned char* buffer = 0;\n\tsize_t buffersize = 0;\n\tunsigned error = zlib_compress(&buffer, &buffersize, in, insize, &settings);\n\tif (buffer) {\n\t\tout.insert(out.end(), &buffer[0], &buffer[buffersize]);\n\t\tlodepng_free(buffer);\n\t}\n\treturn error;\n}\n\nunsigned compress(std::vector& out,\n\t\tconst std::vector& in,\n\t\tconst LodePNGCompressSettings& settings) {\n\treturn compress(out, in.empty() ? 0 : &in[0], in.size(), settings);\n}\n#endif //LODEPNG_COMPILE_ENCODER\n#endif //LODEPNG_COMPILE_ZLIB\n\n#ifdef LODEPNG_COMPILE_PNG\n\nState::State() {\n\tlodepng_state_init(this);\n}\n\nState::State(const State& other) {\n\tlodepng_state_init(this);\n\tlodepng_state_copy(this, &other);\n}\n\nState::~State() {\n\tlodepng_state_cleanup(this);\n}\n\nState& State::operator=(const State& other) {\n\tlodepng_state_copy(this, &other);\n\treturn *this;\n}\n\n#ifdef LODEPNG_COMPILE_DECODER\n\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tconst unsigned char* in, size_t insize, LodePNGColorType colortype,\n\t\tunsigned bitdepth) {\n\tunsigned char* buffer;\n\tunsigned error = lodepng_decode_memory(&buffer, &w, &h, in, insize,\n\t\t\tcolortype, bitdepth);\n\tif (buffer && !error) {\n\t\tState state;\n\t\tstate.info_raw.colortype = colortype;\n\t\tstate.info_raw.bitdepth = bitdepth;\n\t\tsize_t buffersize = lodepng_get_raw_size(w, h, &state.info_raw);\n\t\tout.insert(out.end(), &buffer[0], &buffer[buffersize]);\n\t\tlodepng_free(buffer);\n\t}\n\treturn error;\n}\n\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tconst std::vector& in, LodePNGColorType colortype,\n\t\tunsigned bitdepth) {\n\treturn decode(out, w, h, in.empty() ? 0 : &in[0], (unsigned) in.size(),\n\t\t\tcolortype, bitdepth);\n}\n\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tState& state, const unsigned char* in, size_t insize) {\n\tunsigned char* buffer = NULL;\n\tunsigned error = lodepng_decode(&buffer, &w, &h, &state, in, insize);\n\tif (buffer && !error) {\n\t\tsize_t buffersize = lodepng_get_raw_size(w, h, &state.info_raw);\n\t\tout.insert(out.end(), &buffer[0], &buffer[buffersize]);\n\t}\n\tlodepng_free(buffer);\n\treturn error;\n}\n\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tState& state, const std::vector& in) {\n\treturn decode(out, w, h, state, in.empty() ? 0 : &in[0], in.size());\n}\n\n#ifdef LODEPNG_COMPILE_DISK\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tconst std::string& filename, LodePNGColorType colortype,\n\t\tunsigned bitdepth) {\n\tstd::vector buffer;\n\tload_file(buffer, filename);\n\treturn decode(out, w, h, buffer, colortype, bitdepth);\n}\n#endif //LODEPNG_COMPILE_DECODER\n#endif //LODEPNG_COMPILE_DISK\n\n#ifdef LODEPNG_COMPILE_ENCODER\nunsigned encode(std::vector& out, const unsigned char* in,\n\t\tunsigned w, unsigned h, LodePNGColorType colortype, unsigned bitdepth) {\n\tunsigned char* buffer;\n\tsize_t buffersize;\n\tunsigned error = lodepng_encode_memory(&buffer, &buffersize, in, w, h,\n\t\t\tcolortype, bitdepth);\n\tif (buffer) {\n\t\tout.insert(out.end(), &buffer[0], &buffer[buffersize]);\n\t\tlodepng_free(buffer);\n\t}\n\treturn error;\n}\n\nunsigned encode(std::vector& out,\n\t\tconst std::vector& in, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype, unsigned bitdepth) {\n\tif (lodepng_get_raw_size_lct(w, h, colortype, bitdepth) > in.size())\n\t\treturn 84;\n\treturn encode(out, in.empty() ? 0 : &in[0], w, h, colortype, bitdepth);\n}\n\nunsigned encode(std::vector& out, const unsigned char* in,\n\t\tunsigned w, unsigned h, State& state) {\n\tunsigned char* buffer;\n\tsize_t buffersize;\n\tunsigned error = lodepng_encode(&buffer, &buffersize, in, w, h, &state);\n\tif (buffer) {\n\t\tout.insert(out.end(), &buffer[0], &buffer[buffersize]);\n\t\tlodepng_free(buffer);\n\t}\n\treturn error;\n}\n\nunsigned encode(std::vector& out,\n\t\tconst std::vector& in, unsigned w, unsigned h,\n\t\tState& state) {\n\tif (lodepng_get_raw_size(w, h, &state.info_raw) > in.size())\n\t\treturn 84;\n\treturn encode(out, in.empty() ? 0 : &in[0], w, h, state);\n}\n\n#ifdef LODEPNG_COMPILE_DISK\nunsigned encode(const std::string& filename, const unsigned char* in,\n\t\tunsigned w, unsigned h, LodePNGColorType colortype, unsigned bitdepth) {\n\tstd::vector buffer;\n\tunsigned error = encode(buffer, in, w, h, colortype, bitdepth);\n\tif (!error)\n\t\tsave_file(buffer, filename);\n\treturn error;\n}\n\nunsigned encode(const std::string& filename,\n\t\tconst std::vector& in, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype, unsigned bitdepth) {\n\tif (lodepng_get_raw_size_lct(w, h, colortype, bitdepth) > in.size())\n\t\treturn 84;\n\treturn encode(filename, in.empty() ? 0 : &in[0], w, h, colortype, bitdepth);\n}\n#endif //LODEPNG_COMPILE_DISK\n#endif //LODEPNG_COMPILE_ENCODER\n#endif //LODEPNG_COMPILE_PNG\n} //namespace lodepng\n#endif /*LODEPNG_COMPILE_CPP*/\n" }, { "path": "framework/tools/dataset-tools/lodepng.h", "content": "/*\n LodePNG version 20140624\n\n Copyright (c) 2005-2014 Lode Vandevenne\n\n This software is provided 'as-is', without any express or implied\n warranty. In no event will the authors be held liable for any damages\n arising from the use of this software.\n\n Permission is granted to anyone to use this software for any purpose,\n including commercial applications, and to alter it and redistribute it\n freely, subject to the following restrictions:\n\n 1. The origin of this software must not be misrepresented; you must not\n claim that you wrote the original software. If you use this software\n in a product, an acknowledgment in the product documentation would be\n appreciated but is not required.\n\n 2. Altered source versions must be plainly marked as such, and must not be\n misrepresented as being the original software.\n\n 3. This notice may not be removed or altered from any source\n distribution.\n */\n\n#ifndef LODEPNG_H\n#define LODEPNG_H\n\n#include /*for size_t*/\n\n#ifdef __cplusplus\n#include \n#include \n#endif /*__cplusplus*/\n\n/*\n The following #defines are used to create code sections. They can be disabled\n to disable code sections, which can give faster compile time and smaller binary.\n The \"NO_COMPILE\" defines are designed to be used to pass as defines to the\n compiler command to disable them without modifying this header, e.g.\n -DLODEPNG_NO_COMPILE_ZLIB for gcc.\n */\n/*deflate & zlib. If disabled, you must specify alternative zlib functions in\n the custom_zlib field of the compress and decompress settings*/\n#ifndef LODEPNG_NO_COMPILE_ZLIB\n#define LODEPNG_COMPILE_ZLIB\n#endif\n/*png encoder and png decoder*/\n#ifndef LODEPNG_NO_COMPILE_PNG\n#define LODEPNG_COMPILE_PNG\n#endif\n/*deflate&zlib decoder and png decoder*/\n#ifndef LODEPNG_NO_COMPILE_DECODER\n#define LODEPNG_COMPILE_DECODER\n#endif\n/*deflate&zlib encoder and png encoder*/\n#ifndef LODEPNG_NO_COMPILE_ENCODER\n#define LODEPNG_COMPILE_ENCODER\n#endif\n/*the optional built in harddisk file loading and saving functions*/\n#ifndef LODEPNG_NO_COMPILE_DISK\n#define LODEPNG_COMPILE_DISK\n#endif\n/*support for chunks other than IHDR, IDAT, PLTE, tRNS, IEND: ancillary and unknown chunks*/\n#ifndef LODEPNG_NO_COMPILE_ANCILLARY_CHUNKS\n#define LODEPNG_COMPILE_ANCILLARY_CHUNKS\n#endif\n/*ability to convert error numerical codes to English text string*/\n#ifndef LODEPNG_NO_COMPILE_ERROR_TEXT\n#define LODEPNG_COMPILE_ERROR_TEXT\n#endif\n/*Compile the default allocators (C's free, malloc and realloc). If you disable this,\n you can define the functions lodepng_free, lodepng_malloc and lodepng_realloc in your\n source files with custom allocators.*/\n#ifndef LODEPNG_NO_COMPILE_ALLOCATORS\n#define LODEPNG_COMPILE_ALLOCATORS\n#endif\n/*compile the C++ version (you can disable the C++ wrapper here even when compiling for C++)*/\n#ifdef __cplusplus\n#ifndef LODEPNG_NO_COMPILE_CPP\n#define LODEPNG_COMPILE_CPP\n#endif\n#endif\n\n#ifdef LODEPNG_COMPILE_PNG\n/*The PNG color types (also used for raw).*/\ntypedef enum LodePNGColorType {\n\tLCT_GREY = 0, /*greyscale: 1,2,4,8,16 bit*/\n\tLCT_RGB = 2, /*RGB: 8,16 bit*/\n\tLCT_PALETTE = 3, /*palette: 1,2,4,8 bit*/\n\tLCT_GREY_ALPHA = 4, /*greyscale with alpha: 8,16 bit*/\n\tLCT_RGBA = 6 /*RGB with alpha: 8,16 bit*/\n} LodePNGColorType;\n\n#ifdef LODEPNG_COMPILE_DECODER\n/*\n Converts PNG data in memory to raw pixel data.\n out: Output parameter. Pointer to buffer that will contain the raw pixel data.\n After decoding, its size is w * h * (bytes per pixel) bytes larger than\n initially. Bytes per pixel depends on colortype and bitdepth.\n Must be freed after usage with free(*out).\n Note: for 16-bit per channel colors, uses big endian format like PNG does.\n w: Output parameter. Pointer to width of pixel data.\n h: Output parameter. Pointer to height of pixel data.\n in: Memory buffer with the PNG file.\n insize: size of the in buffer.\n colortype: the desired color type for the raw output image. See explanation on PNG color types.\n bitdepth: the desired bit depth for the raw output image. See explanation on PNG color types.\n Return value: LodePNG error code (0 means no error).\n */\nunsigned lodepng_decode_memory(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst unsigned char* in, size_t insize, LodePNGColorType colortype,\n\t\tunsigned bitdepth);\n\n/*Same as lodepng_decode_memory, but always decodes to 32-bit RGBA raw image*/\nunsigned lodepng_decode32(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst unsigned char* in, size_t insize);\n\n/*Same as lodepng_decode_memory, but always decodes to 24-bit RGB raw image*/\nunsigned lodepng_decode24(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst unsigned char* in, size_t insize);\n\n#ifdef LODEPNG_COMPILE_DISK\n/*\n Load PNG from disk, from file with given name.\n Same as the other decode functions, but instead takes a filename as input.\n */\nunsigned lodepng_decode_file(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst char* filename, LodePNGColorType colortype, unsigned bitdepth);\n\n/*Same as lodepng_decode_file, but always decodes to 32-bit RGBA raw image.*/\nunsigned lodepng_decode32_file(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst char* filename);\n\n/*Same as lodepng_decode_file, but always decodes to 24-bit RGB raw image.*/\nunsigned lodepng_decode24_file(unsigned char** out, unsigned* w, unsigned* h,\n\t\tconst char* filename);\n#endif /*LODEPNG_COMPILE_DISK*/\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*\n Converts raw pixel data into a PNG image in memory. The colortype and bitdepth\n of the output PNG image cannot be chosen, they are automatically determined\n by the colortype, bitdepth and content of the input pixel data.\n Note: for 16-bit per channel colors, needs big endian format like PNG does.\n out: Output parameter. Pointer to buffer that will contain the PNG image data.\n Must be freed after usage with free(*out).\n outsize: Output parameter. Pointer to the size in bytes of the out buffer.\n image: The raw pixel data to encode. The size of this buffer should be\n w * h * (bytes per pixel), bytes per pixel depends on colortype and bitdepth.\n w: width of the raw pixel data in pixels.\n h: height of the raw pixel data in pixels.\n colortype: the color type of the raw input image. See explanation on PNG color types.\n bitdepth: the bit depth of the raw input image. See explanation on PNG color types.\n Return value: LodePNG error code (0 means no error).\n */\nunsigned lodepng_encode_memory(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype, unsigned bitdepth);\n\n/*Same as lodepng_encode_memory, but always encodes from 32-bit RGBA raw image.*/\nunsigned lodepng_encode32(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h);\n\n/*Same as lodepng_encode_memory, but always encodes from 24-bit RGB raw image.*/\nunsigned lodepng_encode24(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h);\n\n#ifdef LODEPNG_COMPILE_DISK\n/*\n Converts raw pixel data into a PNG file on disk.\n Same as the other encode functions, but instead takes a filename as output.\n NOTE: This overwrites existing files without warning!\n */\nunsigned lodepng_encode_file(const char* filename, const unsigned char* image,\n\t\tunsigned w, unsigned h, LodePNGColorType colortype, unsigned bitdepth);\n\n/*Same as lodepng_encode_file, but always encodes from 32-bit RGBA raw image.*/\nunsigned lodepng_encode32_file(const char* filename, const unsigned char* image,\n\t\tunsigned w, unsigned h);\n\n/*Same as lodepng_encode_file, but always encodes from 24-bit RGB raw image.*/\nunsigned lodepng_encode24_file(const char* filename, const unsigned char* image,\n\t\tunsigned w, unsigned h);\n#endif /*LODEPNG_COMPILE_DISK*/\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#ifdef LODEPNG_COMPILE_CPP\nnamespace lodepng {\n#ifdef LODEPNG_COMPILE_DECODER\n/*Same as lodepng_decode_memory, but decodes to an std::vector.*/\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tconst unsigned char* in, size_t insize, LodePNGColorType colortype =\n\t\t\t\tLCT_RGBA, unsigned bitdepth = 8);\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tconst std::vector& in, LodePNGColorType colortype =\n\t\t\t\tLCT_RGBA, unsigned bitdepth = 8);\n#ifdef LODEPNG_COMPILE_DISK\n/*\n Converts PNG file from disk to raw pixel data in memory.\n Same as the other decode functions, but instead takes a filename as input.\n */\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tconst std::string& filename, LodePNGColorType colortype = LCT_RGBA,\n\t\tunsigned bitdepth = 8);\n#endif //LODEPNG_COMPILE_DISK\n#endif //LODEPNG_COMPILE_DECODER\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*Same as lodepng_encode_memory, but encodes to an std::vector.*/\nunsigned encode(std::vector& out, const unsigned char* in,\n\t\tunsigned w, unsigned h, LodePNGColorType colortype = LCT_RGBA,\n\t\tunsigned bitdepth = 8);\nunsigned encode(std::vector& out,\n\t\tconst std::vector& in, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8);\n#ifdef LODEPNG_COMPILE_DISK\n/*\n Converts 32-bit RGBA raw pixel data into a PNG file on disk.\n Same as the other encode functions, but instead takes a filename as output.\n NOTE: This overwrites existing files without warning!\n */\nunsigned encode(const std::string& filename, const unsigned char* in,\n\t\tunsigned w, unsigned h, LodePNGColorType colortype = LCT_RGBA,\n\t\tunsigned bitdepth = 8);\nunsigned encode(const std::string& filename,\n\t\tconst std::vector& in, unsigned w, unsigned h,\n\t\tLodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8);\n#endif //LODEPNG_COMPILE_DISK\n#endif //LODEPNG_COMPILE_ENCODER\n} //namespace lodepng\n#endif /*LODEPNG_COMPILE_CPP*/\n#endif /*LODEPNG_COMPILE_PNG*/\n\n#ifdef LODEPNG_COMPILE_ERROR_TEXT\n/*Returns an English description of the numerical error code.*/\nconst char* lodepng_error_text(unsigned code);\n#endif /*LODEPNG_COMPILE_ERROR_TEXT*/\n\n#ifdef LODEPNG_COMPILE_DECODER\n/*Settings for zlib decompression*/\ntypedef struct LodePNGDecompressSettings LodePNGDecompressSettings;\nstruct LodePNGDecompressSettings {\n\tunsigned ignore_adler32; /*if 1, continue and don't give an error message if the Adler32 checksum is corrupted*/\n\n\t/*use custom zlib decoder instead of built in one (default: null)*/\n\tunsigned (*custom_zlib)(unsigned char**, size_t*, const unsigned char*,\n\t\t\tsize_t, const LodePNGDecompressSettings*);\n\t/*use custom deflate decoder instead of built in one (default: null)\n\t if custom_zlib is used, custom_deflate is ignored since only the built in\n\t zlib function will call custom_deflate*/\n\tunsigned (*custom_inflate)(unsigned char**, size_t*, const unsigned char*,\n\t\t\tsize_t, const LodePNGDecompressSettings*);\n\n\tconst void* custom_context; /*optional custom settings for custom functions*/\n};\n\nextern const LodePNGDecompressSettings lodepng_default_decompress_settings;\nvoid lodepng_decompress_settings_init(LodePNGDecompressSettings* settings);\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*\n Settings for zlib compression. Tweaking these settings tweaks the balance\n between speed and compression ratio.\n */\ntypedef struct LodePNGCompressSettings LodePNGCompressSettings;\nstruct LodePNGCompressSettings /*deflate = compress*/\n{\n\t/*LZ77 related settings*/\n\tunsigned btype; /*the block type for LZ (0, 1, 2 or 3, see zlib standard). Should be 2 for proper compression.*/\n\tunsigned use_lz77; /*whether or not to use LZ77. Should be 1 for proper compression.*/\n\tunsigned windowsize; /*must be a power of two <= 32768. higher compresses more but is slower. Default value: 2048.*/\n\tunsigned minmatch; /*mininum lz77 length. 3 is normally best, 6 can be better for some PNGs. Default: 0*/\n\tunsigned nicematch; /*stop searching if >= this length found. Set to 258 for best compression. Default: 128*/\n\tunsigned lazymatching; /*use lazy matching: better compression but a bit slower. Default: true*/\n\n\t/*use custom zlib encoder instead of built in one (default: null)*/\n\tunsigned (*custom_zlib)(unsigned char**, size_t*, const unsigned char*,\n\t\t\tsize_t, const LodePNGCompressSettings*);\n\t/*use custom deflate encoder instead of built in one (default: null)\n\t if custom_zlib is used, custom_deflate is ignored since only the built in\n\t zlib function will call custom_deflate*/\n\tunsigned (*custom_deflate)(unsigned char**, size_t*, const unsigned char*,\n\t\t\tsize_t, const LodePNGCompressSettings*);\n\n\tconst void* custom_context; /*optional custom settings for custom functions*/\n};\n\nextern const LodePNGCompressSettings lodepng_default_compress_settings;\nvoid lodepng_compress_settings_init(LodePNGCompressSettings* settings);\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#ifdef LODEPNG_COMPILE_PNG\n/*\n Color mode of an image. Contains all information required to decode the pixel\n bits to RGBA colors. This information is the same as used in the PNG file\n format, and is used both for PNG and raw image data in LodePNG.\n */\ntypedef struct LodePNGColorMode {\n\t/*header (IHDR)*/\n\tLodePNGColorType colortype; /*color type, see PNG standard or documentation further in this header file*/\n\tunsigned bitdepth; /*bits per sample, see PNG standard or documentation further in this header file*/\n\n\t/*\n\t palette (PLTE and tRNS)\n\n\t Dynamically allocated with the colors of the palette, including alpha.\n\t When encoding a PNG, to store your colors in the palette of the LodePNGColorMode, first use\n\t lodepng_palette_clear, then for each color use lodepng_palette_add.\n\t If you encode an image without alpha with palette, don't forget to put value 255 in each A byte of the palette.\n\n\t When decoding, by default you can ignore this palette, since LodePNG already\n\t fills the palette colors in the pixels of the raw RGBA output.\n\n\t The palette is only supported for color type 3.\n\t */\n\tunsigned char* palette; /*palette in RGBARGBA... order. When allocated, must be either 0, or have size 1024*/\n\tsize_t palettesize; /*palette size in number of colors (amount of bytes is 4 * palettesize)*/\n\n\t/*\n\t transparent color key (tRNS)\n\n\t This color uses the same bit depth as the bitdepth value in this struct, which can be 1-bit to 16-bit.\n\t For greyscale PNGs, r, g and b will all 3 be set to the same.\n\n\t When decoding, by default you can ignore this information, since LodePNG sets\n\t pixels with this key to transparent already in the raw RGBA output.\n\n\t The color key is only supported for color types 0 and 2.\n\t */\n\tunsigned key_defined; /*is a transparent color key given? 0 = false, 1 = true*/\n\tunsigned key_r; /*red/greyscale component of color key*/\n\tunsigned key_g; /*green component of color key*/\n\tunsigned key_b; /*blue component of color key*/\n} LodePNGColorMode;\n\n/*init, cleanup and copy functions to use with this struct*/\nvoid lodepng_color_mode_init(LodePNGColorMode* info);\nvoid lodepng_color_mode_cleanup(LodePNGColorMode* info);\n/*return value is error code (0 means no error)*/\nunsigned lodepng_color_mode_copy(LodePNGColorMode* dest,\n\t\tconst LodePNGColorMode* source);\n\nvoid lodepng_palette_clear(LodePNGColorMode* info);\n/*add 1 color to the palette*/\nunsigned lodepng_palette_add(LodePNGColorMode* info, unsigned char r,\n\t\tunsigned char g, unsigned char b, unsigned char a);\n\n/*get the total amount of bits per pixel, based on colortype and bitdepth in the struct*/\nunsigned lodepng_get_bpp(const LodePNGColorMode* info);\n/*get the amount of color channels used, based on colortype in the struct.\n If a palette is used, it counts as 1 channel.*/\nunsigned lodepng_get_channels(const LodePNGColorMode* info);\n/*is it a greyscale type? (only colortype 0 or 4)*/\nunsigned lodepng_is_greyscale_type(const LodePNGColorMode* info);\n/*has it got an alpha channel? (only colortype 2 or 6)*/\nunsigned lodepng_is_alpha_type(const LodePNGColorMode* info);\n/*has it got a palette? (only colortype 3)*/\nunsigned lodepng_is_palette_type(const LodePNGColorMode* info);\n/*only returns true if there is a palette and there is a value in the palette with alpha < 255.\n Loops through the palette to check this.*/\nunsigned lodepng_has_palette_alpha(const LodePNGColorMode* info);\n/*\n Check if the given color info indicates the possibility of having non-opaque pixels in the PNG image.\n Returns true if the image can have translucent or invisible pixels (it still be opaque if it doesn't use such pixels).\n Returns false if the image can only have opaque pixels.\n In detail, it returns true only if it's a color type with alpha, or has a palette with non-opaque values,\n or if \"key_defined\" is true.\n */\nunsigned lodepng_can_have_alpha(const LodePNGColorMode* info);\n/*Returns the byte size of a raw image buffer with given width, height and color mode*/\nsize_t lodepng_get_raw_size(unsigned w, unsigned h,\n\t\tconst LodePNGColorMode* color);\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n/*The information of a Time chunk in PNG.*/\ntypedef struct LodePNGTime {\n\tunsigned year; /*2 bytes used (0-65535)*/\n\tunsigned month; /*1-12*/\n\tunsigned day; /*1-31*/\n\tunsigned hour; /*0-23*/\n\tunsigned minute; /*0-59*/\n\tunsigned second; /*0-60 (to allow for leap seconds)*/\n} LodePNGTime;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\n/*Information about the PNG image, except pixels, width and height.*/\ntypedef struct LodePNGInfo {\n\t/*header (IHDR), palette (PLTE) and transparency (tRNS) chunks*/\n\tunsigned compression_method;/*compression method of the original file. Always 0.*/\n\tunsigned filter_method; /*filter method of the original file*/\n\tunsigned interlace_method; /*interlace method of the original file*/\n\tLodePNGColorMode color; /*color type and bits, palette and transparency of the PNG file*/\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t/*\n\t suggested background color chunk (bKGD)\n\t This color uses the same color mode as the PNG (except alpha channel), which can be 1-bit to 16-bit.\n\n\t For greyscale PNGs, r, g and b will all 3 be set to the same. When encoding\n\t the encoder writes the red one. For palette PNGs: When decoding, the RGB value\n\t will be stored, not a palette index. But when encoding, specify the index of\n\t the palette in background_r, the other two are then ignored.\n\n\t The decoder does not use this background color to edit the color of pixels.\n\t */\n\tunsigned background_defined; /*is a suggested background color given?*/\n\tunsigned background_r; /*red component of suggested background color*/\n\tunsigned background_g; /*green component of suggested background color*/\n\tunsigned background_b; /*blue component of suggested background color*/\n\n\t/*\n\t non-international text chunks (tEXt and zTXt)\n\n\t The char** arrays each contain num strings. The actual messages are in\n\t text_strings, while text_keys are keywords that give a short description what\n\t the actual text represents, e.g. Title, Author, Description, or anything else.\n\n\t A keyword is minimum 1 character and maximum 79 characters long. It's\n\t discouraged to use a single line length longer than 79 characters for texts.\n\n\t Don't allocate these text buffers yourself. Use the init/cleanup functions\n\t correctly and use lodepng_add_text and lodepng_clear_text.\n\t */\n\tsize_t text_num; /*the amount of texts in these char** buffers (there may be more texts in itext)*/\n\tchar** text_keys; /*the keyword of a text chunk (e.g. \"Comment\")*/\n\tchar** text_strings; /*the actual text*/\n\n\t/*\n\t international text chunks (iTXt)\n\t Similar to the non-international text chunks, but with additional strings\n\t \"langtags\" and \"transkeys\".\n\t */\n\tsize_t itext_num; /*the amount of international texts in this PNG*/\n\tchar** itext_keys; /*the English keyword of the text chunk (e.g. \"Comment\")*/\n\tchar** itext_langtags; /*language tag for this text's language, ISO/IEC 646 string, e.g. ISO 639 language tag*/\n\tchar** itext_transkeys; /*keyword translated to the international language - UTF-8 string*/\n\tchar** itext_strings; /*the actual international text - UTF-8 string*/\n\n\t/*time chunk (tIME)*/\n\tunsigned time_defined; /*set to 1 to make the encoder generate a tIME chunk*/\n\tLodePNGTime time;\n\n\t/*phys chunk (pHYs)*/\n\tunsigned phys_defined; /*if 0, there is no pHYs chunk and the values below are undefined, if 1 else there is one*/\n\tunsigned phys_x; /*pixels per unit in x direction*/\n\tunsigned phys_y; /*pixels per unit in y direction*/\n\tunsigned phys_unit; /*may be 0 (unknown unit) or 1 (metre)*/\n\n\t/*\n\t unknown chunks\n\t There are 3 buffers, one for each position in the PNG where unknown chunks can appear\n\t each buffer contains all unknown chunks for that position consecutively\n\t The 3 buffers are the unknown chunks between certain critical chunks:\n\t 0: IHDR-PLTE, 1: PLTE-IDAT, 2: IDAT-IEND\n\t Do not allocate or traverse this data yourself. Use the chunk traversing functions declared\n\t later, such as lodepng_chunk_next and lodepng_chunk_append, to read/write this struct.\n\t */\n\tunsigned char* unknown_chunks_data[3];\n\tsize_t unknown_chunks_size[3]; /*size in bytes of the unknown chunks, given for protection*/\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n} LodePNGInfo;\n\n/*init, cleanup and copy functions to use with this struct*/\nvoid lodepng_info_init(LodePNGInfo* info);\nvoid lodepng_info_cleanup(LodePNGInfo* info);\n/*return value is error code (0 means no error)*/\nunsigned lodepng_info_copy(LodePNGInfo* dest, const LodePNGInfo* source);\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\nvoid lodepng_clear_text(LodePNGInfo* info); /*use this to clear the texts again after you filled them in*/\nunsigned lodepng_add_text(LodePNGInfo* info, const char* key, const char* str); /*push back both texts at once*/\n\nvoid lodepng_clear_itext(LodePNGInfo* info); /*use this to clear the itexts again after you filled them in*/\nunsigned lodepng_add_itext(LodePNGInfo* info, const char* key,\n\t\tconst char* langtag, const char* transkey, const char* str); /*push back the 4 texts of 1 chunk at once*/\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n\n/*\n Converts raw buffer from one color type to another color type, based on\n LodePNGColorMode structs to describe the input and output color type.\n See the reference manual at the end of this header file to see which color conversions are supported.\n return value = LodePNG error code (0 if all went ok, an error if the conversion isn't supported)\n The out buffer must have size (w * h * bpp + 7) / 8, where bpp is the bits per pixel\n of the output color type (lodepng_get_bpp)\n The fix_png value works as described in struct LodePNGDecoderSettings.\n Note: for 16-bit per channel colors, uses big endian format like PNG does.\n */\nunsigned lodepng_convert(unsigned char* out, const unsigned char* in,\n\t\tLodePNGColorMode* mode_out, const LodePNGColorMode* mode_in, unsigned w,\n\t\tunsigned h, unsigned fix_png);\n\n#ifdef LODEPNG_COMPILE_DECODER\n/*\n Settings for the decoder. This contains settings for the PNG and the Zlib\n decoder, but not the Info settings from the Info structs.\n */\ntypedef struct LodePNGDecoderSettings {\n\tLodePNGDecompressSettings zlibsettings; /*in here is the setting to ignore Adler32 checksums*/\n\n\tunsigned ignore_crc; /*ignore CRC checksums*/\n\t/*\n\t The fix_png setting, if 1, makes the decoder tolerant towards some PNG images\n\t that do not correctly follow the PNG specification. This only supports errors\n\t that are fixable, were found in images that are actually used on the web, and\n\t are silently tolerated by other decoders as well. Currently only one such fix\n\t is implemented: if a palette index is out of bounds given the palette size,\n\t interpret it as opaque black.\n\t By default this value is 0, which makes it stop with an error on such images.\n\t */\n\tunsigned fix_png;\n\tunsigned color_convert; /*whether to convert the PNG to the color type you want. Default: yes*/\n\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\tunsigned read_text_chunks; /*if false but remember_unknown_chunks is true, they're stored in the unknown chunks*/\n\t/*store all bytes from unknown chunks in the LodePNGInfo (off by default, useful for a png editor)*/\n\tunsigned remember_unknown_chunks;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n} LodePNGDecoderSettings;\n\nvoid lodepng_decoder_settings_init(LodePNGDecoderSettings* settings);\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*automatically use color type with less bits per pixel if losslessly possible. Default: AUTO*/\ntypedef enum LodePNGFilterStrategy {\n\t/*every filter at zero*/\n\tLFS_ZERO,\n\t/*Use filter that gives minumum sum, as described in the official PNG filter heuristic.*/\n\tLFS_MINSUM,\n\t/*Use the filter type that gives smallest Shannon entropy for this scanline. Depending\n\t on the image, this is better or worse than minsum.*/\n\tLFS_ENTROPY,\n\t/*\n\t Brute-force-search PNG filters by compressing each filter for each scanline.\n\t Experimental, very slow, and only rarely gives better compression than MINSUM.\n\t */\n\tLFS_BRUTE_FORCE,\n\t/*use predefined_filters buffer: you specify the filter type for each scanline*/\n\tLFS_PREDEFINED\n} LodePNGFilterStrategy;\n\n/*automatically use color type with less bits per pixel if losslessly possible. Default: LAC_AUTO*/\ntypedef enum LodePNGAutoConvert {\n\tLAC_NO, /*use color type user requested*/\n\tLAC_ALPHA, /*use color type user requested, but if only opaque pixels and RGBA or grey+alpha, use RGB or grey*/\n\tLAC_AUTO, /*use PNG color type that can losslessly represent the uncompressed image the smallest possible*/\n\t/*\n\t like AUTO, but do not choose 1, 2 or 4 bit per pixel types.\n\t sometimes a PNG image compresses worse if less than 8 bits per pixels.\n\t */\n\tLAC_AUTO_NO_NIBBLES,\n\t/*\n\t like AUTO, but never choose palette color type. For small images, encoding\n\t the palette may take more bytes than what is gained. Note that AUTO also\n\t already prevents encoding the palette for extremely small images, but that may\n\t not be sufficient because due to the compression it cannot predict when to\n\t switch.\n\t */\n\tLAC_AUTO_NO_PALETTE, LAC_AUTO_NO_NIBBLES_NO_PALETTE\n} LodePNGAutoConvert;\n\n/*\n Automatically chooses color type that gives smallest amount of bits in the\n output image, e.g. grey if there are only greyscale pixels, palette if there\n are less than 256 colors, ...\n The auto_convert parameter allows limiting it to not use palette, ...\n */\nunsigned lodepng_auto_choose_color(LodePNGColorMode* mode_out,\n\t\tconst unsigned char* image, unsigned w, unsigned h,\n\t\tconst LodePNGColorMode* mode_in, LodePNGAutoConvert auto_convert);\n\n/*Settings for the encoder.*/\ntypedef struct LodePNGEncoderSettings {\n\tLodePNGCompressSettings zlibsettings; /*settings for the zlib encoder, such as window size, ...*/\n\n\tLodePNGAutoConvert auto_convert; /*how to automatically choose output PNG color type, if at all*/\n\n\t/*If true, follows the official PNG heuristic: if the PNG uses a palette or lower than\n\t 8 bit depth, set all filters to zero. Otherwise use the filter_strategy. Note that to\n\t completely follow the official PNG heuristic, filter_palette_zero must be true and\n\t filter_strategy must be LFS_MINSUM*/\n\tunsigned filter_palette_zero;\n\t/*Which filter strategy to use when not using zeroes due to filter_palette_zero.\n\t Set filter_palette_zero to 0 to ensure always using your chosen strategy. Default: LFS_MINSUM*/\n\tLodePNGFilterStrategy filter_strategy;\n\t/*used if filter_strategy is LFS_PREDEFINED. In that case, this must point to a buffer with\n\t the same length as the amount of scanlines in the image, and each value must <= 5. You\n\t have to cleanup this buffer, LodePNG will never free it. Don't forget that filter_palette_zero\n\t must be set to 0 to ensure this is also used on palette or low bitdepth images.*/\n\tconst unsigned char* predefined_filters;\n\n\t/*force creating a PLTE chunk if colortype is 2 or 6 (= a suggested palette).\n\t If colortype is 3, PLTE is _always_ created.*/\n\tunsigned force_palette;\n#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS\n\t/*add LodePNG identifier and version as a text chunk, for debugging*/\n\tunsigned add_id;\n\t/*encode text chunks as zTXt chunks instead of tEXt chunks, and use compression in iTXt chunks*/\n\tunsigned text_compression;\n#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/\n} LodePNGEncoderSettings;\n\nvoid lodepng_encoder_settings_init(LodePNGEncoderSettings* settings);\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#if defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER)\n/*The settings, state and information for extended encoding and decoding.*/\ntypedef struct LodePNGState {\n#ifdef LODEPNG_COMPILE_DECODER\n\tLodePNGDecoderSettings decoder; /*the decoding settings*/\n#endif /*LODEPNG_COMPILE_DECODER*/\n#ifdef LODEPNG_COMPILE_ENCODER\n\tLodePNGEncoderSettings encoder; /*the encoding settings*/\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\tLodePNGColorMode info_raw; /*specifies the format in which you would like to get the raw pixel buffer*/\n\tLodePNGInfo info_png; /*info of the PNG image obtained after decoding*/\n\tunsigned error;\n#ifdef LODEPNG_COMPILE_CPP\n\t//For the lodepng::State subclass.\n\tvirtual ~LodePNGState() {\n\t}\n#endif\n} LodePNGState;\n\n/*init, cleanup and copy functions to use with this struct*/\nvoid lodepng_state_init(LodePNGState* state);\nvoid lodepng_state_cleanup(LodePNGState* state);\nvoid lodepng_state_copy(LodePNGState* dest, const LodePNGState* source);\n#endif /* defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER) */\n\n#ifdef LODEPNG_COMPILE_DECODER\n/*\n Same as lodepng_decode_memory, but uses a LodePNGState to allow custom settings and\n getting much more information about the PNG image and color mode.\n */\nunsigned lodepng_decode(unsigned char** out, unsigned* w, unsigned* h,\n\t\tLodePNGState* state, const unsigned char* in, size_t insize);\n\n/*\n Read the PNG header, but not the actual data. This returns only the information\n that is in the header chunk of the PNG, such as width, height and color type. The\n information is placed in the info_png field of the LodePNGState.\n */\nunsigned lodepng_inspect(unsigned* w, unsigned* h, LodePNGState* state,\n\t\tconst unsigned char* in, size_t insize);\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*This function allocates the out buffer with standard malloc and stores the size in *outsize.*/\nunsigned lodepng_encode(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* image, unsigned w, unsigned h,\n\t\tLodePNGState* state);\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n/*\n The lodepng_chunk functions are normally not needed, except to traverse the\n unknown chunks stored in the LodePNGInfo struct, or add new ones to it.\n It also allows traversing the chunks of an encoded PNG file yourself.\n\n PNG standard chunk naming conventions:\n First byte: uppercase = critical, lowercase = ancillary\n Second byte: uppercase = public, lowercase = private\n Third byte: must be uppercase\n Fourth byte: uppercase = unsafe to copy, lowercase = safe to copy\n */\n\n/*get the length of the data of the chunk. Total chunk length has 12 bytes more.*/\nunsigned lodepng_chunk_length(const unsigned char* chunk);\n\n/*puts the 4-byte type in null terminated string*/\nvoid lodepng_chunk_type(char type[5], const unsigned char* chunk);\n\n/*check if the type is the given type*/\nunsigned char lodepng_chunk_type_equals(const unsigned char* chunk,\n\t\tconst char* type);\n\n/*0: it's one of the critical chunk types, 1: it's an ancillary chunk (see PNG standard)*/\nunsigned char lodepng_chunk_ancillary(const unsigned char* chunk);\n\n/*0: public, 1: private (see PNG standard)*/\nunsigned char lodepng_chunk_private(const unsigned char* chunk);\n\n/*0: the chunk is unsafe to copy, 1: the chunk is safe to copy (see PNG standard)*/\nunsigned char lodepng_chunk_safetocopy(const unsigned char* chunk);\n\n/*get pointer to the data of the chunk, where the input points to the header of the chunk*/\nunsigned char* lodepng_chunk_data(unsigned char* chunk);\nconst unsigned char* lodepng_chunk_data_const(const unsigned char* chunk);\n\n/*returns 0 if the crc is correct, 1 if it's incorrect (0 for OK as usual!)*/\nunsigned lodepng_chunk_check_crc(const unsigned char* chunk);\n\n/*generates the correct CRC from the data and puts it in the last 4 bytes of the chunk*/\nvoid lodepng_chunk_generate_crc(unsigned char* chunk);\n\n/*iterate to next chunks. don't use on IEND chunk, as there is no next chunk then*/\nunsigned char* lodepng_chunk_next(unsigned char* chunk);\nconst unsigned char* lodepng_chunk_next_const(const unsigned char* chunk);\n\n/*\n Appends chunk to the data in out. The given chunk should already have its chunk header.\n The out variable and outlength are updated to reflect the new reallocated buffer.\n Returns error code (0 if it went ok)\n */\nunsigned lodepng_chunk_append(unsigned char** out, size_t* outlength,\n\t\tconst unsigned char* chunk);\n\n/*\n Appends new chunk to out. The chunk to append is given by giving its length, type\n and data separately. The type is a 4-letter string.\n The out variable and outlength are updated to reflect the new reallocated buffer.\n Returne error code (0 if it went ok)\n */\nunsigned lodepng_chunk_create(unsigned char** out, size_t* outlength,\n\t\tunsigned length, const char* type, const unsigned char* data);\n\n/*Calculate CRC32 of buffer*/\nunsigned lodepng_crc32(const unsigned char* buf, size_t len);\n#endif /*LODEPNG_COMPILE_PNG*/\n\n#ifdef LODEPNG_COMPILE_ZLIB\n/*\n This zlib part can be used independently to zlib compress and decompress a\n buffer. It cannot be used to create gzip files however, and it only supports the\n part of zlib that is required for PNG, it does not support dictionaries.\n */\n\n#ifdef LODEPNG_COMPILE_DECODER\n/*Inflate a buffer. Inflate is the decompression step of deflate. Out buffer must be freed after use.*/\nunsigned lodepng_inflate(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGDecompressSettings* settings);\n\n/*\n Decompresses Zlib data. Reallocates the out buffer and appends the data. The\n data must be according to the zlib specification.\n Either, *out must be NULL and *outsize must be 0, or, *out must be a valid\n buffer and *outsize its size in bytes. out must be freed by user after usage.\n */\nunsigned lodepng_zlib_decompress(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGDecompressSettings* settings);\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n/*\n Compresses data with Zlib. Reallocates the out buffer and appends the data.\n Zlib adds a small header and trailer around the deflate data.\n The data is output in the format of the zlib specification.\n Either, *out must be NULL and *outsize must be 0, or, *out must be a valid\n buffer and *outsize its size in bytes. out must be freed by user after usage.\n */\nunsigned lodepng_zlib_compress(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGCompressSettings* settings);\n\n/*\n Find length-limited Huffman code for given frequencies. This function is in the\n public interface only for tests, it's used internally by lodepng_deflate.\n */\nunsigned lodepng_huffman_code_lengths(unsigned* lengths,\n\t\tconst unsigned* frequencies, size_t numcodes, unsigned maxbitlen);\n\n/*Compress a buffer with deflate. See RFC 1951. Out buffer must be freed after use.*/\nunsigned lodepng_deflate(unsigned char** out, size_t* outsize,\n\t\tconst unsigned char* in, size_t insize,\n\t\tconst LodePNGCompressSettings* settings);\n\n#endif /*LODEPNG_COMPILE_ENCODER*/\n#endif /*LODEPNG_COMPILE_ZLIB*/\n\n#ifdef LODEPNG_COMPILE_DISK\n/*\n Load a file from disk into buffer. The function allocates the out buffer, and\n after usage you should free it.\n out: output parameter, contains pointer to loaded buffer.\n outsize: output parameter, size of the allocated out buffer\n filename: the path to the file to load\n return value: error code (0 means ok)\n */\nunsigned lodepng_load_file(unsigned char** out, size_t* outsize,\n\t\tconst char* filename);\n\n/*\n Save a file from buffer to disk. Warning, if it exists, this function overwrites\n the file without warning!\n buffer: the buffer to write\n buffersize: size of the buffer to write\n filename: the path to the file to save to\n return value: error code (0 means ok)\n */\nunsigned lodepng_save_file(const unsigned char* buffer, size_t buffersize,\n\t\tconst char* filename);\n#endif /*LODEPNG_COMPILE_DISK*/\n\n#ifdef LODEPNG_COMPILE_CPP\n//The LodePNG C++ wrapper uses std::vectors instead of manually allocated memory buffers.\nnamespace lodepng {\n#ifdef LODEPNG_COMPILE_PNG\nclass State: public LodePNGState {\npublic:\n\tState();\n\tState(const State& other);\n\tvirtual ~State();\n\tState& operator=(const State& other);\n};\n\n#ifdef LODEPNG_COMPILE_DECODER\n//Same as other lodepng::decode, but using a State for more settings and information.\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tState& state, const unsigned char* in, size_t insize);\nunsigned decode(std::vector& out, unsigned& w, unsigned& h,\n\t\tState& state, const std::vector& in);\n#endif /*LODEPNG_COMPILE_DECODER*/\n\n#ifdef LODEPNG_COMPILE_ENCODER\n//Same as other lodepng::encode, but using a State for more settings and information.\nunsigned encode(std::vector& out, const unsigned char* in,\n\t\tunsigned w, unsigned h, State& state);\nunsigned encode(std::vector& out,\n\t\tconst std::vector& in, unsigned w, unsigned h,\n\t\tState& state);\n#endif /*LODEPNG_COMPILE_ENCODER*/\n\n#ifdef LODEPNG_COMPILE_DISK\n/*\n Load a file from disk into an std::vector. If the vector is empty, then either\n the file doesn't exist or is an empty file.\n */\nvoid load_file(std::vector& buffer, const std::string& filename);\n\n/*\n Save the binary data in an std::vector to a file on disk. The file is overwritten\n without warning.\n */\nvoid save_file(const std::vector& buffer,\n\t\tconst std::string& filename);\n#endif //LODEPNG_COMPILE_DISK\n#endif //LODEPNG_COMPILE_PNG\n\n#ifdef LODEPNG_COMPILE_ZLIB\n#ifdef LODEPNG_COMPILE_DECODER\n//Zlib-decompress an unsigned char buffer\nunsigned decompress(std::vector& out, const unsigned char* in,\n\t\tsize_t insize, const LodePNGDecompressSettings& settings =\n\t\t\t\tlodepng_default_decompress_settings);\n\n//Zlib-decompress an std::vector\nunsigned decompress(std::vector& out,\n\t\tconst std::vector& in,\n\t\tconst LodePNGDecompressSettings& settings =\n\t\t\t\tlodepng_default_decompress_settings);\n#endif //LODEPNG_COMPILE_DECODER\n\n#ifdef LODEPNG_COMPILE_ENCODER\n//Zlib-compress an unsigned char buffer\nunsigned compress(std::vector& out, const unsigned char* in,\n\t\tsize_t insize, const LodePNGCompressSettings& settings =\n\t\t\t\tlodepng_default_compress_settings);\n\n//Zlib-compress an std::vector\nunsigned compress(std::vector& out,\n\t\tconst std::vector& in,\n\t\tconst LodePNGCompressSettings& settings =\n\t\t\t\tlodepng_default_compress_settings);\n#endif //LODEPNG_COMPILE_ENCODER\n#endif //LODEPNG_COMPILE_ZLIB\n} //namespace lodepng\n#endif /*LODEPNG_COMPILE_CPP*/\n\n/*\n TODO:\n [.] test if there are no memory leaks or security exploits - done a lot but needs to be checked often\n [.] check compatibility with vareous compilers - done but needs to be redone for every newer version\n [X] converting color to 16-bit per channel types\n [ ] read all public PNG chunk types (but never let the color profile and gamma ones touch RGB values)\n [ ] make sure encoder generates no chunks with size > (2^31)-1\n [ ] partial decoding (stream processing)\n [X] let the \"isFullyOpaque\" function check color keys and transparent palettes too\n [X] better name for the variables \"codes\", \"codesD\", \"codelengthcodes\", \"clcl\" and \"lldl\"\n [ ] don't stop decoding on errors like 69, 57, 58 (make warnings)\n [ ] make option to choose if the raw image with non multiple of 8 bits per scanline should have padding bits or not\n [ ] let the C++ wrapper catch exceptions coming from the standard library and return LodePNG error codes\n */\n\n#endif /*LODEPNG_H inclusion guard*/\n\n/*\n LodePNG Documentation\n ---------------------\n\n 0. table of contents\n --------------------\n\n 1. about\n 1.1. supported features\n 1.2. features not supported\n 2. C and C++ version\n 3. security\n 4. decoding\n 5. encoding\n 6. color conversions\n 6.1. PNG color types\n 6.2. color conversions\n 6.3. padding bits\n 6.4. A note about 16-bits per channel and endianness\n 7. error values\n 8. chunks and PNG editing\n 9. compiler support\n 10. examples\n 10.1. decoder C++ example\n 10.2. decoder C example\n 11. changes\n 12. contact information\n\n\n 1. about\n --------\n\n PNG is a file format to store raster images losslessly with good compression,\n supporting different color types and alpha channel.\n\n LodePNG is a PNG codec according to the Portable Network Graphics (PNG)\n Specification (Second Edition) - W3C Recommendation 10 November 2003.\n\n The specifications used are:\n\n *) Portable Network Graphics (PNG) Specification (Second Edition):\n http://www.w3.org/TR/2003/REC-PNG-20031110\n *) RFC 1950 ZLIB Compressed Data Format version 3.3:\n http://www.gzip.org/zlib/rfc-zlib.html\n *) RFC 1951 DEFLATE Compressed Data Format Specification ver 1.3:\n http://www.gzip.org/zlib/rfc-deflate.html\n\n The most recent version of LodePNG can currently be found at\n http://lodev.org/lodepng/\n\n LodePNG works both in C (ISO C90) and C++, with a C++ wrapper that adds\n extra functionality.\n\n LodePNG exists out of two files:\n -lodepng.h: the header file for both C and C++\n -lodepng.c(pp): give it the name lodepng.c or lodepng.cpp (or .cc) depending on your usage\n\n If you want to start using LodePNG right away without reading this doc, get the\n examples from the LodePNG website to see how to use it in code, or check the\n smaller examples in chapter 13 here.\n\n LodePNG is simple but only supports the basic requirements. To achieve\n simplicity, the following design choices were made: There are no dependencies\n on any external library. There are functions to decode and encode a PNG with\n a single function call, and extended versions of these functions taking a\n LodePNGState struct allowing to specify or get more information. By default\n the colors of the raw image are always RGB or RGBA, no matter what color type\n the PNG file uses. To read and write files, there are simple functions to\n convert the files to/from buffers in memory.\n\n This all makes LodePNG suitable for loading textures in games, demos and small\n programs, ... It's less suitable for full fledged image editors, loading PNGs\n over network (it requires all the image data to be available before decoding can\n begin), life-critical systems, ...\n\n 1.1. supported features\n -----------------------\n\n The following features are supported by the decoder:\n\n *) decoding of PNGs with any color type, bit depth and interlace mode, to a 24- or 32-bit color raw image,\n or the same color type as the PNG\n *) encoding of PNGs, from any raw image to 24- or 32-bit color, or the same color type as the raw image\n *) Adam7 interlace and deinterlace for any color type\n *) loading the image from harddisk or decoding it from a buffer from other sources than harddisk\n *) support for alpha channels, including RGBA color model, translucent palettes and color keying\n *) zlib decompression (inflate)\n *) zlib compression (deflate)\n *) CRC32 and ADLER32 checksums\n *) handling of unknown chunks, allowing making a PNG editor that stores custom and unknown chunks.\n *) the following chunks are supported (generated/interpreted) by both encoder and decoder:\n IHDR: header information\n PLTE: color palette\n IDAT: pixel data\n IEND: the final chunk\n tRNS: transparency for palettized images\n tEXt: textual information\n zTXt: compressed textual information\n iTXt: international textual information\n bKGD: suggested background color\n pHYs: physical dimensions\n tIME: modification time\n\n 1.2. features not supported\n ---------------------------\n\n The following features are _not_ supported:\n\n *) some features needed to make a conformant PNG-Editor might be still missing.\n *) partial loading/stream processing. All data must be available and is processed in one call.\n *) The following public chunks are not supported but treated as unknown chunks by LodePNG\n cHRM, gAMA, iCCP, sRGB, sBIT, hIST, sPLT\n Some of these are not supported on purpose: LodePNG wants to provide the RGB values\n stored in the pixels, not values modified by system dependent gamma or color models.\n\n\n 2. C and C++ version\n --------------------\n\n The C version uses buffers allocated with alloc that you need to free()\n yourself. You need to use init and cleanup functions for each struct whenever\n using a struct from the C version to avoid exploits and memory leaks.\n\n The C++ version has extra functions with std::vectors in the interface and the\n lodepng::State class which is a LodePNGState with constructor and destructor.\n\n These files work without modification for both C and C++ compilers because all\n the additional C++ code is in \"#ifdef __cplusplus\" blocks that make C-compilers\n ignore it, and the C code is made to compile both with strict ISO C90 and C++.\n\n To use the C++ version, you need to rename the source file to lodepng.cpp\n (instead of lodepng.c), and compile it with a C++ compiler.\n\n To use the C version, you need to rename the source file to lodepng.c (instead\n of lodepng.cpp), and compile it with a C compiler.\n\n\n 3. Security\n -----------\n\n Even if carefully designed, it's always possible that LodePNG contains possible\n exploits. If you discover one, please let me know, and it will be fixed.\n\n When using LodePNG, care has to be taken with the C version of LodePNG, as well\n as the C-style structs when working with C++. The following conventions are used\n for all C-style structs:\n\n -if a struct has a corresponding init function, always call the init function when making a new one\n -if a struct has a corresponding cleanup function, call it before the struct disappears to avoid memory leaks\n -if a struct has a corresponding copy function, use the copy function instead of \"=\".\n The destination must also be inited already.\n\n\n 4. Decoding\n -----------\n\n Decoding converts a PNG compressed image to a raw pixel buffer.\n\n Most documentation on using the decoder is at its declarations in the header\n above. For C, simple decoding can be done with functions such as\n lodepng_decode32, and more advanced decoding can be done with the struct\n LodePNGState and lodepng_decode. For C++, all decoding can be done with the\n various lodepng::decode functions, and lodepng::State can be used for advanced\n features.\n\n When using the LodePNGState, it uses the following fields for decoding:\n *) LodePNGInfo info_png: it stores extra information about the PNG (the input) in here\n *) LodePNGColorMode info_raw: here you can say what color mode of the raw image (the output) you want to get\n *) LodePNGDecoderSettings decoder: you can specify a few extra settings for the decoder to use\n\n LodePNGInfo info_png\n --------------------\n\n After decoding, this contains extra information of the PNG image, except the actual\n pixels, width and height because these are already gotten directly from the decoder\n functions.\n\n It contains for example the original color type of the PNG image, text comments,\n suggested background color, etc... More details about the LodePNGInfo struct are\n at its declaration documentation.\n\n LodePNGColorMode info_raw\n -------------------------\n\n When decoding, here you can specify which color type you want\n the resulting raw image to be. If this is different from the colortype of the\n PNG, then the decoder will automatically convert the result. This conversion\n always works, except if you want it to convert a color PNG to greyscale or to\n a palette with missing colors.\n\n By default, 32-bit color is used for the result.\n\n LodePNGDecoderSettings decoder\n ------------------------------\n\n The settings can be used to ignore the errors created by invalid CRC and Adler32\n chunks, and to disable the decoding of tEXt chunks.\n\n There's also a setting color_convert, true by default. If false, no conversion\n is done, the resulting data will be as it was in the PNG (after decompression)\n and you'll have to puzzle the colors of the pixels together yourself using the\n color type information in the LodePNGInfo.\n\n\n 5. Encoding\n -----------\n\n Encoding converts a raw pixel buffer to a PNG compressed image.\n\n Most documentation on using the encoder is at its declarations in the header\n above. For C, simple encoding can be done with functions such as\n lodepng_encode32, and more advanced decoding can be done with the struct\n LodePNGState and lodepng_encode. For C++, all encoding can be done with the\n various lodepng::encode functions, and lodepng::State can be used for advanced\n features.\n\n Like the decoder, the encoder can also give errors. However it gives less errors\n since the encoder input is trusted, the decoder input (a PNG image that could\n be forged by anyone) is not trusted.\n\n When using the LodePNGState, it uses the following fields for encoding:\n *) LodePNGInfo info_png: here you specify how you want the PNG (the output) to be.\n *) LodePNGColorMode info_raw: here you say what color type of the raw image (the input) has\n *) LodePNGEncoderSettings encoder: you can specify a few settings for the encoder to use\n\n LodePNGInfo info_png\n --------------------\n\n When encoding, you use this the opposite way as when decoding: for encoding,\n you fill in the values you want the PNG to have before encoding. By default it's\n not needed to specify a color type for the PNG since it's automatically chosen,\n but it's possible to choose it yourself given the right settings.\n\n The encoder will not always exactly match the LodePNGInfo struct you give,\n it tries as close as possible. Some things are ignored by the encoder. The\n encoder uses, for example, the following settings from it when applicable:\n colortype and bitdepth, text chunks, time chunk, the color key, the palette, the\n background color, the interlace method, unknown chunks, ...\n\n When encoding to a PNG with colortype 3, the encoder will generate a PLTE chunk.\n If the palette contains any colors for which the alpha channel is not 255 (so\n there are translucent colors in the palette), it'll add a tRNS chunk.\n\n LodePNGColorMode info_raw\n -------------------------\n\n You specify the color type of the raw image that you give to the input here,\n including a possible transparent color key and palette you happen to be using in\n your raw image data.\n\n By default, 32-bit color is assumed, meaning your input has to be in RGBA\n format with 4 bytes (unsigned chars) per pixel.\n\n LodePNGEncoderSettings encoder\n ------------------------------\n\n The following settings are supported (some are in sub-structs):\n *) auto_convert: when this option is enabled, the encoder will\n automatically choose the smallest possible color mode (including color key) that\n can encode the colors of all pixels without information loss.\n *) btype: the block type for LZ77. 0 = uncompressed, 1 = fixed huffman tree,\n 2 = dynamic huffman tree (best compression). Should be 2 for proper\n compression.\n *) use_lz77: whether or not to use LZ77 for compressed block types. Should be\n true for proper compression.\n *) windowsize: the window size used by the LZ77 encoder (1 - 32768). Has value\n 2048 by default, but can be set to 32768 for better, but slow, compression.\n *) force_palette: if colortype is 2 or 6, you can make the encoder write a PLTE\n chunk if force_palette is true. This can used as suggested palette to convert\n to by viewers that don't support more than 256 colors (if those still exist)\n *) add_id: add text chunk \"Encoder: LodePNG \" to the image.\n *) text_compression: default 1. If 1, it'll store texts as zTXt instead of tEXt chunks.\n zTXt chunks use zlib compression on the text. This gives a smaller result on\n large texts but a larger result on small texts (such as a single program name).\n It's all tEXt or all zTXt though, there's no separate setting per text yet.\n\n\n 6. color conversions\n --------------------\n\n An important thing to note about LodePNG, is that the color type of the PNG, and\n the color type of the raw image, are completely independent. By default, when\n you decode a PNG, you get the result as a raw image in the color type you want,\n no matter whether the PNG was encoded with a palette, greyscale or RGBA color.\n And if you encode an image, by default LodePNG will automatically choose the PNG\n color type that gives good compression based on the values of colors and amount\n of colors in the image. It can be configured to let you control it instead as\n well, though.\n\n To be able to do this, LodePNG does conversions from one color mode to another.\n It can convert from almost any color type to any other color type, except the\n following conversions: RGB to greyscale is not supported, and converting to a\n palette when the palette doesn't have a required color is not supported. This is\n not supported on purpose: this is information loss which requires a color\n reduction algorithm that is beyong the scope of a PNG encoder (yes, RGB to grey\n is easy, but there are multiple ways if you want to give some channels more\n weight).\n\n By default, when decoding, you get the raw image in 32-bit RGBA or 24-bit RGB\n color, no matter what color type the PNG has. And by default when encoding,\n LodePNG automatically picks the best color model for the output PNG, and expects\n the input image to be 32-bit RGBA or 24-bit RGB. So, unless you want to control\n the color format of the images yourself, you can skip this chapter.\n\n 6.1. PNG color types\n --------------------\n\n A PNG image can have many color types, ranging from 1-bit color to 64-bit color,\n as well as palettized color modes. After the zlib decompression and unfiltering\n in the PNG image is done, the raw pixel data will have that color type and thus\n a certain amount of bits per pixel. If you want the output raw image after\n decoding to have another color type, a conversion is done by LodePNG.\n\n The PNG specification gives the following color types:\n\n 0: greyscale, bit depths 1, 2, 4, 8, 16\n 2: RGB, bit depths 8 and 16\n 3: palette, bit depths 1, 2, 4 and 8\n 4: greyscale with alpha, bit depths 8 and 16\n 6: RGBA, bit depths 8 and 16\n\n Bit depth is the amount of bits per pixel per color channel. So the total amount\n of bits per pixel is: amount of channels * bitdepth.\n\n 6.2. color conversions\n ----------------------\n\n As explained in the sections about the encoder and decoder, you can specify\n color types and bit depths in info_png and info_raw to change the default\n behaviour.\n\n If, when decoding, you want the raw image to be something else than the default,\n you need to set the color type and bit depth you want in the LodePNGColorMode,\n or the parameters of the simple function of LodePNG you're using.\n\n If, when encoding, you use another color type than the default in the input\n image, you need to specify its color type and bit depth in the LodePNGColorMode\n of the raw image, or use the parameters of the simplefunction of LodePNG you're\n using.\n\n If, when encoding, you don't want LodePNG to choose the output PNG color type\n but control it yourself, you need to set auto_convert in the encoder settings\n to LAC_NONE, and specify the color type you want in the LodePNGInfo of the\n encoder.\n\n If you do any of the above, LodePNG may need to do a color conversion, which\n follows the rules below, and may sometimes not be allowed.\n\n To avoid some confusion:\n -the decoder converts from PNG to raw image\n -the encoder converts from raw image to PNG\n -the colortype and bitdepth in LodePNGColorMode info_raw, are those of the raw image\n -the colortype and bitdepth in the color field of LodePNGInfo info_png, are those of the PNG\n -when encoding, the color type in LodePNGInfo is ignored if auto_convert\n is enabled, it is automatically generated instead\n -when decoding, the color type in LodePNGInfo is set by the decoder to that of the original\n PNG image, but it can be ignored since the raw image has the color type you requested instead\n -if the color type of the LodePNGColorMode and PNG image aren't the same, a conversion\n between the color types is done if the color types are supported. If it is not\n supported, an error is returned. If the types are the same, no conversion is done.\n -even though some conversions aren't supported, LodePNG supports loading PNGs from any\n colortype and saving PNGs to any colortype, sometimes it just requires preparing\n the raw image correctly before encoding.\n -both encoder and decoder use the same color converter.\n\n Non supported color conversions:\n -color to greyscale: no error is thrown, but the result will look ugly because\n only the red channel is taken\n -anything, to palette when that palette does not have that color in it: in this\n case an error is thrown\n\n Supported color conversions:\n -anything to 8-bit RGB, 8-bit RGBA, 16-bit RGB, 16-bit RGBA\n -any grey or grey+alpha, to grey or grey+alpha\n -anything to a palette, as long as the palette has the requested colors in it\n -removing alpha channel\n -higher to smaller bitdepth, and vice versa\n\n If you want no color conversion to be done:\n -In the encoder, you can make it save a PNG with any color type by giving the\n raw color mode and LodePNGInfo the same color mode, and setting auto_convert to\n LAC_NO.\n -In the decoder, you can make it store the pixel data in the same color type\n as the PNG has, by setting the color_convert setting to false. Settings in\n info_raw are then ignored.\n\n The function lodepng_convert does the color conversion. It is available in the\n interface but normally isn't needed since the encoder and decoder already call\n it.\n\n 6.3. padding bits\n -----------------\n\n In the PNG file format, if a less than 8-bit per pixel color type is used and the scanlines\n have a bit amount that isn't a multiple of 8, then padding bits are used so that each\n scanline starts at a fresh byte. But that is NOT true for the LodePNG raw input and output.\n The raw input image you give to the encoder, and the raw output image you get from the decoder\n will NOT have these padding bits, e.g. in the case of a 1-bit image with a width\n of 7 pixels, the first pixel of the second scanline will the the 8th bit of the first byte,\n not the first bit of a new byte.\n\n 6.4. A note about 16-bits per channel and endianness\n ----------------------------------------------------\n\n LodePNG uses unsigned char arrays for 16-bit per channel colors too, just like\n for any other color format. The 16-bit values are stored in big endian (most\n significant byte first) in these arrays. This is the opposite order of the\n little endian used by x86 CPU's.\n\n LodePNG always uses big endian because the PNG file format does so internally.\n Conversions to other formats than PNG uses internally are not supported by\n LodePNG on purpose, there are myriads of formats, including endianness of 16-bit\n colors, the order in which you store R, G, B and A, and so on. Supporting and\n converting to/from all that is outside the scope of LodePNG.\n\n This may mean that, depending on your use case, you may want to convert the big\n endian output of LodePNG to little endian with a for loop. This is certainly not\n always needed, many applications and libraries support big endian 16-bit colors\n anyway, but it means you cannot simply cast the unsigned char* buffer to an\n unsigned short* buffer on x86 CPUs.\n\n\n 7. error values\n ---------------\n\n All functions in LodePNG that return an error code, return 0 if everything went\n OK, or a non-zero code if there was an error.\n\n The meaning of the LodePNG error values can be retrieved with the function\n lodepng_error_text: given the numerical error code, it returns a description\n of the error in English as a string.\n\n Check the implementation of lodepng_error_text to see the meaning of each code.\n\n\n 8. chunks and PNG editing\n -------------------------\n\n If you want to add extra chunks to a PNG you encode, or use LodePNG for a PNG\n editor that should follow the rules about handling of unknown chunks, or if your\n program is able to read other types of chunks than the ones handled by LodePNG,\n then that's possible with the chunk functions of LodePNG.\n\n A PNG chunk has the following layout:\n\n 4 bytes length\n 4 bytes type name\n length bytes data\n 4 bytes CRC\n\n 8.1. iterating through chunks\n -----------------------------\n\n If you have a buffer containing the PNG image data, then the first chunk (the\n IHDR chunk) starts at byte number 8 of that buffer. The first 8 bytes are the\n signature of the PNG and are not part of a chunk. But if you start at byte 8\n then you have a chunk, and can check the following things of it.\n\n NOTE: none of these functions check for memory buffer boundaries. To avoid\n exploits, always make sure the buffer contains all the data of the chunks.\n When using lodepng_chunk_next, make sure the returned value is within the\n allocated memory.\n\n unsigned lodepng_chunk_length(const unsigned char* chunk):\n\n Get the length of the chunk's data. The total chunk length is this length + 12.\n\n void lodepng_chunk_type(char type[5], const unsigned char* chunk):\n unsigned char lodepng_chunk_type_equals(const unsigned char* chunk, const char* type):\n\n Get the type of the chunk or compare if it's a certain type\n\n unsigned char lodepng_chunk_critical(const unsigned char* chunk):\n unsigned char lodepng_chunk_private(const unsigned char* chunk):\n unsigned char lodepng_chunk_safetocopy(const unsigned char* chunk):\n\n Check if the chunk is critical in the PNG standard (only IHDR, PLTE, IDAT and IEND are).\n Check if the chunk is private (public chunks are part of the standard, private ones not).\n Check if the chunk is safe to copy. If it's not, then, when modifying data in a critical\n chunk, unsafe to copy chunks of the old image may NOT be saved in the new one if your\n program doesn't handle that type of unknown chunk.\n\n unsigned char* lodepng_chunk_data(unsigned char* chunk):\n const unsigned char* lodepng_chunk_data_const(const unsigned char* chunk):\n\n Get a pointer to the start of the data of the chunk.\n\n unsigned lodepng_chunk_check_crc(const unsigned char* chunk):\n void lodepng_chunk_generate_crc(unsigned char* chunk):\n\n Check if the crc is correct or generate a correct one.\n\n unsigned char* lodepng_chunk_next(unsigned char* chunk):\n const unsigned char* lodepng_chunk_next_const(const unsigned char* chunk):\n\n Iterate to the next chunk. This works if you have a buffer with consecutive chunks. Note that these\n functions do no boundary checking of the allocated data whatsoever, so make sure there is enough\n data available in the buffer to be able to go to the next chunk.\n\n unsigned lodepng_chunk_append(unsigned char** out, size_t* outlength, const unsigned char* chunk):\n unsigned lodepng_chunk_create(unsigned char** out, size_t* outlength, unsigned length,\n const char* type, const unsigned char* data):\n\n These functions are used to create new chunks that are appended to the data in *out that has\n length *outlength. The append function appends an existing chunk to the new data. The create\n function creates a new chunk with the given parameters and appends it. Type is the 4-letter\n name of the chunk.\n\n 8.2. chunks in info_png\n -----------------------\n\n The LodePNGInfo struct contains fields with the unknown chunk in it. It has 3\n buffers (each with size) to contain 3 types of unknown chunks:\n the ones that come before the PLTE chunk, the ones that come between the PLTE\n and the IDAT chunks, and the ones that come after the IDAT chunks.\n It's necessary to make the distionction between these 3 cases because the PNG\n standard forces to keep the ordering of unknown chunks compared to the critical\n chunks, but does not force any other ordering rules.\n\n info_png.unknown_chunks_data[0] is the chunks before PLTE\n info_png.unknown_chunks_data[1] is the chunks after PLTE, before IDAT\n info_png.unknown_chunks_data[2] is the chunks after IDAT\n\n The chunks in these 3 buffers can be iterated through and read by using the same\n way described in the previous subchapter.\n\n When using the decoder to decode a PNG, you can make it store all unknown chunks\n if you set the option settings.remember_unknown_chunks to 1. By default, this\n option is off (0).\n\n The encoder will always encode unknown chunks that are stored in the info_png.\n If you need it to add a particular chunk that isn't known by LodePNG, you can\n use lodepng_chunk_append or lodepng_chunk_create to the chunk data in\n info_png.unknown_chunks_data[x].\n\n Chunks that are known by LodePNG should not be added in that way. E.g. to make\n LodePNG add a bKGD chunk, set background_defined to true and add the correct\n parameters there instead.\n\n\n 9. compiler support\n -------------------\n\n No libraries other than the current standard C library are needed to compile\n LodePNG. For the C++ version, only the standard C++ library is needed on top.\n Add the files lodepng.c(pp) and lodepng.h to your project, include\n lodepng.h where needed, and your program can read/write PNG files.\n\n It is compatible with C90 and up, and C++03 and up.\n\n If performance is important, use optimization when compiling! For both the\n encoder and decoder, this makes a large difference.\n\n Make sure that LodePNG is compiled with the same compiler of the same version\n and with the same settings as the rest of the program, or the interfaces with\n std::vectors and std::strings in C++ can be incompatible.\n\n CHAR_BITS must be 8 or higher, because LodePNG uses unsigned chars for octets.\n\n *) gcc and g++\n\n LodePNG is developed in gcc so this compiler is natively supported. It gives no\n warnings with compiler options \"-Wall -Wextra -pedantic -ansi\", with gcc and g++\n version 4.7.1 on Linux, 32-bit and 64-bit.\n\n *) Clang\n\n Fully supported and warning-free.\n\n *) Mingw\n\n The Mingw compiler (a port of gcc for Windows) should be fully supported by\n LodePNG.\n\n *) Visual Studio and Visual C++ Express Edition\n\n LodePNG should be warning-free with warning level W4. Two warnings were disabled\n with pragmas though: warning 4244 about implicit conversions, and warning 4996\n where it wants to use a non-standard function fopen_s instead of the standard C\n fopen.\n\n Visual Studio may want \"stdafx.h\" files to be included in each source file and\n give an error \"unexpected end of file while looking for precompiled header\".\n This is not standard C++ and will not be added to the stock LodePNG. You can\n disable it for lodepng.cpp only by right clicking it, Properties, C/C++,\n Precompiled Headers, and set it to Not Using Precompiled Headers there.\n\n NOTE: Modern versions of VS should be fully supported, but old versions, e.g.\n VS6, are not guaranteed to work.\n\n *) Compilers on Macintosh\n\n LodePNG has been reported to work both with gcc and LLVM for Macintosh, both for\n C and C++.\n\n *) Other Compilers\n\n If you encounter problems on any compilers, feel free to let me know and I may\n try to fix it if the compiler is modern and standards complient.\n\n\n 10. examples\n ------------\n\n This decoder example shows the most basic usage of LodePNG. More complex\n examples can be found on the LodePNG website.\n\n 10.1. decoder C++ example\n -------------------------\n\n #include \"lodepng.h\"\n #include \n\n int main(int argc, char *argv[])\n {\n const char* filename = argc > 1 ? argv[1] : \"test.png\";\n\n //load and decode\n std::vector image;\n unsigned width, height;\n unsigned error = lodepng::decode(image, width, height, filename);\n\n //if there's an error, display it\n if(error) std::cout << \"decoder error \" << error << \": \" << lodepng_error_text(error) << std::endl;\n\n //the pixels are now in the vector \"image\", 4 bytes per pixel, ordered RGBARGBA..., use it as texture, draw it, ...\n }\n\n 10.2. decoder C example\n -----------------------\n\n #include \"lodepng.h\"\n\n int main(int argc, char *argv[])\n {\n unsigned error;\n unsigned char* image;\n size_t width, height;\n const char* filename = argc > 1 ? argv[1] : \"test.png\";\n\n error = lodepng_decode32_file(&image, &width, &height, filename);\n\n if(error) printf(\"decoder error %u: %s\\n\", error, lodepng_error_text(error));\n\n / * use image here * /\n\n free(image);\n return 0;\n }\n\n\n 11. changes\n -----------\n\n The version number of LodePNG is the date of the change given in the format\n yyyymmdd.\n\n Some changes aren't backwards compatible. Those are indicated with a (!)\n symbol.\n\n *) 09 jun 2014: Faster encoder by fixing hash bug and more zeros optimization.\n *) 22 dec 2013: Power of two windowsize required for optimization.\n *) 15 apr 2013: Fixed bug with LAC_ALPHA and color key.\n *) 25 mar 2013: Added an optional feature to ignore some PNG errors (fix_png).\n *) 11 mar 2013 (!): Bugfix with custom free. Changed from \"my\" to \"lodepng_\"\n prefix for the custom allocators and made it possible with a new #define to\n use custom ones in your project without needing to change lodepng's code.\n *) 28 jan 2013: Bugfix with color key.\n *) 27 okt 2012: Tweaks in text chunk keyword length error handling.\n *) 8 okt 2012 (!): Added new filter strategy (entropy) and new auto color mode.\n (no palette). Better deflate tree encoding. New compression tweak settings.\n Faster color conversions while decoding. Some internal cleanups.\n *) 23 sep 2012: Reduced warnings in Visual Studio a little bit.\n *) 1 sep 2012 (!): Removed #define's for giving custom (de)compression functions\n and made it work with function pointers instead.\n *) 23 jun 2012: Added more filter strategies. Made it easier to use custom alloc\n and free functions and toggle #defines from compiler flags. Small fixes.\n *) 6 may 2012 (!): Made plugging in custom zlib/deflate functions more flexible.\n *) 22 apr 2012 (!): Made interface more consistent, renaming a lot. Removed\n redundant C++ codec classes. Reduced amount of structs. Everything changed,\n but it is cleaner now imho and functionality remains the same. Also fixed\n several bugs and shrinked the implementation code. Made new samples.\n *) 6 nov 2011 (!): By default, the encoder now automatically chooses the best\n PNG color model and bit depth, based on the amount and type of colors of the\n raw image. For this, autoLeaveOutAlphaChannel replaced by auto_choose_color.\n *) 9 okt 2011: simpler hash chain implementation for the encoder.\n *) 8 sep 2011: lz77 encoder lazy matching instead of greedy matching.\n *) 23 aug 2011: tweaked the zlib compression parameters after benchmarking.\n A bug with the PNG filtertype heuristic was fixed, so that it chooses much\n better ones (it's quite significant). A setting to do an experimental, slow,\n brute force search for PNG filter types is added.\n *) 17 aug 2011 (!): changed some C zlib related function names.\n *) 16 aug 2011: made the code less wide (max 120 characters per line).\n *) 17 apr 2011: code cleanup. Bugfixes. Convert low to 16-bit per sample colors.\n *) 21 feb 2011: fixed compiling for C90. Fixed compiling with sections disabled.\n *) 11 dec 2010: encoding is made faster, based on suggestion by Peter Eastman\n to optimize long sequences of zeros.\n *) 13 nov 2010: added LodePNG_InfoColor_hasPaletteAlpha and\n LodePNG_InfoColor_canHaveAlpha functions for convenience.\n *) 7 nov 2010: added LodePNG_error_text function to get error code description.\n *) 30 okt 2010: made decoding slightly faster\n *) 26 okt 2010: (!) changed some C function and struct names (more consistent).\n Reorganized the documentation and the declaration order in the header.\n *) 08 aug 2010: only changed some comments and external samples.\n *) 05 jul 2010: fixed bug thanks to warnings in the new gcc version.\n *) 14 mar 2010: fixed bug where too much memory was allocated for char buffers.\n *) 02 sep 2008: fixed bug where it could create empty tree that linux apps could\n read by ignoring the problem but windows apps couldn't.\n *) 06 jun 2008: added more error checks for out of memory cases.\n *) 26 apr 2008: added a few more checks here and there to ensure more safety.\n *) 06 mar 2008: crash with encoding of strings fixed\n *) 02 feb 2008: support for international text chunks added (iTXt)\n *) 23 jan 2008: small cleanups, and #defines to divide code in sections\n *) 20 jan 2008: support for unknown chunks allowing using LodePNG for an editor.\n *) 18 jan 2008: support for tIME and pHYs chunks added to encoder and decoder.\n *) 17 jan 2008: ability to encode and decode compressed zTXt chunks added\n Also vareous fixes, such as in the deflate and the padding bits code.\n *) 13 jan 2008: Added ability to encode Adam7-interlaced images. Improved\n filtering code of encoder.\n *) 07 jan 2008: (!) changed LodePNG to use ISO C90 instead of C++. A\n C++ wrapper around this provides an interface almost identical to before.\n Having LodePNG be pure ISO C90 makes it more portable. The C and C++ code\n are together in these files but it works both for C and C++ compilers.\n *) 29 dec 2007: (!) changed most integer types to unsigned int + other tweaks\n *) 30 aug 2007: bug fixed which makes this Borland C++ compatible\n *) 09 aug 2007: some VS2005 warnings removed again\n *) 21 jul 2007: deflate code placed in new namespace separate from zlib code\n *) 08 jun 2007: fixed bug with 2- and 4-bit color, and small interlaced images\n *) 04 jun 2007: improved support for Visual Studio 2005: crash with accessing\n invalid std::vector element [0] fixed, and level 3 and 4 warnings removed\n *) 02 jun 2007: made the encoder add a tag with version by default\n *) 27 may 2007: zlib and png code separated (but still in the same file),\n simple encoder/decoder functions added for more simple usage cases\n *) 19 may 2007: minor fixes, some code cleaning, new error added (error 69),\n moved some examples from here to lodepng_examples.cpp\n *) 12 may 2007: palette decoding bug fixed\n *) 24 apr 2007: changed the license from BSD to the zlib license\n *) 11 mar 2007: very simple addition: ability to encode bKGD chunks.\n *) 04 mar 2007: (!) tEXt chunk related fixes, and support for encoding\n palettized PNG images. Plus little interface change with palette and texts.\n *) 03 mar 2007: Made it encode dynamic Huffman shorter with repeat codes.\n Fixed a bug where the end code of a block had length 0 in the Huffman tree.\n *) 26 feb 2007: Huffman compression with dynamic trees (BTYPE 2) now implemented\n and supported by the encoder, resulting in smaller PNGs at the output.\n *) 27 jan 2007: Made the Adler-32 test faster so that a timewaste is gone.\n *) 24 jan 2007: gave encoder an error interface. Added color conversion from any\n greyscale type to 8-bit greyscale with or without alpha.\n *) 21 jan 2007: (!) Totally changed the interface. It allows more color types\n to convert to and is more uniform. See the manual for how it works now.\n *) 07 jan 2007: Some cleanup & fixes, and a few changes over the last days:\n encode/decode custom tEXt chunks, separate classes for zlib & deflate, and\n at last made the decoder give errors for incorrect Adler32 or Crc.\n *) 01 jan 2007: Fixed bug with encoding PNGs with less than 8 bits per channel.\n *) 29 dec 2006: Added support for encoding images without alpha channel, and\n cleaned out code as well as making certain parts faster.\n *) 28 dec 2006: Added \"Settings\" to the encoder.\n *) 26 dec 2006: The encoder now does LZ77 encoding and produces much smaller files now.\n Removed some code duplication in the decoder. Fixed little bug in an example.\n *) 09 dec 2006: (!) Placed output parameters of public functions as first parameter.\n Fixed a bug of the decoder with 16-bit per color.\n *) 15 okt 2006: Changed documentation structure\n *) 09 okt 2006: Encoder class added. It encodes a valid PNG image from the\n given image buffer, however for now it's not compressed.\n *) 08 sep 2006: (!) Changed to interface with a Decoder class\n *) 30 jul 2006: (!) LodePNG_InfoPng , width and height are now retrieved in different\n way. Renamed decodePNG to decodePNGGeneric.\n *) 29 jul 2006: (!) Changed the interface: image info is now returned as a\n struct of type LodePNG::LodePNG_Info, instead of a vector, which was a bit clumsy.\n *) 28 jul 2006: Cleaned the code and added new error checks.\n Corrected terminology \"deflate\" into \"inflate\".\n *) 23 jun 2006: Added SDL example in the documentation in the header, this\n example allows easy debugging by displaying the PNG and its transparency.\n *) 22 jun 2006: (!) Changed way to obtain error value. Added\n loadFile function for convenience. Made decodePNG32 faster.\n *) 21 jun 2006: (!) Changed type of info vector to unsigned.\n Changed position of palette in info vector. Fixed an important bug that\n happened on PNGs with an uncompressed block.\n *) 16 jun 2006: Internally changed unsigned into unsigned where\n needed, and performed some optimizations.\n *) 07 jun 2006: (!) Renamed functions to decodePNG and placed them\n in LodePNG namespace. Changed the order of the parameters. Rewrote the\n documentation in the header. Renamed files to lodepng.cpp and lodepng.h\n *) 22 apr 2006: Optimized and improved some code\n *) 07 sep 2005: (!) Changed to std::vector interface\n *) 12 aug 2005: Initial release (C++, decoder only)\n\n\n 12. contact information\n -----------------------\n\n Feel free to contact me with suggestions, problems, comments, ... concerning\n LodePNG. If you encounter a PNG image that doesn't work properly with this\n decoder, feel free to send it and I'll use it to find and fix the problem.\n\n My email address is (puzzle the account and domain together with an @ symbol):\n Domain: gmail dot com.\n Account: lode dot vandevenne.\n\n\n Copyright (c) 2005-2014 Lode Vandevenne\n */\n" }, { "path": "framework/tools/loaders/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.10)\n\nadd_executable(slambench slambench_app.cpp)\ntarget_include_directories(slambench PUBLIC ${SLAMBENCH_INCLUDE_DIR} ${PROJECT_SOURCE_DIR}/shared/include)\ntarget_link_libraries(slambench PRIVATE pthread ${SLAMBENCH_LIBRARIES})\n\nfind_package(Pangolin QUIET)\nfind_package(TOON QUIET)\nIF(Pangolin_FOUND)\n\tset(gui_pangolin_libraries slambench-ui-pangolin ${Pangolin_LIBRARIES} ${OPENGL_LIBRARIES} pthread)\n\tTARGET_INCLUDE_DIRECTORIES(slambench PUBLIC ${Pangolin_INCLUDE_DIR})\n\tTARGET_INCLUDE_DIRECTORIES(slambench PUBLIC ${TOON_INCLUDE_PATHS})\n\ttarget_link_libraries(slambench PRIVATE ${gui_pangolin_libraries})\n\tadd_definitions(-DWITH_GUI=1)\nENDIF(Pangolin_FOUND)\n" }, { "path": "framework/tools/loaders/benchmark_loader.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \"../../shared/include/metrics/MemoryMetric.h\"\n#include \"ColumnWriter.h\"\n#include \n\n\nstd::string default_output_filename;\nstd::string output_filename;\n\nstd::string alignment_technique = \"original\";\nstd::string default_alignment_technique = \"original\";\nTypedParameter file_output_parameter (\"fo\", \"file-output\", \"File to write slamfile containing outputs\", &output_filename, &default_output_filename);\nTypedParameter alignment_type_parameter(\"a\", \"alignment-technique\", \"Select an alignment technique by name, if not found, default used (default,new).\", &alignment_technique, &default_alignment_technique);\n\nint main(int argc, char * argv[])\n{\n\n\ttry {\n\n\t\tSLAMBenchConfiguration * config = new SLAMBenchConfiguration();\n\n\t\t//***************************************************************************************\n\t\t// Start the argument processing\n\t\t//***************************************************************************************\n\n\t\tconfig->addParameter(file_output_parameter);\n\t\tconfig->GetParameterManager().ReadArgumentsOrQuit(argc, argv);\n\n\t\t//***************************************************************************************\n\t\t// At this point the datasets/libraries/sensors are loaded with their arguments set.\n\t\t//***************************************************************************************\n\n\n\n\n\t\t//***************************************************************************************\n\t\t// We initialise the configuration, means to retrieve groundtruth and set the alignement\n\t\t//***************************************************************************************\n\n\t\tconfig->InitGroundtruth(false);\n\n\t\t// get GT trajectory\n\t\tauto gt_traj = config->GetGroundTruth().GetMainOutput(slambench::values::VT_POSE);\n\n\t\tslambench::outputs::TrajectoryAlignmentMethod *alignment_method;\n\t\tif(alignment_technique == \"original\") {\n\t\t\talignment_method = new slambench::outputs::OriginalTrajectoryAlignmentMethod();\n\t\t} else if(alignment_technique == \"new\") {\n\t\t\talignment_method = new slambench::outputs::NewTrajectoryAlignmentMethod();\n\t\t} else {\n\t\tstd::cerr << \"Unknown alignment method \" << alignment_technique << std::endl;\n\t\t\treturn 1;\n\t\t}\n\n\t\t//***************************************************************************************\n\t\t// We prepare the logging and create the global metrics\n\t\t//***************************************************************************************\n\n\t\tconfig->start_statistics();\n\t\tslambench::ColumnWriter cw (config->get_log_stream(), \"\\t\");\n\t\tslambench::RowNumberColumn row_number;\n\t\tcw.AddColumn(&row_number);\n\n\n\n\t\tauto memory_metric = new slambench::metrics::MemoryMetric();\n\t\tauto duration_metric = new slambench::metrics::DurationMetric();\n\t\tauto power_metric = new slambench::metrics::PowerMetric();\n\n\t\t//***************************************************************************************\n\t\t// We init the algos now because we need their output already\n\t\t// TODO: if pose and map were by default we could init the algo much later,\n\t\t// thus move memory metric later\n\t\t//***************************************************************************************\n\n\t\tconfig->InitAlgorithms();\n\n\t\tbool have_timestamp = false;\n\n\t\tfor(SLAMBenchLibraryHelper *lib : config->GetLoadedLibs()) {\n\n\t\t\t// retrieve the trajectory of the lib\n\t\t\tauto lib_traj = lib->GetOutputManager().GetMainOutput(slambench::values::VT_POSE);\n\t\t\tif (lib_traj == nullptr) {\n\t\t\t\tstd::cerr << \"There is no output trajectory in the library outputs.\" << std::endl;\n\t\t\t\texit(1);\n\t\t\t}\n\n\t\t\t// Create timestamp column if we don't have one\n\t\t\tif(!have_timestamp) {\n\t\t\t\thave_timestamp = true;\n\t\t\t\tcw.AddColumn(new slambench::OutputTimestampColumnInterface(lib_traj));\n\t\t\t}\n\n\t\t\tif (gt_traj) {\n\t\t\t\t// Create an aligned trajectory\n\t\t\t\tauto alignment = new slambench::outputs::AlignmentOutput(\"Alignment\", new slambench::outputs::PoseOutputTrajectoryInterface(gt_traj), lib_traj, alignment_method);\n\t\t\t\talignment->SetActive(true);\n\t\t\t\talignment->SetKeepOnlyMostRecent(true);\n\t\t\t\tauto aligned = new slambench::outputs::AlignedPoseOutput(lib_traj->GetName() + \" (Aligned)\", alignment, lib_traj);\n\n\t\t\t\t// Add ATE metric\n\t\t\t\tauto ate_metric = new slambench::metrics::ATEMetric(new slambench::outputs::PoseOutputTrajectoryInterface(aligned), new slambench::outputs::PoseOutputTrajectoryInterface(gt_traj));\n\t\t\t\tif (ate_metric->GetValueDescription().GetStructureDescription().size() > 0) {\n\t\t\t\t\tlib->GetMetricManager().AddFrameMetric(ate_metric);\n\t\t\t\t\tcw.AddColumn(new slambench::CollectionValueLibColumnInterface(lib, ate_metric, lib->GetMetricManager().GetFramePhase()));\n\t\t\t\t}\n\n\t\t\t\t// Add RPE metric\n\t\t\t\tauto rpe_metric = new slambench::metrics::RPEMetric(new slambench::outputs::PoseOutputTrajectoryInterface(aligned), new slambench::outputs::PoseOutputTrajectoryInterface(gt_traj));\n\t\t\t\tlib->GetMetricManager().AddFrameMetric(rpe_metric);\n\t\t\t\tcw.AddColumn(new slambench::CollectionValueLibColumnInterface(lib, rpe_metric, lib->GetMetricManager().GetFramePhase()));\n\t\t\t}\n\t\t\t// Add a duration metric\n\t\t\tlib->GetMetricManager().AddFrameMetric(duration_metric);\n\t\t\tlib->GetMetricManager().AddPhaseMetric(duration_metric);\n\t\t\tcw.AddColumn(new slambench::ValueLibColumnInterface(lib, duration_metric, lib->GetMetricManager().GetFramePhase()));\n\t\t\tfor(auto phase : lib->GetMetricManager().GetPhases()) {\n\t\t\t\tcw.AddColumn(new slambench::ValueLibColumnInterface(lib, duration_metric, phase));\n\t\t\t}\n\n\t\t\t// Add a memory metric\n\t\t\tlib->GetMetricManager().AddFrameMetric(memory_metric);\n\t\t\tcw.AddColumn(new slambench::CollectionValueLibColumnInterface(lib, memory_metric, lib->GetMetricManager().GetFramePhase()));\n\n\t\t\t// Add a power metric if it makes sense\n\t\t\tif (power_metric->GetValueDescription().GetStructureDescription().size() > 0) {\n\t\t\t\tlib->GetMetricManager().AddFrameMetric(power_metric);\n\t\t\t\tcw.AddColumn(new slambench::CollectionValueLibColumnInterface(lib, power_metric, lib->GetMetricManager().GetFramePhase()));\n\t\t\t}\n\n\t\t\t// Add XYZ row from the trajectory\n\t\t\tauto traj = lib->GetOutputManager().GetMainOutput(slambench::values::VT_POSE);\n\t\t\ttraj->SetActive(true);\n\t\t\tcw.AddColumn(new slambench::CollectionValueLibColumnInterface(lib, new slambench::outputs::PoseToXYZOutput(traj)));\n\n\t\t}\n\n\n\t\tconfig->AddFrameCallback([&cw]{cw.PrintRow();}); // @suppress(\"Invalid arguments\")\n\t\tcw.PrintHeader();\n\n\t\t//***************************************************************************************\n\t\t// We run the experiment\n\t\t//***************************************************************************************\n\n\t\tSLAMBenchConfiguration::compute_loop_algorithm (config,NULL,NULL);\n\n\t\t//***************************************************************************************\n\t\t// End of experiment, we output the map\n\t\t//***************************************************************************************\n\n\t\t// TODO: Only one output file does not do the job for more than one SLAM systems, output directory maybe ?\n\n\t\tSLAMBenchLibraryHelper *main_lib = nullptr;\n\n\t\tif(output_filename != \"\" && config->GetLoadedLibs().size() > 1) {\n\t\t\tstd::cerr << \"Can only write outputs to file when there is only one lib loaded\" << std::endl;\n\t\t\treturn 1;\n\t\t} else if(output_filename != \"\") {\n\t\t\t// enable all writeable outputs\n\t\t\tSLAMBenchLibraryHelper *lib = config->GetLoadedLibs().front();\n\t\t\tmain_lib = lib;\n\n\t\t\tlib->GetOutputManager().GetMainOutput(slambench::values::VT_POSE)->SetActive(true);\n\t\t}\n\n\n\t\tif(output_filename != \"\") {\n\t\t\tslambench::TimeStamp timestamp = main_lib->GetOutputManager().GetMainOutput(slambench::values::VT_POSE)->GetMostRecentValue().first;\n\t\t\tmain_lib->GetOutputManager().GetMainOutput(slambench::values::VT_POINTCLOUD)->SetActive(true);\n\t\t\tmain_lib->c_sb_update_outputs(main_lib, ×tamp);\n\n\t\t\tstd::cout << \"Writing outputs to \" << output_filename << std::endl;\n\t\t\tslambench::outputs::OutputManagerWriter omw;\n\t\t\tSLAMBenchLibraryHelper *lib = *config->GetLoadedLibs().begin();\n\n\t\t\tomw.Write(lib->GetOutputManager(), output_filename);\n\t\t\tstd::cout << \"Done writing outputs.\" << std::endl;\n\t\t}\n\n\n\t\tstd::cout << \"End of program.\" << std::endl;\n\n\t\tdelete config;\n\t\tdelete alignment_method;\n\n\t\tdelete memory_metric;\n\t\tdelete duration_metric;\n\t\tdelete power_metric;\n\n\n\t} catch (const SLAMBenchException& e) {\n\n\t\tstd::cout << \"An error occurred during the execution.\" << std::endl;\n\t\tstd::cout << e.what() << std::endl;\n\n\t}\n\n\treturn 0;\n}\n" }, { "path": "framework/tools/loaders/pangolin_loader.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n\n#include \n#include \n#include \n#include \n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n\nstd::string alignment_technique = \"original\";\nstd::string default_alignment_technique = \"original\";\n\nvoid run_pangolin(bool *stay_on, SLAMBenchConfiguration *config);\nstatic SLAMBenchUI * volatile ui = nullptr;\n\nint main(int argc, char * argv[])\n{\n\n\ttry {\n\n\t\tSLAMBenchConfiguration * config = new SLAMBenchConfiguration();\n\n\t\t//***************************************************************************************\n\t\t// Start the argument processing\n\t\t//***************************************************************************************\n\n\t\tconfig->addParameter(TypedParameter (\"a\", \"alignment-technique\", \"Select an alignment technique by name, if not found, default used (default,new).\", &alignment_technique, &default_alignment_technique));\n\t\tconfig->GetParameterManager().ReadArgumentsOrQuit(argc, argv);\n\t\t//***************************************************************************************\n\t\t// At this point the datasets/libraries/sensors are loaded with their arguments set.\n\t\t//***************************************************************************************\n\n\n\t\t//***************************************************************************************\n\t\t// We initialise the configuration, means to retrieve groundtruth and set the alignement\n\t\t//***************************************************************************************\n\n\t\tconfig->InitGroundtruth();\n\n\t\t// get GT trajectory\n\t\tauto gt_trajectory = config->GetGroundTruth().GetMainOutput(slambench::values::VT_POSE);\n\n\t\tslambench::outputs::TrajectoryAlignmentMethod *alignment_method;\n\t\tif(alignment_technique == \"original\") {\n\t\t\talignment_method = new slambench::outputs::OriginalTrajectoryAlignmentMethod();\n\t\t} else if(alignment_technique == \"new\") {\n\t\t\talignment_method = new slambench::outputs::NewTrajectoryAlignmentMethod();\n\t\t} else {\n\t\t\tstd::cerr << \"Unknown alignment method \" << alignment_technique << std::endl;\n\t\t\treturn 1;\n\t\t}\n\n\t\t//***************************************************************************************\n\t\t// We prepare the logging and create the global metrics\n\t\t//***************************************************************************************\n\n\t\t// N/A\n\n\t\t//***************************************************************************************\n\t\t// We init the algos now because we need their output already\n\t\t// TODO: if pose and map were by default we could init the algo much later,\n\t\t// thus move memory metric later\n\t\t//***************************************************************************************\n\n\t\tconfig->InitAlgorithms();\n\n\t\t// If a ground truth is available, produce an aligned trajectory for each algorithm\n\t\tif(gt_trajectory) {\n\t\t\tfor(auto lib : config->GetLoadedLibs()) {\n\t\t\t\t// trajectory\n\t\t\t\tslambench::outputs::BaseOutput *trajectory = lib->GetOutputManager().GetMainOutput(slambench::values::VT_POSE);\n\n\t\t\t\t// produce an alignment\n\t\t\t\tauto alignment = new slambench::outputs::AlignmentOutput(\"Alignment\", new slambench::outputs::PoseOutputTrajectoryInterface(gt_trajectory), trajectory, alignment_method);\n\t\t\t\talignment->SetActive(true);\n\t\t\t\talignment->SetKeepOnlyMostRecent(true);\n\n\t\t\t\tauto aligned = new slambench::outputs::AlignedPoseOutput(trajectory->GetName() + \" (Aligned)\", alignment, trajectory);\n\t\t\t\tlib->GetOutputManager().RegisterOutput(aligned);\n\n\t\t\t\t// try and align a pointcloud\n\t\t\t\tslambench::outputs::BaseOutput *pointcloud = lib->GetOutputManager().GetMainOutput(slambench::values::VT_POINTCLOUD);\n\t\t\t\tif(pointcloud != nullptr) {\n\t\t\t\t\tauto pc_aligned = new slambench::outputs::AlignedPointCloudOutput(pointcloud->GetName() + \"(Aligned)\", alignment, pointcloud);\n\t\t\t\t\tlib->GetOutputManager().RegisterOutput(pc_aligned);\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\n\n\n\n\n\t\t//***************************************************************************************\n\t\t// We Start the GUI\n\t\t//***************************************************************************************\n\n\n\t\tbool stay_on = true;\n\t\tstd::thread pangolin_thread(run_pangolin, &stay_on, config);\n\t\twhile(ui == nullptr) ; // spin until UI is initialised\n\n\t\t//***************************************************************************************\n\t\t// We Start the Experiment\n\t\t//***************************************************************************************\n\n\t\tSLAMBenchConfiguration::compute_loop_algorithm( config, &stay_on, ui);\n\n\t\t//***************************************************************************************\n\t\t// We End and wait until the GUI stop\n\t\t//***************************************************************************************\n\n\t\tstay_on = false;\n\t\tpangolin_thread.join();\n\n\t} catch (const SLAMBenchException& e) {\n\n\t\tstd::cout << \"An error occurred during the execution.\" << std::endl;\n\t\tstd::cout << e.what() << std::endl;\n\n\t}\n\n\treturn 0;\n}\n\nvoid run_pangolin(bool *stay_on, SLAMBenchConfiguration *config) {\n\tstd::cerr << \"Creation of GUI interface.\" << std::endl;\n\tSLAMBenchUI_Pangolin * ui_pangolin = new SLAMBenchUI_Pangolin();\n\tui_pangolin->AddOutputManager(\"Ground Truth\", &config->GetGroundTruth());\n\tfor(auto lib : config->GetLoadedLibs()) {\n\t\tui_pangolin->AddOutputManager(lib->getName(), &lib->GetOutputManager());\n\t}\n\tui_pangolin->InitialiseOutputs();\n\n\tui = dynamic_cast (ui_pangolin);\n\n\t// Provide the current camera position to the GUI\n\t// FIXME : temporary values (Toky)\n\tfloat fx = 520.9000244141;\n\tfloat fy = 521.0000000000;\n\tfloat cx = 324.5999755859;\n\tfloat cy = 249.2000122070;\n\tui->update_camera(480,640, fx, fy , cx , cy );\n\n\tstd::cerr << \"Start rendering loop.\" << std::endl;\n\twhile( !pangolin::ShouldQuit()) {\n\n\t\tusleep(40000);\n\t\tif (!ui->process ()) {\n\t\t\tstd::cerr << \"Rendering problem.\" << std::endl;\n\t\t\texit(1);\n\t\t}\n\t}\n\tstd::cout << \"Stop Pangolin...\" << std::endl;\n\tpangolin::Quit();\n\tstd::cout << \"GUI closed ... \" << std::endl;\n\n\n\t//***************************************************************************************\n\t// CLOSE COMPUTE THREADS\n\t//***************************************************************************************\n\n\t*stay_on = false;\n\n\tstd::cout << \"Wait for compute thread...\" << std::endl;\n\n\t//\tcompute_thread.join();\n\n\n\n\t//***************************************************************************************\n\t// CLOSE LIBRARIES\n\t//***************************************************************************************\n\n\tstd::cout << \"End of program.\" << std::endl;\n\n}\n" }, { "path": "framework/tools/loaders/slambench_app.cpp", "content": "/*\n\n Copyright (c) 2017 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\nstd::string default_output_filename;\nstd::string output_filename;\nbool use_gui, default_use_gui = false;\nbool lifelong_slam, default_lifelong_slam = false;\n\nstd::string alignment_technique = \"new\";\nstd::string default_alignment_technique = \"new\";\nTypedParameter file_output_parameter (\"fo\", \"file-output\", \"File to write slamfile containing outputs\", &output_filename, &default_output_filename);\nTypedParameter alignment_type_parameter(\"a\", \"alignment-technique\", \"Select an alignment technique by name, if not found, \\\"new alignment\\\" used (original,new,umeyama).\", &alignment_technique, &default_alignment_technique);\nTypedParameter gui_parameter(\"gui\", \"gui\", \"Whether or not to display the graphical user interface\", &use_gui, &default_use_gui);\nTypedParameter lifelong_parameter(\"ll\", \"lifelong\", \"If given multiple sequences, relocalise in between sequences rather than starting a new \", &lifelong_slam, &default_lifelong_slam);\n\n#ifdef WITH_GUI\n#include \n#include \nstatic SLAMBenchUI* volatile ui = nullptr;\nvoid run_pangolin(bool *stay_on, SLAMBenchConfiguration *config) {\n std::cerr << \"Creation of GUI interface.\" << std::endl;\n auto ui_pangolin = new SLAMBenchUI_Pangolin();\n ui_pangolin->AddOutputManager(\"Ground Truth\", &config->GetGroundTruth());\n for (auto lib : config->GetLoadedLibs()) {\n ui_pangolin->AddOutputManager(lib->getName(), &lib->GetOutputManager());\n }\n ui_pangolin->InitialiseOutputs();\n ui = dynamic_cast (ui_pangolin);\n\n // Provide the current camera position to the GUI\n ui->update_camera(480, 640, 520, 521, 324, 249);\n\n std::cerr << \"Start rendering loop.\" << std::endl;\n while (!pangolin::ShouldQuit()) {\n\n usleep(40000);\n if (!ui->process()) {\n std::cerr << \"Rendering problem.\" << std::endl;\n exit(1);\n }\n }\n\n //***************************************************************************************\n // FINISH RENDERING\n //***************************************************************************************\n std::cout << \"Stop Pangolin...\" << std::endl;\n pangolin::Quit();\n std::cout << \"GUI closed ... \" << std::endl;\n\n\n //***************************************************************************************\n // CLOSE COMPUTE THREADS\n //***************************************************************************************\n *stay_on = false;\n std::cout << \"Wait for compute thread...\" << std::endl;\n //\tcompute_thread.join();\n}\n#endif\n\nint main(int argc, char * argv[])\n{\n try {\n auto config = new SLAMBenchConfiguration();\n\n config->addParameter(file_output_parameter);\n config->addParameter(alignment_type_parameter);\n config->addParameter(gui_parameter);\n config->addParameter(lifelong_parameter);\n\n // At this point the datasets/libraries/sensors are loaded with their arguments set.\n config->GetParameterManager().ReadArgumentsOrQuit(argc, argv);\n\n // Initialise the configuration, retrieve the ground truth and set the alignement\n config->InitGroundtruth();\n\n // Prepare the logging\n config->StartStatistics();\n\n //***************************************************************************************\n // We init the algos now because we need their output already\n // TODO: if pose and map were by default we could init the algo much later,\n // thus move memory metric later\n //***************************************************************************************\n config->InitAlgorithms();\n config->InitAlignment();\n config->InitWriter();\n // Run the experiment\n if(use_gui)\n {\n#ifdef WITH_GUI\n std::thread pangolin_thread(run_pangolin, &use_gui, config);\n while(ui == nullptr) ; // spin until UI is initialised\n config->ComputeLoopAlgorithm(&use_gui, ui);\n pangolin_thread.join();\n#else\n std::cerr<< \"Not compiled with Pangolin support! Continuing without GUI.\" <ComputeLoopAlgorithm(nullptr, nullptr);\n }\n\n // End of experiment, we output the map\n // TODO: Only one output file does not do the job for more than one SLAM systems, output directory maybe ?\n if(!output_filename.empty()) {\n if(config->GetLoadedLibs().size() > 1) {\n std::cerr << \"Can only write outputs to file when there is only one lib loaded\" << std::endl;\n return 1;\n }\n // enable all writeable outputs\n auto main_lib = config->GetLoadedLibs().front();\n\n main_lib->GetOutputManager().GetMainOutput(slambench::values::VT_POSE)->SetActive(true);\n main_lib->GetOutputManager().GetMainOutput(slambench::values::VT_POINTCLOUD)->SetActive(true);\n main_lib->GetOutputManager().GetMainOutput(slambench::values::VT_FRAME)->SetActive(true);\n auto timestamp = main_lib->GetOutputManager().GetMainOutput(slambench::values::VT_POSE)->GetMostRecentValue().first;\n\n main_lib->c_sb_update_outputs(main_lib, ×tamp);\n\n std::cout << \"Writing outputs to \" << output_filename << std::endl;\n slambench::outputs::OutputManagerWriter omw;\n omw.Write(main_lib->GetOutputManager(), output_filename);\n std::cout << \"Done writing outputs.\" << std::endl;\n }\n\n std::cout << \"End of program.\" << std::endl;\n delete config;\n\n } catch (const SLAMBenchException& e) {\n\n std::cout << \"An error occurred during the execution.\" << std::endl;\n std::cout << e.what() << std::endl;\n\n }\n return 0;\n}\n" }, { "path": "framework/tools/profiling-tools/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 3.10)\n\n######################################################################################\n########## OPENCL Wrapper for profiling (optional) \n######################################################################################\nfind_package(OpenCL)\n\nif (OpenCL_FOUND)\n include_directories(${OPENCL_INCLUDE_DIRS})\n add_library(oclwrapper SHARED OCLWrapper.cpp)\n target_link_libraries(oclwrapper ${OPENCL_LIBRARIES})\nelse (OpenCL_FOUND)\n message(STATUS \"OpenCL wrapper cannot be build, OpenCL not found.\")\nendif(OpenCL_FOUND)\n\n\n" }, { "path": "framework/tools/profiling-tools/OCLWrapper.cpp", "content": "/*\n\n Copyright (c) 2014 University of Edinburgh, Imperial College, University of Manchester.\n Developed in the PAMELA project, EPSRC Programme Grant EP/K008730/1\n\n This code is licensed under the MIT License.\n\n */\n\n#ifdef __APPLE__\n #include \n#else\n #include \n#endif\n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n\n#define CL_ENQUEUE_NDRANGE_KERNEL_NAME \"clEnqueueNDRangeKernel\"\ntypedef cl_int (*clEnqueueNDRangeKernelFunction)(cl_command_queue command_queue,\n\t\tcl_kernel kernel, cl_uint work_dim, const size_t* global_work_offset,\n\t\tconst size_t* global_work_size, const size_t* local_work_size,\n\t\tcl_uint num_events_in_wait_list, const cl_event* event_wait_list,\n\t\tcl_event* event);\n\n#define CL_CREATE_COMMAND_QUEUE_NAME \"clCreateCommandQueue\"\ntypedef cl_command_queue (*clCreateCommandQueueFunction)(cl_context,\n\t\tcl_device_id, cl_command_queue_properties, cl_int*);\n\n#define checkError(err,str) if (err != CL_SUCCESS) {std::cout << str << std::endl; exit(err);}\n\nunsigned long int computeEventDuration(cl_event* event) {\n\tif (event == NULL)\n\t\tthrow std::runtime_error(\n\t\t\t\t\"Error computing event duration. \\\n Event is not initialized\");\n\tcl_int errorCode;\n\tcl_ulong start, end;\n\terrorCode = clGetEventProfilingInfo(*event, CL_PROFILING_COMMAND_START,\n\t\t\tsizeof(cl_ulong), &start, NULL);\n\tcheckError(errorCode, \"Error querying the event start time\");\n\terrorCode = clGetEventProfilingInfo(*event, CL_PROFILING_COMMAND_END,\n\t\t\tsizeof(cl_ulong), &end, NULL);\n\tcheckError(errorCode, \"Error querying the event end time\");\n\treturn static_cast(end - start);\n}\n\nstd::string getKernelName(cl_kernel kernel) {\n\tsize_t nameSize;\n\tcl_int errorCode = clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, 0, NULL,\n\t\t\t&nameSize);\n\tcheckError(errorCode, \"Error querying the kernel name size\");\n\tchar* name = new char[nameSize];\n\n\terrorCode = clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, nameSize, name,\n\tNULL);\n\tcheckError(errorCode, \"Error querying the kernel name\");\n\n\tstd::string nameString(name);\n\tdelete[] name;\n\n\treturn nameString;\n}\n\nvoid enqueueKernel(cl_command_queue command_queue, cl_kernel kernel,\n\t\tcl_uint work_dim, const size_t* global_work_offset,\n\t\tconst size_t* global_work_size, const size_t* local_work_size,\n\t\tcl_uint num_events_in_wait_list, const cl_event* event_wait_list,\n\t\tcl_event* event, const std::string& kernelName) {\n\n\tstatic const char* kernel_to_change = getenv(\"KERNEL\");\n\tsize_t new_local_work_size[3];\n\tsize_t new_global_work_size[3];\n\tconst size_t * pnew_local_work_size = local_work_size;\n\tconst size_t * pnew_global_work_size = global_work_size;\n\n\tif (kernel_to_change != NULL) {\n\t\tif (kernelName == kernel_to_change) {\n\n\t\t\tpnew_local_work_size = (const size_t *) &new_local_work_size;\n\t\t\tfor (unsigned int index = 0; index < work_dim; ++index) {\n\t\t\t\tstd::stringstream varname;\n\t\t\t\tvarname << \"ls\" << index;\n\t\t\t\tchar* stringws = getenv(varname.str().c_str());\n\t\t\t\tif (stringws) {\n\t\t\t\t\tstd::istringstream(stringws) >> new_local_work_size[index];\n\t\t\t\t} else {\n\t\t\t\t\tpnew_local_work_size = local_work_size;\n\t\t\t\t\tbreak;\n\t\t\t\t};\n\t\t\t}\n\t\t\tif (pnew_local_work_size == (const size_t *) &new_local_work_size) {\n\t\t\t\tstd::cout << \"New localsize used :\" << pnew_local_work_size[0];\n\t\t\t\tif (work_dim > 1)\n\t\t\t\t\tstd::cout << \"x\" << pnew_local_work_size[1];\n\t\t\t\tif (work_dim > 2)\n\t\t\t\t\tstd::cout << \"x\" << pnew_local_work_size[2];\n\t\t\t\tstd::cout << std::endl;\n\t\t\t}\n\n\t\t\tpnew_global_work_size = (const size_t *) &new_global_work_size;\n\t\t\tfor (unsigned int index = 0; index < work_dim; ++index) {\n\t\t\t\tstd::stringstream varname;\n\t\t\t\tvarname << \"gs\" << index;\n\t\t\t\tchar* stringws = getenv(varname.str().c_str());\n\t\t\t\tif (stringws) {\n\t\t\t\t\tstd::istringstream(stringws) >> new_global_work_size[index];\n\t\t\t\t} else {\n\t\t\t\t\tpnew_global_work_size = global_work_size;\n\t\t\t\t\tbreak;\n\t\t\t\t};\n\t\t\t}\n\t\t\tif (pnew_global_work_size\n\t\t\t\t\t== (const size_t *) &new_global_work_size) {\n\t\t\t\tstd::cout << \"New globalsize used :\"\n\t\t\t\t\t\t<< pnew_global_work_size[0];\n\t\t\t\tif (work_dim > 1)\n\t\t\t\t\tstd::cout << \"x\" << pnew_global_work_size[1];\n\t\t\t\tif (work_dim > 2)\n\t\t\t\t\tstd::cout << \"x\" << pnew_global_work_size[2];\n\t\t\t\tstd::cout << std::endl;\n\t\t\t}\n\n\t\t}\n\n\t}\n\n\t// Get pointer to original function calls.\n\tclEnqueueNDRangeKernelFunction originalclEnqueueKernel;\n\t*(void **) (&originalclEnqueueKernel) = dlsym(RTLD_NEXT,\n\tCL_ENQUEUE_NDRANGE_KERNEL_NAME);\n\n\tcl_int errorCode = 0;\n\n\terrorCode = originalclEnqueueKernel(command_queue, kernel, work_dim,\n\t\t\tglobal_work_offset, global_work_size, pnew_local_work_size,\n\t\t\tnum_events_in_wait_list, event_wait_list, event);\n\n\tcheckError(errorCode, \"Error enqueuing the original kernel\");\n\tclFinish(command_queue);\n\tcl_int eventStatus = clWaitForEvents(1, event);\n\n\tstd::cerr << kernelName;\n\tint totalglobalsize = 1;\n\tint totallocalsize = 1;\n\tfor (unsigned int index = 0; index < work_dim; ++index) {\n\t\ttotalglobalsize *= global_work_size[index];\n\t\tif (pnew_local_work_size) {\n\t\t\ttotallocalsize *= pnew_local_work_size[index];\n\t\t} else {\n\t\t\ttotallocalsize = 0;\n\t\t}\n\n\t}\n\n\tstd::cerr << \" \" << totalglobalsize << \" \" << totallocalsize;\n\n\tif (eventStatus == -5) {\n\t\tstd::cerr << \" 0\" << std::endl;\n\t} else {\n\t\tstd::cerr << \" \" << computeEventDuration(event) << std::endl;\n\t}\n\tcheckError(errorCode, \"Error releasing the event\");\n\n}\n\n// overload function\ncl_int clEnqueueNDRangeKernel(cl_command_queue command_queue, cl_kernel kernel,\n\t\tcl_uint work_dim, const size_t* global_work_offset,\n\t\tconst size_t* global_work_size, const size_t* local_work_size,\n\t\tcl_uint num_events_in_wait_list, const cl_event* event_wait_list,\n\t\tcl_event* event) {\n\n\t// Setup the event to measure the kernel execution time.\n\tbool isEventNull = (event == NULL);\n\tif (isEventNull) {\n\t\tevent = new cl_event();\n\t\tclRetainEvent(*event);\n\t}\n\n\tstd::string kernelName = getKernelName(kernel);\n\n\tenqueueKernel(command_queue, kernel, work_dim, global_work_offset,\n\t\t\tglobal_work_size, local_work_size, num_events_in_wait_list,\n\t\t\tevent_wait_list, event, kernelName);\n\n\tif (isEventNull) {\n\t\tclReleaseEvent(*event);\n\t\tdelete event;\n\t}\n\n\treturn CL_SUCCESS;\n}\n\n// overload function\ncl_command_queue clCreateCommandQueue(cl_context context, cl_device_id device,\n\t\tcl_command_queue_properties properties, cl_int* errcode_ret) {\n\n\t// Get pointer to original function calls.\n\tclCreateCommandQueueFunction originalclCreateCommandQueue;\n\t*(void **) (&originalclCreateCommandQueue) = dlsym(RTLD_NEXT,\n\tCL_CREATE_COMMAND_QUEUE_NAME);\n\n\tproperties = properties | CL_QUEUE_PROFILING_ENABLE;\n\n\treturn originalclCreateCommandQueue(context, device, properties,\n\t\t\terrcode_ret);\n}\n" }, { "path": "icra2018_results/1080/memory_efusion_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:15:40\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//memory_efusion_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /home/bruno/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0090210000\t198579092\t95654128\t750977024\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0026371528\t0.0013185764\t0.0026371528\t0.0017031863\t0.0204370000\t199227998\t95654128\t760807424\t-0.0024932427\t-0.0007044431\t0.0006994744\n3\t0.0800000000\t0.0100871567\t0.0042414365\t0.0100871567\t0.0039453144\t0.0157320000\t199077794\t95654128\t760807424\t-0.0044113910\t-0.0079503814\t0.0020711878\n4\t0.1200000000\t0.0064609488\t0.0047963146\t0.0100871567\t0.0045198247\t0.0167270000\t199078458\t95654128\t760807424\t-0.0073308754\t-0.0036204318\t0.0007240017\n5\t0.1600000000\t0.0057110265\t0.0049792570\t0.0100871567\t0.0042706688\t0.0159490000\t199081750\t95654128\t760807424\t-0.0100553054\t-0.0022949593\t0.0015700991\n6\t0.2000000000\t0.0112805627\t0.0060294746\t0.0112805627\t0.0041732509\t0.0158290000\t199083358\t95654128\t760807424\t-0.0072992113\t-0.0091361767\t0.0032450091\n7\t0.2400000000\t0.0135540208\t0.0071044098\t0.0135540208\t0.0039259674\t0.0158660000\t199085966\t95654128\t760807424\t-0.0089091705\t-0.0113498140\t0.0037236330\n8\t0.2800000000\t0.0107231289\t0.0075567497\t0.0135540208\t0.0037343884\t0.0159900000\t199088574\t95654128\t760807424\t-0.0096100438\t-0.0084813563\t0.0030573488\n9\t0.3200000000\t0.0097235013\t0.0077974998\t0.0135540208\t0.0035714156\t0.0158910000\t199090286\t95654128\t760807424\t-0.0101317223\t-0.0085724834\t0.0021830453\n10\t0.3600000000\t0.0067283097\t0.0076905808\t0.0135540208\t0.0034787580\t0.0158600000\t199094494\t95654128\t760807424\t-0.0100675877\t-0.0046240999\t0.0014621485\n11\t0.4000000000\t0.0064338772\t0.0075763350\t0.0135540208\t0.0038185849\t0.0158490000\t199097102\t95654128\t760807424\t-0.0118880654\t-0.0051044086\t0.0014768707\n12\t0.4400000000\t0.0055728490\t0.0074093779\t0.0135540208\t0.0037261660\t0.0157930000\t199098042\t95654128\t760807424\t-0.0098036425\t-0.0047088633\t0.0001410431\n13\t0.4800000000\t0.0088175200\t0.0075176965\t0.0135540208\t0.0035711982\t0.0158060000\t199100850\t95654128\t760807424\t-0.0071352324\t-0.0061654276\t-0.0000742798\n14\t0.5200000000\t0.0092213796\t0.0076393881\t0.0135540208\t0.0034565984\t0.0158490000\t199103458\t95654128\t760807424\t-0.0065823053\t-0.0051982040\t-0.0007044386\n15\t0.5600000000\t0.0108876443\t0.0078559385\t0.0135540208\t0.0033434001\t0.0158200000\t199104266\t95654128\t760807424\t-0.0089444770\t-0.0056892172\t0.0006350941\n16\t0.6000000000\t0.0184974466\t0.0085210328\t0.0184974466\t0.0034223249\t0.0158250000\t199106874\t95654128\t760807424\t-0.0084662288\t-0.0161986072\t0.0018946307\n17\t0.6400000000\t0.0161478408\t0.0089696686\t0.0184974466\t0.0034379325\t0.0158350000\t199109290\t95654128\t760807424\t-0.0113789421\t-0.0153486151\t0.0001675033\n18\t0.6800000000\t0.0221328847\t0.0097009583\t0.0221328847\t0.0034413521\t0.0158170000\t199115098\t95654128\t760807424\t-0.0084276451\t-0.0197052192\t0.0019852838\n19\t0.7200000000\t0.0201055091\t0.0102485663\t0.0221328847\t0.0034966226\t0.0164440000\t199117706\t95654128\t760807424\t-0.0103541492\t-0.0174598750\t0.0006507002\n20\t0.7600000000\t0.0215131119\t0.0108117936\t0.0221328847\t0.0034549391\t0.0160710000\t199118514\t95654128\t760807424\t-0.0144756893\t-0.0206799004\t0.0013912533\n21\t0.8000000000\t0.0267535094\t0.0115709229\t0.0267535094\t0.0034232776\t0.0158840000\t199121454\t95654128\t760807424\t-0.0124407895\t-0.0230992008\t0.0020042015\n22\t0.8400000000\t0.0300625525\t0.0124114515\t0.0300625525\t0.0034358628\t0.0158450000\t199123982\t95654128\t760807424\t-0.0136958817\t-0.0249262918\t0.0017657080\n23\t0.8800000000\t0.0304828174\t0.0131971631\t0.0304828174\t0.0033707266\t0.0158130000\t199124790\t95654128\t760807424\t-0.0125416974\t-0.0257448442\t0.0012449664\n24\t0.9200000000\t0.0266937762\t0.0137595220\t0.0304828174\t0.0033523162\t0.0157630000\t199127398\t95654128\t760807424\t-0.0233151205\t-0.0214212872\t-0.0001865282\n25\t0.9600000000\t0.0255954564\t0.0142329593\t0.0304828174\t0.0033549478\t0.0157860000\t199130206\t95654128\t760807424\t-0.0254838523\t-0.0196202770\t-0.0012257308\n26\t1.0000000000\t0.0262101721\t0.0146936214\t0.0304828174\t0.0033388963\t0.0157580000\t199130998\t95654128\t760807424\t-0.0275975335\t-0.0184477344\t-0.0018390665\n27\t1.0400000000\t0.0282834247\t0.0151969474\t0.0304828174\t0.0033520922\t0.0157450000\t199133606\t95654128\t760807424\t-0.0316985361\t-0.0205885638\t-0.0045927404\n28\t1.0800000000\t0.0305297207\t0.0157445465\t0.0305297207\t0.0034793504\t0.0157420000\t199136214\t95654128\t760807424\t-0.0358802713\t-0.0213602856\t-0.0044593825\n29\t1.1200000000\t0.0339501053\t0.0163723243\t0.0339501053\t0.0036339901\t0.0157200000\t199137206\t95654128\t760807424\t-0.0404079594\t-0.0243348610\t-0.0062383506\n30\t1.1600000000\t0.0291963574\t0.0167997921\t0.0339501053\t0.0035759123\t0.0157130000\t199139814\t95654128\t760807424\t-0.052539501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}, { "path": "icra2018_results/1080/memory_infinitam_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:15:57\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//memory_infinitam_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0032290000\t14154453\t955859216\t1375797248\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0025881492\t0.0012940746\t0.0025881492\t0.0016479522\t0.0025110000\t14351349\t955859216\t1373700096\t0.0001491974\t-0.0015389282\t0.0011201169\n3\t0.0800000000\t0.0054591955\t0.0026824482\t0.0054591955\t0.0017220981\t0.0013390000\t14353717\t955859216\t1373700096\t-0.0038292797\t-0.0031308038\t0.0017659018\n4\t0.1200000000\t0.0071080080\t0.0037888382\t0.0071080080\t0.0015496811\t0.0013280000\t14356093\t955859216\t1373700096\t-0.0022651835\t-0.0055630994\t0.0010873042\n5\t0.1600000000\t0.0088851051\t0.0048080916\t0.0088851051\t0.0013764281\t0.0013240000\t14358453\t955859216\t1373700096\t-0.0045972592\t-0.0063785226\t0.0030389763\n6\t0.2000000000\t0.0102891028\t0.0057215934\t0.0102891028\t0.0012644645\t0.0013360000\t14361229\t955859216\t1373700096\t-0.0038707939\t-0.0083202105\t0.0025938994\n7\t0.2400000000\t0.0119142374\t0.0066062569\t0.0119142374\t0.0012500048\t0.0013240000\t14363205\t955859216\t1373700096\t-0.0037800057\t-0.0100338357\t0.0033170516\n8\t0.2800000000\t0.0135552306\t0.0074748786\t0.0135552306\t0.0012154173\t0.0013220000\t14365181\t955859216\t1373700096\t-0.0048537147\t-0.0114162117\t0.0035832629\n9\t0.3200000000\t0.0145001300\t0.0082554621\t0.0145001300\t0.0012413039\t0.0013370000\t14367925\t955859216\t1373700096\t-0.0065823239\t-0.0129055651\t0.0038818400\n10\t0.3600000000\t0.0164705422\t0.0090769701\t0.0164705422\t0.0012859763\t0.0013270000\t14371501\t955859216\t1373700096\t-0.0065532792\t-0.0136584528\t0.0049750521\n11\t0.4000000000\t0.0168847069\t0.0097867643\t0.0168847069\t0.0015188572\t0.0013360000\t14373477\t955859216\t1373700096\t-0.0073775002\t-0.0149108972\t0.0057885116\n12\t0.4400000000\t0.0184355862\t0.0105074995\t0.0184355862\t0.0018455035\t0.0013400000\t14375453\t955859216\t1373700096\t-0.0073211030\t-0.0166409519\t0.0053952606\n13\t0.4800000000\t0.0194877144\t0.0111982853\t0.0194877144\t0.0019781877\t0.0013360000\t14377429\t955859216\t1373700096\t-0.0093033938\t-0.0177838691\t0.0062079947\n14\t0.5200000000\t0.0215931833\t0.0119407780\t0.0215931833\t0.0019389495\t0.0013460000\t14379405\t955859216\t1373700096\t-0.0092646340\t-0.0187591910\t0.0061596120\n15\t0.5600000000\t0.0229519214\t0.0126748542\t0.0229519214\t0.0018724351\t0.0013410000\t14381381\t955859216\t1373700096\t-0.0117975315\t-0.0188956149\t0.0072132889\n16\t0.6000000000\t0.0226152837\t0.0132961310\t0.0229519214\t0.0018597716\t0.0013360000\t14383357\t955859216\t1373700096\t-0.0114101861\t-0.0204201397\t0.0061401250\n17\t0.6400000000\t0.0235187877\t0.0138974638\t0.0235187877\t0.0018271797\t0.0013500000\t14386869\t955859216\t1373700096\t-0.0131594259\t-0.0225843228\t0.0049224421\n18\t0.6800000000\t0.0242247451\t0.0144712016\t0.0242247451\t0.0017733804\t0.0013550000\t14392045\t955859216\t1373700096\t-0.0144591192\t-0.0231084172\t0.0060552214\n19\t0.7200000000\t0.0251365639\t0.0150325365\t0.0251365639\t0.0017820581\t0.0013500000\t14394021\t955859216\t1373700096\t-0.0158813652\t-0.0237181839\t0.0058658649\n20\t0.7600000000\t0.0248267893\t0.0155222491\t0.0251365639\t0.0018951142\t0.0013630000\t14395997\t955859216\t1373700096\t-0.0188157484\t-0.0246541630\t0.0053912690\n21\t0.8000000000\t0.0255757589\t0.0160009877\t0.0255757589\t0.0018563175\t0.0013510000\t14397973\t955859216\t1373700096\t-0.0216081440\t-0.0244546160\t0.0059043700\n22\t0.8400000000\t0.0259834453\t0.0164547358\t0.0259834453\t0.0018325142\t0.0013500000\t14399949\t955859216\t1373700096\t-0.0269861184\t-0.0256312098\t0.0054987129\n23\t0.8800000000\t0.0263936277\t0.0168868615\t0.0263936277\t0.0017920898\t0.0013550000\t14401925\t955859216\t1373700096\t-0.0269361660\t-0.0269933641\t0.0040242895\n24\t0.9200000000\t0.0290096086\t0.0173919760\t0.0290096086\t0.0017804430\t0.0013600000\t14403901\t955859216\t1373700096\t-0.0341994502\t-0.0279302467\t0.0039055997\n25\t0.9600000000\t0.0310023297\t0.0179363901\t0.0310023297\t0.0017817479\t0.0013700000\t14405877\t955859216\t1373700096\t-0.0355961397\t-0.0286908429\t0.0036661206\n26\t1.0000000000\t0.0305129699\t0.0184201047\t0.0310023297\t0.0017510060\t0.0013800000\t14407853\t955859216\t1373700096\t-0.0414785407\t-0.0296978280\t0.0043538357\n27\t1.0400000000\t0.0316679142\t0.0189107643\t0.0316679142\t0.0018663164\t0.0014130000\t14409829\t955859216\t1373700096\t-0.0470324941\t-0.0315172486\t0.0024761977\n28\t1.0800000000\t0.0337086208\t0.0194392592\t0.0337086208\t0.0020549393\t0.0014010000\t14411805\t955859216\t1373700096\t-0.0515129343\t-0.0316950865\t0.0026543664\n29\t1.1200000000\t0.0356133878\t0.0199969878\t0.0356133878\t0.0022439035\t0.0013830000\t14413781\t955859216\t1373700096\t-0.0572070330\t-0.0333026834\t0.0003335181\n30\t1.1600000000\t0.0347626582\t0.0204891768\t0.0356133878\t0.0022601454\t0.0013850000\t14415757\t955859216\t1373700096\t-0.0664446056\t-0.0332099199\t0.0019988301\n31\t1.2000000000\t0.0365049243\t0.0210058138\t0.0365049243\t0.0022730069\t0.0013920000\t14417733\t955859216\t1373700096\t-0.0729319826\t-0.0341823138\t0.0006545496\n32\t1.2400000000\t0.0382170007\t0.0215436634\t0.0382170007\t0.0023176666\t0.0013980000\t14419709\t955859216\t1373700096\t-0.0794171691\t-0.0354639962\t-0.0012621412\n33\t1.2800000000\t0.0381254628\t0.0220461422\t0.0382170007\t0.0023842527\t0.0013710000\t14424757\t955859216\t1373700096\t-0.0849476159\t-0.0357555747\t-0.0015644442\n34\t1.3200000000\t0.0218973160\t0.0220417649\t0.0382170007\t0.0027749393\t0.0015460000\t14433133\t955859216\t1373700096\t-0.1155837104\t-0.0208355766\t-0.0059262030\n35\t1.3600000000\t0.0269055553\t0.0221807304\t0.0382170007\t0.0031649691\t0.0013900000\t14435109\t955859216\t1373700096\t-0.1185312197\t-0.0249380656\t-0.0073561864\n36\t1.4000000000\t0.0308846049\t0.0224225047\t0.0382170007\t0.0037752240\t0.0014060000\t14437085\t955859216\t1373700096\t-0.1235114485\t-0.0278855376\t-0.0082394835\n37\t1.4400000000\t0.0266829748\t0.0225376525\t0.0382170007\t0.0037802259\t0.0014470000\t14439061\t955859216\t1373700096\t-0.1348785460\t-0.0258857105\t-0.0080295652\n38\t1.4800000000\t0.0257613659\t0.0226224871\t0.0382170007\t0.0037351145\t0.0014460000\t14441037\t955859216\t1373700096\t-0.1467400491\t-0.0255210809\t-0.0075408090\n39\t1.5200000000\t0.0296551362\t0.0228028114\t0.0382170007\t0.0036947716\t0.0014040000\t14443013\t955859216\t1373700096\t-0.1497309208\t-0.0299648773\t-0.0099029290\n40\t1.5600000000\t0.0270952452\t0.0229101222\t0.0382170007\t0.0036930166\t0.0014360000\t14444989\t955859216\t1373700096\t-0.1597596854\t-0.0291190129\t-0.0099063823\n41\t1.6000000000\t0.0262605809\t0.0229918408\t0.0382170007\t0.0037110824\t0.0014400000\t14446965\t955859216\t1373700096\t-0.1702438444\t-0.0294301435\t-0.0084069343\n42\t1.6400000000\t0.0271349922\t0.0230904872\t0.0382170007\t0.0036676876\t0.0014460000\t14448941\t955859216\t1373700096\t-0.1833981723\t-0.0287976358\t-0.0060266475\n43\t1.6800000000\t0.0303194262\t0.0232586021\t0.0382170007\t0.0036343626\t0.0013880000\t14450917\t955859216\t1373700096\t-0.1894268394\t-0.0313646793\t-0.0020316369\n44\t1.7200000000\t0.0335382596\t0.0234922307\t0.0382170007\t0.0036435140\t0.0013990000\t14452893\t955859216\t1373700096\t-0.1955450326\t-0.0352081619\t-0.0032847128\n45\t1.7600000000\t0.0372643732\t0.0237982783\t0.0382170007\t0.0036350177\t0.0013990000\t14454869\t955859216\t1373700096\t-0.2029326856\t-0.0366833508\t0.0011243984\n46\t1.8000000000\t0.0399724022\t0.0241498897\t0.0399724022\t0.0036277491\t0.0014300000\t14456845\t955859216\t1373700096\t-0.2087752372\t-0.0387931019\t0.0019241077\n47\t1.8400000000\t0.0405393429\t0.0244986014\t0.0405393429\t0.0037262251\t0.0014210000\t14458821\t955859216\t1373700096\t-0.2119503319\t-0.0412296169\t0.0018131750\n48\t1.8800000000\t0.0420067310\t0.0248633541\t0.0420067310\t0.0037501546\t0.0014260000\t14460797\t955859216\t1373700096\t-0.2160209864\t-0.0428662635\t0.0032152513\n49\t1.9200000000\t0.0443751439\t0.0252615539\t0.0443751439\t0.0037142039\t0.0014320000\t14462773\t955859216\t1373700096\t-0.2228552103\t-0.0440444313\t0.0045203562\n50\t1.9600000000\t0.0251635127\t0.0252595931\t0.0443751439\t0.0038263271\t0.0016050000\t14464749\t955859216\t1373700096\t-0.2402641028\t-0.0259081163\t0.0049249073\n51\t2.0000000000\t0.0293987244\t0.0253407525\t0.0443751439\t0.0038208179\t0.0014190000\t14466725\t955859216\t1373700096\t-0.2385581285\t-0.0302260872\t0.0030440737\n52\t2.0400000000\t0.0334663391\t0.0254970138\t0.0443751439\t0.0037914368\t0.0014310000\t14468701\t955859216\t1373700096\t-0.2414335310\t-0.0336947329\t0.0031636760\n53\t2.0800000000\t0.0354457237\t0.0256847253\t0.0443751439\t0.0038141348\t0.0014460000\t14470677\t955859216\t1373700096\t-0.2432968765\t-0.0379859805\t0.0004846470\n54\t2.1200000000\t0.0258635953\t0.0256880377\t0.0443751439\t0.0040135992\t0.0015450000\t14472653\t955859216\t1373700096\t-0.2575136721\t-0.0302962568\t0.0039240415\n55\t2.1600000000\t0.0309045892\t0.0257828841\t0.0443751439\t0.0040589232\t0.0014300000\t14474629\t955859216\t1373700096\t-0.2591563165\t-0.0344214514\t0.0048075295\n56\t2.2000000000\t0.0258393213\t0.0257838919\t0.0443751439\t0.0041008896\t0.0015610000\t14476605\t955859216\t1373700096\t-0.2797060907\t-0.0290874317\t0.0127212144\n57\t2.2400000000\t0.0277811196\t0.0258189310\t0.0443751439\t0.0040722242\t0.0014520000\t14478581\t955859216\t1373700096\t-0.2843064368\t-0.0336447693\t0.0137693761\n58\t2.2800000000\t0.0279245954\t0.0258552356\t0.0443751439\t0.0040759789\t0.0014830000\t14480557\t955859216\t1373700096\t-0.2935922742\t-0.0344253518\t0.0165702961\n59\t2.3200000000\t0.0288918708\t0.0259067040\t0.0443751439\t0.0042119350\t0.0015000000\t14482533\t955859216\t1373700096\t-0.3075580895\t-0.0330242738\t0.0224231575\n60\t2.3600000000\t0.0308595840\t0.0259892520\t0.0443751439\t0.0043340308\t0.0014730000\t14484509\t955859216\t1373700096\t-0.3106804490\t-0.03666701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}, { "path": "icra2018_results/1080/memory_kfusion_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:15:34\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//memory_kfusion_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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00\t0.0018930000\t0.0000040000\t0.0000030000\t0.0014490000\t15475037\t96830484\t509673472\t3.4254279137\t4.1587538719\t5.1712212563\n882\t35.2400000000\t0.0050967298\t0.0093042306\t0.0234038215\t0.0080019516\t0.0050450000\t0.0004000000\t0.0025570000\t0.0000010000\t0.0000040000\t0.0008090000\t15477813\t96830484\t509673472\t3.4259686470\t4.1547031403\t5.1718530655\n" }, { "path": "icra2018_results/1080/memory_lsdslam_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:01:39\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//memory_lsdslam_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0153440000\t86827604\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0010221110\t0.0005110555\t0.0010221110\t0.0016486765\t0.0387140000\t103183657\t0\t402718720\t-0.0006010678\t-0.0001195244\t0.0001060443\n3\t0.0800000000\t0.0050368467\t0.0020196526\t0.0050368467\t0.0023331402\t0.0215020000\t106455569\t0\t402718720\t-0.0005712564\t-0.0001159089\t-0.0002626415\n4\t0.1200000000\t0.0030105244\t0.0022673706\t0.0050368467\t0.0021972292\t0.0213530000\t106458217\t0\t402718720\t-0.0008395423\t-0.0004368496\t-0.0003819885\n5\t0.1600000000\t0.0058184462\t0.0029775857\t0.0058184462\t0.0019636265\t0.0206820000\t106460881\t0\t402718720\t-0.0009795793\t-0.0000027206\t-0.0002612148\n6\t0.2000000000\t0.0051384396\t0.0033377280\t0.0058184462\t0.0018817739\t0.0207890000\t106463929\t0\t402718720\t-0.0005845805\t-0.0000757059\t-0.0006002540\n7\t0.2400000000\t0.0052057360\t0.0036045863\t0.0058184462\t0.0017252949\t0.0203400000\t106466177\t0\t402718720\t-0.0005683319\t0.0000713028\t-0.0004218094\n8\t0.2800000000\t0.0065800720\t0.0039765220\t0.0065800720\t0.0016593006\t0.0203840000\t106468425\t0\t402718720\t-0.0006063433\t0.0001757963\t-0.0005147401\n9\t0.3200000000\t0.0080526182\t0.0044294216\t0.0080526182\t0.0016340920\t0.0221440000\t106471505\t0\t402718720\t-0.0010380259\t0.0000522868\t-0.0005210924\n10\t0.3600000000\t0.0081044836\t0.0047969278\t0.0081044836\t0.0016454699\t0.0221780000\t106475353\t0\t402718720\t-0.0013087916\t0.0000750954\t-0.0004509437\n11\t0.4000000000\t0.0093984492\t0.0052152479\t0.0093984492\t0.0018088903\t0.0199610000\t106477601\t0\t402718720\t-0.0008957226\t0.0000751102\t-0.0001808895\n12\t0.4400000000\t0.0094706044\t0.0055698610\t0.0094706044\t0.0021761640\t0.0206070000\t106479849\t0\t402718720\t-0.0007593075\t-0.0000005458\t-0.0004498283\n13\t0.4800000000\t0.0110082580\t0.0059881992\t0.0110082580\t0.0022167070\t0.0195020000\t106482097\t0\t402718720\t-0.0016798322\t-0.0000336746\t-0.0001003841\n14\t0.5200000000\t0.0109660253\t0.0063437582\t0.0110082580\t0.0021937212\t0.0296290000\t106484345\t0\t402718720\t-0.0019606531\t-0.0010226226\t-0.0000116620\n15\t0.5600000000\t0.0139691764\t0.0068521194\t0.0139691764\t0.0021532649\t0.0213330000\t106486593\t0\t402718720\t-0.0020313677\t0.0001300166\t-0.0003221555\n16\t0.6000000000\t0.0133041330\t0.0072553703\t0.0139691764\t0.0022222298\t0.0206140000\t106488841\t0\t402718720\t-0.0015773640\t-0.0000094086\t-0.0005183284\n17\t0.6400000000\t0.0138059510\t0.0076406985\t0.0139691764\t0.0022505849\t0.0205280000\t106492753\t0\t402718720\t-0.0031562904\t-0.0012515889\t-0.0008958912\n18\t0.6800000000\t0.0174049083\t0.0081831546\t0.0174049083\t0.0023576317\t0.0228820000\t106498201\t0\t402718720\t-0.0016320179\t-0.0045921686\t-0.0006295637\n19\t0.7200000000\t0.0175940488\t0.0086784649\t0.0175940488\t0.0025288205\t0.0194630000\t106500449\t0\t402718720\t-0.0023679030\t-0.0004589465\t-0.0013908958\n20\t0.7600000000\t0.0203366689\t0.0092613751\t0.0203366689\t0.0025888000\t0.0197780000\t106502697\t0\t402718720\t-0.0026747861\t-0.0005096134\t-0.0014838291\n21\t0.8000000000\t0.0241022408\t0.0099680829\t0.0241022408\t0.0025306025\t0.0199860000\t106504945\t0\t402718720\t-0.0018647636\t-0.0001894720\t-0.0016551752\n22\t0.8400000000\t0.0295359325\t0.0108575307\t0.0295359325\t0.0026146935\t0.0202690000\t106507193\t0\t402718720\t-0.0021181731\t-0.0002913807\t-0.0015463522\n23\t0.8800000000\t0.0290699080\t0.0116493731\t0.0295359325\t0.0025785272\t0.0207710000\t106509441\t0\t402718720\t-0.0020462936\t0.0000022076\t-0.0023591069\n24\t0.9200000000\t0.0352930799\t0.0126345276\t0.0352930799\t0.0028196324\t0.0222310000\t106511689\t0\t402718720\t-0.0041387957\t0.0000000737\t-0.0031308315\n25\t0.9600000000\t0.0355664901\t0.0135518061\t0.0355664901\t0.0027740306\t0.0537790000\t106513937\t0\t402718720\t-0.0050042840\t0.0009137367\t-0.0037828644\n26\t1.0000000000\t0.0407356694\t0.0145973393\t0.0407356694\t0.0028441873\t0.0273460000\t106516185\t0\t402718720\t-0.0061319182\t0.0006566583\t-0.0029565943\n27\t1.0400000000\t0.0460910574\t0.0157637733\t0.0460910574\t0.0030297597\t0.0224980000\t106518433\t0\t402718720\t-0.0064592562\t0.0004693865\t-0.0043467609\n28\t1.0800000000\t0.0489963107\t0.0169506496\t0.0489963107\t0.0033440414\t0.0199230000\t106520681\t0\t402718720\t-0.0083498303\t-0.0004474318\t-0.0041515878\n29\t1.1200000000\t0.0525621250\t0.0181786315\t0.0525621250\t0.0036770268\t0.0222550000\t106522929\t0\t402718720\t-0.0109420186\t-0.0000399562\t-0.0050495001\n30\t1.1600000000\t0.0571475215\t0.0194775945\t0.0571475215\t0.0041794470\t0.0339010000\t106525177\t0\t402718720\t-0.0159000810\t-0.0000889053\t-0.0038441299\n31\t1.2000000000\t0.0600341931\t0.0207858719\t0.0600341931\t0.0043455298\t0.0279580000\t106527425\t0\t402718720\t-0.0195541866\t-0.0003700769\t-0.0041839192\n32\t1.240000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}, { "path": "icra2018_results/1080/memory_orbslam2_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:14:38\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//memory_orbslam2_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.1147620000\t348371200\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0015366985\t0.0007683493\t0.0015366985\t0.0014142410\t0.0354160000\t356516126\t0\t402718720\t0.0006963463\t0.0000178619\t-0.0003427534\n3\t0.0800000000\t0.0016735863\t0.0010700950\t0.0016735863\t0.0011899923\t0.0326400000\t356446883\t0\t402718720\t-0.0042211143\t0.0007406494\t-0.0004876328\n4\t0.1200000000\t0.0024419085\t0.0014130483\t0.0024419085\t0.0014277847\t0.0314370000\t356416730\t0\t402718720\t-0.0008867451\t0.0010379477\t-0.0008999060\n5\t0.1600000000\t0.0039741946\t0.0019252776\t0.0039741946\t0.0016265168\t0.0306160000\t356419874\t0\t402718720\t-0.0042848135\t-0.0013940356\t0.0008131070\n6\t0.2000000000\t0.0014003824\t0.0018377951\t0.0039741946\t0.0019230322\t0.0316000000\t356427202\t0\t402718720\t-0.0041308869\t0.0017212915\t-0.0003472701\n7\t0.2400000000\t0.0010873142\t0.0017305835\t0.0039741946\t0.0017641345\t0.0313640000\t356430022\t0\t402718720\t-0.0050418065\t0.0021759116\t-0.0001017336\n8\t0.2800000000\t0.0027016464\t0.0018519664\t0.0039741946\t0.0017276818\t0.0311400000\t356432746\t0\t402718720\t-0.0046347482\t0.0026124960\t-0.0001455753\n9\t0.3200000000\t0.0015491414\t0.0018183191\t0.0039741946\t0.0018703967\t0.0316000000\t356435798\t0\t402718720\t-0.0078405319\t0.0016512125\t-0.0006178146\n10\t0.3600000000\t0.0028334318\t0.0019198304\t0.0039741946\t0.0018593079\t0.0312950000\t356439614\t0\t402718720\t-0.0068665133\t0.0035439760\t-0.0001547314\n11\t0.4000000000\t0.0011676110\t0.0018514468\t0.0039741946\t0.0020431603\t0.0315180000\t356443014\t0\t402718720\t-0.0089891246\t0.0010386308\t0.0009926157\n12\t0.4400000000\t0.0008785391\t0.0017703712\t0.0039741946\t0.0022557723\t0.0310080000\t356445430\t0\t402718720\t-0.0096634757\t0.0001935088\t0.0000033209\n13\t0.4800000000\t0.0022112497\t0.0018042849\t0.0039741946\t0.0023560131\t0.0311450000\t356447906\t0\t402718720\t-0.0106707150\t-0.0000895370\t0.0001798930\n14\t0.5200000000\t0.0030858414\t0.0018958247\t0.0039741946\t0.0022856067\t0.0310860000\t356451854\t0\t402718720\t-0.0098020658\t0.0009585606\t-0.0008529733\n15\t0.5600000000\t0.0014060595\t0.0018631737\t0.0039741946\t0.0022711367\t0.0315540000\t356454530\t0\t402718720\t-0.0156703815\t0.0014727294\t0.0008822269\n16\t0.6000000000\t0.0016274810\t0.0018484429\t0.0039741946\t0.0022656387\t0.0310680000\t356457014\t0\t402718720\t-0.0132763758\t0.0015437255\t-0.0000447271\n17\t0.6400000000\t0.0036871072\t0.0019565996\t0.0039741946\t0.0022674515\t0.0309600000\t356459902\t0\t402718720\t-0.0145988856\t-0.0030452055\t-0.0022173140\n18\t0.6800000000\t0.0015628892\t0.0019347268\t0.0039741946\t0.0022558057\t0.0315100000\t356465094\t0\t402718720\t-0.0173929222\t-0.0003607706\t-0.0016158025\n19\t0.7200000000\t0.0052115913\t0.0021071933\t0.0052115913\t0.0022556278\t0.0317960000\t356468642\t0\t402718720\t-0.0179517865\t-0.0046272194\t-0.0016029361\n20\t0.7600000000\t0.0028862215\t0.0021461447\t0.0052115913\t0.0023998337\t0.0313230000\t356472718\t0\t402718720\t-0.0215866417\t-0.0035259330\t-0.0019827508\n21\t0.8000000000\t0.0063275355\t0.0023452586\t0.0063275355\t0.0023765011\t0.0312580000\t356477586\t0\t402718720\t-0.0200570486\t-0.0022941725\t-0.0018668360\n22\t0.8400000000\t0.0042913128\t0.0024337156\t0.0063275355\t0.0023413879\t0.0318140000\t356482610\t0\t402718720\t-0.0283920206\t-0.0035139772\t-0.0026809138\n23\t0.8800000000\t0.0066685574\t0.0026178392\t0.0066685574\t0.0023221498\t0.0318370000\t356485550\t0\t402718720\t-0.0246901587\t-0.0034089976\t-0.0044475487\n24\t0.9200000000\t0.0057054879\t0.0027464912\t0.0066685574\t0.0023081019\t0.0318870000\t356491030\t0\t402718720\t-0.0348994806\t-0.0033104646\t-0.0056543429\n25\t0.9600000000\t0.0055181221\t0.0028573564\t0.0066685574\t0.0022774061\t0.0315750000\t356494566\t0\t402718720\t-0.0358598940\t-0.0017885674\t-0.0057806456\n26\t1.0000000000\t0.0069222231\t0.0030136975\t0.0069222231\t0.0022437816\t0.0312170000\t356496754\t0\t402718720\t-0.0404531658\t-0.0023146968\t-0.0057929303\n27\t1.0400000000\t0.0060039097\t0.0031244461\t0.0069222231\t0.0022860279\t0.0311380000\t356501174\t0\t402718720\t-0.0465699174\t-0.0008327917\t-0.0066495575\n28\t1.0800000000\t0.0051015019\t0.0031950552\t0.0069222231\t0.0025453202\t0.0312540000\t356506158\t0\t402718720\t-0.0554234795\t-0.0041456232\t-0.0077031013\n29\t1.1200000000\t0.0036743453\t0.0032115824\t0.0069222231\t0.0026425882\t0.0309950000\t356510766\t0\t402718720\t-0.0611919314\t-0.0012619670\t-0.0112496382\n30\t1.1600000000\t0.0049112891\t0.0032682393\t0.0069222231\t0.0027329887\t0.0311790000\t356515358\t0\t402718720\t-0.0683106035\t-0.0017751934\t-0.0072918683\n31\t1.2000000000\t0.0051721591\t0.0033296561\t0.0069222231\t0.0027166468\t0.0308590000\t356519742\t0\t402718720\t-0.0744710416\t-0.0005747064\t-0.0098682940\n32\t1.2400000000\t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}, { "path": "icra2018_results/1080/violons_libefusion-cuda_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 01:25:26\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libefusion-cuda_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /home/bruno/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0253950000\t198738908\t95654128\t750977024\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0060497462\t0.0030248731\t0.0060497462\t0.0064463918\t0.0239650000\t199524134\t95654128\t760807424\t-0.0008780303\t-0.0012178377\t-0.0001706580\n3\t0.0800000000\t0.0096953409\t0.0052483624\t0.0096953409\t0.0049059559\t0.0209660000\t199373666\t95654128\t760807424\t-0.0010523738\t-0.0070183724\t-0.0013676159\n4\t0.1200000000\t0.0045009982\t0.0050615213\t0.0096953409\t0.0066517178\t0.0301800000\t199374462\t95654128\t760807424\t-0.0009397154\t-0.0027233711\t-0.0007470614\n5\t0.1600000000\t0.0026911977\t0.0045874566\t0.0096953409\t0.0067403485\t0.0198060000\t199377622\t95654128\t760807424\t0.0032244746\t-0.0043270830\t-0.0006665161\n6\t0.2000000000\t0.0039746398\t0.0044853205\t0.0096953409\t0.0062225673\t0.0182480000\t199379230\t95654128\t760807424\t-0.0014669911\t-0.0070265811\t0.0018310461\n7\t0.2400000000\t0.0044925380\t0.0044863515\t0.0096953409\t0.0059239299\t0.0179350000\t199381838\t95654128\t760807424\t-0.0019187463\t-0.0080926828\t0.0039794650\n8\t0.2800000000\t0.0061262650\t0.0046913407\t0.0096953409\t0.0054872193\t0.0170970000\t199384446\t95654128\t760807424\t-0.0029230067\t-0.0045495136\t0.0042556911\n9\t0.3200000000\t0.0107976170\t0.0053698159\t0.0107976170\t0.0051717517\t0.0204390000\t199386158\t95654128\t760807424\t-0.0071431012\t-0.0024934155\t0.0047728200\n10\t0.3600000000\t0.0108827120\t0.0059211055\t0.0108827120\t0.0049018398\t0.0175250000\t199390366\t95654128\t760807424\t-0.0062207761\t-0.0069856350\t0.0064257323\n11\t0.4000000000\t0.0110362647\t0.0063861200\t0.0110362647\t0.0047355060\t0.0171270000\t199392974\t95654128\t760807424\t-0.0060840631\t-0.0089186076\t0.0076925480\n12\t0.4400000000\t0.0118381567\t0.0068404564\t0.0118381567\t0.0047106230\t0.0287230000\t199393782\t95654128\t760807424\t-0.0057332567\t-0.0106529100\t0.0082174987\n13\t0.4800000000\t0.0144480206\t0.0074256536\t0.0144480206\t0.0045781426\t0.0226970000\t199397618\t95654128\t760807424\t-0.0086134346\t-0.0058507370\t0.0081017157\n14\t0.5200000000\t0.0185418390\t0.0082196668\t0.0185418390\t0.0044692107\t0.0181310000\t199400226\t95654128\t760807424\t-0.0123227816\t-0.0048453701\t0.0095936302\n15\t0.5600000000\t0.0191221144\t0.0089464967\t0.0191221144\t0.0043999624\t0.0171230000\t199401034\t95654128\t760807424\t-0.0110107316\t-0.0078883320\t0.0115060620\n16\t0.6000000000\t0.0205922760\t0.0096743579\t0.0205922760\t0.0042762669\t0.0171350000\t199403642\t95654128\t760807424\t-0.0117928097\t-0.0083367620\t0.0124819549\n17\t0.6400000000\t0.0209578164\t0.0103380907\t0.0209578164\t0.0042927793\t0.0171360000\t199406058\t95654128\t760807424\t-0.0129461791\t-0.0069401292\t0.0121296095\n18\t0.6800000000\t0.0228265971\t0.0110318967\t0.0228265971\t0.0042004220\t0.0171540000\t199411866\t95654128\t760807424\t-0.0139405942\t-0.0067751678\t0.0128853805\n19\t0.7200000000\t0.0231229253\t0.0116682666\t0.0231229253\t0.0041137106\t0.0170230000\t199414474\t95654128\t760807424\t-0.0117614055\t-0.0077140937\t0.0139208268\n20\t0.7600000000\t0.0232820027\t0.0122489534\t0.0232820027\t0.0040753901\t0.0161550000\t199415282\t95654128\t760807424\t-0.0121504553\t-0.0056657456\t0.0132102938\n21\t0.8000000000\t0.0237098038\t0.0127947082\t0.0237098038\t0.0040545019\t0.0165780000\t199418090\t95654128\t760807424\t-0.0142515246\t-0.0018977216\t0.0128063960\n22\t0.8400000000\t0.0250555966\t0.0133520213\t0.0250555966\t0.0040186082\t0.0161180000\t199420618\t95654128\t760807424\t-0.0162137374\t0.0007335951\t0.0123082837\n23\t0.8800000000\t0.0261386037\t0.0139079596\t0.0261386037\t0.0039474974\t0.0160760000\t199421426\t95654128\t760807424\t-0.0164604746\t0.0019352607\t0.0125871263\n24\t0.9200000000\t0.0274126902\t0.0144706568\t0.0274126902\t0.0038716328\t0.0161090000\t199424018\t95654128\t760807424\t-0.0168668926\t0.0039058439\t0.0123924874\n25\t0.9600000000\t0.0263647176\t0.0149464192\t0.0274126902\t0.0038001610\t0.0161140000\t199426826\t95654128\t760807424\t-0.0144935781\t0.0028019883\t0.0128986156\n26\t1.0000000000\t0.0292226318\t0.0154955043\t0.0292226318\t0.0037735918\t0.0160990000\t199427634\t95654128\t760807424\t-0.0180307068\t0.0046233712\t0.0120598152\n27\t1.0400000000\t0.0304702707\t0.0160501253\t0.0304702707\t0.0037235258\t0.0202000000\t199430242\t95654128\t760807424\t-0.0192045178\t0.0051568141\t0.0123110656\n28\t1.0800000000\t0.0312955044\t0.0165946031\t0.0312955044\t0.0036849832\t0.0164970000\t199432850\t95654128\t760807424\t-0.0177739095\t0.0047987108\t0.0127211325\n29\t1.1200000000\t0.0309526026\t0.0170897065\t0.0312955044\t0.0039427466\t0.0160480000\t199433842\t95654128\t760807424\t-0.0159983225\t0.0046532452\t0.0134354103\n30\t1.1600000000\t0.0315030143\t0.0175701501\t0.0315030143\t0.0041767506\t0.0160610000\t199436450\t95654128\t760807424\t-0.0169938207\t0.00263293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}, { "path": "icra2018_results/1080/violons_libefusion-cuda_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 01:26:07\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libefusion-cuda_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /home/bruno/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0092230000\t198594044\t95654128\t750977024\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0013866430\t0.0006933215\t0.0013866430\t0.0024966977\t0.0222860000\t199234790\t95654128\t760807424\t0.0013854812\t0.0003506358\t0.0001633874\n3\t0.0800000000\t0.0010409669\t0.0008092033\t0.0013866430\t0.0022475723\t0.0179600000\t199084322\t95654128\t760807424\t0.0008512606\t-0.0017801201\t-0.0005868654\n4\t0.1200000000\t0.0005302234\t0.0007394584\t0.0013866430\t0.0018711030\t0.0410980000\t199084986\t95654128\t760807424\t0.0002154942\t-0.0012006206\t-0.0002920120\n5\t0.1600000000\t0.0014926950\t0.0008901057\t0.0014926950\t0.0020471879\t0.0209890000\t199088146\t95654128\t760807424\t-0.0013063517\t-0.0017737364\t0.0000970314\n6\t0.2000000000\t0.0012218629\t0.0009453985\t0.0014926950\t0.0018805032\t0.0179690000\t199089754\t95654128\t760807424\t0.0000093075\t-0.0031981333\t-0.0000434672\n7\t0.2400000000\t0.0025293804\t0.0011716817\t0.0025293804\t0.0018097818\t0.0177460000\t199092362\t95654128\t760807424\t0.0009786387\t-0.0046210070\t-0.0000902005\n8\t0.2800000000\t0.0032095632\t0.0014264168\t0.0032095632\t0.0017711120\t0.0176380000\t199094970\t95654128\t760807424\t0.0017243383\t-0.0035889260\t0.0002395323\n9\t0.3200000000\t0.0024100726\t0.0015357119\t0.0032095632\t0.0017151391\t0.0176700000\t199096682\t95654128\t760807424\t0.0002531074\t-0.0034168377\t0.0003101851\n10\t0.3600000000\t0.0021472885\t0.0015968696\t0.0032095632\t0.0017339656\t0.0177550000\t199100890\t95654128\t760807424\t0.0002748376\t-0.0039355652\t-0.0000382507\n11\t0.4000000000\t0.0044976217\t0.0018605743\t0.0044976217\t0.0018507417\t0.0176950000\t199103498\t95654128\t760807424\t0.0029839170\t-0.0045115817\t0.0001149090\n12\t0.4400000000\t0.0062985090\t0.0022304022\t0.0062985090\t0.0018486042\t0.0177050000\t199104306\t95654128\t760807424\t0.0053039491\t-0.0036159081\t0.0004612072\n13\t0.4800000000\t0.0066619036\t0.0025712869\t0.0066619036\t0.0018680132\t0.0275220000\t199107114\t95654128\t760807424\t0.0062176399\t-0.0019808537\t0.0006646634\n14\t0.5200000000\t0.0064865714\t0.0028509501\t0.0066619036\t0.0018924242\t0.0191080000\t199109722\t95654128\t760807424\t0.0064493450\t-0.0009678295\t0.0007124718\n15\t0.5600000000\t0.0062357015\t0.0030766002\t0.0066619036\t0.0018975593\t0.0176850000\t199110530\t95654128\t760807424\t0.0061874548\t-0.0007939647\t0.0008529661\n16\t0.6000000000\t0.0059492248\t0.0032561392\t0.0066619036\t0.0018492817\t0.0209700000\t199113138\t95654128\t760807424\t0.0062241140\t-0.0007477928\t0.0008634262\n17\t0.6400000000\t0.0048669903\t0.0033508952\t0.0066619036\t0.0017986805\t0.0180500000\t199115554\t95654128\t760807424\t0.0050068554\t-0.0008167662\t0.0009526299\n18\t0.6800000000\t0.0028819644\t0.0033248435\t0.0066619036\t0.0018135516\t0.0186170000\t199121362\t95654128\t760807424\t0.0029812632\t-0.0001651331\t0.0007798393\n19\t0.7200000000\t0.0022489410\t0.0032682170\t0.0066619036\t0.0020838048\t0.0293670000\t199123970\t95654128\t760807424\t0.0022328070\t0.0000320860\t0.0006273653\n20\t0.7600000000\t0.0028598025\t0.0032477963\t0.0066619036\t0.0022165831\t0.0209760000\t199124778\t95654128\t760807424\t0.0026738523\t-0.0016481584\t0.0005653308\n21\t0.8000000000\t0.0020175374\t0.0031892125\t0.0066619036\t0.0023819812\t0.0178920000\t199127586\t95654128\t760807424\t0.0014684289\t-0.0020387904\t0.0004635834\n22\t0.8400000000\t0.0019349781\t0.0031322019\t0.0066619036\t0.0023895519\t0.0227660000\t199130194\t95654128\t760807424\t0.0004068622\t-0.0025670349\t0.0005971208\n23\t0.8800000000\t0.0028123825\t0.0031182967\t0.0066619036\t0.0024190815\t0.0184470000\t199131002\t95654128\t760807424\t0.0000040051\t-0.0036764815\t0.0005239913\n24\t0.9200000000\t0.0031593523\t0.0031200073\t0.0066619036\t0.0023856910\t0.0177730000\t199133610\t95654128\t760807424\t-0.0005972027\t-0.0039046707\t0.0005036563\n25\t0.9600000000\t0.0050383681\t0.0031967418\t0.0066619036\t0.0023917200\t0.0179300000\t199136418\t95654128\t760807424\t-0.0032891831\t-0.0049859020\t0.0005321620\n26\t1.0000000000\t0.0050448948\t0.0032678246\t0.0066619036\t0.0023862380\t0.0178020000\t199137226\t95654128\t760807424\t-0.0031984826\t-0.0046878513\t0.0006435137\n27\t1.0400000000\t0.0061486633\t0.0033745223\t0.0066619036\t0.0023526805\t0.0178440000\t199139834\t95654128\t760807424\t-0.0037906873\t-0.0057707224\t0.0010165540\n28\t1.0800000000\t0.0063333502\t0.0034801947\t0.0066619036\t0.0023250653\t0.0178950000\t199142442\t95654128\t760807424\t-0.0037780011\t-0.0061915256\t0.0009365190\n29\t1.1200000000\t0.0081279883\t0.0036404635\t0.0081279883\t0.0023060617\t0.0179050000\t199143450\t95654128\t760807424\t-0.0052368990\t-0.0073810481\t0.0009729961\n30\t1.1600000000\t0.0086491844\t0.0038074208\t0.0086491844\t0.0023528777\t0.0179800000\t199146058\t95654128\t760807424\t-0.0048417235\t-0.0076891920\t0.000879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}, { "path": "icra2018_results/1080/violons_libefusion-cuda_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 01:26:31\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libefusion-cuda_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /home/bruno/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0407240000\t198579072\t95654128\t750977024\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0026371528\t0.0013185764\t0.0026371528\t0.0017031863\t0.0206450000\t199227978\t95654128\t760807424\t-0.0024932427\t-0.0007044431\t0.0006994744\n3\t0.0800000000\t0.0100871567\t0.0042414365\t0.0100871567\t0.0039453144\t0.0159790000\t199077774\t95654128\t760807424\t-0.0044113910\t-0.0079503814\t0.0020711878\n4\t0.1200000000\t0.0064609488\t0.0047963146\t0.0100871567\t0.0045198247\t0.0169530000\t199078438\t95654128\t760807424\t-0.0073308754\t-0.0036204318\t0.0007240017\n5\t0.1600000000\t0.0057110265\t0.0049792570\t0.0100871567\t0.0042706688\t0.0160670000\t199081730\t95654128\t760807424\t-0.0100553054\t-0.0022949593\t0.0015700991\n6\t0.2000000000\t0.0112805627\t0.0060294746\t0.0112805627\t0.0041732509\t0.0160100000\t199083338\t95654128\t760807424\t-0.0072992113\t-0.0091361767\t0.0032450091\n7\t0.2400000000\t0.0135540208\t0.0071044098\t0.0135540208\t0.0039259674\t0.0160130000\t199085946\t95654128\t760807424\t-0.0089091705\t-0.0113498140\t0.0037236330\n8\t0.2800000000\t0.0107231289\t0.0075567497\t0.0135540208\t0.0037343884\t0.0161520000\t199088554\t95654128\t760807424\t-0.0096100438\t-0.0084813563\t0.0030573488\n9\t0.3200000000\t0.0097235013\t0.0077974998\t0.0135540208\t0.0035714156\t0.0160710000\t199090266\t95654128\t760807424\t-0.0101317223\t-0.0085724834\t0.0021830453\n10\t0.3600000000\t0.0067283097\t0.0076905808\t0.0135540208\t0.0034787580\t0.0160490000\t199094474\t95654128\t760807424\t-0.0100675877\t-0.0046240999\t0.0014621485\n11\t0.4000000000\t0.0064338772\t0.0075763350\t0.0135540208\t0.0038185849\t0.0160070000\t199097082\t95654128\t760807424\t-0.0118880654\t-0.0051044086\t0.0014768707\n12\t0.4400000000\t0.0055728490\t0.0074093779\t0.0135540208\t0.0037261660\t0.0159810000\t199098022\t95654128\t760807424\t-0.0098036425\t-0.0047088633\t0.0001410431\n13\t0.4800000000\t0.0088175200\t0.0075176965\t0.0135540208\t0.0035711982\t0.0159570000\t199100830\t95654128\t760807424\t-0.0071352324\t-0.0061654276\t-0.0000742798\n14\t0.5200000000\t0.0092213796\t0.0076393881\t0.0135540208\t0.0034565984\t0.0160280000\t199103438\t95654128\t760807424\t-0.0065823053\t-0.0051982040\t-0.0007044386\n15\t0.5600000000\t0.0108876443\t0.0078559385\t0.0135540208\t0.0033434001\t0.0160550000\t199104246\t95654128\t760807424\t-0.0089444770\t-0.0056892172\t0.0006350941\n16\t0.6000000000\t0.0184974466\t0.0085210328\t0.0184974466\t0.0034223249\t0.0160380000\t199106854\t95654128\t760807424\t-0.0084662288\t-0.0161986072\t0.0018946307\n17\t0.6400000000\t0.0161478408\t0.0089696686\t0.0184974466\t0.0034379325\t0.0160360000\t199109270\t95654128\t760807424\t-0.0113789421\t-0.0153486151\t0.0001675033\n18\t0.6800000000\t0.0221328847\t0.0097009583\t0.0221328847\t0.0034413521\t0.0159690000\t199115078\t95654128\t760807424\t-0.0084276451\t-0.0197052192\t0.0019852838\n19\t0.7200000000\t0.0201055091\t0.0102485663\t0.0221328847\t0.0034966226\t0.0160110000\t199117686\t95654128\t760807424\t-0.0103541492\t-0.0174598750\t0.0006507002\n20\t0.7600000000\t0.0215131119\t0.0108117936\t0.0221328847\t0.0034549391\t0.0159970000\t199118494\t95654128\t760807424\t-0.0144756893\t-0.0206799004\t0.0013912533\n21\t0.8000000000\t0.0267535094\t0.0115709229\t0.0267535094\t0.0034232776\t0.0160320000\t199121434\t95654128\t760807424\t-0.0124407895\t-0.0230992008\t0.0020042015\n22\t0.8400000000\t0.0300625525\t0.0124114515\t0.0300625525\t0.0034358628\t0.0167270000\t199123962\t95654128\t760807424\t-0.0136958817\t-0.0249262918\t0.0017657080\n23\t0.8800000000\t0.0304828174\t0.0131971631\t0.0304828174\t0.0033707266\t0.0162290000\t199124770\t95654128\t760807424\t-0.0125416974\t-0.0257448442\t0.0012449664\n24\t0.9200000000\t0.0266937762\t0.0137595220\t0.0304828174\t0.0033523162\t0.0159670000\t199127378\t95654128\t760807424\t-0.0233151205\t-0.0214212872\t-0.0001865282\n25\t0.9600000000\t0.0255954564\t0.0142329593\t0.0304828174\t0.0033549478\t0.0159780000\t199130186\t95654128\t760807424\t-0.0254838523\t-0.0196202770\t-0.0012257308\n26\t1.0000000000\t0.0262101721\t0.0146936214\t0.0304828174\t0.0033388963\t0.0159550000\t199130978\t95654128\t760807424\t-0.0275975335\t-0.0184477344\t-0.0018390665\n27\t1.0400000000\t0.0282834247\t0.0151969474\t0.0304828174\t0.0033520922\t0.0159070000\t199133586\t95654128\t760807424\t-0.0316985361\t-0.0205885638\t-0.0045927404\n28\t1.0800000000\t0.0305297207\t0.0157445465\t0.0305297207\t0.0034793504\t0.0159390000\t199136194\t95654128\t760807424\t-0.0358802713\t-0.0213602856\t-0.0044593825\n29\t1.1200000000\t0.0339501053\t0.0163723243\t0.0339501053\t0.0036339901\t0.0158590000\t199137186\t95654128\t760807424\t-0.0404079594\t-0.0243348610\t-0.0062383506\n30\t1.1600000000\t0.0291963574\t0.0167997921\t0.0339501053\t0.0035759123\t0.0158980000\t199139794\t95654128\t760807424\t-0.052539501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}, { "path": "icra2018_results/1080/violons_libefusion-cuda_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 01:26:48\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libefusion-cuda_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /home/bruno/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0095760000\t198718716\t95654128\t750977024\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0014906204\t0.0007453102\t0.0014906204\t0.0018488365\t0.0229690000\t199529670\t95654128\t760807424\t-0.0002006323\t0.0021261084\t0.0016063029\n3\t0.0800000000\t0.0051448587\t0.0022118264\t0.0051448587\t0.0020652516\t0.0177930000\t199379202\t95654128\t760807424\t-0.0021077488\t-0.0076258783\t0.0021185584\n4\t0.1200000000\t0.0061540338\t0.0031973782\t0.0061540338\t0.0026527719\t0.0281830000\t199379866\t95654128\t760807424\t-0.0043492271\t-0.0071370490\t0.0010577580\n5\t0.1600000000\t0.0051830057\t0.0035945037\t0.0061540338\t0.0045026517\t0.0182410000\t199383026\t95654128\t760807424\t-0.0025760494\t0.0001287921\t0.0040184655\n6\t0.2000000000\t0.0058377683\t0.0039683812\t0.0061540338\t0.0045763480\t0.0177010000\t199384634\t95654128\t760807424\t-0.0007591686\t-0.0102310870\t0.0032144608\n7\t0.2400000000\t0.0077825077\t0.0045132564\t0.0077825077\t0.0042793614\t0.0176880000\t199387242\t95654128\t760807424\t0.0006488978\t-0.0227377452\t0.0007024903\n8\t0.2800000000\t0.0059227580\t0.0046894441\t0.0077825077\t0.0039940962\t0.0176380000\t199389850\t95654128\t760807424\t-0.0012176125\t-0.0190639365\t-0.0005991290\n9\t0.3200000000\t0.0059278077\t0.0048270400\t0.0077825077\t0.0049677966\t0.0176790000\t199391562\t95654128\t760807424\t-0.0020724039\t-0.0151531156\t0.0027327049\n10\t0.3600000000\t0.0040743011\t0.0047517661\t0.0077825077\t0.0047513880\t0.0177280000\t199395770\t95654128\t760807424\t-0.0038858289\t-0.0208636522\t0.0007907895\n11\t0.4000000000\t0.0041454197\t0.0046966437\t0.0077825077\t0.0046826915\t0.0176730000\t199398378\t95654128\t760807424\t-0.0033602002\t-0.0171444993\t-0.0004601245\n12\t0.4400000000\t0.0035383229\t0.0046001170\t0.0077825077\t0.0047747560\t0.0177520000\t199399186\t95654128\t760807424\t-0.0038383317\t-0.0062900642\t0.0024069408\n13\t0.4800000000\t0.0038656055\t0.0045436161\t0.0077825077\t0.0046155366\t0.0228760000\t199401994\t95654128\t760807424\t-0.0036014919\t-0.0070257103\t0.0025526534\n14\t0.5200000000\t0.0047846814\t0.0045608351\t0.0077825077\t0.0044972249\t0.0185610000\t199404602\t95654128\t760807424\t-0.0015134434\t-0.0151681434\t0.0001301537\n15\t0.5600000000\t0.0044728112\t0.0045549668\t0.0077825077\t0.0044768586\t0.0176950000\t199405410\t95654128\t760807424\t0.0018446757\t-0.0137117328\t0.0001335422\n16\t0.6000000000\t0.0038660716\t0.0045119109\t0.0077825077\t0.0043454902\t0.0177580000\t199408018\t95654128\t760807424\t0.0030971551\t-0.0112607330\t0.0004593164\n17\t0.6400000000\t0.0031835586\t0.0044337725\t0.0077825077\t0.0042355410\t0.0208210000\t199410434\t95654128\t760807424\t0.0033998592\t-0.0136367194\t-0.0013891369\n18\t0.6800000000\t0.0035338495\t0.0043837768\t0.0077825077\t0.0041180757\t0.0179370000\t199416242\t95654128\t760807424\t0.0024579354\t-0.0138663538\t-0.0026893807\n19\t0.7200000000\t0.0035917899\t0.0043420932\t0.0077825077\t0.0041232833\t0.0176880000\t199418850\t95654128\t760807424\t0.0029473517\t-0.0084557803\t-0.0020835344\n20\t0.7600000000\t0.0049795895\t0.0043739681\t0.0077825077\t0.0043480763\t0.0176810000\t199419658\t95654128\t760807424\t0.0012476378\t-0.0083449921\t-0.0047331331\n21\t0.8000000000\t0.0049719503\t0.0044024434\t0.0077825077\t0.0044814892\t0.0177210000\t199422466\t95654128\t760807424\t0.0037087663\t-0.0070186956\t-0.0038620993\n22\t0.8400000000\t0.0046808943\t0.0044151003\t0.0077825077\t0.0044514372\t0.0177200000\t199425074\t95654128\t760807424\t0.0042833793\t-0.0045673084\t-0.0034084511\n23\t0.8800000000\t0.0059162076\t0.0044803658\t0.0077825077\t0.0043710707\t0.0176790000\t199425882\t95654128\t760807424\t0.0056660995\t-0.0096293287\t-0.0070698224\n24\t0.9200000000\t0.0054480606\t0.0045206864\t0.0077825077\t0.0043156610\t0.0186150000\t199428490\t95654128\t760807424\t0.0087006055\t-0.0079188105\t-0.0065272870\n25\t0.9600000000\t0.0065215551\t0.0046007212\t0.0077825077\t0.0042451025\t0.0177250000\t199431298\t95654128\t760807424\t0.0078920731\t-0.0134894196\t-0.0089958347\n26\t1.0000000000\t0.0059188306\t0.0046514177\t0.0077825077\t0.0041675768\t0.0177150000\t199432106\t95654128\t760807424\t0.0076828906\t-0.0148645034\t-0.0098177055\n27\t1.0400000000\t0.0062376913\t0.0047101686\t0.0077825077\t0.0040891385\t0.0177010000\t199434714\t95654128\t760807424\t0.0086640045\t-0.0187282078\t-0.0117983837\n28\t1.0800000000\t0.0062820013\t0.0047663054\t0.0077825077\t0.0040216002\t0.0177220000\t199437322\t95654128\t760807424\t0.0068897167\t-0.0198798478\t-0.0133027034\n29\t1.1200000000\t0.0063471971\t0.0048208189\t0.0077825077\t0.0040572693\t0.0176960000\t199438330\t95654128\t760807424\t0.0092632119\t-0.0226851497\t-0.0138057778\n30\t1.1600000000\t0.0071129757\t0.0048972242\t0.0077825077\t0.0040287023\t0.0177690000\t199440938\t95654128\t760807424\t0.0123603847\t-0.022522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}, { "path": "icra2018_results/1080/violons_libefusion-cuda_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 01:27:20\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libefusion-cuda_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /home/bruno/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287840366\t0.0606188439\t0.0606188439\t0.0606188439\t-nan\t0.0096840000\t199163396\t95654128\t750977024\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1305031229.5644419193\t0.0528082997\t0.0567135718\t0.0606188439\t0.0351157971\t0.0223210000\t200224462\t95654128\t760807424\t-0.0045655631\t0.0008366958\t0.0132681141\n3\t1305031229.5966169834\t0.0653331280\t0.0595867572\t0.0653331280\t0.0422144915\t0.0177740000\t200343410\t95654128\t760807424\t-0.0037277893\t-0.0090845255\t0.0052311923\n4\t1305031229.6287899017\t0.0605287813\t0.0598222632\t0.0653331280\t0.0347633774\t0.0224060000\t200418038\t95654128\t760807424\t-0.0075347489\t-0.0019482886\t0.0114561450\n5\t1305031229.6646571159\t0.0655534267\t0.0609684959\t0.0655534267\t0.0318419070\t0.0176430000\t200519390\t95654128\t760807424\t-0.0100508612\t-0.0102995913\t0.0129538570\n6\t1305031229.6968429089\t0.0629781112\t0.0613034318\t0.0655534267\t0.0286142100\t0.0183080000\t200594758\t95654128\t760807424\t-0.0095640086\t-0.0070680892\t0.0161295999\n7\t1305031229.7290771008\t0.0638986230\t0.0616741734\t0.0655534267\t0.0262460661\t0.0176890000\t200697266\t95654128\t760807424\t-0.0195601862\t-0.0023653363\t0.0180688985\n8\t1305031229.7648689747\t0.0690881833\t0.0626009246\t0.0690881833\t0.0248483578\t0.0175480000\t200773758\t95654128\t760807424\t-0.0228709728\t-0.0053766016\t0.0157389436\n9\t1305031229.7969229221\t0.0686563402\t0.0632737486\t0.0690881833\t0.0235556644\t0.0224080000\t200874774\t95654128\t760807424\t-0.0269514453\t-0.0028376635\t0.0179995336\n10\t1305031229.8256299496\t0.0720498189\t0.0641513556\t0.0720498189\t0.0228874089\t0.0181050000\t200951810\t95654128\t760807424\t-0.0334938169\t-0.0026031616\t0.0174616259\n11\t1305031229.8630619049\t0.0723111406\t0.0648931543\t0.0723111406\t0.0228338615\t0.0207140000\t201053550\t95654128\t760807424\t-0.0362515785\t-0.0029515177\t0.0189681929\n12\t1305031229.8969380856\t0.0745179430\t0.0656952200\t0.0745179430\t0.0229774888\t0.0177140000\t201127366\t95654128\t760807424\t-0.0411268435\t-0.0009813178\t0.0179279298\n13\t1305031229.9262549877\t0.0786447451\t0.0666913373\t0.0786447451\t0.0224337392\t0.0177300000\t201229010\t95654128\t760807424\t-0.0471249707\t-0.0015187289\t0.0161589719\n14\t1305031229.9662408829\t0.0816398412\t0.0677590876\t0.0816398412\t0.0220424232\t0.0177140000\t201304918\t95654128\t760807424\t-0.0512189269\t-0.0011159402\t0.0140582835\n15\t1305031229.9979310036\t0.0812783316\t0.0686603705\t0.0816398412\t0.0220367690\t0.0177380000\t201406854\t95654128\t760807424\t-0.0531742573\t-0.0002022719\t0.0143082850\n16\t1305031230.0300021172\t0.0822319984\t0.0695085973\t0.0822319984\t0.0214887387\t0.0175170000\t201482606\t95654128\t760807424\t-0.0565183312\t-0.0007678441\t0.0143904956\n17\t1305031230.0656960011\t0.0837206393\t0.0703445997\t0.0837206393\t0.0210990252\t0.0175110000\t201486030\t95654128\t760807424\t-0.0602108389\t-0.0034927037\t0.0143684894\n18\t1305031230.0982739925\t0.0824734047\t0.0710184222\t0.0837206393\t0.0208441283\t0.0171900000\t201592838\t95654128\t760807424\t-0.0612273961\t0.0000563487\t0.0137969395\n19\t1305031230.1299350262\t0.0833239034\t0.0716660791\t0.0837206393\t0.0203972546\t0.0171240000\t201667154\t95654128\t760807424\t-0.0635128021\t0.0002523433\t0.0130149480\n20\t1305031230.1657800674\t0.0846138671\t0.0723134685\t0.0846138671\t0.0200110420\t0.0171160000\t201668970\t95654128\t760807424\t-0.0672029927\t-0.0001341339\t0.0118354857\n21\t1305031230.1977820396\t0.0854652226\t0.0729397425\t0.0854652226\t0.0198119684\t0.0199120000\t201772246\t95654128\t760807424\t-0.0703029931\t0.0005273127\t0.0104433028\n22\t1305031230.2298529148\t0.0891938433\t0.0736785653\t0.0891938433\t0.0197080998\t0.0172590000\t201846566\t95654128\t760807424\t-0.0744336247\t-0.0005198308\t0.0076455218\n23\t1305031230.2655899525\t0.0912195370\t0.0744412162\t0.0912195370\t0.0193645744\t0.0173940000\t201947834\t95654128\t760807424\t-0.0777269080\t0.0003105876\t0.0050249863\n24\t1305031230.2979929447\t0.0897730067\t0.0750800408\t0.0912195370\t0.0191976703\t0.0172540000\t202121902\t95654128\t760807424\t-0.0796856210\t-0.0008329852\t0.0064234054\n25\t1305031230.3351120949\t0.0914392173\t0.0757344079\t0.0914392173\t0.0188833365\t0.0171260000\t202196774\t95654128\t760807424\t-0.0829545408\t-0.0027333843\t0.0044843247\n26\t1305031230.3656799793\t0.0944559425\t0.0764544669\t0.0944559425\t0.0185232668\t0.0172060000\t202297998\t95654128\t760807424\t-0.0856526047\t0.0005695249\t0.0011800469\n27\t1305031230.3973290920\t0.0958260149\t0.0771719317\t0.0958260149\t0.0182814967\t0.0173970000\t202471754\t95654128\t760807424\t-0.0892104954\t-0.0001101376\t0.0004328717\n28\t1305031230.4368140697\t0.1018057391\t0.0780517105\t0.1018057391\t0.0188718840\t0.0172040000\t202546530\t95654128\t760807424\t-0.0948664024\t0.0004416229\t-0.0054334668\n29\t1305031230.4653120041\t0.1117136702\t0.0792124677\t0.1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}, { "path": "icra2018_results/1080/violons_libefusion-cuda_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 01:27:39\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libefusion-cuda_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /home/bruno/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253988300\t0.0253988300\t0.0253988300\t-nan\t0.0095650000\t199188344\t95654128\t750977024\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1305031102.2112140656\t0.0293967985\t0.0273978142\t0.0293967985\t0.0122532947\t0.0222910000\t200224754\t95654128\t760807424\t-0.0000512189\t0.0078813881\t0.0104352748\n3\t1305031102.2432110310\t0.0239448454\t0.0262468246\t0.0293967985\t0.0087729221\t0.0176440000\t200075578\t95654128\t760807424\t-0.0014772195\t0.0065541063\t0.0237032287\n4\t1305031102.2753260136\t0.0206664987\t0.0248517431\t0.0293967985\t0.0077520026\t0.0188010000\t200199126\t95654128\t760807424\t-0.0017937166\t0.0074250000\t0.0370605662\n5\t1305031102.3112668991\t0.0151143102\t0.0229042565\t0.0293967985\t0.0071916058\t0.0205240000\t200251546\t95654128\t760807424\t-0.0002048081\t0.0047190329\t0.0516170524\n6\t1305031102.3432331085\t0.0148207247\t0.0215570012\t0.0293967985\t0.0072500836\t0.0187160000\t200254050\t95654128\t760807424\t-0.0001770949\t0.0067322105\t0.0636116415\n7\t1305031102.3753290176\t0.0159072038\t0.0207498873\t0.0293967985\t0.0067049258\t0.0176660000\t200257630\t95654128\t760807424\t0.0010887964\t0.0083463797\t0.0759305730\n8\t1305031102.4112579823\t0.0130422721\t0.0197864354\t0.0293967985\t0.0088435889\t0.0175980000\t200261302\t95654128\t760807424\t-0.0015906175\t0.0113058118\t0.0862112790\n9\t1305031102.4432709217\t0.0132201109\t0.0190568438\t0.0293967985\t0.0094463346\t0.0176780000\t200387406\t95654128\t760807424\t-0.0040900675\t0.0172785483\t0.0960513204\n10\t1305031102.4753179550\t0.0153934136\t0.0186905008\t0.0293967985\t0.0089426291\t0.0176130000\t200439850\t95654128\t760807424\t-0.0015312491\t0.0172374789\t0.1103453115\n11\t1305031102.5112190247\t0.0177937951\t0.0186089821\t0.0293967985\t0.0086166413\t0.0209220000\t200566106\t95654128\t760807424\t-0.0001670406\t0.0167230256\t0.1243237406\n12\t1305031102.5432200432\t0.0199326873\t0.0187192908\t0.0293967985\t0.0082813873\t0.0178910000\t200615198\t95654128\t760807424\t-0.0013629720\t0.0158951506\t0.1377551556\n13\t1305031102.5752859116\t0.0266524088\t0.0193295307\t0.0293967985\t0.0082755087\t0.0176680000\t200618846\t95654128\t760807424\t-0.0010821735\t0.0113853188\t0.1531054080\n14\t1305031102.6112329960\t0.0298633222\t0.0200819444\t0.0298633222\t0.0080118977\t0.0177380000\t200622726\t95654128\t760807424\t-0.0024759702\t0.0096447654\t0.1660378724\n15\t1305031102.6432650089\t0.0223894976\t0.0202357812\t0.0298633222\t0.0086899452\t0.0177880000\t200624562\t95654128\t760807424\t-0.0092648910\t0.0179799050\t0.1736902297\n16\t1305031102.6752851009\t0.0248749685\t0.0205257304\t0.0298633222\t0.0084803398\t0.0208790000\t200752066\t95654128\t760807424\t-0.0099917576\t0.0207336806\t0.1868217736\n17\t1305031102.7112629414\t0.0302869808\t0.0210999216\t0.0302869808\t0.0085534954\t0.0178970000\t200802986\t95654128\t760807424\t-0.0091691362\t0.0203097966\t0.2007929981\n18\t1305031102.7432339191\t0.0297793671\t0.0215821131\t0.0302869808\t0.0084764381\t0.0177170000\t200809746\t95654128\t760807424\t-0.0088750590\t0.0270409565\t0.2122559845\n19\t1305031102.7754719257\t0.0377412438\t0.0224325936\t0.0377412438\t0.0082666468\t0.0177650000\t200813194\t95654136\t760807424\t-0.0041622710\t0.0274648182\t0.2270838469\n20\t1305031102.8112320900\t0.0390785262\t0.0232648903\t0.0390785262\t0.0082106858\t0.0177470000\t200815142\t95654136\t760807424\t-0.0053771902\t0.0310450066\t0.2393950373\n21\t1305031102.8432900906\t0.0441586189\t0.0242598297\t0.0441586189\t0.0080477284\t0.0177900000\t200943138\t95654136\t760807424\t-0.0057256161\t0.0314008221\t0.2536264062\n22\t1305031102.8753631115\t0.0447717793\t0.0251921911\t0.0447717793\t0.0081551684\t0.0178490000\t200992582\t95654136\t760807424\t-0.0097924899\t0.0343657322\t0.2651891708\n23\t1305031102.9111850262\t0.0468253605\t0.0261327636\t0.0468253605\t0.0079842716\t0.0176780000\t200994350\t95654136\t760807424\t-0.0123387435\t0.0369306467\t0.2769716680\n24\t1305031102.9432289600\t0.0471221358\t0.0270073208\t0.0471221358\t0.0082908711\t0.0177030000\t200997910\t95654136\t760807424\t-0.0202461034\t0.0384959169\t0.2865271866\n25\t1305031102.9752030373\t0.0458406471\t0.0277606539\t0.0471221358\t0.0083659445\t0.0176520000\t201001486\t95654136\t760807424\t-0.0285464600\t0.0434480160\t0.2963119447\n26\t1305031103.0112149715\t0.0488355309\t0.0285712261\t0.0488355309\t0.0082282317\t0.0177130000\t201003342\t95654136\t760807424\t-0.0284691807\t0.0463993922\t0.3075529337\n27\t1305031103.0432269573\t0.0521112718\t0.0294430796\t0.0521112718\t0.0080845621\t0.0177350000\t201006902\t95654136\t760807424\t-0.0286958832\t0.0492543690\t0.3191321790\n28\t1305031103.0753190517\t0.0597768910\t0.0305264300\t0.0597768910\t0.0082757217\t0.0257080000\t201134082\t95654136\t760807424\t-0.0234280247\t0.0492397547\t0.3321553171\n29\t1305031103.1112399101\t0.0565176047\t0.0314226774\t0.0597768910\t0.008410018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}, { "path": "icra2018_results/1080/violons_libefusion-cuda_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 01:28:02\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libefusion-cuda_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /home/bruno/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6419320107\t0.0019026520\t0.0019026520\t0.0019026520\t-nan\t0.0320680000\t207875476\t95654128\t750977024\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1311867718.6768438816\t0.0023757904\t0.0021392212\t0.0023757904\t0.0024888720\t0.0238350000\t220506482\t95654128\t760807424\t0.0012535966\t0.0008017338\t0.0003991825\n3\t1311867718.7114279270\t0.0041158949\t0.0027981124\t0.0041158949\t0.0041525669\t0.0257830000\t220510578\t95654128\t760807424\t0.0021870739\t0.0028618844\t0.0005749338\n4\t1311867718.7410299778\t0.0054751830\t0.0034673801\t0.0054751830\t0.0053749264\t0.0198160000\t220511994\t95654128\t760807424\t0.0040237992\t-0.0000246798\t0.0020571628\n5\t1311867718.7767970562\t0.0041733584\t0.0036085757\t0.0054751830\t0.0047269215\t0.0178860000\t220516514\t95654128\t760807424\t0.0023760821\t-0.0006795623\t0.0017604484\n6\t1311867718.8094089031\t0.0037267066\t0.0036282642\t0.0054751830\t0.0045765081\t0.0539540000\t220518986\t95654128\t760807424\t0.0005762964\t0.0026114089\t0.0007859258\n7\t1311867718.8408079147\t0.0033787719\t0.0035926225\t0.0054751830\t0.0044650778\t0.0179270000\t220522534\t95654128\t760807424\t-0.0000581779\t0.0021461248\t0.0010347841\n8\t1311867718.8767778873\t0.0037543722\t0.0036128412\t0.0054751830\t0.0044371966\t0.0179180000\t220526118\t95654128\t760807424\t-0.0012131878\t0.0016416633\t0.0005379958\n9\t1311867718.9088680744\t0.0051993951\t0.0037891250\t0.0054751830\t0.0043431601\t0.0179010000\t220529406\t95654128\t760807424\t-0.0000203857\t0.0030098273\t0.0004782840\n10\t1311867718.9438331127\t0.0046613952\t0.0038763520\t0.0054751830\t0.0041082213\t0.0178910000\t220534590\t95654128\t760807424\t0.0008289242\t0.0025459740\t0.0020138903\n11\t1311867718.9784109592\t0.0029233736\t0.0037897176\t0.0054751830\t0.0039685249\t0.0249060000\t220708266\t95654128\t760807424\t-0.0001527356\t0.0014970044\t0.0035275300\n12\t1311867719.0091300011\t0.0037229760\t0.0037841558\t0.0054751830\t0.0037930316\t0.0184250000\t220709826\t95654128\t760807424\t0.0005228940\t0.0015535189\t0.0036949250\n13\t1311867719.0441620350\t0.0038857583\t0.0037919714\t0.0054751830\t0.0038715368\t0.0178820000\t220713610\t95654128\t760807424\t0.0002198729\t0.0030633057\t0.0045247520\n14\t1311867719.0776190758\t0.0044127139\t0.0038363101\t0.0054751830\t0.0037613318\t0.0178690000\t220717270\t95654128\t760807424\t0.0007239133\t0.0029453302\t0.0046384945\n15\t1311867719.1086950302\t0.0059524174\t0.0039773839\t0.0059524174\t0.0036276051\t0.0178760000\t220718942\t95654128\t760807424\t0.0014818162\t0.0042224517\t0.0044742227\n16\t1311867719.1437010765\t0.0056344336\t0.0040809495\t0.0059524174\t0.0035300804\t0.0179340000\t220722470\t95654128\t760807424\t0.0011786493\t0.0037823578\t0.0055802353\n17\t1311867719.1810290813\t0.0055839131\t0.0041693592\t0.0059524174\t0.0035702610\t0.0179700000\t220727398\t95654128\t760807424\t0.0012425496\t0.0027512996\t0.0057311924\n18\t1311867719.2127099037\t0.0095843356\t0.0044701912\t0.0095843356\t0.0036448177\t0.0179320000\t220734070\t95654128\t760807424\t0.0053926436\t0.0015571796\t0.0065865726\n19\t1311867719.2412090302\t0.0098692244\t0.0047543508\t0.0098692244\t0.0036785353\t0.0179210000\t220737430\t95654128\t760807424\t0.0050768573\t0.0029031979\t0.0069462471\n20\t1311867719.2779469490\t0.0069490541\t0.0048640860\t0.0098692244\t0.0039231414\t0.0179360000\t220739158\t95654128\t760807424\t0.0014102336\t0.0021285815\t0.0073061665\n21\t1311867719.3104898930\t0.0063200174\t0.0049334161\t0.0098692244\t0.0038651171\t0.0185090000\t220743018\t95654128\t760807424\t0.0002832722\t0.0026436155\t0.0071431021\n22\t1311867719.3413150311\t0.0092955986\t0.0051316971\t0.0098692244\t0.0040341191\t0.0181090000\t220746474\t95654128\t760807424\t0.0030720565\t0.0018671525\t0.0080941916\n23\t1311867719.3772718906\t0.0084027322\t0.0052739160\t0.0098692244\t0.0039998901\t0.0179360000\t220748202\t95654128\t760807424\t0.0018185693\t-0.0000060301\t0.0082572345\n24\t1311867719.4105761051\t0.0089364350\t0.0054265210\t0.0098692244\t0.0039473744\t0.0215510000\t220751730\t95654128\t760807424\t0.0020405715\t-0.0003703764\t0.0080421055\n25\t1311867719.4427709579\t0.0109712090\t0.0056483085\t0.0109712090\t0.0039613758\t0.0183410000\t220926346\t95654128\t760807424\t0.0032661201\t-0.0037479696\t0.0100166108\n26\t1311867719.4787840843\t0.0100241825\t0.0058166113\t0.0109712090\t0.0039100729\t0.0179850000\t220928074\t95654128\t760807424\t0.0016361289\t-0.0047707530\t0.0104685873\n27\t1311867719.5104370117\t0.0087244706\t0.0059243098\t0.0109712090\t0.0039095183\t0.0210440000\t220931546\t95654128\t760807424\t0.0007572343\t-0.0033314312\t0.0095452340\n28\t1311867719.5449650288\t0.0089205531\t0.0060313185\t0.0109712090\t0.0039419575\t0.0181550000\t220935074\t95654128\t760807424\t0.0000377939\t-0.0037149256\t0.0092526572\n29\t1311867719.5771939754\t0.0088463398\t0.0061283882\t0.0109712090\t0.0038825707\t0.018035000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327\t0.0048984769\t0.0260550000\t248108366\t95654136\t760807424\t-0.0102590052\t0.0075862533\t-0.0236949287\n1921\t1311867782.7131700516\t0.0431260802\t0.0252188608\t0.0606744327\t0.0048987467\t0.0257530000\t248111870\t95654136\t760807424\t-0.0114903683\t0.0094913766\t-0.0244617704\n1922\t1311867782.7489991188\t0.0427000932\t0.0252279562\t0.0606744327\t0.0048989037\t0.0257490000\t248113654\t95654136\t760807424\t-0.0118140755\t0.0084714731\t-0.0246321131\n1923\t1311867782.7844688892\t0.0417590141\t0.0252365527\t0.0606744327\t0.0048993504\t0.0256290000\t248117438\t95654136\t760807424\t-0.0083077624\t0.0077750836\t-0.0244708210\n1924\t1311867782.8159070015\t0.0455138385\t0.0252470918\t0.0606744327\t0.0048992465\t0.0257190000\t248120910\t95654136\t760807424\t-0.0089179995\t0.0114996638\t-0.0254223738\n1925\t1311867782.8522670269\t0.0453348756\t0.0252575270\t0.0606744327\t0.0048982974\t0.0258160000\t248122838\t95654136\t760807424\t-0.0096191615\t0.0114328004\t-0.0255138017\n1926\t1311867782.8824830055\t0.0417802744\t0.0252661058\t0.0606744327\t0.0048981349\t0.0286950000\t248126310\t95654136\t760807424\t-0.0099943839\t0.0072375266\t-0.0250069499\n1927\t1311867782.9145979881\t0.0436384417\t0.0252756400\t0.0606744327\t0.0048995384\t0.0257720000\t248128182\t95654136\t760807424\t-0.0100968406\t0.0091842413\t-0.0258212425\n1928\t1311867782.9517209530\t0.0469378866\t0.0252868756\t0.0606744327\t0.0048987440\t0.0256540000\t248131822\t95654136\t760807424\t-0.0110349189\t0.0123220906\t-0.0271402169\n1929\t1311867782.9812240601\t0.0434817709\t0.0252963079\t0.0606744327\t0.0048984355\t0.0258180000\t248135382\t95654136\t760807424\t-0.0126059912\t0.0081467479\t-0.0267564226\n1930\t1311867783.0143089294\t0.0447525568\t0.0253063888\t0.0606744327\t0.0048992388\t0.0297360000\t248137110\t95654136\t760807424\t-0.0141814277\t0.0091609498\t-0.0277172755\n1931\t1311867783.0528459549\t0.0453859828\t0.0253167874\t0.0606744327\t0.0048991584\t0.0257320000\t248140894\t95654136\t760807424\t-0.0129847219\t0.0099015702\t-0.0288331136\n1932\t1311867783.0829811096\t0.0432149395\t0.0253260514\t0.0606744327\t0.0048991775\t0.0265340000\t248144366\t95654136\t760807424\t-0.0133466674\t0.0068156980\t-0.0280016232\n1933\t1311867783.1137030125\t0.0437597074\t0.0253355877\t0.0606744327\t0.0048980572\t0.0257740000\t248146182\t95654136\t760807424\t-0.0123256100\t0.0076679480\t-0.0295870099\n1934\t1311867783.1539480686\t0.0438045003\t0.0253451373\t0.0606744327\t0.0048978330\t0.0296340000\t248149878\t95654136\t760807424\t-0.0104315281\t0.0078395158\t-0.0305162519\n1935\t1311867783.1857850552\t0.0423884243\t0.0253539452\t0.0606744327\t0.0048968015\t0.0257420000\t248151750\t95654136\t760807424\t-0.0119069982\t0.0061697601\t-0.0307824444\n1936\t1311867783.2169439793\t0.0415845774\t0.0253623288\t0.0606744327\t0.0048964207\t0.0256150000\t248155166\t95654136\t760807424\t-0.0102885673\t0.0056871283\t-0.0306249931\n1937\t1311867783.2548489571\t0.0434051789\t0.0253716436\t0.0606744327\t0.0048952020\t0.0256910000\t248159062\t95654136\t760807424\t-0.0094894497\t0.0076232301\t-0.0310843363\n1938\t1311867783.2816879749\t0.0438992046\t0.0253812038\t0.0606744327\t0.0048948541\t0.0256780000\t248160622\t95654136\t760807424\t-0.0121843182\t0.0077394848\t-0.0311147962\n1939\t1311867783.3132228851\t0.0439753793\t0.0253907933\t0.0606744327\t0.0048937217\t0.0256320000\t248164182\t95654136\t760807424\t-0.0126741733\t0.0076187565\t-0.0317655876\n1940\t1311867783.3503270149\t0.0463321283\t0.0254015878\t0.0606744327\t0.0048940350\t0.0257190000\t248166022\t95654136\t760807424\t-0.0145847071\t0.0099387160\t-0.0328424089\n1941\t1311867783.3855919838\t0.0472838022\t0.0254128615\t0.0606744327\t0.0048928855\t0.0257350000\t248340070\t95654136\t760807424\t-0.0143304318\t0.0106591554\t-0.0329126380\n1942\t1311867783.4198501110\t0.0441830344\t0.0254225269\t0.0606744327\t0.0048921464\t0.0257650000\t248343598\t95654136\t760807424\t-0.0147816734\t0.0072392887\t-0.0327133089\n1943\t1311867783.4503099918\t0.0456003807\t0.0254329118\t0.0606744327\t0.0048912036\t0.0257150000\t248345414\t95654136\t760807424\t-0.0131150996\t0.0089314962\t-0.0337660760\n1944\t1311867783.4863688946\t0.0473317690\t0.0254441767\t0.0606744327\t0.0048905399\t0.0257350000\t248348998\t95654136\t760807424\t-0.0121430811\t0.0101769855\t-0.0335241221\n1945\t1311867783.5186200142\t0.0443652347\t0.0254539047\t0.0606744327\t0.0048910351\t0.0257150000\t248350814\t95654136\t760807424\t-0.0091866953\t0.0071309339\t-0.0330051519\n1946\t1311867783.5488419533\t0.0466035604\t0.0254647730\t0.0606744327\t0.0048910597\t0.0256430000\t248354230\t95654136\t760807424\t-0.0085096126\t0.0096841138\t-0.0342688933\n1947\t1311867783.5823969841\t0.0459520929\t0.0254752955\t0.0606744327\t0.0048906190\t0.0256860000\t248358014\t95654136\t760807424\t-0.0066625024\t0.0087863971\t-0.0341889895\n1948\t1311867783.6168529987\t0.0464695059\t0.0254860728\t0.0606744327\t0.0048893866\t0.0256690000\t248359686\t95654136\t760807424\t-0.0054377895\t0.0090487152\t-0.0342922173\n1949\t1311867783.6515829563\t0.0484471172\t0.0254978537\t0.0606744327\t0.0048887943\t0.0256730000\t248363414\t95654136\t760807424\t-0.0051221242\t0.0110587049\t-0.0348436944\n1950\t1311867783.6816630363\t0.0481228605\t0.0255094563\t0.0606744327\t0.0048878787\t0.0292210000\t248366886\t95654136\t760807424\t-0.0048126443\t0.0105231581\t-0.0341003314\n1951\t1311867783.7179610729\t0.0454534292\t0.0255196787\t0.0606744327\t0.0048882016\t0.0257650000\t248539586\t95654136\t760807424\t-0.0057049389\t0.0077144774\t-0.0337641239\n1952\t1311867783.7488200665\t0.0465992130\t0.0255304777\t0.0606744327\t0.0048874570\t0.0290410000\t248543002\t95654136\t760807424\t-0.0059340834\t0.0089145880\t-0.0336616710\n1953\t1311867783.7808690071\t0.0488569103\t0.0255424216\t0.0606744327\t0.0048878310\t0.0256790000\t248544874\t95654136\t760807424\t-0.0063054403\t0.0112273330\t-0.0330426618\n1954\t1311867783.8168580532\t0.0458515398\t0.0255528152\t0.0606744327\t0.0048899581\t0.0257210000\t248548402\t95654136\t760807424\t-0.0064828941\t0.0080815330\t-0.0319384001\n1955\t1311867783.8489229679\t0.0462570228\t0.0255634056\t0.0606744327\t0.0048911592\t0.0257860000\t248552074\t95654136\t760807424\t-0.0057219327\t0.0088194190\t-0.0323272906\n1956\t1311867783.8808929920\t0.0481527336\t0.0255749543\t0.0606744327\t0.0048900044\t0.0256900000\t248553746\t95654136\t760807424\t-0.0054024621\t0.0110479239\t-0.0325427949\n1957\t1311867783.9168200493\t0.0449300744\t0.0255848445\t0.0606744327\t0.0048935875\t0.0263310000\t248557530\t95654136\t760807424\t-0.0059384471\t0.0076933014\t-0.0303877778\n1958\t1311867783.9508318901\t0.0464487150\t0.0255955002\t0.0606744327\t0.0048934545\t0.0358880000\t248559258\t95654136\t760807424\t-0.0063550589\t0.0094553567\t-0.0300732609\n1959\t1311867783.9816930294\t0.0490558967\t0.0256074759\t0.0606744327\t0.0048928925\t0.0259230000\t248562874\t95654136\t760807424\t-0.0079901563\t0.0119981058\t-0.0301261246\n1960\t1311867784.0175230503\t0.0465167165\t0.0256181439\t0.0606744327\t0.0048919816\t0.0257500000\t248566514\t95654136\t760807424\t-0.0087646386\t0.0091777779\t-0.0290496387\n1961\t1311867784.0505928993\t0.0439604893\t0.0256274975\t0.0606744327\t0.0048916311\t0.0257230000\t248568442\t95654136\t760807424\t-0.0114018042\t0.0063730404\t-0.0287492462\n1962\t1311867784.0830729008\t0.0475089103\t0.0256386501\t0.0606744327\t0.0048909261\t0.0297830000\t248571858\t95654136\t760807424\t-0.0107570812\t0.0102644535\t-0.0301346183\n1963\t1311867784.1187570095\t0.0464032032\t0.0256492280\t0.0606744327\t0.0048910720\t0.0298920000\t248573842\t95654136\t760807424\t-0.0108716507\t0.0084884260\t-0.0294315610\n1964\t1311867784.1503119469\t0.0430387519\t0.0256580822\t0.0606744327\t0.0048905054\t0.0298790000\t248577314\t95654136\t760807424\t-0.0101654865\t0.0048376909\t-0.0291698668\n1965\t1311867784.1823339462\t0.0465460904\t0.0256687122\t0.0606744327\t0.0048894967\t0.0257070000\t248581042\t95654136\t760807424\t-0.0094231535\t0.0084102005\t-0.0301475823\n1966\t1311867784.2173891068\t0.0441449918\t0.0256781101\t0.0606744327\t0.0048915198\t0.0295240000\t248582714\t95654136\t760807424\t-0.0080306670\t0.0054896623\t-0.0294099711\n1967\t1311867784.2502059937\t0.0426309407\t0.0256867287\t0.0606744327\t0.0048908800\t0.0255760000\t248586442\t95654136\t760807424\t-0.0086098332\t0.0039629443\t-0.0291886497\n1968\t1311867784.2819900513\t0.0447705835\t0.0256964258\t0.0606744327\t0.0048907553\t0.0258290000\t248589858\t95654136\t760807424\t-0.0090607544\t0.0061734691\t-0.0298965573\n1969\t1311867784.3176920414\t0.0444566980\t0.0257059536\t0.0606744327\t0.0048909593\t0.0299450000\t248591898\t95654136\t760807424\t-0.0092176534\t0.0055646030\t-0.0296273567\n1970\t1311867784.3490819931\t0.0425452925\t0.0257145015\t0.0606744327\t0.0048915730\t0.0255320000\t248595314\t95654136\t760807424\t-0.0087860776\t0.0031054248\t-0.0288303848\n1971\t1311867784.3815689087\t0.0454815403\t0.0257245305\t0.0606744327\t0.0048931127\t0.0256850000\t248597242\t95654136\t760807424\t-0.0095699187\t0.0060495315\t-0.0296802036\n1972\t1311867784.4190580845\t0.0440371595\t0.0257338168\t0.0606744327\t0.0048925742\t0.0259030000\t248600826\t95654136\t760807424\t-0.0097320471\t0.0041880393\t-0.0290446617\n1973\t1311867784.4496140480\t0.0424872972\t0.0257423082\t0.0606744327\t0.0048917074\t0.0258460000\t248604498\t95654136\t760807424\t-0.0089494763\t0.0024828666\t-0.0285790823\n1974\t1311867784.4828379154\t0.0430266410\t0.0257510641\t0.0606744327\t0.0048908108\t0.0370860000\t248606226\t95654136\t760807424\t-0.0083691031\t0.0029751835\t-0.0286787786\n1975\t1311867784.5185639858\t0.0432079881\t0.0257599031\t0.0606744327\t0.0048897788\t0.0260350000\t248609898\t95654136\t760807424\t-0.0094893547\t0.0029743409\t-0.0286833141\n1976\t1311867784.5499279499\t0.0418490209\t0.0257680454\t0.0606744327\t0.0048886554\t0.0257470000\t248611570\t95654136\t760807424\t-0.0099970652\t0.0011654992\t-0.0279631224\n1977\t1311867784.5848410130\t0.0429516248\t0.0257767371\t0.0606744327\t0.0048875261\t0.0257850000\t248615354\t95654136\t760807424\t-0.0093079731\t0.0022618491\t-0.0287782867\n1978\t1311867784.6179790497\t0.0433559343\t0.0257856245\t0.0606744327\t0.0048868018\t0.0258560000\t248618826\t95654136\t760807424\t-0.0097472258\t0.0023131487\t-0.0288305525\n1979\t1311867784.6492750645\t0.0416345373\t0.0257936330\t0.0606744327\t0.0048856783\t0.0257950000\t248620698\t95654136\t760807424\t-0.0094754761\t0.0002694121\t-0.0285558235\n1980\t1311867784.6878700256\t0.0444174819\t0.0258030390\t0.0606744327\t0.0048864213\t0.0258520000\t248624338\t95654136\t760807424\t-0.0099684298\t0.0029710806\t-0.0290246457\n1981\t1311867784.7168869972\t0.0449701622\t0.0258127145\t0.0606744327\t0.0048858701\t0.0258820000\t248626098\t95654136\t760807424\t-0.0096777976\t0.0034568280\t-0.0290821400\n1982\t1311867784.7578089237\t0.0424521193\t0.0258211097\t0.0606744327\t0.0048877262\t0.0367690000\t248629906\t95654136\t760807424\t-0.0110975280\t0.0005039400\t-0.0284741931\n1983\t1311867784.7870030403\t0.0450424440\t0.0258308028\t0.0606744327\t0.0048870063\t0.0260280000\t248633466\t95654136\t760807424\t-0.0120103331\t0.0030786099\t-0.0284368787\n1984\t1311867784.8199620247\t0.0448787920\t0.0258404036\t0.0606744327\t0.0048865340\t0.0292260000\t248635026\t95654136\t760807424\t-0.0135689396\t0.0024090772\t-0.0278990623\n1985\t1311867784.8550779819\t0.0421204008\t0.0258486051\t0.0606744327\t0.0048862260\t0.0257930000\t248638754\t95654136\t760807424\t-0.0145431170\t-0.0006924029\t-0.0276261829\n1986\t1311867784.8873779774\t0.0462044328\t0.0258588548\t0.0606744327\t0.0048860014\t0.0258020000\t248642226\t95654136\t760807424\t-0.0149179567\t0.0035051396\t-0.0283417422\n1987\t1311867784.9173130989\t0.0467439108\t0.0258693656\t0.0606744327\t0.0048858325\t0.0258110000\t248644098\t95654136\t760807424\t-0.0161464307\t0.0036004032\t-0.0284584612\n1988\t1311867784.9491391182\t0.0451153107\t0.0258790467\t0.0606744327\t0.0048846980\t0.0257860000\t248647514\t95654136\t760807424\t-0.0177066345\t0.0015967749\t-0.0280371122\n1989\t1311867784.9848570824\t0.0457001589\t0.0258890120\t0.0606744327\t0.0048839381\t0.0292530000\t248649498\t95654136\t760807424\t-0.0187783781\t0.0020133883\t-0.0283879004\n1990\t1311867785.0184569359\t0.0451988243\t0.0258987155\t0.0606744327\t0.0048827555\t0.0258640000\t248652970\t95654136\t760807424\t-0.0185619798\t0.0013453667\t-0.0286342204\n1991\t1311867785.0500280857\t0.0460637584\t0.0259088436\t0.0606744327\t0.0048822395\t0.0258330000\t248656698\t95654136\t760807424\t-0.0196106080\t0.0017076011\t-0.0282444246\n1992\t1311867785.0871460438\t0.0466369800\t0.0259192492\t0.0606744327\t0.0048810274\t0.0264890000\t248658482\t95654136\t760807424\t-0.0185637176\t0.0025231401\t-0.0286344215\n1993\t1311867785.1168398857\t0.0455685854\t0.0259291084\t0.0606744327\t0.0048801276\t0.0299810000\t248662154\t95654136\t760807424\t-0.0189063270\t0.0012807717\t-0.0291704070\n1994\t1311867785.1499750614\t0.0451477282\t0.0259387466\t0.0606744327\t0.0048796062\t0.0257650000\t248663770\t95654136\t760807424\t-0.0215506554\t0.0000686320\t-0.0285754204\n1995\t1311867785.1850368977\t0.0472189151\t0.0259494134\t0.0606744327\t0.0048786539\t0.0256420000\t248667554\t95654136\t760807424\t-0.0204268936\t0.0025915026\t-0.0287482608\n1996\t1311867785.2169620991\t0.0480954312\t0.0259605086\t0.0606744327\t0.0048774922\t0.0258660000\t248670970\t95654136\t760807424\t-0.0204643440\t0.0033592647\t-0.0286848191\n1997\t1311867785.2491741180\t0.0463771522\t0.0259707323\t0.0606744327\t0.0048766474\t0.0369830000\t248672842\t95654136\t760807424\t-0.0197296683\t0.0017206534\t-0.0285126586\n1998\t1311867785.2858769894\t0.0467600077\t0.0259811373\t0.0606744327\t0.0048754738\t0.0259460000\t248676482\t95654136\t760807424\t-0.0192535315\t0.0023533856\t-0.0286092553\n1999\t1311867785.3214280605\t0.0458107144\t0.0259910570\t0.0606744327\t0.0048768055\t0.0258330000\t248678578\t95654136\t760807424\t-0.0192284994\t0.0011738118\t-0.0281639267\n2000\t1311867785.3573219776\t0.0475767963\t0.0260018499\t0.0606744327\t0.0048762407\t0.0258130000\t248852822\t95654136\t760807424\t-0.0192815010\t0.0029567240\t-0.0282455795\n2001\t1311867785.3893299103\t0.0483490191\t0.0260130179\t0.0606744327\t0.0048750400\t0.0296440000\t248856494\t95654136\t760807424\t-0.0192634184\t0.0040235445\t-0.0290827900\n2002\t1311867785.4211249352\t0.0470937975\t0.0260235478\t0.0606744327\t0.0048739375\t0.0258150000\t248858166\t95654136\t760807424\t-0.0189918112\t0.0025360317\t-0.0279009826\n2003\t1311867785.4570529461\t0.0478999689\t0.0260344696\t0.0606744327\t0.0048745880\t0.0257790000\t248861950\t95654136\t760807424\t-0.0187982824\t0.0036727379\t-0.0287025739\n2004\t1311867785.4900350571\t0.0475602709\t0.0260452110\t0.0606744327\t0.0048744823\t0.0300040000\t248865478\t95654136\t760807424\t-0.0189071689\t0.0038084963\t-0.0292575695\n2005\t1311867785.5211930275\t0.0452729687\t0.0260548009\t0.0606744327\t0.0048733984\t0.0282460000\t248867294\t95654136\t760807424\t-0.0200770926\t0.0014076086\t-0.0284613520\n2006\t1311867785.5571260452\t0.0446967222\t0.0260640940\t0.0606744327\t0.0048724104\t0.0260690000\t248870878\t95654136\t760807424\t-0.0216175858\t0.0005872631\t-0.0283919703\n2007\t1311867785.5891211033\t0.0456536636\t0.0260738546\t0.0606744327\t0.0048712920\t0.0297310000\t248872750\t95654136\t760807424\t-0.0200035349\t0.0022620116\t-0.0293846466\n2008\t1311867785.6211590767\t0.0453634411\t0.0260834610\t0.0606744327\t0.0048870597\t0.0257550000\t248876278\t95654136\t760807424\t-0.0226387233\t0.0015327503\t-0.0284535848\n2009\t1311867785.6570439339\t0.0449222066\t0.0260928382\t0.0606744327\t0.0048873257\t0.0256100000\t248880062\t95654136\t760807424\t-0.0238546971\t0.0006563932\t-0.0274972711\n2010\t1311867785.6892280579\t0.0466363318\t0.0261030588\t0.0606744327\t0.0048861482\t0.0258860000\t248881678\t95654136\t760807424\t-0.0224817190\t0.0028630923\t-0.0284723286\n2011\t1311867785.7214241028\t0.0466631800\t0.0261132826\t0.0606744327\t0.0048876739\t0.0257990000\t248885350\t95654136\t760807424\t-0.0228169393\t0.0027513106\t-0.0282254387\n2012\t1311867785.7573668957\t0.0450557396\t0.0261226974\t0.0606744327\t0.0048864864\t0.0258800000\t248887134\t95654136\t760807424\t-0.0244708899\t0.0003754036\t-0.0273834616\n2013\t1311867785.7892301083\t0.0460908152\t0.0261326170\t0.0606744327\t0.0048855703\t0.0376040000\t248890806\t95654136\t760807424\t-0.0253249425\t0.0011426951\t-0.0276894309\n2014\t1311867785.8210389614\t0.0468391478\t0.0261428983\t0.0606744327\t0.0048846971\t0.0260040000\t248894278\t95654136\t760807424\t-0.0238955505\t0.0020880955\t-0.0280503556\n2015\t1311867785.8574340343\t0.0463103987\t0.0261529070\t0.0606744327\t0.0048835570\t0.0259310000\t248896262\t95654136\t760807424\t-0.0238082055\t0.0010065296\t-0.0270628128\n2016\t1311867785.8893110752\t0.0461244993\t0.0261628135\t0.0606744327\t0.0048825806\t0.0292110000\t248899790\t95654136\t760807424\t-0.0233477205\t0.0008272902\t-0.0279822145\n2017\t1311867785.9211509228\t0.0465888195\t0.0261729404\t0.0606744327\t0.0048818623\t0.0257940000\t248901662\t95654136\t760807424\t-0.0232783798\t0.0014679985\t-0.0284191184\n2018\t1311867785.9588449001\t0.0446872003\t0.0261821150\t0.0606744327\t0.0048825343\t0.0258230000\t248905246\t95654136\t760807424\t-0.0241826922\t-0.0008502098\t-0.0275168344\n2019\t1311867785.9892621040\t0.0447317176\t0.0261913025\t0.0606744327\t0.0048819482\t0.0261590000\t248908918\t95654136\t760807424\t-0.0228898991\t-0.0006778145\t-0.0280379392\n2020\t1311867786.0210618973\t0.0455213785\t0.0262008718\t0.0606744327\t0.0048808817\t0.0257930000\t248910590\t95654136\t760807424\t-0.0208768751\t0.0004152253\t-0.0282463245\n2021\t1311867786.0572268963\t0.0446177460\t0.0262099846\t0.0606744327\t0.0048816460\t0.0299490000\t248914318\t95654136\t760807424\t-0.0233553089\t-0.0009979189\t-0.0272580106\n2022\t1311867786.0892500877\t0.0433029532\t0.0262184381\t0.0606744327\t0.0048807749\t0.0257870000\t248917846\t95654136\t760807424\t-0.0225425866\t-0.0024927719\t-0.0273140967\n2023\t1311867786.1211619377\t0.0448918343\t0.0262276686\t0.0606744327\t0.0048796285\t0.0296590000\t248919774\t95654136\t760807424\t-0.0222740881\t-0.0010249104\t-0.0281614475\n2024\t1311867786.1570990086\t0.0433286391\t0.0262361177\t0.0606744327\t0.0048786845\t0.0295010000\t248923302\t95654136\t760807424\t-0.0236218590\t-0.0031763134\t-0.0279318821\n2025\t1311867786.1891019344\t0.0420396291\t0.0262439219\t0.0606744327\t0.0048776114\t0.0258170000\t249095430\t95654136\t760807424\t-0.0241918545\t-0.0048547415\t-0.0276924688\n2026\t1311867786.2216470242\t0.0434278138\t0.0262524036\t0.0606744327\t0.0048766328\t0.0257970000\t249098902\t95654136\t760807424\t-0.0235448424\t-0.0034413449\t-0.0286790729\n2027\t1311867786.2570950985\t0.0426680706\t0.0262605021\t0.0606744327\t0.0048755831\t0.0263370000\t249102742\t95654136\t760807424\t-0.0239441302\t-0.0044648964\t-0.0285268016\n2028\t1311867786.2895779610\t0.0401462764\t0.0262673492\t0.0606744327\t0.0048748224\t0.0292650000\t249104358\t95654136\t760807424\t-0.0249026231\t-0.0074024424\t-0.0278355256\n2029\t1311867786.3211650848\t0.0412707478\t0.0262747436\t0.0606744327\t0.0048742593\t0.0258090000\t249107974\t95654136\t760807424\t-0.0247546416\t-0.0062290635\t-0.0291017033\n2030\t1311867786.3572299480\t0.0415687673\t0.0262822776\t0.0606744327\t0.0048730873\t0.0258160000\t249109814\t95654136\t760807424\t-0.0247513633\t-0.0061728102\t-0.0288953800\n2031\t1311867786.3891439438\t0.0401109457\t0.0262890864\t0.0606744327\t0.0048730730\t0.0257980000\t249113430\t95654136\t760807424\t-0.0258971266\t-0.0081783570\t-0.0277839657\n2032\t1311867786.4213869572\t0.0413813703\t0.0262965137\t0.0606744327\t0.0048723887\t0.0257880000\t249116958\t95654136\t760807424\t-0.0267810412\t-0.0073524565\t-0.0285317600\n2033\t1311867786.4573409557\t0.0413367227\t0.0263039118\t0.0606744327\t0.0048712999\t0.0259490000\t249118942\t95654136\t760807424\t-0.0269105677\t-0.0071871248\t-0.0290373247\n2034\t1311867786.4891700745\t0.0390201174\t0.0263101636\t0.0606744327\t0.0048703646\t0.0258760000\t2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}, { "path": "icra2018_results/1080/violons_libefusion-cuda_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 01:29:51\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libefusion-cuda_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /home/bruno/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520440\t0.0582520440\t0.0582520440\t-nan\t0.0134770000\t208245864\t95654128\t750977024\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1311867170.4941389561\t0.0590390489\t0.0586455464\t0.0590390489\t0.0043609180\t0.0401190000\t220876758\t95654128\t760807424\t-0.0046225134\t-0.0003272689\t-0.0017514409\n3\t1311867170.5264289379\t0.0583505332\t0.0585472087\t0.0590390489\t0.0042434848\t0.0185880000\t220880854\t95654128\t760807424\t-0.0073903231\t-0.0000792317\t-0.0047243708\n4\t1311867170.5623490810\t0.0573859438\t0.0582568925\t0.0590390489\t0.0051500397\t0.0190690000\t220882626\t95654128\t760807424\t-0.0073997155\t0.0003928485\t-0.0070953500\n5\t1311867170.5942170620\t0.0574107245\t0.0580876589\t0.0590390489\t0.0050078938\t0.0178430000\t220886978\t95654128\t760807424\t-0.0100922957\t-0.0012397963\t-0.0084009636\n6\t1311867170.6260869503\t0.0560944453\t0.0577554566\t0.0590390489\t0.0047427619\t0.0179850000\t220889450\t95654128\t760807424\t-0.0110081639\t-0.0026097652\t-0.0110545186\n7\t1311867170.6621398926\t0.0553384721\t0.0574101731\t0.0590390489\t0.0045572977\t0.0180120000\t220893090\t95654128\t760807424\t-0.0127517171\t-0.0052603381\t-0.0126141608\n8\t1311867170.6942050457\t0.0542543195\t0.0570156914\t0.0590390489\t0.0044051995\t0.0180030000\t220896506\t95654128\t760807424\t-0.0121891703\t-0.0054281484\t-0.0152042136\n9\t1311867170.7263879776\t0.0546637475\t0.0567543643\t0.0590390489\t0.0042259030\t0.0180020000\t220899982\t95654128\t760807424\t-0.0151427621\t-0.0068467772\t-0.0162141081\n10\t1311867170.7620189190\t0.0561912283\t0.0566980507\t0.0590390489\t0.0040629438\t0.0180280000\t220905222\t95654128\t760807424\t-0.0192913059\t-0.0082850400\t-0.0167284943\n11\t1311867170.7941920757\t0.0564558953\t0.0566760366\t0.0590390489\t0.0040313649\t0.0180090000\t220908582\t95654128\t760807424\t-0.0204102285\t-0.0107300542\t-0.0180305950\n12\t1311867170.8262820244\t0.0565391704\t0.0566646311\t0.0590390489\t0.0040555570\t0.0180410000\t220910310\t95654128\t760807424\t-0.0216279849\t-0.0139274420\t-0.0200612321\n13\t1311867170.8622210026\t0.0554297715\t0.0565696419\t0.0590390489\t0.0043118158\t0.0219510000\t220914358\t95654128\t760807424\t-0.0204359479\t-0.0159170739\t-0.0232299287\n14\t1311867170.8943779469\t0.0558725744\t0.0565198514\t0.0590390489\t0.0042175128\t0.0183510000\t220917774\t95654128\t760807424\t-0.0199496485\t-0.0180622749\t-0.0254245792\n15\t1311867170.9263520241\t0.0557228923\t0.0564667207\t0.0590390489\t0.0041556092\t0.0180110000\t220919502\t95654128\t760807424\t-0.0189489443\t-0.0204302687\t-0.0282479562\n16\t1311867170.9621469975\t0.0556361005\t0.0564148070\t0.0590390489\t0.0041013596\t0.0179910000\t220923086\t95654128\t760807424\t-0.0204986241\t-0.0212311540\t-0.0316743925\n17\t1311867170.9942629337\t0.0547381714\t0.0563161814\t0.0590390489\t0.0041524429\t0.0181470000\t221097822\t95654128\t760807424\t-0.0192059651\t-0.0227072854\t-0.0353772342\n18\t1311867171.0262739658\t0.0545263477\t0.0562167462\t0.0590390489\t0.0040516388\t0.0210120000\t221104550\t95654128\t760807424\t-0.0186726786\t-0.0261201337\t-0.0376239605\n19\t1311867171.0623519421\t0.0542649068\t0.0561140178\t0.0590390489\t0.0046496081\t0.0181090000\t221108134\t95654128\t760807424\t-0.0196285509\t-0.0289097987\t-0.0404592790\n20\t1311867171.0942349434\t0.0534053519\t0.0559785845\t0.0590390489\t0.0046528721\t0.0213060000\t221109750\t95654128\t760807424\t-0.0179294143\t-0.0291688908\t-0.0434426963\n21\t1311867171.1262509823\t0.0533481613\t0.0558533262\t0.0590390489\t0.0045514598\t0.0210470000\t221113478\t95654128\t760807424\t-0.0200048480\t-0.0315662436\t-0.0453118011\n22\t1311867171.1622469425\t0.0538891442\t0.0557640452\t0.0590390489\t0.0049215445\t0.0219270000\t221117030\t95654128\t760807424\t-0.0188148208\t-0.0305615980\t-0.0468629152\n23\t1311867171.1942689419\t0.0519554727\t0.0555984551\t0.0590390489\t0.0059261370\t0.0192390000\t221118630\t95654128\t760807424\t-0.0136132985\t-0.0295352489\t-0.0488132574\n24\t1311867171.2262530327\t0.0533620343\t0.0555052709\t0.0590390489\t0.0062151615\t0.0228350000\t221122158\t95654128\t760807424\t-0.0108982408\t-0.0307443365\t-0.0488661230\n25\t1311867171.2622439861\t0.0525557920\t0.0553872918\t0.0590390489\t0.0060940307\t0.0183870000\t221125942\t95654128\t760807424\t-0.0060961153\t-0.0284453370\t-0.0512372740\n26\t1311867171.2943410873\t0.0514977016\t0.0552376921\t0.0590390489\t0.0060203218\t0.0180500000\t221127502\t95654128\t760807424\t-0.0039204098\t-0.0281723551\t-0.0529367737\n27\t1311867171.3263869286\t0.0526633486\t0.0551423461\t0.0590390489\t0.0062852773\t0.0180710000\t221131030\t95654128\t760807424\t-0.0033329180\t-0.0285660475\t-0.0530911870\n28\t1311867171.3622460365\t0.0530760996\t0.0550685516\t0.0590390489\t0.0062608684\t0.0181580000\t221134614\t95654128\t760807424\t-0.0022073453\t-0.0252446570\t-0.0543850251\n29\t1311867171.3941431046\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t-0.2426533252\n1888\t1311867233.4236669540\t0.0806422830\t0.0589188032\t0.0875933766\t0.0057533704\t0.0269710000\t243576078\t95654136\t760807424\t-0.0537295230\t0.1361015290\t-0.2431548983\n1889\t1311867233.4522700310\t0.0797546208\t0.0589298333\t0.0875933766\t0.0057548521\t0.0267140000\t243577950\t95654136\t760807424\t-0.0530496053\t0.1317782551\t-0.2422807962\n1890\t1311867233.4881610870\t0.0799657777\t0.0589409634\t0.0875933766\t0.0057598348\t0.0267180000\t243581422\t95654136\t760807424\t-0.0544501022\t0.1313295662\t-0.2434488088\n1891\t1311867233.5201199055\t0.0803698525\t0.0589522955\t0.0875933766\t0.0057599512\t0.0269150000\t243585150\t95654136\t760807424\t-0.0556188859\t0.1309293658\t-0.2442728430\n1892\t1311867233.5526270866\t0.0792007819\t0.0589629976\t0.0875933766\t0.0057597566\t0.0268650000\t243586822\t95654136\t760807424\t-0.0540830046\t0.1278310865\t-0.2436489463\n1893\t1311867233.5890851021\t0.0789748654\t0.0589735691\t0.0875933766\t0.0057583419\t0.0267990000\t243590606\t95654136\t760807424\t-0.0536963642\t0.1271917820\t-0.2441055775\n1894\t1311867233.6202619076\t0.0788741708\t0.0589840763\t0.0875933766\t0.0057568865\t0.0269560000\t243592278\t95654136\t760807424\t-0.0528616980\t0.1260989159\t-0.2438479811\n1895\t1311867233.6539080143\t0.0789400637\t0.0589946072\t0.0875933766\t0.0057566304\t0.0268290000\t243595950\t95654136\t760807424\t-0.0525534190\t0.1242566854\t-0.2429613620\n1896\t1311867233.6879289150\t0.0775282159\t0.0590043823\t0.0875933766\t0.0057552575\t0.0268110000\t243599478\t95654136\t760807424\t-0.0522492006\t0.1224918291\t-0.2437729686\n1897\t1311867233.7197790146\t0.0772881359\t0.0590140205\t0.0875933766\t0.0057542125\t0.0268980000\t243601406\t95654136\t760807424\t-0.0522247180\t0.1220551059\t-0.2442999929\n1898\t1311867233.7577540874\t0.0769803375\t0.0590234864\t0.0875933766\t0.0057528198\t0.0269350000\t243605046\t95654136\t760807424\t-0.0518957153\t0.1201347038\t-0.2435679287\n1899\t1311867233.7896089554\t0.0752171502\t0.0590320139\t0.0875933766\t0.0057531290\t0.0268280000\t243606918\t95654136\t760807424\t-0.0532593392\t0.1169598997\t-0.2442171574\n1900\t1311867233.8221189976\t0.0756791979\t0.0590407756\t0.0875933766\t0.0057532536\t0.0268520000\t243610446\t95654136\t760807424\t-0.0521459058\t0.1182080880\t-0.2448797077\n1901\t1311867233.8562450409\t0.0749550387\t0.0590491471\t0.0875933766\t0.0057520655\t0.0268560000\t243614118\t95654136\t760807424\t-0.0507105365\t0.1156551987\t-0.2441318333\n1902\t1311867233.8885691166\t0.0747824609\t0.0590574191\t0.0875933766\t0.0057513743\t0.0267970000\t243615790\t95654136\t760807424\t-0.0527550131\t0.1137958169\t-0.2441557199\n1903\t1311867233.9203450680\t0.0750198513\t0.0590658071\t0.0875933766\t0.0057500020\t0.0268420000\t243789886\t95654136\t760807424\t-0.0535971150\t0.1139984354\t-0.2446716875\n1904\t1311867233.9552910328\t0.0758464783\t0.0590746205\t0.0875933766\t0.0057485044\t0.0268600000\t243793470\t95654136\t760807424\t-0.0535127297\t0.1129160821\t-0.2435472161\n1905\t1311867233.9885900021\t0.0746343061\t0.0590827883\t0.0875933766\t0.0057470539\t0.0375780000\t243795342\t95654136\t760807424\t-0.0548322797\t0.1109050885\t-0.2445490956\n1906\t1311867234.0205829144\t0.0741468295\t0.0590906918\t0.0875933766\t0.0057459550\t0.0262430000\t243798814\t95654136\t760807424\t-0.0542833023\t0.1108401343\t-0.2457045466\n1907\t1311867234.0566239357\t0.0734057948\t0.0590981984\t0.0875933766\t0.0057448481\t0.0262630000\t243800854\t95654136\t760807424\t-0.0533979535\t0.1077008396\t-0.2450017631\n1908\t1311867234.0907170773\t0.0717896894\t0.0591048501\t0.0875933766\t0.0057439292\t0.0259930000\t243804326\t95654136\t760807424\t-0.0542525612\t0.1042073742\t-0.2456099838\n1909\t1311867234.1214520931\t0.0715525672\t0.0591113707\t0.0875933766\t0.0057425936\t0.0259790000\t243807998\t95654136\t760807424\t-0.0541394167\t0.1031125337\t-0.2459690869\n1910\t1311867234.1561689377\t0.0727426857\t0.0591185075\t0.0875933766\t0.0057414490\t0.0260470000\t243809726\t95654136\t760807424\t-0.0561442040\t0.1020673215\t-0.2455441952\n1911\t1311867234.1892559528\t0.0723344386\t0.0591254232\t0.0875933766\t0.0057400401\t0.0259460000\t243813398\t95654136\t760807424\t-0.0580500662\t0.0997959152\t-0.2458499968\n1912\t1311867234.2203600407\t0.0726096779\t0.0591324757\t0.0875933766\t0.0057401618\t0.0291870000\t243815070\t95654136\t760807424\t-0.0587778240\t0.0997108072\t-0.2468509078\n1913\t1311867234.2588930130\t0.0728303716\t0.0591396361\t0.0875933766\t0.0057394444\t0.0260090000\t243818910\t95654136\t760807424\t-0.0581419840\t0.0990325883\t-0.2466637194\n1914\t1311867234.2895319462\t0.0714998394\t0.0591460939\t0.0875933766\t0.0057380254\t0.0259090000\t243822382\t95654136\t760807424\t-0.0595111325\t0.0963597521\t-0.2469396293\n1915\t1311867234.3213200569\t0.0721697360\t0.0591528947\t0.0875933766\t0.0057391046\t0.0308680000\t243824254\t95654136\t760807424\t-0.0589153245\t0.0972402468\t-0.2465909719\n1916\t1311867234.3570129871\t0.0720393062\t0.0591596204\t0.0875933766\t0.0057376938\t0.0260690000\t243827782\t95654136\t760807424\t-0.0592460893\t0.0965259969\t-0.2464125603\n1917\t1311867234.3885769844\t0.0713254660\t0.0591659667\t0.0875933766\t0.0057368160\t0.0263670000\t243829654\t95654136\t760807424\t-0.0590894744\t0.0938178748\t-0.2451962829\n1918\t1311867234.4204909801\t0.0716419592\t0.0591724714\t0.0875933766\t0.0057353420\t0.0260440000\t243833182\t95654136\t760807424\t-0.0594786257\t0.0940704271\t-0.2452275157\n1919\t1311867234.4579920769\t0.0731983408\t0.0591797803\t0.0875933766\t0.0057351388\t0.0262240000\t243836910\t95654136\t760807424\t-0.0618269704\t0.0972118974\t-0.2466730475\n1920\t1311867234.4878959656\t0.0732592940\t0.0591871134\t0.0875933766\t0.0057386527\t0.0405190000\t243838582\t95654136\t760807424\t-0.0626717582\t0.0946656764\t-0.2451846600\n1921\t1311867234.5201239586\t0.0722884163\t0.0591939335\t0.0875933766\t0.0057373772\t0.0264350000\t243842254\t95654136\t760807424\t-0.0629938468\t0.0920347795\t-0.2448667437\n1922\t1311867234.5594279766\t0.0730990916\t0.0592011682\t0.0875933766\t0.0057368083\t0.0260070000\t243845950\t95654136\t760807424\t-0.0623758473\t0.0933895782\t-0.2452540696\n1923\t1311867234.5882380009\t0.0738890991\t0.0592088062\t0.0875933766\t0.0057357795\t0.0261280000\t243847766\t95654136\t760807424\t-0.0641254932\t0.0926975682\t-0.2441744208\n1924\t1311867234.6204199791\t0.0737351328\t0.0592163563\t0.0875933766\t0.0057343349\t0.0260460000\t243851238\t95654136\t760807424\t-0.0638473257\t0.0908159614\t-0.2431839257\n1925\t1311867234.6590909958\t0.0736972764\t0.0592238788\t0.0875933766\t0.0057335505\t0.0260370000\t243853278\t95654136\t760807424\t-0.0638902858\t0.0917868912\t-0.2437967807\n1926\t1311867234.6880459785\t0.0728855729\t0.0592309721\t0.0875933766\t0.0057325785\t0.0259940000\t243856638\t95654136\t760807424\t-0.0636089444\t0.0905595645\t-0.2436001599\n1927\t1311867234.7198779583\t0.0731499270\t0.0592381953\t0.0875933766\t0.0057320340\t0.0296830000\t244031450\t95654136\t760807424\t-0.0635177717\t0.0891658142\t-0.2420755774\n1928\t1311867234.7586181164\t0.0729086846\t0.0592452858\t0.0875933766\t0.0057305653\t0.0260400000\t244033234\t95654136\t760807424\t-0.0625678226\t0.0899091363\t-0.2419197857\n1929\t1311867234.7882609367\t0.0728617311\t0.0592523446\t0.0875933766\t0.0057370009\t0.0260720000\t244036906\t95654136\t760807424\t-0.0625400171\t0.0904389396\t-0.2411742359\n1930\t1311867234.8206560612\t0.0719591677\t0.0592589284\t0.0875933766\t0.0057356553\t0.0260290000\t244038578\t95654136\t760807424\t-0.0618468113\t0.0882640108\t-0.2391715646\n1931\t1311867234.8590250015\t0.0727311522\t0.0592659052\t0.0875933766\t0.0057348296\t0.0300940000\t244042362\t95654136\t760807424\t-0.0622395873\t0.0907181725\t-0.2395604551\n1932\t1311867234.8881230354\t0.0733168945\t0.0592731780\t0.0875933766\t0.0057337240\t0.0259920000\t244045778\t95654136\t760807424\t-0.0617204383\t0.0913783312\t-0.2386339158\n1933\t1311867234.9204928875\t0.0731037632\t0.0592803330\t0.0875933766\t0.0057325878\t0.0260390000\t244047706\t95654136\t760807424\t-0.0614886321\t0.0893312842\t-0.2368673384\n1934\t1311867234.9566090107\t0.0736610070\t0.0592877687\t0.0875933766\t0.0057311453\t0.0298500000\t244051290\t95654136\t760807424\t-0.0608746670\t0.0894017816\t-0.2362948954\n1935\t1311867234.9904088974\t0.0747723952\t0.0592957711\t0.0875933766\t0.0057299157\t0.0300430000\t244053218\t95654136\t760807424\t-0.0609712154\t0.0908990651\t-0.2366960496\n1936\t1311867235.0205988884\t0.0747363418\t0.0593037466\t0.0875933766\t0.0057285862\t0.0261510000\t244056634\t95654136\t760807424\t-0.0617461763\t0.0882284567\t-0.2356959581\n1937\t1311867235.0563809872\t0.0731522143\t0.0593108960\t0.0875933766\t0.0057284153\t0.0297110000\t244060418\t95654136\t760807424\t-0.0622067973\t0.0850620642\t-0.2361227572\n1938\t1311867235.0911149979\t0.0733260661\t0.0593181278\t0.0875933766\t0.0057269798\t0.0264770000\t244062146\t95654136\t760807424\t-0.0619779900\t0.0852840766\t-0.2366305739\n1939\t1311867235.1208140850\t0.0728168711\t0.0593250895\t0.0875933766\t0.0057255985\t0.0262370000\t244065818\t95654136\t760807424\t-0.0628790930\t0.0836525261\t-0.2368271947\n1940\t1311867235.1564071178\t0.0735422000\t0.0593324179\t0.0875933766\t0.0057250923\t0.0260530000\t244069346\t95654136\t760807424\t-0.0633441433\t0.0856634229\t-0.2375654727\n1941\t1311867235.1885681152\t0.0728225112\t0.0593393680\t0.0875933766\t0.0057244508\t0.0259660000\t244071218\t95654136\t760807424\t-0.0623090491\t0.0835165530\t-0.2363728434\n1942\t1311867235.2202088833\t0.0712693334\t0.0593455111\t0.0875933766\t0.0057237329\t0.0298330000\t244074690\t95654136\t760807424\t-0.0628741533\t0.0799652338\t-0.2355977893\n1943\t1311867235.2576260567\t0.0723715276\t0.0593522152\t0.0875933766\t0.0057229402\t0.0293350000\t244076562\t95654136\t760807424\t-0.0623891242\t0.0822136998\t-0.2360703796\n1944\t1311867235.2899661064\t0.0715885758\t0.0593585096\t0.0875933766\t0.0057230999\t0.0268310000\t244080090\t95654136\t760807424\t-0.0633248985\t0.0800611377\t-0.2352650166\n1945\t1311867235.3247830868\t0.0723242462\t0.0593651758\t0.0875933766\t0.0057223060\t0.0270670000\t244083874\t95654136\t760807424\t-0.0663558468\t0.0806199089\t-0.2355181426\n1946\t1311867235.3567800522\t0.0717053860\t0.0593715171\t0.0875933766\t0.0057339227\t0.0270120000\t244085546\t95654136\t760807424\t-0.0635007322\t0.0802045241\t-0.2347980142\n1947\t1311867235.3886280060\t0.0707702711\t0.0593773717\t0.0875933766\t0.0057434061\t0.0270810000\t244089218\t95654136\t760807424\t-0.0626961589\t0.0784878433\t-0.2343960702\n1948\t1311867235.4246189594\t0.0712485537\t0.0593834657\t0.0875933766\t0.0057422589\t0.0271300000\t244091002\t95654136\t760807424\t-0.0676178187\t0.0797548518\t-0.2352007627\n1949\t1311867235.4564850330\t0.0732964352\t0.0593906042\t0.0875933766\t0.0057417746\t0.0272750000\t244094674\t95654136\t760807424\t-0.0676157176\t0.0833118483\t-0.2348758280\n1950\t1311867235.4897930622\t0.0727935657\t0.0593974775\t0.0875933766\t0.0057418031\t0.0271240000\t244098146\t95654136\t760807424\t-0.0679888874\t0.0828359202\t-0.2339342535\n1951\t1311867235.5240719318\t0.0707546696\t0.0594032987\t0.0875933766\t0.0057413457\t0.0365840000\t244100074\t95654136\t760807424\t-0.0677240565\t0.0791648552\t-0.2325456291\n1952\t1311867235.5577290058\t0.0722063854\t0.0594098577\t0.0875933766\t0.0057410652\t0.0263750000\t244103546\t95654136\t760807424\t-0.0663962811\t0.0823274627\t-0.2320879400\n1953\t1311867235.5880639553\t0.0706295818\t0.0594156026\t0.0875933766\t0.0057398232\t0.0261370000\t244105418\t95654136\t760807424\t-0.0663787574\t0.0797051191\t-0.2314817458\n1954\t1311867235.6249940395\t0.0691572800\t0.0594205881\t0.0875933766\t0.0057393413\t0.0260500000\t244109058\t95654136\t760807424\t-0.0659285560\t0.0754200071\t-0.2300823927\n1955\t1311867235.6563270092\t0.0709958151\t0.0594265089\t0.0875933766\t0.0057397674\t0.0260910000\t244112674\t95654136\t760807424\t-0.0663150325\t0.0787218660\t-0.2303947210\n1956\t1311867235.6885619164\t0.0700702220\t0.0594319505\t0.0875933766\t0.0057388456\t0.0261040000\t244114346\t95654136\t760807424\t-0.0682324022\t0.0754404068\t-0.2296249866\n1957\t1311867235.7241950035\t0.0699990317\t0.0594373501\t0.0875933766\t0.0057378021\t0.0261840000\t244118130\t95654136\t760807424\t-0.0688397288\t0.0750383958\t-0.2294964641\n1958\t1311867235.7561719418\t0.0715767890\t0.0594435500\t0.0875933766\t0.0057368931\t0.0303020000\t244292098\t95654136\t760807424\t-0.0674755499\t0.0789724365\t-0.2297900617\n1959\t1311867235.7903280258\t0.0693203658\t0.0594485918\t0.0875933766\t0.0057380255\t0.0261300000\t244293970\t95654136\t760807424\t-0.0672163442\t0.0741217583\t-0.2284474224\n1960\t1311867235.8249480724\t0.0677641481\t0.0594528344\t0.0875933766\t0.0057368620\t0.0261840000\t244297498\t95654136\t760807424\t-0.0671669915\t0.0711430237\t-0.2276831120\n1961\t1311867235.8562169075\t0.0700592324\t0.0594582431\t0.0875933766\t0.0057380605\t0.0261810000\t244299426\t95654136\t760807424\t-0.0667716265\t0.0761148930\t-0.2276075184\n1962\t1311867235.8881049156\t0.0692605376\t0.0594632392\t0.0875933766\t0.0057368026\t0.0262560000\t244302786\t95654136\t760807424\t-0.0681654513\t0.0731316954\t-0.2258266956\n1963\t1311867235.9239900112\t0.0687932447\t0.0594679921\t0.0875933766\t0.0057355157\t0.0265210000\t244306626\t95654136\t760807424\t-0.0670430213\t0.0723761469\t-0.2248738557\n1964\t1311867235.9563760757\t0.0695584044\t0.0594731298\t0.0875933766\t0.0057352519\t0.0262600000\t244308354\t95654136\t760807424\t-0.0683513209\t0.0742070302\t-0.2251598537\n1965\t1311867235.9890949726\t0.0682615861\t0.0594776023\t0.0875933766\t0.0057351422\t0.0262370000\t244311970\t95654136\t760807424\t-0.0691891164\t0.0715419948\t-0.2243946195\n1966\t1311867236.0250449181\t0.0685244501\t0.0594822039\t0.0875933766\t0.0057338115\t0.0262440000\t244313754\t95654136\t760807424\t-0.0695355088\t0.0721145719\t-0.2240281701\n1967\t1311867236.0599400997\t0.0697021559\t0.0594873996\t0.0875933766\t0.0057327446\t0.0382920000\t244317482\t95654136\t760807424\t-0.0706627890\t0.0745588094\t-0.2237542719\n1968\t1311867236.0884859562\t0.0687095150\t0.0594920857\t0.0875933766\t0.0057322189\t0.0264480000\t244320842\t95654136\t760807424\t-0.0696716532\t0.0721877441\t-0.2220593840\n1969\t1311867236.1247038841\t0.0693891123\t0.0594971121\t0.0875933766\t0.0057314702\t0.0261960000\t244322882\t95654136\t760807424\t-0.0715989545\t0.0728883818\t-0.2211569697\n1970\t1311867236.1581289768\t0.0700695291\t0.0595024788\t0.0875933766\t0.0057310983\t0.0263450000\t244326354\t95654136\t760807424\t-0.0719373226\t0.0728746429\t-0.2194658071\n1971\t1311867236.1901528835\t0.0690338239\t0.0595073146\t0.0875933766\t0.0057302787\t0.0263320000\t244328170\t95654136\t760807424\t-0.0709853843\t0.0727223381\t-0.2188279182\n1972\t1311867236.2242329121\t0.0687261894\t0.0595119895\t0.0875933766\t0.0057288665\t0.0262520000\t244331698\t95654136\t760807424\t-0.0734081045\t0.0721973404\t-0.2179539800\n1973\t1311867236.2599489689\t0.0690530166\t0.0595168253\t0.0875933766\t0.0057274847\t0.0265720000\t244335482\t95654136\t760807424\t-0.0743242502\t0.0729967356\t-0.2167626619\n1974\t1311867236.2890419960\t0.0695860162\t0.0595219262\t0.0875933766\t0.0057264907\t0.0300690000\t244337042\t95654136\t760807424\t-0.0760912895\t0.0738208219\t-0.2161970735\n1975\t1311867236.3262441158\t0.0696364120\t0.0595270474\t0.0875933766\t0.0057255209\t0.0302780000\t244340882\t95654136\t760807424\t-0.0770970136\t0.0740174800\t-0.2152727097\n1976\t1311867236.3568809032\t0.0697392747\t0.0595322156\t0.0875933766\t0.0057249142\t0.0263170000\t244344354\t95654136\t760807424\t-0.0771991536\t0.0736537650\t-0.2140404582\n1977\t1311867236.3897418976\t0.0705847964\t0.0595378061\t0.0875933766\t0.0057236251\t0.0262880000\t244346226\t95654136\t760807424\t-0.0785804614\t0.0736667737\t-0.2121138424\n1978\t1311867236.4243390560\t0.0712808594\t0.0595437430\t0.0875933766\t0.0057239797\t0.0262810000\t244349754\t95654136\t760807424\t-0.0786796361\t0.0754986256\t-0.2109157890\n1979\t1311867236.4566040039\t0.0708307773\t0.0595494464\t0.0875933766\t0.0057231398\t0.0262830000\t244351682\t95654136\t760807424\t-0.0782340616\t0.0740685016\t-0.2088320702\n1980\t1311867236.4936130047\t0.0708875582\t0.0595551727\t0.0875933766\t0.0057274073\t0.0264060000\t244355266\t95654136\t760807424\t-0.0797628090\t0.0722595155\t-0.2066308856\n1981\t1311867236.5246999264\t0.0714771971\t0.0595611909\t0.0875933766\t0.0057262464\t0.0262880000\t244358938\t95654136\t760807424\t-0.0798551813\t0.0731974691\t-0.2051551342\n1982\t1311867236.5602099895\t0.0712927654\t0.0595671099\t0.0875933766\t0.0057276021\t0.0331810000\t244360722\t95654136\t760807424\t-0.0788710415\t0.0745123252\t-0.2044455260\n1983\t1311867236.5972909927\t0.0695924312\t0.0595721656\t0.0875933766\t0.0057268432\t0.0263640000\t244364506\t95654136\t760807424\t-0.0791266933\t0.0715006292\t-0.2026656568\n1984\t1311867236.6246581078\t0.0701157898\t0.0595774799\t0.0875933766\t0.0057254491\t0.0263030000\t244366010\t95654136\t760807424\t-0.0791234151\t0.0713297725\t-0.2005013973\n1985\t1311867236.6600480080\t0.0702481419\t0.0595828556\t0.0875933766\t0.0057241548\t0.0268770000\t244369794\t95654136\t760807424\t-0.0795024708\t0.0729352459\t-0.1996027529\n1986\t1311867236.6956660748\t0.0715096667\t0.0595888610\t0.0875933766\t0.0057249113\t0.0266080000\t244373378\t95654136\t760807424\t-0.0783396587\t0.0741661862\t-0.1961764097\n1987\t1311867236.7276370525\t0.0698736086\t0.0595940370\t0.0875933766\t0.0057244629\t0.0263840000\t244375194\t95654136\t760807424\t-0.0788664892\t0.0714142695\t-0.1942221224\n1988\t1311867236.7619268894\t0.0701760501\t0.0595993600\t0.0875933766\t0.0057235274\t0.0264050000\t244378722\t95654136\t760807424\t-0.0778630748\t0.0715847090\t-0.1914807558\n1989\t1311867236.7923469543\t0.0701050386\t0.0596046418\t0.0875933766\t0.0057243291\t0.0263800000\t244380538\t95654136\t760807424\t-0.0767815113\t0.0717478171\t-0.1899194866\n1990\t1311867236.8255391121\t0.0707941204\t0.0596102647\t0.0875933766\t0.0057233664\t0.0359330000\t244384122\t95654136\t760807424\t-0.0773176849\t0.0717204884\t-0.1870406270\n1991\t1311867236.8583440781\t0.0704747289\t0.0596157215\t0.0875933766\t0.0057231562\t0.0265560000\t244387738\t95654136\t760807424\t-0.0771313608\t0.0716506168\t-0.1855820566\n1992\t1311867236.8928480148\t0.0703213140\t0.0596210958\t0.0875933766\t0.0057230070\t0.0265010000\t244389466\t95654136\t760807424\t-0.0770613328\t0.0712831095\t-0.1834196448\n1993\t1311867236.9255330563\t0.0697862878\t0.0596261962\t0.0875933766\t0.0057218562\t0.0265400000\t244393138\t95654136\t760807424\t-0.0773366243\t0.0690572709\t-0.1805852354\n1994\t1311867236.9581959248\t0.0709174275\t0.0596318588\t0.0875933766\t0.0057207666\t0.0264930000\t244396610\t95654136\t760807424\t-0.0787249058\t0.0704635903\t-0.1788005233\n1995\t1311867236.9937291145\t0.0709773526\t0.0596375458\t0.0875933766\t0.0057238022\t0.0264580000\t244398594\t95654136\t760807424\t-0.0790450051\t0.0725348964\t-0.1772708446\n1996\t1311867237.0244200230\t0.0695238635\t0.0596424989\t0.0875933766\t0.0057299437\t0.0350070000\t244585094\t95654136\t760807424\t-0.0731871650\t0.0703604221\t-0.1737314761\n1997\t1311867237.0603060722\t0.0668932050\t0.0596461297\t0.0875933766\t0.0057348323\t0.0278690000\t244587078\t95654136\t760807424\t-0.0777401775\t0.0697323531\t-0.1750632524\n1998\t1311867237.0927588940\t0.0671842471\t0.0596499025\t0.0875933766\t0.0057479437\t0.0278510000\t244590606\t95654136\t760807424\t-0.0776228309\t0.0719790235\t-0.1741393954\n1999\t1311867237.1276650429\t0.0644368380\t0.0596522972\t0.0875933766\t0.0057498276\t0.0278970000\t244594334\t95654136\t760807424\t-0.0800637305\t0.0663439035\t-0.1718329340\n2000\t1311867237.1566579342\t0.0647696406\t0.0596548558\t0.0875933766\t0.0057498193\t0.0278780000\t244595894\t95654136\t760807424\t-0.0797546282\t0.0671162158\t-0.1700539887\n2001\t1311867237.1925950050\t0.0667612255\t0.0596584072\t0.0875933766\t0.0057504841\t0.0279470000\t244599678\t95654136\t760807424\t-0.0795341432\t0.0701846182\t-0.1676617414\n2002\t1311867237.2254281044\t0.0657229722\t0.0596614365\t0.0875933766\t0.0057495223\t0.0279570000\t244601406\t95654136\t760807424\t-0.0818350166\t0.0658980682\t-0.1652232707\n2003\t1311867237.2569580078\t0.0648509637\t0.0596640274\t0.0875933766\t0.0057493027\t0.0317250000\t244605078\t95654136\t760807424\t-0.0819031373\t0.0649970993\t-0.1641105115\n2004\t1311867237.2944281101\t0.0659648180\t0.0596671715\t0.0875933766\t0.0057483807\t0.0279260000\t244608662\t95654136\t760807424\t-0.0826244578\t0.0679877624\t-0.1632620990\n2005\t1311867237.3250501156\t0.0660288036\t0.0596703444\t0.0875933766\t0.0057469806\t0.0280180000\t244610534\t95654136\t760807424\t-0.0836517513\t0.0668208599\t-0.1611942053\n2006\t1311867237.3565309048\t0.0656752065\t0.0596733378\t0.0875933766\t0.0057471359\t0.0316400000\t244614006\t95654136\t760807424\t-0.0837743580\t0.0665498972\t-0.1602608263\n2007\t1311867237.3934979439\t0.0666149855\t0.0596767965\t0.0875933766\t0.0057464399\t0.0279570000\t244615934\t95654136\t760807424\t-0.0836880952\t0.0683901310\t-0.1581630111\n2008\t1311867237.4248709679\t0.0653353408\t0.0596796145\t0.0875933766\t0.0057457233\t0.0278460000\t244619462\t95654136\t760807424\t-0.0845762342\t0.0659703240\t-0.1566749662\n2009\t1311867237.4579510689\t0.0650960356\t0.0596823106\t0.0875933766\t0.0057446876\t0.0283260000\t244623134\t95654136\t760807424\t-0.0860321075\t0.0635541975\t-0.1541827321\n2010\t1311867237.4933559895\t0.0658462718\t0.0596853773\t0.0875933766\t0.0057450069\t0.0280800000\t244624918\t95654136\t760807424\t-0.0859799460\t0.0668258816\t-0.1534533203\n2011\t1311867237.5253219604\t0.0644382313\t0.0596877407\t0.0875933766\t0.0057472749\t0.0280160000\t244628590\t95654136\t760807424\t-0.0848502591\t0.0633972660\t-0.1504400074\n2012\t1311867237.5581231117\t0.0652401000\t0.0596905003\t0.0875933766\t0.0057468036\t0.0280710000\t244632118\t95654136\t760807424\t-0.0855167806\t0.0624834448\t-0.1476817727\n2013\t1311867237.5925350189\t0.0662026405\t0.0596937354\t0.0875933766\t0.0057484445\t0.0313030000\t244633990\t95654136\t760807424\t-0.0857064351\t0.0655379221\t-0.1468223929\n2014\t1311867237.6261129379\t0.0644951165\t0.0596961194\t0.0875933766\t0.0057478529\t0.0312550000\t244637574\t95654136\t760807424\t-0.0867302716\t0.0627620593\t-0.1453654170\n2015\t1311867237.6569290161\t0.0651353151\t0.0596988187\t0.0875933766\t0.0057467410\t0.0281210000\t244639390\t95654136\t760807424\t-0.0862827897\t0.0617755912\t-0.1421437413\n2016\t1311867237.6925010681\t0.0653233603\t0.0597016087\t0.0875933766\t0.0057457083\t0.0281540000\t244642918\t95654136\t760807424\t-0.0882982612\t0.0624954104\t-0.1411036253\n2017\t1311867237.7243609428\t0.0662384927\t0.0597048496\t0.0875933766\t0.0057442973\t0.0315360000\t244817342\t95654136\t760807424\t-0.0862308219\t0.0630740747\t-0.1382286996\n2018\t1311867237.7617940903\t0.0652202144\t0.0597075826\t0.0875933766\t0.0057431392\t0.0280530000\t244819238\t95654136\t760807424\t-0.0874166712\t0.0598406121\t-0.1353791654\n2019\t1311867237.7926809788\t0.0664000064\t0.0597108974\t0.0875933766\t0.0057427072\t0.0281640000\t244822798\t95654136\t760807424\t-0.0879503042\t0.0639151484\t-0.1342724413\n2020\t1311867237.8255820274\t0.0660701394\t0.0597140455\t0.0875933766\t0.0057414581\t0.0289760000\t244824526\t95654136\t760807424\t-0.0881802738\t0.0637939200\t-0.1322833598\n2021\t1311867237.8612699509\t0.0650181845\t0.0597166700\t0.0875933766\t0.0057409501\t0.0281320000\t244828366\t95654136\t760807424\t-0.0889027715\t0.0608421750\t-0.1292737722\n2022\t1311867237.8926060200\t0.0656321570\t0.0597195956\t0.0875933766\t0.0057409042\t0.0384420000\t244949670\t95654136\t760807424\t-0.0891821980\t0.0632520691\t-0.1274717748\n2023\t1311867237.9253590107\t0.0645197034\t0.0597219683\t0.0875933766\t0.0057412929\t0.0330900000\t244951806\t95654136\t760807424\t-0.0888052359\t0.0609398112\t-0.1249840856\n2024\t1311867237.9613509178\t0.0657171607\t0.0597249304\t0.0875933766\t0.0057399962\t0.0374300000\t244955454\t95654136\t760807424\t-0.0891171321\t0.0615709797\t-0.1214668006\n2025\t1311867237.9928910732\t0.0649143010\t0.0597274930\t0.0875933766\t0.0057386412\t0.0384370000\t244957518\t95654136\t760807424\t-0.0895106196\t0.0613190830\t-0.1203621328\n2026\t1311867238.0245919228\t0.0664264932\t0.0597307996\t0.0875933766\t0.0057379050\t0.0327260000\t244960870\t95654136\t760807424\t-0.0888567343\t0.0645521581\t-0.1186340675\n2027\t1311867238.0607950687\t0.0647409111\t0.0597332712\t0.0875933766\t0.0057383535\t0.0330300000\t244964718\t95654136\t760807424\t-0.0886963457\t0.0593605638\t-0.1152579635\n2028\t1311867238.0932629108\t0.0637076050\t0.0597352310\t0.0875933766\t0.0057374775\t0.0329190000\t244966326\t95654136\t760807424\t-0.0890429169\t0.0551506802\t-0.1121004447\n2029\t1311867238.1251931190\t0.0651907995\t0.0597379198\t0.0875933766\t0.0057385885\t0.0379640000\t244970062\t95654136\t760807424\t-0.0885986313\t0.0589910857\t-0.1110880449\n2030\t1311867238.1608469486\t0.0646515265\t0.0597403403\t0.0875933766\t0.0057430620\t0.0387250000\t244973582\t95654136\t760807424\t-0.0877701268\t0.0597234517\t-0.1096856445\n2031\t1311867238.1928510666\t0.0655067191\t0.0597431795\t0.0875933766\t0.0057476109\t0.0332210000\t244975518\t95654136\t760807424\t-0.0895705447\t0.0589903630\t-0.1062116474\n2032\t1311867238.2246770859\t0.0656961650\t0.0597461091\t0.0875933766\t0.0057464926\t0.0375930000\t244979182\t95654136\t760807424\t-0.0879449546\t0.0606401265\t-0.1045305878\n2033\t1311867238.2605938911\t0.0658135265\t0.0597490935\t0.0875933766\t0.0057463808\t0.0329590000\t244981102\t95654136\t760807424\t-0.0858244449\t0.0607845969\t-0.1017960310\n2034\t1311867238.2926790714\t0.0641392395\t0.0597512519\t0.0875933766\t0.0057517971\t0.0329620000\t244984582\t95654136\t760807424\t-0.0862000361\t0.0552981310\t-0.0987003446\n2035\t1311867238.3257811069\t0.0649828091\t0.0597538227\t0.0875933766\t0.0057630700\t0.0332030000\t244988686\t95654136\t760807424\t-0.0849187747\t0.0570327975\t-0.0965851918\n2036\t1311867238.3604390621\t0.0657180473\t0.0597567521\t0.0875933766\t0.0057632998\t0.0374660000\t244990478\t95654136\t760807424\t-0.0858914405\t0.0576148406\t-0.0948722884\n2037\t1311867238.3936378956\t0.0655495226\t0.0597595959\t0.0875933766\t0.0057649848\t0.0329780000\t244994270\t95654136\t760807424\t-0.0844767913\t0.0547780506\t-0.0910949782\n2038\t1311867238.4264049530\t0.0649446994\t0.0597621401\t0.0875933766\t0.0057685914\t0.0329180000\t244996134\t95654136\t760807424\t-0.0829861090\t0.0525374524\t-0.0887776315\n2039\t1311867238.4616210461\t0.0654562339\t0.0597649327\t0.0875933766\t0.0057678050\t0.0332330000\t244999854\t95654136\t760807424\t-0.0822325423\t0.0547202788\t-0.0875432342\n2040\t1311867238.4932549000\t0.0652129129\t0.0597676032\t0.0875933766\t0.0057710350\t0.0338360000\t245003406\t95654136\t760807424\t-0.0826946646\t0.0521269627\t-0.0844547749\n2041\t1311867238.5248661041\t0.0647291988\t0.0597700342\t0.0875933766\t0.0057707984\t0.0330460000\t245005398\t95654136\t760807424\t-0.0816887617\t0.0487267300\t-0.0814067051\n2042\t1311867238.5605928898\t0.0651731342\t0.0597726802\t0.0875933766\t0.0057759624\t0.0330260000\t245009174\t95654136\t760807424\t-0.0789183006\t0.0509985127\t-0.0791726932\n2043\t1311867238.5929119587\t0.0654395446\t0.0597754540\t0.0875933766\t0.0057823212\t0.0446980000\t245010926\t95654136\t760807424\t-0.0807500258\t0.0499499440\t-0.0768440142\n2044\t1311867238.6249868870\t0.0649843961\t0.0597780024\t0.0875933766\t0.0057809871\t0.0332250000\t245014518\t95654136\t760807424\t-0.0813002884\t0.0488569699\t-0.0745850354\n2045\t1311867238.6608479023\t0.0647187606\t0.0597804184\t0.0875933766\t0.0057797646\t0.0331900000\t245018494\t95654136\t760807424\t-0.0799950212\t0.0484783687\t-0.0717169344\n2046\t1311867238.6929359436\t0.0641857311\t0.0597825715\t0.0875933766\t0.0057791177\t0.0329060000\t245020102\t95654136\t760807424\t-0.0781527758\t0.0471015386\t-0.0681741312\n2047\t1311867238.7246360779\t0.0651261359\t0.0597851820\t0.0875933766\t0.0057803696\t0.0386330000\t245023910\t95654136\t760807424\t-0.0791585669\t0.0478915051\t-0.0657192916\n2048\t1311867238.7627971172\t0.0641803071\t0.0597873280\t0.0875933766\t0.0057790802\t0.0330280000\t245198530\t95654136\t760807424\t-0.0793744475\t0.0474113263\t-0.0626300126\n2049\t1311867238.7949919701\t0.0644236282\t0.0597895908\t0.0875933766\t0.0057780917\t0.0333580000\t245577418\t95654136\t760807424\t-0.0790628567\t0.0467050001\t-0.0592276156\n2050\t1311867238.8246819973\t0.0641983524\t0.0597917414\t0.0875933766\t0.0057814658\t0.0375710000\t245990314\t95654136\t760807424\t-0.0778763443\t0.0448649935\t-0.0552550778\n2051\t1311867238.8630580902\t0.0637424067\t0.0597936676\t0.0875933766\t0.0057805880\t0.0333950000\t245992730\t95654136\t760807424\t-0.0774387643\t0.0460443124\t-0.0526263490\n2052\t1311867238.8933889866\t0.0648604259\t0.0597961368\t0.0875933766\t0.0057798517\t0.0384030000\t245996210\t95654136\t760807424\t-0.0778254569\t0.0471523553\t-0.0491427891\n2053\t1311867238.9278979301\t0.0637315512\t0.0597980537\t0.0875933766\t0.0057790739\t0.0332480000\t246000058\t95654136\t760807424\t-0.0773741007\t0.0441448763\t-0.0458116271\n2054\t1311867238.9628050327\t0.0625884607\t0.0597994122\t0.0875933766\t0.0057786931\t0.0334250000\t246001906\t95654136\t760807424\t-0.0780883655\t0.0409545861\t-0.0425470397\n2055\t1311867238.9937820435\t0.0635773689\t0.0598012506\t0.0875933766\t0.0057782138\t0.0332980000\t246005530\t95654136\t760807424\t-0.0748039559\t0.0425888970\t-0.0389460959\n2056\t1311867239.0287299156\t0.0638276488\t0.0598032090\t0.0875933766\t0.0057797660\t0.0391620000\t246007506\t95654136\t760807424\t-0.0751254484\t0.0437617004\t-0.0364417657\n2057\t1311867239.0619978905\t0.0625935420\t0.0598045655\t0.0875933766\t0.0057807638\t0.0486810000\t246011354\t95654136\t760807424\t-0.0758269355\t0.0384979844\t-0.0320188887\n2058\t1311867239.0939240456\t0.0635575205\t0.0598063891\t0.0875933766\t0.0057813746\t0.0333010000\t246014650\t95654136\t760807424\t-0.0771288499\t0.0399556868\t-0.0290263686\n2059\t1311867239.1358110905\t0.0622507446\t0.0598075762\t0.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}, { "path": "icra2018_results/1080/violons_libinfinitam-cpp_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 12:44:38\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cpp_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.1008680000\t954998708\t0\t402718720\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0030307258\t0.0015153629\t0.0030307258\t0.0051709064\t0.1130550000\t958086585\t0\t402718720\t-0.0004180265\t-0.0040805521\t0.0006781573\n3\t0.0800000000\t0.0062998314\t0.0031101857\t0.0062998314\t0.0043165851\t0.1136400000\t957775897\t0\t402718720\t-0.0005358841\t-0.0099249166\t0.0005373082\n4\t0.1200000000\t0.0035533810\t0.0032209845\t0.0062998314\t0.0069081271\t0.1145270000\t957778305\t0\t402718720\t0.0011465740\t-0.0100325225\t0.0018682312\n5\t0.1600000000\t0.0070286286\t0.0039825134\t0.0070286286\t0.0064735718\t0.1158150000\t957780313\t0\t402718720\t0.0026940033\t-0.0110032139\t0.0027393242\n6\t0.2000000000\t0.0037572624\t0.0039449715\t0.0070286286\t0.0058317788\t0.1156180000\t957783121\t0\t402718720\t0.0021845391\t-0.0134021454\t0.0027424688\n7\t0.2400000000\t0.0055279690\t0.0041711140\t0.0070286286\t0.0055040406\t0.1160330000\t957785129\t0\t402718720\t0.0024463842\t-0.0153440339\t0.0031496249\n8\t0.2800000000\t0.0094472757\t0.0048306342\t0.0094472757\t0.0053506113\t0.1161890000\t957787137\t0\t402718720\t0.0038651915\t-0.0161758885\t0.0041413233\n9\t0.3200000000\t0.0107924109\t0.0054930539\t0.0107924109\t0.0050553289\t0.1167180000\t957789145\t0\t402718720\t0.0039572981\t-0.0175238084\t0.0041809333\n10\t0.3600000000\t0.0107345218\t0.0060172006\t0.0107924109\t0.0047750809\t0.1167880000\t957792753\t0\t402718720\t0.0053117895\t-0.0188581366\t0.0043938621\n11\t0.4000000000\t0.0117914975\t0.0065421367\t0.0117914975\t0.0045950528\t0.1160470000\t957794761\t0\t402718720\t0.0058871335\t-0.0203279033\t0.0047953073\n12\t0.4400000000\t0.0134356376\t0.0071165951\t0.0134356376\t0.0044389751\t0.1158550000\t957796769\t0\t402718720\t0.0062686279\t-0.0214786883\t0.0047358926\n13\t0.4800000000\t0.0158972926\t0.0077920334\t0.0158972926\t0.0044962996\t0.1277300000\t957798777\t0\t402718720\t0.0069575459\t-0.0221605469\t0.0048729512\n14\t0.5200000000\t0.0174537580\t0.0084821566\t0.0174537580\t0.0044903153\t0.1183490000\t957800785\t0\t402718720\t0.0076059415\t-0.0226107948\t0.0050756638\n15\t0.5600000000\t0.0184577554\t0.0091471965\t0.0184577554\t0.0043480618\t0.1179820000\t957802793\t0\t402718720\t0.0080166701\t-0.0228761397\t0.0048254151\n16\t0.6000000000\t0.0185376294\t0.0097340986\t0.0185376294\t0.0042059394\t0.1158730000\t957804801\t0\t402718720\t0.0080020335\t-0.0231413469\t0.0046061110\n17\t0.6400000000\t0.0193494540\t0.0102997077\t0.0193494540\t0.0040869963\t0.1170700000\t957806809\t0\t402718720\t0.0074606277\t-0.0232412554\t0.0042647514\n18\t0.6800000000\t0.0200928114\t0.0108437690\t0.0200928114\t0.0039863295\t0.1166360000\t957812017\t0\t402718720\t0.0078618126\t-0.0228382908\t0.0042670798\n19\t0.7200000000\t0.0203633979\t0.0113448021\t0.0203633979\t0.0040373232\t0.1471540000\t957814025\t0\t402718720\t0.0092678173\t-0.0226247404\t0.0042521507\n20\t0.7600000000\t0.0205555987\t0.0118053420\t0.0205555987\t0.0039331416\t0.1174890000\t957816033\t0\t402718720\t0.0096269837\t-0.0228300802\t0.0038411394\n21\t0.8000000000\t0.0212746486\t0.0122562613\t0.0212746486\t0.0038362685\t0.1174750000\t957818041\t0\t402718720\t0.0093654105\t-0.0226109754\t0.0041641234\n22\t0.8400000000\t0.0210003294\t0.0126537190\t0.0212746486\t0.0037444314\t0.1174190000\t957820049\t0\t402718720\t0.0085959435\t-0.0226487424\t0.0039193216\n23\t0.8800000000\t0.0203421526\t0.0129879987\t0.0212746486\t0.0036586187\t0.1175040000\t957822057\t0\t402718720\t0.0088683143\t-0.0228751805\t0.0039064405\n24\t0.9200000000\t0.0204354487\t0.0132983091\t0.0212746486\t0.0035865326\t0.1153050000\t957824065\t0\t402718720\t0.0099250413\t-0.0232788995\t0.0042307675\n25\t0.9600000000\t0.0207524020\t0.0135964728\t0.0212746486\t0.0035196011\t0.1173400000\t957826073\t0\t402718720\t0.0111902887\t-0.0237325467\t0.0046489770\n26\t1.0000000000\t0.0211903471\t0.0138885449\t0.0212746486\t0.0034528690\t0.1172380000\t957828081\t0\t402718720\t0.0107417507\t-0.0246430431\t0.0045155226\n27\t1.0400000000\t0.0221941266\t0.0141961590\t0.0221941266\t0.0034019649\t0.1171700000\t957830089\t0\t402718720\t0.0111594740\t-0.0249387398\t0.0048612929\n28\t1.0800000000\t0.0217655376\t0.0144664940\t0.0221941266\t0.0033608794\t0.1156450000\t957832097\t0\t402718720\t0.0128533309\t-0.0257083289\t0.0048873676\n29\t1.1200000000\t0.0228701513\t0.0147562753\t0.0228701513\t0.0035455269\t0.1272850000\t957834105\t0\t402718720\t0.0144188385\t-0.0261632446\t0.0052306731\n30\t1.1600000000\t0.0223137159\t0.0150081900\t0.0228701513\t0.0037918977\t0.1177880000\t957836113\t0\t402718720\t0.0139191179\t-0.0271053538\t0.0052173911\n31\t1.2000000000\t0.0229507629\t0.0152644020\t0.0229507629\t0.0039675007\t0.1160140000\t957838121\t0\t402718720\t0.0159501098\t-0.0274806637\t0.0056579472\n32\t1.2400000000\t0.0240169205\t0.0155379182\t0.0240169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}, { "path": "icra2018_results/1080/violons_libinfinitam-cpp_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 12:48:52\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cpp_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.1198340000\t954998708\t0\t402718720\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0002914428\t0.0001457214\t0.0002914428\t0.0020543386\t0.1412660000\t957791657\t0\t402718720\t0.0002576366\t0.0005310783\t0.0001826170\n3\t0.0800000000\t0.0004575807\t0.0002496745\t0.0004575807\t0.0017299560\t0.1425290000\t957480969\t0\t402718720\t0.0003169646\t-0.0020086665\t-0.0006931318\n4\t0.1200000000\t0.0004246485\t0.0002934180\t0.0004575807\t0.0014812560\t0.1418110000\t957483377\t0\t402718720\t0.0004796197\t-0.0013548768\t-0.0006147901\n5\t0.1600000000\t0.0006736197\t0.0003694583\t0.0006736197\t0.0014687719\t0.1426460000\t957485385\t0\t402718720\t0.0005452507\t-0.0009305010\t-0.0004298980\n6\t0.2000000000\t0.0006571013\t0.0004173988\t0.0006736197\t0.0016122809\t0.1426260000\t957488193\t0\t402718720\t0.0006313116\t-0.0019516179\t-0.0007426783\n7\t0.2400000000\t0.0007785360\t0.0004689899\t0.0007785360\t0.0016036886\t0.1428560000\t957490201\t0\t402718720\t0.0006579758\t-0.0021564988\t-0.0008142746\n8\t0.2800000000\t0.0007657159\t0.0005060806\t0.0007785360\t0.0016113062\t0.1426860000\t957492209\t0\t402718720\t0.0005132071\t-0.0009043808\t-0.0003788133\n9\t0.3200000000\t0.0007769944\t0.0005361821\t0.0007785360\t0.0015158172\t0.1427610000\t957494217\t0\t402718720\t0.0007062656\t-0.0008353018\t-0.0003089358\n10\t0.3600000000\t0.0007578428\t0.0005583482\t0.0007785360\t0.0014554848\t0.1429020000\t957497825\t0\t402718720\t0.0007058932\t-0.0015183770\t-0.0004736031\n11\t0.4000000000\t0.0007899872\t0.0005794063\t0.0007899872\t0.0013905465\t0.1429540000\t957499833\t0\t402718720\t0.0006103133\t-0.0008904867\t-0.0003014771\n12\t0.4400000000\t0.0008149633\t0.0005990360\t0.0008149633\t0.0013428028\t0.1426770000\t957501841\t0\t402718720\t0.0006533800\t-0.0000866794\t-0.0000066326\n13\t0.4800000000\t0.0007847900\t0.0006133248\t0.0008149633\t0.0013143690\t0.1427050000\t957503849\t0\t402718720\t0.0005742029\t0.0004037413\t0.0003143606\n14\t0.5200000000\t0.0007725436\t0.0006246976\t0.0008149633\t0.0014180374\t0.1425700000\t957505857\t0\t402718720\t0.0007185687\t0.0004872703\t0.0004009104\n15\t0.5600000000\t0.0008258293\t0.0006381064\t0.0008258293\t0.0015058938\t0.1444270000\t957507865\t0\t402718720\t0.0007671415\t0.0005712861\t0.0004755184\n16\t0.6000000000\t0.0008129579\t0.0006490346\t0.0008258293\t0.0014903027\t0.1831270000\t957509873\t0\t402718720\t0.0010690460\t0.0005243153\t0.0004196161\n17\t0.6400000000\t0.0008736401\t0.0006622467\t0.0008736401\t0.0014551366\t0.1831040000\t957511881\t0\t402718720\t0.0010282139\t0.0003621154\t0.0004575023\n18\t0.6800000000\t0.0008957467\t0.0006752189\t0.0008957467\t0.0014297943\t0.1831750000\t957517089\t0\t402718720\t0.0010211807\t-0.0002855957\t0.0002168434\n19\t0.7200000000\t0.0008397871\t0.0006838804\t0.0008957467\t0.0015664228\t0.1828770000\t957519097\t0\t402718720\t0.0008904802\t-0.0002151655\t0.0001455346\n20\t0.7600000000\t0.0008188996\t0.0006906313\t0.0008957467\t0.0017824468\t0.1833790000\t957521105\t0\t402718720\t0.0006805861\t-0.0004511911\t0.0000468907\n21\t0.8000000000\t0.0009577657\t0.0007033520\t0.0009577657\t0.0019830317\t0.1617960000\t957523113\t0\t402718720\t0.0007437011\t-0.0005472701\t-0.0000902079\n22\t0.8400000000\t0.0008393513\t0.0007095338\t0.0009577657\t0.0020046927\t0.1435740000\t957525121\t0\t402718720\t0.0007198920\t-0.0004002971\t0.0000060766\n23\t0.8800000000\t0.0009259677\t0.0007189440\t0.0009577657\t0.0020143236\t0.1437100000\t957527129\t0\t402718720\t0.0004912936\t-0.0005280175\t-0.0000568980\n24\t0.9200000000\t0.0009945870\t0.0007304291\t0.0009945870\t0.0019797342\t0.1442110000\t957529137\t0\t402718720\t0.0005700621\t-0.0003526160\t-0.0000486157\n25\t0.9600000000\t0.0009868252\t0.0007406849\t0.0009945870\t0.0019405254\t0.1436690000\t957531145\t0\t402718720\t0.0002763969\t-0.0003291234\t-0.0000494970\n26\t1.0000000000\t0.0009846282\t0.0007500674\t0.0009945870\t0.0019032921\t0.1557250000\t957533153\t0\t402718720\t0.0004315933\t-0.0000767965\t-0.0000018776\n27\t1.0400000000\t0.0009465406\t0.0007573442\t0.0009945870\t0.0018736292\t0.1587350000\t957535161\t0\t402718720\t0.0001224487\t-0.0000967839\t-0.0000268392\n28\t1.0800000000\t0.0009420776\t0.0007639418\t0.0009945870\t0.0018679600\t0.1424970000\t957537169\t0\t402718720\t0.0000084998\t-0.0002123610\t0.0000079318\n29\t1.1200000000\t0.0009395301\t0.0007699966\t0.0009945870\t0.0018453809\t0.1429480000\t957539177\t0\t402718720\t-0.0003402380\t0.0000325993\t0.0001156331\n30\t1.1600000000\t0.0009081897\t0.0007746030\t0.0009945870\t0.0018347854\t0.1446150000\t957541185\t0\t402718720\t-0.0001608298\t0.0004398620\t0.0000888342\n31\t1.2000000000\t0.0009573795\t0.0007804990\t0.0009945870\t0.0018286604\t0.1442020000\t957543193\t0\t402718720\t-0.0003290085\t0.0002394324\t0.0000663741\n32\t1.2400000000\t0.0009801518\t0.0007867382\t0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}, { "path": "icra2018_results/1080/violons_libinfinitam-cpp_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 12:51:48\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cpp_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0854410000\t954998708\t0\t402718720\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0025287711\t0.0012643855\t0.0025287711\t0.0016397671\t0.1007130000\t957791673\t0\t402718720\t0.0001299634\t-0.0014884740\t0.0010924200\n3\t0.0800000000\t0.0054393951\t0.0026560554\t0.0054393951\t0.0017417348\t0.1313080000\t957480985\t0\t402718720\t-0.0038464726\t-0.0031208314\t0.0017430612\n4\t0.1200000000\t0.0070545794\t0.0037556864\t0.0070545794\t0.0015666187\t0.1347800000\t957483393\t0\t402718720\t-0.0022835433\t-0.0055196011\t0.0010540604\n5\t0.1600000000\t0.0088745272\t0.0047794546\t0.0088745272\t0.0013914135\t0.1034430000\t957485401\t0\t402718720\t-0.0046052579\t-0.0063757766\t0.0030157084\n6\t0.2000000000\t0.0103131067\t0.0057017299\t0.0103131067\t0.0012780662\t0.1020740000\t957488209\t0\t402718720\t-0.0038738092\t-0.0083495043\t0.0025823819\n7\t0.2400000000\t0.0119185001\t0.0065898399\t0.0119185001\t0.0012584144\t0.1024640000\t957490217\t0\t402718720\t-0.0038071992\t-0.0100463117\t0.0033046110\n8\t0.2800000000\t0.0135558555\t0.0074605919\t0.0135558555\t0.0012240344\t0.1024810000\t957492225\t0\t402718720\t-0.0048608119\t-0.0114232767\t0.0035655268\n9\t0.3200000000\t0.0144807398\t0.0082406083\t0.0144807398\t0.0012497160\t0.1027680000\t957494233\t0\t402718720\t-0.0066043856\t-0.0128953950\t0.0038602457\n10\t0.3600000000\t0.0163755231\t0.0090540998\t0.0163755231\t0.0012943616\t0.1029030000\t957497841\t0\t402718720\t-0.0065556695\t-0.0135725420\t0.0049268845\n11\t0.4000000000\t0.0167401358\t0.0097528303\t0.0167401358\t0.0015246640\t0.1030740000\t957499849\t0\t402718720\t-0.0074137240\t-0.0147807272\t0.0057328264\n12\t0.4400000000\t0.0182647314\t0.0104621554\t0.0182647314\t0.0018481476\t0.1032000000\t957501857\t0\t402718720\t-0.0073582283\t-0.0164845604\t0.0053341179\n13\t0.4800000000\t0.0193451047\t0.0111454592\t0.0193451047\t0.0019800947\t0.1030720000\t957503865\t0\t402718720\t-0.0093400916\t-0.0176561046\t0.0061515854\n14\t0.5200000000\t0.0214695334\t0.0118828931\t0.0214695334\t0.0019409300\t0.1033620000\t957505873\t0\t402718720\t-0.0093011064\t-0.0186498612\t0.0061076679\n15\t0.5600000000\t0.0228035096\t0.0126109342\t0.0228035096\t0.0018742804\t0.1032600000\t957507881\t0\t402718720\t-0.0118530262\t-0.0187623464\t0.0071659717\n16\t0.6000000000\t0.0224542823\t0.0132261434\t0.0228035096\t0.0018625575\t0.1033270000\t957509889\t0\t402718720\t-0.0114539163\t-0.0202749595\t0.0060798074\n17\t0.6400000000\t0.0233325493\t0.0138206379\t0.0233325493\t0.0018291955\t0.1034710000\t957511897\t0\t402718720\t-0.0131952623\t-0.0224127918\t0.0048572728\n18\t0.6800000000\t0.0240801778\t0.0143906123\t0.0240801778\t0.0017754257\t0.1034630000\t957517105\t0\t402718720\t-0.0144715058\t-0.0229751356\t0.0059956321\n19\t0.7200000000\t0.0250138305\t0.0149497291\t0.0250138305\t0.0017854601\t0.1034360000\t957519113\t0\t402718720\t-0.0159157012\t-0.0236096159\t0.0058136112\n20\t0.7600000000\t0.0247093588\t0.0154377106\t0.0250138305\t0.0018978272\t0.1035540000\t957521121\t0\t402718720\t-0.0188429896\t-0.0245496798\t0.0053398223\n21\t0.8000000000\t0.0254345182\t0.0159137490\t0.0254345182\t0.0018594586\t0.1036090000\t957523129\t0\t402718720\t-0.0216496736\t-0.0243281890\t0.0058507752\n22\t0.8400000000\t0.0259122662\t0.0163682271\t0.0259122662\t0.0018368883\t0.1039480000\t957525137\t0\t402718720\t-0.0269974042\t-0.0255693458\t0.0054589054\n23\t0.8800000000\t0.0263549592\t0.0168024328\t0.0263549592\t0.0017965707\t0.1032710000\t957527145\t0\t402718720\t-0.0269539990\t-0.0269647632\t0.0039919186\n24\t0.9200000000\t0.0289953463\t0.0173104709\t0.0289953463\t0.0017855034\t0.1031480000\t957529153\t0\t402718720\t-0.0342008770\t-0.0279234201\t0.0038767806\n25\t0.9600000000\t0.0310145747\t0.0178586350\t0.0310145747\t0.0017854470\t0.1031170000\t957531161\t0\t402718720\t-0.0355914570\t-0.0287085474\t0.0036456578\n26\t1.0000000000\t0.0304963384\t0.0183447006\t0.0310145747\t0.0017539318\t0.1024570000\t957533169\t0\t402718720\t-0.0414979830\t-0.0296909865\t0.0043281587\n27\t1.0400000000\t0.0316579416\t0.0188377836\t0.0316579416\t0.0018706396\t0.1010730000\t957535177\t0\t402718720\t-0.0470244847\t-0.0315132104\t0.0024473795\n28\t1.0800000000\t0.0337483585\t0.0193703041\t0.0337483585\t0.0020599066\t0.1011480000\t957537185\t0\t402718720\t-0.0515168905\t-0.0317406654\t0.0026433829\n29\t1.1200000000\t0.0356502309\t0.0199316809\t0.0356502309\t0.0022478998\t0.1006780000\t957539193\t0\t402718720\t-0.0572139993\t-0.0333457813\t0.0003220402\n30\t1.1600000000\t0.0347423963\t0.0204253714\t0.0356502309\t0.0022636754\t0.1004330000\t957541201\t0\t402718720\t-0.0664601550\t-0.0331988707\t0.0019721261\n31\t1.2000000000\t0.0364829749\t0.0209433586\t0.0364829749\t0.0022764184\t0.1002300000\t957543209\t0\t402718720\t-0.0729487613\t-0.0341700502\t0.0006261502\n32\t1.2400000000\t0.03821130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}, { "path": "icra2018_results/1080/violons_libinfinitam-cpp_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 12:54:12\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cpp_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.1635070000\t954998708\t0\t402718720\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0003882339\t0.0001941170\t0.0003882339\t0.0010334660\t0.1857220000\t958086569\t0\t402718720\t-0.0001939286\t0.0036084331\t0.0017813982\n3\t0.0800000000\t0.0007171431\t0.0003684590\t0.0007171431\t0.0018865664\t0.1915890000\t957775881\t0\t402718720\t-0.0019467204\t-0.0020309580\t0.0017661451\n4\t0.1200000000\t0.0008667303\t0.0004930268\t0.0008667303\t0.0023544411\t0.1917340000\t957778289\t0\t402718720\t-0.0023174451\t-0.0007925446\t0.0006180039\n5\t0.1600000000\t0.0010551389\t0.0006054492\t0.0010551389\t0.0042429367\t0.1947580000\t957780297\t0\t402718720\t-0.0001182645\t0.0056782276\t0.0036432808\n6\t0.2000000000\t0.0012209694\t0.0007080359\t0.0012209694\t0.0040669904\t0.1943040000\t957783105\t0\t402718720\t0.0030023123\t-0.0044097491\t0.0027601412\n7\t0.2400000000\t0.0012693885\t0.0007882291\t0.0012693885\t0.0039259416\t0.2075550000\t957785113\t0\t402718720\t0.0032086128\t-0.0144207831\t-0.0003562252\n8\t0.2800000000\t0.0012088948\t0.0008408123\t0.0012693885\t0.0036450875\t0.2041830000\t957787121\t0\t402718720\t0.0010070577\t-0.0127789089\t-0.0012679999\n9\t0.3200000000\t0.0010876625\t0.0008682401\t0.0012693885\t0.0045207613\t0.1920410000\t957789129\t0\t402718720\t-0.0001111546\t-0.0090667261\t0.0016689929\n10\t0.3600000000\t0.0014996337\t0.0009313795\t0.0014996337\t0.0042864655\t0.1907570000\t957792737\t0\t402718720\t-0.0020217150\t-0.0159810837\t-0.0001118680\n11\t0.4000000000\t0.0013576406\t0.0009701305\t0.0014996337\t0.0041263668\t0.1909460000\t957794745\t0\t402718720\t-0.0019434819\t-0.0125960624\t-0.0013916029\n12\t0.4400000000\t0.0015243466\t0.0010163152\t0.0015243466\t0.0041889959\t0.1963460000\t957796753\t0\t402718720\t-0.0009503953\t-0.0024543519\t0.0015405682\n13\t0.4800000000\t0.0015206365\t0.0010551091\t0.0015243466\t0.0040144674\t0.2019530000\t957798761\t0\t402718720\t0.0010171368\t-0.0045938129\t0.0015784675\n14\t0.5200000000\t0.0016961659\t0.0011008989\t0.0016961659\t0.0039715252\t0.1957140000\t957800769\t0\t402718720\t0.0039401907\t-0.0121010784\t-0.0011733491\n15\t0.5600000000\t0.0013432961\t0.0011170587\t0.0016961659\t0.0039339086\t0.1916730000\t957802777\t0\t402718720\t0.0065081450\t-0.0107602766\t-0.0013718503\n16\t0.6000000000\t0.0014868001\t0.0011401676\t0.0016961659\t0.0038090102\t0.1911210000\t957804785\t0\t402718720\t0.0077330787\t-0.0094452314\t-0.0010757805\n17\t0.6400000000\t0.0016912270\t0.0011725828\t0.0016961659\t0.0037093758\t0.2031310000\t957806793\t0\t402718720\t0.0074938457\t-0.0129351728\t-0.0028987210\n18\t0.6800000000\t0.0015151761\t0.0011916158\t0.0016961659\t0.0036010969\t0.1881240000\t957812001\t0\t402718720\t0.0066670463\t-0.0120905964\t-0.0042948434\n19\t0.7200000000\t0.0017876725\t0.0012229872\t0.0017876725\t0.0036703856\t0.1970580000\t957814009\t0\t402718720\t0.0073415558\t-0.0077868863\t-0.0040914719\n20\t0.7600000000\t0.0016812264\t0.0012458991\t0.0017876725\t0.0039493400\t0.1914070000\t957816017\t0\t402718720\t0.0067611421\t-0.0091093415\t-0.0066858605\n21\t0.8000000000\t0.0018797101\t0.0012760806\t0.0018797101\t0.0041361054\t0.1974780000\t957818025\t0\t402718720\t0.0094311917\t-0.0058907038\t-0.0064875097\n22\t0.8400000000\t0.0017250123\t0.0012964866\t0.0018797101\t0.0040712425\t0.1902500000\t957820033\t0\t402718720\t0.0095293503\t-0.0033431321\t-0.0061294753\n23\t0.8800000000\t0.0019212655\t0.0013236509\t0.0019212655\t0.0040456994\t0.2286430000\t957822041\t0\t402718720\t0.0122269168\t-0.0094469329\t-0.0100599090\n24\t0.9200000000\t0.0017558881\t0.0013416608\t0.0019212655\t0.0040361148\t0.1935590000\t957824049\t0\t402718720\t0.0142301433\t-0.0084283464\t-0.0099113602\n25\t0.9600000000\t0.0018948318\t0.0013637876\t0.0019212655\t0.0039531785\t0.1926180000\t957826057\t0\t402718720\t0.0143042924\t-0.0111001823\t-0.0129500655\n26\t1.0000000000\t0.0018949527\t0.0013842171\t0.0019212655\t0.0038740595\t0.1925240000\t957828065\t0\t402718720\t0.0126408627\t-0.0115286382\t-0.0139670689\n27\t1.0400000000\t0.0020059568\t0.0014072445\t0.0020059568\t0.0038132885\t0.1920960000\t957830073\t0\t402718720\t0.0137037691\t-0.0154564166\t-0.0164125655\n28\t1.0800000000\t0.0019863725\t0.0014279276\t0.0020059568\t0.0037455664\t0.1932830000\t957832081\t0\t402718720\t0.0125784390\t-0.0176739004\t-0.0178424548\n29\t1.1200000000\t0.0020037030\t0.0014477819\t0.0020059568\t0.0037662299\t0.2066310000\t957834089\t0\t402718720\t0.0137585318\t-0.0197235160\t-0.0190349612\n30\t1.1600000000\t0.0018450569\t0.0014610244\t0.0020059568\t0.0037350568\t0.1941520000\t957836097\t0\t402718720\t0.0169659890\t-0.0190159827\t-0.0194323249\n31\t1.2000000000\t0.0021458259\t0.0014831148\t0.0021458259\t0.0037428392\t0.1968800000\t957838105\t0\t402718720\t0.0218958352\t-0.0174805336\t-0.0208284613\n32\t1.2400000000\t0.001878963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}, { "path": "icra2018_results/1080/violons_libinfinitam-cpp_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 12:57:21\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cpp_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287840366\t0.0606188439\t0.0606188439\t0.0606188439\t-nan\t0.0891880000\t955104716\t0\t402718720\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1305031229.5644419193\t0.0543010011\t0.0574599225\t0.0606188439\t0.0575153381\t0.1213510000\t958783313\t0\t402718720\t0.0013284700\t0.0021752336\t0.0096041132\n3\t1305031229.5966169834\t0.0526675507\t0.0558624653\t0.0606188439\t0.0579647856\t0.1237360000\t958473521\t0\t402718720\t0.0134079093\t-0.0028591044\t0.0144224884\n4\t1305031229.6287899017\t0.0486773960\t0.0540661979\t0.0606188439\t0.0479727241\t0.1353250000\t958476769\t0\t402718720\t0.0181358289\t0.0010306403\t0.0209806003\n5\t1305031229.6646571159\t0.0491789617\t0.0530887507\t0.0606188439\t0.0428248044\t0.1235130000\t958479729\t0\t402718720\t0.0175253730\t-0.0027237725\t0.0255013797\n6\t1305031229.6968429089\t0.0501717925\t0.0526025910\t0.0606188439\t0.0383581214\t0.1253490000\t958483489\t0\t402718720\t0.0196009818\t-0.0042263656\t0.0289251935\n7\t1305031229.7290771008\t0.0478394106\t0.0519221367\t0.0606188439\t0.0365899692\t0.1269850000\t958486337\t0\t402718720\t0.0188578963\t-0.0035913121\t0.0342985764\n8\t1305031229.7648689747\t0.0481392033\t0.0514492700\t0.0606188439\t0.0339869540\t0.1396570000\t958489353\t0\t402718720\t0.0209826995\t-0.0045066881\t0.0390034020\n9\t1305031229.7969229221\t0.0484870560\t0.0511201351\t0.0606188439\t0.0320859854\t0.1662790000\t958492257\t0\t402718720\t0.0224368423\t-0.0050595035\t0.0428216048\n10\t1305031229.8256299496\t0.0477969609\t0.0507878177\t0.0606188439\t0.0303554424\t0.1281220000\t958496649\t0\t402718720\t0.0242736358\t-0.0046691340\t0.0481707267\n11\t1305031229.8630619049\t0.0489462428\t0.0506204018\t0.0606188439\t0.0293537754\t0.1281110000\t958499777\t0\t402718720\t0.0271918997\t-0.0042655244\t0.0526886657\n12\t1305031229.8969380856\t0.0514053963\t0.0506858180\t0.0606188439\t0.0295535678\t0.1446860000\t958502681\t0\t402718720\t0.0292403698\t-0.0042482386\t0.0566195957\n13\t1305031229.9262549877\t0.0545278452\t0.0509813586\t0.0606188439\t0.0285069042\t0.1335280000\t958505529\t0\t402718720\t0.0354145095\t-0.0009442313\t0.0630855188\n14\t1305031229.9662408829\t0.0574268810\t0.0514417530\t0.0606188439\t0.0275768616\t0.1255940000\t958508657\t0\t402718720\t0.0361473560\t-0.0010335783\t0.0666272044\n15\t1305031229.9979310036\t0.0596220940\t0.0519871091\t0.0606188439\t0.0274243849\t0.1261650000\t958511505\t0\t402718720\t0.0372347124\t-0.0007461096\t0.0704527646\n16\t1305031230.0300021172\t0.0623174421\t0.0526327549\t0.0623174421\t0.0266433481\t0.1246450000\t958514409\t0\t402718720\t0.0380391851\t-0.0008334771\t0.0736957416\n17\t1305031230.0656960011\t0.0661082938\t0.0534254337\t0.0661082938\t0.0260515936\t0.1383530000\t958517425\t0\t402718720\t0.0387159586\t-0.0020515858\t0.0765585452\n18\t1305031230.0982739925\t0.0683723763\t0.0542558194\t0.0683723763\t0.0254789620\t0.1258850000\t958523529\t0\t402718720\t0.0387335606\t-0.0019630718\t0.0788486004\n19\t1305031230.1299350262\t0.0697996691\t0.0550739167\t0.0697996691\t0.0247975237\t0.1248120000\t958526433\t0\t402718720\t0.0379552059\t-0.0011828672\t0.0806997269\n20\t1305031230.1657800674\t0.0730104670\t0.0559707442\t0.0730104670\t0.0243059502\t0.1251860000\t958529449\t0\t402718720\t0.0373985618\t-0.0016948212\t0.0830458999\n21\t1305031230.1977820396\t0.0752740055\t0.0568899471\t0.0752740055\t0.0238611370\t0.1260420000\t958532353\t0\t402718720\t0.0367177837\t-0.0025651273\t0.0849365816\n22\t1305031230.2298529148\t0.0773490071\t0.0578199044\t0.0773490071\t0.0234054419\t0.1414040000\t958535257\t0\t402718720\t0.0355404131\t-0.0029859419\t0.0865849555\n23\t1305031230.2655899525\t0.0797924325\t0.0587752317\t0.0797924325\t0.0230280284\t0.1295570000\t958538273\t0\t402718720\t0.0341802798\t-0.0036525498\t0.0885188803\n24\t1305031230.2979929447\t0.0816814005\t0.0597296554\t0.0816814005\t0.0225720843\t0.1318540000\t958541177\t0\t402718720\t0.0327462330\t-0.0035213826\t0.0907625705\n25\t1305031230.3351120949\t0.0850001648\t0.0607404758\t0.0850001648\t0.0222203550\t0.1348920000\t958544249\t0\t402718720\t0.0319447406\t-0.0050287484\t0.0929222479\n26\t1305031230.3656799793\t0.0852364749\t0.0616826296\t0.0852364749\t0.0218208532\t0.1377150000\t958547097\t0\t402718720\t0.0296407621\t-0.0044475943\t0.0945995227\n27\t1305031230.3973290920\t0.0855085179\t0.0625650699\t0.0855085179\t0.0214035499\t0.1521490000\t958550057\t0\t402718720\t0.0264845714\t-0.0055126874\t0.0962198153\n28\t1305031230.4368140697\t0.0881865025\t0.0634801211\t0.0881865025\t0.0220572152\t0.1417680000\t958553129\t0\t402718720\t0.0242606364\t-0.0068245260\t0.0982412025\n29\t1305031230.4653120041\t0.0899600536\t0.0643932222\t0.0899600536\t0.0219108086\t0.1470480000\t958555921\t0\t402718720\t0.0204983801\t-0.0107391439\t0.0993928909\n30\t1305031230.4972999096\t0.0905907825\t0.0652664742\t0.0905907825\t0.0216545408\t0.1534520000\t958558881\t0\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t0.0873654480\t0.1466407627\t0.0465117665\t0.2537440000\t960801065\t0\t402718720\t-0.0869239494\t0.0549961440\t-0.0174296871\n" }, { "path": "icra2018_results/1080/violons_libinfinitam-cpp_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 12:59:38\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cpp_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253988300\t0.0253988300\t0.0253988300\t-nan\t0.0975940000\t955104884\t0\t402718720\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1305031102.2112140656\t0.0217167400\t0.0235577850\t0.0253988300\t0.0240796134\t0.1347620000\t958783593\t0\t402718720\t-0.0023057605\t0.0007952502\t0.0125142531\n3\t1305031102.2432110310\t0.0218875688\t0.0230010462\t0.0253988300\t0.0192100197\t0.1474200000\t958473801\t0\t402718720\t-0.0037540202\t0.0053057950\t0.0258689355\n4\t1305031102.2753260136\t0.0166562106\t0.0214148373\t0.0253988300\t0.0157429415\t0.1467440000\t958477105\t0\t402718720\t-0.0044969367\t0.0041011656\t0.0388864614\n5\t1305031102.3112668991\t0.0125662591\t0.0196451217\t0.0253988300\t0.0141420367\t0.1333200000\t958480121\t0\t402718720\t-0.0033542537\t0.0037876994\t0.0516033247\n6\t1305031102.3432331085\t0.0089150956\t0.0178567840\t0.0253988300\t0.0148704103\t0.1333180000\t958483825\t0\t402718720\t-0.0042429348\t0.0023660089\t0.0636258498\n7\t1305031102.3753290176\t0.0086902948\t0.0165472856\t0.0253988300\t0.0137453296\t0.1351210000\t958486673\t0\t402718720\t-0.0045886729\t0.0031365601\t0.0755111203\n8\t1305031102.4112579823\t0.0069235177\t0.0153443146\t0.0253988300\t0.0147478336\t0.1349530000\t958489745\t0\t402718720\t-0.0065046046\t0.0048697554\t0.0872637630\n9\t1305031102.4432709217\t0.0075808521\t0.0144817076\t0.0253988300\t0.0167589626\t0.1468390000\t958492649\t0\t402718720\t-0.0082813120\t0.0075830659\t0.0996254236\n10\t1305031102.4753179550\t0.0111134779\t0.0141448847\t0.0253988300\t0.0160557785\t0.1344330000\t958497097\t0\t402718720\t-0.0071151247\t0.0112046925\t0.1126651466\n11\t1305031102.5112190247\t0.0133506507\t0.0140726816\t0.0253988300\t0.0161420102\t0.1328610000\t958500113\t0\t402718720\t-0.0073604118\t0.0107376268\t0.1251643747\n12\t1305031102.5432200432\t0.0163581055\t0.0142631336\t0.0253988300\t0.0153939531\t0.1325670000\t958503073\t0\t402718720\t-0.0085551599\t0.0107777212\t0.1370539516\n13\t1305031102.5752859116\t0.0188128389\t0.0146131109\t0.0253988300\t0.0158704840\t0.1326240000\t958505921\t0\t402718720\t-0.0114423363\t0.0102427835\t0.1486853659\n14\t1305031102.6112329960\t0.0235428307\t0.0152509480\t0.0253988300\t0.0167576306\t0.1325870000\t958508937\t0\t402718720\t-0.0129723484\t0.0076806913\t0.1597711891\n15\t1305031102.6432650089\t0.0261449702\t0.0159772162\t0.0261449702\t0.0169593416\t0.1321720000\t958511841\t0\t402718720\t-0.0159874205\t0.0083160428\t0.1706583351\n16\t1305031102.6752851009\t0.0239358507\t0.0164746308\t0.0261449702\t0.0170214630\t0.1393830000\t958514745\t0\t402718720\t-0.0179077499\t0.0152710006\t0.1823402494\n17\t1305031102.7112629414\t0.0265365206\t0.0170665067\t0.0265365206\t0.0168199982\t0.1449810000\t958517761\t0\t402718720\t-0.0183707699\t0.0179031957\t0.1947535276\n18\t1305031102.7432339191\t0.0301269591\t0.0177920874\t0.0301269591\t0.0164407427\t0.1303980000\t958523921\t0\t402718720\t-0.0191883687\t0.0194295123\t0.2075116932\n19\t1305031102.7754719257\t0.0298184808\t0.0184250555\t0.0301269591\t0.0165115752\t0.1330630000\t958526769\t0\t402718720\t-0.0187094063\t0.0254282933\t0.2203723490\n20\t1305031102.8112320900\t0.0337692946\t0.0191922674\t0.0337692946\t0.0161415623\t0.1293520000\t958529785\t0\t402718720\t-0.0199238900\t0.0273337010\t0.2330044806\n21\t1305031102.8432900906\t0.0353444330\t0.0199614182\t0.0353444330\t0.0157427444\t0.1292230000\t958532745\t0\t402718720\t-0.0219708309\t0.0307043791\t0.2455422729\n22\t1305031102.8753631115\t0.0382998846\t0.0207949848\t0.0382998846\t0.0154377200\t0.1268780000\t958535593\t0\t402718720\t-0.0247216690\t0.0325039700\t0.2572772503\n23\t1305031102.9111850262\t0.0411002412\t0.0216778221\t0.0411002412\t0.0151347506\t0.1268190000\t958538609\t0\t402718720\t-0.0272424556\t0.0351259895\t0.2687966824\n24\t1305031102.9432289600\t0.0426373780\t0.0225511369\t0.0426373780\t0.0152291379\t0.1387670000\t958541569\t0\t402718720\t-0.0292217340\t0.0386299901\t0.2801072896\n25\t1305031102.9752030373\t0.0453506447\t0.0234631172\t0.0453506447\t0.0162018326\t0.1258350000\t958544361\t0\t402718720\t-0.0328906141\t0.0411665291\t0.2913641036\n26\t1305031103.0112149715\t0.0483040065\t0.0244185360\t0.0483040065\t0.0158894760\t0.1256120000\t958547433\t0\t402718720\t-0.0335344523\t0.0442040488\t0.3029482961\n27\t1305031103.0432269573\t0.0512413792\t0.0254119747\t0.0512413792\t0.0155941973\t0.1363150000\t958550393\t0\t402718720\t-0.0334231555\t0.0471101142\t0.3143698871\n28\t1305031103.0753190517\t0.0541891977\t0.0264397326\t0.0541891977\t0.0159712305\t0.1246690000\t958553241\t0\t402718720\t-0.0323140547\t0.0496934205\t0.3251507878\n29\t1305031103.1112399101\t0.0580520108\t0.0275298112\t0.0580520108\t0.0159053624\t0.1250460000\t958556257\t0\t402718720\t-0.0319543891\t0.0512614660\t0.3349368870\n30\t1305031103.1433179379\t0.0572034083\t0.0285189311\t0.0580520108\t0.0156648339\t0.1290660000\t958559161\t0\t402718720\t-0.0317797475\t0.0575091802\t0.3443075716\n31\t1305031103.1754519939\t0.0596270598\t0.0295224191\t0.0596270598\t0.0154236336\t0.1241670000\t958562065\t0\t402718720\t-0.0325600877\t0.0595759377\t0.3532643914\n32\t1305031103.2112200260\t0.0603760220\t0.0304865942\t0.0603760220\t0.0161097077\t0.1241390000\t958565081\t0\t402718720\t-0.0330633298\t0.0643611029\t0.3620283902\n33\t1305031103.2432160378\t0.0616957359\t0.0314323258\t0.0616957359\t0.0158962815\t0.1302390000\t958568041\t0\t402718720\t-0.0329675749\t0.0682079196\t0.3710325658\n34\t1305031103.2753698826\t0.0645278096\t0.0324057224\t0.0645278096\t0.0160676954\t0.1419680000\t958577289\t0\t402718720\t-0.0328823179\t0.0698047727\t0.3792882860\n35\t1305031103.3112099171\t0.0699869618\t0.0334794721\t0.0699869618\t0.0166337761\t0.1243150000\t958580305\t0\t402718720\t-0.0339866765\t0.0672905818\t0.3866483569\n36\t1305031103.3432230949\t0.0762722492\t0.0346681603\t0.0762722492\t0.0173796281\t0.1235970000\t958583265\t0\t402718720\t-0.0338200890\t0.0623863190\t0.3917612433\n37\t1305031103.3753271103\t0.0769594535\t0.0358111682\t0.0769594535\t0.0173537612\t0.1152120000\t958586113\t0\t402718720\t-0.0325151496\t0.0623947643\t0.3943503499\n38\t1305031103.4112598896\t0.0775272548\t0.0369089600\t0.0775272548\t0.0172791538\t0.1147420000\t958589129\t0\t402718720\t-0.0310768262\t0.0614210404\t0.3950700164\n39\t1305031103.4432799816\t0.0794976726\t0.0380009783\t0.0794976726\t0.0171883674\t0.1242870000\t958592089\t0\t402718720\t-0.0316814296\t0.0579462610\t0.3937083185\n40\t1305031103.4752740860\t0.0805305764\t0.0390642182\t0.0805305764\t0.0169930650\t0.1146480000\t958594937\t0\t402718720\t-0.0316944122\t0.0543985553\t0.3908637464\n41\t1305031103.5113329887\t0.0843516141\t0.0401687888\t0.0843516141\t0.0169749827\t0.1368020000\t958597953\t0\t402718720\t-0.0295101963\t0.0473208651\t0.3869644105\n42\t1305031103.5434439182\t0.0841164812\t0.0412151625\t0.0843516141\t0.0169006925\t0.1196210000\t958600913\t0\t402718720\t-0.0293510146\t0.0425349101\t0.3802959025\n43\t1305031103.5754740238\t0.0832295418\t0.0421922411\t0.0843516141\t0.0167489848\t0.1201610000\t958603761\t0\t402718720\t-0.0287705213\t0.0377188437\t0.3721597493\n44\t1305031103.6112229824\t0.0809803158\t0.0430737882\t0.0843516141\t0.0166629830\t0.1305970000\t958606777\t0\t402718720\t-0.0275119524\t0.0346991904\t0.3629988730\n45\t1305031103.6434450150\t0.0791871771\t0.0438763080\t0.0843516141\t0.0164815390\t0.1207800000\t958609737\t0\t402718720\t-0.0264321808\t0.0302144773\t0.3532446325\n46\t1305031103.6755230427\t0.0770627186\t0.0445977517\t0.0843516141\t0.0163567630\t0.1194780000\t958612585\t0\t402718720\t-0.0242245048\t0.0260954257\t0.3428208530\n47\t1305031103.7116100788\t0.0747818500\t0.0452399665\t0.0843516141\t0.0161975579\t0.1195990000\t958615601\t0\t402718720\t-0.0218416415\t0.0223269407\t0.3316753507\n48\t1305031103.7433259487\t0.0722394213\t0.0458024552\t0.0843516141\t0.0160763641\t0.1192340000\t958618561\t0\t402718720\t-0.0195341576\t0.0181590337\t0.3199526966\n49\t1305031103.7753419876\t0.0699818954\t0.0462959131\t0.0843516141\t0.0159091771\t0.1305910000\t958621409\t0\t402718720\t-0.0184666105\t0.0126630887\t0.3073974848\n50\t1305031103.8112421036\t0.0666939914\t0.0467038747\t0.0843516141\t0.0161653571\t0.1301120000\t958624425\t0\t402718720\t-0.0173591729\t0.0103701288\t0.2941682935\n51\t1305031103.8432509899\t0.0629464537\t0.0470223566\t0.0843516141\t0.0161904717\t0.1188030000\t958627385\t0\t402718720\t-0.0156319551\t0.0082206884\t0.2813559175\n52\t1305031103.8753609657\t0.0604459979\t0.0472805036\t0.0843516141\t0.0161755198\t0.1207390000\t958630233\t0\t402718720\t-0.0159526560\t0.0048955758\t0.2690958977\n53\t1305031103.9112210274\t0.0644291639\t0.0476040632\t0.0843516141\t0.0172107061\t0.1256120000\t958633249\t0\t402718720\t-0.0159313325\t-0.0061005354\t0.2567032576\n54\t1305031103.9432110786\t0.0645969287\t0.0479187459\t0.0843516141\t0.0171138835\t0.1413910000\t958636209\t0\t402718720\t-0.0140226353\t-0.0137273101\t0.2432524264\n55\t1305031103.9753730297\t0.0611764975\t0.0481597959\t0.0843516141\t0.0170817274\t0.1254570000\t958639113\t0\t402718720\t-0.0130809210\t-0.0169747006\t0.2288467884\n56\t1305031104.0112318993\t0.0606411472\t0.0483826772\t0.0843516141\t0.0172874547\t0.1290770000\t958642073\t0\t402718720\t-0.0109916236\t-0.0223523825\t0.2144795060\n57\t1305031104.0432488918\t0.0579731092\t0.0485509304\t0.0843516141\t0.0172445456\t0.1299920000\t958645033\t0\t402718720\t-0.0079984898\t-0.0279638954\t0.1995942593\n58\t1305031104.0754249096\t0.0522295199\t0.0486143544\t0.0843516141\t0.0172708112\t0.1311100000\t958647881\t0\t402718720\t-0.0055038636\t-0.0290002320\t0.1839388013\n59\t1305031104.1112349033\t0.0477046184\t0.0485989351\t0.0843516141\t0.0171868575\t0.1369070000\t958650897\t0\t402718720\t-0.0059483224\t-0.0298094563\t0.1689575911\n60\t1305031104.1432299614\t0.0440633595\t0.0485233422\t0.0843516141\t0.0171366008\t0.1296770000\t958653857\t0\t402718720\t-0.0059392331\t-0.0349297523\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}, { "path": "icra2018_results/1080/violons_libinfinitam-cpp_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 01:01:44\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cpp_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6419320107\t0.0019026520\t0.0019026520\t0.0019026520\t-nan\t0.1276110000\t960279644\t0\t402718720\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1311867718.6768438816\t0.0027229167\t0.0023127843\t0.0027229167\t0.0021582129\t0.1060770000\t976388601\t0\t402718720\t0.0005169673\t-0.0010942587\t0.0001797079\n3\t1311867718.7114279270\t0.0031995513\t0.0026083733\t0.0031995513\t0.0034751438\t0.1288830000\t976078865\t0\t402718720\t0.0005409417\t-0.0010935970\t0.0002242683\n4\t1311867718.7410299778\t0.0041529406\t0.0029945151\t0.0041529406\t0.0042844355\t0.1096090000\t976082057\t0\t402718720\t0.0010218472\t-0.0015514682\t0.0003014610\n5\t1311867718.7767970562\t0.0055240276\t0.0035004176\t0.0055240276\t0.0043341716\t0.1100010000\t976085073\t0\t402718720\t0.0021301867\t-0.0026189117\t0.0001469932\n6\t1311867718.8094089031\t0.0056028431\t0.0038508219\t0.0056028431\t0.0041703986\t0.1116070000\t976088777\t0\t402718720\t0.0020322260\t-0.0026803548\t0.0002582482\n7\t1311867718.8408079147\t0.0062578642\t0.0041946851\t0.0062578642\t0.0038598055\t0.1116420000\t976091625\t0\t402718720\t0.0026876219\t-0.0024254236\t0.0003465009\n8\t1311867718.8767778873\t0.0070302403\t0.0045491295\t0.0070302403\t0.0036780810\t0.1244150000\t976094641\t0\t402718720\t0.0029814087\t-0.0028204881\t0.0004534879\n9\t1311867718.9088680744\t0.0079929754\t0.0049317790\t0.0079929754\t0.0035523673\t0.1121900000\t976097489\t0\t402718720\t0.0037121400\t-0.0027851828\t0.0006460219\n10\t1311867718.9438331127\t0.0086711021\t0.0053057113\t0.0086711021\t0.0033985117\t0.1162350000\t976102105\t0\t402718720\t0.0044354796\t-0.0028037913\t0.0010428175\n11\t1311867718.9784109592\t0.0095560504\t0.0056921058\t0.0095560504\t0.0033703323\t0.1168170000\t976105121\t0\t402718720\t0.0048617283\t-0.0037254551\t0.0012518374\n12\t1311867719.0091300011\t0.0099222343\t0.0060446165\t0.0099222343\t0.0032174050\t0.1444880000\t976107913\t0\t402718720\t0.0048088687\t-0.0041618226\t0.0013777412\n13\t1311867719.0441620350\t0.0108104292\t0.0064112175\t0.0108104292\t0.0031161377\t0.1199630000\t976110929\t0\t402718720\t0.0055907220\t-0.0042314716\t0.0016271645\n14\t1311867719.0776190758\t0.0118955960\t0.0068029588\t0.0118955960\t0.0031031646\t0.1198400000\t976113889\t0\t402718720\t0.0065814294\t-0.0046501020\t0.0017764507\n15\t1311867719.1086950302\t0.0124966996\t0.0071825415\t0.0124966996\t0.0029933884\t0.1208090000\t976116793\t0\t402718720\t0.0069195004\t-0.0050438484\t0.0020175052\n16\t1311867719.1437010765\t0.0134302201\t0.0075730214\t0.0134302201\t0.0029043802\t0.1218230000\t976119753\t0\t402718720\t0.0076495381\t-0.0050758203\t0.0022301273\n17\t1311867719.1810290813\t0.0144190295\t0.0079757278\t0.0144190295\t0.0028888199\t0.1224100000\t976122769\t0\t402718720\t0.0082621248\t-0.0055736508\t0.0025814788\n18\t1311867719.2127099037\t0.0148748215\t0.0083590108\t0.0148748215\t0.0028234041\t0.1299610000\t976128873\t0\t402718720\t0.0084288502\t-0.0059010778\t0.0028533894\n19\t1311867719.2412090302\t0.0157023631\t0.0087455030\t0.0157023631\t0.0028010640\t0.1215010000\t976131665\t0\t402718720\t0.0087147262\t-0.0063789217\t0.0030912412\n20\t1311867719.2779469490\t0.0170079786\t0.0091586268\t0.0170079786\t0.0031220764\t0.1226870000\t976134625\t0\t402718720\t0.0094199432\t-0.0066748252\t0.0032741667\n21\t1311867719.3104898930\t0.0180278476\t0.0095809706\t0.0180278476\t0.0031008416\t0.1239290000\t976137585\t0\t402718720\t0.0101840906\t-0.0067507117\t0.0034052785\n22\t1311867719.3413150311\t0.0193963572\t0.0100271246\t0.0193963572\t0.0032201506\t0.1245090000\t976140489\t0\t402718720\t0.0111436546\t-0.0071410225\t0.0034851348\n23\t1311867719.3772718906\t0.0210452341\t0.0105061728\t0.0210452341\t0.0032580040\t0.1250320000\t976143449\t0\t402718720\t0.0122168250\t-0.0079130773\t0.0034747783\n24\t1311867719.4105761051\t0.0215957966\t0.0109682405\t0.0215957966\t0.0032139849\t0.1243640000\t976146409\t0\t402718720\t0.0124892853\t-0.0081542041\t0.0034862536\n25\t1311867719.4427709579\t0.0226443559\t0.0114352851\t0.0226443559\t0.0032988961\t0.1250160000\t976149369\t0\t402718720\t0.0133481380\t-0.0086143874\t0.0035934821\n26\t1311867719.4787840843\t0.0232544877\t0.0118898698\t0.0232544877\t0.0033792888\t0.1236380000\t976152329\t0\t402718720\t0.0132321864\t-0.0100216521\t0.0035410211\n27\t1311867719.5104370117\t0.0230178181\t0.0123020160\t0.0232544877\t0.0035867425\t0.1253010000\t976155233\t0\t402718720\t0.0125922123\t-0.0103839636\t0.0036535035\n28\t1311867719.5449650288\t0.0237061065\t0.0127093050\t0.0237061065\t0.0036216726\t0.1363840000\t976158193\t0\t402718720\t0.0126838712\t-0.0101487897\t0.0040005981\n29\t1311867719.5771939754\t0.0249653142\t0.0131319260\t0.0249653142\t0.0036305276\t0.1400740000\t976161153\t0\t402718720\t0.0133536160\t-0.0108867381\t0.0040475819\n30\t1311867719.6112511158\t0.0255263541\t0.0135450736\t0.0255263541\t0.0035902254\t0.1277900000\t976164113\t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1112536415\t-0.0025975886\n1910\t1311867782.3526129723\t0.2322674990\t0.2255983138\t0.3266084492\t0.0041117833\t0.1583170000\t982091233\t0\t402718720\t-0.2239366323\t-0.1116257086\t-0.0027665719\n1911\t1311867782.3825540543\t0.2328338027\t0.2256021000\t0.3266084492\t0.0041107706\t0.1783640000\t982094025\t0\t402718720\t-0.2245318145\t-0.1117833704\t-0.0029588772\n1912\t1311867782.4147620201\t0.2326698154\t0.2256057965\t0.3266084492\t0.0041099649\t0.1582130000\t982096817\t0\t402718720\t-0.2242950052\t-0.1113593131\t-0.0030755645\n1913\t1311867782.4514210224\t0.2326870859\t0.2256094982\t0.3266084492\t0.0041089534\t0.1576920000\t982099833\t0\t402718720\t-0.2242487669\t-0.1116848662\t-0.0033239159\n1914\t1311867782.4812099934\t0.2329675406\t0.2256133425\t0.3266084492\t0.0041079386\t0.1570340000\t982102737\t0\t402718720\t-0.2243752629\t-0.1116305739\t-0.0034087324\n1915\t1311867782.5149359703\t0.2330374867\t0.2256172193\t0.3266084492\t0.0041072665\t0.1570140000\t982105641\t0\t402718720\t-0.2244485319\t-0.1109368280\t-0.0034170172\n1916\t1311867782.5516130924\t0.2334675640\t0.2256213166\t0.3266084492\t0.0041066413\t0.1817660000\t982108657\t0\t402718720\t-0.2246546000\t-0.1113350838\t-0.0033426352\n1917\t1311867782.5828690529\t0.2336357683\t0.2256254973\t0.3266084492\t0.0041057511\t0.1570210000\t982111505\t0\t402718720\t-0.2247760892\t-0.1111961678\t-0.0035046893\n1918\t1311867782.6142859459\t0.2335257381\t0.2256296163\t0.3266084492\t0.0041047393\t0.1695420000\t982114465\t0\t402718720\t-0.2245334536\t-0.1109677702\t-0.0036777935\n1919\t1311867782.6501080990\t0.2337627411\t0.2256338545\t0.3266084492\t0.0041040115\t0.1576580000\t982117481\t0\t402718720\t-0.2246079594\t-0.1111708060\t-0.0038652699\n1920\t1311867782.6862080097\t0.2343189418\t0.2256383780\t0.3266084492\t0.0041047831\t0.1573700000\t982120497\t0\t402718720\t-0.2243575156\t-0.1111208797\t-0.0040680501\n1921\t1311867782.7131700516\t0.2345908880\t0.2256430383\t0.3266084492\t0.0041039798\t0.1876400000\t982123233\t0\t402718720\t-0.2247754782\t-0.1107063666\t-0.0043293838\n1922\t1311867782.7489991188\t0.2349120826\t0.2256478609\t0.3266084492\t0.0041040759\t0.1579120000\t982126249\t0\t402718720\t-0.2250810266\t-0.1111215055\t-0.0046762601\n1923\t1311867782.7844688892\t0.2350965887\t0.2256527745\t0.3266084492\t0.0041030470\t0.1573020000\t982129265\t0\t402718720\t-0.2252608687\t-0.1115047559\t-0.0050697341\n1924\t1311867782.8159070015\t0.2351279408\t0.2256576992\t0.3266084492\t0.0041024111\t0.1578350000\t982132169\t0\t402718720\t-0.2261838466\t-0.1110130847\t-0.0053767860\n1925\t1311867782.8522670269\t0.2353802621\t0.2256627499\t0.3266084492\t0.0041014113\t0.1581020000\t982135129\t0\t402718720\t-0.2260215580\t-0.1114076152\t-0.0059301849\n1926\t1311867782.8824830055\t0.2364793420\t0.2256683660\t0.3266084492\t0.0041004557\t0.1672590000\t982138033\t0\t402718720\t-0.2269839793\t-0.1125143170\t-0.0062656086\n1927\t1311867782.9145979881\t0.2361429185\t0.2256738017\t0.3266084492\t0.0041004394\t0.1549640000\t982140937\t0\t402718720\t-0.2269368172\t-0.1116718128\t-0.0068234801\n1928\t1311867782.9517209530\t0.2364296913\t0.2256793804\t0.3266084492\t0.0040994906\t0.1686070000\t982144009\t0\t402718720\t-0.2274312973\t-0.1116455942\t-0.0073451777\n1929\t1311867782.9812240601\t0.2372288257\t0.2256853677\t0.3266084492\t0.0040984807\t0.1558880000\t982146801\t0\t402718720\t-0.2283198684\t-0.1124175712\t-0.0078697139\n1930\t1311867783.0143089294\t0.2371222526\t0.2256912936\t0.3266084492\t0.0040979280\t0.1554320000\t982149761\t0\t402718720\t-0.2285241187\t-0.1119732633\t-0.0084222779\n1931\t1311867783.0528459549\t0.2374115586\t0.2256973631\t0.3266084492\t0.0040973180\t0.1860810000\t982152777\t0\t402718720\t-0.2289982885\t-0.1119950265\t-0.0088867024\n1932\t1311867783.0829811096\t0.2382414043\t0.2257038559\t0.3266084492\t0.0040966668\t0.1555560000\t982155681\t0\t402718720\t-0.2298087329\t-0.1124702469\t-0.0091242660\n1933\t1311867783.1137030125\t0.2384806722\t0.2257104657\t0.3266084492\t0.0040960022\t0.1544320000\t982158529\t0\t402718720\t-0.2303010523\t-0.1118757948\t-0.0094384551\n1934\t1311867783.1539480686\t0.2386883646\t0.2257171761\t0.3266084492\t0.0040950048\t0.1546590000\t982161657\t0\t402718720\t-0.2306717485\t-0.1119007692\t-0.0097760353\n1935\t1311867783.1857850552\t0.2391157448\t0.2257241004\t0.3266084492\t0.0040941666\t0.1539060000\t982164561\t0\t402718720\t-0.2311707139\t-0.1120928153\t-0.0098868934\n1936\t1311867783.2169439793\t0.2397286892\t0.2257313342\t0.3266084492\t0.0040937103\t0.1662260000\t982167409\t0\t402718720\t-0.2321269512\t-0.1119388714\t-0.0100499466\n1937\t1311867783.2548489571\t0.2397345752\t0.2257385635\t0.3266084492\t0.0040927338\t0.1537000000\t982170537\t0\t402718720\t-0.2322330326\t-0.1117252335\t-0.0102869803\n1938\t1311867783.2816879749\t0.2399381995\t0.2257458905\t0.3266084492\t0.0040917988\t0.1663110000\t982173329\t0\t402718720\t-0.2324540317\t-0.1121402159\t-0.0104872137\n1939\t1311867783.3132228851\t0.2399057597\t0.2257531932\t0.3266084492\t0.0040910374\t0.1532240000\t982176121\t0\t402718720\t-0.2324023098\t-0.1123520508\t-0.0105910208\n1940\t1311867783.3503270149\t0.2424070835\t0.2257617776\t0.3266084492\t0.0040908375\t0.1529300000\t982179193\t0\t402718720\t-0.2352610976\t-0.1116639376\t-0.0105318194\n1941\t1311867783.3855919838\t0.2435486168\t0.2257709414\t0.3266084492\t0.0040902802\t0.1660330000\t982182209\t0\t402718720\t-0.2364240140\t-0.1118825004\t-0.0106417825\n1942\t1311867783.4198501110\t0.2437658757\t0.2257802076\t0.3266084492\t0.0040893119\t0.1530810000\t982185169\t0\t402718720\t-0.2366240174\t-0.1123797372\t-0.0107647106\n1943\t1311867783.4503099918\t0.2434620857\t0.2257893079\t0.3266084492\t0.0040884007\t0.1519870000\t982188017\t0\t402718720\t-0.2366244197\t-0.1119359508\t-0.0110115577\n1944\t1311867783.4863688946\t0.2434419394\t0.2257983884\t0.3266084492\t0.0040882960\t0.1522760000\t982191033\t0\t402718720\t-0.2366027832\t-0.1124874577\t-0.0112470463\n1945\t1311867783.5186200142\t0.2444310784\t0.2258079682\t0.3266084492\t0.0040873517\t0.1511810000\t982193881\t0\t402718720\t-0.2376020998\t-0.1127540618\t-0.0112124262\n1946\t1311867783.5488419533\t0.2443152964\t0.2258174787\t0.3266084492\t0.0040872130\t0.1564850000\t982196729\t0\t402718720\t-0.2377923727\t-0.1123384908\t-0.0113926157\n1947\t1311867783.5823969841\t0.2440614700\t0.2258268490\t0.3266084492\t0.0040862754\t0.1513870000\t982199745\t0\t402718720\t-0.2374390811\t-0.1128467023\t-0.0117424224\n1948\t1311867783.6168529987\t0.2443497777\t0.2258363577\t0.3266084492\t0.0040852685\t0.1501170000\t982202649\t0\t402718720\t-0.2377769202\t-0.1128887683\t-0.0117934262\n1949\t1311867783.6515829563\t0.2444408983\t0.2258459034\t0.3266084492\t0.0040843283\t0.1628250000\t982205609\t0\t402718720\t-0.2379148751\t-0.1125017554\t-0.0119370818\n1950\t1311867783.6816630363\t0.2451606840\t0.2258558084\t0.3266084492\t0.0040840538\t0.1502220000\t982208513\t0\t402718720\t-0.2387107760\t-0.1124003604\t-0.0117719220\n1951\t1311867783.7179610729\t0.2453283221\t0.2258657892\t0.3266084492\t0.0040839331\t0.1687470000\t982211529\t0\t402718720\t-0.2388239354\t-0.1127033085\t-0.0118789105\n1952\t1311867783.7488200665\t0.2449539006\t0.2258755679\t0.3266084492\t0.0040829597\t0.1498450000\t982214377\t0\t402718720\t-0.2385049462\t-0.1116634160\t-0.0117915533\n1953\t1311867783.7808690071\t0.2452794164\t0.2258855033\t0.3266084492\t0.0040827246\t0.1510610000\t982217281\t0\t402718720\t-0.2387153357\t-0.1113597900\t-0.0115049910\n1954\t1311867783.8168580532\t0.2456165105\t0.2258956011\t0.3266084492\t0.0040837803\t0.1516150000\t982220241\t0\t402718720\t-0.2386894673\t-0.1122706831\t-0.0113620618\n1955\t1311867783.8489229679\t0.2456706911\t0.2259057162\t0.3266084492\t0.0040849813\t0.1514530000\t982223145\t0\t402718720\t-0.2390126586\t-0.1104777902\t-0.0107940445\n1956\t1311867783.8808929920\t0.2447481751\t0.2259153494\t0.3266084492\t0.0040841229\t0.1805620000\t982226049\t0\t402718720\t-0.2381482273\t-0.1100173369\t-0.0107860817\n1957\t1311867783.9168200493\t0.2452076077\t0.2259252074\t0.3266084492\t0.0040906304\t0.1536200000\t982229065\t0\t402718720\t-0.2383946031\t-0.1105611473\t-0.0103481729\n1958\t1311867783.9508318901\t0.2447935343\t0.2259348440\t0.3266084492\t0.0040897019\t0.1660480000\t982232025\t0\t402718720\t-0.2380839139\t-0.1103121713\t-0.0100054238\n1959\t1311867783.9816930294\t0.2447390705\t0.2259444429\t0.3266084492\t0.0040910521\t0.1539610000\t982234873\t0\t402718720\t-0.2380920798\t-0.1102074459\t-0.0094791465\n1960\t1311867784.0175230503\t0.2450211346\t0.2259541759\t0.3266084492\t0.0040908390\t0.1535860000\t982237945\t0\t402718720\t-0.2382619828\t-0.1114488319\t-0.0094349217\n1961\t1311867784.0505928993\t0.2452113628\t0.2259639959\t0.3266084492\t0.0040905308\t0.1750530000\t982240905\t0\t402718720\t-0.2385755926\t-0.1113744751\t-0.0093075624\n1962\t1311867784.0830729008\t0.2448128164\t0.2259736029\t0.3266084492\t0.0040899074\t0.1542160000\t982243753\t0\t402718720\t-0.2386210710\t-0.1106769070\t-0.0092495056\n1963\t1311867784.1187570095\t0.2454640120\t0.2259835318\t0.3266084492\t0.0040894387\t0.1539840000\t982246769\t0\t402718720\t-0.2392429411\t-0.1116845235\t-0.0090764612\n1964\t1311867784.1503119469\t0.2448296696\t0.2259931276\t0.3266084492\t0.0040888674\t0.1663710000\t982249673\t0\t402718720\t-0.2389436066\t-0.1118199006\t-0.0090513509\n1965\t1311867784.1823339462\t0.2442940176\t0.2260024410\t0.3266084492\t0.0040878930\t0.1542040000\t982252633\t0\t402718720\t-0.2387623787\t-0.1113817841\t-0.0086551905\n1966\t1311867784.2173891068\t0.2445174307\t0.2260118586\t0.3266084492\t0.0040875012\t0.1647730000\t982255537\t0\t402718720\t-0.2390806377\t-0.1124022678\t-0.0084413895\n1967\t1311867784.2502059937\t0.2447870374\t0.2260214037\t0.3266084492\t0.0040876112\t0.1527760000\t982258497\t0\t402718720\t-0.2397025526\t-0.1125767678\t-0.0083291391\n1968\t1311867784.2819900513\t0.2443815917\t0.2260307330\t0.3266084492\t0.0040869423\t0.1530380000\t982261345\t0\t402718720\t-0.2395425737\t-0.1121349707\t-0.0081533212\n1969\t1311867784.3176920414\t0.2447913438\t0.2260402610\t0.3266084492\t0.0040868438\t0.1638880000\t982264417\t0\t402718720\t-0.2400314659\t-0.1128582060\t-0.0079151681\n1970\t1311867784.3490819931\t0.2452908009\t0.2260500329\t0.3266084492\t0.0040864040\t0.1525470000\t982267265\t0\t402718720\t-0.2403058261\t-0.1133192033\t-0.0076174643\n1971\t1311867784.3815689087\t0.2446692735\t0.2260594795\t0.3266084492\t0.0040860363\t0.1678890000\t982270225\t0\t402718720\t-0.2399788946\t-0.1125467867\t-0.0075266999\n1972\t1311867784.4190580845\t0.2449747622\t0.2260690714\t0.3266084492\t0.0040854199\t0.1530170000\t982273241\t0\t402718720\t-0.2401759624\t-0.1135246679\t-0.0073133367\n1973\t1311867784.4496140480\t0.2450126112\t0.2260786728\t0.3266084492\t0.0040844562\t0.1648230000\t982276145\t0\t402718720\t-0.2399994731\t-0.1139326394\t-0.0070549548\n1974\t1311867784.4828379154\t0.2451984733\t0.2260883586\t0.3266084492\t0.0040838939\t0.1523400000\t982279105\t0\t402718720\t-0.2403876334\t-0.1134095117\t-0.0068682330\n1975\t1311867784.5185639858\t0.2453542948\t0.2260981135\t0.3266084492\t0.0040829927\t0.1635080000\t982282009\t0\t402718720\t-0.2403584868\t-0.1138396338\t-0.0066801896\n1976\t1311867784.5499279499\t0.2450322509\t0.2261076956\t0.3266084492\t0.0040820937\t0.1648780000\t982284913\t0\t402718720\t-0.2403111756\t-0.1145214811\t-0.0066458550\n1977\t1311867784.5848410130\t0.2446903586\t0.2261170950\t0.3266084492\t0.0040811093\t0.1649590000\t982287929\t0\t402718720\t-0.2402866483\t-0.1139805168\t-0.0066058040\n1978\t1311867784.6179790497\t0.2447023690\t0.2261264910\t0.3266084492\t0.0040804852\t0.1523580000\t982290833\t0\t402718720\t-0.2404118776\t-0.1145653948\t-0.0065137809\n1979\t1311867784.6492750645\t0.2451413572\t0.2261360993\t0.3266084492\t0.0040795362\t0.1515070000\t982293737\t0\t402718720\t-0.2409447134\t-0.1151667312\t-0.0062789200\n1980\t1311867784.6878700256\t0.2448505312\t0.2261455510\t0.3266084492\t0.0040790705\t0.1508190000\t982296809\t0\t402718720\t-0.2410073429\t-0.1141942888\t-0.0062234830\n1981\t1311867784.7168869972\t0.2447991520\t0.2261549673\t0.3266084492\t0.0040784021\t0.1698290000\t982299601\t0\t402718720\t-0.2412067950\t-0.1144800410\t-0.0061779441\n1982\t1311867784.7578089237\t0.2444812357\t0.2261642136\t0.3266084492\t0.0040808514\t0.1509780000\t982302841\t0\t402718720\t-0.2414230853\t-0.1146228537\t-0.0060286019\n1983\t1311867784.7870030403\t0.2447809577\t0.2261736018\t0.3266084492\t0.0040798240\t0.1509020000\t982305633\t0\t402718720\t-0.2417081147\t-0.1142791957\t-0.0057170615\n1984\t1311867784.8199620247\t0.2442190349\t0.2261826973\t0.3266084492\t0.0040801826\t0.1515810000\t982308425\t0\t402718720\t-0.2415242493\t-0.1152512878\t-0.0057431846\n1985\t1311867784.8550779819\t0.2445593178\t0.2261919550\t0.3266084492\t0.0040795292\t0.1499880000\t982311385\t0\t402718720\t-0.2420375496\t-0.1155272573\t-0.0057335659\n1986\t1311867784.8873779774\t0.2445220351\t0.2262011847\t0.3266084492\t0.0040785077\t0.1603720000\t982314289\t0\t402718720\t-0.2423154414\t-0.1151491404\t-0.0055117235\n1987\t1311867784.9173130989\t0.2452861369\t0.2262107896\t0.3266084492\t0.0040778326\t0.1500830000\t982317193\t0\t402718720\t-0.2428911328\t-0.1157893389\t-0.0056320429\n1988\t1311867784.9491391182\t0.2450401187\t0.2262202611\t0.3266084492\t0.0040770301\t0.1497550000\t982320041\t0\t402718720\t-0.2430573702\t-0.1161828265\t-0.0056495965\n1989\t1311867784.9848570824\t0.2452889830\t0.2262298482\t0.3266084492\t0.0040762999\t0.1498160000\t982323057\t0\t402718720\t-0.2435300499\t-0.1161623821\t-0.0054999255\n1990\t1311867785.0184569359\t0.2453955561\t0.2262394792\t0.3266084492\t0.0040753068\t0.1498870000\t982325961\t0\t402718720\t-0.2436507940\t-0.1166650206\t-0.0057362434\n1991\t1311867785.0500280857\t0.2455045432\t0.2262491553\t0.3266084492\t0.0040743110\t0.1638700000\t982328921\t0\t402718720\t-0.2440278381\t-0.1167115346\t-0.0056602159\n1992\t1311867785.0871460438\t0.2455997169\t0.2262588694\t0.3266084492\t0.0040733031\t0.1490380000\t982331937\t0\t402718720\t-0.2443096191\t-0.1160858274\t-0.0055352002\n1993\t1311867785.1168398857\t0.2456508428\t0.2262685994\t0.3266084492\t0.0040724855\t0.1594240000\t982334841\t0\t402718720\t-0.2445294559\t-0.1160933226\t-0.0057529830\n1994\t1311867785.1499750614\t0.2459286153\t0.2262784590\t0.3266084492\t0.0040715583\t0.1479020000\t982337689\t0\t402718720\t-0.2446875572\t-0.1166334823\t-0.0057099354\n1995\t1311867785.1850368977\t0.2459732890\t0.2262883311\t0.3266084492\t0.0040705634\t0.1474650000\t982340705\t0\t402718720\t-0.2448936850\t-0.1157719865\t-0.0057649612\n1996\t1311867785.2169620991\t0.2460183948\t0.2262982159\t0.3266084492\t0.0040695833\t0.1481020000\t982343553\t0\t402718720\t-0.2451331615\t-0.1156790182\t-0.0059185615\n1997\t1311867785.2491741180\t0.2461721003\t0.2263081678\t0.3266084492\t0.0040685958\t0.1481740000\t982346457\t0\t402718720\t-0.2453884333\t-0.1156623289\t-0.0058154538\n1998\t1311867785.2858769894\t0.2462395132\t0.2263181434\t0.3266084492\t0.0040677126\t0.1607700000\t982349529\t0\t402718720\t-0.2456016690\t-0.1153893471\t-0.0058133448\n1999\t1311867785.3214280605\t0.2454596460\t0.2263277190\t0.3266084492\t0.0040671627\t0.1483840000\t982352657\t0\t402718720\t-0.2451816797\t-0.1153130010\t-0.0061054020\n2000\t1311867785.3573219776\t0.2453784794\t0.2263372444\t0.3266084492\t0.0040665123\t0.1475170000\t982355617\t0\t402718720\t-0.2452304214\t-0.1155407429\t-0.0061558955\n2001\t1311867785.3893299103\t0.2458668500\t0.2263470043\t0.3266084492\t0.0040656661\t0.1479880000\t982358521\t0\t402718720\t-0.2460261881\t-0.1150973067\t-0.0060366048\n2002\t1311867785.4211249352\t0.2453445643\t0.2263564936\t0.3266084492\t0.0040650295\t0.1481310000\t982361425\t0\t402718720\t-0.2457459122\t-0.1149796173\t-0.0061387829\n2003\t1311867785.4570529461\t0.2454936653\t0.2263660478\t0.3266084492\t0.0040661816\t0.1484110000\t982364441\t0\t402718720\t-0.2459632903\t-0.1154227704\t-0.0062228916\n2004\t1311867785.4900350571\t0.2458606958\t0.2263757757\t0.3266084492\t0.0040655496\t0.1479450000\t982367401\t0\t402718720\t-0.2466619909\t-0.1142895296\t-0.0059310598\n2005\t1311867785.5211930275\t0.2456248403\t0.2263853762\t0.3266084492\t0.0040646254\t0.1488240000\t982370249\t0\t402718720\t-0.2468845397\t-0.1140144393\t-0.0059206570\n2006\t1311867785.5571260452\t0.2441718429\t0.2263942429\t0.3266084492\t0.0040655242\t0.1602710000\t982373265\t0\t402718720\t-0.2463112473\t-0.1142248660\t-0.0060623740\n2007\t1311867785.5891211033\t0.2446394116\t0.2264033336\t0.3266084492\t0.0040651060\t0.1493550000\t982376169\t0\t402718720\t-0.2470264137\t-0.1141268089\t-0.0058255815\n2008\t1311867785.6211590767\t0.2432013601\t0.2264116992\t0.3266084492\t0.0040772414\t0.1498830000\t982379129\t0\t402718720\t-0.2461927980\t-0.1136016399\t-0.0061626309\n2009\t1311867785.6570439339\t0.2433306426\t0.2264201208\t0.3266084492\t0.0040815751\t0.1499710000\t982382145\t0\t402718720\t-0.2464520782\t-0.1141908690\t-0.0062311296\n2010\t1311867785.6892280579\t0.2437684089\t0.2264287517\t0.3266084492\t0.0040806761\t0.1606580000\t982384993\t0\t402718720\t-0.2469933778\t-0.1145392433\t-0.0063041677\n2011\t1311867785.7214241028\t0.2433395833\t0.2264371609\t0.3266084492\t0.0040824770\t0.1737120000\t982387897\t0\t402718720\t-0.2470552921\t-0.1139714792\t-0.0064331209\n2012\t1311867785.7573668957\t0.2432007045\t0.2264454927\t0.3266084492\t0.0040820395\t0.1506640000\t982390913\t0\t402718720\t-0.2473084629\t-0.1143487915\t-0.0067077968\n2013\t1311867785.7892301083\t0.2434386909\t0.2264539344\t0.3266084492\t0.0040818627\t0.1507730000\t982393817\t0\t402718720\t-0.2476573139\t-0.1148672402\t-0.0066584731\n2014\t1311867785.8210389614\t0.2437797934\t0.2264625371\t0.3266084492\t0.0040809190\t0.1505750000\t982396721\t0\t402718720\t-0.2480198592\t-0.1149621978\t-0.0065762484\n2015\t1311867785.8574340343\t0.2448991090\t0.2264716868\t0.3266084492\t0.0040805837\t0.1756310000\t982399737\t0\t402718720\t-0.2495653331\t-0.1146951690\t-0.0064390562\n2016\t1311867785.8893110752\t0.2449058443\t0.2264808307\t0.3266084492\t0.0040797256\t0.1503650000\t982402697\t0\t402718720\t-0.2495808899\t-0.1151441559\t-0.0063005160\n2017\t1311867785.9211509228\t0.2450176626\t0.2264900210\t0.3266084492\t0.0040796386\t0.1508270000\t982405601\t0\t402718720\t-0.2501345277\t-0.1146543324\t-0.0061458484\n2018\t1311867785.9588449001\t0.2454414815\t0.2264994122\t0.3266084492\t0.0040801253\t0.1505600000\t982408617\t0\t402718720\t-0.2507457137\t-0.1146501452\t-0.0061072516\n2019\t1311867785.9892621040\t0.2456585765\t0.2265089017\t0.3266084492\t0.0040792359\t0.1515160000\t982411521\t0\t402718720\t-0.2513810396\t-0.1144435108\t-0.0059315944\n2020\t1311867786.0210618973\t0.2452821732\t0.2265181954\t0.3266084492\t0.0040783379\t0.1642200000\t982414425\t0\t402718720\t-0.2514028251\t-0.1139994040\t-0.0057567167\n2021\t1311867786.0572268963\t0.2453422397\t0.2265275096\t0.3266084492\t0.0040783352\t0.1520220000\t982417385\t0\t402718720\t-0.2520583868\t-0.1142029613\t-0.0056260601\n2022\t1311867786.0892500877\t0.2455547154\t0.2265369197\t0.3266084492\t0.0040777409\t0.1519640000\t982420345\t0\t402718720\t-0.2525818646\t-0.1149999872\t-0.0054435460\n2023\t1311867786.1211619377\t0.2453418672\t0.2265462152\t0.3266084492\t0.0040770044\t0.1513930000\t982423305\t0\t402718720\t-0.2528610229\t-0.1148566604\t-0.0052670753\n2024\t1311867786.1570990086\t0.2452231646\t0.2265554430\t0.3266084492\t0.0040760596\t0.1511440000\t982426265\t0\t402718720\t-0.2534407377\t-0.1142284796\t-0.0052415184\n2025\t1311867786.1891019344\t0.2458070070\t0.2265649499\t0.3266084492\t0.0040753601\t0.1601400000\t982429113\t0\t402718720\t-0.2544290125\t-0.1151915193\t-0.0050494783\n2026\t1311867786.2216470242\t0.2456170917\t0.2265743538\t0.3266084492\t0.0040744518\t0.1510540000\t982432017\t0\t402718720\t-0.2548244894\t-0.1150890961\t-0.0050585940\n2027\t1311867786.2570950985\t0.2454213500\t0.2265836517\t0.3266084492\t0.0040735299\t0.1627930000\t982435089\t0\t402718720\t-0.2552154958\t-0.1146102995\t-0.0050138026\n2028\t1311867786.2895779610\t0.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}, { "path": "icra2018_results/1080/violons_libinfinitam-cpp_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 01:11:00\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cpp_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520440\t0.0582520440\t0.0582520440\t-nan\t0.0919960000\t960649900\t0\t402718720\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1311867170.4941389561\t0.0573717020\t0.0578118730\t0.0582520440\t0.0124384817\t0.1051360000\t976391721\t0\t402718720\t-0.0004072262\t-0.0012858674\t-0.0024128594\n3\t1311867170.5264289379\t0.0565326363\t0.0573854608\t0.0582520440\t0.0101360069\t0.1180740000\t976081985\t0\t402718720\t-0.0017253581\t-0.0022905804\t-0.0047754426\n4\t1311867170.5623490810\t0.0561531186\t0.0570773752\t0.0582520440\t0.0096939930\t0.1069820000\t976085401\t0\t402718720\t0.0001815499\t-0.0028489344\t-0.0061352560\n5\t1311867170.5942170620\t0.0564878471\t0.0569594696\t0.0582520440\t0.0086570308\t0.1083780000\t976088249\t0\t402718720\t0.0032386892\t-0.0038525709\t-0.0071731703\n6\t1311867170.6260869503\t0.0565138943\t0.0568852071\t0.0582520440\t0.0085082530\t0.1092720000\t976091953\t0\t402718720\t0.0035822922\t-0.0050064190\t-0.0088233240\n7\t1311867170.6621398926\t0.0566217005\t0.0568475633\t0.0582520440\t0.0084011855\t0.1109440000\t976095025\t0\t402718720\t0.0042666858\t-0.0060294420\t-0.0103985174\n8\t1311867170.6942050457\t0.0565143824\t0.0568059157\t0.0582520440\t0.0080624176\t0.1111640000\t976097873\t0\t402718720\t0.0039346968\t-0.0066705765\t-0.0121178320\n9\t1311867170.7263879776\t0.0572911352\t0.0568598289\t0.0582520440\t0.0083638007\t0.1121480000\t976100777\t0\t402718720\t0.0047216709\t-0.0067814970\t-0.0132080782\n10\t1311867170.7620189190\t0.0571037121\t0.0568842173\t0.0582520440\t0.0084267381\t0.1114260000\t976105449\t0\t402718720\t0.0036999029\t-0.0089522135\t-0.0147678684\n11\t1311867170.7941920757\t0.0576175041\t0.0569508797\t0.0582520440\t0.0083849712\t0.1115700000\t976108241\t0\t402718720\t0.0046730596\t-0.0111104185\t-0.0163442288\n12\t1311867170.8262820244\t0.0582830422\t0.0570618932\t0.0582830422\t0.0084182018\t0.1137510000\t976111201\t0\t402718720\t0.0057509104\t-0.0142152999\t-0.0181489494\n13\t1311867170.8622210026\t0.0583667755\t0.0571622688\t0.0583667755\t0.0082326201\t0.1132930000\t976114217\t0\t402718720\t0.0054110112\t-0.0167625397\t-0.0205292664\n14\t1311867170.8943779469\t0.0588976108\t0.0572862218\t0.0588976108\t0.0079371808\t0.1132570000\t976117065\t0\t402718720\t0.0051991055\t-0.0189172477\t-0.0228590686\n15\t1311867170.9263520241\t0.0592492297\t0.0574170890\t0.0592492297\t0.0079867024\t0.1120140000\t976120025\t0\t402718720\t0.0049795005\t-0.0210557431\t-0.0255748350\n16\t1311867170.9621469975\t0.0584787801\t0.0574834447\t0.0592492297\t0.0077860800\t0.1130130000\t976123041\t0\t402718720\t0.0025149619\t-0.0233250298\t-0.0286700856\n17\t1311867170.9942629337\t0.0581946447\t0.0575252800\t0.0592492297\t0.0076115906\t0.1128200000\t976125889\t0\t402718720\t0.0015675346\t-0.0249397289\t-0.0317836851\n18\t1311867171.0262739658\t0.0583906658\t0.0575733570\t0.0592492297\t0.0073987350\t0.1227820000\t976132049\t0\t402718720\t0.0013857816\t-0.0262926351\t-0.0344625749\n19\t1311867171.0623519421\t0.0577807315\t0.0575842714\t0.0592492297\t0.0078912619\t0.1127290000\t976135065\t0\t402718720\t0.0006828412\t-0.0291226413\t-0.0373767465\n20\t1311867171.0942349434\t0.0569510125\t0.0575526085\t0.0592492297\t0.0077962232\t0.1119080000\t976137913\t0\t402718720\t0.0012539392\t-0.0310282130\t-0.0399192758\n21\t1311867171.1262509823\t0.0568107404\t0.0575172814\t0.0592492297\t0.0076727569\t0.1106440000\t976140873\t0\t402718720\t0.0016471456\t-0.0313888565\t-0.0420592539\n22\t1311867171.1622469425\t0.0565001555\t0.0574710484\t0.0592492297\t0.0076320047\t0.1275450000\t976143889\t0\t402718720\t0.0030269357\t-0.0332086757\t-0.0437395349\n23\t1311867171.1942689419\t0.0555122197\t0.0573858820\t0.0592492297\t0.0079612574\t0.1110540000\t976146737\t0\t402718720\t0.0048672990\t-0.0332908705\t-0.0448285788\n24\t1311867171.2262530327\t0.0571258999\t0.0573750494\t0.0592492297\t0.0080020960\t0.1106700000\t976149697\t0\t402718720\t0.0073566409\t-0.0331376903\t-0.0454756543\n25\t1311867171.2622439861\t0.0565513112\t0.0573420998\t0.0592492297\t0.0080365452\t0.1108930000\t976152713\t0\t402718720\t0.0080675911\t-0.0333134606\t-0.0465236865\n26\t1311867171.2943410873\t0.0566131808\t0.0573140645\t0.0592492297\t0.0079475609\t0.1127530000\t976155505\t0\t402718720\t0.0086030001\t-0.0314863324\t-0.0471895486\n27\t1311867171.3263869286\t0.0564521998\t0.0572821436\t0.0592492297\t0.0082482194\t0.1262720000\t976158465\t0\t402718720\t0.0059560640\t-0.0307081062\t-0.0485000424\n28\t1311867171.3622460365\t0.0552366190\t0.0572090891\t0.0592492297\t0.0081268509\t0.1274290000\t976161481\t0\t402718720\t0.0032985432\t-0.0301743187\t-0.0500387177\n29\t1311867171.3941431046\t0.0556942075\t0.0571568518\t0.0592492297\t0.0082774846\t0.1263010000\t976164329\t0\t402718720\t0.0016327128\t-0.0285019465\t-0.0511358939\n30\t1311867171.4262878895\t0.0563084893\t0.0571285731\t0.0592492297\t0.0082832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281\t0\t402718720\t-0.0526763648\t0.0286845192\t-0.2410680652\n1937\t1311867235.0563809872\t0.0511034466\t0.0579708611\t0.0880135372\t0.0055080009\t0.1734490000\t982170297\t0\t402718720\t-0.0528026633\t0.0276691262\t-0.2411087155\n1938\t1311867235.0911149979\t0.0511988141\t0.0579673668\t0.0880135372\t0.0055066375\t0.1713090000\t982173257\t0\t402718720\t-0.0543653928\t0.0269494820\t-0.2410378009\n1939\t1311867235.1208140850\t0.0514217243\t0.0579639910\t0.0880135372\t0.0055053263\t0.1816770000\t982176161\t0\t402718720\t-0.0555436984\t0.0258152205\t-0.2409731895\n1940\t1311867235.1564071178\t0.0508566834\t0.0579603274\t0.0880135372\t0.0055048131\t0.1832690000\t982179121\t0\t402718720\t-0.0543452613\t0.0255854409\t-0.2406304181\n1941\t1311867235.1885681152\t0.0507663898\t0.0579566211\t0.0880135372\t0.0055043139\t0.1711520000\t982182025\t0\t402718720\t-0.0544251204\t0.0247013904\t-0.2402459085\n1942\t1311867235.2202088833\t0.0506917909\t0.0579528802\t0.0880135372\t0.0055030514\t0.1705020000\t982184929\t0\t402718720\t-0.0554830618\t0.0239432268\t-0.2402196079\n1943\t1311867235.2576260567\t0.0509658009\t0.0579492842\t0.0880135372\t0.0055023919\t0.1697270000\t982187833\t0\t402718720\t-0.0559225455\t0.0240065455\t-0.2399294972\n1944\t1311867235.2899661064\t0.0508174524\t0.0579456156\t0.0880135372\t0.0055025200\t0.1850240000\t982190793\t0\t402718720\t-0.0576173179\t0.0232456792\t-0.2398347855\n1945\t1311867235.3247830868\t0.0506408885\t0.0579418599\t0.0880135372\t0.0055012249\t0.1712510000\t982193809\t0\t402718720\t-0.0576704331\t0.0228228886\t-0.2398411781\n1946\t1311867235.3567800522\t0.0497528873\t0.0579376518\t0.0880135372\t0.0055126747\t0.1699580000\t982196713\t0\t402718720\t-0.0588178225\t0.0227841754\t-0.2395162880\n1947\t1311867235.3886280060\t0.0507293232\t0.0579339495\t0.0880135372\t0.0055229361\t0.1705180000\t982199617\t0\t402718720\t-0.0589884408\t0.0225145537\t-0.2392050028\n1948\t1311867235.4246189594\t0.0504723080\t0.0579301191\t0.0880135372\t0.0055222741\t0.1706230000\t982202633\t0\t402718720\t-0.0601537749\t0.0223692320\t-0.2386816144\n1949\t1311867235.4564850330\t0.0507130995\t0.0579264162\t0.0880135372\t0.0055216436\t0.1833020000\t982205537\t0\t402718720\t-0.0601511635\t0.0228711013\t-0.2378868908\n1950\t1311867235.4897930622\t0.0505267680\t0.0579226215\t0.0880135372\t0.0055216286\t0.1720440000\t982208441\t0\t402718720\t-0.0603458881\t0.0228276271\t-0.2370288819\n1951\t1311867235.5240719318\t0.0508819781\t0.0579190128\t0.0880135372\t0.0055208721\t0.1850650000\t982211401\t0\t402718720\t-0.0614171550\t0.0227270219\t-0.2363293916\n1952\t1311867235.5577290058\t0.0507883430\t0.0579153597\t0.0880135372\t0.0055198224\t0.1709190000\t982214305\t0\t402718720\t-0.0608315952\t0.0232737064\t-0.2354612052\n1953\t1311867235.5880639553\t0.0513205305\t0.0579119830\t0.0880135372\t0.0055185061\t0.1715420000\t982217209\t0\t402718720\t-0.0614929385\t0.0227203593\t-0.2347873747\n1954\t1311867235.6249940395\t0.0517402291\t0.0579088245\t0.0880135372\t0.0055174362\t0.1720920000\t982220281\t0\t402718720\t-0.0619217940\t0.0213599242\t-0.2345439643\n1955\t1311867235.6563270092\t0.0516264960\t0.0579056110\t0.0880135372\t0.0055167891\t0.1718060000\t982223129\t0\t402718720\t-0.0624520518\t0.0218872372\t-0.2341684997\n1956\t1311867235.6885619164\t0.0517520942\t0.0579024650\t0.0880135372\t0.0055155730\t0.1718380000\t982226033\t0\t402718720\t-0.0631970316\t0.0214552842\t-0.2338770330\n1957\t1311867235.7241950035\t0.0516298935\t0.0578992598\t0.0880135372\t0.0055142317\t0.1705230000\t982229049\t0\t402718720\t-0.0641379952\t0.0209466349\t-0.2336714119\n1958\t1311867235.7561719418\t0.0513094142\t0.0578958942\t0.0880135372\t0.0055131414\t0.1703200000\t982232009\t0\t402718720\t-0.0640483126\t0.0210345984\t-0.2331249714\n1959\t1311867235.7903280258\t0.0513814278\t0.0578925688\t0.0880135372\t0.0055123817\t0.1956530000\t982234913\t0\t402718720\t-0.0645565018\t0.0206632130\t-0.2324819565\n1960\t1311867235.8249480724\t0.0514568947\t0.0578892853\t0.0880135372\t0.0055111822\t0.1708700000\t982237873\t0\t402718720\t-0.0649747923\t0.0203722715\t-0.2317444980\n1961\t1311867235.8562169075\t0.0515635796\t0.0578860596\t0.0880135372\t0.0055110674\t0.1710230000\t982240833\t0\t402718720\t-0.0650338382\t0.0210034791\t-0.2306562960\n1962\t1311867235.8881049156\t0.0519687273\t0.0578830436\t0.0880135372\t0.0055097301\t0.1714170000\t982243625\t0\t402718720\t-0.0661258474\t0.0206982549\t-0.2298168689\n1963\t1311867235.9239900112\t0.0521897525\t0.0578801433\t0.0880135372\t0.0055083353\t0.1713260000\t982246697\t0\t402718720\t-0.0664281324\t0.0201073773\t-0.2288982570\n1964\t1311867235.9563760757\t0.0523493253\t0.0578773272\t0.0880135372\t0.0055076081\t0.1862900000\t982249657\t0\t402718720\t-0.0658120885\t0.0205065738\t-0.2282082438\n1965\t1311867235.9890949726\t0.0519874766\t0.0578743298\t0.0880135372\t0.0055069786\t0.1715560000\t982252505\t0\t402718720\t-0.0669003949\t0.0200052578\t-0.2278131247\n1966\t1311867236.0250449181\t0.0519272648\t0.0578713048\t0.0880135372\t0.0055056533\t0.1706010000\t982255521\t0\t402718720\t-0.0673901513\t0.0196859632\t-0.2272875458\n1967\t1311867236.0599400997\t0.0516353063\t0.0578681345\t0.0880135372\t0.0055042661\t0.1701030000\t982258481\t0\t402718720\t-0.0673410818\t0.0197633896\t-0.2265841365\n1968\t1311867236.0884859562\t0.0518293194\t0.0578650660\t0.0880135372\t0.0055029812\t0.1699780000\t982261273\t0\t402718720\t-0.0677424967\t0.0195489675\t-0.2256796807\n1969\t1311867236.1247038841\t0.0517765172\t0.0578619738\t0.0880135372\t0.0055016550\t0.1816620000\t982264345\t0\t402718720\t-0.0677982643\t0.0195709616\t-0.2246677727\n1970\t1311867236.1581289768\t0.0522504523\t0.0578591253\t0.0880135372\t0.0055008772\t0.1720770000\t982267249\t0\t402718720\t-0.0683305189\t0.0196741652\t-0.2235013396\n1971\t1311867236.1901528835\t0.0519263111\t0.0578561153\t0.0880135372\t0.0054996868\t0.1709450000\t982270097\t0\t402718720\t-0.0696047768\t0.0198781900\t-0.2223264724\n1972\t1311867236.2242329121\t0.0514271408\t0.0578528552\t0.0880135372\t0.0054983965\t0.1716920000\t982273057\t0\t402718720\t-0.0694709569\t0.0197876543\t-0.2212257683\n1973\t1311867236.2599489689\t0.0511007495\t0.0578494329\t0.0880135372\t0.0054973389\t0.1693510000\t982276073\t0\t402718720\t-0.0697889104\t0.0199800357\t-0.2199495882\n1974\t1311867236.2890419960\t0.0514273793\t0.0578461796\t0.0880135372\t0.0054960382\t0.1893320000\t982278865\t0\t402718720\t-0.0705825984\t0.0197282452\t-0.2187672853\n1975\t1311867236.3262441158\t0.0518676527\t0.0578431525\t0.0880135372\t0.0054950149\t0.1720370000\t982281937\t0\t402718720\t-0.0710204989\t0.0195238162\t-0.2173154205\n1976\t1311867236.3568809032\t0.0519155040\t0.0578401527\t0.0880135372\t0.0054939924\t0.1715280000\t982284841\t0\t402718720\t-0.0708918646\t0.0189020224\t-0.2161178291\n1977\t1311867236.3897418976\t0.0518294722\t0.0578371124\t0.0880135372\t0.0054926544\t0.1712870000\t982287745\t0\t402718720\t-0.0717037395\t0.0187121835\t-0.2149660736\n1978\t1311867236.4243390560\t0.0510467924\t0.0578336794\t0.0880135372\t0.0054938204\t0.1713350000\t982290705\t0\t402718720\t-0.0715547949\t0.0185617171\t-0.2134895921\n1979\t1311867236.4566040039\t0.0509267375\t0.0578301893\t0.0880135372\t0.0054927727\t0.1704640000\t982293665\t0\t402718720\t-0.0717181042\t0.0186818633\t-0.2120840698\n1980\t1311867236.4936130047\t0.0515915602\t0.0578270385\t0.0880135372\t0.0054968621\t0.1909340000\t982296681\t0\t402718720\t-0.0723644346\t0.0183003750\t-0.2106433511\n1981\t1311867236.5246999264\t0.0516024791\t0.0578238964\t0.0880135372\t0.0054956014\t0.1835710000\t982299585\t0\t402718720\t-0.0728642270\t0.0185672771\t-0.2090120763\n1982\t1311867236.5602099895\t0.0511291139\t0.0578205186\t0.0880135372\t0.0054960374\t0.1726670000\t982302601\t0\t402718720\t-0.0727413371\t0.0186145492\t-0.2073904872\n1983\t1311867236.5972909927\t0.0510663800\t0.0578171126\t0.0880135372\t0.0054949374\t0.1733430000\t982305617\t0\t402718720\t-0.0724282339\t0.0180677380\t-0.2057349831\n1984\t1311867236.6246581078\t0.0513045527\t0.0578138300\t0.0880135372\t0.0054935877\t0.1953520000\t982308353\t0\t402718720\t-0.0729112104\t0.0179871246\t-0.2039049715\n1985\t1311867236.6600480080\t0.0511258617\t0.0578104608\t0.0880135372\t0.0054923431\t0.1732670000\t982311369\t0\t402718720\t-0.0724857822\t0.0182302073\t-0.2016927302\n1986\t1311867236.6956660748\t0.0509130731\t0.0578069878\t0.0880135372\t0.0054917861\t0.1725600000\t982314385\t0\t402718720\t-0.0723426566\t0.0182548556\t-0.1995660216\n1987\t1311867236.7276370525\t0.0509164408\t0.0578035199\t0.0880135372\t0.0054906583\t0.1730380000\t982317233\t0\t402718720\t-0.0718157515\t0.0181824137\t-0.1973431259\n1988\t1311867236.7619268894\t0.0508639477\t0.0578000292\t0.0880135372\t0.0054902089\t0.1738270000\t982320193\t0\t402718720\t-0.0715038627\t0.0178015288\t-0.1952511817\n1989\t1311867236.7923469543\t0.0515708476\t0.0577968974\t0.0880135372\t0.0054912549\t0.1928910000\t982323041\t0\t402718720\t-0.0720320120\t0.0176156461\t-0.1931777745\n1990\t1311867236.8255391121\t0.0512949787\t0.0577936301\t0.0880135372\t0.0054905315\t0.1742230000\t982326057\t0\t402718720\t-0.0724418908\t0.0173577853\t-0.1913565695\n1991\t1311867236.8583440781\t0.0515835918\t0.0577905110\t0.0880135372\t0.0054901238\t0.1741800000\t982328905\t0\t402718720\t-0.0725209117\t0.0170998462\t-0.1893033683\n1992\t1311867236.8928480148\t0.0514358468\t0.0577873210\t0.0880135372\t0.0054900487\t0.1722500000\t982331865\t0\t402718720\t-0.0723296329\t0.0168968979\t-0.1873104423\n1993\t1311867236.9255330563\t0.0512850992\t0.0577840584\t0.0880135372\t0.0054888229\t0.1742780000\t982334769\t0\t402718720\t-0.0720333904\t0.0165232029\t-0.1853851825\n1994\t1311867236.9581959248\t0.0514803939\t0.0577808971\t0.0880135372\t0.0054876909\t0.1836070000\t982337673\t0\t402718720\t-0.0723133907\t0.0167521462\t-0.1830950528\n1995\t1311867236.9937291145\t0.0510334559\t0.0577775149\t0.0880135372\t0.0054897018\t0.1747540000\t982340689\t0\t402718720\t-0.0718188062\t0.0172291063\t-0.1808246225\n1996\t1311867237.0244200230\t0.0511721037\t0.0577742056\t0.0880135372\t0.0054891862\t0.1755700000\t982343537\t0\t402718720\t-0.0724635199\t0.0165905133\t-0.1787972301\n1997\t1311867237.0603060722\t0.0503811724\t0.0577705035\t0.0880135372\t0.0054925560\t0.1750450000\t982346553\t0\t402718720\t-0.0728657916\t0.0169770028\t-0.1767878830\n1998\t1311867237.0927588940\t0.0509484075\t0.0577670891\t0.0880135372\t0.0055057307\t0.1767930000\t982349513\t0\t402718720\t-0.0718327761\t0.0178237446\t-0.1745894402\n1999\t1311867237.1276650429\t0.0510233752\t0.0577637155\t0.0880135372\t0.0055058542\t0.1868460000\t982352473\t0\t402718720\t-0.0715523437\t0.0168049149\t-0.1728491336\n2000\t1311867237.1566579342\t0.0509759523\t0.0577603217\t0.0880135372\t0.0055052535\t0.1761810000\t982355265\t0\t402718720\t-0.0725831687\t0.0166412294\t-0.1711615026\n2001\t1311867237.1925950050\t0.0508635081\t0.0577568750\t0.0880135372\t0.0055043449\t0.1759750000\t982358281\t0\t402718720\t-0.0717983767\t0.0170543697\t-0.1692855209\n2002\t1311867237.2254281044\t0.0519001447\t0.0577539495\t0.0880135372\t0.0055032736\t0.1746700000\t982361241\t0\t402718720\t-0.0734108388\t0.0156686120\t-0.1677989662\n2003\t1311867237.2569580078\t0.0513709895\t0.0577507628\t0.0880135372\t0.0055032040\t0.1761140000\t982364145\t0\t402718720\t-0.0737120882\t0.0152666671\t-0.1663817614\n2004\t1311867237.2944281101\t0.0510117598\t0.0577474001\t0.0880135372\t0.0055018723\t0.1875200000\t982367161\t0\t402718720\t-0.0740795434\t0.0161135774\t-0.1648562253\n2005\t1311867237.3250501156\t0.0512731373\t0.0577441710\t0.0880135372\t0.0055006443\t0.1770540000\t982370065\t0\t402718720\t-0.0748847649\t0.0158960093\t-0.1632875353\n2006\t1311867237.3565309048\t0.0518925227\t0.0577412539\t0.0880135372\t0.0055009563\t0.1765000000\t982372969\t0\t402718720\t-0.0753227770\t0.0154482927\t-0.1616649628\n2007\t1311867237.3934979439\t0.0509273224\t0.0577378588\t0.0880135372\t0.0055005701\t0.1766950000\t982375929\t0\t402718720\t-0.0747078434\t0.0160913076\t-0.1598260850\n2008\t1311867237.4248709679\t0.0511213839\t0.0577345638\t0.0880135372\t0.0054993612\t0.1772850000\t982378889\t0\t402718720\t-0.0751522705\t0.0152847087\t-0.1581307650\n2009\t1311867237.4579510689\t0.0512185879\t0.0577313204\t0.0880135372\t0.0054980407\t0.2125850000\t982381793\t0\t402718720\t-0.0754783824\t0.0147541324\t-0.1563852429\n2010\t1311867237.4933559895\t0.0509635620\t0.0577279533\t0.0880135372\t0.0054975301\t0.1773970000\t982384809\t0\t402718720\t-0.0759356022\t0.0152054960\t-0.1545178294\n2011\t1311867237.5253219604\t0.0508831777\t0.0577245497\t0.0880135372\t0.0054985886\t0.1894750000\t982387713\t0\t402718720\t-0.0757618919\t0.0139665660\t-0.1525362432\n2012\t1311867237.5581231117\t0.0513765998\t0.0577213946\t0.0880135372\t0.0054975112\t0.2169940000\t982390673\t0\t402718720\t-0.0758328289\t0.0132109821\t-0.1506180316\n2013\t1311867237.5925350189\t0.0514546633\t0.0577182815\t0.0880135372\t0.0054988931\t0.2174030000\t982393577\t0\t402718720\t-0.0764397606\t0.0138712572\t-0.1484844983\n2014\t1311867237.6261129379\t0.0514583141\t0.0577151733\t0.0880135372\t0.0054978105\t0.2177640000\t982396593\t0\t402718720\t-0.0766393021\t0.0131424852\t-0.1465971023\n2015\t1311867237.6569290161\t0.0515228137\t0.0577121001\t0.0880135372\t0.0054968846\t0.2175770000\t982399441\t0\t402718720\t-0.0768728033\t0.0125019467\t-0.1446044743\n2016\t1311867237.6925010681\t0.0513243675\t0.0577089316\t0.0880135372\t0.0054955487\t0.2176360000\t982402401\t0\t402718720\t-0.0768082812\t0.0124643408\t-0.1426281482\n2017\t1311867237.7243609428\t0.0518031679\t0.0577060036\t0.0880135372\t0.0054942043\t0.2177200000\t982405305\t0\t402718720\t-0.0770335272\t0.0122019928\t-0.1404598355\n2018\t1311867237.7617940903\t0.0518860258\t0.0577031196\t0.0880135372\t0.0054929253\t0.2172980000\t982408433\t0\t402718720\t-0.0777033269\t0.0112763690\t-0.1382577270\n2019\t1311867237.7926809788\t0.0516680405\t0.0577001305\t0.0880135372\t0.0054918360\t0.2162230000\t982411225\t0\t402718720\t-0.0778287351\t0.0116281742\t-0.1358643919\n2020\t1311867237.8255820274\t0.0516080186\t0.0576971146\t0.0880135372\t0.0054908604\t0.1795000000\t982414185\t0\t402718720\t-0.0776313543\t0.0118142487\t-0.1335774809\n2021\t1311867237.8612699509\t0.0515114553\t0.0576940539\t0.0880135372\t0.0054899425\t0.1903880000\t982417257\t0\t402718720\t-0.0773375705\t0.0115576023\t-0.1313365996\n2022\t1311867237.8926060200\t0.0511886515\t0.0576908366\t0.0880135372\t0.0054892600\t0.1799410000\t982420105\t0\t402718720\t-0.0770244524\t0.0121908663\t-0.1288314760\n2023\t1311867237.9253590107\t0.0516762026\t0.0576878634\t0.0880135372\t0.0054886517\t0.1907920000\t982422953\t0\t402718720\t-0.0769913420\t0.0119745769\t-0.1265660971\n2024\t1311867237.9613509178\t0.0517936647\t0.0576849513\t0.0880135372\t0.0054879936\t0.1912300000\t982425969\t0\t402718720\t-0.0773705468\t0.0111417370\t-0.1243606210\n2025\t1311867237.9928910732\t0.0520560369\t0.0576821716\t0.0880135372\t0.0054868751\t0.1804390000\t982428873\t0\t402718720\t-0.0768508986\t0.0110709900\t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}, { "path": "icra2018_results/1080/violons_libinfinitam-cuda_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 01:32:02\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cuda_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0090940000\t14313029\t955859216\t1375797248\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0030799352\t0.0015399676\t0.0030799352\t0.0051973686\t0.0071590000\t14706533\t955859216\t1373700096\t-0.0004419940\t-0.0040353294\t0.0006710326\n3\t0.0800000000\t0.0063506346\t0.0031435233\t0.0063506346\t0.0043331486\t0.0020030000\t14708901\t955859216\t1373700096\t-0.0005553669\t-0.0098776221\t0.0005279740\n4\t0.1200000000\t0.0034860414\t0.0032291528\t0.0063506346\t0.0069005444\t0.0019740000\t14711277\t955859216\t1373700096\t0.0011180840\t-0.0099722650\t0.0018546147\n5\t0.1600000000\t0.0069079553\t0.0039649133\t0.0069079553\t0.0064677721\t0.0021490000\t14713637\t955859216\t1373700096\t0.0026524500\t-0.0108917719\t0.0027139671\n6\t0.2000000000\t0.0036774664\t0.0039170055\t0.0069079553\t0.0058268102\t0.0020170000\t14716413\t955859216\t1373700096\t0.0021576034\t-0.0133283697\t0.0027248424\n7\t0.2400000000\t0.0054127197\t0.0041306789\t0.0069079553\t0.0054986230\t0.0020250000\t14718389\t955859216\t1373700096\t0.0024037305\t-0.0152379032\t0.0031261255\n8\t0.2800000000\t0.0093587721\t0.0047841906\t0.0093587721\t0.0053474131\t0.0021630000\t14720365\t955859216\t1373700096\t0.0038559146\t-0.0160899945\t0.0041179261\n9\t0.3200000000\t0.0107050790\t0.0054420671\t0.0107050790\t0.0050521249\t0.0021980000\t14723109\t955859216\t1373700096\t0.0039246851\t-0.0174428560\t0.0041639586\n10\t0.3600000000\t0.0106631275\t0.0059641731\t0.0107050790\t0.0047717426\t0.0021230000\t14726685\t955859216\t1373700096\t0.0053004110\t-0.0187896825\t0.0043762154\n11\t0.4000000000\t0.0117108244\t0.0064865960\t0.0117108244\t0.0045913880\t0.0021390000\t14728661\t955859216\t1373700096\t0.0058671809\t-0.0202514809\t0.0047775512\n12\t0.4400000000\t0.0133319562\t0.0070570427\t0.0133319562\t0.0044351456\t0.0021440000\t14730637\t955859216\t1373700096\t0.0062363390\t-0.0213814992\t0.0047147102\n13\t0.4800000000\t0.0158313010\t0.0077319856\t0.0158313010\t0.0044932495\t0.0022080000\t14732613\t955859216\t1373700096\t0.0069373362\t-0.0220987499\t0.0048589795\n14\t0.5200000000\t0.0175072122\t0.0084302161\t0.0175072122\t0.0044931601\t0.0021220000\t14734589\t955859216\t1373700096\t0.0076552299\t-0.0226538833\t0.0050814510\n15\t0.5600000000\t0.0184305180\t0.0090969029\t0.0184305180\t0.0043487082\t0.0022110000\t14736565\t955859216\t1373700096\t0.0079526352\t-0.0228590965\t0.0048376746\n16\t0.6000000000\t0.0184298307\t0.0096802109\t0.0184305180\t0.0042064400\t0.0021870000\t14738541\t955859216\t1373700096\t0.0079712113\t-0.0230398793\t0.0045835935\n17\t0.6400000000\t0.0192232020\t0.0102415633\t0.0192232020\t0.0040872937\t0.0021900000\t14742053\t955859216\t1373700096\t0.0074229813\t-0.0231230184\t0.0042380006\n18\t0.6800000000\t0.0200507026\t0.0107865155\t0.0200507026\t0.0039853236\t0.0022710000\t14747229\t955859216\t1373700096\t0.0079087941\t-0.0227893107\t0.0042429226\n19\t0.7200000000\t0.0203078836\t0.0112876401\t0.0203078836\t0.0040374770\t0.0021230000\t14749205\t955859216\t1373700096\t0.0092612756\t-0.0225702841\t0.0042404328\n20\t0.7600000000\t0.0203503110\t0.0117407736\t0.0203503110\t0.0039340845\t0.0022320000\t14751181\t955859216\t1373700096\t0.0095356535\t-0.0226423759\t0.0038045223\n21\t0.8000000000\t0.0209115930\t0.0121774793\t0.0209115930\t0.0038364903\t0.0021590000\t14753157\t955859216\t1373700096\t0.0091881286\t-0.0222864617\t0.0040957672\n22\t0.8400000000\t0.0206508543\t0.0125626327\t0.0209115930\t0.0037445529\t0.0021500000\t14755133\t955859216\t1373700096\t0.0084718298\t-0.0223275609\t0.0038407771\n23\t0.8800000000\t0.0202247165\t0.0128957668\t0.0209115930\t0.0036585350\t0.0021240000\t14757109\t955859216\t1373700096\t0.0088621052\t-0.0227614287\t0.0038709601\n24\t0.9200000000\t0.0203173812\t0.0132050008\t0.0209115930\t0.0035861440\t0.0021210000\t14759085\t955859216\t1373700096\t0.0098904893\t-0.0231690519\t0.0042031948\n25\t0.9600000000\t0.0205075797\t0.0134971039\t0.0209115930\t0.0035198535\t0.0021200000\t14761061\t955859216\t1373700096\t0.0110950265\t-0.0235088971\t0.0045966874\n26\t1.0000000000\t0.0210367441\t0.0137870901\t0.0210367441\t0.0034536249\t0.0021280000\t14763037\t955859216\t1373700096\t0.0107075600\t-0.0244990773\t0.0044742217\n27\t1.0400000000\t0.0221214630\t0.0140957705\t0.0221214630\t0.0034043364\t0.0021340000\t14765013\t955859216\t1373700096\t0.0112369880\t-0.0248522479\t0.0048264451\n28\t1.0800000000\t0.0215105452\t0.0143605839\t0.0221214630\t0.0033598122\t0.0021340000\t14766989\t955859216\t1373700096\t0.0127700241\t-0.0254729465\t0.0048259939\n29\t1.1200000000\t0.0226657353\t0.0146469685\t0.0226657353\t0.0035479445\t0.0022840000\t14768965\t955859216\t1373700096\t0.0143609522\t-0.0259730108\t0.0051806374\n30\t1.1600000000\t0.0220899899\t0.0148950692\t0.0226657353\t0.0037907440\t0.0021860000\t14770941\t955859216\t1373700096\t0.0138037121\t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}, { "path": "icra2018_results/1080/violons_libinfinitam-cuda_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 01:32:23\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cuda_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0090690000\t14162629\t955859216\t1375797248\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0003050633\t0.0001525316\t0.0003050633\t0.0020315323\t0.0074700000\t14359525\t955859216\t1373700096\t0.0002619608\t0.0005516480\t0.0001832035\n3\t0.0800000000\t0.0004748883\t0.0002599839\t0.0004748883\t0.0017163088\t0.0028700000\t14361893\t955859216\t1373700096\t0.0003212068\t-0.0019857222\t-0.0006929564\n4\t0.1200000000\t0.0004439864\t0.0003059845\t0.0004748883\t0.0014698945\t0.0023460000\t14364269\t955859216\t1373700096\t0.0004856430\t-0.0013268768\t-0.0006143571\n5\t0.1600000000\t0.0006838936\t0.0003815663\t0.0006838936\t0.0014612923\t0.0023400000\t14366629\t955859216\t1373700096\t0.0005465168\t-0.0009052575\t-0.0004290863\n6\t0.2000000000\t0.0006669702\t0.0004291336\t0.0006838936\t0.0016053354\t0.0023610000\t14369405\t955859216\t1373700096\t0.0006299071\t-0.0019287933\t-0.0007420345\n7\t0.2400000000\t0.0007888088\t0.0004805158\t0.0007888088\t0.0015968328\t0.0023840000\t14371381\t955859216\t1373700096\t0.0006585903\t-0.0021325373\t-0.0008136611\n8\t0.2800000000\t0.0007740030\t0.0005172017\t0.0007888088\t0.0016056769\t0.0023050000\t14373357\t955859216\t1373700096\t0.0005141209\t-0.0008804891\t-0.0003782676\n9\t0.3200000000\t0.0007878093\t0.0005472692\t0.0007888088\t0.0015105485\t0.0023210000\t14376101\t955859216\t1373700096\t0.0007080120\t-0.0008119796\t-0.0003083680\n10\t0.3600000000\t0.0007743652\t0.0005699788\t0.0007888088\t0.0014510303\t0.0023670000\t14379677\t955859216\t1373700096\t0.0007113052\t-0.0014935723\t-0.0004733496\n11\t0.4000000000\t0.0007976918\t0.0005906800\t0.0007976918\t0.0013867927\t0.0023060000\t14381653\t955859216\t1373700096\t0.0006064696\t-0.0008676047\t-0.0003008844\n12\t0.4400000000\t0.0008266582\t0.0006103448\t0.0008266582\t0.0013384476\t0.0023750000\t14383629\t955859216\t1373700096\t0.0006546609\t-0.0000610024\t-0.0000063398\n13\t0.4800000000\t0.0007925353\t0.0006243595\t0.0008266582\t0.0013112498\t0.0023510000\t14385605\t955859216\t1373700096\t0.0005720424\t0.0004239220\t0.0003150212\n14\t0.5200000000\t0.0007897267\t0.0006361714\t0.0008266582\t0.0014137914\t0.0023410000\t14387581\t955859216\t1373700096\t0.0007216735\t0.0005150037\t0.0004010027\n15\t0.5600000000\t0.0008403139\t0.0006497809\t0.0008403139\t0.0015024944\t0.0023370000\t14389557\t955859216\t1373700096\t0.0007697612\t0.0005963069\t0.0004762298\n16\t0.6000000000\t0.0008241984\t0.0006606820\t0.0008403139\t0.0014872140\t0.0023600000\t14391533\t955859216\t1373700096\t0.0010692535\t0.0005464273\t0.0004203228\n17\t0.6400000000\t0.0008886156\t0.0006740899\t0.0008886156\t0.0014522469\t0.0023760000\t14395045\t955859216\t1373700096\t0.0010333804\t0.0003855833\t0.0004585747\n18\t0.6800000000\t0.0009091636\t0.0006871495\t0.0009091636\t0.0014270214\t0.0023600000\t14400221\t955859216\t1373700096\t0.0010235490\t-0.0002611794\t0.0002172627\n19\t0.7200000000\t0.0008481625\t0.0006956239\t0.0009091636\t0.0015637537\t0.0023850000\t14402197\t955859216\t1373700096\t0.0008863842\t-0.0001904893\t0.0001458354\n20\t0.7600000000\t0.0008298197\t0.0007023337\t0.0009091636\t0.0017808264\t0.0023640000\t14404173\t955859216\t1373700096\t0.0006770461\t-0.0004253383\t0.0000469853\n21\t0.8000000000\t0.0009684882\t0.0007150077\t0.0009684882\t0.0019814379\t0.0023830000\t14406149\t955859216\t1373700096\t0.0007440408\t-0.0005242454\t-0.0000897974\n22\t0.8400000000\t0.0008496051\t0.0007211258\t0.0009684882\t0.0020028212\t0.0024210000\t14408125\t955859216\t1373700096\t0.0007172120\t-0.0003753503\t0.0000067878\n23\t0.8800000000\t0.0009351260\t0.0007304301\t0.0009684882\t0.0020128143\t0.0024000000\t14410101\t955859216\t1373700096\t0.0004900744\t-0.0005070937\t-0.0000563234\n24\t0.9200000000\t0.0010024005\t0.0007417622\t0.0010024005\t0.0019781665\t0.0025040000\t14412077\t955859216\t1373700096\t0.0005681364\t-0.0003332816\t-0.0000480407\n25\t0.9600000000\t0.0009950039\t0.0007518919\t0.0010024005\t0.0019389358\t0.0023870000\t14414053\t955859216\t1373700096\t0.0002752288\t-0.0003099053\t-0.0000487368\n26\t1.0000000000\t0.0009934631\t0.0007611831\t0.0010024005\t0.0019018184\t0.0017830000\t14416029\t955859216\t1373700096\t0.0004295848\t-0.0000548638\t-0.0000013168\n27\t1.0400000000\t0.0009614353\t0.0007685998\t0.0010024005\t0.0018723066\t0.0024440000\t14418005\t955859216\t1373700096\t0.0001242272\t-0.0000719673\t-0.0000267680\n28\t1.0800000000\t0.0009514033\t0.0007751285\t0.0010024005\t0.0018665677\t0.0024640000\t14419981\t955859216\t1373700096\t0.0000055341\t-0.0001904728\t0.0000085748\n29\t1.1200000000\t0.0009481850\t0.0007810960\t0.0010024005\t0.0018439242\t0.0024230000\t14421957\t955859216\t1373700096\t-0.0003452076\t0.0000587767\t0.0001155622\n30\t1.1600000000\t0.0009206907\t0.0007857492\t0.0010024005\t0.0018336587\t0.0024320000\t14423933\t955859216\t1373700096\t-0.000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}, { "path": "icra2018_results/1080/violons_libinfinitam-cuda_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 01:32:37\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cuda_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0034140000\t14154421\t955859216\t1375797248\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0025714899\t0.0012857449\t0.0025714899\t0.0016432907\t0.0026440000\t14351317\t955859216\t1373700096\t0.0001492798\t-0.0015223033\t0.0011158339\n3\t0.0800000000\t0.0054865531\t0.0026860143\t0.0054865531\t0.0017288008\t0.0014640000\t14353685\t955859216\t1373700096\t-0.0038239695\t-0.0031566895\t0.0017731137\n4\t0.1200000000\t0.0071276301\t0.0037964183\t0.0071276301\t0.0015559976\t0.0014500000\t14356061\t955859216\t1373700096\t-0.0022661428\t-0.0055823806\t0.0010928739\n5\t0.1600000000\t0.0089090429\t0.0048189432\t0.0089090429\t0.0013813257\t0.0014460000\t14358421\t955859216\t1373700096\t-0.0045922636\t-0.0064012622\t0.0030444816\n6\t0.2000000000\t0.0103094121\t0.0057340213\t0.0103094121\t0.0012690832\t0.0014560000\t14361197\t955859216\t1373700096\t-0.0038758849\t-0.0083406530\t0.0026003199\n7\t0.2400000000\t0.0119307498\t0.0066192683\t0.0119307498\t0.0012535126\t0.0014370000\t14363173\t955859216\t1373700096\t-0.0037794772\t-0.0100496644\t0.0033220870\n8\t0.2800000000\t0.0135899493\t0.0074906034\t0.0135899493\t0.0012198315\t0.0014480000\t14365149\t955859216\t1373700096\t-0.0048457128\t-0.0114490706\t0.0035914571\n9\t0.3200000000\t0.0145517997\t0.0082751808\t0.0145517997\t0.0012453706\t0.0014530000\t14367893\t955859216\t1373700096\t-0.0065782429\t-0.0129554095\t0.0038957214\n10\t0.3600000000\t0.0165167265\t0.0090993353\t0.0165167265\t0.0012884565\t0.0014540000\t14371469\t955859216\t1373700096\t-0.0065372740\t-0.0137011874\t0.0049862019\n11\t0.4000000000\t0.0168790948\t0.0098065862\t0.0168790948\t0.0015240100\t0.0014810000\t14373445\t955859216\t1373700096\t-0.0073842062\t-0.0149063021\t0.0057881647\n12\t0.4400000000\t0.0184423029\t0.0105262293\t0.0184423029\t0.0018490029\t0.0014690000\t14375421\t955859216\t1373700096\t-0.0073227854\t-0.0166475959\t0.0053976900\n13\t0.4800000000\t0.0195128378\t0.0112175068\t0.0195128378\t0.0019803508\t0.0014640000\t14377397\t955859216\t1373700096\t-0.0092979828\t-0.0178076830\t0.0062139048\n14\t0.5200000000\t0.0216195527\t0.0119605101\t0.0216195527\t0.0019410659\t0.0014630000\t14379373\t955859216\t1373700096\t-0.0092627676\t-0.0187848732\t0.0061659715\n15\t0.5600000000\t0.0229770951\t0.0126949491\t0.0229770951\t0.0018743843\t0.0014640000\t14381349\t955859216\t1373700096\t-0.0117968675\t-0.0189196728\t0.0072214934\n16\t0.6000000000\t0.0226544160\t0.0133174158\t0.0229770951\t0.0018616014\t0.0014620000\t14383325\t955859216\t1373700096\t-0.0113988873\t-0.0204566959\t0.0061501749\n17\t0.6400000000\t0.0235626716\t0.0139200779\t0.0235626716\t0.0018289043\t0.0014830000\t14386837\t955859216\t1373700096\t-0.0131508559\t-0.0226259008\t0.0049336371\n18\t0.6800000000\t0.0242600460\t0.0144945206\t0.0242600460\t0.0017749741\t0.0014750000\t14392013\t955859216\t1373700096\t-0.0144332219\t-0.0231392365\t0.0060616792\n19\t0.7200000000\t0.0251539722\t0.0150555443\t0.0251539722\t0.0017848209\t0.0014730000\t14393989\t955859216\t1373700096\t-0.0158722661\t-0.0237338487\t0.0058700708\n20\t0.7600000000\t0.0248820707\t0.0155468707\t0.0251539722\t0.0018968664\t0.0014570000\t14395965\t955859216\t1373700096\t-0.0188213158\t-0.0247086678\t0.0054082205\n21\t0.8000000000\t0.0256400034\t0.0160274960\t0.0256400034\t0.0018580091\t0.0014730000\t14397941\t955859216\t1373700096\t-0.0215970408\t-0.0245158114\t0.0059202635\n22\t0.8400000000\t0.0260289814\t0.0164821090\t0.0260289814\t0.0018336065\t0.0014740000\t14399917\t955859216\t1373700096\t-0.0269964878\t-0.0256771985\t0.0055130380\n23\t0.8800000000\t0.0264441110\t0.0169152395\t0.0264441110\t0.0017931248\t0.0014880000\t14401893\t955859216\t1373700096\t-0.0269332919\t-0.0270425621\t0.0040367190\n24\t0.9200000000\t0.0290556718\t0.0174210909\t0.0290556718\t0.0017815465\t0.0014850000\t14403869\t955859216\t1373700096\t-0.0341930501\t-0.0279741753\t0.0039182645\n25\t0.9600000000\t0.0310614351\t0.0179667046\t0.0310614351\t0.0017828309\t0.0015000000\t14405845\t955859216\t1373700096\t-0.0355899297\t-0.0287477206\t0.0036814229\n26\t1.0000000000\t0.0305674486\t0.0184513486\t0.0310614351\t0.0017519344\t0.0015210000\t14407821\t955859216\t1373700096\t-0.0414748490\t-0.0297502615\t0.0043693134\n27\t1.0400000000\t0.0317295119\t0.0189431325\t0.0317295119\t0.0018674197\t0.0015070000\t14409797\t955859216\t1373700096\t-0.0470246449\t-0.0315761790\t0.0024925619\n28\t1.0800000000\t0.0337575115\t0.0194722174\t0.0337575115\t0.0020564237\t0.0015080000\t14411773\t955859216\t1373700096\t-0.0515033975\t-0.0317413583\t0.0026671030\n29\t1.1200000000\t0.0356585383\t0.0200303664\t0.0356585383\t0.0022448384\t0.0015060000\t14413749\t955859216\t1373700096\t-0.0572019108\t-0.0333457328\t0.0003464560\n30\t1.1600000000\t0.0347998030\t0.0205226810\t0.0356585383\t0.0022606539\t0.0015360000\t14415725\t955859216\t1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}, { "path": "icra2018_results/1080/violons_libinfinitam-cuda_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 01:32:39\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cuda_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0093800000\t14287333\t955859216\t1375797248\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0004094284\t0.0002047142\t0.0004094284\t0.0010303429\t0.0076310000\t14680837\t955859216\t1373700096\t-0.0001883990\t0.0036794858\t0.0017925142\n3\t0.0800000000\t0.0007736458\t0.0003943581\t0.0007736458\t0.0018677595\t0.0025490000\t14683205\t955859216\t1373700096\t-0.0019190218\t-0.0019782742\t0.0017745177\n4\t0.1200000000\t0.0009048689\t0.0005219858\t0.0009048689\t0.0023429534\t0.0025550000\t14685581\t955859216\t1373700096\t-0.0022994194\t-0.0007408440\t0.0006243517\n5\t0.1600000000\t0.0010996070\t0.0006375100\t0.0010996070\t0.0042287254\t0.0027850000\t14687941\t955859216\t1373700096\t-0.0001009388\t0.0057270927\t0.0036499682\n6\t0.2000000000\t0.0012643087\t0.0007419765\t0.0012643087\t0.0040530294\t0.0026020000\t14690717\t955859216\t1373700096\t0.0030182770\t-0.0043588500\t0.0027662795\n7\t0.2400000000\t0.0013147279\t0.0008237981\t0.0013147279\t0.0039123365\t0.0026830000\t14692693\t955859216\t1373700096\t0.0032340335\t-0.0143805062\t-0.0003496237\n8\t0.2800000000\t0.0012483426\t0.0008768662\t0.0013147279\t0.0036324239\t0.0026080000\t14694669\t955859216\t1373700096\t0.0010289684\t-0.0127349431\t-0.0012624591\n9\t0.3200000000\t0.0011119688\t0.0009029887\t0.0013147279\t0.0045070057\t0.0025960000\t14697413\t955859216\t1373700096\t-0.0001046339\t-0.0090118377\t0.0016741320\n10\t0.3600000000\t0.0015377488\t0.0009664647\t0.0015377488\t0.0042738382\t0.0025220000\t14700989\t955859216\t1373700096\t-0.0020094230\t-0.0159390066\t-0.0001044746\n11\t0.4000000000\t0.0013893836\t0.0010049119\t0.0015377488\t0.0041149680\t0.0026330000\t14702965\t955859216\t1373700096\t-0.0019318160\t-0.0125451731\t-0.0013850294\n12\t0.4400000000\t0.0015643545\t0.0010515321\t0.0015643545\t0.0041785242\t0.0028180000\t14704941\t955859216\t1373700096\t-0.0009363076\t-0.0024040469\t0.0015460169\n13\t0.4800000000\t0.0015554482\t0.0010902949\t0.0015643545\t0.0040044699\t0.0025830000\t14706917\t955859216\t1373700096\t0.0010242085\t-0.0045432812\t0.0015848510\n14\t0.5200000000\t0.0017365448\t0.0011364556\t0.0017365448\t0.0039622837\t0.0027110000\t14708893\t955859216\t1373700096\t0.0039538071\t-0.0120516000\t-0.0011668218\n15\t0.5600000000\t0.0013733063\t0.0011522456\t0.0017365448\t0.0039249707\t0.0026040000\t14710869\t955859216\t1373700096\t0.0065184906\t-0.0107199606\t-0.0013660063\n16\t0.6000000000\t0.0015204150\t0.0011752562\t0.0017365448\t0.0038004599\t0.0025670000\t14712845\t955859216\t1373700096\t0.0077480217\t-0.0094032669\t-0.0010699943\n17\t0.6400000000\t0.0017244305\t0.0012075606\t0.0017365448\t0.0037018043\t0.0025980000\t14716357\t955859216\t1373700096\t0.0074980655\t-0.0128850136\t-0.0028926409\n18\t0.6800000000\t0.0015568256\t0.0012269642\t0.0017365448\t0.0035935938\t0.0025440000\t14721533\t955859216\t1373700096\t0.0066834879\t-0.0120405033\t-0.0042887172\n19\t0.7200000000\t0.0018272134\t0.0012585562\t0.0018272134\t0.0036640515\t0.0026580000\t14723509\t955859216\t1373700096\t0.0073555154\t-0.0077363923\t-0.0040852432\n20\t0.7600000000\t0.0017196776\t0.0012816123\t0.0018272134\t0.0039422345\t0.0025480000\t14725485\t955859216\t1373700096\t0.0067750034\t-0.0090646604\t-0.0066798073\n21\t0.8000000000\t0.0019162913\t0.0013118351\t0.0019162913\t0.0041299779\t0.0027870000\t14727461\t955859216\t1373700096\t0.0094403932\t-0.0058389995\t-0.0064818170\n22\t0.8400000000\t0.0017574644\t0.0013320910\t0.0019162913\t0.0040657309\t0.0026410000\t14729437\t955859216\t1373700096\t0.0095453719\t-0.0033037816\t-0.0061235386\n23\t0.8800000000\t0.0019603055\t0.0013594047\t0.0019603055\t0.0040401645\t0.0027370000\t14731413\t955859216\t1373700096\t0.0122422772\t-0.0094001908\t-0.0100540314\n24\t0.9200000000\t0.0017895983\t0.0013773294\t0.0019603055\t0.0040306062\t0.0027810000\t14733389\t955859216\t1373700096\t0.0142446356\t-0.0083841961\t-0.0099053178\n25\t0.9600000000\t0.0019312195\t0.0013994850\t0.0019603055\t0.0039477887\t0.0026350000\t14735365\t955859216\t1373700096\t0.0143175339\t-0.0110584553\t-0.0129436748\n26\t1.0000000000\t0.0019362512\t0.0014201299\t0.0019603055\t0.0038687701\t0.0026470000\t14737341\t955859216\t1373700096\t0.0126600200\t-0.0114794588\t-0.0139608830\n27\t1.0400000000\t0.0020509919\t0.0014434951\t0.0020509919\t0.0038081804\t0.0026270000\t14739317\t955859216\t1373700096\t0.0137265250\t-0.0154127507\t-0.0164061673\n28\t1.0800000000\t0.0020240154\t0.0014642280\t0.0020509919\t0.0037406942\t0.0027330000\t14741293\t955859216\t1373700096\t0.0125953583\t-0.0176324919\t-0.0178359747\n29\t1.1200000000\t0.0020394044\t0.0014840617\t0.0020509919\t0.0037617626\t0.0026390000\t14743269\t955859216\t1373700096\t0.0137711894\t-0.0196780581\t-0.0190287940\n30\t1.1600000000\t0.0018927174\t0.0014976835\t0.0020509919\t0.0037310842\t0.0026200000\t14745245\t955859216\t13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}, { "path": "icra2018_results/1080/violons_libinfinitam-cuda_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 01:32:57\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cuda_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287840366\t0.0606188439\t0.0606188439\t0.0606188439\t-nan\t0.0093320000\t14733949\t955859216\t1375797248\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1305031229.5644419193\t0.0542627871\t0.0574408155\t0.0606188439\t0.0575073138\t0.0075290000\t15521565\t955859216\t1373700096\t0.0013755441\t0.0021835307\t0.0096326284\n3\t1305031229.5966169834\t0.0526413769\t0.0558410026\t0.0606188439\t0.0579490364\t0.0024580000\t15524829\t955859216\t1373700096\t0.0134399962\t-0.0028340230\t0.0144416252\n4\t1305031229.6287899017\t0.0486520492\t0.0540437642\t0.0606188439\t0.0479624321\t0.0024180000\t15528045\t955859216\t1373700096\t0.0181480199\t0.0010524673\t0.0210015606\n5\t1305031229.6646571159\t0.0491557308\t0.0530661575\t0.0606188439\t0.0428185384\t0.0022850000\t15531357\t955859216\t1373700096\t0.0175530538\t-0.0027123608\t0.0255282465\n6\t1305031229.6968429089\t0.0501502529\t0.0525801734\t0.0606188439\t0.0383525771\t0.0023280000\t15535085\t955859216\t1373700096\t0.0196280386\t-0.0042131776\t0.0289523080\n7\t1305031229.7290771008\t0.0478200801\t0.0519001601\t0.0606188439\t0.0365870775\t0.0022720000\t15537901\t955859216\t1373700096\t0.0188891739\t-0.0035767350\t0.0343250707\n8\t1305031229.7648689747\t0.0481220856\t0.0514279008\t0.0606188439\t0.0339840122\t0.0022800000\t15540885\t955859216\t1373700096\t0.0210147314\t-0.0044871112\t0.0390293151\n9\t1305031229.7969229221\t0.0484815277\t0.0511005260\t0.0606188439\t0.0320839593\t0.0024080000\t15544525\t955859216\t1373700096\t0.0224724207\t-0.0050563551\t0.0428514332\n10\t1305031229.8256299496\t0.0477991849\t0.0507703919\t0.0606188439\t0.0303529729\t0.0023280000\t15548885\t955859216\t1373700096\t0.0243196208\t-0.0046594148\t0.0481991991\n11\t1305031229.8630619049\t0.0489536598\t0.0506052344\t0.0606188439\t0.0293501133\t0.0023010000\t15551981\t955859216\t1373700096\t0.0272357371\t-0.0042557400\t0.0527172983\n12\t1305031229.8969380856\t0.0514156222\t0.0506727668\t0.0606188439\t0.0295498675\t0.0023410000\t15554853\t955859216\t1373700096\t0.0292805601\t-0.0042388686\t0.0566489212\n13\t1305031229.9262549877\t0.0545422249\t0.0509704174\t0.0606188439\t0.0285019357\t0.0024770000\t15557669\t955859216\t1373700096\t0.0354560763\t-0.0009259381\t0.0631215647\n14\t1305031229.9662408829\t0.0574452579\t0.0514329060\t0.0606188439\t0.0275719441\t0.0022830000\t15560765\t955859216\t1373700096\t0.0361899212\t-0.0010128332\t0.0666608885\n15\t1305031229.9979310036\t0.0596384294\t0.0519799409\t0.0606188439\t0.0274217348\t0.0022670000\t15563581\t955859216\t1373700096\t0.0372663476\t-0.0007309067\t0.0704792589\n16\t1305031230.0300021172\t0.0623441562\t0.0526277043\t0.0623441562\t0.0266401638\t0.0022350000\t15566453\t955859216\t1373700096\t0.0380823314\t-0.0008158885\t0.0737314671\n17\t1305031230.0656960011\t0.0661407858\t0.0534225915\t0.0661407858\t0.0260475342\t0.0022140000\t15570973\t955859216\t1373700096\t0.0387657695\t-0.0020297286\t0.0765988752\n18\t1305031230.0982739925\t0.0684064180\t0.0542550263\t0.0684064180\t0.0254751321\t0.0022810000\t15577045\t955859216\t1373700096\t0.0387827381\t-0.0019408803\t0.0788877010\n19\t1305031230.1299350262\t0.0698349774\t0.0550750237\t0.0698349774\t0.0247936692\t0.0022710000\t15579917\t955859216\t1373700096\t0.0380027741\t-0.0011633855\t0.0807379782\n20\t1305031230.1657800674\t0.0730449930\t0.0559735222\t0.0730449930\t0.0243026797\t0.0022430000\t15582901\t955859216\t1373700096\t0.0374424942\t-0.0016783335\t0.0830842406\n21\t1305031230.1977820396\t0.0753093660\t0.0568942766\t0.0753093660\t0.0238587118\t0.0023420000\t15585773\t955859216\t1373700096\t0.0367633253\t-0.0025439383\t0.0849721730\n22\t1305031230.2298529148\t0.0773865432\t0.0578257433\t0.0773865432\t0.0234029467\t0.0023080000\t15588645\t955859216\t1373700096\t0.0355879143\t-0.0029639916\t0.0866222531\n23\t1305031230.2655899525\t0.0798358396\t0.0587827040\t0.0798358396\t0.0230244119\t0.0023470000\t15591629\t955859216\t1373700096\t0.0342307314\t-0.0036363243\t0.0885601044\n24\t1305031230.2979929447\t0.0817571953\t0.0597399745\t0.0817571953\t0.0225681139\t0.0023720000\t15594501\t955859216\t1373700096\t0.0328270532\t-0.0035086318\t0.0908239037\n25\t1305031230.3351120949\t0.0851004273\t0.0607543926\t0.0851004273\t0.0222167026\t0.0023880000\t15597541\t955859216\t1373700096\t0.0320601352\t-0.0049805921\t0.0930152535\n26\t1305031230.3656799793\t0.0853847861\t0.0617017154\t0.0853847861\t0.0218158210\t0.0024040000\t15600357\t955859216\t1373700096\t0.0297937766\t-0.0044176672\t0.0947409198\n27\t1305031230.3973290920\t0.0856923610\t0.0625902579\t0.0856923610\t0.0213988590\t0.0024340000\t15603285\t955859216\t1373700096\t0.0266701709\t-0.0054842844\t0.0963923633\n28\t1305031230.4368140697\t0.0882192999\t0.0635055808\t0.0882192999\t0.0220859921\t0.0017350000\t15606325\t955859216\t1373700096\t0.0243123211\t-0.0067811110\t0.0982476622\n29\t1305031230.4653120041\t0.0900053531\t0.06441936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}, { "path": "icra2018_results/1080/violons_libinfinitam-cuda_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 01:33:07\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cuda_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253988300\t0.0253988300\t0.0253988300\t-nan\t0.0093910000\t14758853\t955859216\t1375797248\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1305031102.2112140656\t0.0217163358\t0.0235575829\t0.0253988300\t0.0240789838\t0.0073810000\t15546581\t955859216\t1373700096\t-0.0023057149\t0.0007948892\t0.0125143202\n3\t1305031102.2432110310\t0.0218860060\t0.0230003906\t0.0253988300\t0.0192113140\t0.0022950000\t15549845\t955859216\t1373700096\t-0.0037581150\t0.0053050509\t0.0258700028\n4\t1305031102.2753260136\t0.0166617353\t0.0214157267\t0.0253988300\t0.0157442527\t0.0023860000\t15553117\t955859216\t1373700096\t-0.0044980450\t0.0041071358\t0.0388879888\n5\t1305031102.3112668991\t0.0125742769\t0.0196474368\t0.0253988300\t0.0141415665\t0.0023230000\t15556485\t955859216\t1373700096\t-0.0033568183\t0.0037984839\t0.0516050272\n6\t1305031102.3432331085\t0.0089264447\t0.0178606048\t0.0253988300\t0.0148750974\t0.0023240000\t15560157\t955859216\t1373700096\t-0.0042320332\t0.0023710621\t0.0636269748\n7\t1305031102.3753290176\t0.0086956630\t0.0165513274\t0.0253988300\t0.0137497420\t0.0023030000\t15562973\t955859216\t1373700096\t-0.0045832600\t0.0031377845\t0.0755121559\n8\t1305031102.4112579823\t0.0069271545\t0.0153483058\t0.0253988300\t0.0147506067\t0.0023590000\t15566013\t955859216\t1373700096\t-0.0065013543\t0.0048748152\t0.0872660130\n9\t1305031102.4432709217\t0.0075859386\t0.0144858205\t0.0253988300\t0.0167612079\t0.0023620000\t15569653\t955859216\t1373700096\t-0.0082751131\t0.0075846277\t0.0996263996\n10\t1305031102.4753179550\t0.0111059658\t0.0141478350\t0.0253988300\t0.0160580584\t0.0023530000\t15574069\t955859216\t1373700096\t-0.0071273595\t0.0112016583\t0.1126668677\n11\t1305031102.5112190247\t0.0133451419\t0.0140748629\t0.0253988300\t0.0161431803\t0.0024110000\t15577053\t955859216\t1373700096\t-0.0073598521\t0.0107499277\t0.1251652092\n12\t1305031102.5432200432\t0.0163727365\t0.0142663524\t0.0253988300\t0.0153952126\t0.0023440000\t15579981\t955859216\t1373700096\t-0.0085221631\t0.0107870512\t0.1370542645\n13\t1305031102.5752859116\t0.0188182127\t0.0146164955\t0.0253988300\t0.0158699950\t0.0024200000\t15582797\t955859216\t1373700096\t-0.0114270085\t0.0102471560\t0.1486886144\n14\t1305031102.6112329960\t0.0235384349\t0.0152537769\t0.0253988300\t0.0167556746\t0.0023950000\t15585781\t955859216\t1373700096\t-0.0129792737\t0.0076831831\t0.1597722024\n15\t1305031102.6432650089\t0.0261419155\t0.0159796528\t0.0261419155\t0.0169566027\t0.0023900000\t15588653\t955859216\t1373700096\t-0.0159760453\t0.0083227372\t0.1706594378\n16\t1305031102.6752851009\t0.0239344519\t0.0164768277\t0.0261419155\t0.0170185796\t0.0025200000\t15591525\t955859216\t1373700096\t-0.0178937055\t0.0152768446\t0.1823419333\n17\t1305031102.7112629414\t0.0265338160\t0.0170684153\t0.0265338160\t0.0168165272\t0.0023930000\t15596045\t955859216\t1373700096\t-0.0183633696\t0.0179083869\t0.1947547793\n18\t1305031102.7432339191\t0.0301243849\t0.0177937469\t0.0301243849\t0.0164373622\t0.0023230000\t15602173\t955859216\t1373700096\t-0.0191865619\t0.0194330644\t0.2075127959\n19\t1305031102.7754719257\t0.0298159830\t0.0184264962\t0.0301243849\t0.0165084732\t0.0024500000\t15604989\t955859216\t1373700096\t-0.0187065974\t0.0254325513\t0.2203737944\n20\t1305031102.8112320900\t0.0337635688\t0.0191933498\t0.0337635688\t0.0161384486\t0.0023850000\t15607973\t955859216\t1373700096\t-0.0199339502\t0.0273376796\t0.2330060452\n21\t1305031102.8432900906\t0.0353394412\t0.0199622113\t0.0353394412\t0.0157397266\t0.0024250000\t15610901\t955859216\t1373700096\t-0.0219756309\t0.0307089612\t0.2455430478\n22\t1305031102.8753631115\t0.0382936560\t0.0207954588\t0.0382936560\t0.0154348373\t0.0023730000\t15613717\t955859216\t1373700096\t-0.0247269124\t0.0325101987\t0.2572783828\n23\t1305031102.9111850262\t0.0410960689\t0.0216780940\t0.0410960689\t0.0151319288\t0.0023810000\t15616701\t955859216\t1373700096\t-0.0272378195\t0.0351311527\t0.2687973380\n24\t1305031102.9432289600\t0.0426346064\t0.0225512820\t0.0426346064\t0.0152268078\t0.0024820000\t15619629\t955859216\t1373700096\t-0.0292183235\t0.0386338048\t0.2801085114\n25\t1305031102.9752030373\t0.0453491658\t0.0234631974\t0.0453491658\t0.0161995855\t0.0024250000\t15622389\t955859216\t1373700096\t-0.0328847319\t0.0411693826\t0.2913660109\n26\t1305031103.0112149715\t0.0483099595\t0.0244188421\t0.0483099595\t0.0158870754\t0.0023870000\t15625429\t955859216\t1373700096\t-0.0335683301\t0.0441947356\t0.3029507995\n27\t1305031103.0432269573\t0.0512406528\t0.0254122425\t0.0512406528\t0.0155916420\t0.0023790000\t15628357\t955859216\t1373700096\t-0.0334121957\t0.0471130461\t0.3143712878\n28\t1305031103.0753190517\t0.0541885570\t0.0264399680\t0.0541885570\t0.0159690708\t0.0024110000\t15631173\t955859216\t1373700096\t-0.0323094688\t0.0496956445\t0.3251523376\n29\t1305031103.1112399101\t0.0580497347\t0.027529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}, { "path": "icra2018_results/1080/violons_libinfinitam-cuda_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 01:33:18\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cuda_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6419320107\t0.0019026520\t0.0019026520\t0.0019026520\t-nan\t0.0231460000\t23446397\t955859216\t1375797248\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1311867718.6768438816\t0.0027237353\t0.0023131936\t0.0027237353\t0.0021631627\t0.0039780000\t36030549\t955859216\t1373700096\t0.0005165687\t-0.0010969677\t0.0001808407\n3\t1311867718.7114279270\t0.0032015231\t0.0026093035\t0.0032015231\t0.0034764563\t0.0035850000\t36033869\t955859216\t1373700096\t0.0005427790\t-0.0010956122\t0.0002245010\n4\t1311867718.7410299778\t0.0041534118\t0.0029953305\t0.0041534118\t0.0042836118\t0.0035640000\t36037029\t955859216\t1373700096\t0.0010230482\t-0.0015515424\t0.0003019936\n5\t1311867718.7767970562\t0.0055195354\t0.0035001715\t0.0055195354\t0.0043315304\t0.0035590000\t36040397\t955859216\t1373700096\t0.0021228199\t-0.0026199964\t0.0001477610\n6\t1311867718.8094089031\t0.0056029493\t0.0038506345\t0.0056029493\t0.0041675478\t0.0027940000\t36044069\t955859216\t1373700096\t0.0020333331\t-0.0026798677\t0.0002588151\n7\t1311867718.8408079147\t0.0062577589\t0.0041945094\t0.0062577589\t0.0038573067\t0.0024240000\t36046885\t955859216\t1373700096\t0.0026878614\t-0.0024248944\t0.0003464787\n8\t1311867718.8767778873\t0.0070267227\t0.0045485361\t0.0070267227\t0.0036745977\t0.0036210000\t36049869\t955859216\t1373700096\t0.0029782981\t-0.0028183113\t0.0004539220\n9\t1311867718.9088680744\t0.0079898117\t0.0049309000\t0.0079898117\t0.0035500021\t0.0037030000\t36053453\t955859216\t1373700096\t0.0037092457\t-0.0027837222\t0.0006467429\n10\t1311867718.9438331127\t0.0086698057\t0.0053047906\t0.0086698057\t0.0033961494\t0.0029590000\t36058037\t955859216\t1373700096\t0.0044340785\t-0.0028026388\t0.0010421835\n11\t1311867718.9784109592\t0.0095560178\t0.0056912658\t0.0095560178\t0.0033684351\t0.0025350000\t36061021\t955859216\t1373700096\t0.0048617758\t-0.0037261229\t0.0012528754\n12\t1311867719.0091300011\t0.0099234497\t0.0060439478\t0.0099234497\t0.0032156027\t0.0025310000\t36063781\t955859216\t1373700096\t0.0048085144\t-0.0041651218\t0.0013782058\n13\t1311867719.0441620350\t0.0108152879\t0.0064109740\t0.0108152879\t0.0031145882\t0.0036710000\t36066765\t955859216\t1373700096\t0.0055956277\t-0.0042344751\t0.0016281628\n14\t1311867719.0776190758\t0.0118946210\t0.0068026630\t0.0118946210\t0.0031016325\t0.0037050000\t36069693\t955859216\t1373700096\t0.0065762182\t-0.0046565877\t0.0017765030\n15\t1311867719.1086950302\t0.0124980453\t0.0071823552\t0.0124980453\t0.0029918885\t0.0037120000\t36072565\t955859216\t1373700096\t0.0069167614\t-0.0050507430\t0.0020173236\n16\t1311867719.1437010765\t0.0134292524\t0.0075727863\t0.0134292524\t0.0029027332\t0.0037590000\t36075493\t955859216\t1373700096\t0.0076477472\t-0.0050778706\t0.0022310587\n17\t1311867719.1810290813\t0.0144238928\t0.0079757925\t0.0144238928\t0.0028869795\t0.0031240000\t36080013\t955859216\t1373700096\t0.0082663372\t-0.0055756662\t0.0025800329\n18\t1311867719.2127099037\t0.0148656759\t0.0083585638\t0.0148656759\t0.0028211300\t0.0038470000\t36086085\t955859216\t1373700096\t0.0084172012\t-0.0059015416\t0.0028517907\n19\t1311867719.2412090302\t0.0156941656\t0.0087446481\t0.0156941656\t0.0027989776\t0.0038180000\t36088845\t955859216\t1373700096\t0.0087053925\t-0.0063784411\t0.0030916058\n20\t1311867719.2779469490\t0.0170029998\t0.0091575657\t0.0170029998\t0.0031191422\t0.0030080000\t36091773\t955859216\t1373700096\t0.0094133904\t-0.0066762329\t0.0032736238\n21\t1311867719.3104898930\t0.0180220250\t0.0095796828\t0.0180220250\t0.0030981671\t0.0026210000\t36094701\t955859216\t1373700096\t0.0101769157\t-0.0067518721\t0.0034051207\n22\t1311867719.3413150311\t0.0193861760\t0.0100254325\t0.0193861760\t0.0032176732\t0.0026300000\t36097573\t955859216\t1373700096\t0.0111316433\t-0.0071418476\t0.0034846759\n23\t1311867719.3772718906\t0.0210309550\t0.0105039335\t0.0210309550\t0.0032547761\t0.0026270000\t36100501\t955859216\t1373700096\t0.0122021660\t-0.0079104258\t0.0034753359\n24\t1311867719.4105761051\t0.0215934068\t0.0109659949\t0.0215934068\t0.0032102265\t0.0026580000\t36103429\t955859216\t1373700096\t0.0124854166\t-0.0081581054\t0.0034877392\n25\t1311867719.4427709579\t0.0226466097\t0.0114332195\t0.0226466097\t0.0032955607\t0.0024250000\t36106357\t955859216\t1373700096\t0.0133510819\t-0.0086136088\t0.0035936132\n26\t1311867719.4787840843\t0.0232513230\t0.0118877619\t0.0232513230\t0.0033752339\t0.0023990000\t36109285\t955859216\t1373700096\t0.0132283363\t-0.0100220423\t0.0035407848\n27\t1311867719.5104370117\t0.0230137911\t0.0122998371\t0.0232513230\t0.0035823890\t0.0038630000\t36112157\t955859216\t1373700096\t0.0125852674\t-0.0103879664\t0.0036519775\n28\t1311867719.5449650288\t0.0236991514\t0.0127069554\t0.0236991514\t0.0036172016\t0.0039470000\t36115085\t955859216\t1373700096\t0.0126762409\t-0.0101475734\t0.0039986526\n29\t1311867719.5771939754\t0.0249622762\t0.0131295527\t0.0249622762\t0.0036259418\t0.0039540000\t36118013\t955859216\t1373700096\t0.0133514991\t-0.0108827315\t0.0040466841\n30\t1311867719.6112511158\t0.0255258065\t0.0135427612\t0.0255258065\t0.0035854062\t0.0030580000\t36120941\t955859216\t1373700096\t0.0132163679\t-0.0112194046\t0.0043078773\n31\t1311867719.6421909332\t0.0261473767\t0.0139493617\t0.0261473767\t0.0035413405\t0.0039110000\t36123757\t955859216\t1373700096\t0.0135908565\t-0.0106682731\t0.0046822852\n32\t1311867719.6770479679\t0.0270536561\t0.0143588709\t0.0270536561\t0.0034900767\t0.0037740000\t36126741\t955859216\t1373700096\t0.0138303619\t-0.0110401129\t0.0051478301\n33\t1311867719.7107939720\t0.0278889351\t0.0147688728\t0.0278889351\t0.0034405633\t0.0027100000\t36132685\t955859216\t1373700096\t0.0142760333\t-0.0107057504\t0.0056497785\n34\t1311867719.7442650795\t0.0289763063\t0.0151867385\t0.0289763063\t0.0033957438\t0.0026750000\t36141957\t955859216\t1373700096\t0.0150811756\t-0.0100084031\t0.0061886781\n35\t1311867719.7861878872\t0.0304657966\t0.0156232830\t0.0304657966\t0.0033719840\t0.0026830000\t36145165\t955859216\t1373700096\t0.0157590974\t-0.0103698708\t0.0066406922\n36\t1311867719.8099169731\t0.0313633010\t0.0160605057\t0.0313633010\t0.0033386776\t0.0038900000\t36147757\t955859216\t1373700096\t0.0160681847\t-0.0108224731\t0.0070284549\n37\t1311867719.8454990387\t0.0328110382\t0.0165132228\t0.0328110382\t0.0034008613\t0.0039090000\t36150741\t955859216\t1373700096\t0.0168576278\t-0.0118152155\t0.0070691654\n38\t1311867719.8771090508\t0.0327986516\t0.0169417867\t0.0328110382\t0.0033580270\t0.0039420000\t36153613\t955859216\t1373700096\t0.0166676175\t-0.0120168673\t0.0073749176\n39\t1311867719.9114089012\t0.0345015228\t0.0173920364\t0.0345015228\t0.0033497619\t0.0031220000\t36156597\t955859216\t1373700096\t0.0177267678\t-0.0124624185\t0.0076786280\n40\t1311867719.9461970329\t0.0354840606\t0.0178443370\t0.0354840606\t0.0033129384\t0.0039460000\t36159525\t955859216\t1373700096\t0.0183954667\t-0.0133100236\t0.0080101816\n41\t1311867719.9807810783\t0.0374720134\t0.0183230608\t0.0374720134\t0.0032932746\t0.0031100000\t36162453\t955859216\t1373700096\t0.0196984652\t-0.0139890471\t0.0080927163\n42\t1311867720.0117020607\t0.0390320383\t0.0188161317\t0.0390320383\t0.0032624055\t0.0031290000\t36165325\t955859216\t1373700096\t0.0209066831\t-0.0141539769\t0.0083343983\n43\t1311867720.0452380180\t0.0417489521\t0.0193494531\t0.0417489521\t0.0032383394\t0.0040030000\t36168197\t955859216\t1373700096\t0.0233508237\t-0.0141236121\t0.0086775813\n44\t1311867720.0772819519\t0.0447948575\t0.0199277578\t0.0447948575\t0.0032671517\t0.0035150000\t36171125\t955859216\t1373700096\t0.0261806976\t-0.0145188058\t0.0091110487\n45\t1311867720.1172130108\t0.0467398167\t0.0205235813\t0.0467398167\t0.0032564162\t0.0028500000\t36174221\t955859216\t1373700096\t0.0279991366\t-0.0147206662\t0.0095892139\n46\t1311867720.1451559067\t0.0470516011\t0.0211002774\t0.0470516011\t0.0032215137\t0.0028700000\t36176925\t955859216\t1373700096\t0.0281358585\t-0.0150291715\t0.0100268750\n47\t1311867720.1781630516\t0.0480778180\t0.0216742676\t0.0480778180\t0.0031933158\t0.0035670000\t36179797\t955859216\t1373700096\t0.0292445067\t-0.0148196118\t0.0103720510\n48\t1311867720.2094950676\t0.0490367524\t0.0222443194\t0.0490367524\t0.0031658885\t0.0035630000\t36182669\t955859216\t1373700096\t0.0301618390\t-0.0146456864\t0.0108574247\n49\t1311867720.2421469688\t0.0500070527\t0.0228109058\t0.0500070527\t0.0031353868\t0.0036500000\t36185597\t955859216\t1373700096\t0.0310839396\t-0.0142851491\t0.0113331936\n50\t1311867720.2770779133\t0.0517390668\t0.0233894690\t0.0517390668\t0.0031759867\t0.0036010000\t36188525\t955859216\t1373700096\t0.0324776210\t-0.0142990891\t0.0120476708\n51\t1311867720.3094570637\t0.0525971986\t0.0239621696\t0.0525971986\t0.0031521640\t0.0029070000\t36191397\t955859216\t1373700096\t0.0334127769\t-0.0135939792\t0.0129414368\n52\t1311867720.3430728912\t0.0541558936\t0.0245428181\t0.0541558936\t0.0031601478\t0.0029690000\t36194325\t955859216\t1373700096\t0.0347886309\t-0.0134404087\t0.0138158603\n53\t1311867720.3779859543\t0.0560525097\t0.0251373406\t0.0560525097\t0.0032267529\t0.0037150000\t36197197\t955859216\t1373700096\t0.0360090286\t-0.0146856848\t0.0142033109\n54\t1311867720.4096798897\t0.0581826158\t0.0257492901\t0.0581826158\t0.0034558826\t0.0036240000\t36200069\t955859216\t1373700096\t0.0371560492\t-0.0155678140\t0.0146377562\n55\t1311867720.4461109638\t0.0593099296\t0.0263594836\t0.0593099296\t0.0034488048\t0.0036480000\t36203109\t955859216\t1373700096\t0.0382042527\t-0.0155537464\t0.0152026815\n56\t1311867720.4799289703\t0.0608963035\t0.0269762125\t0.0608963035\t0.0035111420\t0.0037100000\t36206037\t955859216\t1373700096\t0.0394581258\t-0.0158328284\t0.0152612785\n57\t1311867720.5104389191\t0.0614038631\t0.0275802064\t0.0614038631\t0.0035447968\t0.0029950000\t36208853\t955859216\t1373700096\t0.0399307013\t-0.0161789376\t0.0151840448\n58\t1311867720.5467319489\t0.063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\t955859216\t1373700096\t-0.3398976326\t-0.1222682744\t0.0006154487\n1909\t1311867782.3144040108\t0.3455698788\t0.3150318191\t0.4404943883\t0.0040486510\t0.0059560000\t42178341\t955859216\t1373700096\t-0.3396462500\t-0.1219492033\t0.0002403432\n1910\t1311867782.3526129723\t0.3459934294\t0.3150480294\t0.4404943883\t0.0040484234\t0.0056610000\t42181437\t955859216\t1373700096\t-0.3399414718\t-0.1223053858\t0.0000698537\n1911\t1311867782.3825540543\t0.3464068174\t0.3150644390\t0.4404943883\t0.0040473977\t0.0124360000\t42184197\t955859216\t1373700096\t-0.3403641284\t-0.1224670559\t-0.0001415118\n1912\t1311867782.4147620201\t0.3465296924\t0.3150808957\t0.4404943883\t0.0040466588\t0.0071160000\t42186957\t955859216\t1373700096\t-0.3403769433\t-0.1221033782\t-0.0002207291\n1913\t1311867782.4514210224\t0.3465315402\t0.3150973362\t0.4404943883\t0.0040456890\t0.0059880000\t42189941\t955859216\t1373700096\t-0.3403578401\t-0.1223345101\t-0.0004832307\n1914\t1311867782.4812099934\t0.3467302322\t0.3151138633\t0.4404943883\t0.0040446771\t0.0056560000\t42192813\t955859216\t1373700096\t-0.3403591216\t-0.1223806813\t-0.0005823622\n1915\t1311867782.5149359703\t0.3468186259\t0.3151304193\t0.4404943883\t0.0040440089\t0.0056740000\t42195685\t955859216\t1373700096\t-0.3403961658\t-0.1216975003\t-0.0005844561\n1916\t1311867782.5516130924\t0.3472693861\t0.3151471933\t0.4404943883\t0.0040434405\t0.0057500000\t42198669\t955859216\t1373700096\t-0.3406437039\t-0.1221169531\t-0.0004877128\n1917\t1311867782.5828690529\t0.3472919166\t0.3151639616\t0.4404943883\t0.0040425272\t0.0090180000\t42201485\t955859216\t1373700096\t-0.3406024277\t-0.1219786778\t-0.0006810171\n1918\t1311867782.6142859459\t0.3472760916\t0.3151807041\t0.4404943883\t0.0040415290\t0.0065560000\t42204413\t955859216\t1373700096\t-0.3404343426\t-0.1217808276\t-0.0008540300\n1919\t1311867782.6501080990\t0.3476354182\t0.3151976164\t0.4404943883\t0.0040408193\t0.0057200000\t42207397\t955859216\t1373700096\t-0.3406600952\t-0.1219530478\t-0.0010450443\n1920\t1311867782.6862080097\t0.3480562270\t0.3152147302\t0.4404943883\t0.0040415769\t0.0104840000\t42210381\t955859216\t1373700096\t-0.3403175473\t-0.1218275055\t-0.0012333522\n1921\t1311867782.7131700516\t0.3481901288\t0.3152318960\t0.4404943883\t0.0040407274\t0.0068950000\t42213085\t955859216\t1373700096\t-0.3405434787\t-0.1214597747\t-0.0015162078\n1922\t1311867782.7489991188\t0.3484782577\t0.3152491938\t0.4404943883\t0.0040408315\t0.0058160000\t42216069\t955859216\t1373700096\t-0.3407814503\t-0.1218933165\t-0.0018658399\n1923\t1311867782.7844688892\t0.3486977816\t0.3152665877\t0.4404943883\t0.0040398044\t0.0056470000\t42219053\t955859216\t1373700096\t-0.3410632014\t-0.1221376508\t-0.0022717561\n1924\t1311867782.8159070015\t0.3486658037\t0.3152839470\t0.4404943883\t0.0040391266\t0.0056460000\t42221925\t955859216\t1373700096\t-0.3418264091\t-0.1217227280\t-0.0026115619\n1925\t1311867782.8522670269\t0.3488165438\t0.3153013665\t0.4404943883\t0.0040381694\t0.0097470000\t42224853\t955859216\t1373700096\t-0.3416674435\t-0.1220524907\t-0.0031747546\n1926\t1311867782.8824830055\t0.3501614630\t0.3153194663\t0.4404943883\t0.0040373063\t0.0093910000\t42227725\t955859216\t1373700096\t-0.3429287374\t-0.1231692955\t-0.0034693591\n1927\t1311867782.9145979881\t0.3497633040\t0.3153373406\t0.4404943883\t0.0040373090\t0.0067180000\t42230597\t955859216\t1373700096\t-0.3427263498\t-0.1224283874\t-0.0040405411\n1928\t1311867782.9517209530\t0.3500177860\t0.3153553284\t0.4404943883\t0.0040364147\t0.0101560000\t42233637\t955859216\t1373700096\t-0.3431717455\t-0.1223619506\t-0.0045686993\n1929\t1311867782.9812240601\t0.3509754539\t0.3153737940\t0.4404943883\t0.0040353941\t0.0069590000\t42236397\t955859216\t1373700096\t-0.3442104757\t-0.1232589707\t-0.0050781779\n1930\t1311867783.0143089294\t0.3509578109\t0.3153922313\t0.4404943883\t0.0040348845\t0.0058570000\t42239325\t955859216\t1373700096\t-0.3444401026\t-0.1228894889\t-0.0056493948\n1931\t1311867783.0528459549\t0.3511807024\t0.3154107649\t0.4404943883\t0.0040342599\t0.0102530000\t42242309\t955859216\t1373700096\t-0.3448776305\t-0.1227015182\t-0.0061028483\n1932\t1311867783.0829811096\t0.3521107733\t0.3154297608\t0.4404943883\t0.0040337052\t0.0068130000\t42245181\t955859216\t1373700096\t-0.3457718492\t-0.1231398582\t-0.0063658040\n1933\t1311867783.1137030125\t0.3525287807\t0.3154489533\t0.4404943883\t0.0040330082\t0.0058540000\t42247997\t955859216\t1373700096\t-0.3463113606\t-0.1228330731\t-0.0066785584\n1934\t1311867783.1539480686\t0.3523992598\t0.3154680589\t0.4404943883\t0.0040320960\t0.0056660000\t42251093\t955859216\t1373700096\t-0.3463732004\t-0.1226510480\t-0.0070478227\n1935\t1311867783.1857850552\t0.3530575931\t0.3154874850\t0.4404943883\t0.0040312512\t0.0056920000\t42253965\t955859216\t1373700096\t-0.3470957577\t-0.1229203120\t-0.0071601733\n1936\t1311867783.2169439793\t0.3534830511\t0.3155071108\t0.4404943883\t0.0040308714\t0.0105060000\t42256781\t955859216\t1373700096\t-0.3478482068\t-0.1227582470\t-0.0073765605\n1937\t1311867783.2548489571\t0.3535477817\t0.3155267498\t0.4404943883\t0.0040299029\t0.0069040000\t42259877\t955859216\t1373700096\t-0.3480164111\t-0.1224409863\t-0.0076021035\n1938\t1311867783.2816879749\t0.3537380397\t0.3155464667\t0.4404943883\t0.0040289808\t0.0058290000\t42262637\t955859216\t1373700096\t-0.3482596576\t-0.1227772459\t-0.0077735917\n1939\t1311867783.3132228851\t0.3539096713\t0.3155662517\t0.4404943883\t0.0040281183\t0.0056730000\t42265397\t955859216\t1373700096\t-0.3483945727\t-0.1231109053\t-0.0078812316\n1940\t1311867783.3503270149\t0.3562933505\t0.3155872451\t0.4404943883\t0.0040278166\t0.0056220000\t42268437\t955859216\t1373700096\t-0.3510655165\t-0.1222488731\t-0.0078781322\n1941\t1311867783.3855919838\t0.3573495150\t0.3156087609\t0.4404943883\t0.0040273583\t0.0117390000\t42271421\t955859216\t1373700096\t-0.3521153927\t-0.1225303113\t-0.0080375103\n1942\t1311867783.4198501110\t0.3574924469\t0.3156303282\t0.4404943883\t0.0040263739\t0.0072100000\t42274349\t955859216\t1373700096\t-0.3522456884\t-0.1231065243\t-0.0081676804\n1943\t1311867783.4503099918\t0.3572866917\t0.3156517674\t0.4404943883\t0.0040254969\t0.0179380000\t42277165\t955859216\t1373700096\t-0.3523166776\t-0.1226015612\t-0.0084191868\n1944\t1311867783.4863688946\t0.3573906124\t0.3156732380\t0.4404943883\t0.0040254501\t0.0138560000\t42280149\t955859216\t1373700096\t-0.3524114788\t-0.1231903434\t-0.0086375168\n1945\t1311867783.5186200142\t0.3582922816\t0.3156951501\t0.4404943883\t0.0040245374\t0.0074450000\t42282965\t955859216\t1373700096\t-0.3533105254\t-0.1234431788\t-0.0086010275\n1946\t1311867783.5488419533\t0.3580948114\t0.3157169382\t0.4404943883\t0.0040244060\t0.0061070000\t42285781\t955859216\t1373700096\t-0.3533861041\t-0.1230669841\t-0.0088085504\n1947\t1311867783.5823969841\t0.3577539325\t0.3157385289\t0.4404943883\t0.0040234938\t0.0057330000\t42288765\t955859216\t1373700096\t-0.3529374003\t-0.1236947402\t-0.0091380207\n1948\t1311867783.6168529987\t0.3581782579\t0.3157603152\t0.4404943883\t0.0040225024\t0.0173230000\t42291637\t955859216\t1373700096\t-0.3533860147\t-0.1237988919\t-0.0091808764\n1949\t1311867783.6515829563\t0.3582621813\t0.3157821222\t0.4404943883\t0.0040215597\t0.0082620000\t42294565\t955859216\t1373700096\t-0.3535192013\t-0.1232625619\t-0.0093312506\n1950\t1311867783.6816630363\t0.3589083552\t0.3158042382\t0.4404943883\t0.0040211608\t0.0095810000\t42297437\t955859216\t1373700096\t-0.3542131782\t-0.1231723651\t-0.0091894567\n1951\t1311867783.7179610729\t0.3591278195\t0.3158264440\t0.4404943883\t0.0040210365\t0.0073590000\t42300421\t955859216\t1373700096\t-0.3544255197\t-0.1233302504\t-0.0092814108\n1952\t1311867783.7488200665\t0.3588317931\t0.3158484755\t0.4404943883\t0.0040200658\t0.0058440000\t42303237\t955859216\t1373700096\t-0.3541054726\t-0.1222962737\t-0.0092461342\n1953\t1311867783.7808690071\t0.3591032028\t0.3158706233\t0.4404943883\t0.0040196761\t0.0057890000\t42306109\t955859216\t1373700096\t-0.3542117774\t-0.1220812351\t-0.0089414204\n1954\t1311867783.8168580532\t0.3594930768\t0.3158929480\t0.4404943883\t0.0040207881\t0.0094640000\t42309037\t955859216\t1373700096\t-0.3543011546\t-0.1229621172\t-0.0087712621\n1955\t1311867783.8489229679\t0.3597013354\t0.3159153564\t0.4404943883\t0.0040222154\t0.0067300000\t42311909\t955859216\t1373700096\t-0.3546336889\t-0.1212080866\t-0.0082260557\n1956\t1311867783.8808929920\t0.3587024212\t0.3159372312\t0.4404943883\t0.0040213944\t0.0059700000\t42314781\t955859216\t1373700096\t-0.3536922634\t-0.1207161099\t-0.0082336133\n1957\t1311867783.9168200493\t0.3592624962\t0.3159593698\t0.4404943883\t0.0040278092\t0.0058150000\t42317765\t955859216\t1373700096\t-0.3540922105\t-0.1213613600\t-0.0077804602\n1958\t1311867783.9508318901\t0.3589513898\t0.3159813269\t0.4404943883\t0.0040269217\t0.0094600000\t42320693\t955859216\t1373700096\t-0.3538771272\t-0.1211522296\t-0.0074167564\n1959\t1311867783.9816930294\t0.3588210344\t0.3160031950\t0.4404943883\t0.0040284312\t0.0067830000\t42323509\t955859216\t1373700096\t-0.3537884057\t-0.1210505739\t-0.0068917484\n1960\t1311867784.0175230503\t0.3590119779\t0.3160251383\t0.4404943883\t0.0040282798\t0.0058380000\t42326549\t955859216\t1373700096\t-0.3539814651\t-0.1222105548\t-0.0068487353\n1961\t1311867784.0505928993\t0.3594776690\t0.3160472966\t0.4404943883\t0.0040281143\t0.0098670000\t42329477\t955859216\t1373700096\t-0.3545266092\t-0.1223077700\t-0.0066940482\n1962\t1311867784.0830729008\t0.3588073850\t0.3160690908\t0.4404943883\t0.0040273630\t0.0094240000\t42332293\t955859216\t1373700096\t-0.3542821109\t-0.1214349791\t-0.0066752592\n1963\t1311867784.1187570095\t0.3593356311\t0.3160911318\t0.4404943883\t0.0040268887\t0.0067320000\t42335277\t955859216\t1373700096\t-0.3548452556\t-0.1222476736\t-0.0065047797\n1964\t1311867784.1503119469\t0.3590484262\t0.3161130041\t0.4404943883\t0.0040265075\t0.0058600000\t42338149\t955859216\t1373700096\t-0.3548920453\t-0.1224010140\t-0.0064593004\n1965\t1311867784.1823339462\t0.3582997322\t0.3161344732\t0.4404943883\t0.0040255500\t0.0058060000\t42341077\t955859216\t1373700096\t-0.3544711471\t-0.1219318658\t-0.0061286837\n1966\t1311867784.2173891068\t0.3584958017\t0.3161560202\t0.4404943883\t0.0040251872\t0.0057280000\t42343949\t955859216\t1373700096\t-0.3548062444\t-0.1229401007\t-0.0058927368\n1967\t1311867784.2502059937\t0.3587856591\t0.3161776926\t0.4404943883\t0.0040253605\t0.0093550000\t42346877\t955859216\t1373700096\t-0.3554775417\t-0.1230297014\t-0.0057782796\n1968\t1311867784.2819900513\t0.3585085273\t0.3161992022\t0.4404943883\t0.0040247483\t0.0067990000\t42349693\t955859216\t1373700096\t-0.3553964496\t-0.1226631775\t-0.0055700471\n1969\t1311867784.3176920414\t0.3589338958\t0.3162209059\t0.4404943883\t0.0040245634\t0.0060120000\t42352733\t955859216\t1373700096\t-0.3559510410\t-0.1232745722\t-0.0053453529\n1970\t1311867784.3490819931\t0.3594650626\t0.3162428573\t0.4404943883\t0.0040243128\t0.0058230000\t42355549\t955859216\t1373700096\t-0.3562368751\t-0.1238123178\t-0.0050327759\n1971\t1311867784.3815689087\t0.3586991131\t0.3162643977\t0.4404943883\t0.0040240017\t0.0110360000\t42358477\t955859216\t1373700096\t-0.3557086289\t-0.1229765937\t-0.0049495082\n1972\t1311867784.4190580845\t0.3591024280\t0.3162861209\t0.4404943883\t0.0040233619\t0.0070630000\t42361461\t955859216\t1373700096\t-0.3560422659\t-0.1239878163\t-0.0047313566\n1973\t1311867784.4496140480\t0.3590674102\t0.3163078042\t0.4404943883\t0.0040224157\t0.0061030000\t42364333\t955859216\t1373700096\t-0.3558341265\t-0.1243306473\t-0.0044958545\n1974\t1311867784.4828379154\t0.3590701818\t0.3163294671\t0.4404943883\t0.0040217813\t0.0057730000\t42367261\t955859216\t1373700096\t-0.3559682071\t-0.1238709539\t-0.0043343161\n1975\t1311867784.5185639858\t0.3594466150\t0.3163512985\t0.4404943883\t0.0040209101\t0.0098230000\t42370133\t955859216\t1373700096\t-0.3561696410\t-0.1243445352\t-0.0041038422\n1976\t1311867784.5499279499\t0.3591954410\t0.3163729808\t0.4404943883\t0.0040200079\t0.0068570000\t42373005\t955859216\t1373700096\t-0.3562038541\t-0.1251066327\t-0.0040479843\n1977\t1311867784.5848410130\t0.3587447107\t0.3163944131\t0.4404943883\t0.0040190504\t0.0059270000\t42375989\t955859216\t1373700096\t-0.3560431004\t-0.1244793013\t-0.0040688915\n1978\t1311867784.6179790497\t0.3588604033\t0.3164158823\t0.4404943883\t0.0040184603\t0.0093870000\t42378861\t955859216\t1373700096\t-0.3562702239\t-0.1251503974\t-0.0039429236\n1979\t1311867784.6492750645\t0.3592459857\t0.3164375246\t0.4404943883\t0.0040176029\t0.0068100000\t42381733\t955859216\t1373700096\t-0.3568302989\t-0.1254941672\t-0.0037087135\n1980\t1311867784.6878700256\t0.3591080308\t0.3164590753\t0.4404943883\t0.0040173033\t0.0059370000\t42384773\t955859216\t1373700096\t-0.3569600284\t-0.1245566830\t-0.0036695190\n1981\t1311867784.7168869972\t0.3590669036\t0.3164805836\t0.4404943883\t0.0040166356\t0.0068520000\t42387533\t955859216\t1373700096\t-0.3571873605\t-0.1248188987\t-0.0036427530\n1982\t1311867784.7578089237\t0.3586984277\t0.3165018842\t0.4404943883\t0.0040195399\t0.0059810000\t42390741\t955859216\t1373700096\t-0.3573522568\t-0.1249282137\t-0.0035002981\n1983\t1311867784.7870030403\t0.3587756455\t0.3165232023\t0.4404943883\t0.0040185438\t0.0061760000\t42393501\t955859216\t1373700096\t-0.3574147522\t-0.1244725659\t-0.0032144629\n1984\t1311867784.8199620247\t0.3583768904\t0.3165442979\t0.4404943883\t0.0040186949\t0.0059560000\t42396261\t955859216\t1373700096\t-0.3574174047\t-0.1255897880\t-0.0032002165\n1985\t1311867784.8550779819\t0.3589482307\t0.3165656601\t0.4404943883\t0.0040182583\t0.0059650000\t42399189\t955859216\t1373700096\t-0.3581384718\t-0.1260010153\t-0.0031764864\n1986\t1311867784.8873779774\t0.3588216603\t0.3165869370\t0.4404943883\t0.0040172552\t0.0058750000\t42402061\t955859216\t1373700096\t-0.3582898974\t-0.1256619245\t-0.0029817417\n1987\t1311867784.9173130989\t0.3595532477\t0.3166085607\t0.4404943883\t0.0040166463\t0.0059120000\t42404933\t955859216\t1373700096\t-0.3588418961\t-0.1263274103\t-0.0031199206\n1988\t1311867784.9491391182\t0.3592946231\t0.3166300326\t0.4404943883\t0.0040159582\t0.0059090000\t42407749\t955859216\t1373700096\t-0.3590696454\t-0.1265003383\t-0.0031275256\n1989\t1311867784.9848570824\t0.3594765663\t0.3166515743\t0.4404943883\t0.0040152517\t0.0152090000\t42410733\t955859216\t1373700096\t-0.3594874442\t-0.1263925880\t-0.0029870041\n1990\t1311867785.0184569359\t0.3595445156\t0.3166731286\t0.4404943883\t0.0040143021\t0.0077220000\t42413605\t955859216\t1373700096\t-0.3596079946\t-0.1268051863\t-0.0032010768\n1991\t1311867785.0500280857\t0.3597682714\t0.3166947735\t0.4404943883\t0.0040133972\t0.0061750000\t42416533\t955859216\t1373700096\t-0.3600735068\t-0.1269150376\t-0.0031627365\n1992\t1311867785.0871460438\t0.3599179685\t0.3167164719\t0.4404943883\t0.0040124222\t0.0057990000\t42419517\t955859216\t1373700096\t-0.3603803813\t-0.1262281835\t-0.0030308287\n1993\t1311867785.1168398857\t0.3598057628\t0.3167380923\t0.4404943883\t0.0040116774\t0.0058360000\t42422389\t955859216\t1373700096\t-0.3604130745\t-0.1262465119\t-0.0032681827\n1994\t1311867785.1499750614\t0.3602676094\t0.3167599225\t0.4404943883\t0.0040108504\t0.0058040000\t42425205\t955859216\t1373700096\t-0.3608118594\t-0.1266826540\t-0.0032215053\n1995\t1311867785.1850368977\t0.3603664637\t0.3167817804\t0.4404943883\t0.0040099218\t0.0058510000\t42428189\t955859216\t1373700096\t-0.3610206842\t-0.1257711500\t-0.0032749057\n1996\t1311867785.2169620991\t0.3603558540\t0.3168036111\t0.4404943883\t0.0040090133\t0.0104870000\t42431005\t955859216\t1373700096\t-0.3611560166\t-0.1257792860\t-0.0034505010\n1997\t1311867785.2491741180\t0.3606891930\t0.3168255869\t0.4404943883\t0.0040080595\t0.0070520000\t42433877\t955859216\t1373700096\t-0.3615732193\t-0.1258462071\t-0.0033247757\n1998\t1311867785.2858769894\t0.3606159985\t0.3168475040\t0.4404943883\t0.0040072317\t0.0059480000\t42436917\t955859216\t1373700096\t-0.3616465330\t-0.1255336553\t-0.0033898642\n1999\t1311867785.3214280605\t0.3598297536\t0.3168690059\t0.4404943883\t0.0040066513\t0.0058800000\t42440013\t955859216\t1373700096\t-0.3612127900\t-0.1254404485\t-0.0036455274\n2000\t1311867785.3573219776\t0.3598318398\t0.3168904873\t0.4404943883\t0.0040061567\t0.0058020000\t42442941\t955859216\t1373700096\t-0.3613487482\t-0.1257266849\t-0.0036589087\n2001\t1311867785.3893299103\t0.3603486419\t0.3169122055\t0.4404943883\t0.0040053752\t0.0158800000\t42445813\t955859216\t1373700096\t-0.3621326089\t-0.1253539771\t-0.0035850506\n2002\t1311867785.4211249352\t0.3598292768\t0.3169336426\t0.4404943883\t0.0040046747\t0.0078570000\t42448685\t955859216\t1373700096\t-0.3618597984\t-0.1251902580\t-0.0036741740\n2003\t1311867785.4570529461\t0.3600459397\t0.3169551665\t0.4404943883\t0.0040057310\t0.0062120000\t42451669\t955859216\t1373700096\t-0.3621439338\t-0.1257572025\t-0.0037404862\n2004\t1311867785.4900350571\t0.3603254259\t0.3169768083\t0.4404943883\t0.0040051284\t0.0057530000\t42454597\t955859216\t1373700096\t-0.3626931310\t-0.1246422306\t-0.0034616012\n2005\t1311867785.5211930275\t0.3601123691\t0.3169983223\t0.4404943883\t0.0040042286\t0.0058340000\t42457413\t955859216\t1373700096\t-0.3629167974\t-0.1244120151\t-0.0034630254\n2006\t1311867785.5571260452\t0.3589564562\t0.3170192386\t0.4404943883\t0.0040047209\t0.0057990000\t42460397\t955859216\t1373700096\t-0.3626224101\t-0.1247749552\t-0.0035698502\n2007\t1311867785.5891211033\t0.3594081998\t0.3170403592\t0.4404943883\t0.0040043772\t0.0058080000\t42463269\t955859216\t1373700096\t-0.3633316159\t-0.1246754229\t-0.0033373521\n2008\t1311867785.6211590767\t0.3577802479\t0.3170606480\t0.4404943883\t0.0040170348\t0.0110880000\t42466197\t955859216\t1373700096\t-0.3623540401\t-0.1238904446\t-0.0036827321\n2009\t1311867785.6570439339\t0.3579213321\t0.3170809868\t0.4404943883\t0.0040209302\t0.0071120000\t42469181\t955859216\t1373700096\t-0.3626641333\t-0.1244857311\t-0.0037349428\n2010\t1311867785.6892280579\t0.3584518731\t0.3171015693\t0.4404943883\t0.0040201452\t0.0060690000\t42471997\t955859216\t1373700096\t-0.3633105755\t-0.1248776168\t-0.0038111564\n2011\t1311867785.7214241028\t0.3577460349\t0.3171217804\t0.4404943883\t0.0040220310\t0.0058840000\t42474869\t955859216\t1373700096\t-0.3630686700\t-0.1242279112\t-0.0039877258\n2012\t1311867785.7573668957\t0.3576293588\t0.3171419134\t0.4404943883\t0.0040215284\t0.0058550000\t42477853\t955859216\t1373700096\t-0.3633694351\t-0.1245014518\t-0.0042412025\n2013\t1311867785.7892301083\t0.3580126762\t0.3171622168\t0.4404943883\t0.0040210954\t0.0058900000\t42480725\t955859216\t1373700096\t-0.3639128208\t-0.1249027550\t-0.0041814237\n2014\t1311867785.8210389614\t0.3583030999\t0.3171826442\t0.4404943883\t0.0040202220\t0.0059510000\t42483597\t955859216\t1373700096\t-0.3642220497\t-0.1249752864\t-0.0041321935\n2015\t1311867785.8574340343\t0.3594374657\t0.3172036144\t0.4404943883\t0.0040201440\t0.0058910000\t42486581\t955859216\t1373700096\t-0.3656830788\t-0.1248730123\t-0.0040326416\n2016\t1311867785.8893110752\t0.3595379889\t0.3172246136\t0.4404943883\t0.0040192907\t0.0058160000\t42489509\t955859216\t1373700096\t-0.3658065200\t-0.1253597885\t-0.0038826123\n2017\t1311867785.9211509228\t0.3595473170\t0.3172455966\t0.4404943883\t0.0040193875\t0.0159770000\t42492381\t955859216\t1373700096\t-0.3662686646\t-0.1246693283\t-0.0037620976\n2018\t1311867785.9588449001\t0.3599441946\t0.3172667554\t0.4404943883\t0.0040199619\t0.0079730000\t42495365\t955859216\t1373700096\t-0.3668071330\t-0.1247308329\t-0.0037060499\n2019\t1311867785.9892621040\t0.3603191972\t0.3172880791\t0.4404943883\t0.0040190124\t0.0064720000\t42498237\t955859216\t1373700096\t-0.3675727546\t-0.1245317087\t-0.0035398828\n2020\t1311867786.0210618973\t0.3599698842\t0.3173092087\t0.4404943883\t0.0040182299\t0.0058690000\t42501109\t955859216\t1373700096\t-0.3675777614\t-0.1241953671\t-0.0033651539\n2021\t1311867786.0572268963\t0.3598343432\t0.3173302503\t0.4404943883\t0.0040183634\t0.0058770000\t42504037\t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}, { "path": "icra2018_results/1080/violons_libinfinitam-cuda_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 01:34:07\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libinfinitam-cuda_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520440\t0.0582520440\t0.0582520440\t-nan\t0.0076110000\t23816669\t955859216\t1375797248\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1311867170.4941389561\t0.0573643968\t0.0578082204\t0.0582520440\t0.0124427658\t0.0032800000\t36400709\t955859216\t1373700096\t-0.0004107888\t-0.0012853811\t-0.0024214056\n3\t1311867170.5264289379\t0.0565281659\t0.0573815356\t0.0582520440\t0.0101379281\t0.0019070000\t36404029\t955859216\t1373700096\t-0.0017274972\t-0.0022942068\t-0.0047791684\n4\t1311867170.5623490810\t0.0561557040\t0.0570750777\t0.0582520440\t0.0096907319\t0.0018000000\t36407413\t955859216\t1373700096\t0.0001666794\t-0.0028439625\t-0.0061352286\n5\t1311867170.5942170620\t0.0565002635\t0.0569601148\t0.0582520440\t0.0086579290\t0.0018090000\t36410613\t955859216\t1373700096\t0.0032586332\t-0.0038356904\t-0.0071666827\n6\t1311867170.6260869503\t0.0565145761\t0.0568858584\t0.0582520440\t0.0085193343\t0.0018020000\t36414285\t955859216\t1373700096\t0.0035894865\t-0.0050017708\t-0.0088247461\n7\t1311867170.6621398926\t0.0566341281\t0.0568498969\t0.0582520440\t0.0083896253\t0.0026810000\t36417325\t955859216\t1373700096\t0.0042680521\t-0.0060192915\t-0.0103889499\n8\t1311867170.6942050457\t0.0565385632\t0.0568109802\t0.0582520440\t0.0080447921\t0.0033580000\t36420141\t955859216\t1373700096\t0.0039733560\t-0.0066503519\t-0.0121041704\n9\t1311867170.7263879776\t0.0573048107\t0.0568658503\t0.0582520440\t0.0083447402\t0.0026760000\t36423781\t955859216\t1373700096\t0.0047303978\t-0.0067653782\t-0.0132004693\n10\t1311867170.7620189190\t0.0571196526\t0.0568912305\t0.0582520440\t0.0084103537\t0.0026490000\t36428421\t955859216\t1373700096\t0.0037223531\t-0.0089277960\t-0.0147628011\n11\t1311867170.7941920757\t0.0576276146\t0.0569581745\t0.0582520440\t0.0083697979\t0.0033060000\t36431181\t955859216\t1373700096\t0.0046895202\t-0.0110970335\t-0.0163411610\n12\t1311867170.8262820244\t0.0582976639\t0.0570697986\t0.0582976639\t0.0084025426\t0.0033880000\t36434109\t955859216\t1373700096\t0.0057686996\t-0.0142045021\t-0.0181409754\n13\t1311867170.8622210026\t0.0583833158\t0.0571708384\t0.0583833158\t0.0082224769\t0.0033760000\t36437093\t955859216\t1373700096\t0.0054557901\t-0.0167554766\t-0.0205254089\n14\t1311867170.8943779469\t0.0589015223\t0.0572944587\t0.0589015223\t0.0079283863\t0.0033840000\t36439909\t955859216\t1373700096\t0.0052011162\t-0.0189121775\t-0.0228569396\n15\t1311867170.9263520241\t0.0592489354\t0.0574247571\t0.0592489354\t0.0079798603\t0.0033860000\t36442837\t955859216\t1373700096\t0.0049796882\t-0.0210459232\t-0.0255782045\n16\t1311867170.9621469975\t0.0584923401\t0.0574914811\t0.0592489354\t0.0077811651\t0.0033640000\t36445821\t955859216\t1373700096\t0.0025199968\t-0.0233074185\t-0.0286620855\n17\t1311867170.9942629337\t0.0581994466\t0.0575331261\t0.0592489354\t0.0076057664\t0.0027010000\t36450173\t955859216\t1373700096\t0.0015490805\t-0.0249245539\t-0.0317789726\n18\t1311867171.0262739658\t0.0584000424\t0.0575812881\t0.0592489354\t0.0073929096\t0.0033670000\t36456301\t955859216\t1373700096\t0.0013883736\t-0.0262807086\t-0.0344569013\n19\t1311867171.0623519421\t0.0577873662\t0.0575921343\t0.0592489354\t0.0078873197\t0.0033770000\t36459285\t955859216\t1373700096\t0.0006972001\t-0.0291270595\t-0.0373714454\n20\t1311867171.0942349434\t0.0569595098\t0.0575605031\t0.0592489354\t0.0077921904\t0.0033480000\t36462101\t955859216\t1373700096\t0.0012762174\t-0.0310345031\t-0.0399133191\n21\t1311867171.1262509823\t0.0568150692\t0.0575250063\t0.0592489354\t0.0076689374\t0.0033740000\t36465029\t955859216\t1373700096\t0.0016514439\t-0.0313870944\t-0.0420561284\n22\t1311867171.1622469425\t0.0565040112\t0.0574785974\t0.0592489354\t0.0076285348\t0.0039710000\t36468013\t955859216\t1373700096\t0.0030351996\t-0.0331967324\t-0.0437408686\n23\t1311867171.1942689419\t0.0555193648\t0.0573934134\t0.0592489354\t0.0079586562\t0.0039150000\t36470829\t955859216\t1373700096\t0.0048778029\t-0.0332864076\t-0.0448248647\n24\t1311867171.2262530327\t0.0571338311\t0.0573825974\t0.0592489354\t0.0079997750\t0.0039360000\t36473757\t955859216\t1373700096\t0.0073625711\t-0.0331346616\t-0.0454695672\n25\t1311867171.2622439861\t0.0565472208\t0.0573491824\t0.0592489354\t0.0080357771\t0.0038100000\t36476741\t955859216\t1373700096\t0.0080455421\t-0.0333054364\t-0.0465254784\n26\t1311867171.2943410873\t0.0566246100\t0.0573213142\t0.0592489354\t0.0079460871\t0.0026460000\t36479501\t955859216\t1373700096\t0.0086148735\t-0.0314770043\t-0.0471827500\n27\t1311867171.3263869286\t0.0564643480\t0.0572895747\t0.0592489354\t0.0082445405\t0.0039440000\t36482429\t955859216\t1373700096\t0.0059655621\t-0.0306835845\t-0.0484963097\n28\t1311867171.3622460365\t0.0552399196\t0.0572163727\t0.0592489354\t0.0081227706\t0.0039460000\t36485413\t955859216\t1373700096\t0.0032682631\t-0.0301576611\t-0.0500395149\n29\t1311867171.39414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38\t0.0060960000\t42533541\t955859216\t1373700096\t-0.0486740321\t0.0524410978\t-0.2518611848\n1906\t1311867234.0205829144\t0.0512869768\t0.0580965412\t0.0879767612\t0.0055257874\t0.0059390000\t42536413\t955859216\t1373700096\t-0.0488447584\t0.0519558117\t-0.2520171702\n1907\t1311867234.0566239357\t0.0514378548\t0.0580930495\t0.0879767612\t0.0055244528\t0.0106040000\t42539453\t955859216\t1373700096\t-0.0495533869\t0.0506640188\t-0.2520946562\n1908\t1311867234.0907170773\t0.0512858629\t0.0580894818\t0.0879767612\t0.0055230275\t0.0071700000\t42542325\t955859216\t1373700096\t-0.0497128405\t0.0497064255\t-0.2522974610\n1909\t1311867234.1214520931\t0.0513750352\t0.0580859646\t0.0879767612\t0.0055216787\t0.0061000000\t42545197\t955859216\t1373700096\t-0.0499689318\t0.0487422086\t-0.2522433400\n1910\t1311867234.1561689377\t0.0514817871\t0.0580825069\t0.0879767612\t0.0055203010\t0.0059410000\t42548125\t955859216\t1373700096\t-0.0504620448\t0.0471803620\t-0.2522976696\n1911\t1311867234.1892559528\t0.0517959967\t0.0580792172\t0.0879767612\t0.0055189922\t0.0065650000\t42550997\t955859216\t1373700096\t-0.0518212318\t0.0456974953\t-0.2522612214\n1912\t1311867234.2203600407\t0.0517072454\t0.0580758846\t0.0879767612\t0.0055187550\t0.0060430000\t42553869\t955859216\t1373700096\t-0.0523194931\t0.0448519252\t-0.2524162531\n1913\t1311867234.2588930130\t0.0514577664\t0.0580724251\t0.0879767612\t0.0055174803\t0.0104350000\t42556909\t955859216\t1373700096\t-0.0531537756\t0.0436357930\t-0.2524890602\n1914\t1311867234.2895319462\t0.0512632541\t0.0580688675\t0.0879767612\t0.0055162085\t0.0096520000\t42559781\t955859216\t1373700096\t-0.0532046370\t0.0426402427\t-0.2523508668\n1915\t1311867234.3213200569\t0.0510368347\t0.0580651954\t0.0879767612\t0.0055181990\t0.0069430000\t42562653\t955859216\t1373700096\t-0.0539867543\t0.0418764427\t-0.2520190477\n1916\t1311867234.3570129871\t0.0507667810\t0.0580613862\t0.0879767612\t0.0055168004\t0.0060460000\t42565581\t955859216\t1373700096\t-0.0542049520\t0.0414789915\t-0.2517414093\n1917\t1311867234.3885769844\t0.0506410487\t0.0580575154\t0.0879767612\t0.0055158968\t0.0059400000\t42568453\t955859216\t1373700096\t-0.0541811287\t0.0403703190\t-0.2514908016\n1918\t1311867234.4204909801\t0.0507681519\t0.0580537149\t0.0879767612\t0.0055144845\t0.0059630000\t42571381\t955859216\t1373700096\t-0.0543646812\t0.0393484198\t-0.2510311902\n1919\t1311867234.4579920769\t0.0504370816\t0.0580497459\t0.0879767612\t0.0055133205\t0.0097970000\t42574309\t955859216\t1373700096\t-0.0533233732\t0.0392154977\t-0.2506741285\n1920\t1311867234.4878959656\t0.0508692041\t0.0580460060\t0.0879767612\t0.0055172099\t0.0069620000\t42577181\t955859216\t1373700096\t-0.0545613281\t0.0379572399\t-0.2504696548\n1921\t1311867234.5201239586\t0.0511039495\t0.0580423922\t0.0879767612\t0.0055158334\t0.0062120000\t42580053\t955859216\t1373700096\t-0.0551310591\t0.0364434384\t-0.2501533031\n1922\t1311867234.5594279766\t0.0508026443\t0.0580386255\t0.0879767612\t0.0055152838\t0.0060070000\t42583149\t955859216\t1373700096\t-0.0551659241\t0.0360711627\t-0.2497135848\n1923\t1311867234.5882380009\t0.0510052703\t0.0580349680\t0.0879767612\t0.0055149221\t0.0100290000\t42585965\t955859216\t1373700096\t-0.0548022687\t0.0348774865\t-0.2492693365\n1924\t1311867234.6204199791\t0.0512478016\t0.0580314403\t0.0879767612\t0.0055135901\t0.0069760000\t42588837\t955859216\t1373700096\t-0.0549129993\t0.0334978327\t-0.2489290833\n1925\t1311867234.6590909958\t0.0504489988\t0.0580275014\t0.0879767612\t0.0055129309\t0.0101490000\t42591877\t955859216\t1373700096\t-0.0543827564\t0.0337504707\t-0.2484929860\n1926\t1311867234.6880459785\t0.0502983965\t0.0580234884\t0.0879767612\t0.0055115963\t0.0070870000\t42594637\t955859216\t1373700096\t-0.0536875017\t0.0332354568\t-0.2480978072\n1927\t1311867234.7198779583\t0.0504191108\t0.0580195421\t0.0879767612\t0.0055112663\t0.0061360000\t42597509\t955859216\t1373700096\t-0.0537159964\t0.0323025063\t-0.2474824339\n1928\t1311867234.7586181164\t0.0499938950\t0.0580153795\t0.0879767612\t0.0055098720\t0.0059290000\t42600493\t955859216\t1373700096\t-0.0525249764\t0.0319263823\t-0.2465801388\n1929\t1311867234.7882609367\t0.0495397635\t0.0580109857\t0.0879767612\t0.0055162701\t0.0059730000\t42603365\t955859216\t1373700096\t-0.0524553768\t0.0318224430\t-0.2456171662\n1930\t1311867234.8206560612\t0.0496622585\t0.0580066599\t0.0879767612\t0.0055149681\t0.0112330000\t42606237\t955859216\t1373700096\t-0.0528603382\t0.0312684216\t-0.2447194010\n1931\t1311867234.8590250015\t0.0494782478\t0.0580022433\t0.0879767612\t0.0055135980\t0.0073360000\t42609221\t955859216\t1373700096\t-0.0517025143\t0.0316107832\t-0.2437576205\n1932\t1311867234.8881230354\t0.0499451570\t0.0579980730\t0.0879767612\t0.0055123973\t0.0061280000\t42612037\t955859216\t1373700096\t-0.0512774102\t0.0312721208\t-0.2427264005\n1933\t1311867234.9204928875\t0.0504510142\t0.0579941687\t0.0879767612\t0.0055116465\t0.0059270000\t42614965\t955859216\t1373700096\t-0.0519972742\t0.0303996634\t-0.2420225143\n1934\t1311867234.9566090107\t0.0506170355\t0.0579903542\t0.0879767612\t0.0055103621\t0.0098930000\t42617949\t955859216\t1373700096\t-0.0519791655\t0.0301977582\t-0.2415094674\n1935\t1311867234.9904088974\t0.0509880148\t0.0579867354\t0.0879767612\t0.0055089731\t0.0073650000\t42620877\t955859216\t1373700096\t-0.0525740720\t0.0294893533\t-0.2410478443\n1936\t1311867235.0205988884\t0.0510645844\t0.0579831600\t0.0879767612\t0.0055079059\t0.0105740000\t42623693\t955859216\t1373700096\t-0.0527084619\t0.0286757294\t-0.2410633117\n1937\t1311867235.0563809872\t0.0511140749\t0.0579796137\t0.0879767612\t0.0055079460\t0.0098440000\t42626677\t955859216\t1373700096\t-0.0528391339\t0.0276606567\t-0.2411052287\n1938\t1311867235.0911149979\t0.0512079522\t0.0579761196\t0.0879767612\t0.0055065837\t0.0070170000\t42629605\t955859216\t1373700096\t-0.0544047914\t0.0269469228\t-0.2410359234\n1939\t1311867235.1208140850\t0.0514351800\t0.0579727462\t0.0879767612\t0.0055052721\t0.0061160000\t42632477\t955859216\t1373700096\t-0.0555925407\t0.0258112606\t-0.2409695834\n1940\t1311867235.1564071178\t0.0508634709\t0.0579690816\t0.0879767612\t0.0055047578\t0.0066150000\t42635405\t955859216\t1373700096\t-0.0543577634\t0.0255849827\t-0.2406252772\n1941\t1311867235.1885681152\t0.0507731177\t0.0579653743\t0.0879767612\t0.0055042586\t0.0061970000\t42638277\t955859216\t1373700096\t-0.0544325188\t0.0246995371\t-0.2402403504\n1942\t1311867235.2202088833\t0.0507015176\t0.0579616339\t0.0879767612\t0.0055029925\t0.0060430000\t42641149\t955859216\t1373700096\t-0.0555156283\t0.0239454657\t-0.2402136177\n1943\t1311867235.2576260567\t0.0509758331\t0.0579580385\t0.0879767612\t0.0055023356\t0.0060460000\t42644021\t955859216\t1373700096\t-0.0559749566\t0.0240059774\t-0.2399268299\n1944\t1311867235.2899661064\t0.0508206002\t0.0579543670\t0.0879767612\t0.0055025140\t0.0059700000\t42646949\t955859216\t1373700096\t-0.0575749539\t0.0232411269\t-0.2398258895\n1945\t1311867235.3247830868\t0.0506549627\t0.0579506141\t0.0879767612\t0.0055012269\t0.0060650000\t42649933\t955859216\t1373700096\t-0.0577107556\t0.0228144992\t-0.2398344576\n1946\t1311867235.3567800522\t0.0497676097\t0.0579464090\t0.0879767612\t0.0055126499\t0.0141080000\t42652805\t955859216\t1373700096\t-0.0588622764\t0.0227769781\t-0.2395098656\n1947\t1311867235.3886280060\t0.0507433005\t0.0579427094\t0.0879767612\t0.0055229233\t0.0076410000\t42655677\t955859216\t1373700096\t-0.0590482764\t0.0225124955\t-0.2392004430\n1948\t1311867235.4246189594\t0.0504850410\t0.0579388811\t0.0879767612\t0.0055222661\t0.0063710000\t42658661\t955859216\t1373700096\t-0.0601977706\t0.0223735832\t-0.2386746109\n1949\t1311867235.4564850330\t0.0507273376\t0.0579351809\t0.0879767612\t0.0055216408\t0.0060650000\t42661533\t955859216\t1373700096\t-0.0602089278\t0.0228681453\t-0.2378822863\n1950\t1311867235.4897930622\t0.0505380817\t0.0579313876\t0.0879767612\t0.0055216494\t0.0107380000\t42664405\t955859216\t1373700096\t-0.0603863858\t0.0228260104\t-0.2370240241\n1951\t1311867235.5240719318\t0.0508873016\t0.0579277771\t0.0879767612\t0.0055208945\t0.0072250000\t42667333\t955859216\t1373700096\t-0.0614340901\t0.0227353107\t-0.2363249362\n1952\t1311867235.5577290058\t0.0507975370\t0.0579241243\t0.0879767612\t0.0055198440\t0.0061450000\t42670205\t955859216\t1373700096\t-0.0608339906\t0.0232735034\t-0.2354520857\n1953\t1311867235.5880639553\t0.0513342842\t0.0579207501\t0.0879767612\t0.0055185297\t0.0060490000\t42673077\t955859216\t1373700096\t-0.0615335554\t0.0227133371\t-0.2347819507\n1954\t1311867235.6249940395\t0.0517551303\t0.0579175947\t0.0879767612\t0.0055174618\t0.0060260000\t42676117\t955859216\t1373700096\t-0.0619776621\t0.0213508103\t-0.2345408201\n1955\t1311867235.6563270092\t0.0516375341\t0.0579143824\t0.0879767612\t0.0055167902\t0.0060190000\t42678933\t955859216\t1373700096\t-0.0624667518\t0.0218684003\t-0.2341641933\n1956\t1311867235.6885619164\t0.0517686754\t0.0579112404\t0.0879767612\t0.0055155670\t0.0060250000\t42681805\t955859216\t1373700096\t-0.0632410496\t0.0214402154\t-0.2338720262\n1957\t1311867235.7241950035\t0.0516431108\t0.0579080375\t0.0879767612\t0.0055142260\t0.0113300000\t42684789\t955859216\t1373700096\t-0.0641703308\t0.0209394414\t-0.2336661369\n1958\t1311867235.7561719418\t0.0513218530\t0.0579046737\t0.0879767612\t0.0055131379\t0.0073210000\t42687717\t955859216\t1373700096\t-0.0640858561\t0.0210260227\t-0.2331217080\n1959\t1311867235.7903280258\t0.0513975732\t0.0579013521\t0.0879767612\t0.0055123775\t0.0062320000\t42690589\t955859216\t1373700096\t-0.0645983070\t0.0206496175\t-0.2324770987\n1960\t1311867235.8249480724\t0.0514708385\t0.0578980712\t0.0879767612\t0.0055111757\t0.0060700000\t42693517\t955859216\t1373700096\t-0.0650014579\t0.0203587972\t-0.2317387462\n1961\t1311867235.8562169075\t0.0515725315\t0.0578948455\t0.0879767612\t0.0055110574\t0.0061090000\t42696445\t955859216\t1373700096\t-0.0650499612\t0.0210025441\t-0.2306506485\n1962\t1311867235.8881049156\t0.0519814417\t0.0578918316\t0.0879767612\t0.0055097227\t0.0098630000\t42699205\t955859216\t1373700096\t-0.0661529750\t0.0206995774\t-0.2298095524\n1963\t1311867235.9239900112\t0.0522058606\t0.0578889350\t0.0879767612\t0.0055083276\t0.0095530000\t42702245\t955859216\t1373700096\t-0.0664712787\t0.0201059338\t-0.2288917154\n1964\t1311867235.9563760757\t0.0523633659\t0.0578861216\t0.0879767612\t0.0055075924\t0.0070540000\t42705173\t955859216\t1373700096\t-0.0658579096\t0.0204975754\t-0.2282053977\n1965\t1311867235.9890949726\t0.0520003475\t0.0578831263\t0.0879767612\t0.0055069601\t0.0062140000\t42707989\t955859216\t1373700096\t-0.0669337809\t0.0200022850\t-0.2278079391\n1966\t1311867236.0250449181\t0.0519433618\t0.0578801050\t0.0879767612\t0.0055056320\t0.0060830000\t42710973\t955859216\t1373700096\t-0.0674413070\t0.0196867026\t-0.2272824198\n1967\t1311867236.0599400997\t0.0516470037\t0.0578769362\t0.0879767612\t0.0055042455\t0.0105910000\t42713901\t955859216\t1373700096\t-0.0673774481\t0.0197631083\t-0.2265800387\n1968\t1311867236.0884859562\t0.0518463776\t0.0578738719\t0.0879767612\t0.0055029590\t0.0072010000\t42716661\t955859216\t1373700096\t-0.0677937046\t0.0195447002\t-0.2256739289\n1969\t1311867236.1247038841\t0.0517887734\t0.0578707814\t0.0879767612\t0.0055016341\t0.0062510000\t42719701\t955859216\t1373700096\t-0.0678252429\t0.0195632018\t-0.2246622592\n1970\t1311867236.1581289768\t0.0522637554\t0.0578679352\t0.0879767612\t0.0055008580\t0.0060360000\t42722573\t955859216\t1373700096\t-0.0683637112\t0.0196689386\t-0.2234955281\n1971\t1311867236.1901528835\t0.0519402698\t0.0578649278\t0.0879767612\t0.0054996676\t0.0091030000\t42725389\t955859216\t1373700096\t-0.0696414635\t0.0198703408\t-0.2223216891\n1972\t1311867236.2242329121\t0.0514405929\t0.0578616700\t0.0879767612\t0.0054983778\t0.0104650000\t42728317\t955859216\t1373700096\t-0.0695025995\t0.0197800398\t-0.2212198675\n1973\t1311867236.2599489689\t0.0511141270\t0.0578582501\t0.0879767612\t0.0054973239\t0.0073320000\t42731301\t955859216\t1373700096\t-0.0698111206\t0.0199676380\t-0.2199427485\n1974\t1311867236.2890419960\t0.0514426306\t0.0578550000\t0.0879767612\t0.0054960245\t0.0062990000\t42734061\t955859216\t1373700096\t-0.0706190541\t0.0197143517\t-0.2187618762\n1975\t1311867236.3262441158\t0.0518795177\t0.0578519745\t0.0879767612\t0.0054950048\t0.0061170000\t42737101\t955859216\t1373700096\t-0.0710480958\t0.0195100065\t-0.2173116654\n1976\t1311867236.3568809032\t0.0519295521\t0.0578489773\t0.0879767612\t0.0054939852\t0.0061100000\t42739973\t955859216\t1373700096\t-0.0709254071\t0.0188856740\t-0.2161132395\n1977\t1311867236.3897418976\t0.0518375300\t0.0578459366\t0.0879767612\t0.0054926450\t0.0097780000\t42742845\t955859216\t1373700096\t-0.0717045441\t0.0187020339\t-0.2149600387\n1978\t1311867236.4243390560\t0.0510593876\t0.0578425056\t0.0879767612\t0.0054937923\t0.0070400000\t42745773\t955859216\t1373700096\t-0.0715826675\t0.0185513888\t-0.2134840190\n1979\t1311867236.4566040039\t0.0509406403\t0.0578390180\t0.0879767612\t0.0054927419\t0.0104450000\t42748701\t955859216\t1373700096\t-0.0717534870\t0.0186720304\t-0.2120784670\n1980\t1311867236.4936130047\t0.0516032502\t0.0578358686\t0.0879767612\t0.0054968214\t0.0099800000\t42751685\t955859216\t1373700096\t-0.0723951757\t0.0182931609\t-0.2106389701\n1981\t1311867236.5246999264\t0.0516135320\t0.0578327276\t0.0879767612\t0.0054955582\t0.0096770000\t42754557\t955859216\t1373700096\t-0.0728826970\t0.0185598843\t-0.2090059966\n1982\t1311867236.5602099895\t0.0511450134\t0.0578293534\t0.0879767612\t0.0054959859\t0.0070600000\t42757541\t955859216\t1373700096\t-0.0727754682\t0.0186007898\t-0.2073838562\n1983\t1311867236.5972909927\t0.0510822684\t0.0578259509\t0.0879767612\t0.0054948868\t0.0062000000\t42760525\t955859216\t1373700096\t-0.0724634081\t0.0180548225\t-0.2057282925\n1984\t1311867236.6246581078\t0.0513170063\t0.0578226702\t0.0879767612\t0.0054935365\t0.0061110000\t42763229\t955859216\t1373700096\t-0.0729348958\t0.0179769546\t-0.2038991898\n1985\t1311867236.6600480080\t0.0511426069\t0.0578193050\t0.0879767612\t0.0054922878\t0.0060770000\t42766213\t955859216\t1373700096\t-0.0725236908\t0.0182229057\t-0.2016848028\n1986\t1311867236.6956660748\t0.0509244464\t0.0578158332\t0.0879767612\t0.0054917208\t0.0062390000\t42769197\t955859216\t1373700096\t-0.0723633766\t0.0182471666\t-0.1995601356\n1987\t1311867236.7276370525\t0.0509310998\t0.0578123683\t0.0879767612\t0.0054905903\t0.0125340000\t42772013\t955859216\t1373700096\t-0.0718573928\t0.0181765351\t-0.1973374784\n1988\t1311867236.7619268894\t0.0508778580\t0.0578088801\t0.0879767612\t0.0054901434\t0.0075470000\t42774941\t955859216\t1373700096\t-0.0715425909\t0.0177933704\t-0.1952461153\n1989\t1311867236.7923469543\t0.0515865348\t0.0578057518\t0.0879767612\t0.0054911868\t0.0064260000\t42777757\t955859216\t1373700096\t-0.0720682889\t0.0176065266\t-0.1931709349\n1990\t1311867236.8255391121\t0.0513089970\t0.0578024871\t0.0879767612\t0.0054904652\t0.0061010000\t42780741\t955859216\t1373700096\t-0.0724706724\t0.0173485223\t-0.1913500875\n1991\t1311867236.8583440781\t0.0515985861\t0.0577993711\t0.0879767612\t0.0054900553\t0.0104940000\t42783557\t955859216\t1373700096\t-0.0725526512\t0.0170892626\t-0.1892967671\n1992\t1311867236.8928480148\t0.0514515974\t0.0577961845\t0.0879767612\t0.0054899799\t0.0073920000\t42786485\t955859216\t1373700096\t-0.0723629072\t0.0168821923\t-0.1873040944\n1993\t1311867236.9255330563\t0.0512980111\t0.0577929240\t0.0879767612\t0.0054887538\t0.0107550000\t42789357\t955859216\t1373700096\t-0.0720576942\t0.0165144224\t-0.1853784472\n1994\t1311867236.9581959248\t0.0514950491\t0.0577897656\t0.0879767612\t0.0054876225\t0.0073490000\t42792229\t955859216\t1373700096\t-0.0723477304\t0.0167414155\t-0.1830888093\n1995\t1311867236.9937291145\t0.0510490090\t0.0577863867\t0.0879767612\t0.0054896284\t0.0062960000\t42795213\t955859216\t1373700096\t-0.0718752742\t0.0172199085\t-0.1808201671\n1996\t1311867237.0244200230\t0.0511834249\t0.0577830786\t0.0879767612\t0.0054891212\t0.0105830000\t42798029\t955859216\t1373700096\t-0.0724849924\t0.0165862925\t-0.1787901074\n1997\t1311867237.0603060722\t0.0503934808\t0.0577793783\t0.0879767612\t0.0054924878\t0.0073330000\t42801013\t955859216\t1373700096\t-0.0728919581\t0.0169697218\t-0.1767811328\n1998\t1311867237.0927588940\t0.0509598330\t0.0577759651\t0.0879767612\t0.0055056632\t0.0070490000\t42803941\t955859216\t1373700096\t-0.0718605965\t0.0178140346\t-0.1745836139\n1999\t1311867237.1276650429\t0.0510355085\t0.0577725932\t0.0879767612\t0.0055057796\t0.0063960000\t42806869\t955859216\t1373700096\t-0.0715862513\t0.0167963691\t-0.1728427261\n2000\t1311867237.1566579342\t0.0509872884\t0.0577692005\t0.0879767612\t0.0055051793\t0.0062810000\t42809629\t955859216\t1373700096\t-0.0726274103\t0.0166309811\t-0.1711579412\n2001\t1311867237.1925950050\t0.0508737713\t0.0577657545\t0.0879767612\t0.0055042722\t0.0061840000\t42812613\t955859216\t1373700096\t-0.0718398988\t0.0170453358\t-0.1692813188\n2002\t1311867237.2254281044\t0.0519106686\t0.0577628299\t0.0879767612\t0.0055031992\t0.0115910000\t42815541\t955859216\t1373700096\t-0.0734440312\t0.0156623106\t-0.1677937508\n2003\t1311867237.2569580078\t0.0513814241\t0.0577596440\t0.0879767612\t0.0055031300\t0.0076780000\t42818413\t955859216\t1373700096\t-0.0737358108\t0.0152578494\t-0.1663759798\n2004\t1311867237.2944281101\t0.0510229431\t0.0577562824\t0.0879767612\t0.0055017979\t0.0097910000\t42821397\t955859216\t1373700096\t-0.0741083547\t0.0160999708\t-0.1648511887\n2005\t1311867237.3250501156\t0.0512848198\t0.0577530547\t0.0879767612\t0.0055005689\t0.0071180000\t42824269\t955859216\t1373700096\t-0.0749066323\t0.0158850309\t-0.1632806808\n2006\t1311867237.3565309048\t0.0519043505\t0.0577501391\t0.0879767612\t0.0055008869\t0.0062520000\t42827141\t955859216\t1373700096\t-0.0753429234\t0.0154381543\t-0.1616576016\n2007\t1311867237.3934979439\t0.0509389490\t0.0577467454\t0.0879767612\t0.0055005013\t0.0097670000\t42830069\t955859216\t1373700096\t-0.0747391954\t0.0160805080\t-0.1598195583\n2008\t1311867237.4248709679\t0.0511317402\t0.0577434511\t0.0879767612\t0.0054992923\t0.0070640000\t42832997\t955859216\t1373700096\t-0.0751694366\t0.0152745852\t-0.1581241041\n2009\t1311867237.4579510689\t0.0512300394\t0.0577402089\t0.0879767612\t0.0054979731\t0.0064100000\t42835869\t955859216\t1373700096\t-0.0755167976\t0.0147381797\t-0.1563809365\n2010\t1311867237.4933559895\t0.0509734787\t0.0577368424\t0.0879767612\t0.0054974544\t0.0062510000\t42838853\t955859216\t1373700096\t-0.0759724081\t0.0151900938\t-0.1545147002\n2011\t1311867237.5253219604\t0.0508961715\t0.0577334408\t0.0879767612\t0.0054984964\t0.0062850000\t42841725\t955859216\t1373700096\t-0.0757938623\t0.0139557384\t-0.1525281668\n2012\t1311867237.5581231117\t0.0513890721\t0.0577302875\t0.0879767612\t0.0054974181\t0.0097770000\t42844653\t955859216\t1373700096\t-0.0758614689\t0.0131984847\t-0.1506106853\n2013\t1311867237.5925350189\t0.0514663495\t0.0577271758\t0.0879767612\t0.0054987988\t0.0070290000\t42847525\t955859216\t1373700096\t-0.0764734074\t0.0138559965\t-0.1484792382\n2014\t1311867237.6261129379\t0.0514685400\t0.0577240682\t0.0879767612\t0.0054977170\t0.0062310000\t42850509\t955859216\t1373700096\t-0.0766679272\t0.0131327091\t-0.1465915889\n2015\t1311867237.6569290161\t0.0515340716\t0.0577209962\t0.0879767612\t0.0054967905\t0.0110230000\t42853325\t955859216\t1373700096\t-0.0769083276\t0.0124899773\t-0.1445990354\n2016\t1311867237.6925010681\t0.0513346456\t0.0577178284\t0.0879767612\t0.0054954543\t0.0074630000\t42856253\t955859216\t1373700096\t-0.0768385604\t0.0124557801\t-0.1426222175\n2017\t1311867237.7243609428\t0.0518133864\t0.0577149011\t0.0879767612\t0.0054941095\t0.0064650000\t42859125\t955859216\t1373700096\t-0.0770620778\t0.0121909929\t-0.1404544264\n2018\t1311867237.7617940903\t0.0518950596\t0.0577120171\t0.0879767612\t0.0054928305\t0.0063530000\t42862221\t955859216\t1373700096\t-0.0777187943\t0.0112648085\t-0.1382527947\n2019\t1311867237.7926809788\t0.0516771078\t0.0577090281\t0.0879767612\t0.0054917416\t0.0110000000\t42864981\t955859216\t1373700096\t-0.0778541341\t0.0116221188\t-0.1358587742\n2020\t1311867237.8255820274\t0.0516168587\t0.0577060121\t0.0879767612\t0.0054907631\t0.0073800000\t42867909\t955859216\t1373700096\t-0.0776337385\t0.0118068019\t-0.1335704178\n2021\t1311867237.8612699509\t0.0515232161\t0.0577029529\t0.0879767612\t0.0054898388\t0.0108210000\t42870949\t955859216\t1373700096\t-0.0773701072\t0.0115471194\t-0.1313293427\n2022\t1311867237.8926060200\t0.0511977561\t0.0576997356\t0.0879767612\t0.0054891551\t0.0073270000\t42873765\t955859216\t1373700096\t-0.0770608336\t0.0121815139\t-0.1288264841\n2023\t1311867237.9253590107\t0.0516851321\t0.0576967625\t0.0879767612\t0.0054885532\t0.0107900000\t42876581\t955859216\t1373700096\t-0.0770074800\t0.0119632427\t-0.1265607178\n2024\t1311867237.9613509178\t0.0518027954\t0.0576938505\t0.0879767612\t0.0054878953\t0.0100510000\t42879565\t955859216\t1373700096\t-0.0774009526\t0.0111304736\t-0.1243561730\n2025\t1311867237.9928910732\t0.0520637520\t0.0576910702\t0.0879767612\t0.0054867787\t0.0071510000\t42882437\t955859216\t1373700096\t-0.0768719539\t0.0110638589\t-0.1221888438\n2026\t1311867238.0245919228\t0.0521487333\t0.0576883346\t0.0879767612\t0.0054859931\t0.0062920000\t42885253\t955859216\t1373700096\t-0.0763346627\t0.0117590800\t-0.1198465973\n2027\t1311867238.0607950687\t0.0523168594\t0.0576856846\t0.0879767612\t0.0054852262\t0.0069330000\t42888237\t955859216\t1373700096\t-0.0764881074\t0.0110423472\t-0.1177804172\n2028\t1311867238.0932629108\t0.0521135628\t0.0576829370\t0.0879767612\t0.0054842870\t0.0107810000\t42891109\t955859216\t1373700096\t-0.0763479546\t0.0094250478\t-0.1158898324\n2029\t1311867238.1251931190\t0.0524827912\t0.0576803741\t0.0879767612\t0.0054840206\t0.0099960000\t42893981\t955859216\t1373700096\t-0.0761838183\t0.0102311820\t-0.1135567650\n2030\t1311867238.1608469486\t0.0524478815\t0.0576777965\t0.0879767612\t0.0054902588\t0.0072350000\t42896965\t955859216\t1373700096\t-0.0755202994\t0.0108106807\t-0.1110839397\n2031\t1311867238.1928510666\t0.0522908419\t0.0576751442\t0.0879767612\t0.0054959099\t0.0063550000\t42899837\t955859216\t1373700096\t-0.0758123621\t0.0098363012\t-0.1088907346\n2032\t1311867238.2246770859\t0.0521554016\t0.0576724278\t0.0879767612\t0.0054948634\t0.0062860000\t42902709\t955859216\t1373700096\t-0.0748255551\t0.0104653928\t-0.1065978184\n2033\t1311867238.2605938911\t0.0520672090\t0.0576696707\t0.0879767612\t0.0054946305\t0.0109090000\t42905693\t955859216\t1373700096\t-0.0735248253\t0.0104689077\t-0.1041976064\n2034\t1311867238.2926790714\t0.0521421209\t0.0576669531\t0.0879767612\t0.0054982701\t0.0100470000\t42908509\t955859216\t1373700096\t-0.0735964701\t0.0087837474\t-0.1019993648\n2035\t1311867238.3257811069\t0.0519783795\t0.0576641577\t0.0879767612\t0.0055072001\t0.0071710000\t42911493\t955859216\t1373700096\t-0.0731485710\t0.0089018531\t-0.0996159539\n2036\t1311867238.3604390621\t0.0522584803\t0.0576615027\t0.0879767612\t0.0055070410\t0.0064120000\t42914421\t955859216\t1373700096\t-0.0725692809\t0.0085957525\t-0.0972785726\n2037\t1311867238.3936378956\t0.0520180166\t0.0576587322\t0.0879767612\t0.0055084223\t0.0062930000\t42917349\t955859216\t1373700096\t-0.0721553490\t0.0073761558\t-0.0950139761\n2038\t1311867238.4264049530\t0.0520129018\t0.0576559619\t0.0879767612\t0.0055117535\t0.0062820000\t42920221\t955859216\t1373700096\t-0.0716984197\t0.0064086015\t-0.0927718952\n2039\t1311867238.4616210461\t0.0518026724\t0.0576530912\t0.0879767612\t0.0055106139\t0.0062660000\t42923205\t955859216\t1373700096\t-0.0716477260\t0.0065207379\t-0.0903787836\n2040\t1311867238.4932549000\t0.0518061444\t0.0576502251\t0.0879767612\t0.0055150585\t0.0062520000\t42925965\t955859216\t1373700096\t-0.0716081113\t0.0053947768\t-0.0882223397\n2041\t1311867238.5248661041\t0.0520950407\t0.0576475033\t0.0879767612\t0.0055147320\t0.0062570000\t42928893\t955859216\t1373700096\t-0.0711115152\t0.0043476406\t-0.0859851018\n2042\t1311867238.5605928898\t0.0515534617\t0.0576445189\t0.0879767612\t0.0055202810\t0.0063070000\t42931877\t955859216\t1373700096\t-0.0699142069\t0.0042568035\t-0.0833492354\n2043\t1311867238.5929119587\t0.0518089719\t0.0576416626\t0.0879767612\t0.0055253458\t0.0100870000\t42934693\t955859216\t1373700096\t-0.0702663064\t0.0029942477\t-0.0808930248\n2044\t1311867238.6249868870\t0.0518262424\t0.0576388174\t0.0879767612\t0.0055241484\t0.0071350000\t42937621\t955859216\t1373700096\t-0.0696440861\t0.0019174926\t-0.0782880783\n2045\t1311867238.6608479023\t0.0517921261\t0.0576359584\t0.0879767612\t0.0055229553\t0.0062880000\t42940605\t955859216\t1373700096\t-0.0686812177\t0.0018559947\t-0.0753382966\n2046\t1311867238.6929359436\t0.0512871221\t0.0576328554\t0.0879767612\t0.0055221927\t0.0062220000\t42943477\t955859216\t1373700096\t-0.0677010715\t0.0013139767\t-0.0724663362\n2047\t1311867238.7246360779\t0.0519746915\t0.0576300913\t0.0879767612\t0.0055229501\t0.00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}, { "path": "icra2018_results/1080/violons_libkfusion-cpp_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:37:09\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cpp_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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}, { "path": "icra2018_results/1080/violons_libkfusion-cpp_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:51:51\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cpp_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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}, { "path": "icra2018_results/1080/violons_libkfusion-cpp_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 11:02:35\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cpp_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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10000\t115640539\t0\t402718720\t3.4260826111\t4.1547574997\t5.1718707085\n" }, { "path": "icra2018_results/1080/violons_libkfusion-cpp_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 11:12:25\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cpp_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000002920\t0.0000002920\t0.0000002920\t-nan\t0.9156550000\t0.1737840000\t0.0281210000\t0.0739490000\t0.0000030000\t0.6396980000\t106139198\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n2\t0.0400000000\t0.0040127714\t0.0020065317\t0.0040127714\t0.0032323198\t0.2777470000\t0.1732370000\t0.0260730000\t0.0739220000\t0.0000010000\t0.0044820000\t113224451\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n3\t0.0800000000\t0.0039232424\t0.0026454353\t0.0040127714\t0.0045263772\t0.2775290000\t0.1731680000\t0.0260580000\t0.0737850000\t0.0000000000\t0.0044820000\t113227619\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n4\t0.1200000000\t0.0033563883\t0.0028231735\t0.0040127714\t0.0050261389\t0.9143100000\t0.1938330000\t0.0262140000\t0.0739080000\t0.6158350000\t0.0044820000\t113230795\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n5\t0.1600000000\t0.0020580813\t0.0026701551\t0.0040127714\t0.0052619329\t1.6246180000\t0.1726770000\t0.1304240000\t0.0738430000\t0.6144820000\t0.6331550000\t113233955\t0\t402718720\t4.0005683899\t4.0062360764\t4.0028858185\n6\t0.2000000000\t0.0022257259\t0.0025960836\t0.0040127714\t0.0049518983\t0.5680650000\t0.1003500000\t0.0647050000\t0.0000010000\t0.4010560000\t0.0019150000\t113237531\t0\t402718720\t4.0035071373\t3.9963686466\t4.0019783974\n7\t0.2400000000\t0.0022985912\t0.0025535847\t0.0040127714\t0.0047230099\t0.5964650000\t0.1010380000\t0.0574770000\t0.0343360000\t0.4016570000\t0.0019170000\t113240307\t0\t402718720\t4.0037336349\t3.9863734245\t3.9988579750\n8\t0.2800000000\t0.0024033717\t0.0025348080\t0.0040127714\t0.0043795128\t0.5784360000\t0.1156850000\t0.0574900000\t0.0000010000\t0.4032940000\t0.0019190000\t113243083\t0\t402718720\t4.0014562607\t3.9884219170\t3.9979789257\n9\t0.3200000000\t0.0023827848\t0.0025179166\t0.0040127714\t0.0050603412\t0.9984880000\t0.1010900000\t0.0603440000\t0.0343570000\t0.3970960000\t0.4055550000\t113246627\t0\t402718720\t4.0003557205\t3.9923224449\t4.0009708405\n10\t0.3600000000\t0.0024723008\t0.0025133550\t0.0040127714\t0.0047860726\t0.5809420000\t0.1202450000\t0.0576930000\t0.0000000000\t0.4010370000\t0.0019170000\t113251003\t0\t402718720\t3.9983146191\t3.9848935604\t3.9990823269\n11\t0.4000000000\t0.0026046433\t0.0025216539\t0.0040127714\t0.0045841143\t0.6246090000\t0.1010480000\t0.0878080000\t0.0343920000\t0.3993960000\t0.0019160000\t113253779\t0\t402718720\t3.9983012676\t3.9888913631\t3.9978275299\n12\t0.4400000000\t0.0026440211\t0.0025318512\t0.0040127714\t0.0046244994\t0.5612500000\t0.1004990000\t0.0579430000\t0.0000010000\t0.4008460000\t0.0019130000\t113256555\t0\t402718720\t3.9992923737\t3.9987778664\t4.0008053780\n13\t0.4800000000\t0.0025809682\t0.0025356294\t0.0040127714\t0.0044315971\t1.0116320000\t0.1111100000\t0.0603630000\t0.0343550000\t0.3997590000\t0.4059920000\t113259331\t0\t402718720\t4.0013046265\t3.9965155125\t4.0008144379\n14\t0.5200000000\t0.0027121380\t0.0025482372\t0.0040127714\t0.0043591954\t0.5710140000\t0.1007060000\t0.0671700000\t0.0000000000\t0.4011730000\t0.0019120000\t113262107\t0\t402718720\t4.0040993690\t3.9890573025\t3.9980893135\n15\t0.5600000000\t0.0027319994\t0.0025604880\t0.0040127714\t0.0042933368\t0.6228610000\t0.1003890000\t0.0878360000\t0.0343960000\t0.3981440000\t0.0020240000\t113264883\t0\t402718720\t4.0069050789\t3.9907155037\t3.9979007244\n16\t0.6000000000\t0.0027423620\t0.0025718551\t0.0040127714\t0.0041517551\t0.5600340000\t0.1004090000\t0.0577520000\t0.0000010000\t0.3999020000\t0.0019180000\t113267659\t0\t402718720\t4.0079178810\t3.9920563698\t3.9981825352\n17\t0.6400000000\t0.0027839276\t0.0025843300\t0.0040127714\t0.0040370770\t1.0128990000\t0.1121040000\t0.0602740000\t0.0343720000\t0.3982410000\t0.4078480000\t113271971\t0\t402718720\t4.0076699257\t3.9883072376\t3.9963228703\n18\t0.6800000000\t0.0028498853\t0.0025990830\t0.0040127714\t0.0039179105\t0.5694580000\t0.1009410000\t0.0646850000\t0.0000010000\t0.4018590000\t0.0019150000\t113277947\t0\t402718720\t4.0069394112\t3.9893963337\t3.9949455261\n19\t0.7200000000\t0.0028617827\t0.0026129093\t0.0040127714\t0.0039443988\t0.6060790000\t0.1006800000\t0.0681320000\t0.0343850000\t0.4009020000\t0.0019210000\t113280723\t0\t402718720\t4.0073871613\t3.9935777187\t3.9951608181\n20\t0.7600000000\t0.0029027741\t0.0026274026\t0.0040127714\t0.0042036664\t0.5627310000\t0.1009440000\t0.0577500000\t0.0000010000\t0.4020680000\t0.0019110000\t113283499\t0\t402718720\t4.0069408417\t3.9922833443\t3.9925367832\n21\t0.8000000000\t0.0029292013\t0.0026417740\t0.0040127714\t0.0043504855\t1.0012310000\t0.1006660000\t0.0578140000\t0.0343700000\t0.4009180000\t0.4074050000\t113286275\t0\t402718720\t4.0093941689\t3.9955034256\t3.9927725792\n22\t0.8400000000\t0.0029451062\t0.0026555618\t0.0040127714\t0.0042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}, { "path": "icra2018_results/1080/violons_libkfusion-cpp_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 11:24:52\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cpp_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287840366\t0.0606188253\t0.0606188253\t0.0606188253\t-nan\t0.7549850000\t0.1198240000\t0.0216900000\t0.0612900000\t0.0000020000\t0.5519660000\t106585814\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1305031229.5644419193\t0.0642096773\t0.0624142513\t0.0642096773\t0.1658525169\t0.2058420000\t0.1212380000\t0.0197630000\t0.0612150000\t0.0000000000\t0.0035690000\t114065147\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1305031229.5966169834\t0.0662607327\t0.0636964117\t0.0662607327\t0.1252029927\t0.2165350000\t0.1315220000\t0.0195430000\t0.0618620000\t0.0000010000\t0.0035490000\t114069211\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1305031229.6287899017\t0.0688454211\t0.0649836641\t0.0688454211\t0.1129913759\t0.7496720000\t0.1401780000\t0.0199670000\t0.0612500000\t0.5245260000\t0.0036790000\t114073227\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1305031229.6646571159\t0.0659985021\t0.0651866317\t0.0688454211\t0.1146822455\t1.3221540000\t0.1226650000\t0.1624140000\t0.0624320000\t0.4775560000\t0.4970230000\t114077339\t0\t402718720\t3.9731428623\t4.0052924156\t4.0138831139\n6\t1305031229.6968429089\t0.0563633256\t0.0637160807\t0.0688454211\t0.1026612804\t0.4846420000\t0.0744060000\t0.0798780000\t0.0000000000\t0.3285560000\t0.0017400000\t114081867\t0\t402718720\t3.9885785580\t3.9999742508\t4.0209751129\n7\t1305031229.7290771008\t0.0504621193\t0.0618226576\t0.0688454211\t0.0944322097\t0.4776670000\t0.0747200000\t0.0805500000\t0.0305580000\t0.2900240000\t0.0017530000\t114085483\t0\t402718720\t3.9916830063\t4.0025734901\t4.0272126198\n8\t1305031229.7648689747\t0.0483604819\t0.0601398856\t0.0688454211\t0.0875845650\t0.4243740000\t0.0755630000\t0.0484050000\t0.0000000000\t0.2985910000\t0.0017520000\t114089267\t0\t402718720\t3.9982976913\t3.9969143867\t4.0331096649\n9\t1305031229.7969229221\t0.0485941134\t0.0588570221\t0.0688454211\t0.0820243503\t0.7288580000\t0.1173810000\t0.0481980000\t0.0307710000\t0.2590420000\t0.2733890000\t114093707\t0\t402718720\t3.9983580112\t3.9944632053\t4.0363550186\n10\t1305031229.8256299496\t0.0431735180\t0.0572886717\t0.0688454211\t0.0773873784\t0.4212780000\t0.0950080000\t0.0532160000\t0.0000010000\t0.2711200000\t0.0018520000\t114098867\t0\t402718720\t4.0013957024\t3.9980599880\t4.0419950485\n11\t1305031229.8630619049\t0.0423474684\t0.0559303805\t0.0688454211\t0.0737733488\t0.4326570000\t0.0786680000\t0.0840490000\t0.0308680000\t0.2372300000\t0.0017720000\t114102763\t0\t402718720\t4.0051603317\t3.9987072945\t4.0450425148\n12\t1305031229.8969380856\t0.0430173129\t0.0548542915\t0.0688454211\t0.0708072783\t0.3899320000\t0.0780610000\t0.0596570000\t0.0000000000\t0.2503640000\t0.0017760000\t114106435\t0\t402718720\t4.0110363960\t4.0005564690\t4.0481514931\n13\t1305031229.9262549877\t0.0434668511\t0.0539783345\t0.0688454211\t0.0678480058\t0.6699250000\t0.0799720000\t0.0871640000\t0.0314180000\t0.2262840000\t0.2450110000\t114110051\t0\t402718720\t4.0163755417\t4.0022850037\t4.0533413887\n14\t1305031229.9662408829\t0.0455426462\t0.0533757854\t0.0688454211\t0.0652222451\t0.4077710000\t0.0780870000\t0.0782430000\t0.0000000000\t0.2495930000\t0.0017720000\t114113947\t0\t402718720\t4.0200061798\t4.0031862259\t4.0585093498\n15\t1305031229.9979310036\t0.0476508923\t0.0529941258\t0.0688454211\t0.0632082101\t0.3758650000\t0.0795960000\t0.0452210000\t0.0316790000\t0.2175260000\t0.0017670000\t114117563\t0\t402718720\t4.0225749016\t4.0032062531\t4.0627470016\n16\t1305031230.0300021172\t0.0504597872\t0.0528357297\t0.0688454211\t0.0611115681\t0.4007980000\t0.0786760000\t0.0860000000\t0.0000010000\t0.2342880000\t0.0017540000\t114121235\t0\t402718720\t4.0251259804\t4.0037541389\t4.0669641495\n17\t1305031230.0656960011\t0.0551584736\t0.0529723617\t0.0688454211\t0.0592800693\t0.6242720000\t0.0911790000\t0.0565920000\t0.0318360000\t0.2132910000\t0.2312900000\t114126555\t0\t402718720\t4.0274100304\t4.0023450851\t4.0702166557\n18\t1305031230.0982739925\t0.0570044406\t0.0531963660\t0.0688454211\t0.0575957224\t0.3658990000\t0.0786340000\t0.0615840000\t0.0000010000\t0.2237360000\t0.0018530000\t114133427\t0\t402718720\t4.0272107124\t4.0021748543\t4.0725789070\n19\t1305031230.1299350262\t0.0595816225\t0.0535324322\t0.0688454211\t0.0559920050\t0.4023100000\t0.0783220000\t0.0821320000\t0.0319880000\t0.2079240000\t0.0018500000\t114137099\t0\t402718720\t4.0281023979\t4.0029788017\t4.0757107735\n20\t1305031230.1657800674\t0.0632345825\t0.0540175397\t0.0688454211\t0.0545691395\t0.3724670000\t0.0923470000\t0.0587040000\t0.0000010000\t0.2195200000\t0.0018090000\t114140883\t0\t402718720\t4.0281786919\t4.0023169518\t4.0780658722\n21\t1305031230.1977820396\t0.0653965548\t0.0545593976\t0.0688454211\t0.0532405522\t0.6327140000\t0.0795040000\t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}, { "path": "icra2018_results/1080/violons_libkfusion-cpp_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 11:30:52\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cpp_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253987648\t0.0253987648\t0.0253987648\t-nan\t0.7965740000\t0.1260610000\t0.0222550000\t0.0619560000\t0.0000020000\t0.5859710000\t106610750\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1305031102.2112140656\t0.0277590584\t0.0265789116\t0.0277590584\t0.0329535045\t0.2130840000\t0.1262950000\t0.0202650000\t0.0626960000\t0.0000000000\t0.0037700000\t114090227\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1305031102.2432110310\t0.0337214470\t0.0289597567\t0.0337214470\t0.0304149093\t0.2154390000\t0.1276420000\t0.0212350000\t0.0625820000\t0.0000000000\t0.0039160000\t114094291\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1305031102.2753260136\t0.0413634107\t0.0320606702\t0.0413634107\t0.0283056841\t0.7000910000\t0.1271740000\t0.0203610000\t0.0617970000\t0.4869540000\t0.0037440000\t114098363\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1305031102.3112668991\t0.0195332766\t0.0295551915\t0.0413634107\t0.0301329753\t1.2286290000\t0.1276840000\t0.1064020000\t0.0614070000\t0.4583750000\t0.4746980000\t114102531\t0\t402718720\t3.9956066608\t3.9985215664\t4.0339016914\n6\t1305031102.3432331085\t0.0165448003\t0.0273867929\t0.0413634107\t0.0279478731\t0.4477420000\t0.0744640000\t0.0741980000\t0.0000010000\t0.2971540000\t0.0018530000\t114107003\t0\t402718720\t3.9933164120\t3.9975044727\t4.0460615158\n7\t1305031102.3753290176\t0.0143036284\t0.0255177694\t0.0413634107\t0.0256299680\t0.4464960000\t0.0740860000\t0.0595880000\t0.0302830000\t0.2807220000\t0.0017510000\t114110619\t0\t402718720\t3.9915566444\t3.9987485409\t4.0578479767\n8\t1305031102.4112579823\t0.0161067452\t0.0243413914\t0.0413634107\t0.0248946716\t0.3914280000\t0.0736580000\t0.0423330000\t0.0000010000\t0.2736240000\t0.0017460000\t114114459\t0\t402718720\t3.9903655052\t4.0006780624\t4.0697340965\n9\t1305031102.4432709217\t0.0140145542\t0.0231939650\t0.0413634107\t0.0252534511\t0.7007440000\t0.0974210000\t0.0496890000\t0.0297470000\t0.2560050000\t0.2677990000\t114118899\t0\t402718720\t3.9873249531\t4.0034270287\t4.0821075439\n10\t1305031102.4753179550\t0.0116283912\t0.0220374077\t0.0413634107\t0.0240293084\t0.4263950000\t0.0961160000\t0.0671040000\t0.0000000000\t0.2607200000\t0.0023760000\t114124115\t0\t402718720\t3.9876616001\t4.0076684952\t4.0952634811\n11\t1305031102.5112190247\t0.0164479204\t0.0215292725\t0.0413634107\t0.0234064148\t0.4466910000\t0.0964370000\t0.0756840000\t0.0361120000\t0.2366250000\t0.0017610000\t114127899\t0\t402718720\t3.9873962402\t4.0066900253\t4.1077766418\n12\t1305031102.5432200432\t0.0179824233\t0.0212337017\t0.0413634107\t0.0223184470\t0.3631000000\t0.0762460000\t0.0599120000\t0.0000000000\t0.2250040000\t0.0018530000\t114131627\t0\t402718720\t3.9864506721\t4.0065860748\t4.1198139191\n13\t1305031102.5752859116\t0.0202759616\t0.0211600294\t0.0413634107\t0.0221564451\t0.6267900000\t0.0760740000\t0.0888610000\t0.0299480000\t0.2128170000\t0.2190140000\t114135243\t0\t402718720\t3.9834635258\t4.0057702065\t4.1314334869\n14\t1305031102.6112329960\t0.0283787381\t0.0216756514\t0.0413634107\t0.0226241234\t0.3705770000\t0.1060050000\t0.0572260000\t0.0000000000\t0.2055180000\t0.0017430000\t114139027\t0\t402718720\t3.9843080044\t4.0026230812\t4.1423969269\n15\t1305031102.6432650089\t0.0308783725\t0.0222891662\t0.0413634107\t0.0225262051\t0.3851690000\t0.0747700000\t0.0848130000\t0.0291700000\t0.1946340000\t0.0017040000\t114142699\t0\t402718720\t3.9798226357\t4.0030684471\t4.1535353661\n16\t1305031102.6752851009\t0.0282430165\t0.0226612818\t0.0413634107\t0.0223398661\t0.3188460000\t0.0754600000\t0.0501790000\t0.0000010000\t0.1914120000\t0.0017130000\t114146371\t0\t402718720\t3.9764246941\t4.0097103119\t4.1653318405\n17\t1305031102.7112629414\t0.0316452645\t0.0231897514\t0.0413634107\t0.0218825356\t0.5730400000\t0.0756570000\t0.0908720000\t0.0297330000\t0.1852630000\t0.1914140000\t114151691\t0\t402718720\t3.9767246246\t4.0127506256\t4.1776738167\n18\t1305031102.7432339191\t0.0347411111\t0.0238314936\t0.0413634107\t0.0213005051\t0.3489010000\t0.0755550000\t0.0849030000\t0.0000010000\t0.1860170000\t0.0023350000\t114158619\t0\t402718720\t3.9764032364\t4.0140333176\t4.1903018951\n19\t1305031102.7754719257\t0.0331617072\t0.0243225575\t0.0413634107\t0.0211256508\t0.4047280000\t0.0986880000\t0.0780230000\t0.0354200000\t0.1901380000\t0.0023660000\t114162235\t0\t402718720\t3.9770960808\t4.0198845863\t4.2032308578\n20\t1305031102.8112320900\t0.0379274115\t0.0250028002\t0.0413634107\t0.0206128080\t0.3543380000\t0.0988870000\t0.0685810000\t0.0000000000\t0.1844120000\t0.0023610000\t114166019\t0\t402718720\t3.9762568474\t4.0221443176\t4.2156372070\n21\t1305031102.8432900906\t0.0389956944\t0.0256691285\t0.0413634107\t0.0201184745\t0.5461030000\t0.0928890000\t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}, { "path": "icra2018_results/1080/violons_libkfusion-cpp_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 11:36:38\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cpp_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6419320107\t0.0019025257\t0.0019025257\t0.0019025257\t-nan\t0.8445930000\t0.1666560000\t0.0218210000\t0.0623100000\t0.0000020000\t0.5899660000\t115298278\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1311867718.6768438816\t0.0021839470\t0.0020432363\t0.0021839470\t0.0015734395\t0.2143060000\t0.1263560000\t0.0205900000\t0.0629400000\t0.0000000000\t0.0037170000\t134574179\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1311867718.7114279270\t0.0026191149\t0.0022351959\t0.0026191149\t0.0052681691\t0.2145570000\t0.1272640000\t0.0199150000\t0.0630460000\t0.0000010000\t0.0035440000\t134578299\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1311867718.7410299778\t0.0032201277\t0.0024814288\t0.0032201277\t0.0047920539\t0.7627300000\t0.1277160000\t0.0199840000\t0.0623330000\t0.5485120000\t0.0036080000\t134582259\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1311867718.7767970562\t0.0102639766\t0.0040379384\t0.0102639766\t0.0093924360\t1.4589390000\t0.1268600000\t0.1791110000\t0.0623790000\t0.5378940000\t0.5521310000\t134586427\t0\t402718720\t3.9892039299\t3.9964058399\t4.0032458305\n6\t1311867718.8094089031\t0.0111242970\t0.0052189982\t0.0111242970\t0.0088675249\t0.5158650000\t0.0738290000\t0.0827450000\t0.0000010000\t0.3569820000\t0.0017360000\t134590899\t0\t402718720\t3.9877562523\t3.9977481365\t4.0040669441\n7\t1311867718.8408079147\t0.0115086315\t0.0061175172\t0.0115086315\t0.0081085557\t0.5459220000\t0.0744050000\t0.0834270000\t0.0307330000\t0.3550430000\t0.0017400000\t134594515\t0\t402718720\t3.9869382381\t3.9982514381\t4.0042519569\n8\t1311867718.8767778873\t0.0151464147\t0.0072461294\t0.0151464147\t0.0077096137\t0.4882350000\t0.0745460000\t0.0563120000\t0.0000010000\t0.3550620000\t0.0017380000\t134598299\t0\t402718720\t3.9833035469\t3.9974732399\t4.0047264099\n9\t1311867718.9088680744\t0.0145902839\t0.0080621466\t0.0151464147\t0.0072426746\t0.8963480000\t0.0746190000\t0.0880690000\t0.0307790000\t0.3485430000\t0.3537570000\t134602683\t0\t402718720\t3.9835460186\t3.9977257252\t4.0048494339\n10\t1311867718.9438331127\t0.0158703234\t0.0088429642\t0.0158703234\t0.0068854998\t0.5126740000\t0.0746980000\t0.0846700000\t0.0000010000\t0.3509770000\t0.0017430000\t134608067\t0\t402718720\t3.9821383953\t3.9979395866\t4.0057196617\n11\t1311867718.9784109592\t0.0144189782\t0.0093498746\t0.0158703234\t0.0067737630\t0.5366470000\t0.0746830000\t0.0832620000\t0.0307610000\t0.3456090000\t0.0017470000\t134611851\t0\t402718720\t3.9839293957\t3.9964618683\t4.0056319237\n12\t1311867719.0091300011\t0.0181727726\t0.0100851161\t0.0181727726\t0.0067923139\t0.5192020000\t0.0875720000\t0.0841020000\t0.0000010000\t0.3451910000\t0.0017460000\t134615411\t0\t402718720\t3.9798362255\t3.9964535236\t4.0066075325\n13\t1311867719.0441620350\t0.0168240909\t0.0106034988\t0.0181727726\t0.0065191117\t0.9036630000\t0.1015190000\t0.0810100000\t0.0307600000\t0.3410350000\t0.3487320000\t134619195\t0\t402718720\t3.9809789658\t3.9964716434\t4.0068120956\n14\t1311867719.0776190758\t0.0182064120\t0.0111465640\t0.0182064120\t0.0063271655\t0.5040740000\t0.0748860000\t0.0838430000\t0.0000010000\t0.3429920000\t0.0017620000\t134622923\t0\t402718720\t3.9796545506\t3.9957454205\t4.0073685646\n15\t1311867719.1086950302\t0.0170080140\t0.0115373273\t0.0182064120\t0.0061317170\t0.5325380000\t0.0752300000\t0.0841190000\t0.0307390000\t0.3401030000\t0.0017510000\t134626595\t0\t402718720\t3.9809386730\t3.9950768948\t4.0075154305\n16\t1311867719.1437010765\t0.0179978888\t0.0119411124\t0.0182064120\t0.0059846240\t0.4679470000\t0.0750520000\t0.0520730000\t0.0000010000\t0.3384780000\t0.0017510000\t134630323\t0\t402718720\t3.9795103073\t3.9950339794\t4.0081734657\n17\t1311867719.1810290813\t0.0160211939\t0.0121811172\t0.0182064120\t0.0059238728\t0.8627650000\t0.0746830000\t0.0766410000\t0.0307240000\t0.3370930000\t0.3430270000\t134635643\t0\t402718720\t3.9816939831\t3.9940829277\t4.0082082748\n18\t1311867719.2127099037\t0.0171610210\t0.0124577786\t0.0182064120\t0.0057744203\t0.5067070000\t0.0841910000\t0.0831010000\t0.0000000000\t0.3370770000\t0.0017410000\t134642515\t0\t402718720\t3.9803969860\t3.9934220314\t4.0087184906\n19\t1311867719.2412090302\t0.0176502392\t0.0127310660\t0.0182064120\t0.0057001938\t0.5126550000\t0.0957940000\t0.0520480000\t0.0307220000\t0.3317370000\t0.0017450000\t134646075\t0\t402718720\t3.9793717861\t3.9936635494\t4.0092010498\n20\t1311867719.2779469490\t0.0180034731\t0.0129946863\t0.0182064120\t0.0058521951\t0.4983010000\t0.0751870000\t0.0875560000\t0.0000010000\t0.3331990000\t0.0017520000\t134649803\t0\t402718720\t3.9786224365\t3.9924826622\t4.0094289780\n21\t1311867719.3104898930\t0.0165301897\t0.0131630436\t0.0182064120\t0.0057629057\t0.8469880000\t0.0734710000\t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32811\t0\t402718720\t3.8986387253\t3.9425501823\t3.9948356152\n1933\t1311867783.1137030125\t0.1032414660\t0.1219294098\t0.2390826792\t0.0047791141\t0.8081150000\t0.0751380000\t0.0872610000\t0.0310700000\t0.3014700000\t0.3087580000\t142336427\t0\t402718720\t3.8981218338\t3.9432761669\t3.9950451851\n1934\t1311867783.1539480686\t0.1035122499\t0.1219198869\t0.2390826792\t0.0047780137\t0.4612300000\t0.0755150000\t0.0774180000\t0.0000010000\t0.3021660000\t0.0017410000\t142340323\t0\t402718720\t3.8976583481\t3.9435286522\t3.9946928024\n1935\t1311867783.1857850552\t0.1042073295\t0.1219107332\t0.2390826792\t0.0047769462\t0.4979480000\t0.0749040000\t0.0837470000\t0.0306280000\t0.3025270000\t0.0017300000\t142343995\t0\t402718720\t3.8967525959\t3.9434926510\t3.9942946434\n1936\t1311867783.2169439793\t0.1055389643\t0.1219022767\t0.2390826792\t0.0047761011\t0.4611680000\t0.0863370000\t0.0661790000\t0.0000010000\t0.3024230000\t0.0017400000\t142347611\t0\t402718720\t3.8951108456\t3.9438014030\t3.9945602417\n1937\t1311867783.2548489571\t0.1050500274\t0.1218935765\t0.2390826792\t0.0047749108\t0.8336080000\t0.0979010000\t0.0875220000\t0.0311150000\t0.3018920000\t0.3107250000\t142351507\t0\t402718720\t3.8954300880\t3.9443907738\t3.9942119122\n1938\t1311867783.2816879749\t0.1046838909\t0.1218846964\t0.2390826792\t0.0047741539\t0.4460510000\t0.0747630000\t0.0613940000\t0.0000010000\t0.3037430000\t0.0017390000\t142355067\t0\t402718720\t3.8958044052\t3.9437146187\t3.9939196110\n1939\t1311867783.3132228851\t0.1063564494\t0.1218766880\t0.2390826792\t0.0047729979\t0.4996390000\t0.0749470000\t0.0833840000\t0.0309700000\t0.3041990000\t0.0017350000\t142358627\t0\t402718720\t3.8942873478\t3.9429354668\t3.9941592216\n1940\t1311867783.3503270149\t0.1101926267\t0.1218706653\t0.2390826792\t0.0047738509\t0.4690560000\t0.0744770000\t0.0834160000\t0.0000010000\t0.3050180000\t0.0017320000\t142362467\t0\t402718720\t3.8901951313\t3.9438729286\t3.9947319031\n1941\t1311867783.3855919838\t0.1124547198\t0.1218658142\t0.2390826792\t0.0047736011\t0.8420770000\t0.1032720000\t0.0875530000\t0.0311480000\t0.3034410000\t0.3121920000\t142366251\t0\t402718720\t3.8879580498\t3.9430181980\t3.9943418503\n1942\t1311867783.4198501110\t0.1103281677\t0.1218598731\t0.2390826792\t0.0047737041\t0.4424660000\t0.0744160000\t0.0558860000\t0.0000010000\t0.3060210000\t0.0017210000\t142369979\t0\t402718720\t3.8901617527\t3.9425649643\t3.9940266609\n1943\t1311867783.4503099918\t0.1102613509\t0.1218539037\t0.2390826792\t0.0047729063\t0.4852640000\t0.0741570000\t0.0673700000\t0.0310460000\t0.3065720000\t0.0017230000\t142373595\t0\t402718720\t3.8897097111\t3.9440834522\t3.9936780930\n1944\t1311867783.4863688946\t0.1105009466\t0.1218480637\t0.2390826792\t0.0047726686\t0.4678850000\t0.0722080000\t0.0820600000\t0.0000010000\t0.3074910000\t0.0017210000\t142377379\t0\t402718720\t3.8895645142\t3.9430959225\t3.9935207367\n1945\t1311867783.5186200142\t0.1100583225\t0.1218420021\t0.2390826792\t0.0047718631\t0.7729760000\t0.0723580000\t0.0415710000\t0.0308910000\t0.3080840000\t0.3156590000\t142380995\t0\t402718720\t3.8901178837\t3.9424660206\t3.9933764935\n1946\t1311867783.5488419533\t0.1116317809\t0.1218367553\t0.2390826792\t0.0047720816\t0.4374090000\t0.0731530000\t0.0490490000\t0.0000000000\t0.3090960000\t0.0016840000\t142384611\t0\t402718720\t3.8881382942\t3.9437320232\t3.9936382771\n1947\t1311867783.5823969841\t0.1093292683\t0.1218303314\t0.2390826792\t0.0047724629\t0.5013750000\t0.0732080000\t0.0824740000\t0.0311330000\t0.3084400000\t0.0017170000\t142388395\t0\t402718720\t3.8904340267\t3.9429454803\t3.9925460815\n1948\t1311867783.6168529987\t0.1109052673\t0.1218247230\t0.2390826792\t0.0047718117\t0.4373710000\t0.0732480000\t0.0484850000\t0.0000000000\t0.3094840000\t0.0016990000\t142392067\t0\t402718720\t3.8888735771\t3.9427766800\t3.9927196503\n1949\t1311867783.6515829563\t0.1095642745\t0.1218184324\t0.2390826792\t0.0047706234\t0.8104080000\t0.0710830000\t0.0711160000\t0.0308260000\t0.3101750000\t0.3222520000\t142395795\t0\t402718720\t3.8902878761\t3.9432816505\t3.9925436974\n1950\t1311867783.6816630363\t0.1105465144\t0.1218126519\t0.2390826792\t0.0047702051\t0.5207160000\t0.0927540000\t0.1090290000\t0.0000000000\t0.3128280000\t0.0017100000\t142399467\t0\t402718720\t3.8892679214\t3.9434726238\t3.9927444458\n1951\t1311867783.7179610729\t0.1102514863\t0.1218067261\t0.2390826792\t0.0047697106\t0.4833970000\t0.0941430000\t0.0438040000\t0.0306670000\t0.3086370000\t0.0017100000\t142403251\t0\t402718720\t3.8895392418\t3.9433307648\t3.9925241470\n1952\t1311867783.7488200665\t0.1110782176\t0.1218012300\t0.2390826792\t0.0047689730\t0.4742300000\t0.0729490000\t0.0860310000\t0.0000000000\t0.3090830000\t0.0016990000\t142406867\t0\t402718720\t3.8887662888\t3.9444932938\t3.9930045605\n1953\t1311867783.7808690071\t0.1100405678\t0.1217952081\t0.2390826792\t0.0047680079\t0.7858730000\t0.0731630000\t0.0482510000\t0.0308560000\t0.3104120000\t0.3187470000\t142410539\t0\t402718720\t3.8899912834\t3.9448447227\t3.9931576252\n1954\t1311867783.8168580532\t0.1106480956\t0.1217895034\t0.2390826792\t0.0047688840\t0.4508020000\t0.0860210000\t0.0485080000\t0.0000010000\t0.3101240000\t0.0017020000\t142414267\t0\t402718720\t3.8895590305\t3.9434323311\t3.9930355549\n1955\t1311867783.8489229679\t0.1096128225\t0.1217832749\t0.2390826792\t0.0047686644\t0.5038450000\t0.0737480000\t0.0830570000\t0.0311280000\t0.3097420000\t0.0017210000\t142417939\t0\t402718720\t3.8905680180\t3.9460704327\t3.9941124916\n1956\t1311867783.8808929920\t0.1091240942\t0.1217768029\t0.2390826792\t0.0047677327\t0.4719100000\t0.0741190000\t0.0828370000\t0.0000010000\t0.3087880000\t0.0017180000\t142421611\t0\t402718720\t3.8909351826\t3.9459605217\t3.9938135147\n1957\t1311867783.9168200493\t0.1112426221\t0.1217714201\t0.2390826792\t0.0047736160\t0.8146270000\t0.0877700000\t0.0658030000\t0.0311110000\t0.3084380000\t0.3169900000\t142425395\t0\t402718720\t3.8891298771\t3.9450016022\t3.9946117401\n1958\t1311867783.9508318901\t0.1099154502\t0.1217653650\t0.2390826792\t0.0047725841\t0.4533640000\t0.0745340000\t0.0660760000\t0.0000010000\t0.3065810000\t0.0017180000\t142429123\t0\t402718720\t3.8903601170\t3.9456508160\t3.9950451851\n1959\t1311867783.9816930294\t0.1104982048\t0.1217596135\t0.2390826792\t0.0047727883\t0.4899300000\t0.0736460000\t0.0732130000\t0.0311460000\t0.3057700000\t0.0017210000\t142432739\t0\t402718720\t3.8897585869\t3.9458575249\t3.9957361221\n1960\t1311867784.0175230503\t0.1110015288\t0.1217541247\t0.2390826792\t0.0047720330\t0.4568950000\t0.0742060000\t0.0559100000\t0.0000000000\t0.3195880000\t0.0022890000\t142436579\t0\t402718720\t3.8892340660\t3.9440295696\t3.9954843521\n1961\t1311867784.0505928993\t0.1118029281\t0.1217490501\t0.2390826792\t0.0047723376\t0.8207890000\t0.0950330000\t0.0566130000\t0.0384650000\t0.3100340000\t0.3161290000\t142440307\t0\t402718720\t3.8881225586\t3.9452619553\t3.9958033562\n1962\t1311867784.0830729008\t0.1110846698\t0.1217436146\t0.2390826792\t0.0047715744\t0.4708150000\t0.0743480000\t0.0832160000\t0.0000010000\t0.3070460000\t0.0017150000\t142443923\t0\t402718720\t3.8885810375\t3.9458541870\t3.9960026741\n1963\t1311867784.1187570095\t0.1110448986\t0.1217381644\t0.2390826792\t0.0047716752\t0.5017100000\t0.0746600000\t0.0834740000\t0.0306060000\t0.3067530000\t0.0017350000\t142447707\t0\t402718720\t3.8886322975\t3.9439449310\t3.9956889153\n1964\t1311867784.1503119469\t0.1112156883\t0.1217328068\t0.2390826792\t0.0047710970\t0.4380240000\t0.0751820000\t0.0494120000\t0.0000010000\t0.3072650000\t0.0017290000\t142451379\t0\t402718720\t3.8881270885\t3.9438881874\t3.9960069656\n1965\t1311867784.1823339462\t0.1092173830\t0.1217264376\t0.2390826792\t0.0047702031\t0.7933850000\t0.0744220000\t0.0630230000\t0.0305910000\t0.3061770000\t0.3147100000\t142455107\t0\t402718720\t3.8899419308\t3.9444084167\t3.9962496758\n1966\t1311867784.2173891068\t0.1106336042\t0.1217207953\t0.2390826792\t0.0047699577\t0.4707060000\t0.0724190000\t0.0865800000\t0.0000010000\t0.3055070000\t0.0017100000\t142458779\t0\t402718720\t3.8883757591\t3.9423451424\t3.9961488247\n1967\t1311867784.2502059937\t0.1115724295\t0.1217156360\t0.2390826792\t0.0047699581\t0.4728770000\t0.0729970000\t0.0553530000\t0.0310170000\t0.3072900000\t0.0017120000\t142462507\t0\t402718720\t3.8869814873\t3.9426860809\t3.9964931011\n1968\t1311867784.2819900513\t0.1099123433\t0.1217096383\t0.2390826792\t0.0047696178\t0.4381440000\t0.0744960000\t0.0516860000\t0.0000000000\t0.3057410000\t0.0016910000\t142466123\t0\t402718720\t3.8884677887\t3.9441263676\t3.9969348907\n1969\t1311867784.3176920414\t0.1110731065\t0.1217042363\t0.2390826792\t0.0047703392\t0.7991590000\t0.0736940000\t0.0693260000\t0.0305270000\t0.3063320000\t0.3147560000\t142469963\t0\t402718720\t3.8872931004\t3.9421527386\t3.9970669746\n1970\t1311867784.3490819931\t0.1114269719\t0.1216990195\t0.2390826792\t0.0047696973\t0.4709070000\t0.0742820000\t0.0832980000\t0.0000010000\t0.3071110000\t0.0017240000\t142473579\t0\t402718720\t3.8872203827\t3.9413349628\t3.9972128868\n1971\t1311867784.3815689087\t0.1102469414\t0.1216932092\t0.2390826792\t0.0047696789\t0.4896490000\t0.0937320000\t0.0514720000\t0.0311180000\t0.3071420000\t0.0017270000\t142477307\t0\t402718720\t3.8881869316\t3.9426372051\t3.9974687099\n1972\t1311867784.4190580845\t0.1106070653\t0.1216875874\t0.2390826792\t0.0047691575\t0.4689870000\t0.0727830000\t0.0828450000\t0.0000010000\t0.3071560000\t0.0017060000\t142481091\t0\t402718720\t3.8876636028\t3.9418158531\t3.9971899986\n1973\t1311867784.4496140480\t0.1106984392\t0.1216820176\t0.2390826792\t0.0047679847\t0.8158490000\t0.0743440000\t0.0829030000\t0.0310520000\t0.3072680000\t0.3157670000\t142484763\t0\t402718720\t3.8878161907\t3.9413940907\t3.9976222515\n1974\t1311867784.4828379154\t0.1097501218\t0.1216759731\t0.2390826792\t0.0047677920\t0.4368630000\t0.0738250000\t0.0489130000\t0.0000010000\t0.3078860000\t0.0017190000\t142488491\t0\t402718720\t3.8886182308\t3.9428489208\t3.9979863167\n1975\t1311867784.5185639858\t0.1118775606\t0.1216710119\t0.2390826792\t0.0047670902\t0.5129350000\t0.0857650000\t0.0830280000\t0.0306750000\t0.3072560000\t0.0017180000\t142492163\t0\t402718720\t3.8867101669\t3.9417514801\t3.9983882904\n1976\t1311867784.5499279499\t0.1098281816\t0.1216650185\t0.2390826792\t0.0047670880\t0.4818860000\t0.0895460000\t0.0802200000\t0.0000010000\t0.3056420000\t0.0018150000\t142495835\t0\t402718720\t3.8884613514\t3.9407823086\t3.9980549812\n1977\t1311867784.5848410130\t0.1106222570\t0.1216594329\t0.2390826792\t0.0047665463\t0.7901000000\t0.0737490000\t0.0584100000\t0.0310840000\t0.3061840000\t0.3161850000\t142499619\t0\t402718720\t3.8873159885\t3.9417874813\t3.9982042313\n1978\t1311867784.6179790497\t0.1111805663\t0.1216541352\t0.2390826792\t0.0047660602\t0.4481840000\t0.0718980000\t0.0622660000\t0.0000010000\t0.3078660000\t0.0017110000\t142503291\t0\t402718720\t3.8867068291\t3.9402902126\t3.9981470108\n1979\t1311867784.6492750645\t0.1107839718\t0.1216486425\t0.2390826792\t0.0047650487\t0.5019090000\t0.0736570000\t0.0830020000\t0.0310450000\t0.3080090000\t0.0017120000\t142506963\t0\t402718720\t3.8868753910\t3.9403684139\t3.9982306957\n1980\t1311867784.6878700256\t0.1114067212\t0.1216434698\t0.2390826792\t0.0047655132\t0.4367170000\t0.0728670000\t0.0492290000\t0.0000000000\t0.3083640000\t0.0017090000\t142510803\t0\t402718720\t3.8860371113\t3.9419407845\t3.9987211227\n1981\t1311867784.7168869972\t0.1122014448\t0.1216387035\t0.2390826792\t0.0047648900\t0.7922340000\t0.0839870000\t0.0487300000\t0.0305640000\t0.3077200000\t0.3166940000\t142514363\t0\t402718720\t3.8849589825\t3.9407033920\t3.9984929562\n1982\t1311867784.7578089237\t0.1118571013\t0.1216337683\t0.2390826792\t0.0047663493\t0.4358050000\t0.0730300000\t0.0487030000\t0.0000000000\t0.3078510000\t0.0017080000\t142518371\t0\t402718720\t3.8848147392\t3.9406538010\t3.9987480640\n1983\t1311867784.7870030403\t0.1120977327\t0.1216289594\t0.2390826792\t0.0047652123\t0.4801640000\t0.0732120000\t0.0622480000\t0.0310000000\t0.3075240000\t0.0017110000\t142521931\t0\t402718720\t3.8846719265\t3.9414796829\t3.9992136955\n1984\t1311867784.8199620247\t0.1118260026\t0.1216240184\t0.2390826792\t0.0047654162\t0.4351580000\t0.0727110000\t0.0486350000\t0.0000010000\t0.3076300000\t0.0016960000\t142525491\t0\t402718720\t3.8844313622\t3.9398229122\t3.9987640381\n1985\t1311867784.8550779819\t0.1118506268\t0.1216190947\t0.2390826792\t0.0047644756\t0.7877910000\t0.0726060000\t0.0552770000\t0.0309740000\t0.3077810000\t0.3166260000\t142529219\t0\t402718720\t3.8842613697\t3.9397330284\t3.9988868237\n1986\t1311867784.8873779774\t0.1121890321\t0.1216143465\t0.2390826792\t0.0047633644\t0.4538580000\t0.0974170000\t0.0425470000\t0.0000000000\t0.3076680000\t0.0017000000\t142532891\t0\t402718720\t3.8836615086\t3.9406492710\t3.9993529320\n1987\t1311867784.9173130989\t0.1133546531\t0.1216101896\t0.2390826792\t0.0047625885\t0.4670700000\t0.0724310000\t0.0510510000\t0.0310210000\t0.3063900000\t0.0017130000\t142536563\t0\t402718720\t3.8827474117\t3.9391543865\t3.9991326332\n1988\t1311867784.9491391182\t0.1118431166\t0.1216052766\t0.2390826792\t0.0047621753\t0.4678220000\t0.0886640000\t0.0654800000\t0.0000010000\t0.3074680000\t0.0017000000\t142540179\t0\t402718720\t3.8836913109\t3.9394788742\t3.9989085197\n1989\t1311867784.9848570824\t0.1120005846\t0.1216004477\t0.2390826792\t0.0047613501\t0.7754490000\t0.0729010000\t0.0440450000\t0.0310280000\t0.3060780000\t0.3167760000\t142543963\t0\t402718720\t3.8833701611\t3.9393687248\t3.9989941120\n1990\t1311867785.0184569359\t0.1118904874\t0.1215955683\t0.2390826792\t0.0047602871\t0.4578340000\t0.0728330000\t0.0724550000\t0.0000010000\t0.3060780000\t0.0017870000\t142547635\t0\t402718720\t3.8835091591\t3.9381978512\t3.9986143112\n1991\t1311867785.0500280857\t0.1127091944\t0.1215911050\t0.2390826792\t0.0047594140\t0.4864840000\t0.0845870000\t0.0579990000\t0.0310580000\t0.3066090000\t0.0017040000\t142551363\t0\t402718720\t3.8824183941\t3.9388520718\t3.9990031719\n1992\t1311867785.0871460438\t0.1135663167\t0.1215870765\t0.2390826792\t0.0047584822\t0.4667560000\t0.0733570000\t0.0795850000\t0.0000010000\t0.3076110000\t0.0017110000\t142555147\t0\t402718720\t3.8815648556\t3.9389698505\t3.9992468357\n1993\t1311867785.1168398857\t0.1128596663\t0.1215826975\t0.2390826792\t0.0047582622\t0.7907900000\t0.0720610000\t0.0550590000\t0.0305510000\t0.3094670000\t0.3190810000\t142558819\t0\t402718720\t3.8820402622\t3.9390761852\t3.9987404346\n1994\t1311867785.1499750614\t0.1118472293\t0.1215778151\t0.2390826792\t0.0047574944\t0.4495500000\t0.0719310000\t0.0616860000\t0.0000010000\t0.3097030000\t0.0016930000\t142562435\t0\t402718720\t3.8831443787\t3.9386415482\t3.9985811710\n1995\t1311867785.1850368977\t0.1126569882\t0.1215733435\t0.2390826792\t0.0047567809\t0.5011180000\t0.0718600000\t0.0817490000\t0.0310020000\t0.3102240000\t0.0016930000\t142566219\t0\t402718720\t3.8822293282\t3.9400272369\t3.9989218712\n1996\t1311867785.2169620991\t0.1128643081\t0.1215689803\t0.2390826792\t0.0047557160\t0.4444430000\t0.0790190000\t0.0506920000\t0.0000000000\t0.3084990000\t0.0016950000\t142569835\t0\t402718720\t3.8817832470\t3.9401168823\t3.9986624718\n1997\t1311867785.2491741180\t0.1134722084\t0.1215649258\t0.2390826792\t0.0047545393\t0.7942020000\t0.0719970000\t0.0576970000\t0.0310690000\t0.3086040000\t0.3202410000\t142573507\t0\t402718720\t3.8811819553\t3.9398541451\t3.9989893436\n1998\t1311867785.2858769894\t0.1127837226\t0.1215605308\t0.2390826792\t0.0047534152\t0.4822590000\t0.1098380000\t0.0576640000\t0.0000000000\t0.3085040000\t0.0017010000\t142577347\t0\t402718720\t3.8816993237\t3.9403700829\t3.9988000393\n1999\t1311867785.3214280605\t0.1125489697\t0.1215560228\t0.2390826792\t0.0047524772\t0.4822890000\t0.0704590000\t0.0640860000\t0.0309750000\t0.3105450000\t0.0016990000\t142581243\t0\t402718720\t3.8816225529\t3.9402182102\t3.9986331463\n2000\t1311867785.3573219776\t0.1146893427\t0.1215525894\t0.2390826792\t0.0047528254\t0.4725600000\t0.0715280000\t0.0860930000\t0.0000010000\t0.3087280000\t0.0016930000\t142584971\t0\t402718720\t3.8794684410\t3.9395077229\t3.9991765022\n2001\t1311867785.3893299103\t0.1141049489\t0.1215488675\t0.2390826792\t0.0047519586\t0.8241820000\t0.0724390000\t0.0859680000\t0.0310900000\t0.3089760000\t0.3210910000\t142588643\t0\t402718720\t3.8796010017\t3.9409816265\t3.9988920689\n2002\t1311867785.4211249352\t0.1123331413\t0.1215442642\t0.2390826792\t0.0047518465\t0.4720830000\t0.0727610000\t0.0820620000\t0.0000000000\t0.3109960000\t0.0017050000\t142592315\t0\t402718720\t3.8812518120\t3.9405896664\t3.9986193180\n2003\t1311867785.4570529461\t0.1138596982\t0.1215404277\t0.2390826792\t0.0047519522\t0.5021220000\t0.0718780000\t0.0819260000\t0.0310520000\t0.3109770000\t0.0017020000\t142596099\t0\t402718720\t3.8795263767\t3.9397580624\t3.9986433983\n2004\t1311867785.4900350571\t0.1137017235\t0.1215365162\t0.2390826792\t0.0047513487\t0.4375330000\t0.0716830000\t0.0483230000\t0.0000000000\t0.3113040000\t0.0017010000\t142599827\t0\t402718720\t3.8793888092\t3.9419333935\t3.9989714622\n2005\t1311867785.5211930275\t0.1133012325\t0.1215324088\t0.2390826792\t0.0047505431\t0.7998300000\t0.0728240000\t0.0618600000\t0.0310870000\t0.3098920000\t0.3195780000\t142603443\t0\t402718720\t3.8793742657\t3.9419469833\t3.9989976883\n2006\t1311867785.5571260452\t0.1125547066\t0.1215279334\t0.2390826792\t0.0047509690\t0.4488090000\t0.0824800000\t0.0484700000\t0.0000010000\t0.3105520000\t0.0022810000\t142607227\t0\t402718720\t3.8792731762\t3.9407613277\t3.9990122318\n2007\t1311867785.5891211033\t0.1132857203\t0.1215238266\t0.2390826792\t0.0047503960\t0.5067200000\t0.0919550000\t0.0555550000\t0.0377150000\t0.3152300000\t0.0017060000\t142610899\t0\t402718720\t3.8782281876\t3.9412577152\t3.9992899895\n2008\t1311867785.6211590767\t0.1118458509\t0.1215190069\t0.2390826792\t0.0047591445\t0.4429550000\t0.0862740000\t0.0439680000\t0.0000000000\t0.3064640000\t0.0017080000\t142614627\t0\t402718720\t3.8790502548\t3.9419984818\t3.9987998009\n2009\t1311867785.6570439339\t0.1127843410\t0.1215146592\t0.2390826792\t0.0047616907\t0.7827050000\t0.0725490000\t0.0510550000\t0.0310750000\t0.3059280000\t0.3175370000\t142618411\t0\t402718720\t3.8781011105\t3.9403588772\t3.9988965988\n2010\t1311867785.6892280579\t0.1142385527\t0.1215110392\t0.2390826792\t0.0047607948\t0.4433750000\t0.0728870000\t0.0553430000\t0.0000000000\t0.3088230000\t0.0017130000\t142622027\t0\t402718720\t3.8763675690\t3.9406540394\t3.9989743233\n2011\t1311867785.7214241028\t0.1130979806\t0.1215068557\t0.2390826792\t0.0047621448\t0.5256400000\t0.0939360000\t0.0858320000\t0.0310460000\t0.3085570000\t0.0017200000\t142625699\t0\t402718720\t3.8770384789\t3.9417719841\t3.9987459183\n2012\t1311867785.7573668957\t0.1141404584\t0.1215031945\t0.2390826792\t0.0047617457\t0.4503010000\t0.0721160000\t0.0651280000\t0.0000010000\t0.3064830000\t0.0017920000\t142629483\t0\t402718720\t3.8757274151\t3.9399538040\t3.9984574318\n2013\t1311867785.7892301083\t0.1139144823\t0.1214994246\t0.2390826792\t0.0047614761\t0.8226780000\t0.0720600000\t0.0863370000\t0.0311140000\t0.3094180000\t0.3191680000\t142633155\t0\t402718720\t3.8758611679\t3.9395539761\t3.9986457825\n2014\t1311867785.8210389614\t0.1128823459\t0.1214951460\t0.2390826792\t0.0047604056\t0.4505100000\t0.0722740000\t0.0616680000\t0.0000010000\t0.3102540000\t0.0017030000\t142636827\t0\t402718720\t3.8767304420\t3.9405004978\t3.9984834194\n2015\t1311867785.8574340343\t0.1137853339\t0.1214913198\t0.2390826792\t0.0047598842\t0.5002420000\t0.0710410000\t0.0812980000\t0.0310140000\t0.3105900000\t0.0017040000\t142640611\t0\t402718720\t3.8755319118\t3.9405510426\t3.9984221458\n2016\t1311867785.8893110752\t0.1146254167\t0.1214879141\t0.2390826792\t0.0047590498\t0.4629960000\t0.0836750000\t0.0613580000\t0.0000000000\t0.3116280000\t0.0016950000\t142644339\t0\t402718720\t3.8747355938\t3.9395923615\t3.9986650944\n2017\t1311867785.9211509228\t0.1140776426\t0.1214842402\t0.2390826792\t0.0047590875\t0.8238880000\t0.0712580000\t0.0679490000\t0.0310630000\t0.3233510000\t0.3256800000\t142648011\t0\t402718720\t3.8748588562\t3.9409511089\t3.9989099503\n2018\t1311867785.9588449001\t0.1142271087\t0.1214806440\t0.2390826792\t0.0047595836\t0.4536660000\t0.0799900000\t0.0550470000\t0.0000000000\t0.3123370000\t0.0016940000\t142651795\t0\t402718720\t3.8744223118\t3.9412660599\t3.9987692833\n2019\t1311867785.9892621040\t0.1150774583\t0.1214774725\t0.2390826792\t0.0047585427\t0.4771200000\t0.0721910000\t0.0549710000\t0.0311070000\t0.3125540000\t0.0017090000\t142655467\t0\t402718720\t3.8733813763\t3.9402725697\t3.9990291595\n2020\t1311867786.0210618973\t0.1133668721\t0.1214734574\t0.2390826792\t0.0047576111\t0.4451460000\t0.0714240000\t0.0545870000\t0.0000000000\t0.3128670000\t0.0016960000\t142659139\t0\t402718720\t3.8747129440\t3.9412562847\t3.9990186691\n2021\t1311867786.0572268963\t0.1140797734\t0.1214697990\t0.2390826792\t0.0047574310\t0.8238820000\t0.0907940000\t0.0611780000\t0.0310660000\t0.3128920000\t0.3233070000\t142662867\t0\t402718720\t3.8734595776\t3.9405755997\t3.9992423058\n2022\t1311867786.0892500877\t0.1156414002\t0.1214669165\t0.2390826792\t0.0047564958\t0.4466450000\t0.0715040000\t0.0574680000\t0.0000010000\t0.3113890000\t0.0017010000\t142666595\t0\t402718720\t3.8715527058\t3.9394431114\t3.9994907379\n2023\t1311867786.1211619377\t0.1151602790\t0.1214637990\t0.2390826792\t0.0047555554\t0.5066600000\t0.0713730000\t0.0853560000\t0.0312030000\t0.3124400000\t0.0017010000\t142670323\t0\t402718720\t3.8716161251\t3.9396564960\t3.9995093346\n2024\t1311867786.1570990086\t0.1159325019\t0.1214610661\t0.2390826792\t0.0047545459\t0.4742750000\t0.0712290000\t0.0810450000\t0.0000000000\t0.3157000000\t0.0017000000\t142674051\t0\t402718720\t3.8703284264\t3.9405884743\t3.9998035431\n2025\t1311867786.1891019344\t0.1164043695\t0.1214585690\t0.2390826792\t0.0047538287\t0.8030670000\t0.0825610000\t0.0412050000\t0.0311730000\t0.3162320000\t0.3273250000\t142677667\t0\t402718720\t3.8693876266\t3.9392652512\t3.9998257160\n2026\t1311867786.2216470242\t0.1157151014\t0.1214557341\t0.2390826792\t0.0047528897\t0.4863630000\t0.0823550000\t0.0804000000\t0.0000010000\t0.3172990000\t0.0016830000\t142681339\t0\t402718720\t3.8695445061\t3.9394636154\t3.9997603893\n2027\t1311867786.2570950985\t0.1165312380\t0.1214533047\t0.2390826792\t0.0047519364\t0.4825250000\t0.0709840000\t0.0562730000\t0.0311410000\t0.3178010000\t0.0017000000\t142685179\t0\t402718720\t3.8682785034\t3.9398963451\t3.9999907017\n2028\t1311867786.2895779610\t0.1165952533\t0.1214509092\t0.2390826792\t0.0047516736\t0.4689560000\t0.0705440000\t0.0736640000\t0.0000000000\t0.3184500000\t0.0016980000\t142688795\t0\t402718720\t3.8677599430\t3.9391343594\t3.9999170303\n2029\t1311867786.3211650848\t0.1164493710\t0.1214484442\t0.2390826792\t0.0047513100\t0.8129930000\t0.0701590000\t0.0565560000\t0.0311600000\t0.3194820000\t0.3309760000\t142692411\t0\t402718720\t3.8677916527\t3.9390008450\t4.0000801086\n2030\t1311867786.3572299480\t0.1172291860\t0.1214463657\t0.2390826792\t0.0047507491\t0.4763630000\t0.0702300000\t0.0798700000\t0.0000010000\t0.3199580000\t0.0016900000\t142696251\t0\t402718720\t3.8668248653\t3.9393892288\t4.0004730225\n2031\t1311867786.3891439438\t0.1167868003\t0.1214440715\t0.2390826792\t0.0047496736\t0.4983260000\t0.0870060000\t0.0536280000\t0.0311890000\t0.3201810000\t0.0016930000\t142699867\t0\t402718720\t3.8668739796\t3.9387855530\t4.0001368523\n2032\t1311867786.4213869572\t0.1158694625\t0.1214413281\t0.2390826792\t0.0047492442\t0.4786170000\t0.0697320000\t0.0836650000\t0.0000010000\t0.3188750000\t0.0016830000\t142703595\t0\t402718720\t3.8677284718\t3.9377758503\t4.0003123283\n2033\t1311867786.4573409557\t0.1183791906\t0.1214398219\t0.2390826792\t0.0047527974\t0.8405930000\t0.0696680000\t0.0835200000\t0.0311600000\t0.3196000000\t0.3317960000\t142707379\t0\t402718720\t3.8648946285\t3.9394586086\t4.0009393692\n2034\t1311867786.4891700745\t0.1170017868\t0.1214376399\t0.2390826792\t0.0047540746\t0.4450420000\t0.0694690000\t0.0468450000\t0.0000000000\t0.3223980000\t0.0016770000\t142710995\t0\t402718720\t3.8659834862\t3.9382109642\t4.0009117126\n2035\t1311867786.5218079090\t0.1167317927\t0.1214353275\t0.2390826792\t0.0047543665\t0.4776940000\t0.0696840000\t0.0468830000\t0.0311880000\t0.3236170000\t0.0016820000\t142714723\t0\t402718720\t3.8661410809\t3.9366135597\t4.0011749268\n2036\t1311867786.5572519302\t0.1172879040\t0.1214332904\t0.2390826792\t0.0047534264\t0.4917050000\t0.0807920000\t0.0792900000\t0.0000010000\t0.3252800000\t0.0016900000\t142718507\t0\t402718720\t3.8653724194\t3.9371526241\t4.0013604164\n2037\t1311867786.5895760059\t0.1169814914\t0.1214311050\t0.2390826792\t0.0047528567\t0.8450850000\t0.0916570000\t0.0529310000\t0.0311120000\t0.3260020000\t0.3387160000\t142722179\t0\t402718720\t3.8650991917\t3.9371662140\t4.0014176369\n2038\t1311867786.6211080551\t0.1173583046\t0.1214291065\t0.2390826792\t0.0047530486\t0.4493550000\t0.0691710000\t0.0491310000\t0.0000010000\t0.3247180000\t0.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}, { "path": "icra2018_results/1080/violons_libkfusion-cpp_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 12:09:46\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cpp_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520030\t0.0582520030\t0.0582520030\t-nan\t0.7671610000\t0.1361400000\t0.0225400000\t0.0622050000\t0.0000020000\t0.5424510000\t115668534\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1311867170.4941389561\t0.0599970818\t0.0591245424\t0.0599970818\t0.0035989983\t0.2415170000\t0.1545000000\t0.0202990000\t0.0621940000\t0.0000000000\t0.0036720000\t134944323\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1311867170.5264289379\t0.0615839623\t0.0599443490\t0.0615839623\t0.0081929692\t0.2358010000\t0.1488750000\t0.0203870000\t0.0622540000\t0.0000000000\t0.0036360000\t134948443\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1311867170.5623490810\t0.0628964603\t0.0606823768\t0.0628964603\t0.0105670472\t0.7285100000\t0.1294480000\t0.0202240000\t0.0622600000\t0.5123120000\t0.0036340000\t134952627\t0\t402718720\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1311867170.5942170620\t0.0609254539\t0.0607309923\t0.0628964603\t0.0111247626\t1.3290760000\t0.1285090000\t0.1051670000\t0.0631140000\t0.5076940000\t0.5239610000\t134956627\t0\t402718720\t4.0031237602\t3.9974741936\t3.9970712662\n6\t1311867170.6260869503\t0.0606057271\t0.0607101147\t0.0628964603\t0.0110246615\t0.4987190000\t0.0753250000\t0.0829770000\t0.0000010000\t0.3380460000\t0.0017350000\t134961099\t0\t402718720\t4.0016193390\t3.9956707954\t3.9953823090\n7\t1311867170.6621398926\t0.0602240376\t0.0606406751\t0.0628964603\t0.0105575191\t0.4949010000\t0.0747070000\t0.0558670000\t0.0306620000\t0.3312930000\t0.0017340000\t134964939\t0\t402718720\t4.0018353462\t3.9940981865\t3.9936187267\n8\t1311867170.6942050457\t0.0600374378\t0.0605652705\t0.0628964603\t0.0100582606\t0.5063580000\t0.0871030000\t0.0836970000\t0.0000010000\t0.3331880000\t0.0017270000\t134968555\t0\t402718720\t4.0011496544\t3.9931437969\t3.9919633865\n9\t1311867170.7263879776\t0.0608408414\t0.0605958895\t0.0628964603\t0.0100333745\t0.8354920000\t0.0731840000\t0.0656840000\t0.0305480000\t0.3293460000\t0.3360870000\t134972995\t0\t402718720\t4.0015754700\t3.9936788082\t3.9908602238\n10\t1311867170.7620189190\t0.0603598244\t0.0605722830\t0.0628964603\t0.0098643122\t0.4947570000\t0.0747610000\t0.0835380000\t0.0000000000\t0.3340860000\t0.0017290000\t134978435\t0\t402718720\t3.9995038509\t3.9909117222\t3.9892885685\n11\t1311867170.7941920757\t0.0607234947\t0.0605860295\t0.0628964603\t0.0096817732\t0.5029160000\t0.0875650000\t0.0515980000\t0.0304890000\t0.3308760000\t0.0017400000\t134981995\t0\t402718720\t4.0003848076\t3.9889507294\t3.9876785278\n12\t1311867170.8262820244\t0.0612697341\t0.0606430049\t0.0628964603\t0.0096081845\t0.4772540000\t0.0743180000\t0.0702420000\t0.0000010000\t0.3303200000\t0.0017260000\t134985723\t0\t402718720\t4.0014481544\t3.9856200218\t3.9859521389\n13\t1311867170.8622210026\t0.0614301339\t0.0607035533\t0.0628964603\t0.0096879169\t0.8481100000\t0.0736080000\t0.0830120000\t0.0306670000\t0.3263510000\t0.3338260000\t134989507\t0\t402718720\t4.0042462349\t3.9817702770\t3.9834048748\n14\t1311867170.8943779469\t0.0618294664\t0.0607839756\t0.0628964603\t0.0094070636\t0.4485530000\t0.0730560000\t0.0476330000\t0.0000010000\t0.3254920000\t0.0017200000\t134993123\t0\t402718720\t4.0020446777\t3.9801132679\t3.9812369347\n15\t1311867170.9263520241\t0.0620392002\t0.0608676573\t0.0628964603\t0.0093892339\t0.4831690000\t0.0721740000\t0.0552190000\t0.0306840000\t0.3227310000\t0.0017070000\t134996851\t0\t402718720\t4.0027909279\t3.9772715569\t3.9783899784\n16\t1311867170.9621469975\t0.0615631305\t0.0609111243\t0.0628964603\t0.0091747880\t0.4551220000\t0.0716010000\t0.0552060000\t0.0000010000\t0.3259580000\t0.0017020000\t135000635\t0\t402718720\t4.0006065369\t3.9752995968\t3.9754085541\n17\t1311867170.9942629337\t0.0615480766\t0.0609485921\t0.0628964603\t0.0090199975\t0.8348440000\t0.0833710000\t0.0549390000\t0.0307510000\t0.3283080000\t0.3368170000\t135005787\t0\t402718720\t3.9983270168\t3.9747209549\t3.9725210667\n18\t1311867171.0262739658\t0.0615851060\t0.0609839540\t0.0628964603\t0.0087685231\t0.4987230000\t0.0837890000\t0.0811680000\t0.0000010000\t0.3314190000\t0.0016870000\t135012715\t0\t402718720\t3.9982266426\t3.9730975628\t3.9697549343\n19\t1311867171.0623519421\t0.0607634597\t0.0609723490\t0.0628964603\t0.0091383784\t0.4854120000\t0.0700080000\t0.0476870000\t0.0307850000\t0.3345750000\t0.0016920000\t135016499\t0\t402718720\t3.9972686768\t3.9699757099\t3.9667017460\n20\t1311867171.0942349434\t0.0605198704\t0.0609497251\t0.0628964603\t0.0090707242\t0.4629390000\t0.0691830000\t0.0567340000\t0.0000000000\t0.3346690000\t0.0016900000\t135020115\t0\t402718720\t3.9972779751\t3.9690647125\t3.9645526409\n21\t1311867171.1262509823\t0.0605362430\t0.0609300355\t0.0628964603\t0.0089262250\t0.8877770000\t0.0880150000\t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99651\t0\t402718720\t3.8705756664\t4.0651707649\t3.7794017792\n1933\t1311867234.9204928875\t0.1124167666\t0.0908191909\t0.1207897216\t0.0059965583\t0.9589020000\t0.0778920000\t0.0954290000\t0.0385400000\t0.3641340000\t0.3784420000\t142703379\t0\t402718720\t3.8702931404\t4.0640692711\t3.7801623344\n1934\t1311867234.9566090107\t0.1134958789\t0.0908309161\t0.1207897216\t0.0059956781\t0.4884730000\t0.0721340000\t0.0641670000\t0.0000010000\t0.3458350000\t0.0017260000\t142707163\t0\t402718720\t3.8694009781\t4.0640020370\t3.7807438374\n1935\t1311867234.9904088974\t0.1135425642\t0.0908426534\t0.1207897216\t0.0059941880\t0.5224750000\t0.0620230000\t0.0727070000\t0.0315250000\t0.3501990000\t0.0016300000\t142710891\t0\t402718720\t3.8695728779\t4.0635585785\t3.7810482979\n1936\t1311867235.0205988884\t0.1125219539\t0.0908538514\t0.1207897216\t0.0059933977\t0.4909920000\t0.0619860000\t0.0727080000\t0.0000010000\t0.3502990000\t0.0016300000\t142714507\t0\t402718720\t3.8706288338\t4.0611433983\t3.7808399200\n1937\t1311867235.0563809872\t0.1153668240\t0.0908665065\t0.1207897216\t0.0059923809\t0.8704100000\t0.0614780000\t0.0576380000\t0.0315360000\t0.3462260000\t0.3689050000\t142718291\t0\t402718720\t3.8667666912\t4.0609049797\t3.7810084820\n1938\t1311867235.0911149979\t0.1143161654\t0.0908786065\t0.1207897216\t0.0059914535\t0.4917110000\t0.0603150000\t0.0749790000\t0.0000010000\t0.3504040000\t0.0016070000\t142722019\t0\t402718720\t3.8677098751\t4.0601205826\t3.7808973789\n1939\t1311867235.1208140850\t0.1124930084\t0.0908897537\t0.1207897216\t0.0059911907\t0.5312300000\t0.0710080000\t0.0710610000\t0.0314960000\t0.3516130000\t0.0016110000\t142725691\t0\t402718720\t3.8696205616\t4.0587620735\t3.7809159756\n1940\t1311867235.1564071178\t0.1115799844\t0.0909004187\t0.1207897216\t0.0059912001\t0.4769830000\t0.0604120000\t0.0624850000\t0.0000010000\t0.3480840000\t0.0016080000\t142729419\t0\t402718720\t3.8702383041\t4.0590219498\t3.7817516327\n1941\t1311867235.1885681152\t0.1107883751\t0.0909106650\t0.1207897216\t0.0059910226\t0.8882690000\t0.0596600000\t0.0748200000\t0.0310280000\t0.3469970000\t0.3712720000\t142733091\t0\t402718720\t3.8703346252\t4.0586819649\t3.7817122936\n1942\t1311867235.2202088833\t0.1115368679\t0.0909212861\t0.1207897216\t0.0059897345\t0.4837680000\t0.0606010000\t0.0653140000\t0.0000000000\t0.3518010000\t0.0016020000\t142736763\t0\t402718720\t3.8680732250\t4.0571599007\t3.7816522121\n1943\t1311867235.2576260567\t0.1124204919\t0.0909323510\t0.1207897216\t0.0059892498\t0.4954080000\t0.0601200000\t0.0504470000\t0.0314710000\t0.3470540000\t0.0017040000\t142740435\t0\t402718720\t3.8673343658\t4.0578203201\t3.7821347713\n1944\t1311867235.2899661064\t0.1124596819\t0.0909434248\t0.1207897216\t0.0059899705\t0.4995040000\t0.0711210000\t0.0750860000\t0.0000010000\t0.3469100000\t0.0017080000\t142744163\t0\t402718720\t3.8659107685\t4.0565314293\t3.7824311256\n1945\t1311867235.3247830868\t0.1113324612\t0.0909539076\t0.1207897216\t0.0059885629\t0.8960210000\t0.0607460000\t0.0754230000\t0.0311080000\t0.3494660000\t0.3748110000\t142747947\t0\t402718720\t3.8665003777\t4.0561513901\t3.7822556496\n1946\t1311867235.3567800522\t0.1110930666\t0.0909642566\t0.1207897216\t0.0059982651\t0.4875860000\t0.0602800000\t0.0694910000\t0.0000010000\t0.3517830000\t0.0016060000\t142751619\t0\t402718720\t3.8659667969\t4.0564227104\t3.7825486660\n1947\t1311867235.3886280060\t0.1113614738\t0.0909747328\t0.1207897216\t0.0060074720\t0.5035580000\t0.0604390000\t0.0538320000\t0.0314960000\t0.3517070000\t0.0016160000\t142755291\t0\t402718720\t3.8659024239\t4.0562357903\t3.7829630375\n1948\t1311867235.4246189594\t0.1117075235\t0.0909853759\t0.1207897216\t0.0060067386\t0.4665680000\t0.0608580000\t0.0480230000\t0.0000010000\t0.3516480000\t0.0016170000\t142759075\t0\t402718720\t3.8643667698\t4.0556764603\t3.7836816311\n1949\t1311867235.4564850330\t0.1120996028\t0.0909962093\t0.1207897216\t0.0060063960\t0.8756580000\t0.0711100000\t0.0421780000\t0.0314840000\t0.3515730000\t0.3748590000\t142762747\t0\t402718720\t3.8645999432\t4.0572347641\t3.7845716476\n1950\t1311867235.4897930622\t0.1119831353\t0.0910069718\t0.1207897216\t0.0060060061\t0.4866720000\t0.0605360000\t0.0739050000\t0.0000010000\t0.3461540000\t0.0016060000\t142766419\t0\t402718720\t3.8640341759\t4.0570769310\t3.7854118347\n1951\t1311867235.5240719318\t0.1117499098\t0.0910176038\t0.1207897216\t0.0060047909\t0.5188770000\t0.0603850000\t0.0712160000\t0.0310100000\t0.3501860000\t0.0016090000\t142770147\t0\t402718720\t3.8640062809\t4.0562486649\t3.7859666348\n1952\t1311867235.5577290058\t0.1128502339\t0.0910287885\t0.1207897216\t0.0060044630\t0.4578920000\t0.0598490000\t0.0419800000\t0.0000010000\t0.3499520000\t0.0016060000\t142773819\t0\t402718720\t3.8631885052\t4.0576314926\t3.7871620655\n1953\t1311867235.5880639553\t0.1129682139\t0.0910400222\t0.1207897216\t0.0060029941\t0.8531390000\t0.0601190000\t0.0364620000\t0.0310330000\t0.3493680000\t0.3717180000\t142777491\t0\t402718720\t3.8628485203\t4.0566473007\t3.7877681255\n1954\t1311867235.6249940395\t0.1127811670\t0.0910511487\t0.1207897216\t0.0060020318\t0.4920280000\t0.0832520000\t0.0573830000\t0.0000010000\t0.3450180000\t0.0017060000\t142781331\t0\t402718720\t3.8623740673\t4.0543842316\t3.7877905369\n1955\t1311867235.6563270092\t0.1128732339\t0.0910623109\t0.1207897216\t0.0060013996\t0.5100550000\t0.0611410000\t0.0612060000\t0.0315080000\t0.3501070000\t0.0016190000\t142784947\t0\t402718720\t3.8627953529\t4.0559024811\t3.7883772850\n1956\t1311867235.6885619164\t0.1131040230\t0.0910735796\t0.1207897216\t0.0060001746\t0.4885540000\t0.0608920000\t0.0716720000\t0.0000010000\t0.3499020000\t0.0016160000\t142788619\t0\t402718720\t3.8621752262\t4.0548386574\t3.7885942459\n1957\t1311867235.7241950035\t0.1135977283\t0.0910850892\t0.1207897216\t0.0059988384\t0.8917050000\t0.0609910000\t0.0717370000\t0.0314500000\t0.3500780000\t0.3729370000\t142792403\t0\t402718720\t3.8611452579\t4.0545220375\t3.7888629436\n1958\t1311867235.7561719418\t0.1128237322\t0.0910961917\t0.1207897216\t0.0059974357\t0.4596040000\t0.0609560000\t0.0425360000\t0.0000010000\t0.3499240000\t0.0016100000\t142796131\t0\t402718720\t3.8622081280\t4.0547471046\t3.7896854877\n1959\t1311867235.7903280258\t0.1131276265\t0.0911074379\t0.1207897216\t0.0059965845\t0.5288570000\t0.0693280000\t0.0723430000\t0.0314400000\t0.3496230000\t0.0016210000\t142799803\t0\t402718720\t3.8616175652\t4.0543794632\t3.7902314663\n1960\t1311867235.8249480724\t0.1136663705\t0.0911189476\t0.1207897216\t0.0059952535\t0.4877000000\t0.0605580000\t0.0715690000\t0.0000010000\t0.3494700000\t0.0016030000\t142803531\t0\t402718720\t3.8610703945\t4.0542907715\t3.7912516594\n1961\t1311867235.8562169075\t0.1141306385\t0.0911306822\t0.1207897216\t0.0059958856\t0.8894720000\t0.0609190000\t0.0756960000\t0.0314710000\t0.3447650000\t0.3721360000\t142807259\t0\t402718720\t3.8612492085\t4.0562138557\t3.7926127911\n1962\t1311867235.8881049156\t0.1161799356\t0.0911434495\t0.1207897216\t0.0059949020\t0.4689790000\t0.0599590000\t0.0541950000\t0.0000010000\t0.3487220000\t0.0016060000\t142810819\t0\t402718720\t3.8577065468\t4.0548148155\t3.7931909561\n1963\t1311867235.9239900112\t0.1140020564\t0.0911550942\t0.1207897216\t0.0059940790\t0.5016120000\t0.0610210000\t0.0541700000\t0.0314600000\t0.3488410000\t0.0016090000\t142814659\t0\t402718720\t3.8600654602\t4.0538458824\t3.7938964367\n1964\t1311867235.9563760757\t0.1144250929\t0.0911669425\t0.1207897216\t0.0059937165\t0.4918790000\t0.0844850000\t0.0571830000\t0.0000000000\t0.3437520000\t0.0017020000\t142818387\t0\t402718720\t3.8602252007\t4.0547585487\t3.7949502468\n1965\t1311867235.9890949726\t0.1133437008\t0.0911782283\t0.1207897216\t0.0059937551\t0.8617400000\t0.0613360000\t0.0496090000\t0.0314830000\t0.3441070000\t0.3706950000\t142822003\t0\t402718720\t3.8605055809\t4.0540251732\t3.7951142788\n1966\t1311867236.0250449181\t0.1139843091\t0.0911898286\t0.1207897216\t0.0059923113\t0.4695690000\t0.0610720000\t0.0542540000\t0.0000000000\t0.3480760000\t0.0016050000\t142825787\t0\t402718720\t3.8591380119\t4.0536642075\t3.7956354618\n1967\t1311867236.0599400997\t0.1134432033\t0.0912011419\t0.1207897216\t0.0059908071\t0.4825440000\t0.0606280000\t0.0364330000\t0.0314400000\t0.3478710000\t0.0016000000\t142829515\t0\t402718720\t3.8594329357\t4.0543813705\t3.7964141369\n1968\t1311867236.0884859562\t0.1136343703\t0.0912125409\t0.1207897216\t0.0059894754\t0.4850100000\t0.0607640000\t0.0703660000\t0.0000010000\t0.3477130000\t0.0016060000\t142833075\t0\t402718720\t3.8585293293\t4.0537061691\t3.7971289158\n1969\t1311867236.1247038841\t0.1130088568\t0.0912236107\t0.1207897216\t0.0059880106\t0.8961910000\t0.0752020000\t0.0692780000\t0.0314390000\t0.3459700000\t0.3697240000\t142836915\t0\t402718720\t3.8588023186\t4.0532793999\t3.7982008457\n1970\t1311867236.1581289768\t0.1127688140\t0.0912345473\t0.1207897216\t0.0059867792\t0.4731690000\t0.0596480000\t0.0597380000\t0.0000010000\t0.3476760000\t0.0015740000\t142840587\t0\t402718720\t3.8588945866\t4.0528740883\t3.7992873192\n1971\t1311867236.1901528835\t0.1127576008\t0.0912454672\t0.1207897216\t0.0059855225\t0.5160230000\t0.0608200000\t0.0754720000\t0.0314410000\t0.3418020000\t0.0016990000\t142844203\t0\t402718720\t3.8582100868\t4.0538454056\t3.8005244732\n1972\t1311867236.2242329121\t0.1118511856\t0.0912559163\t0.1207897216\t0.0059841879\t0.4609160000\t0.0601170000\t0.0483110000\t0.0000010000\t0.3463410000\t0.0016050000\t142847931\t0\t402718720\t3.8582196236\t4.0532326698\t3.8015122414\n1973\t1311867236.2599489689\t0.1122517884\t0.0912665579\t0.1207897216\t0.0059828209\t0.8775800000\t0.0611120000\t0.0758190000\t0.0314180000\t0.3412980000\t0.3634020000\t142851715\t0\t402718720\t3.8572871685\t4.0539035797\t3.8029615879\n1974\t1311867236.2890419960\t0.1120645180\t0.0912770939\t0.1207897216\t0.0059813425\t0.4994800000\t0.0759860000\t0.0761070000\t0.0000010000\t0.3409120000\t0.0016970000\t142855275\t0\t402718720\t3.8570444584\t4.0532436371\t3.8040852547\n1975\t1311867236.3262441158\t0.1129616573\t0.0912880734\t0.1207897216\t0.0059799222\t0.5291810000\t0.0603780000\t0.0740200000\t0.0313730000\t0.3562590000\t0.0021210000\t142859115\t0\t402718720\t3.8556163311\t4.0533051491\t3.8055546284\n1976\t1311867236.3568809032\t0.1130821034\t0.0912991028\t0.1207897216\t0.0059790882\t0.5383540000\t0.0775490000\t0.0950440000\t0.0000010000\t0.3586050000\t0.0021150000\t142862787\t0\t402718720\t3.8549506664\t4.0523281097\t3.8066933155\n1977\t1311867236.3897418976\t0.1135028526\t0.0913103338\t0.1207897216\t0.0059776263\t0.9520000000\t0.0773590000\t0.0929890000\t0.0383740000\t0.3581230000\t0.3800940000\t142866459\t0\t402718720\t3.8537259102\t4.0521650314\t3.8076934814\n1978\t1311867236.4243390560\t0.1122999266\t0.0913209453\t0.1207897216\t0.0059783607\t0.5098620000\t0.0775070000\t0.0825710000\t0.0000000000\t0.3436280000\t0.0016050000\t142870187\t0\t402718720\t3.8545677662\t4.0519413948\t3.8093883991\n1979\t1311867236.4566040039\t0.1116812006\t0.0913312335\t0.1207897216\t0.0059774705\t0.4900980000\t0.0613660000\t0.0486480000\t0.0309190000\t0.3429600000\t0.0016080000\t142873915\t0\t402718720\t3.8552451134\t4.0520596504\t3.8106982708\n1980\t1311867236.4936130047\t0.1134859398\t0.0913424227\t0.1207897216\t0.0059820742\t0.4809960000\t0.0610890000\t0.0760700000\t0.0000010000\t0.3376680000\t0.0016110000\t142877699\t0\t402718720\t3.8531403542\t4.0514225960\t3.8122706413\n1981\t1311867236.5246999264\t0.1126501188\t0.0913531788\t0.1207897216\t0.0059806322\t0.8381650000\t0.0615620000\t0.0452990000\t0.0313970000\t0.3369470000\t0.3584290000\t142881371\t0\t402718720\t3.8547096252\t4.0522937775\t3.8141920567\n1982\t1311867236.5602099895\t0.1131135076\t0.0913641577\t0.1207897216\t0.0059803753\t0.4814930000\t0.0620370000\t0.0730790000\t0.0000000000\t0.3402290000\t0.0016160000\t142885155\t0\t402718720\t3.8536822796\t4.0519032478\t3.8158416748\n1983\t1311867236.5972909927\t0.1127383187\t0.0913749364\t0.1207897216\t0.0059790594\t0.4872730000\t0.0611000000\t0.0488600000\t0.0311680000\t0.3400050000\t0.0015980000\t142888939\t0\t402718720\t3.8541035652\t4.0513944626\t3.8175275326\n1984\t1311867236.6246581078\t0.1135831773\t0.0913861301\t0.1207897216\t0.0059776583\t0.5004020000\t0.0823800000\t0.0730110000\t0.0000000000\t0.3388390000\t0.0016170000\t142892443\t0\t402718720\t3.8530814648\t4.0507225990\t3.8192427158\n1985\t1311867236.6600480080\t0.1139495969\t0.0913974971\t0.1207897216\t0.0059761768\t0.8448860000\t0.0627880000\t0.0495270000\t0.0309170000\t0.3385250000\t0.3586020000\t142896227\t0\t402718720\t3.8532173634\t4.0517530441\t3.8216667175\n1986\t1311867236.6956660748\t0.1137412935\t0.0914087477\t0.1207897216\t0.0059756219\t0.4812110000\t0.0633250000\t0.0740200000\t0.0000010000\t0.3377280000\t0.0016210000\t142900011\t0\t402718720\t3.8535990715\t4.0524206161\t3.8238794804\n1987\t1311867236.7276370525\t0.1135759130\t0.0914199038\t0.1207897216\t0.0059744576\t0.4989860000\t0.0628170000\t0.0616940000\t0.0313090000\t0.3369720000\t0.0016290000\t142903627\t0\t402718720\t3.8535511494\t4.0515918732\t3.8258516788\n1988\t1311867236.7619268894\t0.1131696254\t0.0914308443\t0.1207897216\t0.0059738816\t0.5006420000\t0.0845080000\t0.0780340000\t0.0000000000\t0.3319030000\t0.0016310000\t142907355\t0\t402718720\t3.8541016579\t4.0508608818\t3.8280267715\n1989\t1311867236.7923469543\t0.1144595668\t0.0914424224\t0.1207897216\t0.0059748159\t0.8794350000\t0.0798760000\t0.0745750000\t0.0313550000\t0.3352320000\t0.3538340000\t142910971\t0\t402718720\t3.8529980183\t4.0508618355\t3.8302431107\n1990\t1311867236.8255391121\t0.1142792180\t0.0914538982\t0.1207897216\t0.0059740087\t0.4788260000\t0.0633440000\t0.0747660000\t0.0000000000\t0.3345100000\t0.0016280000\t142914755\t0\t402718720\t3.8527433872\t4.0504875183\t3.8321034908\n1991\t1311867236.8583440781\t0.1140781865\t0.0914652614\t0.1207897216\t0.0059732745\t0.5090450000\t0.0633500000\t0.0784750000\t0.0313250000\t0.3293980000\t0.0017300000\t142918371\t0\t402718720\t3.8531084061\t4.0505256653\t3.8341200352\n1992\t1311867236.8928480148\t0.1132257134\t0.0914761854\t0.1207897216\t0.0059727579\t0.4767820000\t0.0633390000\t0.0743120000\t0.0000000000\t0.3329540000\t0.0016300000\t142922099\t0\t402718720\t3.8534848690\t4.0491762161\t3.8358762264\n1993\t1311867236.9255330563\t0.1124731973\t0.0914867207\t0.1207897216\t0.0059714525\t0.8560230000\t0.0638660000\t0.0745720000\t0.0313870000\t0.3319870000\t0.3496560000\t142925771\t0\t402718720\t3.8541343212\t4.0487713814\t3.8377878666\n1994\t1311867236.9581959248\t0.1134393513\t0.0914977301\t0.1207897216\t0.0059701005\t0.4791380000\t0.0636450000\t0.0781140000\t0.0000000000\t0.3312090000\t0.0016320000\t142929443\t0\t402718720\t3.8532099724\t4.0488910675\t3.8402903080\n1995\t1311867236.9937291145\t0.1121502668\t0.0915080822\t0.1207897216\t0.0059728077\t0.4762000000\t0.0641640000\t0.0443360000\t0.0308230000\t0.3306530000\t0.0016390000\t142933227\t0\t402718720\t3.8541934490\t4.0504975319\t3.8425755501\n1996\t1311867237.0244200230\t0.1126001254\t0.0915186494\t0.1207897216\t0.0059715918\t0.4762240000\t0.0646290000\t0.0755850000\t0.0000000000\t0.3298340000\t0.0016370000\t142936843\t0\t402718720\t3.8529746532\t4.0498051643\t3.8448252678\n1997\t1311867237.0603060722\t0.1117660478\t0.0915287883\t0.1207897216\t0.0059747713\t0.8496880000\t0.0625470000\t0.0743490000\t0.0310640000\t0.3302680000\t0.3469000000\t142940627\t0\t402718720\t3.8529429436\t4.0500979424\t3.8467671871\n1998\t1311867237.0927588940\t0.1111272797\t0.0915385973\t0.1207897216\t0.0059854624\t0.4910270000\t0.0864340000\t0.0734190000\t0.0000000000\t0.3249760000\t0.0016480000\t142944355\t0\t402718720\t3.8542220592\t4.0512514114\t3.8489933014\n1999\t1311867237.1276650429\t0.1106280833\t0.0915481469\t0.1207897216\t0.0059849173\t0.5180540000\t0.0766450000\t0.0759240000\t0.0313360000\t0.3277980000\t0.0016490000\t142948083\t0\t402718720\t3.8536899090\t4.0496335030\t3.8506355286\n2000\t1311867237.1566579342\t0.1126058474\t0.0915586757\t0.1207897216\t0.0059837222\t0.4738550000\t0.0644720000\t0.0794690000\t0.0000010000\t0.3234130000\t0.0017340000\t142951643\t0\t402718720\t3.8502871990\t4.0497369766\t3.8522684574\n2001\t1311867237.1925950050\t0.1117353663\t0.0915687590\t0.1207897216\t0.0059829020\t0.8265020000\t0.0646990000\t0.0568660000\t0.0312820000\t0.3267310000\t0.3423740000\t142955427\t0\t402718720\t3.8507790565\t4.0496129990\t3.8539929390\n2002\t1311867237.2254281044\t0.1109329090\t0.0915784314\t0.1207897216\t0.0059815687\t0.4732960000\t0.0651010000\t0.0756190000\t0.0000000000\t0.3263340000\t0.0016410000\t142959155\t0\t402718720\t3.8514130116\t4.0481991768\t3.8554272652\n2003\t1311867237.2569580078\t0.1119147316\t0.0915885843\t0.1207897216\t0.0059809087\t0.5051790000\t0.0656160000\t0.0760520000\t0.0308290000\t0.3264260000\t0.0016500000\t142962827\t0\t402718720\t3.8489220142\t4.0471014977\t3.8568713665\n2004\t1311867237.2944281101\t0.1119732559\t0.0915987563\t0.1207897216\t0.0059795996\t0.4845830000\t0.0758370000\t0.0797730000\t0.0000010000\t0.3223110000\t0.0018000000\t142966611\t0\t402718720\t3.8485813141\t4.0486636162\t3.8585250378\n2005\t1311867237.3250501156\t0.1105049402\t0.0916081859\t0.1207897216\t0.0059783436\t0.8238630000\t0.0656490000\t0.0603890000\t0.0308460000\t0.3217980000\t0.3405340000\t142970283\t0\t402718720\t3.8501555920\t4.0483670235\t3.8600120544\n2006\t1311867237.3565309048\t0.1115890071\t0.0916181464\t0.1207897216\t0.0059790546\t0.4726460000\t0.0652260000\t0.0758350000\t0.0000010000\t0.3253490000\t0.0016420000\t142973955\t0\t402718720\t3.8485336304\t4.0472736359\t3.8617680073\n2007\t1311867237.3934979439\t0.1105707288\t0.0916275896\t0.1207897216\t0.0059782192\t0.5032260000\t0.0652120000\t0.0758830000\t0.0312680000\t0.3246580000\t0.0016450000\t142977683\t0\t402718720\t3.8493053913\t4.0488176346\t3.8635668755\n2008\t1311867237.4248709679\t0.1107006073\t0.0916370881\t0.1207897216\t0.0059770099\t0.4671370000\t0.0865970000\t0.0543160000\t0.0000010000\t0.3196900000\t0.0017570000\t142981411\t0\t402718720\t3.8485321999\t4.0473971367\t3.8653297424\n2009\t1311867237.4579510689\t0.1100057811\t0.0916462313\t0.1207897216\t0.0059757737\t0.8301500000\t0.0801550000\t0.0542960000\t0.0308940000\t0.3227940000\t0.3373770000\t142985083\t0\t402718720\t3.8487195969\t4.0457339287\t3.8668663502\n2010\t1311867237.4933559895\t0.1114088595\t0.0916560635\t0.1207897216\t0.0059762296\t0.4449440000\t0.0658720000\t0.0544770000\t0.0000010000\t0.3179980000\t0.0017560000\t142988867\t0\t402718720\t3.8470623493\t4.0475945473\t3.8691909313\n2011\t1311867237.5253219604\t0.1085265577\t0.0916644526\t0.1207897216\t0.0059786994\t0.5005520000\t0.0659520000\t0.0763890000\t0.0312470000\t0.3206940000\t0.0016550000\t142992539\t0\t402718720\t3.8499269485\t4.0461111069\t3.8708865643\n2012\t1311867237.5581231117\t0.1091446653\t0.0916731406\t0.1207897216\t0.0059776099\t0.4688890000\t0.0658430000\t0.0766410000\t0.0000010000\t0.3201420000\t0.0016590000\t142996267\t0\t402718720\t3.8488872051\t4.0447421074\t3.8726000786\n2013\t1311867237.5925350189\t0.1106902957\t0.0916825877\t0.1207897216\t0.0059798915\t0.8303330000\t0.0661820000\t0.0770190000\t0.0307230000\t0.3190320000\t0.3327440000\t142999939\t0\t402718720\t3.8475141525\t4.0458979607\t3.8750808239\n2014\t1311867237.6261129379\t0.1105646789\t0.0916919632\t0.1207897216\t0.0059785405\t0.4708880000\t0.0815290000\t0.0682480000\t0.0000000000\t0.3148440000\t0.0016650000\t143003723\t0\t402718720\t3.8472599983\t4.0451140404\t3.8770258427\n2015\t1311867237.6569290161\t0.1107598394\t0.0917014261\t0.1207897216\t0.0059777850\t0.4985990000\t0.0654530000\t0.0807870000\t0.0311410000\t0.3146340000\t0.0017250000\t143007339\t0\t402718720\t3.8464174271\t4.0435795784\t3.8788821697\n2016\t1311867237.6925010681\t0.1101973504\t0.0917106007\t0.1207897216\t0.0059763956\t0.4416010000\t0.0657690000\t0.0522550000\t0.0000000000\t0.3172690000\t0.0016670000\t143011067\t0\t402718720\t3.8472685814\t4.0441040993\t3.8810267448\n2017\t1311867237.7243609428\t0.1108177602\t0.0917200738\t0.1207897216\t0.0059750160\t0.8145460000\t0.0675680000\t0.0651890000\t0.0312330000\t0.3163730000\t0.3295190000\t143014739\t0\t402718720\t3.8468425274\t4.0440683365\t3.8832800388\n2018\t1311867237.7617940903\t0.1097204685\t0.0917289937\t0.1207897216\t0.0059736899\t0.4667080000\t0.0672000000\t0.0776290000\t0.0000010000\t0.3155860000\t0.0016600000\t143018635\t0\t402718720\t3.8473043442\t4.0422930717\t3.8852210045\n2019\t1311867237.7926809788\t0.1096600220\t0.0917378748\t0.1207897216\t0.0059726796\t0.4879080000\t0.0773680000\t0.0616540000\t0.0312390000\t0.3113820000\t0.0016630000\t143022195\t0\t402718720\t3.8473448753\t4.0433769226\t3.8877618313\n2020\t1311867237.8255820274\t0.1098908186\t0.0917468614\t0.1207897216\t0.0059716861\t0.4801410000\t0.0675170000\t0.0782600000\t0.0000010000\t0.3270670000\t0.0022100000\t143025923\t0\t402718720\t3.8468127251\t4.0436129570\t3.8901281357\n2021\t1311867237.8612699509\t0.1087586433\t0.0917552789\t0.1207897216\t0.0059708713\t0.8526550000\t0.0860530000\t0.0695710000\t0.0379800000\t0.3263730000\t0.3280500000\t143029763\t0\t402718720\t3.8476376534\t4.0428900719\t3.8920495510\n2022\t1311867237.8926060200\t0.1096125618\t0.0917641104\t0.1207897216\t0.0059707922\t0.4515770000\t0.0681070000\t0.0658450000\t0.0000010000\t0.3113310000\t0.0016740000\t143033379\t0\t402718720\t3.8463988304\t4.0434827805\t3.8948485851\n2023\t1311867237.9253590107\t0.1089241579\t0.0917725929\t0.1207897216\t0.0059703182\t0.4943590000\t0.0683130000\t0.0788290000\t0.0311550000\t0.3097330000\t0.0016830000\t143036995\t0\t402718720\t3.8475325108\t4.0427885056\t3.8970949650\n2024\t1311867237.9613509178\t0.1088937074\t0.0917810520\t0.1207897216\t0.0059695438\t0.4728910000\t0.0794360000\t0.0786900000\t0.0000010000\t0.3084980000\t0.0016740000\t143040779\t0\t402718720\t3.8467919827\t4.0418653488\t3.8990528584\n2025\t1311867237.9928910732\t0.1080352962\t0.0917890787\t0.1207897216\t0.0059684873\t0.8081510000\t0.0684570000\t0.0830260000\t0.0312740000\t0.3043870000\t0.3161510000\t143044451\t0\t402718720\t3.8483493328\t4.0420117378\t3.9013068676\n2026\t1311867238.0245919228\t0.1084688976\t0.0917973116\t0.1207897216\t0.0059680961\t0.4622380000\t0.0687450000\t0.0836610000\t0.0000000000\t0.3035330000\t0.0016840000\t143048067\t0\t402718720\t3.8481595516\t4.0426297188\t3.9036469460\n2027\t1311867238.0607950687\t0.1087311879\t0.0918056658\t0.1207897216\t0.0059670980\t0.4802940000\t0.0909700000\t0.0469510000\t0.0311560000\t0.3048470000\t0.0016960000\t143051851\t0\t402718720\t3.8477337360\t4.0411739349\t3.9058208466\n2028\t1311867238.0932629108\t0.1081233472\t0.0918137120\t0.1207897216\t0.0059661650\t0.4570610000\t0.0671250000\t0.0786190000\t0.0000010000\t0.3050480000\t0.0016380000\t143055523\t0\t402718720\t3.8475544453\t4.0388803482\t3.9074435234\n2029\t1311867238.1251931190\t0.1101662964\t0.0918227571\t0.1207897216\t0.0059675708\t0.7888630000\t0.0802110000\t0.0533720000\t0.0306780000\t0.3043180000\t0.3156310000\t143059195\t0\t402718720\t3.8465211391\t4.0409927368\t3.9100618362\n2030\t1311867238.1608469486\t0.1088624746\t0.0918311511\t0.1207897216\t0.0059713611\t0.4770190000\t0.0691320000\t0.0828940000\t0.0000000000\t0.3176110000\t0.0022460000\t143062979\t0\t402718720\t3.8488690853\t4.0414810181\t3.9126231670\n2031\t1311867238.1928510666\t0.1086861864\t0.0918394499\t0.1207897216\t0.0059758990\t0.5208070000\t0.0876100000\t0.0709950000\t0.0378700000\t0.3169860000\t0.0022400000\t143066651\t0\t402718720\t3.8487908840\t4.0407109261\t3.9146347046\n2032\t1311867238.2246770859\t0.1089932323\t0.0918478918\t0.1207897216\t0.0059749226\t0.5174260000\t0.0878520000\t0.1059370000\t0.0000010000\t0.3162100000\t0.0022380000\t143070323\t0\t402718720\t3.8492853642\t4.0414881706\t3.9170911312\n2033\t1311867238.2605938911\t0.1086534932\t0.0918561582\t0.1207897216\t0.0059750139\t0.8623250000\t0.0902790000\t0.1074160000\t0.0385320000\t0.3097090000\t0.3117040000\t143074107\t0\t402718720\t3.8503940105\t4.0408802032\t3.9193375111\n2034\t1311867238.2926790714\t0.1080182865\t0.0918641042\t0.1207897216\t0.0059798480\t0.4715280000\t0.0840680000\t0.0807160000\t0.0000000000\t0.3004030000\t0.0016850000\t143077723\t0\t402718720\t3.8513464928\t4.0384149551\t3.9213700294\n2035\t1311867238.3257811069\t0.1092564613\t0.0918726508\t0.1207897216\t0.0059905126\t0.4750750000\t0.0701220000\t0.0673350000\t0.0311190000\t0.3001480000\t0.0017000000\t143081507\t0\t402718720\t3.8506436348\t4.0394992828\t3.9239046574\n2036\t1311867238.3604390621\t0.1079550982\t0.0918805498\t0.1207897216\t0.0059893555\t0.4563640000\t0.0703400000\t0.0803230000\t0.0000010000\t0.2993640000\t0.0016950000\t143085235\t0\t402718720\t3.8535068035\t4.0390396118\t3.9261596203\n2037\t1311867238.3936378956\t0.1070958152\t0.0918880193\t0.1207897216\t0.0059913453\t0.7746460000\t0.0895610000\t0.0419740000\t0.0311470000\t0.2986000000\t0.3087530000\t143088963\t0\t402718720\t3.8544011116\t4.0374193192\t3.9280588627\n2038\t1311867238.4264049530\t0.1080713719\t0.0918959601\t0.1207897216\t0.0059937491\t0.4543230000\t0.0683770000\t0.0840000000\t0.0000010000\t0.2953370000\t0.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}, { "path": "icra2018_results/1080/violons_libkfusion-cuda_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 01:22:06\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cuda_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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}, { "path": "icra2018_results/1080/violons_libkfusion-cuda_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 01:22:27\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cuda_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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}, { "path": "icra2018_results/1080/violons_libkfusion-cuda_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 01:22:41\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cuda_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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}, { "path": "icra2018_results/1080/violons_libkfusion-cuda_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 01:22:46\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cuda_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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}, { "path": "icra2018_results/1080/violons_libkfusion-cuda_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 01:23:03\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cuda_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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}, { "path": "icra2018_results/1080/violons_libkfusion-cuda_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 01:23:14\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cuda_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253987648\t0.0253987648\t0.0253987648\t-nan\t0.0032440000\t0.0004030000\t0.0004830000\t0.0000050000\t0.0000010000\t0.0021610000\t13136893\t96830484\t509673472\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1305031102.2112140656\t0.0277590584\t0.0265789116\t0.0277590584\t0.0329535045\t0.0015380000\t0.0003570000\t0.0004740000\t0.0000030000\t0.0000010000\t0.0006680000\t13927469\t96830484\t509673472\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1305031102.2432110310\t0.0337214470\t0.0289597567\t0.0337214470\t0.0304149093\t0.0015650000\t0.0003600000\t0.0004740000\t0.0000040000\t0.0000000000\t0.0006780000\t13931533\t96830484\t509673472\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1305031102.2753260136\t0.0413634107\t0.0320606702\t0.0413634107\t0.0283056841\t0.0020780000\t0.0003570000\t0.0004730000\t0.0000030000\t0.0000050000\t0.0011920000\t13935605\t96830484\t509673472\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1305031102.3112668991\t0.0195331685\t0.0295551699\t0.0413634107\t0.0301324792\t0.0050900000\t0.0003590000\t0.0028630000\t0.0000030000\t0.0000030000\t0.0018110000\t13939773\t96830484\t509673472\t3.9956095219\t3.9985203743\t4.0339021683\n6\t1305031102.3432331085\t0.0165484399\t0.0273873815\t0.0413634107\t0.0279491838\t0.0039190000\t0.0003590000\t0.0025050000\t0.0000010000\t0.0000040000\t0.0009980000\t13944245\t96830484\t509673472\t3.9933295250\t3.9974973202\t4.0460605621\n7\t1305031102.3753290176\t0.0143032754\t0.0255182235\t0.0413634107\t0.0256321107\t0.0051120000\t0.0005400000\t0.0025490000\t0.0000150000\t0.0000130000\t0.0017590000\t13947861\t96830484\t509673472\t3.9915521145\t3.9987490177\t4.0578470230\n8\t1305031102.4112579823\t0.0161144640\t0.0243427536\t0.0413634107\t0.0248949774\t0.0048600000\t0.0005410000\t0.0025350000\t0.0000020000\t0.0000150000\t0.0015290000\t13951701\t96830484\t509673472\t3.9903874397\t4.0006742477\t4.0697317123\n9\t1305031102.4432709217\t0.0140173724\t0.0231954890\t0.0413634107\t0.0252536670\t0.0061580000\t0.0005190000\t0.0029150000\t0.0000140000\t0.0000130000\t0.0024490000\t13956141\t96830484\t509673472\t3.9873261452\t4.0034246445\t4.0821051598\n10\t1305031102.4753179550\t0.0116291679\t0.0220388569\t0.0413634107\t0.0240298461\t0.0048530000\t0.0005200000\t0.0025650000\t0.0000020000\t0.0000150000\t0.0015030000\t13961357\t96830484\t509673472\t3.9876585007\t4.0076665878\t4.0952625275\n11\t1305031102.5112190247\t0.0164511818\t0.0215308864\t0.0413634107\t0.0234071341\t0.0057120000\t0.0005250000\t0.0032250000\t0.0000150000\t0.0000130000\t0.0016840000\t13965141\t96830484\t509673472\t3.9873974323\t4.0066890717\t4.1077733040\n12\t1305031102.5432200432\t0.0179960988\t0.0212363208\t0.0413634107\t0.0223192078\t0.0061550000\t0.0005270000\t0.0035980000\t0.0000020000\t0.0000140000\t0.0017430000\t13968869\t96830484\t509673472\t3.9864895344\t4.0065875053\t4.1198072433\n13\t1305031102.5752859116\t0.0202837195\t0.0211630438\t0.0413634107\t0.0221571619\t0.0077040000\t0.0006020000\t0.0046610000\t0.0000150000\t0.0000140000\t0.0022190000\t13972485\t96830484\t509673472\t3.9834952354\t4.0057687759\t4.1314301491\n14\t1305031102.6112329960\t0.0283714719\t0.0216779315\t0.0413634107\t0.0226168808\t0.0044780000\t0.0004530000\t0.0029900000\t0.0000010000\t0.0000060000\t0.0009150000\t13976269\t96830484\t509673472\t3.9842815399\t4.0026235580\t4.1424007416\n15\t1305031102.6432650089\t0.0308774840\t0.0222912350\t0.0413634107\t0.0225186248\t0.0046020000\t0.0003970000\t0.0029530000\t0.0000070000\t0.0000050000\t0.0011260000\t13979941\t96830484\t509673472\t3.9798064232\t4.0030684471\t4.1535334587\n16\t1305031102.6752851009\t0.0282426793\t0.0226632003\t0.0413634107\t0.0223311391\t0.0040370000\t0.0003960000\t0.0026270000\t0.0000010000\t0.0000060000\t0.0008910000\t13983613\t96830484\t509673472\t3.9764451981\t4.0097107887\t4.1653304100\n17\t1305031102.7112629414\t0.0316483639\t0.0231917393\t0.0413634107\t0.0218740086\t0.0064230000\t0.0003920000\t0.0043290000\t0.0000060000\t0.0000060000\t0.0015700000\t13988933\t96830484\t509673472\t3.9767310619\t4.0127487183\t4.1776719093\n18\t1305031102.7432339191\t0.0347460806\t0.0238336472\t0.0413634107\t0.0212920904\t0.0054510000\t0.0005270000\t0.0032710000\t0.0000020000\t0.0000150000\t0.0013400000\t13995861\t96830484\t509673472\t3.9764158726\t4.0140295029\t4.1902990341\n19\t1305031102.7754719257\t0.0331624523\t0.0243246369\t0.0413634107\t0.0211175882\t0.0053490000\t0.0005310000\t0.0029390000\t0.0000140000\t0.0000130000\t0.0015520000\t13999477\t96830484\t509673472\t3.9771006107\t4.0198845863\t4.2032289505\n20\t1305031102.8112320900\t0.0379258320\t0.0250046967\t0.0413634107\t0.0206050021\t0.0055020000\t0.0005280000\t0.0032970000\t0.0000020000\t0.0000150000\t0.0013540000\t14003261\t96830484\t509673472\t3.9762506485\t4.0221452713\t4.215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}, { "path": "icra2018_results/1080/violons_libkfusion-cuda_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 01:23:25\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cuda_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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21\t0.1220528770\t0.2376661599\t0.0047577313\t0.0111820000\t0.0004520000\t0.0046540000\t0.0000010000\t0.0000040000\t0.0009860000\t42147797\t96830484\t509673472\t3.8997879028\t3.9423043728\t3.9978330135\n1927\t1311867782.9145979881\t0.1012850031\t0.1220420996\t0.2376661599\t0.0047577789\t0.0138470000\t0.0005100000\t0.0048280000\t0.0000070000\t0.0000060000\t0.0013320000\t42151469\t96830484\t509673472\t3.9005730152\t3.9443602562\t3.9974102974\n1928\t1311867782.9517209530\t0.1027329117\t0.1220320845\t0.2376661599\t0.0047566947\t0.0098130000\t0.0004600000\t0.0031660000\t0.0000010000\t0.0000040000\t0.0010030000\t42155309\t96830484\t509673472\t3.8990435600\t3.9440445900\t3.9970812798\n1929\t1311867782.9812240601\t0.1012621075\t0.1220213173\t0.2376661599\t0.0047566112\t0.0118490000\t0.0004490000\t0.0045040000\t0.0000040000\t0.0000030000\t0.0018470000\t42158869\t96830484\t509673472\t3.9006183147\t3.9421873093\t3.9959840775\n1930\t1311867783.0143089294\t0.1030183733\t0.1220114712\t0.2376661599\t0.0047577173\t0.0110130000\t0.0004530000\t0.0046290000\t0.0000010000\t0.0000060000\t0.0009950000\t42162597\t96830484\t509673472\t3.8983428478\t3.9439637661\t3.9960432053\n1931\t1311867783.0528459549\t0.1025818661\t0.1220014093\t0.2376661599\t0.0047568635\t0.0095710000\t0.0004560000\t0.0027710000\t0.0000040000\t0.0000040000\t0.0012780000\t42166381\t96830484\t509673472\t3.8985712528\t3.9442319870\t3.9953887463\n1932\t1311867783.0829811096\t0.1029664800\t0.1219915568\t0.2376661599\t0.0047568491\t0.0089670000\t0.0004530000\t0.0023900000\t0.0000010000\t0.0000040000\t0.0010060000\t42170053\t96830484\t509673472\t3.8984184265\t3.9425334930\t3.9948446751\n1933\t1311867783.1137030125\t0.1030943915\t0.1219817807\t0.2376661599\t0.0047561124\t0.0105510000\t0.0004520000\t0.0031360000\t0.0000040000\t0.0000040000\t0.0018620000\t42173669\t96830484\t509673472\t3.8982498646\t3.9432823658\t3.9949576855\n1934\t1311867783.1539480686\t0.1035095081\t0.1219722294\t0.2376661599\t0.0047549866\t0.0098570000\t0.0004500000\t0.0033880000\t0.0000000000\t0.0000040000\t0.0010080000\t42177565\t96830484\t509673472\t3.8976397514\t3.9435586929\t3.9946486950\n1935\t1311867783.1857850552\t0.1045526713\t0.1219632270\t0.2376661599\t0.0047539731\t0.0113370000\t0.0004510000\t0.0045950000\t0.0000030000\t0.0000030000\t0.0012950000\t42181237\t96830484\t509673472\t3.8963987827\t3.9434645176\t3.9943294525\n1936\t1311867783.2169439793\t0.1057142317\t0.1219548340\t0.2376661599\t0.0047531622\t0.0110510000\t0.0004490000\t0.0045810000\t0.0000010000\t0.0000040000\t0.0010110000\t42184853\t96830484\t509673472\t3.8949294090\t3.9437921047\t3.9945766926\n1937\t1311867783.2548489571\t0.1052485183\t0.1219462091\t0.2376661599\t0.0047519783\t0.0119270000\t0.0004490000\t0.0045810000\t0.0000040000\t0.0000040000\t0.0018650000\t42188749\t96830484\t509673472\t3.8952195644\t3.9443855286\t3.9942171574\n1938\t1311867783.2816879749\t0.1048584953\t0.1219373919\t0.2376661599\t0.0047512486\t0.0097890000\t0.0004500000\t0.0031250000\t0.0000000000\t0.0000040000\t0.0010230000\t42192309\t96830484\t509673472\t3.8956222534\t3.9436986446\t3.9939262867\n1939\t1311867783.3132228851\t0.1065635532\t0.1219294632\t0.2376661599\t0.0047500986\t0.0113930000\t0.0004490000\t0.0045870000\t0.0000040000\t0.0000040000\t0.0012960000\t42195869\t96830484\t509673472\t3.8940689564\t3.9429237843\t3.9941656590\n1940\t1311867783.3503270149\t0.1103856862\t0.1219235128\t0.2376661599\t0.0047509394\t0.0148140000\t0.0005730000\t0.0048040000\t0.0000010000\t0.0000080000\t0.0011610000\t42199709\t96830484\t509673472\t3.8899946213\t3.9438557625\t3.9947404861\n1941\t1311867783.3855919838\t0.1125358045\t0.1219186763\t0.2376661599\t0.0047506622\t0.0123150000\t0.0005130000\t0.0046870000\t0.0000040000\t0.0000040000\t0.0018890000\t42203493\t96830484\t509673472\t3.8878688812\t3.9430122375\t3.9943299294\n1942\t1311867783.4198501110\t0.1105281860\t0.1219128109\t0.2376661599\t0.0047506841\t0.0092090000\t0.0004450000\t0.0027470000\t0.0000010000\t0.0000030000\t0.0010190000\t42207221\t96830484\t509673472\t3.8899495602\t3.9425601959\t3.9940307140\n1943\t1311867783.4503099918\t0.1103892997\t0.1219068801\t0.2376661599\t0.0047498864\t0.0103480000\t0.0004640000\t0.0034710000\t0.0000030000\t0.0000030000\t0.0013010000\t42210837\t96830484\t509673472\t3.8895726204\t3.9440865517\t3.9936785698\n1944\t1311867783.4863688946\t0.1106698811\t0.1219010998\t0.2376661599\t0.0047496515\t0.0111030000\t0.0004410000\t0.0045730000\t0.0000010000\t0.0000040000\t0.0010250000\t42214621\t96830484\t509673472\t3.8893873692\t3.9430837631\t3.9935245514\n1945\t1311867783.5186200142\t0.1101686209\t0.1218950677\t0.2376661599\t0.0047488710\t0.0099870000\t0.0004470000\t0.0023740000\t0.0000040000\t0.0000030000\t0.0018940000\t42218237\t96830484\t509673472\t3.8899993896\t3.9424624443\t3.9933729172\n1946\t1311867783.5488419533\t0.1117970496\t0.1218898785\t0.2376661599\t0.0047491274\t0.0093580000\t0.0004410000\t0.0027240000\t0.0000010000\t0.0000040000\t0.0010280000\t42221853\t96830484\t509673472\t3.8879625797\t3.9437305927\t3.9936406612\n1947\t1311867783.5823969841\t0.1094825938\t0.1218835060\t0.2376661599\t0.0047495210\t0.0095480000\t0.0004400000\t0.0027300000\t0.0000030000\t0.0000030000\t0.0013020000\t42225637\t96830484\t509673472\t3.8902735710\t3.9429397583\t3.9925534725\n1948\t1311867783.6168529987\t0.1110681742\t0.1218779540\t0.2376661599\t0.0047488771\t0.0096010000\t0.0004400000\t0.0030910000\t0.0000010000\t0.0000040000\t0.0010290000\t42229309\t96830484\t509673472\t3.8887040615\t3.9427623749\t3.9927256107\n1949\t1311867783.6515829563\t0.1097164452\t0.1218717141\t0.2376661599\t0.0047476960\t0.0108360000\t0.0004370000\t0.0034630000\t0.0000030000\t0.0000030000\t0.0018930000\t42233037\t96830484\t509673472\t3.8901300430\t3.9432702065\t3.9925522804\n1950\t1311867783.6816630363\t0.1106010973\t0.1218659343\t0.2376661599\t0.0047472651\t0.0110230000\t0.0004370000\t0.0045760000\t0.0000000000\t0.0000040000\t0.0010210000\t42236709\t96830484\t509673472\t3.8891992569\t3.9434893131\t3.9927222729\n1951\t1311867783.7179610729\t0.1104531288\t0.1218600846\t0.2376661599\t0.0047467141\t0.0091900000\t0.0004390000\t0.0023790000\t0.0000050000\t0.0000030000\t0.0012960000\t42240493\t96830484\t509673472\t3.8893358707\t3.9433109760\t3.9925489426\n1952\t1311867783.7488200665\t0.1112559512\t0.1218546522\t0.2376661599\t0.0047459570\t0.0110140000\t0.0004440000\t0.0045730000\t0.0000000000\t0.0000030000\t0.0010240000\t42244109\t96830484\t509673472\t3.8885793686\t3.9444856644\t3.9930071831\n1953\t1311867783.7808690071\t0.1101991907\t0.1218486842\t0.2376661599\t0.0047450067\t0.0099080000\t0.0004710000\t0.0023840000\t0.0000040000\t0.0000030000\t0.0019000000\t42247781\t96830484\t509673472\t3.8898236752\t3.9448406696\t3.9931597710\n1954\t1311867783.8168580532\t0.1107873097\t0.1218430233\t0.2376661599\t0.0047459080\t0.0151640000\t0.0005430000\t0.0048480000\t0.0000000000\t0.0000080000\t0.0011550000\t42251509\t96830484\t509673472\t3.8894116879\t3.9434289932\t3.9930369854\n1955\t1311867783.8489229679\t0.1096790656\t0.1218368013\t0.2376661599\t0.0047456855\t0.0117810000\t0.0004570000\t0.0046270000\t0.0000040000\t0.0000040000\t0.0013080000\t42255181\t96830484\t509673472\t3.8904912472\t3.9460759163\t3.9940958023\n1956\t1311867783.8808929920\t0.1093651503\t0.1218304252\t0.2376661599\t0.0047447485\t0.0151410000\t0.0005400000\t0.0048870000\t0.0000010000\t0.0000080000\t0.0011560000\t42258853\t96830484\t509673472\t3.8906898499\t3.9459369183\t3.9938337803\n1957\t1311867783.9168200493\t0.1113786399\t0.1218250845\t0.2376661599\t0.0047506684\t0.0113290000\t0.0004650000\t0.0035100000\t0.0000040000\t0.0000040000\t0.0019090000\t42262637\t96830484\t509673472\t3.8889849186\t3.9450094700\t3.9946155548\n1958\t1311867783.9508318901\t0.1100757122\t0.1218190838\t0.2376661599\t0.0047496373\t0.0095770000\t0.0004420000\t0.0031230000\t0.0000010000\t0.0000040000\t0.0010230000\t42266365\t96830484\t509673472\t3.8901884556\t3.9456419945\t3.9950382710\n1959\t1311867783.9816930294\t0.1106538698\t0.1218133844\t0.2376661599\t0.0047498514\t0.0107120000\t0.0004430000\t0.0038640000\t0.0000030000\t0.0000030000\t0.0012870000\t42269981\t96830484\t509673472\t3.8895976543\t3.9458341599\t3.9957387447\n1960\t1311867784.0175230503\t0.1111054420\t0.1218079211\t0.2376661599\t0.0047491072\t0.0110470000\t0.0004650000\t0.0045730000\t0.0000010000\t0.0000030000\t0.0010140000\t42273821\t96830484\t509673472\t3.8891196251\t3.9440283775\t3.9954724312\n1961\t1311867784.0505928993\t0.1119692847\t0.1218029040\t0.2376661599\t0.0047494871\t0.0142500000\t0.0005470000\t0.0026000000\t0.0000110000\t0.0000090000\t0.0022190000\t42277549\t96830484\t509673472\t3.8879477978\t3.9452543259\t3.9958078861\n1962\t1311867784.0830729008\t0.1112710387\t0.1217975361\t0.2376661599\t0.0047487361\t0.0139430000\t0.0005440000\t0.0033520000\t0.0000020000\t0.0000100000\t0.0011550000\t42281165\t96830484\t509673472\t3.8883812428\t3.9458484650\t3.9959962368\n1963\t1311867784.1187570095\t0.1111981049\t0.1217921364\t0.2376661599\t0.0047488644\t0.0156590000\t0.0005450000\t0.0048560000\t0.0000090000\t0.0000070000\t0.0014300000\t42284949\t96830484\t509673472\t3.8884701729\t3.9439327717\t3.9956848621\n1964\t1311867784.1503119469\t0.1114030257\t0.1217868467\t0.2376661599\t0.0047483198\t0.0111620000\t0.0005150000\t0.0040290000\t0.0000000000\t0.0000040000\t0.0010300000\t42288621\t96830484\t509673472\t3.8879306316\t3.9438805580\t3.9960126877\n1965\t1311867784.1823339462\t0.1093192846\t0.1217805019\t0.2376661599\t0.0047474688\t0.0106140000\t0.0004490000\t0.0031250000\t0.0000030000\t0.0000030000\t0.0018870000\t42292349\t96830484\t509673472\t3.8898293972\t3.9444050789\t3.9962365627\n1966\t1311867784.2173891068\t0.1106820554\t0.1217748567\t0.2376661599\t0.0047472409\t0.0111500000\t0.0004470000\t0.0045970000\t0.0000000000\t0.0000030000\t0.0010220000\t42296021\t96830484\t509673472\t3.8883171082\t3.9423475266\t3.9961278439\n1967\t1311867784.2502059937\t0.1117061004\t0.1217697378\t0.2376661599\t0.0047472548\t0.0095830000\t0.0004450000\t0.0027340000\t0.0000030000\t0.0000030000\t0.0012930000\t42299749\t96830484\t509673472\t3.8868410587\t3.9426729679\t3.9964907169\n1968\t1311867784.2819900513\t0.1100424007\t0.1217637788\t0.2376661599\t0.0047469266\t0.0096820000\t0.0004450000\t0.0031280000\t0.0000000000\t0.0000030000\t0.0010200000\t42303365\t96830484\t509673472\t3.8883299828\t3.9441242218\t3.9969360828\n1969\t1311867784.3176920414\t0.1112487838\t0.1217584385\t0.2376661599\t0.0047476723\t0.0120280000\t0.0004470000\t0.0045720000\t0.0000030000\t0.0000030000\t0.0018860000\t42307205\t96830484\t509673472\t3.8871076107\t3.9421484470\t3.9970707893\n1970\t1311867784.3490819931\t0.1114874408\t0.1217532248\t0.2376661599\t0.0047470408\t0.0134060000\t0.0005430000\t0.0036840000\t0.0000010000\t0.0000080000\t0.0011700000\t42310821\t96830484\t509673472\t3.8871517181\t3.9413323402\t3.9971978664\n1971\t1311867784.3815689087\t0.1104382724\t0.1217474841\t0.2376661599\t0.0047470584\t0.0107040000\t0.0004620000\t0.0035240000\t0.0000040000\t0.0000040000\t0.0013030000\t42314549\t96830484\t509673472\t3.8879897594\t3.9426229000\t3.9974820614\n1972\t1311867784.4190580845\t0.1107791588\t0.1217419221\t0.2376661599\t0.0047465259\t0.0112630000\t0.0004480000\t0.0045770000\t0.0000000000\t0.0000030000\t0.0010160000\t42318333\t96830484\t509673472\t3.8874864578\t3.9418125153\t3.9972071648\n1973\t1311867784.4496140480\t0.1108779386\t0.1217364158\t0.2376661599\t0.0047453594\t0.0103100000\t0.0004490000\t0.0027430000\t0.0000030000\t0.0000030000\t0.0018920000\t42322005\t96830484\t509673472\t3.8876347542\t3.9413747787\t3.9976427555\n1974\t1311867784.4828379154\t0.1099809259\t0.1217304606\t0.2376661599\t0.0047451771\t0.0088700000\t0.0004450000\t0.0023840000\t0.0000010000\t0.0000030000\t0.0010220000\t42325733\t96830484\t509673472\t3.8883807659\t3.9428379536\t3.9980068207\n1975\t1311867784.5185639858\t0.1120086089\t0.1217255381\t0.2376661599\t0.0047444515\t0.0169790000\t0.0006280000\t0.0050710000\t0.0000100000\t0.0000100000\t0.0015600000\t42329405\t96830484\t509673472\t3.8865721226\t3.9417402744\t3.9983873367\n1976\t1311867784.5499279499\t0.1099670976\t0.1217195875\t0.2376661599\t0.0047444555\t0.0100540000\t0.0004720000\t0.0027990000\t0.0000000000\t0.0000050000\t0.0010350000\t42333077\t96830484\t509673472\t3.8883125782\t3.9407789707\t3.9980511665\n1977\t1311867784.5848410130\t0.1107727140\t0.1217140504\t0.2376661599\t0.0047439257\t0.0104610000\t0.0004560000\t0.0031170000\t0.0000030000\t0.0000030000\t0.0018840000\t42336861\t96830484\t509673472\t3.8871581554\t3.9417817593\t3.9982078075\n1978\t1311867784.6179790497\t0.1113180071\t0.1217087946\t0.2376661599\t0.0047434434\t0.0144280000\t0.0005390000\t0.0037240000\t0.0000010000\t0.0000100000\t0.0011550000\t42340533\t96830484\t509673472\t3.8865671158\t3.9402763844\t3.9981603622\n1979\t1311867784.6492750645\t0.1109586209\t0.1217033624\t0.2376661599\t0.0047424356\t0.0101390000\t0.0004610000\t0.0027920000\t0.0000050000\t0.0000050000\t0.0013100000\t42344205\t96830484\t509673472\t3.8866949081\t3.9403631687\t3.9982447624\n1980\t1311867784.6878700256\t0.1115595028\t0.1216982393\t0.2376661599\t0.0047428763\t0.0093770000\t0.0004420000\t0.0027430000\t0.0000010000\t0.0000030000\t0.0010250000\t42348045\t96830484\t509673472\t3.8858826160\t3.9419200420\t3.9987347126\n1981\t1311867784.7168869972\t0.1123014316\t0.1216934958\t0.2376661599\t0.0047422708\t0.0101090000\t0.0004420000\t0.0027490000\t0.0000030000\t0.0000040000\t0.0019000000\t42351605\t96830484\t509673472\t3.8848552704\t3.9406945705\t3.9984958172\n1982\t1311867784.7578089237\t0.1119094640\t0.1216885594\t0.2376661599\t0.0047437146\t0.0097250000\t0.0004400000\t0.0031140000\t0.0000010000\t0.0000030000\t0.0010130000\t42355613\t96830484\t509673472\t3.8847570419\t3.9406507015\t3.9987390041\n1983\t1311867784.7870030403\t0.1122282818\t0.1216837887\t0.2376661599\t0.0047425855\t0.0144160000\t0.0005410000\t0.0041170000\t0.0000080000\t0.0000070000\t0.0014230000\t42359173\t96830484\t509673472\t3.8845293522\t3.9414818287\t3.9992027283\n1984\t1311867784.8199620247\t0.1119937375\t0.1216789046\t0.2376661599\t0.0047427964\t0.0098530000\t0.0004600000\t0.0027880000\t0.0000000000\t0.0000040000\t0.0010250000\t42362733\t96830484\t509673472\t3.8842551708\t3.9398136139\t3.9987654686\n1985\t1311867784.8550779819\t0.1120726913\t0.1216740652\t0.2376661599\t0.0047418705\t0.0102250000\t0.0004530000\t0.0027580000\t0.0000040000\t0.0000040000\t0.0018880000\t42366461\t96830484\t509673472\t3.8840353489\t3.9397089481\t3.9989054203\n1986\t1311867784.8873779774\t0.1123614162\t0.1216693760\t0.2376661599\t0.0047407637\t0.0097250000\t0.0004470000\t0.0031180000\t0.0000000000\t0.0000040000\t0.0010200000\t42370133\t96830484\t509673472\t3.8834865093\t3.9406335354\t3.9993712902\n1987\t1311867784.9173130989\t0.1134973913\t0.1216652633\t0.2376661599\t0.0047399881\t0.0101230000\t0.0004400000\t0.0031400000\t0.0000040000\t0.0000030000\t0.0013080000\t42373805\t96830484\t509673472\t3.8825991154\t3.9391357899\t3.9991338253\n1988\t1311867784.9491391182\t0.1120029539\t0.1216604030\t0.2376661599\t0.0047395743\t0.0095530000\t0.0004450000\t0.0031260000\t0.0000000000\t0.0000040000\t0.0010160000\t42377421\t96830484\t509673472\t3.8835256100\t3.9394662380\t3.9989156723\n1989\t1311867784.9848570824\t0.1121007279\t0.1216555967\t0.2376661599\t0.0047387572\t0.0098080000\t0.0004430000\t0.0023780000\t0.0000040000\t0.0000040000\t0.0018870000\t42381205\t96830484\t509673472\t3.8832619190\t3.9393608570\t3.9989848137\n1990\t1311867785.0184569359\t0.1119511798\t0.1216507201\t0.2376661599\t0.0047377074\t0.0099450000\t0.0004420000\t0.0034970000\t0.0000000000\t0.0000040000\t0.0010150000\t42384877\t96830484\t509673472\t3.8834400177\t3.9381914139\t3.9985971451\n1991\t1311867785.0500280857\t0.1127774641\t0.1216462634\t0.2376661599\t0.0047368454\t0.0106910000\t0.0004430000\t0.0038590000\t0.0000040000\t0.0000030000\t0.0012940000\t42388605\t96830484\t509673472\t3.8823406696\t3.9388542175\t3.9989886284\n1992\t1311867785.0871460438\t0.1136531457\t0.1216422508\t0.2376661599\t0.0047359275\t0.0096530000\t0.0004440000\t0.0031340000\t0.0000010000\t0.0000040000\t0.0010230000\t42392389\t96830484\t509673472\t3.8814663887\t3.9389760494\t3.9992311001\n1993\t1311867785.1168398857\t0.1129850745\t0.1216379070\t0.2376661599\t0.0047357178\t0.0148970000\t0.0005400000\t0.0044760000\t0.0000080000\t0.0000070000\t0.0020570000\t42396061\t96830484\t509673472\t3.8819053173\t3.9390730858\t3.9987337589\n1994\t1311867785.1499750614\t0.1121308059\t0.1216331392\t0.2376661599\t0.0047349089\t0.0100430000\t0.0004570000\t0.0031840000\t0.0000010000\t0.0000040000\t0.0010180000\t42399677\t96830484\t509673472\t3.8828485012\t3.9386222363\t3.9985899925\n1995\t1311867785.1850368977\t0.1127377003\t0.1216286803\t0.2376661599\t0.0047341428\t0.0113400000\t0.0004450000\t0.0046130000\t0.0000030000\t0.0000030000\t0.0012990000\t42403461\t96830484\t509673472\t3.8821365833\t3.9400286674\t3.9989006519\n1996\t1311867785.2169620991\t0.1129075289\t0.1216243110\t0.2376661599\t0.0047330984\t0.0092020000\t0.0004420000\t0.0027720000\t0.0000000000\t0.0000040000\t0.0010120000\t42407077\t96830484\t509673472\t3.8817305565\t3.9401149750\t3.9986398220\n1997\t1311867785.2491741180\t0.1136041433\t0.1216202949\t0.2376661599\t0.0047319280\t0.0100730000\t0.0004450000\t0.0027570000\t0.0000040000\t0.0000040000\t0.0018810000\t42410749\t96830484\t509673472\t3.8810431957\t3.9398460388\t3.9989886284\n1998\t1311867785.2858769894\t0.1129367203\t0.1216159488\t0.2376661599\t0.0047308102\t0.0139050000\t0.0005380000\t0.0033920000\t0.0000010000\t0.0000110000\t0.0011410000\t42414589\t96830484\t509673472\t3.8815431595\t3.9403479099\t3.9988081455\n1999\t1311867785.3214280605\t0.1126711741\t0.1216114741\t0.2376661599\t0.0047298836\t0.0135880000\t0.0005490000\t0.0033410000\t0.0000080000\t0.0000070000\t0.0014320000\t42418485\t96830484\t509673472\t3.8814938068\t3.9402084351\t3.9986305237\n2000\t1311867785.3573219776\t0.1145644486\t0.1216079506\t0.2376661599\t0.0047300450\t0.0114510000\t0.0004560000\t0.0046490000\t0.0000000000\t0.0000050000\t0.0010220000\t42422213\t96830484\t509673472\t3.8795785904\t3.9395201206\t3.9991114140\n2001\t1311867785.3893299103\t0.1142220348\t0.1216042595\t0.2376661599\t0.0047291660\t0.0111870000\t0.0004450000\t0.0038970000\t0.0000040000\t0.0000030000\t0.0018830000\t42425885\t96830484\t509673472\t3.8794746399\t3.9409792423\t3.9988842010\n2002\t1311867785.4211249352\t0.1123966575\t0.1215996603\t0.2376661599\t0.0047291000\t0.0103400000\t0.0004500000\t0.0038750000\t0.0000010000\t0.0000040000\t0.0010160000\t42429557\t96830484\t509673472\t3.8811843395\t3.9405870438\t3.9986178875\n2003\t1311867785.4570529461\t0.1139861867\t0.1215958593\t0.2376661599\t0.0047292183\t0.0133240000\t0.0005580000\t0.0024800000\t0.0000100000\t0.0000100000\t0.0014280000\t42433341\t96830484\t509673472\t3.8793933392\t3.9397494793\t3.9986419678\n2004\t1311867785.4900350571\t0.1138166040\t0.1215919774\t0.2376661599\t0.0047286217\t0.0105090000\t0.0005010000\t0.0031900000\t0.0000010000\t0.0000050000\t0.0010480000\t42437069\t96830484\t509673472\t3.8792674541\t3.9419260025\t3.9989683628\n2005\t1311867785.5211930275\t0.1134584174\t0.1215879208\t0.2376661599\t0.0047278044\t0.0106400000\t0.0004510000\t0.0031370000\t0.0000040000\t0.0000030000\t0.0018780000\t42440685\t96830484\t509673472\t3.8792128563\t3.9419271946\t3.9990038872\n2006\t1311867785.5571260452\t0.1125831231\t0.1215834318\t0.2376661599\t0.0047283126\t0.0093440000\t0.0004490000\t0.0027620000\t0.0000010000\t0.0000040000\t0.0010310000\t42444469\t96830484\t509673472\t3.8792374134\t3.9407594204\t3.9989933968\n2007\t1311867785.5891211033\t0.1132831872\t0.1215792962\t0.2376661599\t0.0047277440\t0.0095510000\t0.0004470000\t0.0027530000\t0.0000030000\t0.0000030000\t0.0012890000\t42448141\t96830484\t509673472\t3.8782219887\t3.9412748814\t3.9992702007\n2008\t1311867785.6211590767\t0.1118212789\t0.1215744366\t0.2376661599\t0.0047364739\t0.0096300000\t0.0004480000\t0.0031470000\t0.0000010000\t0.0000040000\t0.0010060000\t42451869\t96830484\t509673472\t3.8790616989\t3.9420211315\t3.9987637997\n2009\t1311867785.6570439339\t0.1127744094\t0.1215700563\t0.2376661599\t0.0047390141\t0.0113100000\t0.0004500000\t0.0038650000\t0.0000030000\t0.0000040000\t0.0018800000\t42455653\t96830484\t509673472\t3.8781003952\t3.9403800964\t3.9988718033\n2010\t1311867785.6892280579\t0.1142683700\t0.1215664236\t0.2376661599\t0.0047381276\t0.0094420000\t0.0004450000\t0.0027570000\t0.0000000000\t0.0000040000\t0.0010080000\t42459269\t96830484\t509673472\t3.8763308525\t3.9406607151\t3.9989602566\n2011\t1311867785.7214241028\t0.1131832153\t0.1215622550\t0.2376661599\t0.0047395239\t0.0126630000\t0.0004520000\t0.0046240000\t0.0000030000\t0.0000030000\t0.0017960000\t42462941\t96830484\t509673472\t3.8769471645\t3.9417624474\t3.9987380505\n2012\t1311867785.7573668957\t0.1142570078\t0.1215586241\t0.2376661599\t0.0047391390\t0.0113010000\t0.0004980000\t0.0046270000\t0.0000000000\t0.0000040000\t0.0010050000\t42466725\t96830484\t509673472\t3.8756051064\t3.9399406910\t3.9984543324\n2013\t1311867785.7892301083\t0.1139703393\t0.1215548545\t0.2376661599\t0.0047388879\t0.0116780000\t0.0004450000\t0.0042380000\t0.0000040000\t0.0000040000\t0.0018790000\t42470397\t96830484\t509673472\t3.8758015633\t3.9395453930\t3.9986405373\n2014\t1311867785.8210389614\t0.1130022705\t0.1215506079\t0.2376661599\t0.0047378164\t0.0135330000\t0.0005440000\t0.0026020000\t0.0000020000\t0.0000110000\t0.0012570000\t42474069\t96830484\t509673472\t3.8766031265\t3.9404902458\t3.9984767437\n2015\t1311867785.8574340343\t0.1138043553\t0.1215467636\t0.2376661599\t0.0047373050\t0.0101890000\t0.0004550000\t0.0027950000\t0.0000050000\t0.0000040000\t0.0013050000\t42477853\t96830484\t509673472\t3.8755044937\t3.9405553341\t3.9984011650\n2016\t1311867785.8893110752\t0.1146394908\t0.1215433374\t0.2376661599\t0.0047364843\t0.0097510000\t0.0004450000\t0.0031230000\t0.0000000000\t0.0000030000\t0.0010150000\t42481581\t96830484\t509673472\t3.8747131824\t3.9395935535\t3.9986419678\n2017\t1311867785.9211509228\t0.1141570061\t0.1215396754\t0.2376661599\t0.0047365786\t0.0101180000\t0.0004450000\t0.0027640000\t0.0000030000\t0.0000040000\t0.0018870000\t42485253\t96830484\t509673472\t3.8747687340\t3.9409592152\t3.9988939762\n2018\t1311867785.9588449001\t0.1143734157\t0.1215361242\t0.2376661599\t0.0047370516\t0.0111000000\t0.0004440000\t0.0045870000\t0.0000010000\t0.0000040000\t0.0010200000\t42489037\t96830484\t509673472\t3.8742783070\t3.9412422180\t3.9987912178\n2019\t1311867785.9892621040\t0.1151344329\t0.1215329535\t0.2376661599\t0.0047360278\t0.0091520000\t0.0004460000\t0.0023910000\t0.0000040000\t0.0000030000\t0.0013000000\t42492709\t96830484\t509673472\t3.8733177185\t3.9402723312\t3.9990172386\n2020\t1311867786.0210618973\t0.1134529412\t0.1215289535\t0.2376661599\t0.0047350825\t0.0135980000\t0.0005500000\t0.0033480000\t0.0000010000\t0.0000080000\t0.0011560000\t42496381\t96830484\t509673472\t3.8746185303\t3.9412622452\t3.9990098476\n2021\t1311867786.0572268963\t0.1141248643\t0.1215252899\t0.2376661599\t0.0047348814\t0.0153280000\t0.0005540000\t0.0048760000\t0.0000080000\t0.0000070000\t0.0020410000\t42500109\t96830484\t509673472\t3.8734049797\t3.9405806065\t3.9992222786\n2022\t1311867786.0892500877\t0.1157223508\t0.1215224200\t0.2376661599\t0.0047339499\t0.0133010000\t0.0005540000\t0.0033320000\t0.0000010000\t0.0000080000\t0.0011390000\t42503837\t96830484\t509673472\t3.8714649677\t3.9394361973\t3.9994797707\n2023\t1311867786.1211619377\t0.1151593477\t0.1215192746\t0.2376661599\t0.0047330224\t0.0248790000\t0.0006310000\t0.0043440000\t0.0000160000\t0.0000140000\t0.0018090000\t42507565\t96830484\t509673472\t3.8716073036\t3.9396710396\t3.9994843006\n2024\t1311867786.1570990086\t0.1160480231\t0.1215165714\t0.2376661599\t0.0047320262\t0.0127790000\t0.0005260000\t0.0043240000\t0.0000000000\t0.0000070000\t0.0010530000\t42511293\t96830484\t509673472\t3.8702056408\t3.9405951500\t3.9998035431\n2025\t1311867786.1891019344\t0.1164543629\t0.1215140716\t0.2376661599\t0.0047313424\t0.0135020000\t0.0005590000\t0.0025690000\t0.0000080000\t0.0000070000\t0.0020750000\t42514909\t96830484\t509673472\t3.8693296909\t3.9392626286\t3.9998080730\n2026\t1311867786.2216470242\t0.1158033609\t0.1215112529\t0.2376661599\t0.0047303997\t0.0104920000\t0.0004530000\t0.0035280000\t0.0000010000\t0.0000040000\t0.0010180000\t42518581\t96830484\t509673472\t3.8694519997\t3.9394612312\t3.9997618198\n2027\t1311867786.2570950985\t0.1166280955\t0.1215088438\t0.2376661599\t0.0047294548\t0.0101220000\t0.0004460000\t0.0031260000\t0.0000040000\t0.0000030000\t0.0012960000\t42522421\t96830484\t509673472\t3.8681721687\t3.9399051666\t3.9999811649\n2028\t1311867786.2895779610\t0.1166452095\t0.1215064456\t0.2376661599\t0.0047292205\t0.0097810000\t0.0004460000\t0.0031210000\t0.0000010000\t0.0000030000\t0.0010200000\t42526037\t96830484\t509673472\t3.8677010536\t3.9391407967\t3.9999003410\n2029\t1311867786.3211650848\t0.1165714711\t0.1215040134\t0.2376661599\t0.0047288375\t0.0101710000\t0.0004420000\t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}, { "path": "icra2018_results/1080/violons_libkfusion-cuda_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 01:24:21\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_libkfusion-cuda_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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06\t0.0907942661\t0.1207853556\t0.0059967004\t0.0107100000\t0.0004040000\t0.0043790000\t0.0000000000\t0.0000030000\t0.0010710000\t42514661\t96830484\t509673472\t3.8686969280\t4.0671310425\t3.7740082741\n1927\t1311867234.7198779583\t0.1132859215\t0.0908059379\t0.1207853556\t0.0059967817\t0.0154340000\t0.0004980000\t0.0046480000\t0.0000080000\t0.0000080000\t0.0014890000\t42518333\t96830484\t509673472\t3.8682634830\t4.0661697388\t3.7745730877\n1928\t1311867234.7586181164\t0.1122409180\t0.0908170556\t0.1207853556\t0.0059952514\t0.0113440000\t0.0004670000\t0.0045410000\t0.0000000000\t0.0000040000\t0.0010770000\t42522117\t96830484\t509673472\t3.8696479797\t4.0657534599\t3.7754673958\n1929\t1311867234.7882609367\t0.1123859212\t0.0908282370\t0.1207853556\t0.0060010761\t0.0107110000\t0.0004040000\t0.0033370000\t0.0000040000\t0.0000030000\t0.0019850000\t42525789\t96830484\t509673472\t3.8696398735\t4.0665779114\t3.7765905857\n1930\t1311867234.8206560612\t0.1124884486\t0.0908394599\t0.1207853556\t0.0059995706\t0.0107210000\t0.0004080000\t0.0043800000\t0.0000010000\t0.0000040000\t0.0010720000\t42529461\t96830484\t509673472\t3.8687696457\t4.0646057129\t3.7773342133\n1931\t1311867234.8590250015\t0.1115129367\t0.0908501660\t0.1207853556\t0.0059981254\t0.0147310000\t0.0005100000\t0.0046530000\t0.0000080000\t0.0000070000\t0.0014720000\t42533245\t96830484\t509673472\t3.8707816601\t4.0654253960\t3.7783968449\n1932\t1311867234.8881230354\t0.1120730937\t0.0908611510\t0.1207853556\t0.0059969732\t0.0140820000\t0.0005150000\t0.0039560000\t0.0000010000\t0.0000080000\t0.0011800000\t42536861\t96830484\t509673472\t3.8704931736\t4.0652022362\t3.7794215679\n1933\t1311867234.9204928875\t0.1124073043\t0.0908722975\t0.1207853556\t0.0059958886\t0.0117310000\t0.0004170000\t0.0040620000\t0.0000050000\t0.0000050000\t0.0019730000\t42540589\t96830484\t509673472\t3.8702900410\t4.0640254021\t3.7801568508\n1934\t1311867234.9566090107\t0.1135772169\t0.0908840373\t0.1207853556\t0.0059950829\t0.0108600000\t0.0004120000\t0.0043830000\t0.0000010000\t0.0000040000\t0.0010610000\t42544373\t96830484\t509673472\t3.8692932129\t4.0639843941\t3.7807490826\n1935\t1311867234.9904088974\t0.1136360839\t0.0908957955\t0.1207853556\t0.0059935909\t0.0165530000\t0.0005890000\t0.0048630000\t0.0000100000\t0.0000110000\t0.0016090000\t42548101\t96830484\t509673472\t3.8694603443\t4.0635504723\t3.7810649872\n1936\t1311867235.0205988884\t0.1125668883\t0.0909069892\t0.1207853556\t0.0059928196\t0.0114360000\t0.0004340000\t0.0044380000\t0.0000000000\t0.0000050000\t0.0010830000\t42551717\t96830484\t509673472\t3.8705730438\t4.0611205101\t3.7808513641\n1937\t1311867235.0563809872\t0.1154761538\t0.0909196734\t0.1207853556\t0.0059918278\t0.0102480000\t0.0004030000\t0.0029740000\t0.0000040000\t0.0000040000\t0.0019930000\t42555501\t96830484\t509673472\t3.8666353226\t4.0609068871\t3.7810225487\n1938\t1311867235.0911149979\t0.1141616777\t0.0909316661\t0.1207853556\t0.0059908680\t0.0106540000\t0.0004060000\t0.0043480000\t0.0000010000\t0.0000040000\t0.0010620000\t42559229\t96830484\t509673472\t3.8679800034\t4.0603542328\t3.7809050083\n1939\t1311867235.1208140850\t0.1125104353\t0.0909427950\t0.1207853556\t0.0059906731\t0.0142400000\t0.0004950000\t0.0045920000\t0.0000080000\t0.0000080000\t0.0014750000\t42562901\t96830484\t509673472\t3.8696262836\t4.0587916374\t3.7809410095\n1940\t1311867235.1564071178\t0.1116850823\t0.0909534869\t0.1207853556\t0.0059906517\t0.0133770000\t0.0005000000\t0.0038590000\t0.0000010000\t0.0000110000\t0.0011980000\t42566629\t96830484\t509673472\t3.8701057434\t4.0590372086\t3.7817575932\n1941\t1311867235.1885681152\t0.1108974218\t0.0909637619\t0.1207853556\t0.0059904732\t0.0119330000\t0.0004130000\t0.0043730000\t0.0000040000\t0.0000040000\t0.0020090000\t42570301\t96830484\t509673472\t3.8701970577\t4.0586838722\t3.7817237377\n1942\t1311867235.2202088833\t0.1116555184\t0.0909744168\t0.1207853556\t0.0059891770\t0.0134590000\t0.0004990000\t0.0030810000\t0.0000010000\t0.0000110000\t0.0012190000\t42573973\t96830484\t509673472\t3.8679370880\t4.0571656227\t3.7816767693\n1943\t1311867235.2576260567\t0.1124854684\t0.0909854879\t0.1207853556\t0.0059886429\t0.0107610000\t0.0004120000\t0.0036870000\t0.0000050000\t0.0000040000\t0.0013480000\t42577645\t96830484\t509673472\t3.8672597408\t4.0578093529\t3.7821531296\n1944\t1311867235.2899661064\t0.1126075685\t0.0909966103\t0.1207853556\t0.0059893008\t0.0107350000\t0.0004020000\t0.0043420000\t0.0000000000\t0.0000040000\t0.0010660000\t42581373\t96830484\t509673472\t3.8657207489\t4.0565319061\t3.7824401855\n1945\t1311867235.3247830868\t0.1115005910\t0.0910071522\t0.1207853556\t0.0059878946\t0.0116290000\t0.0004050000\t0.0043600000\t0.0000040000\t0.0000040000\t0.0020030000\t42585157\t96830484\t509673472\t3.8662950993\t4.0561761856\t3.7822718620\n1946\t1311867235.3567800522\t0.1113217771\t0.0910175914\t0.1207853556\t0.0059974405\t0.0107120000\t0.0004030000\t0.0043340000\t0.0000010000\t0.0000040000\t0.0010640000\t42588829\t96830484\t509673472\t3.8656942844\t4.0564627647\t3.7825746536\n1947\t1311867235.3886280060\t0.1115237847\t0.0910281236\t0.1207853556\t0.0060065190\t0.0110320000\t0.0004020000\t0.0043530000\t0.0000030000\t0.0000030000\t0.0013510000\t42592501\t96830484\t509673472\t3.8657202721\t4.0562324524\t3.7830059528\n1948\t1311867235.4246189594\t0.1118350402\t0.0910388048\t0.1207853556\t0.0060058046\t0.0094020000\t0.0004020000\t0.0029640000\t0.0000010000\t0.0000040000\t0.0010720000\t42596285\t96830484\t509673472\t3.8642151356\t4.0556912422\t3.7836995125\n1949\t1311867235.4564850330\t0.1122272834\t0.0910496762\t0.1207853556\t0.0060054579\t0.0117070000\t0.0004010000\t0.0043500000\t0.0000040000\t0.0000040000\t0.0019860000\t42599957\t96830484\t509673472\t3.8644430637\t4.0572385788\t3.7845876217\n1950\t1311867235.4897930622\t0.1121277809\t0.0910604855\t0.1207853556\t0.0060050678\t0.0094870000\t0.0004480000\t0.0026210000\t0.0000010000\t0.0000040000\t0.0010600000\t42603629\t96830484\t509673472\t3.8638534546\t4.0570745468\t3.7854282856\n1951\t1311867235.5240719318\t0.1118144169\t0.0910711231\t0.1207853556\t0.0060038554\t0.0103080000\t0.0004450000\t0.0033060000\t0.0000040000\t0.0000030000\t0.0013470000\t42607357\t96830484\t509673472\t3.8639299870\t4.0562329292\t3.7859833241\n1952\t1311867235.5577290058\t0.1129230410\t0.0910823177\t0.1207853556\t0.0060035355\t0.0094670000\t0.0004080000\t0.0029640000\t0.0000000000\t0.0000030000\t0.0010690000\t42611029\t96830484\t509673472\t3.8631002903\t4.0576291084\t3.7871737480\n1953\t1311867235.5880639553\t0.1130498052\t0.0910935658\t0.1207853556\t0.0060020630\t0.0096060000\t0.0004010000\t0.0022680000\t0.0000030000\t0.0000030000\t0.0019900000\t42614701\t96830484\t509673472\t3.8627510071\t4.0566601753\t3.7877779007\n1954\t1311867235.6249940395\t0.1128594801\t0.0911047050\t0.1207853556\t0.0060011002\t0.0138770000\t0.0004950000\t0.0046040000\t0.0000010000\t0.0000080000\t0.0012080000\t42618541\t96830484\t509673472\t3.8622760773\t4.0543675423\t3.7878026962\n1955\t1311867235.6563270092\t0.1129682362\t0.0911158884\t0.1207853556\t0.0060004787\t0.0112890000\t0.0004140000\t0.0044030000\t0.0000040000\t0.0000040000\t0.0013550000\t42622157\t96830484\t509673472\t3.8626744747\t4.0558915138\t3.7883884907\n1956\t1311867235.6885619164\t0.1132446229\t0.0911272016\t0.1207853556\t0.0059992451\t0.0107340000\t0.0004050000\t0.0043760000\t0.0000000000\t0.0000050000\t0.0010650000\t42625829\t96830484\t509673472\t3.8619983196\t4.0548267365\t3.7886109352\n1957\t1311867235.7241950035\t0.1137221009\t0.0911387473\t0.1207853556\t0.0059979109\t0.0117740000\t0.0004150000\t0.0043770000\t0.0000040000\t0.0000040000\t0.0020050000\t42629613\t96830484\t509673472\t3.8609924316\t4.0545134544\t3.7888808250\n1958\t1311867235.7561719418\t0.1128891930\t0.0911498558\t0.1207853556\t0.0059964974\t0.0091180000\t0.0004060000\t0.0026320000\t0.0000010000\t0.0000040000\t0.0010720000\t42633341\t96830484\t509673472\t3.8621246815\t4.0547342300\t3.7896945477\n1959\t1311867235.7903280258\t0.1132414117\t0.0911611327\t0.1207853556\t0.0059956537\t0.0154490000\t0.0004970000\t0.0046750000\t0.0000110000\t0.0000100000\t0.0015060000\t42637013\t96830484\t509673472\t3.8614685535\t4.0543627739\t3.7902412415\n1960\t1311867235.8249480724\t0.1137635782\t0.0911726646\t0.1207853556\t0.0059943284\t0.0112920000\t0.0004080000\t0.0044140000\t0.0000000000\t0.0000040000\t0.0010660000\t42640741\t96830484\t509673472\t3.8609490395\t4.0542821884\t3.7912650108\n1961\t1311867235.8562169075\t0.1142858043\t0.0911844510\t0.1207853556\t0.0059950076\t0.0147350000\t0.0005000000\t0.0046190000\t0.0000090000\t0.0000080000\t0.0021600000\t42644469\t96830484\t509673472\t3.8610551357\t4.0562133789\t3.7926311493\n1962\t1311867235.8881049156\t0.1162893549\t0.0911972466\t0.1207853556\t0.0059940014\t0.0101020000\t0.0004150000\t0.0033620000\t0.0000000000\t0.0000040000\t0.0010670000\t42648029\t96830484\t509673472\t3.8575730324\t4.0548152924\t3.7932050228\n1963\t1311867235.9239900112\t0.1140299663\t0.0912088781\t0.1207853556\t0.0059932247\t0.0098060000\t0.0004000000\t0.0029750000\t0.0000040000\t0.0000030000\t0.0013430000\t42651869\t96830484\t509673472\t3.8600313663\t4.0538382530\t3.7939026356\n1964\t1311867235.9563760757\t0.1145958379\t0.0912207859\t0.1207853556\t0.0059929669\t0.0090330000\t0.0003990000\t0.0026320000\t0.0000000000\t0.0000050000\t0.0010530000\t42655597\t96830484\t509673472\t3.8600192070\t4.0547704697\t3.7949750423\n1965\t1311867235.9890949726\t0.1133811995\t0.0912320635\t0.1207853556\t0.0059931500\t0.0110810000\t0.0003990000\t0.0036870000\t0.0000040000\t0.0000040000\t0.0019810000\t42659213\t96830484\t509673472\t3.8604607582\t4.0540103912\t3.7951254845\n1966\t1311867236.0250449181\t0.1141048446\t0.0912436977\t0.1207853556\t0.0059917222\t0.0101560000\t0.0004030000\t0.0036880000\t0.0000000000\t0.0000040000\t0.0010640000\t42662997\t96830484\t509673472\t3.8589899540\t4.0536656380\t3.7956509590\n1967\t1311867236.0599400997\t0.1135408953\t0.0912550333\t0.1207853556\t0.0059902196\t0.0131970000\t0.0004940000\t0.0024790000\t0.0000100000\t0.0000090000\t0.0014890000\t42666725\t96830484\t509673472\t3.8593168259\t4.0543813705\t3.7964322567\n1968\t1311867236.0884859562\t0.1137551218\t0.0912664663\t0.1207853556\t0.0059888874\t0.0112380000\t0.0004150000\t0.0043070000\t0.0000010000\t0.0000050000\t0.0010640000\t42670285\t96830484\t509673472\t3.8583800793\t4.0537085533\t3.7971434593\n1969\t1311867236.1247038841\t0.1131066456\t0.0912775583\t0.1207853556\t0.0059874242\t0.0117530000\t0.0004030000\t0.0043840000\t0.0000050000\t0.0000040000\t0.0019780000\t42674125\t96830484\t509673472\t3.8586790562\t4.0532760620\t3.7982120514\n1970\t1311867236.1581289768\t0.1128659621\t0.0912885169\t0.1207853556\t0.0059861992\t0.0094170000\t0.0004040000\t0.0029770000\t0.0000010000\t0.0000040000\t0.0010630000\t42677797\t96830484\t509673472\t3.8587834835\t4.0528793335\t3.7993094921\n1971\t1311867236.1901528835\t0.1128743887\t0.0912994686\t0.1207853556\t0.0059849394\t0.0111720000\t0.0004010000\t0.0043760000\t0.0000040000\t0.0000040000\t0.0013410000\t42681413\t96830484\t509673472\t3.8580670357\t4.0538454056\t3.8005423546\n1972\t1311867236.2242329121\t0.1119511798\t0.0913099411\t0.1207853556\t0.0059836070\t0.0093770000\t0.0004020000\t0.0029810000\t0.0000000000\t0.0000030000\t0.0010560000\t42685141\t96830484\t509673472\t3.8580951691\t4.0532307625\t3.8015258312\n1973\t1311867236.2599489689\t0.1123971865\t0.0913206290\t0.1207853556\t0.0059822357\t0.0117940000\t0.0003990000\t0.0043850000\t0.0000040000\t0.0000040000\t0.0019870000\t42688925\t96830484\t509673472\t3.8571012020\t4.0539021492\t3.8029749393\n1974\t1311867236.2890419960\t0.1122003570\t0.0913312064\t0.1207853556\t0.0059807579\t0.0143450000\t0.0004980000\t0.0046440000\t0.0000010000\t0.0000080000\t0.0011780000\t42692485\t96830484\t509673472\t3.8568744659\t4.0532488823\t3.8041000366\n1975\t1311867236.3262441158\t0.1130295396\t0.0913421929\t0.1207853556\t0.0059793433\t0.0143110000\t0.0004990000\t0.0045030000\t0.0000080000\t0.0000080000\t0.0014730000\t42696325\t96830484\t509673472\t3.8555378914\t4.0532813072\t3.8055777550\n1976\t1311867236.3568809032\t0.1132814214\t0.0913532957\t0.1207853556\t0.0059785839\t0.0139640000\t0.0004940000\t0.0044990000\t0.0000010000\t0.0000080000\t0.0011780000\t42699997\t96830484\t509673472\t3.8547027111\t4.0523405075\t3.8067142963\n1977\t1311867236.3897418976\t0.1135792658\t0.0913645380\t0.1207853556\t0.0059771107\t0.0115010000\t0.0004160000\t0.0036140000\t0.0000040000\t0.0000040000\t0.0019850000\t42703669\t96830484\t509673472\t3.8536279202\t4.0521636009\t3.8076999187\n1978\t1311867236.4243390560\t0.1123831868\t0.0913751642\t0.1207853556\t0.0059778392\t0.0108630000\t0.0004030000\t0.0043850000\t0.0000000000\t0.0000050000\t0.0010530000\t42707397\t96830484\t509673472\t3.8544723988\t4.0519447327\t3.8094069958\n1979\t1311867236.4566040039\t0.1117865890\t0.0913854782\t0.1207853556\t0.0059769503\t0.0135920000\t0.0004980000\t0.0028630000\t0.0000100000\t0.0000100000\t0.0014420000\t42711125\t96830484\t509673472\t3.8551120758\t4.0520491600\t3.8107130527\n1980\t1311867236.4936130047\t0.1135963053\t0.0913966958\t0.1207853556\t0.0059815564\t0.0113830000\t0.0004150000\t0.0044430000\t0.0000000000\t0.0000050000\t0.0010610000\t42714909\t96830484\t509673472\t3.8530008793\t4.0514082909\t3.8122851849\n1981\t1311867236.5246999264\t0.1127516478\t0.0914074757\t0.1207853556\t0.0059801145\t0.0100290000\t0.0003980000\t0.0026360000\t0.0000030000\t0.0000040000\t0.0019560000\t42718581\t96830484\t509673472\t3.8545825481\t4.0522804260\t3.8142085075\n1982\t1311867236.5602099895\t0.1131970212\t0.0914184694\t0.1207853556\t0.0059798518\t0.0159920000\t0.0005090000\t0.0047120000\t0.0000020000\t0.0000110000\t0.0012980000\t42722365\t96830484\t509673472\t3.8535861969\t4.0519089699\t3.8158590794\n1983\t1311867236.5972909927\t0.1128514856\t0.0914292778\t0.1207853556\t0.0059785355\t0.0108040000\t0.0004310000\t0.0033960000\t0.0000050000\t0.0000050000\t0.0013450000\t42726149\t96830484\t509673472\t3.8539628983\t4.0513868332\t3.8175439835\n1984\t1311867236.6246581078\t0.1136894673\t0.0914404976\t0.1207853556\t0.0059771351\t0.0109990000\t0.0004070000\t0.0044170000\t0.0000000000\t0.0000040000\t0.0010430000\t42729653\t96830484\t509673472\t3.8529510498\t4.0507183075\t3.8192582130\n1985\t1311867236.6600480080\t0.1140710488\t0.0914518984\t0.1207853556\t0.0059756545\t0.0108250000\t0.0004050000\t0.0033710000\t0.0000040000\t0.0000030000\t0.0019540000\t42733437\t96830484\t509673472\t3.8530654907\t4.0517525673\t3.8216803074\n1986\t1311867236.6956660748\t0.1138073951\t0.0914631550\t0.1207853556\t0.0059750802\t0.0108310000\t0.0004100000\t0.0044340000\t0.0000010000\t0.0000040000\t0.0010350000\t42737221\t96830484\t509673472\t3.8535203934\t4.0524230003\t3.8238904476\n1987\t1311867236.7276370525\t0.1136702374\t0.0914743311\t0.1207853556\t0.0059739138\t0.0097300000\t0.0004020000\t0.0030100000\t0.0000040000\t0.0000030000\t0.0013070000\t42740837\t96830484\t509673472\t3.8534357548\t4.0515847206\t3.8258676529\n1988\t1311867236.7619268894\t0.1133151948\t0.0914853175\t0.1207853556\t0.0059733469\t0.0098890000\t0.0004020000\t0.0033650000\t0.0000010000\t0.0000040000\t0.0010420000\t42744565\t96830484\t509673472\t3.8539202213\t4.0508613586\t3.8280432224\n1989\t1311867236.7923469543\t0.1145382449\t0.0914969077\t0.1207853556\t0.0059742494\t0.0120690000\t0.0004030000\t0.0044560000\t0.0000040000\t0.0000030000\t0.0019460000\t42748181\t96830484\t509673472\t3.8529052734\t4.0508518219\t3.8302612305\n1990\t1311867236.8255391121\t0.1143938005\t0.0915084137\t0.1207853556\t0.0059734326\t0.0111180000\t0.0004040000\t0.0044490000\t0.0000010000\t0.0000040000\t0.0010410000\t42751965\t96830484\t509673472\t3.8526041508\t4.0504832268\t3.8321213722\n1991\t1311867236.8583440781\t0.1141253263\t0.0915197733\t0.1207853556\t0.0059727067\t0.0113530000\t0.0004020000\t0.0044590000\t0.0000040000\t0.0000030000\t0.0013180000\t42755581\t96830484\t509673472\t3.8530597687\t4.0505218506\t3.8341383934\n1992\t1311867236.8928480148\t0.1133572236\t0.0915307358\t0.1207853556\t0.0059722220\t0.0110350000\t0.0004090000\t0.0044430000\t0.0000000000\t0.0000040000\t0.0010330000\t42759309\t96830484\t509673472\t3.8533253670\t4.0491628647\t3.8358998299\n1993\t1311867236.9255330563\t0.1126603782\t0.0915413378\t0.1207853556\t0.0059709283\t0.0118630000\t0.0004050000\t0.0044570000\t0.0000030000\t0.0000030000\t0.0019300000\t42762981\t96830484\t509673472\t3.8539071083\t4.0487608910\t3.8378202915\n1994\t1311867236.9581959248\t0.1135519594\t0.0915523762\t0.1207853556\t0.0059695794\t0.0108120000\t0.0004080000\t0.0041060000\t0.0000010000\t0.0000040000\t0.0010370000\t42766653\t96830484\t509673472\t3.8530726433\t4.0488767624\t3.8403108120\n1995\t1311867236.9937291145\t0.1123130843\t0.0915627826\t0.1207853556\t0.0059722659\t0.0092730000\t0.0004050000\t0.0023290000\t0.0000040000\t0.0000040000\t0.0013150000\t42770437\t96830484\t509673472\t3.8539915085\t4.0504922867\t3.8425998688\n1996\t1311867237.0244200230\t0.1126908362\t0.0915733678\t0.1207853556\t0.0059710648\t0.0120630000\t0.0004080000\t0.0050150000\t0.0000000000\t0.0000040000\t0.0010400000\t42774053\t96830484\t509673472\t3.8528690338\t4.0498070717\t3.8448443413\n1997\t1311867237.0603060722\t0.1119089350\t0.0915835508\t0.1207853556\t0.0059742138\t0.0123050000\t0.0004050000\t0.0046030000\t0.0000040000\t0.0000040000\t0.0019220000\t42777837\t96830484\t509673472\t3.8527648449\t4.0501022339\t3.8467838764\n1998\t1311867237.0927588940\t0.1112482548\t0.0915933930\t0.1207853556\t0.0059848709\t0.0107310000\t0.0004150000\t0.0041090000\t0.0000000000\t0.0000040000\t0.0010290000\t42781565\t96830484\t509673472\t3.8540725708\t4.0512480736\t3.8490130901\n1999\t1311867237.1276650429\t0.1107348278\t0.0916029685\t0.1207853556\t0.0059843317\t0.0114650000\t0.0004200000\t0.0044660000\t0.0000040000\t0.0000040000\t0.0013080000\t42785293\t96830484\t509673472\t3.8535602093\t4.0496335030\t3.8506541252\n2000\t1311867237.1566579342\t0.1126984581\t0.0916135163\t0.1207853556\t0.0059831364\t0.0112160000\t0.0004110000\t0.0044450000\t0.0000010000\t0.0000040000\t0.0010280000\t42788853\t96830484\t509673472\t3.8501732349\t4.0497317314\t3.8522825241\n2001\t1311867237.1925950050\t0.1118543968\t0.0916236316\t0.1207853556\t0.0059823293\t0.0105750000\t0.0004100000\t0.0030220000\t0.0000040000\t0.0000040000\t0.0019160000\t42792637\t96830484\t509673472\t3.8506307602\t4.0496134758\t3.8540077209\n2002\t1311867237.2254281044\t0.1110569313\t0.0916333386\t0.1207853556\t0.0059809958\t0.0111470000\t0.0004090000\t0.0044690000\t0.0000000000\t0.0000040000\t0.0010300000\t42796365\t96830484\t509673472\t3.8512568474\t4.0481963158\t3.8554427624\n2003\t1311867237.2569580078\t0.1119892523\t0.0916435013\t0.1207853556\t0.0059803435\t0.0114230000\t0.0004170000\t0.0044620000\t0.0000040000\t0.0000040000\t0.0013100000\t42800037\t96830484\t509673472\t3.8488326073\t4.0470933914\t3.8568859100\n2004\t1311867237.2944281101\t0.1120812967\t0.0916536998\t0.1207853556\t0.0059790427\t0.0110450000\t0.0004070000\t0.0044760000\t0.0000010000\t0.0000040000\t0.0010250000\t42803821\t96830484\t509673472\t3.8484485149\t4.0486583710\t3.8585417271\n2005\t1311867237.3250501156\t0.1105897278\t0.0916631442\t0.1207853556\t0.0059777971\t0.0118380000\t0.0004130000\t0.0041090000\t0.0000040000\t0.0000040000\t0.0019340000\t42807493\t96830484\t509673472\t3.8500509262\t4.0483565331\t3.8600273132\n2006\t1311867237.3565309048\t0.1117355675\t0.0916731504\t0.1207853556\t0.0059785579\t0.0112660000\t0.0004080000\t0.0044720000\t0.0000000000\t0.0000030000\t0.0010320000\t42811165\t96830484\t509673472\t3.8483505249\t4.0472736359\t3.8617861271\n2007\t1311867237.3934979439\t0.1106787920\t0.0916826201\t0.1207853556\t0.0059777386\t0.0114420000\t0.0004150000\t0.0044590000\t0.0000040000\t0.0000040000\t0.0012990000\t42814893\t96830484\t509673472\t3.8491725922\t4.0488214493\t3.8635830879\n2008\t1311867237.4248709679\t0.1108372882\t0.0916921592\t0.1207853556\t0.0059765305\t0.0112080000\t0.0004230000\t0.0044600000\t0.0000000000\t0.0000040000\t0.0010290000\t42818621\t96830484\t509673472\t3.8483595848\t4.0473980904\t3.8653459549\n2009\t1311867237.4579510689\t0.1101527587\t0.0917013482\t0.1207853556\t0.0059752938\t0.0106720000\t0.0004200000\t0.0030440000\t0.0000030000\t0.0000030000\t0.0019240000\t42822293\t96830484\t509673472\t3.8485321999\t4.0457334518\t3.8668816090\n2010\t1311867237.4933559895\t0.1115317345\t0.0917112141\t0.1207853556\t0.0059757413\t0.0101720000\t0.0004370000\t0.0034040000\t0.0000010000\t0.0000040000\t0.0010250000\t42826077\t96830484\t509673472\t3.8469088078\t4.0475955009\t3.8692066669\n2011\t1311867237.5253219604\t0.1086336821\t0.0917196290\t0.1207853556\t0.0059782280\t0.0116430000\t0.0004240000\t0.0045020000\t0.0000040000\t0.0000040000\t0.0013090000\t42829749\t96830484\t509673472\t3.8497915268\t4.0461120605\t3.8709003925\n2012\t1311867237.5581231117\t0.1092857048\t0.0917283597\t0.1207853556\t0.0059771530\t0.0112240000\t0.0004210000\t0.0044940000\t0.0000010000\t0.0000040000\t0.0010270000\t42833477\t96830484\t509673472\t3.8487095833\t4.0447492599\t3.8726165295\n2013\t1311867237.5925350189\t0.1107949167\t0.0917378314\t0.1207853556\t0.0059793840\t0.0120810000\t0.0004190000\t0.0045060000\t0.0000040000\t0.0000040000\t0.0019070000\t42837149\t96830484\t509673472\t3.8473846912\t4.0458903313\t3.8750984669\n2014\t1311867237.6261129379\t0.1106917411\t0.0917472425\t0.1207853556\t0.0059780304\t0.0104890000\t0.0004280000\t0.0037900000\t0.0000010000\t0.0000040000\t0.0010290000\t42840933\t96830484\t509673472\t3.8470985889\t4.0451135635\t3.8770403862\n2015\t1311867237.6569290161\t0.1108758524\t0.0917567356\t0.1207853556\t0.0059772726\t0.0114920000\t0.0004220000\t0.0045090000\t0.0000040000\t0.0000040000\t0.0013020000\t42844549\t96830484\t509673472\t3.8462750912\t4.0435762405\t3.8789005280\n2016\t1311867237.6925010681\t0.1102862805\t0.0917659268\t0.1207853556\t0.0059758856\t0.0097530000\t0.0004260000\t0.0030660000\t0.0000000000\t0.0000040000\t0.0010260000\t42848277\t96830484\t509673472\t3.8471572399\t4.0440998077\t3.8810398579\n2017\t1311867237.7243609428\t0.1109095812\t0.0917754180\t0.1207853556\t0.0059745096\t0.0118100000\t0.0004230000\t0.0041540000\t0.0000040000\t0.0000040000\t0.0018980000\t42851949\t96830484\t509673472\t3.8467302322\t4.0440616608\t3.8832979202\n2018\t1311867237.7617940903\t0.1098656654\t0.0917843824\t0.1207853556\t0.0059731757\t0.0112780000\t0.0004230000\t0.0045180000\t0.0000000000\t0.0000040000\t0.0010190000\t42855845\t96830484\t509673472\t3.8471198082\t4.0422897339\t3.8852386475\n2019\t1311867237.7926809788\t0.1097561866\t0.0917932837\t0.1207853556\t0.0059721665\t0.0105400000\t0.0004220000\t0.0032510000\t0.0000040000\t0.0000030000\t0.0013060000\t42859405\t96830484\t509673472\t3.8472278118\t4.0433735847\t3.8877799511\n2020\t1311867237.8255820274\t0.1099708527\t0.0918022825\t0.1207853556\t0.0059711687\t0.0114300000\t0.0004710000\t0.0045300000\t0.0000000000\t0.0000040000\t0.0010150000\t42863133\t96830484\t509673472\t3.8467130661\t4.0436096191\t3.8901410103\n2021\t1311867237.8612699509\t0.1088673323\t0.0918107264\t0.1207853556\t0.0059703454\t0.0107150000\t0.0004230000\t0.0030780000\t0.0000040000\t0.0000040000\t0.0019010000\t42866973\t96830484\t509673472\t3.8475019932\t4.0428876877\t3.8920662403\n2022\t1311867237.8926060200\t0.1097273752\t0.0918195873\t0.1207853556\t0.0059702717\t0.0101850000\t0.0004260000\t0.0034370000\t0.0000010000\t0.0000040000\t0.0010200000\t42870589\t96830484\t509673472\t3.8462495804\t4.0434775352\t3.8948600292\n2023\t1311867237.9253590107\t0.1089982316\t0.0918280789\t0.1207853556\t0.0059698143\t0.0116950000\t0.0004270000\t0.0045530000\t0.0000040000\t0.0000030000\t0.0012970000\t42874205\t96830484\t509673472\t3.8474411964\t4.0427885056\t3.8971071243\n2024\t1311867237.9613509178\t0.1090156138\t0.0918365708\t0.1207853556\t0.0059690288\t0.0112910000\t0.0004290000\t0.0045110000\t0.0000010000\t0.0000040000\t0.0010110000\t42877989\t96830484\t509673472\t3.8466374874\t4.0418515205\t3.8990707397\n2025\t1311867237.9928910732\t0.1081641316\t0.0918446338\t0.1207853556\t0.0059679681\t0.0121860000\t0.0004270000\t0.0045250000\t0.0000040000\t0.0000040000\t0.0018830000\t42881661\t96830484\t509673472\t3.8481822014\t4.0420055389\t3.9013216496\n2026\t1311867238.0245919228\t0.1085637137\t0.0918528860\t0.1207853556\t0.0059675555\t0.0105300000\t0.0004300000\t0.0038070000\t0.0000010000\t0.0000040000\t0.0010210000\t42885277\t96830484\t509673472\t3.8480391502\t4.0426216125\t3.9036617279\n2027\t1311867238.0607950687\t0.1088457480\t0.0918612693\t0.1207853556\t0.0059665507\t0.0104220000\t0.0004260000\t0.0034580000\t0.0000040000\t0.0000040000\t0.0012880000\t42889061\t96830484\t509673472\t3.8475883007\t4.0411691666\t3.9058365822\n2028\t1311867238.0932629108\t0.1082268283\t0.0918693391\t0.1207853556\t0.0059656237\t0.0112420000\t0.0004290000\t0.0045500000\t0.0000010000\t0.0000040000\t0.0010000000\t42892733\t96830484\t509673472\t3.8474221230\t4.0388746262\t3.9074563980\n2029\t1311867238.1251931190\t0.1102530137\t0.0918783996\t0.1207853556\t0.0059670178\t0.0107960000\t0.0004310000\t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}, { "path": "icra2018_results/1080/violons_liblsdslam-cpp_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:16:00\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liblsdslam-cpp_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0051490000\t86986196\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0090761073\t0.0045380536\t0.0090761073\t0.0108709261\t0.0257170000\t103538857\t0\t402718720\t0.0021791174\t0.0018214645\t0.0004411704\n3\t0.0800000000\t0.0103211887\t0.0064657653\t0.0103211887\t0.0113080456\t0.0189910000\t106810769\t0\t402718720\t0.0059174011\t-0.0071328436\t0.0010008662\n4\t0.1200000000\t0.0048878756\t0.0060712929\t0.0103211887\t0.0112128200\t0.0181150000\t106813417\t0\t402718720\t0.0048612426\t-0.0070005618\t0.0010327058\n5\t0.1600000000\t0.0032245086\t0.0055019361\t0.0103211887\t0.0105501973\t0.0175710000\t106816081\t0\t402718720\t0.0006014459\t-0.0013379942\t0.0005574760\n6\t0.2000000000\t0.0094174864\t0.0061545278\t0.0103211887\t0.0096519669\t0.0167970000\t106819129\t0\t402718720\t0.0015716671\t-0.0006602437\t0.0007672103\n7\t0.2400000000\t0.0100641586\t0.0067130465\t0.0103211887\t0.0088826377\t0.0154390000\t106821377\t0\t402718720\t0.0016557914\t-0.0002924298\t0.0006700487\n8\t0.2800000000\t0.0069222571\t0.0067391978\t0.0103211887\t0.0084511798\t0.0160830000\t106823625\t0\t402718720\t0.0009001076\t-0.0005924877\t0.0006828007\n9\t0.3200000000\t0.0075042327\t0.0068242017\t0.0103211887\t0.0079463376\t0.0158180000\t106826705\t0\t402718720\t0.0011385574\t-0.0000332233\t0.0006531931\n10\t0.3600000000\t0.0088657802\t0.0070283595\t0.0103211887\t0.0075323970\t0.0153130000\t106830553\t0\t402718720\t0.0016033956\t-0.0001645716\t0.0008678159\n11\t0.4000000000\t0.0085398350\t0.0071657664\t0.0103211887\t0.0071606491\t0.0224060000\t106832801\t0\t402718720\t0.0020945438\t-0.0009851144\t0.0009023340\n12\t0.4400000000\t0.0071468074\t0.0071641865\t0.0103211887\t0.0068788419\t0.0292300000\t106835049\t0\t402718720\t0.0021323934\t-0.0019730923\t0.0003361021\n13\t0.4800000000\t0.0069915461\t0.0071509064\t0.0103211887\t0.0067589240\t0.0244030000\t106837297\t0\t402718720\t0.0014652659\t-0.0006900396\t0.0005437252\n14\t0.5200000000\t0.0063366094\t0.0070927424\t0.0103211887\t0.0065940851\t0.0172240000\t106839545\t0\t402718720\t0.0014001307\t-0.0004686379\t0.0004216829\n15\t0.5600000000\t0.0058464846\t0.0070096585\t0.0103211887\t0.0063686321\t0.0174690000\t106841793\t0\t402718720\t0.0014998523\t-0.0004094870\t0.0003048269\n16\t0.6000000000\t0.0063125961\t0.0069660921\t0.0103211887\t0.0061584865\t0.0168100000\t106844041\t0\t402718720\t0.0016335065\t-0.0000963954\t0.0002616511\n17\t0.6400000000\t0.0049413196\t0.0068469878\t0.0103211887\t0.0059803881\t0.0168020000\t106847953\t0\t402718720\t0.0013247451\t-0.0008822971\t0.0000742717\n18\t0.6800000000\t0.0040652994\t0.0066924496\t0.0103211887\t0.0058586153\t0.0163820000\t106853401\t0\t402718720\t0.0008679936\t-0.0015124173\t0.0000108540\n19\t0.7200000000\t0.0064174556\t0.0066779762\t0.0103211887\t0.0061606346\t0.0187030000\t106855649\t0\t402718720\t-0.0005954048\t-0.0061624143\t0.0008409359\n20\t0.7600000000\t0.0099731805\t0.0068427364\t0.0103211887\t0.0061111837\t0.0194790000\t106857897\t0\t402718720\t-0.0029005758\t-0.0083624162\t0.0013820176\n21\t0.8000000000\t0.0114343548\t0.0070613849\t0.0114343548\t0.0060206685\t0.0189240000\t106860145\t0\t402718720\t-0.0044242679\t-0.0094639929\t0.0016149521\n22\t0.8400000000\t0.0079693776\t0.0071026573\t0.0114343548\t0.0060157946\t0.0184080000\t106862393\t0\t402718720\t-0.0021216504\t-0.0073527349\t0.0010652001\n23\t0.8800000000\t0.0049629519\t0.0070096267\t0.0114343548\t0.0061122361\t0.0203950000\t106864641\t0\t402718720\t0.0000876460\t-0.0036846281\t0.0004616799\n24\t0.9200000000\t0.0056977822\t0.0069549665\t0.0114343548\t0.0060644880\t0.0170600000\t106866889\t0\t402718720\t0.0011139771\t-0.0007524509\t0.0001194901\n25\t0.9600000000\t0.0068465173\t0.0069506285\t0.0114343548\t0.0059501705\t0.0180110000\t106869137\t0\t402718720\t0.0009097299\t-0.0007820157\t0.0003513246\n26\t1.0000000000\t0.0070996378\t0.0069563596\t0.0114343548\t0.0058340518\t0.0164070000\t106871385\t0\t402718720\t0.0002967512\t-0.0010704736\t0.0002656909\n27\t1.0400000000\t0.0065219537\t0.0069402705\t0.0114343548\t0.0057300952\t0.0164070000\t106873633\t0\t402718720\t0.0005783816\t-0.0015068244\t0.0002210101\n28\t1.0800000000\t0.0078988941\t0.0069745071\t0.0114343548\t0.0056302154\t0.0215110000\t106875881\t0\t402718720\t0.0017015099\t-0.0013893475\t0.0006221447\n29\t1.1200000000\t0.0087835193\t0.0070368868\t0.0114343548\t0.0056775138\t0.0204830000\t106878129\t0\t402718720\t0.0013563763\t-0.0022361451\t0.0009875023\n30\t1.1600000000\t0.0085128797\t0.0070860866\t0.0114343548\t0.0058596014\t0.0166170000\t106880377\t0\t402718720\t0.0006768740\t-0.0075496999\t0.0017560360\n31\t1.2000000000\t0.0122895967\t0.0072539417\t0.0122895967\t0.0059543240\t0.0167880000\t106882625\t0\t402718720\t-0.0005340102\t-0.0094562313\t0.0024793341\n32\t1.2400000000\t0.0152215101\t0.0075029283\t0.01522151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}, { "path": "icra2018_results/1080/violons_liblsdslam-cpp_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:16:48\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liblsdslam-cpp_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0111460000\t86835764\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0037849296\t0.0018924648\t0.0037849296\t0.0060263164\t0.0473430000\t103191817\t0\t402718720\t0.0025480420\t0.0031959305\t0.0002693544\n3\t0.0800000000\t0.0076568876\t0.0038139391\t0.0076568876\t0.0055899764\t0.0313710000\t106463729\t0\t402718720\t0.0040668268\t0.0040879590\t0.0003226431\n4\t0.1200000000\t0.0019599893\t0.0033504516\t0.0076568876\t0.0063305545\t0.0261610000\t106466377\t0\t402718720\t0.0003446783\t0.0003025839\t-0.0001039995\n5\t0.1600000000\t0.0011969473\t0.0029197508\t0.0076568876\t0.0055538909\t0.0285840000\t106469041\t0\t402718720\t0.0002654626\t-0.0001555826\t0.0000482072\n6\t0.2000000000\t0.0019221603\t0.0027534857\t0.0076568876\t0.0051342035\t0.0230100000\t106472089\t0\t402718720\t-0.0000124036\t-0.0004208818\t-0.0002705478\n7\t0.2400000000\t0.0020356860\t0.0026509429\t0.0076568876\t0.0052573144\t0.0429830000\t106474337\t0\t402718720\t-0.0006841324\t-0.0042872936\t-0.0002662277\n8\t0.2800000000\t0.0004976149\t0.0023817769\t0.0076568876\t0.0050463494\t0.0245790000\t106476585\t0\t402718720\t-0.0002614823\t-0.0013510506\t-0.0000265006\n9\t0.3200000000\t0.0008822109\t0.0022151584\t0.0076568876\t0.0047471232\t0.0254610000\t106479665\t0\t402718720\t0.0000199236\t-0.0002946719\t-0.0001229336\n10\t0.3600000000\t0.0012654619\t0.0021201888\t0.0076568876\t0.0044918190\t0.0247060000\t106483513\t0\t402718720\t-0.0000967789\t-0.0006893479\t-0.0001435844\n11\t0.4000000000\t0.0008638793\t0.0020059788\t0.0076568876\t0.0042702043\t0.0239490000\t106485761\t0\t402718720\t0.0000038373\t-0.0004640371\t-0.0000634342\n12\t0.4400000000\t0.0002339298\t0.0018583081\t0.0076568876\t0.0040867773\t0.0248470000\t106488009\t0\t402718720\t0.0000231531\t-0.0002852500\t0.0000549865\n13\t0.4800000000\t0.0003751785\t0.0017442212\t0.0076568876\t0.0039278292\t0.0224780000\t106490257\t0\t402718720\t0.0002109970\t-0.0001441989\t0.0002467537\n14\t0.5200000000\t0.0001391804\t0.0016295754\t0.0076568876\t0.0038205790\t0.0230610000\t106492505\t0\t402718720\t0.0001644095\t0.0001758823\t0.0002705961\n15\t0.5600000000\t0.0004124852\t0.0015484361\t0.0076568876\t0.0037626015\t0.0244390000\t106494753\t0\t402718720\t0.0003981159\t-0.0000354972\t0.0003574994\n16\t0.6000000000\t0.0048976266\t0.0017577605\t0.0076568876\t0.0040901534\t0.0385600000\t106497001\t0\t402718720\t0.0031973498\t0.0041113524\t0.0006565518\n17\t0.6400000000\t0.0048224498\t0.0019380363\t0.0076568876\t0.0039622620\t0.0291420000\t106500913\t0\t402718720\t0.0028835321\t0.0040163929\t0.0006387165\n18\t0.6800000000\t0.0069809640\t0.0022181990\t0.0076568876\t0.0038877483\t0.0291510000\t106506361\t0\t402718720\t0.0044615953\t0.0048372033\t0.0006310178\n19\t0.7200000000\t0.0067060362\t0.0024544009\t0.0076568876\t0.0038468797\t0.0332390000\t106508609\t0\t402718720\t0.0043834760\t0.0045648073\t0.0006131558\n20\t0.7600000000\t0.0009629477\t0.0023798283\t0.0076568876\t0.0044025393\t0.0247910000\t106510857\t0\t402718720\t0.0003945441\t-0.0000750638\t0.0002806116\n21\t0.8000000000\t0.0010078183\t0.0023144945\t0.0076568876\t0.0043927432\t0.0571460000\t106513105\t0\t402718720\t0.0000389596\t-0.0001004536\t0.0002872839\n22\t0.8400000000\t0.0012701012\t0.0022670220\t0.0076568876\t0.0043266110\t0.0242090000\t106515353\t0\t402718720\t0.0005438842\t0.0002467624\t0.0003408244\n23\t0.8800000000\t0.0014065572\t0.0022296105\t0.0076568876\t0.0042536338\t0.0235210000\t106517601\t0\t402718720\t0.0004238894\t0.0001534630\t0.0002430393\n24\t0.9200000000\t0.0009448408\t0.0021760784\t0.0076568876\t0.0041639638\t0.0245800000\t106519849\t0\t402718720\t0.0001552277\t-0.0000756123\t0.0001892569\n25\t0.9600000000\t0.0008451883\t0.0021228428\t0.0076568876\t0.0040772548\t0.0263370000\t106522097\t0\t402718720\t-0.0000215771\t-0.0002459663\t0.0001463919\n26\t1.0000000000\t0.0005091472\t0.0020607776\t0.0076568876\t0.0039980688\t0.0256670000\t106524345\t0\t402718720\t-0.0000052450\t-0.0003447931\t0.0000852767\n27\t1.0400000000\t0.0006894248\t0.0020099868\t0.0076568876\t0.0039242444\t0.0251080000\t106526593\t0\t402718720\t-0.0000652036\t-0.0003749468\t0.0000991684\n28\t1.0800000000\t0.0008619934\t0.0019689870\t0.0076568876\t0.0038644231\t0.0251280000\t106528841\t0\t402718720\t-0.0000559759\t-0.0003162466\t0.0001353753\n29\t1.1200000000\t0.0009581841\t0.0019341317\t0.0076568876\t0.0037986785\t0.0262470000\t106531089\t0\t402718720\t-0.0002123440\t-0.0003642494\t0.0001600456\n30\t1.1600000000\t0.0008834552\t0.0018991092\t0.0076568876\t0.0037437287\t0.0255960000\t106533337\t0\t402718720\t-0.0000828248\t-0.0002380635\t0.0001162662\n31\t1.2000000000\t0.0009700008\t0.0018691379\t0.0076568876\t0.0036955797\t0.0260590000\t106535585\t0\t402718720\t-0.0001835176\t-0.0000550395\t0.0000607214\n32\t1.2400000000\t0.0015137489\t0.0018580320\t0.0076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}, { "path": "icra2018_results/1080/violons_liblsdslam-cpp_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:17:05\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liblsdslam-cpp_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0053640000\t86827604\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0010221110\t0.0005110555\t0.0010221110\t0.0016486765\t0.0204230000\t103183657\t0\t402718720\t-0.0006010678\t-0.0001195244\t0.0001060443\n3\t0.0800000000\t0.0050368467\t0.0020196526\t0.0050368467\t0.0023331402\t0.0206990000\t106455569\t0\t402718720\t-0.0005712564\t-0.0001159089\t-0.0002626415\n4\t0.1200000000\t0.0030105244\t0.0022673706\t0.0050368467\t0.0021972292\t0.0206330000\t106458217\t0\t402718720\t-0.0008395423\t-0.0004368496\t-0.0003819885\n5\t0.1600000000\t0.0058184462\t0.0029775857\t0.0058184462\t0.0019636265\t0.0199700000\t106460881\t0\t402718720\t-0.0009795793\t-0.0000027206\t-0.0002612148\n6\t0.2000000000\t0.0051384396\t0.0033377280\t0.0058184462\t0.0018817739\t0.0198960000\t106463929\t0\t402718720\t-0.0005845805\t-0.0000757059\t-0.0006002540\n7\t0.2400000000\t0.0052057360\t0.0036045863\t0.0058184462\t0.0017252949\t0.0199620000\t106466177\t0\t402718720\t-0.0005683319\t0.0000713028\t-0.0004218094\n8\t0.2800000000\t0.0065800720\t0.0039765220\t0.0065800720\t0.0016593006\t0.0196570000\t106468425\t0\t402718720\t-0.0006063433\t0.0001757963\t-0.0005147401\n9\t0.3200000000\t0.0080526182\t0.0044294216\t0.0080526182\t0.0016340920\t0.0212800000\t106471505\t0\t402718720\t-0.0010380259\t0.0000522868\t-0.0005210924\n10\t0.3600000000\t0.0081044836\t0.0047969278\t0.0081044836\t0.0016454699\t0.0215000000\t106475353\t0\t402718720\t-0.0013087916\t0.0000750954\t-0.0004509437\n11\t0.4000000000\t0.0093984492\t0.0052152479\t0.0093984492\t0.0018088903\t0.0191240000\t106477601\t0\t402718720\t-0.0008957226\t0.0000751102\t-0.0001808895\n12\t0.4400000000\t0.0094706044\t0.0055698610\t0.0094706044\t0.0021761640\t0.0197740000\t106479849\t0\t402718720\t-0.0007593075\t-0.0000005458\t-0.0004498283\n13\t0.4800000000\t0.0110082580\t0.0059881992\t0.0110082580\t0.0022167070\t0.0191870000\t106482097\t0\t402718720\t-0.0016798322\t-0.0000336746\t-0.0001003841\n14\t0.5200000000\t0.0109660253\t0.0063437582\t0.0110082580\t0.0021937212\t0.0289890000\t106484345\t0\t402718720\t-0.0019606531\t-0.0010226226\t-0.0000116620\n15\t0.5600000000\t0.0139691764\t0.0068521194\t0.0139691764\t0.0021532649\t0.0205780000\t106486593\t0\t402718720\t-0.0020313677\t0.0001300166\t-0.0003221555\n16\t0.6000000000\t0.0133041330\t0.0072553703\t0.0139691764\t0.0022222298\t0.0197500000\t106488841\t0\t402718720\t-0.0015773640\t-0.0000094086\t-0.0005183284\n17\t0.6400000000\t0.0138059510\t0.0076406985\t0.0139691764\t0.0022505849\t0.0195610000\t106492753\t0\t402718720\t-0.0031562904\t-0.0012515889\t-0.0008958912\n18\t0.6800000000\t0.0174049083\t0.0081831546\t0.0174049083\t0.0023576317\t0.0219150000\t106498201\t0\t402718720\t-0.0016320179\t-0.0045921686\t-0.0006295637\n19\t0.7200000000\t0.0175940488\t0.0086784649\t0.0175940488\t0.0025288205\t0.0186140000\t106500449\t0\t402718720\t-0.0023679030\t-0.0004589465\t-0.0013908958\n20\t0.7600000000\t0.0203366689\t0.0092613751\t0.0203366689\t0.0025888000\t0.0189510000\t106502697\t0\t402718720\t-0.0026747861\t-0.0005096134\t-0.0014838291\n21\t0.8000000000\t0.0241022408\t0.0099680829\t0.0241022408\t0.0025306025\t0.0191320000\t106504945\t0\t402718720\t-0.0018647636\t-0.0001894720\t-0.0016551752\n22\t0.8400000000\t0.0295359325\t0.0108575307\t0.0295359325\t0.0026146935\t0.0199860000\t106507193\t0\t402718720\t-0.0021181731\t-0.0002913807\t-0.0015463522\n23\t0.8800000000\t0.0290699080\t0.0116493731\t0.0295359325\t0.0025785272\t0.0206070000\t106509441\t0\t402718720\t-0.0020462936\t0.0000022076\t-0.0023591069\n24\t0.9200000000\t0.0352930799\t0.0126345276\t0.0352930799\t0.0028196324\t0.0221750000\t106511689\t0\t402718720\t-0.0041387957\t0.0000000737\t-0.0031308315\n25\t0.9600000000\t0.0355664901\t0.0135518061\t0.0355664901\t0.0027740306\t0.0191050000\t106513937\t0\t402718720\t-0.0050042840\t0.0009137367\t-0.0037828644\n26\t1.0000000000\t0.0407356694\t0.0145973393\t0.0407356694\t0.0028441873\t0.0246260000\t106516185\t0\t402718720\t-0.0061319182\t0.0006566583\t-0.0029565943\n27\t1.0400000000\t0.0460910574\t0.0157637733\t0.0460910574\t0.0030297597\t0.0214360000\t106518433\t0\t402718720\t-0.0064592562\t0.0004693865\t-0.0043467609\n28\t1.0800000000\t0.0489963107\t0.0169506496\t0.0489963107\t0.0033440414\t0.0190370000\t106520681\t0\t402718720\t-0.0083498303\t-0.0004474318\t-0.0041515878\n29\t1.1200000000\t0.0525621250\t0.0181786315\t0.0525621250\t0.0036770268\t0.0212230000\t106522929\t0\t402718720\t-0.0109420186\t-0.0000399562\t-0.0050495001\n30\t1.1600000000\t0.0571475215\t0.0194775945\t0.0571475215\t0.0041794470\t0.0329080000\t106525177\t0\t402718720\t-0.0159000810\t-0.0000889053\t-0.0038441299\n31\t1.2000000000\t0.0600341931\t0.0207858719\t0.0600341931\t0.0043455298\t0.0271500000\t106527425\t0\t402718720\t-0.0195541866\t-0.0003700769\t-0.0041839192\n32\t1.240000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}, { "path": "icra2018_results/1080/violons_liblsdslam-cpp_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:17:32\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liblsdslam-cpp_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0056030000\t86960468\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0023723971\t0.0011861986\t0.0023723971\t0.0020365117\t0.0214050000\t103513113\t0\t402718720\t-0.0003054441\t0.0014757760\t0.0006587355\n3\t0.0800000000\t0.0075691850\t0.0033138607\t0.0075691850\t0.0079323241\t0.0312060000\t106785025\t0\t402718720\t0.0011895829\t0.0039806007\t0.0004103031\n4\t0.1200000000\t0.0050746803\t0.0037540656\t0.0075691850\t0.0072586704\t0.0225990000\t106787673\t0\t402718720\t0.0008525121\t0.0019431015\t-0.0002164341\n5\t0.1600000000\t0.0045403787\t0.0039113282\t0.0075691850\t0.0093035663\t0.0190970000\t106790337\t0\t402718720\t-0.0011505795\t0.0012552375\t0.0010641003\n6\t0.2000000000\t0.0107394103\t0.0050493419\t0.0107394103\t0.0115809318\t0.0239910000\t106793385\t0\t402718720\t0.0025179877\t0.0054919636\t0.0011177741\n7\t0.2400000000\t0.0156047400\t0.0065572559\t0.0156047400\t0.0114027896\t0.0229900000\t106795633\t0\t402718720\t0.0043343510\t0.0001796266\t0.0011261269\n8\t0.2800000000\t0.0071276785\t0.0066285587\t0.0156047400\t0.0115250947\t0.0213480000\t106797881\t0\t402718720\t0.0014554275\t-0.0065962025\t0.0005215094\n9\t0.3200000000\t0.0013787150\t0.0060452428\t0.0156047400\t0.0118079379\t0.0220690000\t106800961\t0\t402718720\t0.0002118616\t-0.0092189992\t0.0017992882\n10\t0.3600000000\t0.0089607453\t0.0063367930\t0.0156047400\t0.0114591119\t0.0218430000\t106804809\t0\t402718720\t0.0001490267\t-0.0087568620\t0.0011172433\n11\t0.4000000000\t0.0053524454\t0.0062473069\t0.0156047400\t0.0109658262\t0.0229930000\t106807057\t0\t402718720\t-0.0006809584\t-0.0086678565\t0.0000849431\n12\t0.4400000000\t0.0035602222\t0.0060233832\t0.0156047400\t0.0111241675\t0.0303270000\t106809305\t0\t402718720\t-0.0016053950\t-0.0067963591\t0.0014329145\n13\t0.4800000000\t0.0023946834\t0.0057442524\t0.0156047400\t0.0107321338\t0.0270010000\t106811553\t0\t402718720\t-0.0021145863\t-0.0039496189\t0.0013870606\n14\t0.5200000000\t0.0072235866\t0.0058499191\t0.0156047400\t0.0105446153\t0.0215370000\t106813801\t0\t402718720\t-0.0002715724\t-0.0066024838\t0.0002205954\n15\t0.5600000000\t0.0086496836\t0.0060365701\t0.0156047400\t0.0102317872\t0.0257590000\t106816049\t0\t402718720\t0.0008570692\t-0.0042437091\t0.0002190928\n16\t0.6000000000\t0.0079050986\t0.0061533531\t0.0156047400\t0.0099577796\t0.0236080000\t106818297\t0\t402718720\t-0.0001976052\t-0.0062776310\t0.0007391883\n17\t0.6400000000\t0.0104799941\t0.0064078614\t0.0156047400\t0.0097129554\t0.0220220000\t106822209\t0\t402718720\t-0.0003681361\t-0.0063507473\t0.0002349041\n18\t0.6800000000\t0.0102944402\t0.0066237825\t0.0156047400\t0.0094923354\t0.0233210000\t106827657\t0\t402718720\t0.0013833608\t-0.0042402428\t-0.0005683138\n19\t0.7200000000\t0.0084943147\t0.0067222315\t0.0156047400\t0.0093530691\t0.0236610000\t106829905\t0\t402718720\t0.0024892942\t-0.0017376237\t-0.0007479358\n20\t0.7600000000\t0.0097750882\t0.0068748744\t0.0156047400\t0.0092489764\t0.0216330000\t106832153\t0\t402718720\t0.0033047877\t-0.0019579390\t-0.0018459879\n21\t0.8000000000\t0.0085109593\t0.0069527832\t0.0156047400\t0.0093328940\t0.0233840000\t106834401\t0\t402718720\t0.0017608216\t-0.0036927930\t-0.0016089744\n22\t0.8400000000\t0.0092069069\t0.0070552433\t0.0156047400\t0.0091976986\t0.0250520000\t106836649\t0\t402718720\t0.0001361201\t-0.0041835997\t-0.0014255324\n23\t0.8800000000\t0.0115362043\t0.0072500677\t0.0156047400\t0.0093387480\t0.0206880000\t106838897\t0\t402718720\t0.0055585620\t-0.0032348079\t-0.0027860685\n24\t0.9200000000\t0.0135777453\t0.0075137210\t0.0156047400\t0.0094544084\t0.0252810000\t106841145\t0\t402718720\t0.0019088578\t-0.0078892130\t-0.0018509735\n25\t0.9600000000\t0.0145845274\t0.0077965532\t0.0156047400\t0.0095575800\t0.0210530000\t106843393\t0\t402718720\t0.0052009416\t-0.0038412288\t-0.0039169365\n26\t1.0000000000\t0.0145933498\t0.0080579685\t0.0156047400\t0.0093700873\t0.0189340000\t106845641\t0\t402718720\t0.0047008833\t-0.0036399146\t-0.0043042256\n27\t1.0400000000\t0.0178085268\t0.0084191003\t0.0178085268\t0.0092115753\t0.0242100000\t106847889\t0\t402718720\t0.0056750784\t-0.0046834429\t-0.0050806426\n28\t1.0800000000\t0.0181579869\t0.0087669176\t0.0181579869\t0.0090671969\t0.0226910000\t106850137\t0\t402718720\t0.0070685279\t-0.0059882440\t-0.0056880009\n29\t1.1200000000\t0.0205221176\t0.0091722694\t0.0205221176\t0.0089338370\t0.0196580000\t106852385\t0\t402718720\t0.0075572217\t-0.0059146821\t-0.0058027431\n30\t1.1600000000\t0.0187511630\t0.0094915658\t0.0205221176\t0.0088052119\t0.0219210000\t106854633\t0\t402718720\t0.0101756752\t-0.0084996959\t-0.0055551627\n31\t1.2000000000\t0.0219969265\t0.0098949645\t0.0219969265\t0.0086802152\t0.0335650000\t106856881\t0\t402718720\t0.0098674735\t-0.0058813458\t-0.0063356026\n32\t1.2400000000\t0.0214716159\t0.010256734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00\t1097034801\t0\t402718720\t0.3116520047\t0.1460790038\t0.5757282376\n1238\t49.4800000000\t0.7794358134\t1.0431981981\t1.8766651154\t0.1296980653\t0.0220220000\t1097037049\t0\t402718720\t0.3116667271\t0.1464529037\t0.5773633718\n1239\t49.5200000000\t0.7805917263\t1.0429862478\t1.8766651154\t0.1296458564\t0.0238350000\t1097039297\t0\t402718720\t0.3115316927\t0.1469642818\t0.5790464878\n1240\t49.5600000000\t0.7825452089\t1.0427762147\t1.8766651154\t0.1295937134\t0.0248580000\t1097041545\t0\t402718720\t0.3115082383\t0.1476171762\t0.5809582472\n1241\t49.6000000000\t0.7827004790\t1.0425666452\t1.8766651154\t0.1295415400\t0.0248160000\t1097043793\t0\t402718720\t0.3109906614\t0.1482782513\t0.5825322866\n1242\t49.6400000000\t0.7837594151\t1.0423582658\t1.8766651154\t0.1294894943\t0.0351220000\t1097046041\t0\t402718720\t0.3108969927\t0.1484725773\t0.5838972330\n" }, { "path": "icra2018_results/1080/violons_liblsdslam-cpp_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 10:18:29\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liblsdslam-cpp_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287480354\t0.0606188439\t0.0606188439\t0.0606188439\t-nan\t0.0056280000\t87406972\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1305031229.5644249916\t0.0584248155\t0.0595218297\t0.0606188439\t0.0380232558\t0.0403390000\t104353745\t0\t402718720\t-0.0139900176\t0.0028781511\t0.0103880437\n3\t1305031229.5966000557\t0.0752182528\t0.0647539708\t0.0752182528\t0.0396648546\t0.0391560000\t107626553\t0\t402718720\t-0.0274761934\t-0.0215268061\t0.0118602691\n4\t1305031229.6287529469\t0.0634180382\t0.0644199876\t0.0752182528\t0.0354669120\t0.0360140000\t107630041\t0\t402718720\t-0.0128795030\t0.0008030242\t0.0091515575\n5\t1305031229.6646571159\t0.0764097944\t0.0668179490\t0.0764097944\t0.0337572874\t0.0272410000\t107633713\t0\t402718720\t-0.0370338447\t-0.0169226862\t0.0191256125\n6\t1305031229.6968269348\t0.0754901692\t0.0682633190\t0.0764097944\t0.0302522567\t0.0295220000\t107637657\t0\t402718720\t-0.0354010500\t-0.0152470591\t0.0189952180\n7\t1305031229.7290639877\t0.0667777434\t0.0680510939\t0.0764097944\t0.0294226463\t0.0306300000\t107640745\t0\t402718720\t-0.0221805349\t-0.0060968576\t0.0176796578\n8\t1305031229.7648479939\t0.0780076012\t0.0692956573\t0.0780076012\t0.0287834270\t0.0453240000\t119984033\t0\t402718720\t-0.0384170860\t-0.0167276673\t0.0202743374\n9\t1305031229.7969090939\t0.0740306228\t0.0698217646\t0.0780076012\t0.0273369309\t0.0335660000\t123647617\t0\t402718720\t-0.0337364338\t-0.0149254035\t0.0220656097\n10\t1305031229.8256130219\t0.0726564750\t0.0701052357\t0.0780076012\t0.0271658917\t0.0374490000\t126844441\t0\t402718720\t-0.0290202629\t-0.0124114444\t0.0198791493\n11\t1305031229.8630549908\t0.0757242292\t0.0706160532\t0.0780076012\t0.0259887531\t0.0352990000\t126847809\t0\t402718720\t-0.0436535031\t-0.0101156356\t0.0233191997\n12\t1305031229.8969290257\t0.0741436034\t0.0709100158\t0.0780076012\t0.0257753206\t0.0283940000\t126850953\t0\t402718720\t-0.0457052812\t-0.0060933363\t0.0238280836\n13\t1305031229.9262480736\t0.0743852779\t0.0711773436\t0.0780076012\t0.0254725708\t0.0251570000\t126854041\t0\t402718720\t-0.0450940616\t-0.0044373954\t0.0216530655\n14\t1305031229.9661600590\t0.1041255221\t0.0735307849\t0.1041255221\t0.0293875722\t0.0239820000\t126857409\t0\t402718720\t-0.0852057114\t-0.0148850707\t0.0179468282\n15\t1305031229.9979169369\t0.1315160543\t0.0773964696\t0.1315160543\t0.0291761506\t0.0599890000\t145693597\t0\t402718720\t-0.1210066080\t-0.0187076703\t0.0168976001\n16\t1305031230.0299909115\t0.1440818757\t0.0815643074\t0.1440818757\t0.0292764703\t0.0325140000\t149355949\t0\t402718720\t-0.1267245710\t-0.0446159728\t0.0186029132\n17\t1305031230.0656869411\t0.1593517065\t0.0861400368\t0.1593517065\t0.0297790761\t0.0352510000\t152553061\t0\t402718720\t-0.1493032277\t-0.0454850793\t0.0191958994\n18\t1305031230.0982420444\t0.1464217454\t0.0894890206\t0.1593517065\t0.0297947831\t0.0322810000\t152559405\t0\t402718720\t-0.1359266192\t-0.0443930961\t0.0188047644\n19\t1305031230.1299190521\t0.1411728412\t0.0922092217\t0.1593517065\t0.0291777960\t0.0268650000\t152562549\t0\t402718720\t-0.1321636736\t-0.0440290459\t0.0195826944\n20\t1305031230.1657710075\t0.1387285739\t0.0945351893\t0.1593517065\t0.0284633460\t0.0240620000\t152565805\t0\t402718720\t-0.1332128793\t-0.0435367525\t0.0202160329\n21\t1305031230.1977720261\t0.1388257444\t0.0966442634\t0.1593517065\t0.0279747998\t0.0274210000\t152568949\t0\t402718720\t-0.1360283196\t-0.0433840305\t0.0198863670\n22\t1305031230.2298300266\t0.1372964233\t0.0984920888\t0.1593517065\t0.0274924075\t0.0539150000\t164880193\t0\t402718720\t-0.1375014484\t-0.0429847017\t0.0205065198\n23\t1305031230.2655799389\t0.1134492382\t0.0991423997\t0.1593517065\t0.0282314596\t0.0161420000\t168543473\t0\t402718720\t-0.1149446145\t-0.0376318321\t0.0262981653\n24\t1305031230.2979819775\t0.1139528751\t0.0997595028\t0.1593517065\t0.0276904495\t0.0370870000\t171738809\t0\t402718720\t-0.1192660630\t-0.0368246436\t0.0261687543\n25\t1305031230.3256850243\t0.1116639301\t0.1002356799\t0.1593517065\t0.0272974365\t0.0245170000\t171741841\t0\t402718720\t-0.1198579296\t-0.0371925458\t0.0276606139\n26\t1305031230.3656499386\t0.1089651063\t0.1005714271\t0.1593517065\t0.0269378135\t0.0301090000\t171745209\t0\t402718720\t-0.1193153709\t-0.0358843803\t0.0272067636\n27\t1305031230.3972649574\t0.1070606261\t0.1008117678\t0.1593517065\t0.0265467935\t0.0627630000\t171748409\t0\t402718720\t-0.1200095192\t-0.0359475091\t0.0286831614\n28\t1305031230.4256699085\t0.1057022065\t0.1009864263\t0.1593517065\t0.0261387480\t0.0286900000\t171751385\t0\t402718720\t-0.1225092933\t-0.0345529020\t0.0292209089\n29\t1305031230.4652199745\t0.1024164930\t0.1010357389\t0.1593517065\t0.0261141195\t0.0547050000\t184058753\t0\t402718720\t-0.1241494790\t-0.0329444520\t0.0301160328\n30\t1305031230.4972279072\t0.0966034159\t0.1008879948\t0.1593517065\t0.0260420154\t0.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0000\t226569169\t0\t402718720\t-0.2109137326\t-0.0284043625\t0.1200023964\n720\t1305031253.4976971149\t0.1650894135\t0.1802637510\t0.2544421256\t0.0628963920\t0.0055180000\t226572129\t0\t402718720\t-0.2109137326\t-0.0284043625\t0.1200023964\n721\t1305031253.5297060013\t0.1641669571\t0.1802414253\t0.2544421256\t0.0628573532\t0.0054710000\t226574977\t0\t402718720\t-0.2109137326\t-0.0284043625\t0.1200023964\n722\t1305031253.5656700134\t0.1632163376\t0.1802178449\t0.2544421256\t0.0628169654\t0.0055110000\t226577993\t0\t402718720\t-0.2109137326\t-0.0284043625\t0.1200023964\n723\t1305031253.5981209278\t0.1626314223\t0.1801935206\t0.2544421256\t0.0627750344\t0.0054960000\t226580897\t0\t402718720\t-0.2109137326\t-0.0284043625\t0.1200023964\n" }, { "path": "icra2018_results/1080/violons_liblsdslam-cpp_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 10:18:40\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liblsdslam-cpp_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253988300\t0.0253988300\t0.0253988300\t-nan\t0.0057470000\t87431964\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1305031102.2112140656\t0.0280407500\t0.0267197900\t0.0280407500\t0.0123610180\t0.0638000000\t104378801\t0\t402718720\t-0.0006102596\t0.0053527658\t0.0072599053\n3\t1305031102.2432110310\t0.0359877497\t0.0298091099\t0.0359877497\t0.0133848368\t0.0551250000\t107651609\t0\t402718720\t0.0004194458\t0.0173057411\t0.0178164560\n4\t1305031102.2753260136\t0.0412028506\t0.0326575451\t0.0412028506\t0.0132651174\t0.0476670000\t107655153\t0\t402718720\t0.0000211365\t0.0268275179\t0.0280553307\n5\t1305031102.3112668991\t0.0443283506\t0.0349917062\t0.0443283506\t0.0117977273\t0.0484510000\t107658825\t0\t402718720\t0.0009406107\t0.0341121070\t0.0394172221\n6\t1305031102.3432331085\t0.0495279804\t0.0374144185\t0.0495279804\t0.0105761117\t0.0498150000\t107662769\t0\t402718720\t0.0022915448\t0.0422457419\t0.0488537997\n7\t1305031102.3753290176\t0.0540746115\t0.0397944461\t0.0540746115\t0.0105411838\t0.0510900000\t107665857\t0\t402718720\t0.0059230397\t0.0496612079\t0.0601497181\n8\t1305031102.4112579823\t0.0586649291\t0.0421532565\t0.0586649291\t0.0129340755\t0.0613350000\t120013481\t0\t402718720\t0.0049553243\t0.0584522448\t0.0682729930\n9\t1305031102.4432709217\t0.0704898685\t0.0453017689\t0.0704898685\t0.0146242397\t0.0476040000\t123677065\t0\t402718720\t0.0050741229\t0.0738898739\t0.0760361999\n10\t1305031102.4753179550\t0.0762629062\t0.0483978827\t0.0762629062\t0.0141573711\t0.0284220000\t126873945\t0\t402718720\t0.0062146815\t0.0836995617\t0.0879351348\n11\t1305031102.5112190247\t0.0830353051\t0.0515467392\t0.0830353051\t0.0140830349\t0.0284310000\t126877201\t0\t402718720\t0.0077386550\t0.0941172689\t0.0989961103\n12\t1305031102.5432200432\t0.0843316093\t0.0542788118\t0.0843316093\t0.0136848388\t0.0322420000\t126880401\t0\t402718720\t0.0083205430\t0.0987327471\t0.1106791869\n13\t1305031102.5752859116\t0.0856415182\t0.0566913276\t0.0856415182\t0.0131185346\t0.0389040000\t126883489\t0\t402718720\t0.0097627239\t0.1027626917\t0.1229776442\n14\t1305031102.6112329960\t0.0853053257\t0.0587351846\t0.0856415182\t0.0130594939\t0.0370660000\t126886745\t0\t402718720\t0.0153765269\t0.1038177460\t0.1367915124\n15\t1305031102.6432650089\t0.0850614384\t0.0604902682\t0.0856415182\t0.0130799104\t0.0902740000\t145728869\t0\t402718720\t0.0110546015\t0.1075219810\t0.1413845271\n16\t1305031102.6752851009\t0.0912551135\t0.0624130710\t0.0912551135\t0.0130674289\t0.0485290000\t149391221\t0\t402718720\t0.0123603279\t0.1180814877\t0.1526333839\n17\t1305031102.7112629414\t0.0925445855\t0.0641855131\t0.0925445855\t0.0127036961\t0.0255110000\t152588333\t0\t402718720\t0.0136858150\t0.1235799938\t0.1651065350\n18\t1305031102.7432339191\t0.1015146971\t0.0662593566\t0.1015146971\t0.0133368923\t0.0255890000\t152594733\t0\t402718720\t0.0135879796\t0.1377731711\t0.1747052372\n19\t1305031102.7754719257\t0.1049139127\t0.0682938069\t0.1049139127\t0.0135209185\t0.0252230000\t152597821\t0\t402718720\t0.0129535068\t0.1462031603\t0.1865576804\n20\t1305031102.8112320900\t0.1094070226\t0.0703494677\t0.1094070226\t0.0140825338\t0.0238620000\t152601077\t0\t402718720\t0.0120772310\t0.1569755822\t0.1973260343\n21\t1305031102.8432900906\t0.1084311530\t0.0721628813\t0.1094070226\t0.0138584698\t0.0249430000\t152604277\t0\t402718720\t0.0111593269\t0.1608595103\t0.2093235999\n22\t1305031102.8753631115\t0.1063702926\t0.0737177636\t0.1094070226\t0.0137942501\t0.0833710000\t164918745\t0\t402718720\t0.0104308417\t0.1631685495\t0.2200742811\n23\t1305031102.9111850262\t0.1146244481\t0.0754963151\t0.1146244481\t0.0143067284\t0.0446170000\t168582025\t0\t402718720\t0.0090651698\t0.1780308187\t0.2322462648\n24\t1305031102.9432289600\t0.1088038236\t0.0768841280\t0.1146244481\t0.0141124763\t0.0303290000\t171777417\t0\t402718720\t0.0072338865\t0.1765102297\t0.2431055307\n25\t1305031102.9752030373\t0.1056082398\t0.0780330925\t0.1146244481\t0.0138427280\t0.0324250000\t171780449\t0\t402718720\t0.0047391839\t0.1780687869\t0.2527470887\n26\t1305031103.0112149715\t0.1079732776\t0.0791846380\t0.1146244481\t0.0136705679\t0.0318470000\t171783761\t0\t402718720\t0.0050841048\t0.1852789968\t0.2632419169\n27\t1305031103.0432269573\t0.1101318672\t0.0803308317\t0.1146244481\t0.0135066010\t0.0654780000\t171786961\t0\t402718720\t0.0045674075\t0.1925454140\t0.2736003101\n28\t1305031103.0753190517\t0.1135129854\t0.0815159086\t0.1146244481\t0.0134672691\t0.0278300000\t171790049\t0\t402718720\t0.0039218431\t0.2006983310\t0.2832193375\n29\t1305031103.1112399101\t0.1180882752\t0.0827770247\t0.1180882752\t0.0138114390\t0.0276530000\t171793305\t0\t402718720\t0.0042230864\t0.2101671845\t0.2907955647\n30\t1305031103.1433179379\t0.1188290343\t0.0839787584\t0.1188290343\t0.0136334472\t0.0749630000\t184105169\t0\t402718720\t0.0031918592\t0.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}, { "path": "icra2018_results/1080/violons_liblsdslam-cpp_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 10:19:40\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liblsdslam-cpp_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6417100430\t0.0019026520\t0.0019026520\t0.0019026520\t-nan\t0.0095740000\t96119436\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1311867718.6768438816\t0.0025787114\t0.0022406817\t0.0025787114\t0.0020003670\t0.0384650000\t124862801\t0\t402718720\t0.0009667081\t-0.0003618203\t0.0001371565\n3\t1311867718.7114160061\t0.0043683243\t0.0029498959\t0.0043683243\t0.0029345136\t0.0646370000\t128135609\t0\t402718720\t0.0000204623\t-0.0024267165\t-0.0004448564\n4\t1311867718.7409899235\t0.0023795757\t0.0028073158\t0.0043683243\t0.0033240164\t0.0375030000\t128138985\t0\t402718720\t-0.0006766718\t0.0000693081\t0.0006481900\n5\t1311867718.7767970562\t0.0018157568\t0.0026090040\t0.0043683243\t0.0029304006\t0.0386140000\t128142769\t0\t402718720\t-0.0007965876\t0.0002573971\t0.0012053574\n6\t1311867718.8094038963\t0.0045338483\t0.0029298114\t0.0045338483\t0.0035562120\t0.0458600000\t128146657\t0\t402718720\t-0.0004500575\t-0.0028538953\t0.0003420236\n7\t1311867718.8408079147\t0.0035067166\t0.0030122264\t0.0045338483\t0.0033355008\t0.0365630000\t128149801\t0\t402718720\t-0.0004532582\t-0.0009316847\t0.0006166815\n8\t1311867718.8767778873\t0.0044543929\t0.0031924972\t0.0045338483\t0.0032268966\t0.0460610000\t128153057\t0\t402718720\t-0.0012488646\t-0.0023213874\t0.0008718905\n9\t1311867718.9088499546\t0.0060169622\t0.0035063267\t0.0060169622\t0.0032655245\t0.0473380000\t128156921\t0\t402718720\t-0.0029074054\t-0.0033961411\t0.0004109270\n10\t1311867718.9438269138\t0.0051325820\t0.0036689522\t0.0060169622\t0.0031465705\t0.0460140000\t128161777\t0\t402718720\t-0.0036007499\t-0.0020441518\t0.0010832105\n11\t1311867718.9784109592\t0.0032691231\t0.0036326041\t0.0060169622\t0.0030231676\t0.0389380000\t128165089\t0\t402718720\t-0.0015797990\t-0.0000834646\t0.0023592890\n12\t1311867719.0090429783\t0.0038167459\t0.0036479493\t0.0060169622\t0.0029253571\t0.0381310000\t128168065\t0\t402718720\t-0.0015513987\t-0.0004911855\t0.0022568242\n13\t1311867719.0441069603\t0.0051405421\t0.0037627641\t0.0060169622\t0.0028122748\t0.0444970000\t128171321\t0\t402718720\t-0.0031715741\t-0.0025640153\t0.0021453914\n14\t1311867719.0768620968\t0.0055055576\t0.0038872494\t0.0060169622\t0.0027598675\t0.0402060000\t128174521\t0\t402718720\t-0.0032313683\t-0.0032179249\t0.0025505750\n15\t1311867719.1086890697\t0.0062983162\t0.0040479871\t0.0062983162\t0.0027849616\t0.0506120000\t128177665\t0\t402718720\t-0.0014667853\t-0.0039929636\t0.0028271179\n16\t1311867719.1436860561\t0.0059810006\t0.0041688005\t0.0062983162\t0.0026931297\t0.0390450000\t128180865\t0\t402718720\t-0.0021095306\t-0.0036366438\t0.0030035276\n17\t1311867719.1810290813\t0.0057322686\t0.0042607692\t0.0062983162\t0.0026162297\t0.0676640000\t140533233\t0\t402718720\t-0.0032101516\t-0.0035358195\t0.0034539518\n18\t1311867719.2126939297\t0.0042227493\t0.0042586570\t0.0062983162\t0.0026451106\t0.0434690000\t144199129\t0\t402718720\t-0.0021976635\t-0.0017685959\t0.0045106220\n19\t1311867719.2412030697\t0.0057143979\t0.0043352749\t0.0062983162\t0.0026014428\t0.0224480000\t147394353\t0\t402718720\t-0.0029614512\t-0.0041055218\t0.0050521749\n20\t1311867719.2779400349\t0.0055815261\t0.0043975875\t0.0062983162\t0.0029547447\t0.0272860000\t147397553\t0\t402718720\t-0.0039883922\t-0.0044279443\t0.0055653239\n21\t1311867719.3104751110\t0.0056392183\t0.0044567128\t0.0062983162\t0.0030048165\t0.0624130000\t147400753\t0\t402718720\t-0.0051992559\t-0.0043144245\t0.0053358786\n22\t1311867719.3412981033\t0.0045439759\t0.0044606793\t0.0062983162\t0.0030145497\t0.0264340000\t147403897\t0\t402718720\t-0.0044973935\t-0.0031670157\t0.0059047919\n23\t1311867719.3772559166\t0.0040728804\t0.0044438184\t0.0062983162\t0.0029761402\t0.0245910000\t147407097\t0\t402718720\t-0.0049571120\t-0.0032982936\t0.0069637964\n24\t1311867719.4105629921\t0.0051052836\t0.0044713795\t0.0062983162\t0.0029515861\t0.0279370000\t147410297\t0\t402718720\t-0.0055797505\t-0.0043344693\t0.0061044549\n25\t1311867719.4427659512\t0.0019475059\t0.0043704245\t0.0062983162\t0.0030100139\t0.0309580000\t147413497\t0\t402718720\t-0.0055861529\t-0.0010812253\t0.0077665229\n26\t1311867719.4787509441\t0.0008936314\t0.0042367017\t0.0062983162\t0.0030168829\t0.0337170000\t147416697\t0\t402718720\t-0.0076517244\t-0.0000110957\t0.0086204503\n27\t1311867719.5103800297\t0.0049017933\t0.0042613348\t0.0062983162\t0.0034205113\t0.0273880000\t147419841\t0\t402718720\t-0.0047062850\t-0.0044477922\t0.0074816402\n28\t1311867719.5449209213\t0.0028489376\t0.0042108920\t0.0062983162\t0.0035144644\t0.0313930000\t147423041\t0\t402718720\t-0.0069435057\t-0.0022870644\t0.0076177591\n29\t1311867719.5771799088\t0.0026669998\t0.0041576543\t0.0062983162\t0.0034696239\t0.0325090000\t147426241\t0\t402718720\t-0.0065243798\t-0.0006566491\t0.0096179228\n30\t1311867719.6112289429\t0.0037095775\t0.0041427184\t0.0062983162\t0.0034615629\t0.0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n1902\t1311867782.0211238861\t0.1365007311\t0.1194894764\t0.1636508107\t0.0049327997\t0.0080750000\t1072280637\t0\t402718720\t-0.0916735977\t-0.1381930858\t-0.0160483960\n1903\t1311867782.0568029881\t0.1367633939\t0.1194985536\t0.1636508107\t0.0049317753\t0.0080860000\t1075631085\t0\t402718720\t-0.0915543437\t-0.1389227808\t-0.0167909730\n1904\t1311867782.0891990662\t0.1358197778\t0.1195071257\t0.1636508107\t0.0049312601\t0.0086810000\t1078981421\t0\t402718720\t-0.0907952562\t-0.1383445263\t-0.0168345477\n1905\t1311867782.1212639809\t0.1367314309\t0.1195161673\t0.1636508107\t0.0049299839\t0.0083470000\t1082331813\t0\t402718720\t-0.0915689841\t-0.1392031312\t-0.0175442789\n1906\t1311867782.1567890644\t0.1358363479\t0.1195247299\t0.1636508107\t0.0049291637\t0.0089360000\t1085682149\t0\t402718720\t-0.0916407630\t-0.1381622255\t-0.0166219957\n1907\t1311867782.1890211105\t0.1358796656\t0.1195333061\t0.1636508107\t0.0049279973\t0.0092540000\t1089032541\t0\t402718720\t-0.0914997235\t-0.1382866055\t-0.0165232904\n1908\t1311867782.2216010094\t0.1356809437\t0.1195417692\t0.1636508107\t0.0049275757\t0.0080480000\t1092382933\t0\t402718720\t-0.0913588405\t-0.1382315159\t-0.0169939604\n1909\t1311867782.2568280697\t0.1359910816\t0.1195503860\t0.1636508107\t0.0049274747\t0.0097500000\t1095733269\t0\t402718720\t-0.0916729197\t-0.1386695504\t-0.0172290858\n1910\t1311867782.2892999649\t0.1359777302\t0.1195589867\t0.1636508107\t0.0049262074\t0.0193700000\t1099083605\t0\t402718720\t-0.0915607661\t-0.1387043893\t-0.0172143169\n1911\t1311867782.3211629391\t0.1361703873\t0.1195676792\t0.1636508107\t0.0049249422\t0.0104570000\t1102433941\t0\t402718720\t-0.0915805921\t-0.1388971657\t-0.0174199268\n1912\t1311867782.3569149971\t0.1355583817\t0.1195760425\t0.1636508107\t0.0049241791\t0.0086710000\t1105784445\t0\t402718720\t-0.0913294181\t-0.1386241615\t-0.0185195729\n1913\t1311867782.3891689777\t0.1359679252\t0.1195846112\t0.1636508107\t0.0049234780\t0.0090170000\t1109135237\t0\t402718720\t-0.0913785547\t-0.1389166117\t-0.0177281518\n1914\t1311867782.4208400249\t0.1364268512\t0.1195934107\t0.1636508107\t0.0049222212\t0.0103350000\t1112485461\t0\t402718720\t-0.0916551352\t-0.1392262131\t-0.0177401844\n1915\t1311867782.4571740627\t0.1365829259\t0.1196022825\t0.1636508107\t0.0049209404\t0.0087500000\t1115835965\t0\t402718720\t-0.0916600078\t-0.1394975334\t-0.0182744246\n1916\t1311867782.4892749786\t0.1363690943\t0.1196110335\t0.1636508107\t0.0049197021\t0.0084110000\t1119186245\t0\t402718720\t-0.0915137380\t-0.1393212527\t-0.0186843500\n1917\t1311867782.5210659504\t0.1369407773\t0.1196200735\t0.1636508107\t0.0049185034\t0.0083950000\t1122552621\t0\t402718720\t-0.0915720612\t-0.1397791654\t-0.0194532089\n1918\t1311867782.5570800304\t0.1361124218\t0.1196286722\t0.1636508107\t0.0049173084\t0.0083350000\t1125903069\t0\t402718720\t-0.0912187472\t-0.1389472038\t-0.0195321944\n1919\t1311867782.5892798901\t0.1361666918\t0.1196372902\t0.1636508107\t0.0049162425\t0.0081470000\t1129253349\t0\t402718720\t-0.0912105888\t-0.1388270706\t-0.0195508897\n1920\t1311867782.6212170124\t0.1358162612\t0.1196457168\t0.1636508107\t0.0049150253\t0.0085210000\t1132603741\t0\t402718720\t-0.0909505859\t-0.1383904517\t-0.0189888254\n1921\t1311867782.6568250656\t0.1363021433\t0.1196543875\t0.1636508107\t0.0049137504\t0.0097670000\t1135954189\t0\t402718720\t-0.0911535174\t-0.1387763470\t-0.0184145607\n1922\t1311867782.6890439987\t0.1373879910\t0.1196636141\t0.1636508107\t0.0049147630\t0.0085620000\t1139304469\t0\t402718720\t-0.0911756530\t-0.1392586380\t-0.0195576176\n1923\t1311867782.7211389542\t0.1372308284\t0.1196727495\t0.1636508107\t0.0049137216\t0.0083910000\t1142654861\t0\t402718720\t-0.0910888538\t-0.1392835826\t-0.0198120661\n1924\t1311867782.7569899559\t0.1357179880\t0.1196810890\t0.1636508107\t0.0049148550\t0.0087540000\t1146005197\t0\t402718720\t-0.0903503895\t-0.1389982104\t-0.0211755540\n1925\t1311867782.7890570164\t0.1342862546\t0.1196886761\t0.1636508107\t0.0049156285\t0.0088830000\t1149355589\t0\t402718720\t-0.0896493345\t-0.1371700913\t-0.0217071176\n1926\t1311867782.8208789825\t0.1363327801\t0.1196973179\t0.1636508107\t0.0049153260\t0.0097440000\t1152705925\t0\t402718720\t-0.0907594487\t-0.1385084242\t-0.0199704077\n1927\t1311867782.8570148945\t0.1361700147\t0.1197058662\t0.1636508107\t0.0049155088\t0.0083850000\t1156056429\t0\t402718720\t-0.0902097970\t-0.1394087672\t-0.0228831861\n1928\t1311867782.8888878822\t0.1364853382\t0.1197145693\t0.1636508107\t0.0049154484\t0.0102610000\t1159406653\t0\t402718720\t-0.0910921395\t-0.1392719597\t-0.0213585421\n1929\t1311867782.9209339619\t0.1366037726\t0.1197233247\t0.1636508107\t0.0049144818\t0.0101850000\t1162757045\t0\t402718720\t-0.0910591409\t-0.1394081265\t-0.0214810111\n1930\t1311867782.9571130276\t0.1359873116\t0.1197317516\t0.1636508107\t0.0049135466\t0.0085200000\t1166107493\t0\t402718720\t-0.0906892866\t-0.1394578815\t-0.0226639863\n1931\t1311867782.9888780117\t0.1354926229\t0.1197399137\t0.1636508107\t0.0049126227\t0.0099910000\t1169457829\t0\t402718720\t-0.0905986130\t-0.1392119378\t-0.0226137023\n1932\t1311867783.0209629536\t0.1360045373\t0.1197483322\t0.1636508107\t0.0049114298\t0.0106440000\t1172808165\t0\t402718720\t-0.0909862891\t-0.1396276653\t-0.0231602993\n1933\t1311867783.0574910641\t0.1352784932\t0.1197563664\t0.1636508107\t0.0049105134\t0.0086370000\t1176158557\t0\t402718720\t-0.0905753896\t-0.1393703669\t-0.0235544723\n1934\t1311867783.0892550945\t0.1353050023\t0.1197644061\t0.1636508107\t0.0049094708\t0.0086840000\t1179508949\t0\t402718720\t-0.0907006487\t-0.1398453712\t-0.0241300799\n1935\t1311867783.1210470200\t0.1351489872\t0.1197723567\t0.1636508107\t0.0049082521\t0.0085630000\t1182859285\t0\t402718720\t-0.0907205418\t-0.1397503167\t-0.0246397667\n1936\t1311867783.1570010185\t0.1347052902\t0.1197800700\t0.1636508107\t0.0049070156\t0.0089870000\t1186209677\t0\t402718720\t-0.0904304385\t-0.1396206319\t-0.0247034859\n1937\t1311867783.1893379688\t0.1345822513\t0.1197877118\t0.1636508107\t0.0049061559\t0.0090980000\t1189560069\t0\t402718720\t-0.0902388915\t-0.1400669515\t-0.0275838859\n1938\t1311867783.2211608887\t0.1346026212\t0.1197953563\t0.1636508107\t0.0049052764\t0.0085610000\t1192910461\t0\t402718720\t-0.0905315652\t-0.1398447603\t-0.0257923678\n1939\t1311867783.2568700314\t0.1350601614\t0.1198032288\t0.1636508107\t0.0049049218\t0.0086460000\t1196260853\t0\t402718720\t-0.0907712728\t-0.1400670558\t-0.0251206737\n1940\t1311867783.2891080379\t0.1345693022\t0.1198108402\t0.1636508107\t0.0049037895\t0.0085530000\t1199611189\t0\t402718720\t-0.0906947851\t-0.1397669464\t-0.0253596455\n1941\t1311867783.3210859299\t0.1345694065\t0.1198184438\t0.1636508107\t0.0049026461\t0.0095410000\t1202961525\t0\t402718720\t-0.0907575414\t-0.1397236586\t-0.0246717483\n1942\t1311867783.3569769859\t0.1348328143\t0.1198261752\t0.1636508107\t0.0049014376\t0.0086260000\t1206311973\t0\t402718720\t-0.0907104239\t-0.1400781572\t-0.0249506738\n1943\t1311867783.3890259266\t0.1343352795\t0.1198336425\t0.1636508107\t0.0049002643\t0.0083680000\t1209662253\t0\t402718720\t-0.0904611945\t-0.1399111301\t-0.0258704070\n1944\t1311867783.4249539375\t0.1346601546\t0.1198412693\t0.1636508107\t0.0048990274\t0.0087870000\t1213012701\t0\t402718720\t-0.0908134952\t-0.1402503103\t-0.0260470770\n1945\t1311867783.4569830894\t0.1346753091\t0.1198488961\t0.1636508107\t0.0048978738\t0.0084690000\t1216363549\t0\t402718720\t-0.0906396061\t-0.1406776160\t-0.0262732487\n1946\t1311867783.4889791012\t0.1332313418\t0.1198557730\t0.1636508107\t0.0048968369\t0.0098930000\t1219713885\t0\t402718720\t-0.0903066099\t-0.1396258920\t-0.0263464581\n1947\t1311867783.5228540897\t0.1332979053\t0.1198626770\t0.1636508107\t0.0048959570\t0.0084060000\t1223064277\t0\t402718720\t-0.0903858244\t-0.1398234218\t-0.0269462224\n1948\t1311867783.5571069717\t0.1334919184\t0.1198696735\t0.1636508107\t0.0048950429\t0.0084030000\t1226414613\t0\t402718720\t-0.0906012654\t-0.1400783658\t-0.0268929135\n1949\t1311867783.5898580551\t0.1332086623\t0.1198765176\t0.1636508107\t0.0048939347\t0.0091590000\t1229765005\t0\t402718720\t-0.0903652683\t-0.1400995851\t-0.0270525608\n1950\t1311867783.6210260391\t0.1330400407\t0.1198832681\t0.1636508107\t0.0048927606\t0.0095240000\t1233115341\t0\t402718720\t-0.0903949291\t-0.1399634033\t-0.0271138698\n1951\t1311867783.6572589874\t0.1335594505\t0.1198902779\t0.1636508107\t0.0048916176\t0.0088310000\t1236465789\t0\t402718720\t-0.0905822217\t-0.1405748725\t-0.0278626941\n1952\t1311867783.6893589497\t0.1334543079\t0.1198972267\t0.1636508107\t0.0048904393\t0.0090000000\t1239816125\t0\t402718720\t-0.0904449597\t-0.1405029297\t-0.0275275726\n1953\t1311867783.7211050987\t0.1334722936\t0.1199041776\t0.1636508107\t0.0048896109\t0.0100150000\t1243166461\t0\t402718720\t-0.0905981138\t-0.1404259801\t-0.0269369315\n1954\t1311867783.7570610046\t0.1347959042\t0.1199117987\t0.1636508107\t0.0048887072\t0.0091650000\t1246516853\t0\t402718720\t-0.0909702405\t-0.1415131539\t-0.0265258569\n1955\t1311867783.7890551090\t0.1346108913\t0.1199193174\t0.1636508107\t0.0048877116\t0.0090790000\t1249867133\t0\t402718720\t-0.0907586217\t-0.1413912624\t-0.0270454641\n1956\t1311867783.8209390640\t0.1339121014\t0.1199264712\t0.1636508107\t0.0048865183\t0.0082300000\t1253217469\t0\t402718720\t-0.0905035511\t-0.1404817104\t-0.0269851107\n1957\t1311867783.8570868969\t0.1345666647\t0.1199339522\t0.1636508107\t0.0048906254\t0.0087480000\t1256567917\t0\t402718720\t-0.0906396732\t-0.1410951614\t-0.0281709805\n1958\t1311867783.8889739513\t0.1345548481\t0.1199414194\t0.1636508107\t0.0048966540\t0.0088360000\t1259918253\t0\t402718720\t-0.0906103998\t-0.1406733245\t-0.0274093430\n1959\t1311867783.9210090637\t0.1343523413\t0.1199487757\t0.1636508107\t0.0048956645\t0.0085480000\t1263268589\t0\t402718720\t-0.0906940997\t-0.1403322220\t-0.0265852995\n1960\t1311867783.9572629929\t0.1345341057\t0.1199562172\t0.1636508107\t0.0048944621\t0.0083070000\t1266617717\t0\t402718720\t-0.0906111598\t-0.1405432522\t-0.0263405964\n1961\t1311867783.9889400005\t0.1345965117\t0.1199636829\t0.1636508107\t0.0048967281\t0.0085320000\t1266697717\t0\t402718720\t-0.0908012316\t-0.1407332122\t-0.0262733083\n1962\t1311867784.0210440159\t0.1340977401\t0.1199708868\t0.1636508107\t0.0048982139\t0.0087340000\t1266777773\t0\t402718720\t-0.0907150954\t-0.1402574480\t-0.0257907454\n1963\t1311867784.0570049286\t0.1344275326\t0.1199782514\t0.1636508107\t0.0048972775\t0.0078360000\t1266857885\t0\t402718720\t-0.0908862650\t-0.1407563984\t-0.0263693165\n1964\t1311867784.0891489983\t0.1348787546\t0.1199858382\t0.1636508107\t0.0048963279\t0.0085900000\t1266937829\t0\t402718720\t-0.0911348015\t-0.1413405389\t-0.0264060926\n1965\t1311867784.1209108829\t0.1334941983\t0.1199927127\t0.1636508107\t0.0048951609\t0.0085650000\t1267017829\t0\t402718720\t-0.0907806531\t-0.1406434029\t-0.0266541559\n1966\t1311867784.1571660042\t0.1329729706\t0.1199993150\t0.1636508107\t0.0048940069\t0.0076950000\t1267097941\t0\t402718720\t-0.0904658809\t-0.1406285912\t-0.0259674154\n1967\t1311867784.1889019012\t0.1330889016\t0.1200059696\t0.1636508107\t0.0048932340\t0.0078390000\t1267177941\t0\t402718720\t-0.0908628553\t-0.1408927888\t-0.0261064358\n1968\t1311867784.2212319374\t0.1323894262\t0.1200122620\t0.1636508107\t0.0048925362\t0.0188560000\t1267257941\t0\t402718720\t-0.0908997282\t-0.1404721886\t-0.0252632257\n1969\t1311867784.2569179535\t0.1324331462\t0.1200185703\t0.1636508107\t0.0048916907\t0.0099620000\t1267338053\t0\t402718720\t-0.0908062980\t-0.1409358084\t-0.0254516508\n1970\t1311867784.2890079021\t0.1332824826\t0.1200253032\t0.1636508107\t0.0048909621\t0.0085030000\t1267418053\t0\t402718720\t-0.0917571932\t-0.1416867077\t-0.0262324959\n1971\t1311867784.3210299015\t0.1326304525\t0.1200316985\t0.1636508107\t0.0048898537\t0.0081860000\t1267498109\t0\t402718720\t-0.0915730074\t-0.1412704140\t-0.0249123573\n1972\t1311867784.3568980694\t0.1325108260\t0.1200380267\t0.1636508107\t0.0048887437\t0.0076790000\t1267578221\t0\t402718720\t-0.0917191729\t-0.1412297636\t-0.0249787774\n1973\t1311867784.3890140057\t0.1327121854\t0.1200444505\t0.1636508107\t0.0048875658\t0.0079760000\t1267658165\t0\t402718720\t-0.0916611031\t-0.1417267621\t-0.0251270756\n1974\t1311867784.4210159779\t0.1321545541\t0.1200505853\t0.1636508107\t0.0048864165\t0.0085450000\t1267738165\t0\t402718720\t-0.0918291211\t-0.1411984563\t-0.0243296232\n1975\t1311867784.4572210312\t0.1317738593\t0.1200565211\t0.1636508107\t0.0048853245\t0.0163590000\t1267818277\t0\t402718720\t-0.0913881510\t-0.1409480572\t-0.0245443173\n1976\t1311867784.4890739918\t0.1322991252\t0.1200627168\t0.1636508107\t0.0048842830\t0.0101940000\t1267898277\t0\t402718720\t-0.0917988718\t-0.1417170912\t-0.0247295070\n1977\t1311867784.5209710598\t0.1310942024\t0.1200682967\t0.1636508107\t0.0048832066\t0.0079010000\t1267978277\t0\t402718720\t-0.0913541764\t-0.1409605592\t-0.0247093085\n1978\t1311867784.5571429729\t0.1312013119\t0.1200739251\t0.1636508107\t0.0048821721\t0.0076410000\t1268058333\t0\t402718720\t-0.0915626362\t-0.1411088705\t-0.0243161451\n1979\t1311867784.5900990963\t0.1314232349\t0.1200796600\t0.1636508107\t0.0048810373\t0.0083080000\t1268138389\t0\t402718720\t-0.0918064564\t-0.1415217370\t-0.0239962786\n1980\t1311867784.6210629940\t0.1310700327\t0.1200852107\t0.1636508107\t0.0048798968\t0.0082350000\t1268218389\t0\t402718720\t-0.0919299796\t-0.1414769292\t-0.0239167903\n1981\t1311867784.6585550308\t0.1306000054\t0.1200905185\t0.1636508107\t0.0048787022\t0.0084370000\t1268298501\t0\t402718720\t-0.0917500108\t-0.1414218098\t-0.0243086182\n1982\t1311867784.6890010834\t0.1311787665\t0.1200961130\t0.1636508107\t0.0048777099\t0.0084500000\t1268378501\t0\t402718720\t-0.0920965597\t-0.1420872062\t-0.0243423823\n1983\t1311867784.7210860252\t0.1309251338\t0.1201015739\t0.1636508107\t0.0048766551\t0.0080010000\t1268458501\t0\t402718720\t-0.0920901150\t-0.1421162635\t-0.0241936482\n1984\t1311867784.7656979561\t0.1298051178\t0.1201064648\t0.1636508107\t0.0048777599\t0.0153740000\t1268538837\t0\t402718720\t-0.0918923095\t-0.1415512413\t-0.0239174571\n1985\t1311867784.7897160053\t0.1303748786\t0.1201116378\t0.1636508107\t0.0048767940\t0.0098390000\t1268618613\t0\t402718720\t-0.0923278481\t-0.1422251761\t-0.0239965152\n1986\t1311867784.8210480213\t0.1289196312\t0.1201160728\t0.1636508107\t0.0048760080\t0.0087940000\t1268698445\t0\t402718720\t-0.0917159468\t-0.1413617730\t-0.0242794398\n1987\t1311867784.8570930958\t0.1294331700\t0.1201207619\t0.1636508107\t0.0048749915\t0.0092920000\t1268778613\t0\t402718720\t-0.0921872109\t-0.1418415606\t-0.0231016502\n1988\t1311867784.8888559341\t0.1298346221\t0.1201256481\t0.1636508107\t0.0048740648\t0.0077490000\t1268858557\t0\t402718720\t-0.0925250575\t-0.1423871815\t-0.0237778518\n1989\t1311867784.9211781025\t0.1288978159\t0.1201300585\t0.1636508107\t0.0048729699\t0.0097690000\t1268938557\t0\t402718720\t-0.0921403393\t-0.1419853568\t-0.0238351673\n1990\t1311867784.9570379257\t0.1285981983\t0.1201343138\t0.1636508107\t0.0048718139\t0.0096040000\t1269018725\t0\t402718720\t-0.0922086984\t-0.1417986453\t-0.0239590611\n1991\t1311867784.9890439510\t0.1293265820\t0.1201389307\t0.1636508107\t0.0048707086\t0.0082920000\t1269098613\t0\t402718720\t-0.0927191824\t-0.1425647289\t-0.0238826796\n1992\t1311867785.0210449696\t0.1293734312\t0.1201435665\t0.1636508107\t0.0048697430\t0.0102210000\t1269178669\t0\t402718720\t-0.0928172097\t-0.1427756697\t-0.0236168634\n1993\t1311867785.0570709705\t0.1284109801\t0.1201477147\t0.1636508107\t0.0048685896\t0.0081150000\t1269258837\t0\t402718720\t-0.0925415680\t-0.1422728449\t-0.0240554065\n1994\t1311867785.0890560150\t0.1288268715\t0.1201520674\t0.1636508107\t0.0048675187\t0.0083890000\t1269338725\t0\t402718720\t-0.0927005932\t-0.1427903920\t-0.0250840466\n1995\t1311867785.1211049557\t0.1279400289\t0.1201559711\t0.1636508107\t0.0048665811\t0.0082740000\t1269418781\t0\t402718720\t-0.0923769549\t-0.1421067417\t-0.0246612430\n1996\t1311867785.1570410728\t0.1286011487\t0.1201602022\t0.1636508107\t0.0048653866\t0.0087340000\t1269498893\t0\t402718720\t-0.0927255526\t-0.1426928043\t-0.0248368569\n1997\t1311867785.1892418861\t0.1294087321\t0.1201648334\t0.1636508107\t0.0048643542\t0.0083920000\t1269578893\t0\t402718720\t-0.0930632651\t-0.1434511691\t-0.0249452870\n1998\t1311867785.2213380337\t0.1283980161\t0.1201689541\t0.1636508107\t0.0048633508\t0.0083660000\t1269658893\t0\t402718720\t-0.0926503614\t-0.1427077651\t-0.0250075534\n1999\t1311867785.2570750713\t0.1279551983\t0.1201728492\t0.1636508107\t0.0048621696\t0.0086130000\t1269738949\t0\t402718720\t-0.0925660804\t-0.1422877461\t-0.0242178515\n2000\t1311867785.2900719643\t0.1290155053\t0.1201772705\t0.1636508107\t0.0048613382\t0.0086950000\t1269819005\t0\t402718720\t-0.0929907411\t-0.1432866454\t-0.0244675819\n2001\t1311867785.3214108944\t0.1286216974\t0.1201814906\t0.1636508107\t0.0048602605\t0.0077240000\t1269898949\t0\t402718720\t-0.0930413231\t-0.1430939287\t-0.0247522350\n2002\t1311867785.3573219776\t0.1280299574\t0.1201854109\t0.1636508107\t0.0048592806\t0.0089600000\t1269979061\t0\t402718720\t-0.0928320512\t-0.1426392496\t-0.0243012775\n2003\t1311867785.3893299103\t0.1283947080\t0.1201895094\t0.1636508107\t0.0048582057\t0.0084040000\t1270059061\t0\t402718720\t-0.0930201262\t-0.1430560797\t-0.0249412004\n2004\t1311867785.4211249352\t0.1279301047\t0.1201933720\t0.1636508107\t0.0048572071\t0.0162800000\t1270139061\t0\t402718720\t-0.0929037705\t-0.1428319067\t-0.0252769403\n2005\t1311867785.4570529461\t0.1279728562\t0.1201972520\t0.1636508107\t0.0048577261\t0.0112800000\t1270219173\t0\t402718720\t-0.0932392925\t-0.1426203698\t-0.0247016419\n2006\t1311867785.4900350571\t0.1285974681\t0.1202014396\t0.1636508107\t0.0048573304\t0.0085300000\t1270299229\t0\t402718720\t-0.0933711305\t-0.1431100368\t-0.0255620666\n2007\t1311867785.5211930275\t0.1276972890\t0.1202051744\t0.1636508107\t0.0048565843\t0.0083340000\t1270379173\t0\t402718720\t-0.0929538533\t-0.1426090449\t-0.0266466234\n2008\t1311867785.5571260452\t0.1264932007\t0.1202083059\t0.1636508107\t0.0048565563\t0.0076130000\t1270459285\t0\t402718720\t-0.0929014459\t-0.1419367045\t-0.0253897253\n2009\t1311867785.5891211033\t0.1273438185\t0.1202118577\t0.1636508107\t0.0048558407\t0.0083770000\t1270539285\t0\t402718720\t-0.0933123380\t-0.1426626444\t-0.0255933553\n2010\t1311867785.6211590767\t0.1281195879\t0.1202157919\t0.1636508107\t0.0048682612\t0.0081850000\t1270619341\t0\t402718720\t-0.0940210000\t-0.1435182393\t-0.0261866618\n2011\t1311867785.6570439339\t0.1265108287\t0.1202189222\t0.1636508107\t0.0048731293\t0.0150900000\t1270699453\t0\t402718720\t-0.0932484567\t-0.1422720104\t-0.0251458138\n2012\t1311867785.6892280579\t0.1266246289\t0.1202221059\t0.1636508107\t0.0048719527\t0.0127740000\t1270779397\t0\t402718720\t-0.0933536962\t-0.1424637437\t-0.0254100673\n2013\t1311867785.7214241028\t0.1275623441\t0.1202257523\t0.1636508107\t0.0048731895\t0.0081910000\t1270859397\t0\t402718720\t-0.0939969048\t-0.1435318291\t-0.0260263756\n2014\t1311867785.7573668957\t0.1261662245\t0.1202287019\t0.1636508107\t0.0048724492\t0.0087270000\t1270939509\t0\t402718720\t-0.0935474783\t-0.1427244544\t-0.0257305894\n2015\t1311867785.7892301083\t0.1260244995\t0.1202315782\t0.1636508107\t0.0048718752\t0.0101850000\t1271019509\t0\t402718720\t-0.0936277211\t-0.1428713351\t-0.0258496907\n2016\t1311867785.8210389614\t0.1260659844\t0.1202344723\t0.1636508107\t0.0048706802\t0.0083240000\t1271099509\t0\t402718720\t-0.0936880112\t-0.1430255771\t-0.0259696040\n2017\t1311867785.8574340343\t0.1257309616\t0.1202371974\t0.1636508107\t0.0048705101\t0.0081450000\t1271179621\t0\t402718720\t-0.0941271409\t-0.1427914798\t-0.0259071309\n2018\t1311867785.8893110752\t0.1254815012\t0.1202397961\t0.1636508107\t0.0048696873\t0.0079500000\t1271259677\t0\t402718720\t-0.0943350494\t-0.1425984651\t-0.0257956032\n2019\t1311867785.9211509228\t0.1266428977\t0.1202429676\t0.1636508107\t0.0048716512\t0.0081260000\t1271339677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}, { "path": "icra2018_results/1080/violons_liblsdslam-cpp_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 10:21:34\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liblsdslam-cpp_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520440\t0.0582520440\t0.0582520440\t-nan\t0.0170010000\t96489748\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1311867170.4941389561\t0.0611951873\t0.0597236156\t0.0611951873\t0.0088799139\t0.0399800000\t125232913\t0\t402718720\t-0.0043297815\t0.0014842154\t-0.0000169428\n3\t1311867170.5264289379\t0.0625329837\t0.0606600717\t0.0625329837\t0.0068035834\t0.0386780000\t128505777\t0\t402718720\t-0.0085119465\t0.0024628250\t-0.0014092552\n4\t1311867170.5623490810\t0.0622939393\t0.0610685386\t0.0625329837\t0.0056811755\t0.0276630000\t128509433\t0\t402718720\t-0.0138620259\t0.0014397150\t-0.0037232086\n5\t1311867170.5942170620\t0.0655072331\t0.0619562775\t0.0655072331\t0.0068681791\t0.0325970000\t128512937\t0\t402718720\t-0.0167324785\t0.0025816576\t-0.0027470735\n6\t1311867170.6260869503\t0.0637080818\t0.0622482449\t0.0655072331\t0.0065573622\t0.0363030000\t128516881\t0\t402718720\t-0.0160029121\t0.0008914011\t-0.0052572438\n7\t1311867170.6621398926\t0.0643696859\t0.0625513079\t0.0655072331\t0.0060801545\t0.0316070000\t128520193\t0\t402718720\t-0.0173481070\t0.0008073251\t-0.0061638290\n8\t1311867170.6942050457\t0.0630642474\t0.0626154253\t0.0655072331\t0.0060168364\t0.0320210000\t128523281\t0\t402718720\t-0.0195525996\t-0.0026746783\t-0.0083052265\n9\t1311867170.7263879776\t0.0669780448\t0.0631001608\t0.0669780448\t0.0067878896\t0.0360290000\t128527257\t0\t402718720\t-0.0230517294\t0.0008078270\t-0.0076910476\n10\t1311867170.7620189190\t0.0720820874\t0.0639983535\t0.0720820874\t0.0072644236\t0.0373470000\t128532169\t0\t402718720\t-0.0308083314\t0.0007243438\t-0.0061809635\n11\t1311867170.7941920757\t0.0731963813\t0.0648345378\t0.0731963813\t0.0070199748\t0.0370800000\t128535201\t0\t402718720\t-0.0311646946\t-0.0008255136\t-0.0065222275\n12\t1311867170.8262820244\t0.0743731856\t0.0656294251\t0.0743731856\t0.0068392879\t0.0380930000\t128538401\t0\t402718720\t-0.0356335901\t-0.0066757249\t-0.0075357012\n13\t1311867170.8622210026\t0.0702481493\t0.0659847116\t0.0743731856\t0.0085761807\t0.0396100000\t128541657\t0\t402718720\t-0.0379895791\t-0.0209692419\t-0.0119389491\n14\t1311867170.8943779469\t0.0707807615\t0.0663272866\t0.0743731856\t0.0085043258\t0.0496720000\t140886357\t0\t402718720\t-0.0410090275\t-0.0297214016\t-0.0145569192\n15\t1311867170.9263520241\t0.0709713474\t0.0666368907\t0.0743731856\t0.0082744733\t0.0333440000\t144549165\t0\t402718720\t-0.0409427062\t-0.0344403610\t-0.0167431887\n16\t1311867170.9621469975\t0.0737774819\t0.0670831776\t0.0743731856\t0.0081058069\t0.0260820000\t147744613\t0\t402718720\t-0.0462719798\t-0.0369575806\t-0.0185625441\n17\t1311867170.9942629337\t0.0731934384\t0.0674426047\t0.0743731856\t0.0079529208\t0.0218900000\t147749365\t0\t402718720\t-0.0456465185\t-0.0410738178\t-0.0214083456\n18\t1311867171.0262739658\t0.0743117705\t0.0678242250\t0.0743731856\t0.0077355994\t0.0232370000\t147755765\t0\t402718720\t-0.0465738960\t-0.0459876359\t-0.0232499503\n19\t1311867171.0623519421\t0.0763340667\t0.0682721114\t0.0763340667\t0.0079400082\t0.0250550000\t147759021\t0\t402718720\t-0.0495061167\t-0.0503235795\t-0.0250858832\n20\t1311867171.0942349434\t0.0749490187\t0.0686059568\t0.0763340667\t0.0077689801\t0.0204800000\t147762109\t0\t402718720\t-0.0463495478\t-0.0516512245\t-0.0273138136\n21\t1311867171.1262509823\t0.0768921003\t0.0690005351\t0.0768921003\t0.0075938342\t0.0219090000\t147765309\t0\t402718720\t-0.0486747809\t-0.0552867427\t-0.0285563860\n22\t1311867171.1622469425\t0.0770392567\t0.0693659315\t0.0770392567\t0.0075736327\t0.0220080000\t147768565\t0\t402718720\t-0.0471798033\t-0.0560176037\t-0.0297735911\n23\t1311867171.1942689419\t0.0742472485\t0.0695781627\t0.0770392567\t0.0081154970\t0.0246480000\t147771653\t0\t402718720\t-0.0427074730\t-0.0551667437\t-0.0308411811\n24\t1311867171.2262530327\t0.0747612640\t0.0697941252\t0.0770392567\t0.0080552573\t0.0309420000\t147774853\t0\t402718720\t-0.0390083753\t-0.0576155335\t-0.0319347046\n25\t1311867171.2622439861\t0.0723201707\t0.0698951671\t0.0770392567\t0.0078921074\t0.0307590000\t147778109\t0\t402718720\t-0.0335536115\t-0.0559857264\t-0.0337400511\n26\t1311867171.2943410873\t0.0699807033\t0.0698984569\t0.0770392567\t0.0078273367\t0.0297000000\t147781141\t0\t402718720\t-0.0279415287\t-0.0559061058\t-0.0354752131\n27\t1311867171.3263869286\t0.0707499012\t0.0699299919\t0.0770392567\t0.0078048296\t0.0351130000\t147784341\t0\t402718720\t-0.0255335420\t-0.0571478419\t-0.0365507379\n28\t1311867171.3622460365\t0.0701091513\t0.0699363904\t0.0770392567\t0.0077212450\t0.0305870000\t147787597\t0\t402718720\t-0.0248703640\t-0.0546034649\t-0.0377807766\n29\t1311867171.3941431046\t0.0708027929\t0.0699662664\t0.0770392567\t0.0076366893\t0.0301690000\t147790685\t0\t402718720\t-0.0256463680\t-0.0528603829\t-0.0387396589\n30\t1311867171.4262878895\t0.0757638067\t0.0701595177\t0.077039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19\t0.1810217351\t0.1664089393\t0.2106595784\t0.0053752141\t0.0347730000\t486714985\t0\t402718720\t-0.1633980870\t0.1025482118\t-0.1746035665\n1908\t1311867234.0422050953\t0.1811859906\t0.1664166841\t0.2106595784\t0.0053738594\t0.0388390000\t486718241\t0\t402718720\t-0.1638633311\t0.1008171886\t-0.1744068712\n1909\t1311867234.0743489265\t0.1814761013\t0.1664245727\t0.2106595784\t0.0053724565\t0.0356280000\t486721385\t0\t402718720\t-0.1644230932\t0.0992233977\t-0.1741438508\n1910\t1311867234.1061749458\t0.1811043471\t0.1664322585\t0.2106595784\t0.0053711311\t0.0349670000\t486724529\t0\t402718720\t-0.1643897295\t0.0987385660\t-0.1746479124\n1911\t1311867234.1424729824\t0.1811809242\t0.1664399763\t0.2106595784\t0.0053697649\t0.0376880000\t486727729\t0\t402718720\t-0.1644906700\t0.0973008722\t-0.1744267195\n1912\t1311867234.1743829250\t0.1819862574\t0.1664481072\t0.2106595784\t0.0053685050\t0.0325870000\t486730929\t0\t402718720\t-0.1658959687\t0.0952788964\t-0.1742407084\n1913\t1311867234.2063119411\t0.1819116026\t0.1664561905\t0.2106595784\t0.0053678546\t0.0332120000\t486734129\t0\t402718720\t-0.1658328921\t0.0950362012\t-0.1747852713\n1914\t1311867234.2422919273\t0.1815642565\t0.1664640840\t0.2106595784\t0.0053666218\t0.0347180000\t486737329\t0\t402718720\t-0.1662699729\t0.0944296420\t-0.1749849916\n1915\t1311867234.2742938995\t0.1819271445\t0.1664721587\t0.2106595784\t0.0053653722\t0.0342410000\t486740473\t0\t402718720\t-0.1672307402\t0.0935671180\t-0.1746440828\n1916\t1311867234.3064689636\t0.1812785715\t0.1664798865\t0.2106595784\t0.0053641254\t0.0348270000\t486743673\t0\t402718720\t-0.1672196686\t0.0932250172\t-0.1748272032\n1917\t1311867234.3423550129\t0.1809951514\t0.1664874583\t0.2106595784\t0.0053659533\t0.0341510000\t486746929\t0\t402718720\t-0.1677693278\t0.0929957181\t-0.1746216565\n1918\t1311867234.3741590977\t0.1814947277\t0.1664952828\t0.2106595784\t0.0053646172\t0.0355260000\t486750017\t0\t402718720\t-0.1687355936\t0.0916945636\t-0.1738332212\n1919\t1311867234.4062600136\t0.1808992624\t0.1665027888\t0.2106595784\t0.0053634706\t0.0321630000\t486753161\t0\t402718720\t-0.1688207537\t0.0909634829\t-0.1739315093\n1920\t1311867234.4422380924\t0.1802290082\t0.1665099378\t0.2106595784\t0.0053621702\t0.0339130000\t486756473\t0\t402718720\t-0.1681888103\t0.0913541466\t-0.1739210486\n1921\t1311867234.4742479324\t0.1811046451\t0.1665175353\t0.2106595784\t0.0053663368\t0.0347290000\t486759561\t0\t402718720\t-0.1692402363\t0.0900607109\t-0.1732611805\n1922\t1311867234.5063080788\t0.1813495457\t0.1665252522\t0.2106595784\t0.0053650853\t0.0325050000\t486762761\t0\t402718720\t-0.1698619127\t0.0890221223\t-0.1729476601\n1923\t1311867234.5422930717\t0.1807811409\t0.1665326656\t0.2106595784\t0.0053643411\t0.0359760000\t486766017\t0\t402718720\t-0.1689726859\t0.0892264396\t-0.1730029881\n1924\t1311867234.5741920471\t0.1808482260\t0.1665401061\t0.2106595784\t0.0053630304\t0.0336880000\t486769105\t0\t402718720\t-0.1691617221\t0.0882146209\t-0.1725604236\n1925\t1311867234.6060979366\t0.1809258312\t0.1665475792\t0.2106595784\t0.0053624187\t0.0353190000\t486772305\t0\t402718720\t-0.1696774662\t0.0867287219\t-0.1719019562\n1926\t1311867234.6422669888\t0.1806526482\t0.1665549027\t0.2106595784\t0.0053635525\t0.0342280000\t486775561\t0\t402718720\t-0.1695527732\t0.0870499983\t-0.1722134203\n1927\t1311867234.6740961075\t0.1806715727\t0.1665622285\t0.2106595784\t0.0053647650\t0.0341350000\t486778649\t0\t402718720\t-0.1689291894\t0.0872287899\t-0.1715423763\n1928\t1311867234.7060949802\t0.1801851541\t0.1665692943\t0.2106595784\t0.0053636234\t0.0330420000\t486781849\t0\t402718720\t-0.1691614091\t0.0856263638\t-0.1710167527\n1929\t1311867234.7422869205\t0.1803395748\t0.1665764328\t0.2106595784\t0.0053646799\t0.0348680000\t486785105\t0\t402718720\t-0.1687490493\t0.0857012868\t-0.1704812348\n1930\t1311867234.7741398811\t0.1790542603\t0.1665828980\t0.2106595784\t0.0053837417\t0.0340670000\t486788137\t0\t402718720\t-0.1682433933\t0.0860496834\t-0.1699220538\n1931\t1311867234.8060719967\t0.1798602939\t0.1665897740\t0.2106595784\t0.0053858604\t0.0347430000\t486791337\t0\t402718720\t-0.1686807871\t0.0848799273\t-0.1688277870\n1932\t1311867234.8423259258\t0.1786239147\t0.1665960028\t0.2106595784\t0.0053864386\t0.0358190000\t486794537\t0\t402718720\t-0.1677009612\t0.0856302530\t-0.1686566323\n1933\t1311867234.8741569519\t0.1786391884\t0.1666022331\t0.2106595784\t0.0053859190\t0.0343180000\t486797681\t0\t402718720\t-0.1669812351\t0.0861509964\t-0.1677794307\n1934\t1311867234.9061870575\t0.1791981161\t0.1666087460\t0.2106595784\t0.0053849290\t0.0334080000\t486800881\t0\t402718720\t-0.1677274853\t0.0846292973\t-0.1669847965\n1935\t1311867234.9422700405\t0.1790593863\t0.1666151804\t0.2106595784\t0.0053839986\t0.0380520000\t486804137\t0\t402718720\t-0.1672063023\t0.0841932669\t-0.1668100953\n1936\t1311867234.9741549492\t0.1787108183\t0.1666214282\t0.2106595784\t0.0053827176\t0.0351610000\t486807225\t0\t402718720\t-0.1667383760\t0.0840059817\t-0.1665823460\n1937\t1311867235.0061750412\t0.1789419353\t0.1666277888\t0.2106595784\t0.0053814204\t0.0339160000\t486810425\t0\t402718720\t-0.1672226936\t0.0822015479\t-0.1661295444\n1938\t1311867235.0423259735\t0.1790020764\t0.1666341739\t0.2106595784\t0.0053803236\t0.0366370000\t486813681\t0\t402718720\t-0.1674751043\t0.0809396580\t-0.1663305312\n1939\t1311867235.0741820335\t0.1789363325\t0.1666405185\t0.2106595784\t0.0053790126\t0.0369680000\t486816769\t0\t402718720\t-0.1674748361\t0.0813464075\t-0.1667175442\n1940\t1311867235.1062519550\t0.1789262146\t0.1666468513\t0.2106595784\t0.0053777376\t0.0355810000\t486819969\t0\t402718720\t-0.1677997112\t0.0800674483\t-0.1666129082\n1941\t1311867235.1422450542\t0.1788868904\t0.1666531573\t0.2106595784\t0.0053786995\t0.0373860000\t486823225\t0\t402718720\t-0.1682201922\t0.0809747279\t-0.1669694781\n1942\t1311867235.1743009090\t0.1788935363\t0.1666594603\t0.2106595784\t0.0053782067\t0.0355230000\t486826369\t0\t402718720\t-0.1689696759\t0.0804447234\t-0.1663488746\n1943\t1311867235.2061970234\t0.1783693135\t0.1666654870\t0.2106595784\t0.0053772246\t0.0370650000\t486829513\t0\t402718720\t-0.1696769446\t0.0788542628\t-0.1663067639\n1944\t1311867235.2422571182\t0.1778191775\t0.1666712245\t0.2106595784\t0.0053758627\t0.0389110000\t486832825\t0\t402718720\t-0.1695978343\t0.0796963945\t-0.1663179249\n1945\t1311867235.2741830349\t0.1782757044\t0.1666771908\t0.2106595784\t0.0053746886\t0.0360060000\t486835801\t0\t402718720\t-0.1704125255\t0.0788861513\t-0.1659511179\n1946\t1311867235.3062019348\t0.1782533526\t0.1666831395\t0.2106595784\t0.0053734388\t0.0454320000\t486839001\t0\t402718720\t-0.1713126302\t0.0781989619\t-0.1657911092\n1947\t1311867235.3422889709\t0.1768265218\t0.1666883493\t0.2106595784\t0.0053903541\t0.0456430000\t486842201\t0\t402718720\t-0.1711960137\t0.0782035738\t-0.1656846851\n1948\t1311867235.3743910789\t0.1774090827\t0.1666938527\t0.2106595784\t0.0054018013\t0.0440380000\t486845345\t0\t402718720\t-0.1716545522\t0.0778778195\t-0.1654514819\n1949\t1311867235.4062139988\t0.1775289178\t0.1666994120\t0.2106595784\t0.0054004350\t0.0438620000\t486848545\t0\t402718720\t-0.1722602695\t0.0776064321\t-0.1650219411\n1950\t1311867235.4422221184\t0.1769091338\t0.1667046478\t0.2106595784\t0.0053993824\t0.0435450000\t486851857\t0\t402718720\t-0.1723883152\t0.0783534944\t-0.1648082882\n1951\t1311867235.4741671085\t0.1770017594\t0.1667099256\t0.2106595784\t0.0053983236\t0.0437230000\t486854889\t0\t402718720\t-0.1721789390\t0.0788162053\t-0.1640305668\n1952\t1311867235.5061590672\t0.1765731275\t0.1667149785\t0.2106595784\t0.0053977244\t0.0432780000\t486858033\t0\t402718720\t-0.1725779176\t0.0776160285\t-0.1632129997\n1953\t1311867235.5423209667\t0.1761125326\t0.1667197903\t0.2106595784\t0.0053963628\t0.0424850000\t486861345\t0\t402718720\t-0.1724708080\t0.0785513893\t-0.1629083604\n1954\t1311867235.5741930008\t0.1765062213\t0.1667247988\t0.2106595784\t0.0053961027\t0.0439250000\t486864433\t0\t402718720\t-0.1724552214\t0.0785686225\t-0.1621286273\n1955\t1311867235.6061949730\t0.1766662598\t0.1667298839\t0.2106595784\t0.0053948391\t0.0419720000\t486867633\t0\t402718720\t-0.1729350835\t0.0763600022\t-0.1613279730\n1956\t1311867235.6424438953\t0.1761351824\t0.1667346923\t0.2106595784\t0.0053934940\t0.0473180000\t486870889\t0\t402718720\t-0.1726221144\t0.0772276223\t-0.1619003266\n1957\t1311867235.6742379665\t0.1763841808\t0.1667396231\t0.2106595784\t0.0053921639\t0.0421300000\t486873977\t0\t402718720\t-0.1727072299\t0.0771021470\t-0.1613150388\n1958\t1311867235.7063670158\t0.1762238592\t0.1667444669\t0.2106595784\t0.0053908674\t0.0456560000\t486877177\t0\t402718720\t-0.1730723381\t0.0762579888\t-0.1613110155\n1959\t1311867235.7423110008\t0.1758622676\t0.1667491212\t0.2106595784\t0.0053896734\t0.0415560000\t486880433\t0\t402718720\t-0.1727928668\t0.0773469284\t-0.1612998247\n1960\t1311867235.7743389606\t0.1752941012\t0.1667534809\t0.2106595784\t0.0053885977\t0.0404040000\t486883521\t0\t402718720\t-0.1723126024\t0.0760599971\t-0.1603657603\n1961\t1311867235.8063130379\t0.1753906161\t0.1667578854\t0.2106595784\t0.0053873875\t0.0451000000\t486886665\t0\t402718720\t-0.1730510890\t0.0746919811\t-0.1598764509\n1962\t1311867235.8422799110\t0.1753468066\t0.1667622630\t0.2106595784\t0.0053868630\t0.0425920000\t486889921\t0\t402718720\t-0.1731386930\t0.0767553970\t-0.1597271264\n1963\t1311867235.8742089272\t0.1760530919\t0.1667669960\t0.2106595784\t0.0053857203\t0.0426650000\t486893065\t0\t402718720\t-0.1739278734\t0.0759761333\t-0.1583092958\n1964\t1311867235.9063739777\t0.1753839403\t0.1667713834\t0.2106595784\t0.0053844058\t0.0436360000\t486896209\t0\t402718720\t-0.1740261614\t0.0750867277\t-0.1580574065\n1965\t1311867235.9423429966\t0.1746408939\t0.1667753883\t0.2106595784\t0.0053832282\t0.0443660000\t486899465\t0\t402718720\t-0.1734687090\t0.0760595873\t-0.1578769535\n1966\t1311867235.9741959572\t0.1750797629\t0.1667796123\t0.2106595784\t0.0053821672\t0.0440270000\t486902609\t0\t402718720\t-0.1741859019\t0.0748746991\t-0.1569332331\n1967\t1311867236.0063738823\t0.1748928130\t0.1667837369\t0.2106595784\t0.0053809197\t0.0454570000\t486905753\t0\t402718720\t-0.1745547652\t0.0746530220\t-0.1566443741\n1968\t1311867236.0423779488\t0.1744408458\t0.1667876277\t0.2106595784\t0.0053795594\t0.0441590000\t486909065\t0\t402718720\t-0.1747038513\t0.0752788112\t-0.1563396901\n1969\t1311867236.0742259026\t0.1747195125\t0.1667916561\t0.2106595784\t0.0053784610\t0.0375340000\t486912097\t0\t402718720\t-0.1755618751\t0.0748229697\t-0.1553672552\n1970\t1311867236.1063580513\t0.1742877364\t0.1667954612\t0.2106595784\t0.0053771321\t0.0375720000\t486915297\t0\t402718720\t-0.1758736521\t0.0746820420\t-0.1548343301\n1971\t1311867236.1423580647\t0.1738124043\t0.1667990213\t0.2106595784\t0.0053759075\t0.0387410000\t486918497\t0\t402718720\t-0.1753772199\t0.0742132589\t-0.1532934010\n1972\t1311867236.1742420197\t0.1737843752\t0.1668025636\t0.2106595784\t0.0053746557\t0.0350590000\t486921585\t0\t402718720\t-0.1761458814\t0.0743608326\t-0.1527421623\n1973\t1311867236.2062220573\t0.1735817492\t0.1668059996\t0.2106595784\t0.0053733202\t0.0360830000\t486924785\t0\t402718720\t-0.1769969463\t0.0742055550\t-0.1517523676\n1974\t1311867236.2423429489\t0.1727959812\t0.1668090340\t0.2106595784\t0.0053724141\t0.0375760000\t486927985\t0\t402718720\t-0.1772418320\t0.0742936954\t-0.1509640366\n1975\t1311867236.2742660046\t0.1727045476\t0.1668120191\t0.2106595784\t0.0053711419\t0.0349660000\t486931129\t0\t402718720\t-0.1777617931\t0.0742036700\t-0.1499392986\n1976\t1311867236.3064289093\t0.1724957973\t0.1668148955\t0.2106595784\t0.0053698265\t0.0364350000\t486934329\t0\t402718720\t-0.1780869663\t0.0742188022\t-0.1490728557\n1977\t1311867236.3422911167\t0.1718486547\t0.1668174417\t0.2106595784\t0.0053690127\t0.0360880000\t486937529\t0\t402718720\t-0.1778589040\t0.0735882744\t-0.1479206383\n1978\t1311867236.3742980957\t0.1720274240\t0.1668200756\t0.2106595784\t0.0053691662\t0.0348730000\t486940673\t0\t402718720\t-0.1786075383\t0.0731240436\t-0.1469106972\n1979\t1311867236.4062509537\t0.1711788923\t0.1668222782\t0.2106595784\t0.0053691361\t0.0337590000\t486943873\t0\t402718720\t-0.1787153035\t0.0734599605\t-0.1461146474\n1980\t1311867236.4423909187\t0.1705015898\t0.1668241364\t0.2106595784\t0.0053687830\t0.0362790000\t486947185\t0\t402718720\t-0.1780512631\t0.0731972679\t-0.1450864524\n1981\t1311867236.4743850231\t0.1707334816\t0.1668261098\t0.2106595784\t0.0053681565\t0.0348980000\t486950273\t0\t402718720\t-0.1785007566\t0.0726771429\t-0.1438157707\n1982\t1311867236.5063140392\t0.1703609079\t0.1668278933\t0.2106595784\t0.0053677787\t0.0350610000\t486953417\t0\t402718720\t-0.1785337180\t0.0730740130\t-0.1428070664\n1983\t1311867236.5423541069\t0.1698513031\t0.1668294179\t0.2106595784\t0.0053677105\t0.0343510000\t486956729\t0\t402718720\t-0.1784309447\t0.0731604248\t-0.1414479315\n1984\t1311867236.5742170811\t0.1694825888\t0.1668307552\t0.2106595784\t0.0053664134\t0.0352220000\t486959817\t0\t402718720\t-0.1782139838\t0.0721146837\t-0.1399721503\n1985\t1311867236.6062879562\t0.1692651063\t0.1668319816\t0.2106595784\t0.0053651053\t0.0326330000\t486962905\t0\t402718720\t-0.1781699508\t0.0710988343\t-0.1383178383\n1986\t1311867236.6423881054\t0.1683476120\t0.1668327447\t0.2106595784\t0.0053638834\t0.0352970000\t486966217\t0\t402718720\t-0.1776537746\t0.0719817057\t-0.1374182552\n1987\t1311867236.6744780540\t0.1682800949\t0.1668334732\t0.2106595784\t0.0053627894\t0.0370800000\t486969305\t0\t402718720\t-0.1775660813\t0.0721047148\t-0.1357193738\n1988\t1311867236.7065870762\t0.1686380655\t0.1668343809\t0.2106595784\t0.0053626828\t0.0368290000\t486972505\t0\t402718720\t-0.1784921438\t0.0717727840\t-0.1338159740\n1989\t1311867236.7424709797\t0.1671544462\t0.1668345418\t0.2106595784\t0.0053631220\t0.0380190000\t486975761\t0\t402718720\t-0.1773897409\t0.0710267127\t-0.1322903037\n1990\t1311867236.7744069099\t0.1669420749\t0.1668345958\t0.2106595784\t0.0053628730\t0.0358380000\t486978849\t0\t402718720\t-0.1767667681\t0.0713245794\t-0.1308188289\n1991\t1311867236.8063890934\t0.1673848182\t0.1668348722\t0.2106595784\t0.0053616631\t0.0351560000\t486981993\t0\t402718720\t-0.1780047119\t0.0707141012\t-0.1290687621\n1992\t1311867236.8423969746\t0.1666025519\t0.1668347556\t0.2106595784\t0.0053622731\t0.0352020000\t486985193\t0\t402718720\t-0.1775403768\t0.0710187256\t-0.1274212897\n1993\t1311867236.8744750023\t0.1662787646\t0.1668344766\t0.2106595784\t0.0053610383\t0.0333190000\t486988393\t0\t402718720\t-0.1774901003\t0.0703332499\t-0.1256939620\n1994\t1311867236.9062860012\t0.1661744416\t0.1668341456\t0.2106595784\t0.0053617188\t0.0338440000\t486991425\t0\t402718720\t-0.1777690500\t0.0695364475\t-0.1240182295\n1995\t1311867236.9424860477\t0.1651974767\t0.1668333252\t0.2106595784\t0.0053612831\t0.0362820000\t486994737\t0\t402718720\t-0.1776886433\t0.0693094805\t-0.1226691008\n1996\t1311867236.9743099213\t0.1649283022\t0.1668323708\t0.2106595784\t0.0053601237\t0.0355760000\t486997825\t0\t402718720\t-0.1779092401\t0.0706883669\t-0.1214475483\n1997\t1311867237.0064570904\t0.1650259346\t0.1668314662\t0.2106595784\t0.0053598953\t0.0370250000\t487000969\t0\t402718720\t-0.1788789183\t0.0700998083\t-0.1190439016\n1998\t1311867237.0423519611\t0.1636044234\t0.1668298511\t0.2106595784\t0.0053613235\t0.0383420000\t487004281\t0\t402718720\t-0.1788591146\t0.0697313026\t-0.1178792566\n1999\t1311867237.0742869377\t0.1633598357\t0.1668281152\t0.2106595784\t0.0053614298\t0.0365300000\t487007369\t0\t402718720\t-0.1785158813\t0.0716409013\t-0.1162825301\n2000\t1311867237.1063759327\t0.1636371166\t0.1668265197\t0.2106595784\t0.0053602035\t0.0361290000\t487010569\t0\t402718720\t-0.1798837930\t0.0703579634\t-0.1139841825\n2001\t1311867237.1424009800\t0.1627494693\t0.1668244822\t0.2106595784\t0.0053593263\t0.0368380000\t487013769\t0\t402718720\t-0.1803400815\t0.0695200115\t-0.1127643958\n2002\t1311867237.1743369102\t0.1616882682\t0.1668219167\t0.2106595784\t0.0053580320\t0.0341980000\t487016913\t0\t402718720\t-0.1796000749\t0.0705892444\t-0.1117694676\n2003\t1311867237.2063510418\t0.1623057276\t0.1668196619\t0.2106595784\t0.0053573628\t0.0334770000\t487020057\t0\t402718720\t-0.1805964559\t0.0691285282\t-0.1095990837\n2004\t1311867237.2423889637\t0.1609675735\t0.1668167417\t0.2106595784\t0.0053574538\t0.0373980000\t487023313\t0\t402718720\t-0.1807350218\t0.0679055452\t-0.1086161807\n2005\t1311867237.2744851112\t0.1605030000\t0.1668135927\t0.2106595784\t0.0053561956\t0.0360970000\t487026457\t0\t402718720\t-0.1809065640\t0.0690587759\t-0.1080701798\n2006\t1311867237.3068330288\t0.1605361402\t0.1668104634\t0.2106595784\t0.0053549240\t0.0341440000\t487029657\t0\t402718720\t-0.1812503189\t0.0689373910\t-0.1063526124\n2007\t1311867237.3424780369\t0.1602560580\t0.1668071976\t0.2106595784\t0.0053536349\t0.0383040000\t487032857\t0\t402718720\t-0.1820739508\t0.0680283606\t-0.1052226201\n2008\t1311867237.3744280338\t0.1597320288\t0.1668036741\t0.2106595784\t0.0053549297\t0.0363630000\t487036001\t0\t402718720\t-0.1819056422\t0.0689632520\t-0.1044460610\n2009\t1311867237.4065289497\t0.1596608460\t0.1668001187\t0.2106595784\t0.0053538728\t0.0361370000\t487039201\t0\t402718720\t-0.1825117767\t0.0687384158\t-0.1024005562\n2010\t1311867237.4425020218\t0.1584434509\t0.1667959612\t0.2106595784\t0.0053567224\t0.0374050000\t487042401\t0\t402718720\t-0.1822351068\t0.0667056218\t-0.1010763794\n2011\t1311867237.4744338989\t0.1585368514\t0.1667918542\t0.2106595784\t0.0053562583\t0.0368770000\t487045545\t0\t402718720\t-0.1826166660\t0.0682173818\t-0.1001341641\n2012\t1311867237.5063641071\t0.1584827155\t0.1667877244\t0.2106595784\t0.0053561282\t0.0366790000\t487048689\t0\t402718720\t-0.1832113564\t0.0674401000\t-0.0979441926\n2013\t1311867237.5425050259\t0.1573804766\t0.1667830512\t0.2106595784\t0.0053552033\t0.0377210000\t487051945\t0\t402718720\t-0.1829521954\t0.0655774996\t-0.0965324491\n2014\t1311867237.5743029118\t0.1567468643\t0.1667780680\t0.2106595784\t0.0053551018\t0.0373090000\t487055089\t0\t402718720\t-0.1823274344\t0.0669433624\t-0.0956858620\n2015\t1311867237.6064100266\t0.1573549360\t0.1667733915\t0.2106595784\t0.0053541747\t0.0367060000\t487058289\t0\t402718720\t-0.1829545200\t0.0663822889\t-0.0934187248\n2016\t1311867237.6423790455\t0.1565361470\t0.1667683135\t0.2106595784\t0.0053574678\t0.0376100000\t487061545\t0\t402718720\t-0.1834308505\t0.0647908375\t-0.0919139981\n2017\t1311867237.6744120121\t0.1558515280\t0.1667629011\t0.2106595784\t0.0053568699\t0.0349290000\t487064633\t0\t402718720\t-0.1828072518\t0.0651187375\t-0.0907156467\n2018\t1311867237.7063660622\t0.1553175598\t0.1667572295\t0.2106595784\t0.0053555521\t0.0367240000\t487067833\t0\t402718720\t-0.1824358404\t0.0650145188\t-0.0891060159\n2019\t1311867237.7425839901\t0.1552764177\t0.1667515431\t0.2106595784\t0.0053544711\t0.0375090000\t487071089\t0\t402718720\t-0.1832423359\t0.0635059327\t-0.0871269256\n2020\t1311867237.7745900154\t0.1548961848\t0.1667456741\t0.2106595784\t0.0053531719\t0.0370310000\t487074233\t0\t402718720\t-0.1835288852\t0.0643097833\t-0.0859267935\n2021\t1311867237.8064579964\t0.1547332853\t0.1667397303\t0.2106595784\t0.0053520353\t0.0358970000\t487077377\t0\t402718720\t-0.1839281917\t0.0649173036\t-0.0841112956\n2022\t1311867237.8425009251\t0.1541164666\t0.1667334873\t0.2106595784\t0.0053520773\t0.0374770000\t487080689\t0\t402718720\t-0.1840304732\t0.0639602989\t-0.0818854719\n2023\t1311867237.8745510578\t0.1529977918\t0.1667266976\t0.2106595784\t0.0053587913\t0.0373430000\t487083777\t0\t402718720\t-0.1833773702\t0.0645574331\t-0.0806439593\n2024\t1311867237.9064331055\t0.1531381607\t0.1667199839\t0.2106595784\t0.0053599303\t0.0382850000\t487086921\t0\t402718720\t-0.1835722923\t0.0647726655\t-0.0784312859\n2025\t1311867237.9426600933\t0.1525688171\t0.1667129956\t0.2106595784\t0.0053593604\t0.0362560000\t487090065\t0\t402718720\t-0.1837713271\t0.0635634661\t-0.0762787759\n2026\t1311867237.9744310379\t0.15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}, { "path": "icra2018_results/1080/violons_liborbslam2-original_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:24:08\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liborbslam2-original_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0518880000\t348455168\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0031691571\t0.0015845785\t0.0031691571\t0.0051863687\t0.0347600000\t356793422\t0\t402718720\t-0.0023924122\t-0.0062225722\t0.0031568736\n3\t0.0800000000\t0.0032575948\t0.0021422506\t0.0032575948\t0.0040403993\t0.0335720000\t356723787\t0\t402718720\t-0.0005876704\t-0.0129576828\t0.0027188603\n4\t0.1200000000\t0.0022392957\t0.0021665119\t0.0032575948\t0.0051060712\t0.0326370000\t356696274\t0\t402718720\t-0.0016820929\t-0.0072146896\t0.0021959895\n5\t0.1600000000\t0.0024197169\t0.0022171529\t0.0032575948\t0.0047697566\t0.0318560000\t356699494\t0\t402718720\t-0.0014772897\t-0.0044755987\t0.0011858713\n6\t0.2000000000\t0.0030112965\t0.0023495102\t0.0032575948\t0.0043141388\t0.0439860000\t356703322\t0\t402718720\t-0.0016677103\t-0.0090322718\t0.0020965193\n7\t0.2400000000\t0.0032603887\t0.0024796357\t0.0032603887\t0.0041382959\t0.0325410000\t356706634\t0\t402718720\t-0.0015840792\t-0.0092999684\t0.0030944203\n8\t0.2800000000\t0.0020307349\t0.0024235231\t0.0032603887\t0.0040781388\t0.0403710000\t356709498\t0\t402718720\t0.0001330527\t-0.0071562878\t0.0026867476\n9\t0.3200000000\t0.0048305569\t0.0026909713\t0.0048305569\t0.0040023498\t0.0329660000\t356717458\t0\t402718720\t-0.0025527200\t-0.0097141899\t0.0020566385\n10\t0.3600000000\t0.0035275193\t0.0027746261\t0.0048305569\t0.0038945476\t0.0436060000\t356718462\t0\t402718720\t-0.0000988426\t-0.0087972973\t0.0026473207\n11\t0.4000000000\t0.0020459378\t0.0027083817\t0.0048305569\t0.0038738860\t0.0317050000\t356723782\t0\t402718720\t0.0038426071\t-0.0081464006\t0.0025021916\n12\t0.4400000000\t0.0014956765\t0.0026073229\t0.0048305569\t0.0038239942\t0.0318800000\t356726326\t0\t402718720\t0.0032302567\t-0.0088327974\t0.0021845829\n13\t0.4800000000\t0.0020366635\t0.0025634260\t0.0048305569\t0.0037712771\t0.0422970000\t356728658\t0\t402718720\t0.0019363483\t-0.0073579000\t0.0016214929\n14\t0.5200000000\t0.0029011359\t0.0025875482\t0.0048305569\t0.0038170467\t0.0441810000\t356731066\t0\t402718720\t0.0007950410\t-0.0070841941\t0.0009699628\n15\t0.5600000000\t0.0023513571\t0.0025718021\t0.0048305569\t0.0036842350\t0.0320600000\t356732606\t0\t402718720\t0.0015239402\t-0.0061471160\t0.0003294857\n16\t0.6000000000\t0.0020348476\t0.0025382425\t0.0048305569\t0.0036346178\t0.0317420000\t356735974\t0\t402718720\t0.0038005807\t-0.0043889992\t0.0004537601\n17\t0.6400000000\t0.0017492299\t0.0024918300\t0.0048305569\t0.0035368474\t0.0328540000\t356739422\t0\t402718720\t0.0028502382\t-0.0050935401\t0.0003173794\n18\t0.6800000000\t0.0027932506\t0.0025085755\t0.0048305569\t0.0034454200\t0.0326880000\t356743782\t0\t402718720\t0.0036589415\t-0.0062892972\t0.0001091565\n19\t0.7200000000\t0.0022312810\t0.0024939811\t0.0048305569\t0.0037011900\t0.0448810000\t356751534\t0\t402718720\t0.0032594628\t-0.0044285599\t-0.0002670800\n20\t0.7600000000\t0.0013950723\t0.0024390357\t0.0048305569\t0.0036085150\t0.0324500000\t356752498\t0\t402718720\t0.0049360013\t-0.0039332653\t-0.0008952577\n21\t0.8000000000\t0.0020564569\t0.0024208176\t0.0048305569\t0.0035546086\t0.0324160000\t356755002\t0\t402718720\t0.0023638208\t-0.0037305125\t-0.0016495946\n22\t0.8400000000\t0.0010412314\t0.0023581092\t0.0048305569\t0.0035022976\t0.0331180000\t356758122\t0\t402718720\t0.0040238714\t-0.0021965655\t-0.0019998297\n23\t0.8800000000\t0.0027164822\t0.0023736906\t0.0048305569\t0.0034485408\t0.0330910000\t356761070\t0\t402718720\t0.0017452374\t-0.0031613582\t-0.0017474974\n24\t0.9200000000\t0.0020645580\t0.0023608101\t0.0048305569\t0.0034242011\t0.0327080000\t356763482\t0\t402718720\t0.0039973860\t-0.0060002492\t-0.0011371406\n25\t0.9600000000\t0.0029643963\t0.0023849535\t0.0048305569\t0.0034693571\t0.0328040000\t356768930\t0\t402718720\t0.0048128506\t-0.0030919116\t0.0005931582\n26\t1.0000000000\t0.0010623238\t0.0023340831\t0.0048305569\t0.0034667220\t0.0333300000\t356772026\t0\t402718720\t0.0056610564\t-0.0057422169\t-0.0010244150\n27\t1.0400000000\t0.0041996571\t0.0024031785\t0.0048305569\t0.0034257493\t0.0340040000\t356773986\t0\t402718720\t0.0042856820\t-0.0075971135\t0.0002150144\n28\t1.0800000000\t0.0039273058\t0.0024576116\t0.0048305569\t0.0033741626\t0.0439140000\t356776950\t0\t402718720\t0.0043761511\t-0.0048996015\t-0.0003916664\n29\t1.1200000000\t0.0053236019\t0.0025564388\t0.0053236019\t0.0034849281\t0.0342480000\t356783814\t0\t402718720\t0.0045006680\t-0.0035670856\t0.0002448394\n30\t1.1600000000\t0.0049033887\t0.0026346705\t0.0053236019\t0.0037631362\t0.0323390000\t356784790\t0\t402718720\t0.0040637129\t-0.0074554770\t0.0004201201\n31\t1.2000000000\t0.0045607854\t0.0026968032\t0.0053236019\t0.0039281419\t0.0323030000\t356790454\t0\t402718720\t0.0064551379\t-0.0058451900\t0.0003498193\n32\t1.2400000000\t0.0036362731\t0.002726161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}, { "path": "icra2018_results/1080/violons_liborbslam2-original_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:25:32\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liborbslam2-original_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0261510000\t348350888\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0005108146\t0.0002554073\t0.0005108146\t0.0015226468\t0.0333380000\t356492446\t0\t402718720\t-0.0000594354\t0.0004854501\t-0.0003531830\n3\t0.0800000000\t0.0020868427\t0.0008658858\t0.0020868427\t0.0020907556\t0.0460710000\t356420407\t0\t402718720\t-0.0001238014\t-0.0043509970\t-0.0009977624\n4\t0.1200000000\t0.0031927279\t0.0014475963\t0.0031927279\t0.0018769666\t0.0304710000\t356393322\t0\t402718720\t-0.0017915192\t-0.0041233529\t-0.0006297382\n5\t0.1600000000\t0.0006433089\t0.0012867388\t0.0031927279\t0.0023354404\t0.0317300000\t356396422\t0\t402718720\t-0.0006180372\t-0.0010620592\t-0.0001557913\n6\t0.2000000000\t0.0008177909\t0.0012085808\t0.0031927279\t0.0022805666\t0.0321710000\t356403826\t0\t402718720\t-0.0004609817\t-0.0028494056\t-0.0005944842\n7\t0.2400000000\t0.0031854103\t0.0014909850\t0.0031927279\t0.0026223361\t0.0324660000\t356407502\t0\t402718720\t-0.0020630020\t-0.0049188170\t-0.0011535360\n8\t0.2800000000\t0.0012357500\t0.0014590807\t0.0031927279\t0.0030324827\t0.0318860000\t356411878\t0\t402718720\t-0.0012280287\t-0.0005993557\t-0.0000063740\n9\t0.3200000000\t0.0008064040\t0.0013865610\t0.0031927279\t0.0028786623\t0.0309740000\t356414386\t0\t402718720\t0.0006615896\t-0.0011242060\t0.0000468528\n10\t0.3600000000\t0.0011472784\t0.0013626328\t0.0031927279\t0.0028246310\t0.0320350000\t356418922\t0\t402718720\t-0.0009571188\t-0.0022241727\t-0.0010146159\n11\t0.4000000000\t0.0023276450\t0.0014503611\t0.0031927279\t0.0028066719\t0.0310680000\t356421094\t0\t402718720\t0.0008272096\t-0.0034014767\t-0.0004539205\n12\t0.4400000000\t0.0005571764\t0.0013759291\t0.0031927279\t0.0027380653\t0.0439310000\t356424542\t0\t402718720\t-0.0004179089\t-0.0008191437\t-0.0002935351\n13\t0.4800000000\t0.0008432680\t0.0013349552\t0.0031927279\t0.0027106273\t0.0319310000\t356426202\t0\t402718720\t0.0003847232\t-0.0001694088\t0.0008670795\n14\t0.5200000000\t0.0006660781\t0.0012871782\t0.0031927279\t0.0026630288\t0.0323310000\t356428746\t0\t402718720\t0.0006972097\t-0.0000210414\t0.0001424057\n15\t0.5600000000\t0.0018968262\t0.0013278214\t0.0031927279\t0.0026710538\t0.0304130000\t356431766\t0\t402718720\t0.0000783210\t-0.0015974896\t0.0010363291\n16\t0.6000000000\t0.0022020929\t0.0013824634\t0.0031927279\t0.0026714860\t0.0306730000\t356434910\t0\t402718720\t-0.0016495029\t0.0010189792\t0.0003116456\n17\t0.6400000000\t0.0028206815\t0.0014670645\t0.0031927279\t0.0028554155\t0.0298900000\t356436702\t0\t402718720\t0.0000927539\t-0.0028246897\t0.0004507677\n18\t0.6800000000\t0.0020664833\t0.0015003655\t0.0031927279\t0.0027798385\t0.0304630000\t356443658\t0\t402718720\t0.0007185166\t-0.0026846870\t-0.0001353372\n19\t0.7200000000\t0.0011836004\t0.0014836937\t0.0031927279\t0.0029287829\t0.0431610000\t356447458\t0\t402718720\t-0.0008528299\t-0.0012216894\t-0.0000516183\n20\t0.7600000000\t0.0021679783\t0.0015179079\t0.0031927279\t0.0030238352\t0.0413780000\t356449234\t0\t402718720\t-0.0013237392\t-0.0025890185\t-0.0002848991\n21\t0.8000000000\t0.0018418727\t0.0015333348\t0.0031927279\t0.0030224236\t0.0302200000\t356451222\t0\t402718720\t-0.0002191772\t-0.0027716039\t-0.0005671419\n22\t0.8400000000\t0.0007636592\t0.0014983495\t0.0031927279\t0.0030141935\t0.0305170000\t356453826\t0\t402718720\t0.0003858825\t-0.0014345110\t-0.0003024106\n23\t0.8800000000\t0.0027505946\t0.0015527950\t0.0031927279\t0.0030419866\t0.0314510000\t356456610\t0\t402718720\t-0.0016829800\t-0.0033557056\t-0.0001999551\n24\t0.9200000000\t0.0020923228\t0.0015752753\t0.0031927279\t0.0030310679\t0.0324620000\t356460982\t0\t402718720\t-0.0020509888\t-0.0013439001\t-0.0011736200\n25\t0.9600000000\t0.0027233800\t0.0016211995\t0.0031927279\t0.0029952990\t0.0320230000\t356462470\t0\t402718720\t-0.0032028765\t-0.0002189970\t-0.0006708350\n26\t1.0000000000\t0.0011629256\t0.0016035736\t0.0031927279\t0.0029859153\t0.0313730000\t356465122\t0\t402718720\t-0.0004473645\t-0.0016666503\t-0.0004050439\n27\t1.0400000000\t0.0021211661\t0.0016227437\t0.0031927279\t0.0029512550\t0.0316520000\t356468246\t0\t402718720\t-0.0017183386\t-0.0024232508\t-0.0004209746\n28\t1.0800000000\t0.0034736476\t0.0016888474\t0.0034736476\t0.0029512187\t0.0318600000\t356470402\t0\t402718720\t-0.0032903044\t-0.0029794914\t-0.0009014469\n29\t1.1200000000\t0.0014424514\t0.0016803510\t0.0034736476\t0.0029201852\t0.0316240000\t356473034\t0\t402718720\t-0.0022267173\t-0.0012750872\t-0.0004500896\n30\t1.1600000000\t0.0023203467\t0.0017016841\t0.0034736476\t0.0029002613\t0.0410970000\t356475078\t0\t402718720\t-0.0029409109\t-0.0010935790\t-0.0004828043\n31\t1.2000000000\t0.0020408218\t0.0017126241\t0.0034736476\t0.0028950421\t0.0321510000\t356476726\t0\t402718720\t-0.0030850219\t-0.0000384113\t-0.0005322223\n32\t1.240000000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}, { "path": "icra2018_results/1080/violons_liborbslam2-original_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:26:18\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liborbslam2-original_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0234390000\t348371200\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0015366985\t0.0007683493\t0.0015366985\t0.0014142410\t0.0341310000\t356516126\t0\t402718720\t0.0006963463\t0.0000178619\t-0.0003427534\n3\t0.0800000000\t0.0016735863\t0.0010700950\t0.0016735863\t0.0011899923\t0.0329890000\t356446883\t0\t402718720\t-0.0042211143\t0.0007406494\t-0.0004876328\n4\t0.1200000000\t0.0024419085\t0.0014130483\t0.0024419085\t0.0014277847\t0.0318700000\t356416730\t0\t402718720\t-0.0008867451\t0.0010379477\t-0.0008999060\n5\t0.1600000000\t0.0039741946\t0.0019252776\t0.0039741946\t0.0016265168\t0.0315570000\t356419874\t0\t402718720\t-0.0042848135\t-0.0013940356\t0.0008131070\n6\t0.2000000000\t0.0014003824\t0.0018377951\t0.0039741946\t0.0019230322\t0.0322600000\t356427202\t0\t402718720\t-0.0041308869\t0.0017212915\t-0.0003472701\n7\t0.2400000000\t0.0010873142\t0.0017305835\t0.0039741946\t0.0017641345\t0.0322640000\t356430022\t0\t402718720\t-0.0050418065\t0.0021759116\t-0.0001017336\n8\t0.2800000000\t0.0027016464\t0.0018519664\t0.0039741946\t0.0017276818\t0.0318960000\t356432746\t0\t402718720\t-0.0046347482\t0.0026124960\t-0.0001455753\n9\t0.3200000000\t0.0015491414\t0.0018183191\t0.0039741946\t0.0018703967\t0.0322920000\t356435798\t0\t402718720\t-0.0078405319\t0.0016512125\t-0.0006178146\n10\t0.3600000000\t0.0028334318\t0.0019198304\t0.0039741946\t0.0018593079\t0.0323790000\t356439614\t0\t402718720\t-0.0068665133\t0.0035439760\t-0.0001547314\n11\t0.4000000000\t0.0011676110\t0.0018514468\t0.0039741946\t0.0020431603\t0.0322420000\t356443014\t0\t402718720\t-0.0089891246\t0.0010386308\t0.0009926157\n12\t0.4400000000\t0.0008785391\t0.0017703712\t0.0039741946\t0.0022557723\t0.0319000000\t356445430\t0\t402718720\t-0.0096634757\t0.0001935088\t0.0000033209\n13\t0.4800000000\t0.0022112497\t0.0018042849\t0.0039741946\t0.0023560131\t0.0318030000\t356447906\t0\t402718720\t-0.0106707150\t-0.0000895370\t0.0001798930\n14\t0.5200000000\t0.0030858414\t0.0018958247\t0.0039741946\t0.0022856067\t0.0318380000\t356451854\t0\t402718720\t-0.0098020658\t0.0009585606\t-0.0008529733\n15\t0.5600000000\t0.0014060595\t0.0018631737\t0.0039741946\t0.0022711367\t0.0324880000\t356454530\t0\t402718720\t-0.0156703815\t0.0014727294\t0.0008822269\n16\t0.6000000000\t0.0016274810\t0.0018484429\t0.0039741946\t0.0022656387\t0.0318890000\t356457014\t0\t402718720\t-0.0132763758\t0.0015437255\t-0.0000447271\n17\t0.6400000000\t0.0036871072\t0.0019565996\t0.0039741946\t0.0022674515\t0.0318880000\t356459902\t0\t402718720\t-0.0145988856\t-0.0030452055\t-0.0022173140\n18\t0.6800000000\t0.0015628892\t0.0019347268\t0.0039741946\t0.0022558057\t0.0324070000\t356465094\t0\t402718720\t-0.0173929222\t-0.0003607706\t-0.0016158025\n19\t0.7200000000\t0.0052115913\t0.0021071933\t0.0052115913\t0.0022556278\t0.0327720000\t356468642\t0\t402718720\t-0.0179517865\t-0.0046272194\t-0.0016029361\n20\t0.7600000000\t0.0028862215\t0.0021461447\t0.0052115913\t0.0023998337\t0.0320360000\t356472718\t0\t402718720\t-0.0215866417\t-0.0035259330\t-0.0019827508\n21\t0.8000000000\t0.0063275355\t0.0023452586\t0.0063275355\t0.0023765011\t0.0318510000\t356477586\t0\t402718720\t-0.0200570486\t-0.0022941725\t-0.0018668360\n22\t0.8400000000\t0.0042913128\t0.0024337156\t0.0063275355\t0.0023413879\t0.0328050000\t356482610\t0\t402718720\t-0.0283920206\t-0.0035139772\t-0.0026809138\n23\t0.8800000000\t0.0066685574\t0.0026178392\t0.0066685574\t0.0023221498\t0.0326010000\t356485550\t0\t402718720\t-0.0246901587\t-0.0034089976\t-0.0044475487\n24\t0.9200000000\t0.0057054879\t0.0027464912\t0.0066685574\t0.0023081019\t0.0327730000\t356491030\t0\t402718720\t-0.0348994806\t-0.0033104646\t-0.0056543429\n25\t0.9600000000\t0.0055181221\t0.0028573564\t0.0066685574\t0.0022774061\t0.0323620000\t356494566\t0\t402718720\t-0.0358598940\t-0.0017885674\t-0.0057806456\n26\t1.0000000000\t0.0069222231\t0.0030136975\t0.0069222231\t0.0022437816\t0.0318870000\t356496754\t0\t402718720\t-0.0404531658\t-0.0023146968\t-0.0057929303\n27\t1.0400000000\t0.0060039097\t0.0031244461\t0.0069222231\t0.0022860279\t0.0323930000\t356501174\t0\t402718720\t-0.0465699174\t-0.0008327917\t-0.0066495575\n28\t1.0800000000\t0.0051015019\t0.0031950552\t0.0069222231\t0.0025453202\t0.0321210000\t356506158\t0\t402718720\t-0.0554234795\t-0.0041456232\t-0.0077031013\n29\t1.1200000000\t0.0036743453\t0.0032115824\t0.0069222231\t0.0026425882\t0.0317430000\t356510766\t0\t402718720\t-0.0611919314\t-0.0012619670\t-0.0112496382\n30\t1.1600000000\t0.0049112891\t0.0032682393\t0.0069222231\t0.0027329887\t0.0317880000\t356515358\t0\t402718720\t-0.0683106035\t-0.0017751934\t-0.0072918683\n31\t1.2000000000\t0.0051721591\t0.0033296561\t0.0069222231\t0.0027166468\t0.0314360000\t356519742\t0\t402718720\t-0.0744710416\t-0.0005747064\t-0.0098682940\n32\t1.2400000000\t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}, { "path": "icra2018_results/1080/violons_liborbslam2-original_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 10:27:13\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liborbslam2-original_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\t-nan\t0.0235300000\t348487080\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0011752277\t0.0005876138\t0.0011752277\t0.0017069353\t0.0339920000\t356822710\t0\t402718720\t-0.0011171711\t0.0044873329\t0.0022394243\n3\t0.0800000000\t0.0013529639\t0.0008427305\t0.0013529639\t0.0016792189\t0.0329320000\t356754439\t0\t402718720\t-0.0011656984\t-0.0025572311\t0.0020437317\n4\t0.1200000000\t0.0019915185\t0.0011299275\t0.0019915185\t0.0021173240\t0.0300750000\t356728910\t0\t402718720\t-0.0017890255\t0.0000652570\t-0.0003379207\n5\t0.1600000000\t0.0003839578\t0.0009807336\t0.0019915185\t0.0043348509\t0.0307950000\t356735142\t0\t402718720\t-0.0012349411\t0.0050777872\t0.0033282291\n6\t0.2000000000\t0.0012222405\t0.0010209847\t0.0019915185\t0.0043581382\t0.0305610000\t356737190\t0\t402718720\t0.0018083173\t-0.0039285920\t0.0028685362\n7\t0.2400000000\t0.0030026590\t0.0013040811\t0.0030026590\t0.0044000149\t0.0307120000\t356744462\t0\t402718720\t0.0032897096\t-0.0125264423\t0.0003950770\n8\t0.2800000000\t0.0017833816\t0.0013639936\t0.0030026590\t0.0041625007\t0.0312810000\t356745922\t0\t402718720\t0.0007242310\t-0.0117085772\t-0.0013541335\n9\t0.3200000000\t0.0035781697\t0.0016100132\t0.0035781697\t0.0049569506\t0.0316330000\t356749746\t0\t402718720\t0.0008094867\t-0.0064601465\t0.0010658921\n10\t0.3600000000\t0.0030995267\t0.0017589645\t0.0035781697\t0.0046823651\t0.0408330000\t356755886\t0\t402718720\t-0.0008015962\t-0.0150050167\t-0.0007312616\n11\t0.4000000000\t0.0040766192\t0.0019696604\t0.0040766192\t0.0045239051\t0.0300220000\t356759442\t0\t402718720\t-0.0002984827\t-0.0102611007\t-0.0012920911\n12\t0.4400000000\t0.0004901149\t0.0018463650\t0.0040766192\t0.0047416774\t0.0426120000\t356763306\t0\t402718720\t-0.0023135638\t-0.0028096270\t0.0014207948\n13\t0.4800000000\t0.0014052172\t0.0018124305\t0.0040766192\t0.0045475017\t0.0405420000\t356764882\t0\t402718720\t0.0011276806\t-0.0051422217\t0.0015721995\n14\t0.5200000000\t0.0008524182\t0.0017438582\t0.0040766192\t0.0045293450\t0.0425470000\t356767254\t0\t402718720\t0.0022124227\t-0.0125341555\t-0.0007117439\n15\t0.5600000000\t0.0034511855\t0.0018576800\t0.0040766192\t0.0045532477\t0.0299070000\t356771386\t0\t402718720\t0.0068165166\t-0.0083294343\t-0.0011562525\n16\t0.6000000000\t0.0018769224\t0.0018588827\t0.0040766192\t0.0044706514\t0.0309450000\t356775158\t0\t402718720\t0.0050511821\t-0.0095413970\t-0.0000388827\n17\t0.6400000000\t0.0028150713\t0.0019151291\t0.0040766192\t0.0043761590\t0.0420320000\t356775046\t0\t402718720\t0.0082809580\t-0.0121771013\t-0.0025329781\n18\t0.6800000000\t0.0010636748\t0.0018678261\t0.0040766192\t0.0043259733\t0.0302410000\t356782174\t0\t402718720\t0.0046696211\t-0.0123528205\t-0.0049425233\n19\t0.7200000000\t0.0029570477\t0.0019251535\t0.0040766192\t0.0043868021\t0.0416280000\t356785506\t0\t402718720\t0.0059572011\t-0.0058433800\t-0.0036215454\n20\t0.7600000000\t0.0013199348\t0.0018948926\t0.0040766192\t0.0046725139\t0.0300660000\t356786946\t0\t402718720\t0.0042350735\t-0.0095691765\t-0.0065457742\n21\t0.8000000000\t0.0026687873\t0.0019317447\t0.0040766192\t0.0047762645\t0.0300050000\t356790234\t0\t402718720\t0.0068982225\t-0.0044190311\t-0.0066046850\n22\t0.8400000000\t0.0019824556\t0.0019340497\t0.0040766192\t0.0047320826\t0.0310760000\t356793742\t0\t402718720\t0.0091456827\t-0.0026204486\t-0.0056249010\n23\t0.8800000000\t0.0014369432\t0.0019124364\t0.0040766192\t0.0047063207\t0.0325210000\t356795426\t0\t402718720\t0.0113394540\t-0.0096932165\t-0.0092278477\n24\t0.9200000000\t0.0010196090\t0.0018752353\t0.0040766192\t0.0046658995\t0.0317340000\t356799346\t0\t402718720\t0.0120202843\t-0.0090680793\t-0.0092515806\n25\t0.9600000000\t0.0015398579\t0.0018618202\t0.0040766192\t0.0045818749\t0.0320990000\t356801526\t0\t402718720\t0.0135258008\t-0.0109128971\t-0.0128214210\n26\t1.0000000000\t0.0023403817\t0.0018802264\t0.0040766192\t0.0044949408\t0.0316430000\t356807562\t0\t402718720\t0.0120264851\t-0.0129940696\t-0.0120652877\n27\t1.0400000000\t0.0012515986\t0.0018569439\t0.0040766192\t0.0044141908\t0.0321090000\t356811938\t0\t402718720\t0.0119756823\t-0.0154701611\t-0.0162418559\n28\t1.0800000000\t0.0020819192\t0.0018649787\t0.0040766192\t0.0043449199\t0.0323350000\t356815774\t0\t402718720\t0.0100159980\t-0.0169224553\t-0.0177807081\n29\t1.1200000000\t0.0024559866\t0.0018853583\t0.0040766192\t0.0043822893\t0.0319050000\t356819286\t0\t402718720\t0.0137492502\t-0.0190950260\t-0.0186210852\n30\t1.1600000000\t0.0025036226\t0.0019059671\t0.0040766192\t0.0043498668\t0.0319370000\t356825238\t0\t402718720\t0.0168560278\t-0.0182559732\t-0.0183859263\n31\t1.2000000000\t0.0026875043\t0.0019311780\t0.0040766192\t0.0043409125\t0.0313680000\t356828262\t0\t402718720\t0.0224942863\t-0.0175315272\t-0.0204079617\n32\t1.2400000000\t0.0015598678\t0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}, { "path": "icra2018_results/1080/violons_liborbslam2-original_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 10:28:22\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liborbslam2-original_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287840366\t0.0606188439\t0.0606188439\t0.0606188439\t-nan\t0.0250960000\t348433052\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1305031229.5644419193\t0.0556058511\t0.0581123475\t0.0606188439\t0.0475818031\t0.0354360000\t358129619\t0\t402718720\t-0.0099586323\t-0.0025173116\t0.0135069182\n3\t1305031229.5966169834\t0.0737615153\t0.0633287368\t0.0737615153\t0.0541288422\t0.0628230000\t358812707\t0\t402718720\t0.0084118284\t-0.0178096127\t-0.0016817056\n4\t1305031229.6287899017\t0.0659968629\t0.0639957683\t0.0737615153\t0.0461383543\t0.0836320000\t361648651\t0\t402718720\t-0.0021653110\t-0.0086757168\t0.0068565337\n5\t1305031229.6646571159\t0.0773454532\t0.0666657053\t0.0773454532\t0.0443055257\t0.0478570000\t361473309\t0\t402718720\t0.0114993537\t-0.0286564864\t0.0084087066\n6\t1305031229.6968429089\t0.0783183947\t0.0686078202\t0.0783183947\t0.0397542222\t0.0993010000\t359451671\t0\t402718720\t0.0128723308\t-0.0270604882\t0.0088662934\n7\t1305031229.7290771008\t0.0737695470\t0.0693452097\t0.0783183947\t0.0369396624\t0.0611310000\t362087327\t0\t402718720\t0.0001065880\t-0.0188368782\t0.0108455811\n8\t1305031229.7648689747\t0.0827983543\t0.0710268528\t0.0827983543\t0.0354873609\t0.0456620000\t361930809\t0\t402718720\t0.0155074932\t-0.0261063930\t0.0084061781\n9\t1305031229.7969229221\t0.0853163302\t0.0726145725\t0.0853163302\t0.0337810758\t0.0967310000\t360145907\t0\t402718720\t0.0109501760\t-0.0281805508\t0.0081933588\n10\t1305031229.8256299496\t0.0878968686\t0.0741428021\t0.0878968686\t0.0320587294\t0.0477060000\t363031423\t0\t402718720\t0.0117937429\t-0.0277567990\t0.0065693757\n11\t1305031229.8630619049\t0.0842519626\t0.0750618167\t0.0878968686\t0.0307721541\t0.0423190000\t362304597\t0\t402718720\t0.0114001296\t-0.0250371918\t0.0109658726\n12\t1305031229.8969380856\t0.0853124186\t0.0759160335\t0.0878968686\t0.0309766173\t0.1071080000\t360825335\t0\t402718720\t0.0061810510\t-0.0204437114\t0.0077151945\n13\t1305031229.9262549877\t0.0869945139\t0.0767682243\t0.0878968686\t0.0301015004\t0.0680380000\t363997089\t0\t402718720\t0.0121547515\t-0.0230284315\t0.0106786648\n14\t1305031229.9662408829\t0.0892213434\t0.0776577328\t0.0892213434\t0.0294788092\t0.0630340000\t364247351\t0\t402718720\t0.0183373988\t-0.0254111663\t0.0145954881\n15\t1305031229.9979310036\t0.0791571289\t0.0777576926\t0.0892213434\t0.0297589478\t0.0323410000\t361521151\t0\t402718720\t0.0224180203\t-0.0165293794\t0.0258600526\n16\t1305031230.0300021172\t0.0829661638\t0.0780832220\t0.0892213434\t0.0288575143\t0.1010730000\t361589575\t0\t402718720\t0.0251075961\t-0.0191797819\t0.0268758815\n17\t1305031230.0656960011\t0.0841552392\t0.0784403995\t0.0892213434\t0.0282270745\t0.0859830000\t363708103\t0\t402718720\t0.0233951770\t-0.0183506869\t0.0261707846\n18\t1305031230.0982739925\t0.0830033123\t0.0786938947\t0.0892213434\t0.0274882335\t0.0436210000\t365474563\t0\t402718720\t0.0221094433\t-0.0139718754\t0.0260604117\n19\t1305031230.1299350262\t0.0816997662\t0.0788520984\t0.0892213434\t0.0267747841\t0.0489100000\t365138909\t0\t402718720\t0.0218069628\t-0.0129603138\t0.0299133044\n20\t1305031230.1657800674\t0.0861140415\t0.0792151956\t0.0892213434\t0.0265073797\t0.0296400000\t361616667\t0\t402718720\t0.0192897506\t-0.0149495248\t0.0261285007\n21\t1305031230.1977820396\t0.0900633857\t0.0797317761\t0.0900633857\t0.0259160263\t0.0288080000\t361623695\t0\t402718720\t0.0205171015\t-0.0161798075\t0.0241812952\n22\t1305031230.2298529148\t0.0904727951\t0.0802200042\t0.0904727951\t0.0255200345\t0.0286660000\t361630359\t0\t402718720\t0.0205538329\t-0.0154471314\t0.0269185640\n23\t1305031230.2655899525\t0.0931149423\t0.0807806537\t0.0931149423\t0.0254424377\t0.0283360000\t361636339\t0\t402718720\t0.0143847289\t-0.0158700980\t0.0210014246\n24\t1305031230.2979929447\t0.0913228840\t0.0812199133\t0.0931149423\t0.0250764567\t0.0276460000\t361642295\t0\t402718720\t0.0151254693\t-0.0160178412\t0.0276390202\n25\t1305031230.3351120949\t0.0886663049\t0.0815177689\t0.0931149423\t0.0249888605\t0.0273440000\t361648603\t0\t402718720\t0.0048840856\t-0.0160467140\t0.0248531923\n26\t1305031230.3656799793\t0.0947296619\t0.0820259187\t0.0947296619\t0.0246534507\t0.0315420000\t362377167\t0\t402718720\t0.0062026279\t-0.0155270901\t0.0203047972\n27\t1305031230.3973290920\t0.0946464762\t0.0824933467\t0.0947296619\t0.0241948795\t0.1070190000\t363231267\t0\t402718720\t0.0041052066\t-0.0162398983\t0.0218487289\n28\t1305031230.4368140697\t0.0945155099\t0.0829227097\t0.0947296619\t0.0244629934\t0.0689590000\t366247291\t0\t402718720\t0.0004230868\t-0.0150667531\t0.0223670490\n29\t1305031230.4653120041\t0.0927117169\t0.0832602617\t0.0947296619\t0.0242047491\t0.0480480000\t365955609\t0\t402718720\t-0.0139261074\t-0.0182180684\t0.0186034255\n30\t1305031230.4972999096\t0.0928940177\t0.0835813869\t0.0947296619\t0.0238617012\t0.0282850000\t362449187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}, { "path": "icra2018_results/1080/violons_liborbslam2-original_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 10:29:30\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liborbslam2-original_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253988300\t0.0253988300\t0.0253988300\t-nan\t0.0271790000\t348474212\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1305031102.2112140656\t0.0281945895\t0.0267967097\t0.0281945895\t0.0139591014\t0.0343860000\t357410062\t0\t402718720\t-0.0009190498\t0.0071610427\t0.0117935762\n3\t1305031102.2432110310\t0.0226332229\t0.0254088808\t0.0281945895\t0.0101465295\t0.0307740000\t357482209\t0\t402718720\t-0.0016632379\t0.0054721385\t0.0249857027\n4\t1305031102.2753260136\t0.0196904503\t0.0239792732\t0.0281945895\t0.0089562529\t0.0300180000\t357384845\t0\t402718720\t-0.0023088544\t0.0065494091\t0.0368898436\n5\t1305031102.3112668991\t0.0145338643\t0.0220901914\t0.0281945895\t0.0079946935\t0.0296700000\t357447517\t0\t402718720\t-0.0013972300\t0.0047673602\t0.0502083600\n6\t1305031102.3432331085\t0.0125662116\t0.0205028614\t0.0281945895\t0.0077827690\t0.0296620000\t357448525\t0\t402718720\t-0.0023511546\t0.0057779932\t0.0617818683\n7\t1305031102.3753290176\t0.0107157640\t0.0191047047\t0.0281945895\t0.0072006736\t0.0286830000\t357449069\t0\t402718720\t-0.0034278757\t0.0062853843\t0.0740186349\n8\t1305031102.4112579823\t0.0084144687\t0.0177684252\t0.0281945895\t0.0096177394\t0.0285610000\t357407793\t0\t402718720\t-0.0077655455\t0.0117006935\t0.0844627470\n9\t1305031102.4432709217\t0.0118218139\t0.0171076906\t0.0281945895\t0.0102540312\t0.0315610000\t358082907\t0\t402718720\t-0.0070502465\t0.0181780979\t0.0958909094\n10\t1305031102.4753179550\t0.0123967556\t0.0166365971\t0.0281945895\t0.0096683943\t0.0660400000\t358644155\t0\t402718720\t-0.0047922716\t0.0173527971\t0.1098294184\n11\t1305031102.5112190247\t0.0137826027\t0.0163771431\t0.0281945895\t0.0093299108\t0.1070280000\t360332179\t0\t402718720\t-0.0038494889\t0.0181292593\t0.1226156726\n12\t1305031102.5432200432\t0.0141728390\t0.0161934510\t0.0281945895\t0.0089587178\t0.0428640000\t361332089\t0\t402718720\t-0.0065350113\t0.0158126373\t0.1344525814\n13\t1305031102.5752859116\t0.0216550585\t0.0166135747\t0.0281945895\t0.0090205372\t0.0494550000\t361298025\t0\t402718720\t-0.0061552450\t0.0105422940\t0.1489438415\n14\t1305031102.6112329960\t0.0233825464\t0.0170970727\t0.0281945895\t0.0087286386\t0.1061190000\t359493133\t0\t402718720\t-0.0098001622\t0.0097544976\t0.1605080962\n15\t1305031102.6432650089\t0.0178339556\t0.0171461982\t0.0281945895\t0.0091803352\t0.0440030000\t362460701\t0\t402718720\t-0.0154288579\t0.0177095924\t0.1700599194\n16\t1305031102.6752851009\t0.0219957232\t0.0174492935\t0.0281945895\t0.0089503223\t0.0498120000\t362404869\t0\t402718720\t-0.0139235854\t0.0199111067\t0.1838217378\n17\t1305031102.7112629414\t0.0274652038\t0.0180384647\t0.0281945895\t0.0089913558\t0.0347420000\t359487665\t0\t402718720\t-0.0138164870\t0.0196803156\t0.1979268193\n18\t1305031102.7432339191\t0.0253677741\t0.0184456486\t0.0281945895\t0.0089392164\t0.0336100000\t359447477\t0\t402718720\t-0.0147678275\t0.0272511728\t0.2093721628\n19\t1305031102.7754719257\t0.0312774181\t0.0191210049\t0.0312774181\t0.0087703221\t0.0336120000\t359440353\t0\t402718720\t-0.0119112525\t0.0282020606\t0.2232962102\n20\t1305031102.8112320900\t0.0321627147\t0.0197730904\t0.0321627147\t0.0087218791\t0.0330020000\t359431185\t0\t402718720\t-0.0147889387\t0.0317061767\t0.2349842787\n21\t1305031102.8432900906\t0.0371886566\t0.0206024030\t0.0371886566\t0.0085867343\t0.0361530000\t360092539\t0\t402718720\t-0.0162255559\t0.0315136723\t0.2483152747\n22\t1305031102.8753631115\t0.0386483185\t0.0214226719\t0.0386483185\t0.0086078569\t0.1098360000\t360148761\t0\t402718720\t-0.0203557722\t0.0342292041\t0.2599323094\n23\t1305031102.9111850262\t0.0408348478\t0.0222666796\t0.0408348478\t0.0084449189\t0.0794170000\t362949065\t0\t402718720\t-0.0206758007\t0.0378609858\t0.2714959383\n24\t1305031102.9432289600\t0.0428458601\t0.0231241454\t0.0428458601\t0.0087542884\t0.0657920000\t363200397\t0\t402718720\t-0.0281592887\t0.0395282879\t0.2826285362\n25\t1305031102.9752030373\t0.0434274152\t0.0239362762\t0.0434274152\t0.0087822463\t0.0325890000\t360075667\t0\t402718720\t-0.0333446115\t0.0442545265\t0.2937889993\n26\t1305031103.0112149715\t0.0457710512\t0.0247760753\t0.0457710512\t0.0086376878\t0.0322150000\t360099761\t0\t402718720\t-0.0320365354\t0.0477356836\t0.3044961691\n27\t1305031103.0432269573\t0.0488790907\t0.0256687795\t0.0488790907\t0.0084757617\t0.0455980000\t360138989\t0\t402718720\t-0.0319060087\t0.0509303734\t0.3165468276\n28\t1305031103.0753190517\t0.0553919300\t0.0267303206\t0.0553919300\t0.0085886578\t0.0336670000\t360185717\t0\t402718720\t-0.0273772404\t0.0511881784\t0.3286094368\n29\t1305031103.1112399101\t0.0528836958\t0.0276321611\t0.0553919300\t0.0087239190\t0.0334320000\t360168553\t0\t402718720\t-0.0276483260\t0.0584576577\t0.3355342448\n30\t1305031103.1433179379\t0.0568409562\t0.0286057876\t0.0568409562\t0.0086352990\t0.0368510000\t360785135\t0\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}, { "path": "icra2018_results/1080/violons_liborbslam2-original_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 10:30:35\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liborbslam2-original_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6419320107\t0.0019026520\t0.0019026520\t0.0019026520\t-nan\t0.0296830000\t356908440\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1311867718.6768438816\t0.0018282804\t0.0018654662\t0.0019026520\t0.0003878802\t0.0328620000\t376229881\t0\t402718720\t0.0002941540\t-0.0003399363\t0.0006906437\n3\t1311867718.7114279270\t0.0022995893\t0.0020101739\t0.0022995893\t0.0034259688\t0.0313020000\t376124801\t0\t402718720\t-0.0008103176\t0.0016069799\t0.0001284690\n4\t1311867718.7410299778\t0.0028647545\t0.0022238191\t0.0028647545\t0.0048913646\t0.0292370000\t376133437\t0\t402718720\t0.0000611095\t-0.0001215119\t0.0004879458\n5\t1311867718.7767970562\t0.0033965905\t0.0024583733\t0.0033965905\t0.0042983263\t0.0296360000\t376140297\t0\t402718720\t-0.0009076543\t-0.0014286068\t0.0001984128\n6\t1311867718.8094089031\t0.0024911417\t0.0024638347\t0.0033965905\t0.0040347562\t0.0292690000\t376148021\t0\t402718720\t-0.0014430588\t0.0004905288\t0.0006064190\n7\t1311867718.8408079147\t0.0032247365\t0.0025725350\t0.0033965905\t0.0037898370\t0.0290310000\t376155257\t0\t402718720\t-0.0023509325\t0.0003903954\t0.0002877516\n8\t1311867718.8767778873\t0.0036838450\t0.0027114487\t0.0036838450\t0.0035886187\t0.0290560000\t376163909\t0\t402718720\t-0.0015761122\t0.0003302753\t0.0004468707\n9\t1311867718.9088680744\t0.0050314683\t0.0029692287\t0.0050314683\t0.0036313098\t0.0288170000\t376172617\t0\t402718720\t-0.0015082086\t-0.0001676934\t-0.0002319141\n10\t1311867718.9438331127\t0.0042593596\t0.0030982418\t0.0050314683\t0.0034528888\t0.0396730000\t376182789\t0\t402718720\t-0.0009231159\t-0.0000981005\t0.0011624083\n11\t1311867718.9784109592\t0.0047456576\t0.0032480069\t0.0050314683\t0.0033093662\t0.0284480000\t376189121\t0\t402718720\t-0.0019414964\t-0.0000363241\t0.0007312592\n12\t1311867719.0091300011\t0.0053912844\t0.0034266133\t0.0053912844\t0.0031721118\t0.0310540000\t376770641\t0\t402718720\t-0.0020458640\t0.0000733527\t0.0003596708\n13\t1311867719.0441620350\t0.0055650747\t0.0035911103\t0.0055650747\t0.0031165461\t0.0648440000\t377471789\t0\t402718720\t-0.0017130073\t0.0006918244\t0.0003417007\n14\t1311867719.0776190758\t0.0068039666\t0.0038206001\t0.0068039666\t0.0031188369\t0.1005460000\t379630805\t0\t402718720\t-0.0004387181\t0.0004295880\t-0.0002101053\n15\t1311867719.1086950302\t0.0068761758\t0.0040243051\t0.0068761758\t0.0030809390\t0.0629000000\t378620617\t0\t402718720\t-0.0016762145\t-0.0008287752\t-0.0001570220\n16\t1311867719.1437010765\t0.0061388481\t0.0041564641\t0.0068761758\t0.0030709577\t0.0332170000\t377462929\t0\t402718720\t-0.0018249736\t0.0001344409\t0.0007871772\n17\t1311867719.1810290813\t0.0070055746\t0.0043240588\t0.0070055746\t0.0029801781\t0.0325360000\t377470141\t0\t402718720\t-0.0003239836\t0.0013161605\t0.0010380585\n18\t1311867719.2127099037\t0.0063707321\t0.0044377629\t0.0070055746\t0.0029048390\t0.0325590000\t377478457\t0\t402718720\t-0.0015389310\t-0.0006625094\t0.0016862719\n19\t1311867719.2412090302\t0.0059922943\t0.0045195803\t0.0070055746\t0.0028877622\t0.0450600000\t378000081\t0\t402718720\t-0.0015582121\t-0.0001142553\t0.0025711239\n20\t1311867719.2779469490\t0.0072229784\t0.0046547502\t0.0072229784\t0.0031367537\t0.0931230000\t378108209\t0\t402718720\t-0.0023929582\t-0.0003896932\t0.0013884119\n21\t1311867719.3104898930\t0.0066456511\t0.0047495550\t0.0072229784\t0.0031923057\t0.0584300000\t380646297\t0\t402718720\t-0.0017765902\t0.0006323139\t0.0027073217\n22\t1311867719.3413150311\t0.0073457519\t0.0048675640\t0.0073457519\t0.0032805470\t0.0468770000\t379059717\t0\t402718720\t-0.0019508116\t-0.0010854074\t0.0024545076\n23\t1311867719.3772718906\t0.0072949459\t0.0049731023\t0.0073457519\t0.0032188732\t0.0322350000\t378081005\t0\t402718720\t-0.0033897539\t-0.0021769723\t0.0023464141\n24\t1311867719.4105761051\t0.0081919609\t0.0051072214\t0.0081919609\t0.0031614991\t0.0336930000\t378087329\t0\t402718720\t-0.0030024578\t-0.0017668083\t0.0016017040\n25\t1311867719.4427709579\t0.0079277158\t0.0052200412\t0.0081919609\t0.0031190461\t0.0428520000\t378092853\t0\t402718720\t-0.0027235621\t-0.0019006216\t0.0023167382\n26\t1311867719.4787840843\t0.0078261001\t0.0053202742\t0.0081919609\t0.0030986780\t0.0359730000\t378607013\t0\t402718720\t-0.0036994659\t-0.0041201063\t0.0028625708\n27\t1311867719.5104370117\t0.0081038941\t0.0054233713\t0.0081919609\t0.0032050254\t0.0976030000\t379611061\t0\t402718720\t-0.0049495273\t-0.0026999302\t0.0018506919\n28\t1311867719.5449650288\t0.0089081386\t0.0055478272\t0.0089081386\t0.0032897412\t0.0519390000\t381676853\t0\t402718720\t-0.0047793128\t-0.0022452730\t0.0017258785\n29\t1311867719.5771939754\t0.0082801534\t0.0056420454\t0.0089081386\t0.0032350090\t0.0483540000\t380090817\t0\t402718720\t-0.0054166252\t-0.0032087921\t0.0027789422\n30\t1311867719.6112511158\t0.0095568532\t0.0057725390\t0.0095568532\t0.0031881769\t0.032307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66\t-0.0346540846\t-0.0401124172\n1937\t1311867783.2548489571\t0.0029063404\t0.0231632698\t0.0670038015\t0.0045980060\t0.0371100000\t411785429\t0\t402718720\t-0.0075841206\t-0.0336823277\t-0.0408279188\n1938\t1311867783.2816879749\t0.0017019071\t0.0231521958\t0.0670038015\t0.0045970555\t0.0434190000\t411788337\t0\t402718720\t-0.0072037424\t-0.0346216634\t-0.0401535071\n1939\t1311867783.3132228851\t0.0020060549\t0.0231412901\t0.0670038015\t0.0045962522\t0.0423310000\t411791501\t0\t402718720\t-0.0068754437\t-0.0349375904\t-0.0407621004\n1940\t1311867783.3503270149\t0.0025666011\t0.0231306846\t0.0670038015\t0.0045956916\t0.0429600000\t411794689\t0\t402718720\t-0.0067036436\t-0.0345443897\t-0.0413208194\n1941\t1311867783.3855919838\t0.0023207923\t0.0231199634\t0.0670038015\t0.0045949824\t0.0424100000\t411798013\t0\t402718720\t-0.0073908661\t-0.0334427431\t-0.0403025374\n1942\t1311867783.4198501110\t0.0018631131\t0.0231090175\t0.0670038015\t0.0045942210\t0.0369500000\t411801137\t0\t402718720\t-0.0087169120\t-0.0360351726\t-0.0404894836\n1943\t1311867783.4503099918\t0.0028012895\t0.0230985658\t0.0670038015\t0.0045931311\t0.0451660000\t411804485\t0\t402718720\t-0.0082001472\t-0.0348498337\t-0.0421798341\n1944\t1311867783.4863688946\t0.0028447036\t0.0230881471\t0.0670038015\t0.0045927835\t0.0372700000\t411807777\t0\t402718720\t-0.0078128977\t-0.0348510146\t-0.0422761701\n1945\t1311867783.5186200142\t0.0020830154\t0.0230773476\t0.0670038015\t0.0045921536\t0.0371350000\t411810693\t0\t402718720\t-0.0082912268\t-0.0362922177\t-0.0418316610\n1946\t1311867783.5488419533\t0.0028530578\t0.0230669548\t0.0670038015\t0.0045931978\t0.0373440000\t411813849\t0\t402718720\t-0.0084718252\t-0.0343711376\t-0.0418045484\n1947\t1311867783.5823969841\t0.0032129153\t0.0230567576\t0.0670038015\t0.0045920611\t0.0373700000\t411817109\t0\t402718720\t-0.0082266396\t-0.0340547636\t-0.0420952924\n1948\t1311867783.6168529987\t0.0022932298\t0.0230460987\t0.0670038015\t0.0045912179\t0.0373310000\t411820129\t0\t402718720\t-0.0090158992\t-0.0355190001\t-0.0415183455\n1949\t1311867783.6515829563\t0.0027650138\t0.0230356928\t0.0670038015\t0.0045908599\t0.0497410000\t411823397\t0\t402718720\t-0.0065850839\t-0.0359686650\t-0.0433855280\n1950\t1311867783.6816630363\t0.0041093831\t0.0230259870\t0.0670038015\t0.0045916394\t0.0473650000\t411826561\t0\t402718720\t-0.0090093091\t-0.0342649259\t-0.0434305817\n1951\t1311867783.7179610729\t0.0020233938\t0.0230152219\t0.0670038015\t0.0045919426\t0.0435640000\t411830029\t0\t402718720\t-0.0073290337\t-0.0357157253\t-0.0424474925\n1952\t1311867783.7488200665\t0.0030372343\t0.0230049873\t0.0670038015\t0.0045915942\t0.0364840000\t411833249\t0\t402718720\t-0.0082678217\t-0.0355382636\t-0.0427760370\n1953\t1311867783.7808690071\t0.0044590216\t0.0229954912\t0.0670038015\t0.0045911004\t0.0367140000\t411836397\t0\t402718720\t-0.0065510799\t-0.0336984843\t-0.0431890339\n1954\t1311867783.8168580532\t0.0016566085\t0.0229845705\t0.0670038015\t0.0045926692\t0.0366790000\t411839153\t0\t402718720\t-0.0076533086\t-0.0370420888\t-0.0412512459\n1955\t1311867783.8489229679\t0.0045598708\t0.0229751461\t0.0670038015\t0.0045934212\t0.0358910000\t411842493\t0\t402718720\t-0.0071053645\t-0.0342532247\t-0.0425393507\n1956\t1311867783.8808929920\t0.0064721582\t0.0229667090\t0.0670038015\t0.0045924979\t0.0363850000\t411845577\t0\t402718720\t-0.0071962564\t-0.0317680836\t-0.0426537022\n1957\t1311867783.9168200493\t0.0037730627\t0.0229569013\t0.0670038015\t0.0045945032\t0.0489550000\t411849109\t0\t402718720\t-0.0068850699\t-0.0345050544\t-0.0420776568\n1958\t1311867783.9508318901\t0.0033265159\t0.0229468756\t0.0670038015\t0.0045939836\t0.0462130000\t411852185\t0\t402718720\t-0.0069879536\t-0.0343222804\t-0.0410751440\n1959\t1311867783.9816930294\t0.0049801627\t0.0229377042\t0.0670038015\t0.0045947362\t0.0384620000\t411855149\t0\t402718720\t-0.0060010101\t-0.0329729170\t-0.0414843224\n1960\t1311867784.0175230503\t0.0027537409\t0.0229274063\t0.0670038015\t0.0045940593\t0.0370600000\t411858529\t0\t402718720\t-0.0062101353\t-0.0349818282\t-0.0404133201\n1961\t1311867784.0505928993\t0.0035136254\t0.0229175064\t0.0670038015\t0.0045947819\t0.0369140000\t411861861\t0\t402718720\t-0.0094484836\t-0.0348330438\t-0.0398748666\n1962\t1311867784.0830729008\t0.0048693526\t0.0229083075\t0.0670038015\t0.0045939603\t0.0368060000\t411864697\t0\t402718720\t-0.0078692827\t-0.0325696245\t-0.0406209305\n1963\t1311867784.1187570095\t0.0035924378\t0.0228984675\t0.0670038015\t0.0045951132\t0.0375250000\t411867973\t0\t402718720\t-0.0072064227\t-0.0349025577\t-0.0405727923\n1964\t1311867784.1503119469\t0.0042340877\t0.0228889643\t0.0670038015\t0.0045955584\t0.0366240000\t411871185\t0\t402718720\t-0.0106052300\t-0.0361969173\t-0.0399917439\n1965\t1311867784.1823339462\t0.0054839291\t0.0228801068\t0.0670038015\t0.0045944833\t0.0481710000\t411874341\t0\t402718720\t-0.0075842901\t-0.0325971618\t-0.0394802801\n1966\t1311867784.2173891068\t0.0025328412\t0.0228697572\t0.0670038015\t0.0045951660\t0.0370680000\t411877489\t0\t402718720\t-0.0082124332\t-0.0358425528\t-0.0383782089\n1967\t1311867784.2502059937\t0.0023415177\t0.0228593209\t0.0670038015\t0.0045944384\t0.0466690000\t411880821\t0\t402718720\t-0.0094690798\t-0.0373035483\t-0.0388530195\n1968\t1311867784.2819900513\t0.0035993583\t0.0228495343\t0.0670038015\t0.0045956906\t0.0371420000\t411883785\t0\t402718720\t-0.0097679356\t-0.0351378918\t-0.0383516625\n1969\t1311867784.3176920414\t0.0041209050\t0.0228400226\t0.0670038015\t0.0045963249\t0.0369430000\t411887165\t0\t402718720\t-0.0097213974\t-0.0349759348\t-0.0385143794\n1970\t1311867784.3490819931\t0.0021698377\t0.0228295301\t0.0670038015\t0.0045965454\t0.0371450000\t411890465\t0\t402718720\t-0.0103968047\t-0.0383486636\t-0.0371118635\n1971\t1311867784.3815689087\t0.0035684886\t0.0228197579\t0.0670038015\t0.0045970325\t0.0371520000\t411893349\t0\t402718720\t-0.0095935296\t-0.0363518223\t-0.0381012410\n1972\t1311867784.4190580845\t0.0047251205\t0.0228105821\t0.0670038015\t0.0045960801\t0.0370890000\t411896769\t0\t402718720\t-0.0123763196\t-0.0368636176\t-0.0369645618\n1973\t1311867784.4496140480\t0.0017413265\t0.0227999033\t0.0670038015\t0.0045964256\t0.0468820000\t411899981\t0\t402718720\t-0.0087644272\t-0.0380947478\t-0.0367542692\n1974\t1311867784.4828379154\t0.0033210251\t0.0227900356\t0.0670038015\t0.0045965118\t0.0367710000\t411903185\t0\t402718720\t-0.0087679969\t-0.0365547687\t-0.0369717181\n1975\t1311867784.5185639858\t0.0030012582\t0.0227800159\t0.0670038015\t0.0045955690\t0.0505840000\t411906301\t0\t402718720\t-0.0104184961\t-0.0388231017\t-0.0372850746\n1976\t1311867784.5499279499\t0.0033011693\t0.0227701582\t0.0670038015\t0.0045944923\t0.0376900000\t411909513\t0\t402718720\t-0.0115395132\t-0.0394873396\t-0.0367297269\n1977\t1311867784.5848410130\t0.0025342379\t0.0227599225\t0.0670038015\t0.0045937571\t0.0371550000\t411912837\t0\t402718720\t-0.0094087850\t-0.0378975384\t-0.0358735360\n1978\t1311867784.6179790497\t0.0027829432\t0.0227498230\t0.0670038015\t0.0045941424\t0.0374300000\t411915793\t0\t402718720\t-0.0091590937\t-0.0385839678\t-0.0369966812\n1979\t1311867784.6492750645\t0.0020571637\t0.0227393668\t0.0670038015\t0.0045930815\t0.0368520000\t411919037\t0\t402718720\t-0.0092778746\t-0.0393488333\t-0.0363855921\n1980\t1311867784.6878700256\t0.0033629630\t0.0227295808\t0.0670038015\t0.0045928799\t0.0369390000\t411922705\t0\t402718720\t-0.0088185556\t-0.0383123644\t-0.0368085615\n1981\t1311867784.7168869972\t0.0034798412\t0.0227198636\t0.0670038015\t0.0045919223\t0.0540360000\t411925501\t0\t402718720\t-0.0092377691\t-0.0380860008\t-0.0363230221\n1982\t1311867784.7578089237\t0.0021718317\t0.0227094963\t0.0670038015\t0.0045940116\t0.0372130000\t411929049\t0\t402718720\t-0.0114521533\t-0.0402782448\t-0.0354505219\n1983\t1311867784.7870030403\t0.0033645155\t0.0226997409\t0.0670038015\t0.0045930437\t0.0364700000\t411932085\t0\t402718720\t-0.0096107889\t-0.0390219204\t-0.0368086956\n1984\t1311867784.8199620247\t0.0032457544\t0.0226899354\t0.0670038015\t0.0045932662\t0.0373010000\t411935121\t0\t402718720\t-0.0109878890\t-0.0388084464\t-0.0354168601\n1985\t1311867784.8550779819\t0.0015682349\t0.0226792948\t0.0670038015\t0.0045922967\t0.0365760000\t411938293\t0\t402718720\t-0.0115576647\t-0.0409498774\t-0.0351833291\n1986\t1311867784.8873779774\t0.0029921434\t0.0226693818\t0.0670038015\t0.0045912184\t0.0372610000\t411941377\t0\t402718720\t-0.0109307924\t-0.0399654210\t-0.0366014689\n1987\t1311867784.9173130989\t0.0019463855\t0.0226589525\t0.0670038015\t0.0045902165\t0.0371940000\t411944461\t0\t402718720\t-0.0113275750\t-0.0407180898\t-0.0355772376\n1988\t1311867784.9491391182\t0.0028324206\t0.0226489794\t0.0670038015\t0.0045892190\t0.0372890000\t411947553\t0\t402718720\t-0.0137046631\t-0.0413981266\t-0.0353883877\n1989\t1311867784.9848570824\t0.0027816219\t0.0226389908\t0.0670038015\t0.0045885190\t0.0459020000\t411950749\t0\t402718720\t-0.0129557038\t-0.0405848958\t-0.0358577222\n1990\t1311867785.0184569359\t0.0020532073\t0.0226286462\t0.0670038015\t0.0045877268\t0.0375770000\t411954169\t0\t402718720\t-0.0117659783\t-0.0412050076\t-0.0362572074\n1991\t1311867785.0500280857\t0.0015859157\t0.0226180773\t0.0670038015\t0.0045867796\t0.0451050000\t411957437\t0\t402718720\t-0.0123481741\t-0.0417639017\t-0.0355076417\n1992\t1311867785.0871460438\t0.0032889710\t0.0226083739\t0.0670038015\t0.0045856368\t0.0375330000\t411960649\t0\t402718720\t-0.0112315444\t-0.0400036350\t-0.0359586552\n1993\t1311867785.1168398857\t0.0034687410\t0.0225987705\t0.0670038015\t0.0045845349\t0.0374380000\t411963861\t0\t402718720\t-0.0117944330\t-0.0401488245\t-0.0366066359\n1994\t1311867785.1499750614\t0.0029716471\t0.0225889274\t0.0670038015\t0.0045841230\t0.0377310000\t411966825\t0\t402718720\t-0.0141436774\t-0.0417797379\t-0.0347292162\n1995\t1311867785.1850368977\t0.0031641538\t0.0225791906\t0.0670038015\t0.0045831032\t0.0376960000\t411970085\t0\t402718720\t-0.0126383398\t-0.0405026078\t-0.0360553898\n1996\t1311867785.2169620991\t0.0048162001\t0.0225702913\t0.0670038015\t0.0045821109\t0.0374980000\t411973193\t0\t402718720\t-0.0125106359\t-0.0390013121\t-0.0366116725\n1997\t1311867785.2491741180\t0.0025436855\t0.0225602630\t0.0670038015\t0.0045814424\t0.0471880000\t411976341\t0\t402718720\t-0.0105038239\t-0.0413995869\t-0.0354374908\n1998\t1311867785.2858769894\t0.0029695891\t0.0225504579\t0.0670038015\t0.0045804076\t0.0366810000\t411979849\t0\t402718720\t-0.0117172077\t-0.0409492329\t-0.0368010215\n1999\t1311867785.3214280605\t0.0027608157\t0.0225405581\t0.0670038015\t0.0045808182\t0.0476980000\t411982965\t0\t402718720\t-0.0144367442\t-0.0421807542\t-0.0362449400\n2000\t1311867785.3573219776\t0.0033044345\t0.0225309400\t0.0670038015\t0.0045802801\t0.0374880000\t411986313\t0\t402718720\t-0.0131975729\t-0.0403671153\t-0.0352555998\n2001\t1311867785.3893299103\t0.0045974152\t0.0225219777\t0.0670038015\t0.0045792213\t0.0376320000\t411989333\t0\t402718720\t-0.0127103822\t-0.0391496718\t-0.0369649194\n2002\t1311867785.4211249352\t0.0022435999\t0.0225118487\t0.0670038015\t0.0045782614\t0.0376840000\t411992673\t0\t402718720\t-0.0132595226\t-0.0414786860\t-0.0361888930\n2003\t1311867785.4570529461\t0.0044314396\t0.0225028220\t0.0670038015\t0.0045787006\t0.0372370000\t411995933\t0\t402718720\t-0.0145278294\t-0.0401831493\t-0.0378592424\n2004\t1311867785.4900350571\t0.0045567700\t0.0224938669\t0.0670038015\t0.0045781345\t0.0378190000\t411999201\t0\t402718720\t-0.0150503432\t-0.0389362425\t-0.0357583538\n2005\t1311867785.5211930275\t0.0031502014\t0.0224842192\t0.0670038015\t0.0045774141\t0.0374660000\t412002293\t0\t402718720\t-0.0140085183\t-0.0398694836\t-0.0355064422\n2006\t1311867785.5571260452\t0.0034746469\t0.0224747428\t0.0670038015\t0.0045773029\t0.0373190000\t412005329\t0\t402718720\t-0.0146135651\t-0.0398199037\t-0.0354629569\n2007\t1311867785.5891211033\t0.0041220910\t0.0224655985\t0.0670038015\t0.0045761935\t0.0364830000\t412008621\t0\t402718720\t-0.0151415784\t-0.0389707647\t-0.0357428193\n2008\t1311867785.6211590767\t0.0025664063\t0.0224556886\t0.0670038015\t0.0045874019\t0.0371590000\t412011761\t0\t402718720\t-0.0148455370\t-0.0404429920\t-0.0354058594\n2009\t1311867785.6570439339\t0.0021196459\t0.0224455661\t0.0670038015\t0.0045892389\t0.0366820000\t412015229\t0\t402718720\t-0.0163647681\t-0.0409244932\t-0.0349496529\n2010\t1311867785.6892280579\t0.0040560961\t0.0224364171\t0.0670038015\t0.0045881336\t0.0368770000\t412017937\t0\t402718720\t-0.0149888359\t-0.0390112475\t-0.0359368213\n2011\t1311867785.7214241028\t0.0028004143\t0.0224266528\t0.0670038015\t0.0045892909\t0.0376040000\t412021277\t0\t402718720\t-0.0158899333\t-0.0402691513\t-0.0357503369\n2012\t1311867785.7573668957\t0.0005117388\t0.0224157607\t0.0670038015\t0.0045883458\t0.0488300000\t412024537\t0\t402718720\t-0.0165223442\t-0.0428333841\t-0.0348738432\n2013\t1311867785.7892301083\t0.0021031771\t0.0224056700\t0.0670038015\t0.0045879273\t0.0365900000\t412027781\t0\t402718720\t-0.0165194776\t-0.0416918769\t-0.0361600965\n2014\t1311867785.8210389614\t0.0034814884\t0.0223962737\t0.0670038015\t0.0045869997\t0.0369610000\t412030881\t0\t402718720\t-0.0156960413\t-0.0403106771\t-0.0351392105\n2015\t1311867785.8574340343\t0.0025654193\t0.0223864321\t0.0670038015\t0.0045864576\t0.0370790000\t412034285\t0\t402718720\t-0.0162290614\t-0.0417369679\t-0.0361083075\n2016\t1311867785.8893110752\t0.0021986093\t0.0223764183\t0.0670038015\t0.0045853304\t0.0367220000\t412037297\t0\t402718720\t-0.0167866368\t-0.0422540233\t-0.0360643640\n2017\t1311867785.9211509228\t0.0040089157\t0.0223673119\t0.0670038015\t0.0045845397\t0.0372180000\t412040829\t0\t402718720\t-0.0160561167\t-0.0406568497\t-0.0363847837\n2018\t1311867785.9588449001\t0.0017287256\t0.0223570847\t0.0670038015\t0.0045847665\t0.0496370000\t412043769\t0\t402718720\t-0.0177698527\t-0.0428184494\t-0.0353620350\n2019\t1311867785.9892621040\t0.0035053180\t0.0223477475\t0.0670038015\t0.0045842816\t0.0369140000\t412046869\t0\t402718720\t-0.0156357028\t-0.0419441536\t-0.0357800312\n2020\t1311867786.0210618973\t0.0031931929\t0.0223382650\t0.0670038015\t0.0045832201\t0.0375400000\t412050161\t0\t402718720\t-0.0163790435\t-0.0419327542\t-0.0354291461\n2021\t1311867786.0572268963\t0.0020675771\t0.0223282350\t0.0670038015\t0.0045827493\t0.0369300000\t412053173\t0\t402718720\t-0.0177594740\t-0.0439958423\t-0.0361548625\n2022\t1311867786.0892500877\t0.0029745705\t0.0223186635\t0.0670038015\t0.0045819039\t0.0373980000\t412056569\t0\t402718720\t-0.0175809208\t-0.0432855077\t-0.0364564806\n2023\t1311867786.1211619377\t0.0039489348\t0.0223095830\t0.0670038015\t0.0045810591\t0.0371840000\t412059773\t0\t402718720\t-0.0194182768\t-0.0422786437\t-0.0370732620\n2024\t1311867786.1570990086\t0.0024553500\t0.0222997736\t0.0670038015\t0.0045800725\t0.0485040000\t412062785\t0\t402718720\t-0.0198644139\t-0.0433616154\t-0.0347594880\n2025\t1311867786.1891019344\t0.0028666998\t0.0222901770\t0.0670038015\t0.0045791807\t0.0378350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}, { "path": "icra2018_results/1080/violons_liborbslam2-original_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 10:33:28\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: out_paper//violons_liborbslam2-original_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520440\t0.0582520440\t0.0582520440\t-nan\t0.0284400000\t357245912\t0\t402718720\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1311867170.4941389561\t0.0586377122\t0.0584448781\t0.0586377122\t0.0034930480\t0.0334920000\t376635437\t0\t402718720\t-0.0037594317\t-0.0009100248\t-0.0017881629\n3\t1311867170.5264289379\t0.0586596653\t0.0585164738\t0.0586596653\t0.0026708316\t0.0306430000\t376531569\t0\t402718720\t-0.0066807531\t-0.0008932950\t-0.0038979272\n4\t1311867170.5623490810\t0.0581764840\t0.0584314764\t0.0586596653\t0.0037888070\t0.0295510000\t376541837\t0\t402718720\t-0.0077551166\t-0.0004883301\t-0.0059200493\n5\t1311867170.5942170620\t0.0571757704\t0.0581803352\t0.0586596653\t0.0046060726\t0.0412150000\t376552513\t0\t402718720\t-0.0106354402\t-0.0026671742\t-0.0082122963\n6\t1311867170.6260869503\t0.0551324561\t0.0576723553\t0.0586596653\t0.0045570799\t0.0284130000\t376561293\t0\t402718720\t-0.0094366213\t-0.0038628730\t-0.0113154622\n7\t1311867170.6621398926\t0.0557016879\t0.0573908314\t0.0586596653\t0.0042465035\t0.0286560000\t376568001\t0\t402718720\t-0.0114983134\t-0.0040343115\t-0.0124535887\n8\t1311867170.6942050457\t0.0558096878\t0.0571931885\t0.0586596653\t0.0039596769\t0.0438220000\t376573909\t0\t402718720\t-0.0117391022\t-0.0035084726\t-0.0141921053\n9\t1311867170.7263879776\t0.0567277037\t0.0571414679\t0.0586596653\t0.0037870622\t0.0283800000\t376579905\t0\t402718720\t-0.0150480336\t-0.0052455575\t-0.0145472027\n10\t1311867170.7620189190\t0.0567436032\t0.0571016815\t0.0586596653\t0.0036372208\t0.0381720000\t376588133\t0\t402718720\t-0.0179191977\t-0.0074015637\t-0.0161056332\n11\t1311867170.7941920757\t0.0556674302\t0.0569712950\t0.0586596653\t0.0037485054\t0.0459580000\t376595713\t0\t402718720\t-0.0188345294\t-0.0093407044\t-0.0189897064\n12\t1311867170.8262820244\t0.0553181283\t0.0568335311\t0.0586596653\t0.0037624658\t0.0277110000\t376603909\t0\t402718720\t-0.0189414546\t-0.0126334149\t-0.0211648569\n13\t1311867170.8622210026\t0.0536869094\t0.0565914833\t0.0586596653\t0.0039922337\t0.0283740000\t376611345\t0\t402718720\t-0.0181536600\t-0.0145465583\t-0.0251064487\n14\t1311867170.8943779469\t0.0536736026\t0.0563830632\t0.0586596653\t0.0038516264\t0.0284400000\t376618437\t0\t402718720\t-0.0180233084\t-0.0165607929\t-0.0279384926\n15\t1311867170.9263520241\t0.0534019023\t0.0561843192\t0.0586596653\t0.0038760601\t0.0279350000\t376625801\t0\t402718720\t-0.0189409163\t-0.0195748992\t-0.0310321432\n16\t1311867170.9621469975\t0.0537196696\t0.0560302786\t0.0586596653\t0.0038207535\t0.0279350000\t376632117\t0\t402718720\t-0.0208582040\t-0.0206948910\t-0.0340314470\n17\t1311867170.9942629337\t0.0532149039\t0.0558646683\t0.0586596653\t0.0037264669\t0.0362260000\t376640457\t0\t402718720\t-0.0204671975\t-0.0211655367\t-0.0378969610\n18\t1311867171.0262739658\t0.0525083579\t0.0556782066\t0.0586596653\t0.0036462947\t0.0277850000\t376648685\t0\t402718720\t-0.0208106283\t-0.0255436320\t-0.0403674692\n19\t1311867171.0623519421\t0.0528762229\t0.0555307338\t0.0586596653\t0.0043709207\t0.0278800000\t376655897\t0\t402718720\t-0.0228671134\t-0.0273719244\t-0.0431848019\n20\t1311867171.0942349434\t0.0529052131\t0.0553994577\t0.0586596653\t0.0044625653\t0.0311860000\t377291357\t0\t402718720\t-0.0206900556\t-0.0261449125\t-0.0457031205\n21\t1311867171.1262509823\t0.0534253046\t0.0553054504\t0.0586596653\t0.0043757451\t0.0615530000\t377819477\t0\t402718720\t-0.0215380527\t-0.0280004907\t-0.0469596162\n22\t1311867171.1622469425\t0.0550597347\t0.0552942815\t0.0586596653\t0.0047529889\t0.0851770000\t379992213\t0\t402718720\t-0.0223019030\t-0.0276895128\t-0.0475389920\n23\t1311867171.1942689419\t0.0533429049\t0.0552094391\t0.0586596653\t0.0057345185\t0.0411930000\t378061733\t0\t402718720\t-0.0175298415\t-0.0263967644\t-0.0493746065\n24\t1311867171.2262530327\t0.0534160659\t0.0551347152\t0.0586596653\t0.0058391788\t0.0318300000\t377818717\t0\t402718720\t-0.0145371268\t-0.0278202146\t-0.0505317412\n25\t1311867171.2622439861\t0.0521347895\t0.0550147182\t0.0586596653\t0.0057263237\t0.0310030000\t377824041\t0\t402718720\t-0.0100124888\t-0.0260997359\t-0.0531428717\n26\t1311867171.2943410873\t0.0515194871\t0.0548802862\t0.0586596653\t0.0056501446\t0.0455010000\t378421301\t0\t402718720\t-0.0065691066\t-0.0261033624\t-0.0540730394\n27\t1311867171.3263869286\t0.0528139547\t0.0548037554\t0.0586596653\t0.0059245477\t0.0919890000\t378868561\t0\t402718720\t-0.0073156361\t-0.0269986279\t-0.0540283956\n28\t1311867171.3622460365\t0.0547091924\t0.0548003782\t0.0586596653\t0.0058759172\t0.0422210000\t380830865\t0\t402718720\t-0.0071561616\t-0.0233981851\t-0.0540554672\n29\t1311867171.3941431046\t0.0556474961\t0.0548295891\t0.0586596653\t0.0058471194\t0.0421710000\t378877661\t0\t402718720\t-0.0088630449\t-0.0226725303\t-0.0546793714\n30\t1311867171.4262878895\t0.0557210408\t0.0548593042\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5\t-0.2619768381\n1907\t1311867234.0566239357\t0.0489343591\t0.0540436301\t0.0698473677\t0.0055808886\t0.0418580000\t404103213\t0\t402718720\t-0.0473819152\t0.0901403055\t-0.2615780532\n1908\t1311867234.0907170773\t0.0487596616\t0.0540408607\t0.0698473677\t0.0055797034\t0.0419890000\t404106345\t0\t402718720\t-0.0463906042\t0.0887351185\t-0.2616290450\n1909\t1311867234.1214520931\t0.0490491204\t0.0540382458\t0.0698473677\t0.0055783949\t0.0515590000\t404109573\t0\t402718720\t-0.0466013253\t0.0880270749\t-0.2616868913\n1910\t1311867234.1561689377\t0.0507288575\t0.0540365132\t0.0698473677\t0.0055769771\t0.0543700000\t404113001\t0\t402718720\t-0.0456567518\t0.0859133080\t-0.2593967915\n1911\t1311867234.1892559528\t0.0515209846\t0.0540351968\t0.0698473677\t0.0055760459\t0.0388390000\t404115717\t0\t402718720\t-0.0492662489\t0.0846688896\t-0.2590651214\n1912\t1311867234.2203600407\t0.0508005805\t0.0540335051\t0.0698473677\t0.0055751023\t0.0419300000\t404119473\t0\t402718720\t-0.0477430522\t0.0844983682\t-0.2606508434\n1913\t1311867234.2588930130\t0.0517914966\t0.0540323331\t0.0698473677\t0.0055740000\t0.0390570000\t404122341\t0\t402718720\t-0.0481666327\t0.0848447233\t-0.2605840564\n1914\t1311867234.2895319462\t0.0499137528\t0.0540301813\t0.0698473677\t0.0055726906\t0.0415880000\t404125569\t0\t402718720\t-0.0510375090\t0.0814490318\t-0.2612099648\n1915\t1311867234.3213200569\t0.0487930067\t0.0540274465\t0.0698473677\t0.0055761073\t0.0598640000\t404128861\t0\t402718720\t-0.0491716936\t0.0811098069\t-0.2620295584\n1916\t1311867234.3570129871\t0.0494868234\t0.0540250766\t0.0698473677\t0.0055748588\t0.0625370000\t404132193\t0\t402718720\t-0.0504242517\t0.0809179544\t-0.2613600791\n1917\t1311867234.3885769844\t0.0496222563\t0.0540227799\t0.0698473677\t0.0055735884\t0.0386090000\t404135277\t0\t402718720\t-0.0524467863\t0.0788734779\t-0.2601094246\n1918\t1311867234.4204909801\t0.0492992029\t0.0540203171\t0.0698473677\t0.0055722034\t0.0420250000\t404138481\t0\t402718720\t-0.0519464649\t0.0790276527\t-0.2606647611\n1919\t1311867234.4579920769\t0.0512449443\t0.0540188709\t0.0698473677\t0.0055716872\t0.0393030000\t404141621\t0\t402718720\t-0.0505402312\t0.0802680477\t-0.2591398954\n1920\t1311867234.4878959656\t0.0513550714\t0.0540174835\t0.0698473677\t0.0055759959\t0.0426300000\t404144897\t0\t402718720\t-0.0525468960\t0.0765788108\t-0.2571332455\n1921\t1311867234.5201239586\t0.0490067154\t0.0540148751\t0.0698473677\t0.0055747059\t0.0481070000\t404147805\t0\t402718720\t-0.0539472923\t0.0764046460\t-0.2605129778\n1922\t1311867234.5594279766\t0.0498380028\t0.0540127019\t0.0698473677\t0.0055738215\t0.0481920000\t404151241\t0\t402718720\t-0.0512806959\t0.0771696866\t-0.2600222826\n1923\t1311867234.5882380009\t0.0498008132\t0.0540105116\t0.0698473677\t0.0055733804\t0.0464420000\t404154461\t0\t402718720\t-0.0516616441\t0.0762318149\t-0.2594461739\n1924\t1311867234.6204199791\t0.0490835831\t0.0540079508\t0.0698473677\t0.0055720485\t0.0384050000\t404157449\t0\t402718720\t-0.0521288924\t0.0733679309\t-0.2586452067\n1925\t1311867234.6590909958\t0.0519040413\t0.0540068579\t0.0698473677\t0.0055725193\t0.0394020000\t404161005\t0\t402718720\t-0.0534530990\t0.0744913965\t-0.2557987571\n1926\t1311867234.6880459785\t0.0498013198\t0.0540046743\t0.0698473677\t0.0055717316\t0.0392590000\t404163785\t0\t402718720\t-0.0525336787\t0.0736362562\t-0.2574732900\n1927\t1311867234.7198779583\t0.0489571318\t0.0540020549\t0.0698473677\t0.0055708416\t0.0420380000\t404167205\t0\t402718720\t-0.0528986305\t0.0718644708\t-0.2571673989\n1928\t1311867234.7586181164\t0.0476743281\t0.0539987729\t0.0698473677\t0.0055695041\t0.0668640000\t404170289\t0\t402718720\t-0.0517173670\t0.0716160536\t-0.2574942410\n1929\t1311867234.7882609367\t0.0479574725\t0.0539956411\t0.0698473677\t0.0055750353\t0.0420770000\t404173437\t0\t402718720\t-0.0515493713\t0.0718472302\t-0.2559613287\n1930\t1311867234.8206560612\t0.0480783321\t0.0539925751\t0.0698473677\t0.0055737724\t0.0414430000\t404176841\t0\t402718720\t-0.0523216166\t0.0710740760\t-0.2542528808\n1931\t1311867234.8590250015\t0.0492859818\t0.0539901378\t0.0698473677\t0.0055729101\t0.0516170000\t404179717\t0\t402718720\t-0.0523181669\t0.0724774525\t-0.2528733909\n1932\t1311867234.8881230354\t0.0493930988\t0.0539877583\t0.0698473677\t0.0055715211\t0.0390980000\t404182777\t0\t402718720\t-0.0494807772\t0.0734716654\t-0.2525251210\n1933\t1311867234.9204928875\t0.0477438904\t0.0539845282\t0.0698473677\t0.0055708121\t0.0586170000\t404186397\t0\t402718720\t-0.0501049496\t0.0710416436\t-0.2525900602\n1934\t1311867234.9566090107\t0.0487611555\t0.0539818274\t0.0698473677\t0.0055695659\t0.0419320000\t404189529\t0\t402718720\t-0.0493495427\t0.0700209960\t-0.2506819367\n1935\t1311867234.9904088974\t0.0516381338\t0.0539806162\t0.0698473677\t0.0055691174\t0.0521130000\t404192813\t0\t402718720\t-0.0511010401\t0.0711428970\t-0.2485591471\n1936\t1311867235.0205988884\t0.0492808037\t0.0539781886\t0.0698473677\t0.0055691478\t0.0387000000\t404195841\t0\t402718720\t-0.0505848527\t0.0681092292\t-0.2501435876\n1937\t1311867235.0563809872\t0.0494494140\t0.0539758505\t0.0698473677\t0.0055685168\t0.0417400000\t404199101\t0\t402718720\t-0.0509584770\t0.0679681897\t-0.2507031858\n1938\t1311867235.0911149979\t0.0496261716\t0.0539736061\t0.0698473677\t0.0055671477\t0.0387910000\t404202385\t0\t402718720\t-0.0505913720\t0.0674627945\t-0.2506092191\n1939\t1311867235.1208140850\t0.0497095473\t0.0539714070\t0.0698473677\t0.0055658631\t0.0398710000\t404205597\t0\t402718720\t-0.0514068417\t0.0654126704\t-0.2497121394\n1940\t1311867235.1564071178\t0.0505930483\t0.0539696656\t0.0698473677\t0.0055665026\t0.0396700000\t404208545\t0\t402718720\t-0.0515365340\t0.0668647364\t-0.2495742142\n1941\t1311867235.1885681152\t0.0497695096\t0.0539675017\t0.0698473677\t0.0055662154\t0.0399190000\t404211885\t0\t402718720\t-0.0527997650\t0.0660142452\t-0.2502021194\n1942\t1311867235.2202088833\t0.0504320860\t0.0539656812\t0.0698473677\t0.0055648160\t0.0397690000\t404215033\t0\t402718720\t-0.0537825748\t0.0648949295\t-0.2487547696\n1943\t1311867235.2576260567\t0.0491436906\t0.0539631995\t0.0698473677\t0.0055639552\t0.0399240000\t404217989\t0\t402718720\t-0.0528469756\t0.0653687194\t-0.2507891059\n1944\t1311867235.2899661064\t0.0503778458\t0.0539613551\t0.0698473677\t0.0055640982\t0.0397590000\t404221321\t0\t402718720\t-0.0540232360\t0.0646524355\t-0.2486789525\n1945\t1311867235.3247830868\t0.0504823662\t0.0539595665\t0.0698473677\t0.0055630086\t0.0391990000\t404224645\t0\t402718720\t-0.0556310751\t0.0646219254\t-0.2487144917\n1946\t1311867235.3567800522\t0.0483703166\t0.0539566943\t0.0698473677\t0.0055784319\t0.0408550000\t404228049\t0\t402718720\t-0.0555001870\t0.0632740930\t-0.2498764098\n1947\t1311867235.3886280060\t0.0506659001\t0.0539550041\t0.0698473677\t0.0055918813\t0.0418450000\t404230941\t0\t402718720\t-0.0552789271\t0.0635026842\t-0.2472261935\n1948\t1311867235.4246189594\t0.0499463268\t0.0539529463\t0.0698473677\t0.0055914442\t0.0391020000\t404234009\t0\t402718720\t-0.0559117422\t0.0628272668\t-0.2469119877\n1949\t1311867235.4564850330\t0.0489504226\t0.0539503795\t0.0698473677\t0.0055911148\t0.0396810000\t404237285\t0\t402718720\t-0.0567487702\t0.0634627491\t-0.2480057329\n1950\t1311867235.4897930622\t0.0492115989\t0.0539479494\t0.0698473677\t0.0055912376\t0.0394190000\t404240625\t0\t402718720\t-0.0568935424\t0.0630025864\t-0.2461511344\n1951\t1311867235.5240719318\t0.0497019142\t0.0539457731\t0.0698473677\t0.0055901390\t0.0416350000\t404243701\t0\t402718720\t-0.0573328957\t0.0635725185\t-0.2452345639\n1952\t1311867235.5577290058\t0.0496794730\t0.0539435875\t0.0698473677\t0.0055892298\t0.0418530000\t404246593\t0\t402718720\t-0.0564669631\t0.0640383735\t-0.2446315885\n1953\t1311867235.5880639553\t0.0499597490\t0.0539415476\t0.0698473677\t0.0055879246\t0.0786040000\t404249933\t0\t402718720\t-0.0565817393\t0.0648584068\t-0.2445171773\n1954\t1311867235.6249940395\t0.0492861308\t0.0539391651\t0.0698473677\t0.0055870222\t0.0394910000\t404253521\t0\t402718720\t-0.0573017262\t0.0611349717\t-0.2430157661\n1955\t1311867235.6563270092\t0.0500971638\t0.0539371999\t0.0698473677\t0.0055863152\t0.0394730000\t404256165\t0\t402718720\t-0.0569639094\t0.0625658557\t-0.2429073751\n1956\t1311867235.6885619164\t0.0495289192\t0.0539349462\t0.0698473677\t0.0055856013\t0.0423390000\t404259329\t0\t402718720\t-0.0566531084\t0.0627508685\t-0.2438941449\n1957\t1311867235.7241950035\t0.0506307781\t0.0539332578\t0.0698473677\t0.0055848415\t0.0417970000\t404262717\t0\t402718720\t-0.0596177205\t0.0606304966\t-0.2412864268\n1958\t1311867235.7561719418\t0.0494922698\t0.0539309896\t0.0698473677\t0.0055842246\t0.0640370000\t404266049\t0\t402718720\t-0.0583901480\t0.0627333969\t-0.2435305566\n1959\t1311867235.7903280258\t0.0498537458\t0.0539289084\t0.0698473677\t0.0055839637\t0.0515630000\t404269197\t0\t402718720\t-0.0582197085\t0.0610425845\t-0.2415632457\n1960\t1311867235.8249480724\t0.0494067706\t0.0539266011\t0.0698473677\t0.0055828280\t0.0413800000\t404272337\t0\t402718720\t-0.0584580451\t0.0588934049\t-0.2401685715\n1961\t1311867235.8562169075\t0.0511420034\t0.0539251812\t0.0698473677\t0.0055842854\t0.0397510000\t404275413\t0\t402718720\t-0.0586165562\t0.0618098527\t-0.2391830534\n1962\t1311867235.8881049156\t0.0505674966\t0.0539234698\t0.0698473677\t0.0055828921\t0.0396690000\t404278577\t0\t402718720\t-0.0609855503\t0.0608745068\t-0.2388265133\n1963\t1311867235.9239900112\t0.0503454804\t0.0539216471\t0.0698473677\t0.0055818692\t0.0392080000\t404281717\t0\t402718720\t-0.0582733229\t0.0603419580\t-0.2377157807\n1964\t1311867235.9563760757\t0.0516310073\t0.0539204808\t0.0698473677\t0.0055826172\t0.0780320000\t404285049\t0\t402718720\t-0.0596398190\t0.0619657859\t-0.2369847745\n1965\t1311867235.9890949726\t0.0502462611\t0.0539186109\t0.0698473677\t0.0055827632\t0.0403470000\t404288221\t0\t402718720\t-0.0603948385\t0.0598748922\t-0.2367446572\n1966\t1311867236.0250449181\t0.0505463332\t0.0539168956\t0.0698473677\t0.0055814106\t0.0499450000\t404291481\t0\t402718720\t-0.0599143878\t0.0593057051\t-0.2353983372\n1967\t1311867236.0599400997\t0.0507928729\t0.0539153074\t0.0698473677\t0.0055800152\t0.0397030000\t404294621\t0\t402718720\t-0.0599451810\t0.0609865561\t-0.2353948951\n1968\t1311867236.0884859562\t0.0515560992\t0.0539141086\t0.0698473677\t0.0055786360\t0.0511530000\t404297593\t0\t402718720\t-0.0617741495\t0.0601187870\t-0.2332517058\n1969\t1311867236.1247038841\t0.0510536954\t0.0539126559\t0.0698473677\t0.0055772557\t0.0500130000\t404301101\t0\t402718720\t-0.0612294823\t0.0596565902\t-0.2325087786\n1970\t1311867236.1581289768\t0.0518218912\t0.0539115946\t0.0698473677\t0.0055766504\t0.0396580000\t404304121\t0\t402718720\t-0.0613064989\t0.0597364753\t-0.2308396101\n1971\t1311867236.1901528835\t0.0516512245\t0.0539104478\t0.0698473677\t0.0055755316\t0.0402390000\t404307549\t0\t402718720\t-0.0632804260\t0.0603931881\t-0.2301644832\n1972\t1311867236.2242329121\t0.0505563915\t0.0539087470\t0.0698473677\t0.0055742075\t0.0402680000\t404310625\t0\t402718720\t-0.0650665462\t0.0595509708\t-0.2297527492\n1973\t1311867236.2599489689\t0.0507832244\t0.0539071628\t0.0698473677\t0.0055734181\t0.0387570000\t404313629\t0\t402718720\t-0.0643660799\t0.0612227060\t-0.2290446162\n1974\t1311867236.2890419960\t0.0491023846\t0.0539047288\t0.0698473677\t0.0055721211\t0.0393870000\t404316985\t0\t402718720\t-0.0647175759\t0.0599709153\t-0.2292793989\n1975\t1311867236.3262441158\t0.0503756516\t0.0539029419\t0.0698473677\t0.0055708042\t0.0756090000\t404319917\t0\t402718720\t-0.0653486997\t0.0594956540\t-0.2261999398\n1976\t1311867236.3568809032\t0.0509770624\t0.0539014612\t0.0698473677\t0.0055699624\t0.0391850000\t404323385\t0\t402718720\t-0.0645252243\t0.0599978864\t-0.2249588370\n1977\t1311867236.3897418976\t0.0486052260\t0.0538987823\t0.0698473677\t0.0055687218\t0.0391610000\t404326277\t0\t402718720\t-0.0658342689\t0.0581313558\t-0.2254912555\n1978\t1311867236.4243390560\t0.0488573126\t0.0538962335\t0.0698473677\t0.0055692994\t0.0395190000\t404329481\t0\t402718720\t-0.0656958744\t0.0588757060\t-0.2239030004\n1979\t1311867236.4566040039\t0.0500849783\t0.0538943076\t0.0698473677\t0.0055680056\t0.0398200000\t404332621\t0\t402718720\t-0.0650936514\t0.0587752871\t-0.2209357619\n1980\t1311867236.4936130047\t0.0504941531\t0.0538925904\t0.0698473677\t0.0055730396\t0.0467250000\t404336089\t0\t402718720\t-0.0658568069\t0.0573472790\t-0.2183889896\n1981\t1311867236.5246999264\t0.0526837148\t0.0538919802\t0.0698473677\t0.0055723179\t0.0393310000\t404339189\t0\t402718720\t-0.0664788708\t0.0595019497\t-0.2157897502\n1982\t1311867236.5602099895\t0.0509674177\t0.0538905046\t0.0698473677\t0.0055733722\t0.0390470000\t404342625\t0\t402718720\t-0.0664306805\t0.0578342006\t-0.2149136066\n1983\t1311867236.5972909927\t0.0489417277\t0.0538880090\t0.0698473677\t0.0055721399\t0.0391540000\t404345693\t0\t402718720\t-0.0660566315\t0.0572172366\t-0.2153107077\n1984\t1311867236.6246581078\t0.0499524847\t0.0538860254\t0.0698473677\t0.0055711230\t0.0385270000\t404348817\t0\t402718720\t-0.0671449602\t0.0558400676\t-0.2118206173\n1985\t1311867236.6600480080\t0.0509230383\t0.0538845327\t0.0698473677\t0.0055701511\t0.0397770000\t404352029\t0\t402718720\t-0.0659546182\t0.0576768555\t-0.2095187753\n1986\t1311867236.6956660748\t0.0484530069\t0.0538817978\t0.0698473677\t0.0055697177\t0.0390860000\t404355481\t0\t402718720\t-0.0651755929\t0.0558813699\t-0.2088188082\n1987\t1311867236.7276370525\t0.0493568517\t0.0538795205\t0.0698473677\t0.0055683485\t0.0390400000\t404358461\t0\t402718720\t-0.0650852025\t0.0559462011\t-0.2057411075\n1988\t1311867236.7619268894\t0.0495718755\t0.0538773537\t0.0698473677\t0.0055677795\t0.0395740000\t404361601\t0\t402718720\t-0.0647703707\t0.0548751391\t-0.2025276273\n1989\t1311867236.7923469543\t0.0489194542\t0.0538748610\t0.0698473677\t0.0055678594\t0.0396150000\t404364629\t0\t402718720\t-0.0632904470\t0.0557357594\t-0.2023305595\n1990\t1311867236.8255391121\t0.0489437059\t0.0538723830\t0.0698473677\t0.0055667240\t0.0396030000\t404368081\t0\t402718720\t-0.0661945641\t0.0548877753\t-0.1998552829\n1991\t1311867236.8583440781\t0.0505585447\t0.0538707186\t0.0698473677\t0.0055659161\t0.0391630000\t404371125\t0\t402718720\t-0.0653691739\t0.0555859357\t-0.1965423375\n1992\t1311867236.8928480148\t0.0505865477\t0.0538690700\t0.0698473677\t0.0055660962\t0.0394440000\t404374425\t0\t402718720\t-0.0658320859\t0.0554679446\t-0.1944382042\n1993\t1311867236.9255330563\t0.0505632758\t0.0538674113\t0.0698473677\t0.0055652029\t0.0521280000\t404377445\t0\t402718720\t-0.0669867918\t0.0543707758\t-0.1920346916\n1994\t1311867236.9581959248\t0.0489153899\t0.0538649278\t0.0698473677\t0.0055648868\t0.0396660000\t404380721\t0\t402718720\t-0.0663519949\t0.0544122718\t-0.1921501011\n1995\t1311867236.9937291145\t0.0512550212\t0.0538636196\t0.0698473677\t0.0055705276\t0.0399620000\t404383981\t0\t402718720\t-0.0683782399\t0.0557935871\t-0.1874576360\n1996\t1311867237.0244200230\t0.0493249260\t0.0538613457\t0.0698473677\t0.0055714469\t0.0396160000\t404387009\t0\t402718720\t-0.0673497543\t0.0548454151\t-0.1868293136\n1997\t1311867237.0603060722\t0.0496785715\t0.0538592511\t0.0698473677\t0.0055736067\t0.0403900000\t404390269\t0\t402718720\t-0.0685166344\t0.0549337715\t-0.1840493679\n1998\t1311867237.0927588940\t0.0506741069\t0.0538576570\t0.0698473677\t0.0055884002\t0.0493670000\t404393425\t0\t402718720\t-0.0687618777\t0.0564202592\t-0.1816888899\n1999\t1311867237.1276650429\t0.0492011048\t0.0538553275\t0.0698473677\t0.0055888993\t0.0498240000\t404396629\t0\t402718720\t-0.0688862577\t0.0544705205\t-0.1803150624\n2000\t1311867237.1566579342\t0.0488365591\t0.0538528182\t0.0698473677\t0.0055882453\t0.0401400000\t404399729\t0\t402718720\t-0.0711185262\t0.0539963059\t-0.1789144576\n2001\t1311867237.1925950050\t0.0503006540\t0.0538510430\t0.0698473677\t0.0055883339\t0.0402260000\t404402989\t0\t402718720\t-0.0701354742\t0.0556245223\t-0.1760615855\n2002\t1311867237.2254281044\t0.0511958338\t0.0538497167\t0.0698473677\t0.0055870677\t0.0399350000\t404406001\t0\t402718720\t-0.0710766166\t0.0537272058\t-0.1729619652\n2003\t1311867237.2569580078\t0.0496361107\t0.0538476130\t0.0698473677\t0.0055878608\t0.0396780000\t404409341\t0\t402718720\t-0.0715248883\t0.0531123169\t-0.1728997827\n2004\t1311867237.2944281101\t0.0496348962\t0.0538455109\t0.0698473677\t0.0055866687\t0.0404870000\t404412601\t0\t402718720\t-0.0722634867\t0.0541816466\t-0.1718695760\n2005\t1311867237.3250501156\t0.0496059395\t0.0538433964\t0.0698473677\t0.0055852902\t0.0491290000\t404415701\t0\t402718720\t-0.0722290128\t0.0539758317\t-0.1704748273\n2006\t1311867237.3565309048\t0.0493979119\t0.0538411803\t0.0698473677\t0.0055860435\t0.0400790000\t404419185\t0\t402718720\t-0.0746627897\t0.0538472123\t-0.1697457582\n2007\t1311867237.3934979439\t0.0500011295\t0.0538392670\t0.0698473677\t0.0055850894\t0.0400950000\t404422261\t0\t402718720\t-0.0732389390\t0.0539268777\t-0.1666899174\n2008\t1311867237.4248709679\t0.0501985475\t0.0538374539\t0.0698473677\t0.0055838219\t0.0397510000\t404425273\t0\t402718720\t-0.0745506659\t0.0539857112\t-0.1651325524\n2009\t1311867237.4579510689\t0.0492094830\t0.0538351502\t0.0698473677\t0.0055830218\t0.0402850000\t404428677\t0\t402718720\t-0.0748555660\t0.0514419302\t-0.1633600742\n2010\t1311867237.4933559895\t0.0496774837\t0.0538330817\t0.0698473677\t0.0055835296\t0.0391580000\t404431969\t0\t402718720\t-0.0748303682\t0.0533728711\t-0.1618692577\n2011\t1311867237.5253219604\t0.0494466983\t0.0538309005\t0.0698473677\t0.0055843470\t0.0690800000\t404435149\t0\t402718720\t-0.0759090260\t0.0521711223\t-0.1595741957\n2012\t1311867237.5581231117\t0.0504329540\t0.0538292117\t0.0698473677\t0.0055833771\t0.0398820000\t404438161\t0\t402718720\t-0.0759185404\t0.0504761115\t-0.1561430544\n2013\t1311867237.5925350189\t0.0484437905\t0.0538265364\t0.0698473677\t0.0055831320\t0.0400070000\t404441181\t0\t402718720\t-0.0742272735\t0.0512614027\t-0.1568624377\n2014\t1311867237.6261129379\t0.0491185635\t0.0538241988\t0.0698473677\t0.0055819233\t0.0390920000\t404444441\t0\t402718720\t-0.0751460344\t0.0503187329\t-0.1537379473\n2015\t1311867237.6569290161\t0.0488311164\t0.0538217208\t0.0698473677\t0.0055812543\t0.0402780000\t404447565\t0\t402718720\t-0.0750434697\t0.0492314957\t-0.1518285573\n2016\t1311867237.6925010681\t0.0489960872\t0.0538193271\t0.0698473677\t0.0055802036\t0.0588980000\t404450961\t0\t402718720\t-0.0763706267\t0.0494469032\t-0.1499544084\n2017\t1311867237.7243609428\t0.0507062860\t0.0538177837\t0.0698473677\t0.0055788975\t0.0399310000\t404454173\t0\t402718720\t-0.0747825578\t0.0491720960\t-0.1461628675\n2018\t1311867237.7617940903\t0.0495669134\t0.0538156773\t0.0698473677\t0.0055777327\t0.0395240000\t404457609\t0\t402718720\t-0.0770754963\t0.0470222160\t-0.1443189234\n2019\t1311867237.7926809788\t0.0498570204\t0.0538137166\t0.0698473677\t0.0055768921\t0.0519830000\t404460389\t0\t402718720\t-0.0766916424\t0.0477683023\t-0.1417327225\n2020\t1311867237.8255820274\t0.0509432293\t0.0538122955\t0.0698473677\t0.0055768285\t0.0395310000\t404463481\t0\t402718720\t-0.0786889493\t0.0495524295\t-0.1393390000\n2021\t1311867237.8612699509\t0.0498747379\t0.0538103472\t0.0698473677\t0.0055764826\t0.0396910000\t404466941\t0\t402718720\t-0.0776958466\t0.0476063266\t-0.1370394826\n2022\t1311867237.8926060200\t0.0497761667\t0.0538083521\t0.0698473677\t0.0055756689\t0.0494060000\t404469921\t0\t402718720\t-0.0776038244\t0.0491462164\t-0.1352085471\n2023\t1311867237.9253590107\t0.0503305830\t0.0538066329\t0.0698473677\t0.0055745799\t0.0389190000\t404473301\t0\t402718720\t-0.0781768113\t0.0487456359\t-0.1323281825\n2024\t1311867237.9613509178\t0.0504596196\t0.0538049793\t0.0698473677\t0.0055739969\t0.0400290000\t404476385\t0\t402718720\t-0.0775480568\t0.0477570035\t-0.1291332096\n2025\t1311867237.9928910732\t0.0502940305\t0.0538032455\t0.0698473677\t0.0055731517\t0.0391340000\t404479597\t0\t402718720\t-0.0783196911\t0.0472610518\t-0.12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5110000\t421563905\t0\t402718720\t-0.0088032857\t-0.1550675631\t0.2901016474\n3663\t1311867292.6595211029\t0.0527034476\t0.0550779507\t0.0791890547\t0.0059403877\t0.0477580000\t421567285\t0\t402718720\t-0.0087457094\t-0.1549642384\t0.2911193669\n3664\t1311867292.6880218983\t0.0528328717\t0.0550773380\t0.0791890547\t0.0059397573\t0.0592980000\t421570393\t0\t402718720\t-0.0092920344\t-0.1565531939\t0.2915310562\n3665\t1311867292.7206969261\t0.0522969142\t0.0550765793\t0.0791890547\t0.0059392291\t0.0593950000\t421573725\t0\t402718720\t-0.0088565052\t-0.1543760896\t0.2907934189\n3666\t1311867292.7561879158\t0.0522721075\t0.0550758143\t0.0791890547\t0.0059387085\t0.0471140000\t421576985\t0\t402718720\t-0.0078370403\t-0.1557367295\t0.2911868691\n" }, { "path": "icra2018_results/Makefile", "content": "\nrun:\n\tmkdir output -p\n\t./paper_run.sh output\n\nreport.pdf : 1080_violins.pdf tegra_violins.pdf\n\tpdfunite 1080_violins.pdf tegra_violins.pdf $@\n\n%_violins.pdf : % ./*.py \n\t./violins.py $*/violons_* --plot $*_violins.pdf\n\tpdflatex $*_report.tex\n\nclean :\n\trm *.aux *.pdf *.tex *.log -f\n" }, { "path": "icra2018_results/paper_run.sh", "content": "#!/bin/bash\n\nset -x\n\nif [ -z ${1+x} ]; then\n echo \"This command requires one argument, the directory to store log files\";\n exit 1;\nfi\n\nif [ -z ${2+x} ]; then\n echo \"Execute the full benchmark with no extra arguments.\" ;\n DEBUG_ARGUMENTS=\"\";\nelse\n echo \"Execute the debug mode with extra arguments '$2'.\";\n DEBUG_ARGUMENTS=$2;\nfi\n\nLOG_DIRECTORY=$1\n\nif [ -z ${DISPLAY+x} ]; then echo \"DISPLAY is not set\"; else echo \"DISPLAY is set to '$DISPLAY'\"; fi\n\ndatasets=(\n \"datasets/ICL_NUIM/living_room_traj0_loop.slam\"\n \"datasets/ICL_NUIM/living_room_traj1_loop.slam\"\n \"datasets/ICL_NUIM/living_room_traj2_loop.slam\"\n \"datasets/ICL_NUIM/living_room_traj3_loop.slam\"\n \"datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\"\n \"datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\"\n \"datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\"\n \"datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\"\n)\n\nrun_prepare () {\n \n if [ -z ${SKIP_CLEAN+x} ]; then\n\tmake clean\n\tmake cleandatasets\t\n else\n\techo \"WARNING !! We will skip the cleaning step.\";\n fi\n make slambench\n make benchmark APPS=kfusion,efusion,orbslam2,lsdslam,infinitam\n make ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\n \n for i in \"${datasets[@]}\"\n do\n\tmake $i\n done\n\t\n\n}\n\nrun_memory () {\n\n if [ -z ${1+x} ]; then echo \"run_memory requires one argument.\"; exit 1 ; fi\n\n dataset=$1\n dataset_name=`basename -s .slam ${dataset}`\n \n if [ ! -f ${dataset} ]; then continue ; fi\n \n\t \n \n ./build/bin/benchmark_loader -i ${dataset} -load build/lib/liblsdslam-cpp-library.so -o ${LOG_DIRECTORY}/memory_lsdslam_${dataset_name}.log ${DEBUG_ARGUMENTS} || exit 1\n ./build/bin/benchmark_loader -i ${dataset} -load build/lib/libkfusion-cpp-library.so -o ${LOG_DIRECTORY}/memory_kfusion_${dataset_name}.log ${DEBUG_ARGUMENTS} || exit 1\n ./build/bin/benchmark_loader -i ${dataset} -load build/lib/libinfinitam-cpp-library.so -o ${LOG_DIRECTORY}/memory_infinitam_${dataset_name}.log ${DEBUG_ARGUMENTS} || exit 1\n ./build/bin/benchmark_loader -i ${dataset} -load build/lib/liborbslam2-original-library.so -voc ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt -o ${LOG_DIRECTORY}/memory_orbslam2_${dataset_name}.log ${DEBUG_ARGUMENTS} || exit 1\n \n\t\n\tif [ -f build/lib/libkfusion-cuda-library.so ];\n\tthen \n\t ./build/bin/benchmark_loader -i ${dataset} -load build/lib/libkfusion-cuda-library.so -o ${LOG_DIRECTORY}/memory_kfusion_${dataset_name}.log ${DEBUG_ARGUMENTS} || exit 1\n\tfi\n\tif [ -f build/lib/libefusion-cuda-library.so ];\n\tthen \n\t ./build/bin/benchmark_loader -i ${dataset} -load build/lib/libefusion-cuda-library.so --textureDim 512 --nodeTextureDim 2048 -o ${LOG_DIRECTORY}/memory_efusion_${dataset_name}.log ${DEBUG_ARGUMENTS} || exit 1\n\tfi\n\tif [ -f build/lib/libinfinitam-cuda-library.so ];\n\tthen \n\t ./build/bin/benchmark_loader -i ${dataset} -load build/lib/libinfinitam-cuda-library.so -o ${LOG_DIRECTORY}/memory_infinitam_${dataset_name}.log ${DEBUG_ARGUMENTS} || exit 1\n\tfi\n\n \n}\n\n\nrun_violins () {\n\n if [ -z ${2+x} ]; then echo \"run_violins requires two arguments.\"; exit 1 ; fi\n \n for i in \"${datasets[@]}\"\n do\n\tdataset=$i\n\tdataset_name=`basename -s .slam ${dataset}`\n\tlibrary=$1\n\tlibrary_name=`basename -s -library.so ${library}`\n\targuments=$2\n\toutput_log=${LOG_DIRECTORY}/violons_${library_name}_${dataset_name}.log\n\tif [ ! -f ${library} ]; then continue ; fi \n\tif [ ! -f ${dataset} ]; then continue ; fi \n\tif [ -f ${output_log} ]; then rm ${output_log} ; fi \n\t./build/bin/benchmark_loader -i ${dataset} -load ${library} ${arguments} -o ${LOG_DIRECTORY}/violons_${library_name}_${dataset_name}.log ${DEBUG_ARGUMENTS} || exit 1\n done\n}\n\nrun_prepare\n\nrun_memory datasets/ICL_NUIM/living_room_traj2_loop.slam \n\nrun_violins \"build/lib/liblsdslam-cpp-library.so\" \"\"\nrun_violins \"build/lib/liborbslam2-original-library.so\" \"-voc ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\"\nrun_violins \"build/lib/libkfusion-cpp-library.so\" \"\"\nrun_violins \"build/lib/libinfinitam-cpp-library.so\" \"\"\n\n\nrun_violins \"build/lib/libkfusion-cuda-library.so\" \"\"\nrun_violins \"build/lib/libefusion-cuda-library.so\" \"--textureDim 512 --nodeTextureDim 2048\"\nrun_violins \"build/lib/libinfinitam-cuda-library.so\" \"\"\n\n" }, { "path": "icra2018_results/plotutils.py", "content": "#!/usr/bin/python2\n\n\n# DO not use DISPLAY within matplotlib\n#import matplotlib as mpl\n#mpl.use('Agg')\nimport matplotlib.pyplot as plt\n# End of BugFix\n\nimport matplotlib\nimport pylab as plot\n\nfrom slamlog import *\n\n\n#########################################################################################\n# UTILS PLOT\n#########################################################################################\n\n\nmatplotlib.rcParams['pdf.fonttype'] = 42\nmatplotlib.rcParams['ps.fonttype'] = 42\n\n\nparams = {'legend.fontsize': 22,\n 'xtick.labelsize' : 20,\n 'ytick.labelsize' : 20,\n 'figure.titlesize': 20,\n #'legend.linewidth': 2, \n# 'font.size' : 8,\n }\n\n\n\nplot.rcParams.update(params)\n\n\n#font = {\n# 'size' : 18}\n#matplotlib.rc('font', **font)\n\n\n\n\n#########################################################################################\n# UTILS ALGO\n#########################################################################################\n\n\n\nlabels = {\n 'kfusion-cuda' : \"KF-CUDA\",\n 'kfusion-opencl' : \"KF-OCL\",\n 'kfusion-openmp' : \"KF-OMP\",\n 'kfusion-cpp' : \"KF-CPP\",\n 'kfusion-notoon' : \"KF-NOT\",\n \n 'kfusion-octree-openmp' : \"KO-OMP\",\n 'kfusion-octree-cpp' : \"KO-CPP\",\n \n 'efusion-cuda' : \"EF-CUDA\",\n \n 'orbslam2-original' : \"OS2-CPP\",\n \n 'infinitam-cpp' : \"IT-CPP\",\n 'infinitam-openmp' : \"IT-OMP\",\n 'infinitam-cuda' : \"IT-CUDA\",\n \n 'lsdslam-cpp' : \"LS-CPP\",\n 'lsdslam-original_mp' : \"LS-PTH\",\n\n 'ptam-original_mp' : \"PT-PTH\",\n \n 'svo-original' : \"SV-ORI\",\n 'okvis-original' : \"OK-ORI\",\n 'monoslam-sequential' : \"MO-CPP\",\n \n \n}\n\n \n\n\n\ndef getlabel(name) :\n for lab in labels.keys() :\n if lab in name :\n return labels[lab]\n printerr(\"Name '%s' not found in labels '%s'\\n\" % (name,labels))\n exit(1)\n \n\nshort_list = [\n \"living_room_traj0_loop.slam\",\n \"living_room_traj1_loop.slam\",\n \"living_room_traj2_loop.slam\",\n \"living_room_traj3_loop.slam\",\n \"rgbd_dataset_freiburg1_rpy.slam\" ,\n \"rgbd_dataset_freiburg2_rpy.slam\" ,\n \"rgbd_dataset_freiburg1_xyz.slam\" ,\n \"rgbd_dataset_freiburg2_xyz.slam\" ,\n]\n\n\n\n#############################################################################################\n######## VISUALIZATION\n#############################################################################################\n\n\n\n\ndef generate_violins (data) :\n\n violins = {}\n\n datasets = []\n for a in data :\n datasets = list ( set ( datasets + data[a].keys() ) ) \n algorithms = data.keys()\n\n \n for algorithm in data :\n for dataset in data[algorithm] :\n for it in data[algorithm][dataset] :\n if not STATISTICS_SECTION in it.keys() :\n printerr (\"Invalid data (%s,%s), no STATISTICS_SECTION.\\n\" % (algorithm,dataset))\n exit(1)\n\n \n if not ATE_COLUMN in it[STATISTICS_SECTION].keys() :\n printerr (\"Invalid data(%s,%s), no ATE_COLUMN.\\n\" % (algorithm,dataset))\n exit(1)\n\n \n\n for algorithm in data :\n MeanATE = []\n FPS = []\n Memory = []\n for dataset in data[algorithm] :\n \n for it in data[algorithm][dataset] :\n MeanATE += [it[STATISTICS_SECTION][ATE_COLUMN][MEAN_FIELD]]\n Memory += [it[STATISTICS_SECTION][CPU_MEMORY_COLUMN][MAX_FIELD] / 1000000]\n FPS += [1 / it[STATISTICS_SECTION][DURATION_COLUMN][MEAN_FIELD]]\n \n \n violins[algorithm] = { ATE_COLUMN : MeanATE , FPS_COLUMN : FPS , CPU_MEMORY_COLUMN : Memory }\n\n return violins\n\n\n\ndef plot_violins (data, filename , order) :\n\n violins = data\n\n ## PLOT DATA ##\n\n\n \n algo_long_name = [x for x in violins.keys() if getlabel(x) in order]\n algo_short_name = [getlabel(x) for x in violins.keys() if getlabel(x) in order]\n\n algo_position = [order.index(x) for x in algo_short_name]\n\n \n algo_ordered = [x for _,x in sorted(zip(algo_position,algo_long_name))]\n \n algos = algo_ordered\n pos = [x for x in xrange(len(algos))]\n\n if len(pos) == 0 :\n printerr(\"Empty data, cannot draw anything.\\n\")\n return False\n \n\n fig, axes = plt.subplots(nrows=1, ncols=3, figsize=(18, 5))\n\n FPS_DATA = [ violins[algo][FPS_COLUMN] for algo in algos ]\n ATE_DATA = [ violins[algo][ATE_COLUMN] for algo in algos ]\n MEM_DATA = [ violins[algo][CPU_MEMORY_COLUMN] for algo in algos ]\n\n LABELS = [ getlabel(algo) for algo in algos ]\n \n axes[0].violinplot(FPS_DATA, pos, points=60, widths=0.7, showmeans=True, showextrema=True, showmedians=True, bw_method='silverman')\n axes[0].set_title('Speed (FPS)' , fontsize = 20)\n\n axes[1].violinplot(ATE_DATA, pos, points=60, widths=0.7, showmeans=True, showextrema=True, showmedians=True, bw_method='silverman')\n axes[1].set_title('Accuracy (ATE in meters)', fontsize = 20)\n\n axes[2].violinplot(MEM_DATA, pos, points=60, widths=0.7, showmeans=True, showextrema=True, showmedians=True, bw_method='silverman')\n axes[2].set_title('Memory CPU (MB)', fontsize = 14 )\n\n\n\n for ax in axes.flatten():\n ax.set_xticks(pos)\n ax.set_xticklabels(LABELS)\n\n for label in ax.get_xmajorticklabels():\n label.set_rotation(30)\n label.set_horizontalalignment(\"right\")\n \n \n if filename :\n fig.subplots_adjust(hspace=0.4)\n plt.savefig(filename, bbox_inches='tight')\n else :\n plt.show()\n\n return True\n\n" }, { "path": "icra2018_results/slamlog.py", "content": "#!/usr/bin/python2\n\nimport os\nimport time\nimport re\nimport math\nimport numpy as np\n\nfrom utils import *\n\nLIBRARY_NAME_PROPERTY = \"load-slam-library\"\n\nPROPERTIES_SECTION = \"Properties\"\nSTATISTICS_SECTION = \"Statistics\"\n\nFRAME_NUMBER_COLUMN = \"Frame Number\"\n\nATE_COLUMN = \"AbsoluteError\"\nCPU_MEMORY_COLUMN = \"CPU_Memory\"\nDURATION_COLUMN = \"Duration_Frame\"\n\nFPS_COLUMN = \"FPS\"\n\n\nMAX_FIELD = \"MAX\" \nMIN_FIELD = \"MIN\" \nMEAN_FIELD = \"MEAN\" \nCOUNT_FIELD = \"COUNT\" \nMEDIAN_FIELD = \"MEDIAN\" \n\nMAX_SUFFIX = \"_MAX\" \nMIN_SUFFIX = \"_MIN\" \nMEAN_SUFFIX = \"_MEAN\" \nCOUNT_SUFFIX = \"_COUNT\" \nMEDIAN_SUFFIX = \"_MEDIAN\" \n\n#############################################################################################\n######## PARSERS\n#############################################################################################\n\ndef load_data_from_input_dirs ( input_dirs ) :\n\n filelist = []\n for dirname in input_dirs :\n try :\n filelist += [os.path.join(dirname, f) for f in os.listdir(dirname) if f[-4:] == \".log\" and os.path.isfile(os.path.join(dirname, f))]\n except OSError :\n printerr(\"Working directory %s not found.\\n\" % dirname )\n return None\n printinfo(\"%d files to load ...\\n\" % len(filelist))\n data = load_data_from_files (filelist)\n return data\n\ndef load_data_from_file(filename) :\n\n \n start_time = time.time()\n \n f = open(filename)\n raw = f.read()\n f.close()\n\n inside = None\n headers = None\n\n data = {\"date\" : None , STATISTICS_SECTION : {} , PROPERTIES_SECTION : {}}\n lines = raw.split(\"\\n\")\n load_time = time.time()\n \n for line in lines :\n \n if line == \"Process every frame mode enabled\" :\n continue\n if line[0:len(\"SLAMBench Report run started:\")] == \"SLAMBench Report run started:\" :\n matching_header = re.match(\"SLAMBench Report run started:\\s+(.*)\",line)\n assert(matching_header)\n data[\"date\"] = str(matching_header.group(1))\n continue\n\n if re.match(PROPERTIES_SECTION + \":\",line) :\n inside = PROPERTIES_SECTION\n continue\n \n if re.match(STATISTICS_SECTION + \":\",line) :\n inside = STATISTICS_SECTION\n continue\n\n if line == \"\" :\n continue\n \n if re.match(\"=+\",line) :\n if inside != None : \n continue\n else :\n printerr (\"Error unknow section.\\n\")\n return None\n\n if inside == PROPERTIES_SECTION :\n matching_arguments = re.match(\"\\s*(.*):\\s+(.*)\\s*\",line)\n if matching_arguments :\n data[PROPERTIES_SECTION][matching_arguments.group(1)] = matching_arguments.group(2)\n continue\n \n if inside == STATISTICS_SECTION :\n matching_fields = line.split(\"\\t\")\n if matching_fields :\n if headers and len(headers) == len(matching_fields):\n for i in xrange (len(matching_fields)) :\n current_value = float(\"NaN\")\n try :\n current_value = float(matching_fields[i])\n except ValueError:\n current_value = float(\"NaN\")\n data[STATISTICS_SECTION][headers[i]] += [current_value]\n #if math.isnan(float(matching_fields[i])) :\n # printerr ( INVALID + \" %s : Error while parsing the file, NaN found.\\n\" % filename )\n # return None\n continue\n else :\n if headers :\n printerr (\"New \\n\")\n headers = matching_fields[:]\n for k in headers :\n if not k in data[STATISTICS_SECTION].keys():\n data[STATISTICS_SECTION][k] = []\n continue\n \n\n \n printerr (\"[load_data_from_file('%s')] Error line not parsed inside '%s': '%s'\\n\" % (filename,inside,line))\n return None\n loop_time = time.time()\n\n if headers == None :\n return None\n #print \"load = %f\" % (1000 * (load_time - start_time) )\n #print \"loop = %f\" % (1000 * (loop_time - load_time) )\n \n return data\n\ndef turn_data_to_stats(data) :\n stats = {}\n if not data or not STATISTICS_SECTION in data.keys() :\n printerr(\"no data or no STATISTICS_SECTION in data.keys()\\n\")\n return None\n if not FRAME_NUMBER_COLUMN in data[STATISTICS_SECTION].keys() :\n printerr(\"no '%s' in data[STATISTICS_SECTION].keys()\\n\" % FRAME_NUMBER_COLUMN )\n printerr(\"data[STATISTICS_SECTION].keys() = %s\\n\" % data[STATISTICS_SECTION].keys() )\n return None\n frame_count = len(data[STATISTICS_SECTION][FRAME_NUMBER_COLUMN])\n last_algorithm_name = None\n\n ## FIRST PASS TO FIND ALGO SPECIFIC FIELDS \n for k in data[STATISTICS_SECTION].keys() :\n matching_key = re.match(\"^((.+)-)?(.+)$\",k)\n\n if not matching_key :\n printerr (\"Error with '%s' does not match any known field names.\\n\" % k)\n printerr (\"Statistics header was :\\n%s\\n\" % data[STATISTICS_SECTION].keys() )\n return None\n algorithm_name = matching_key.group(2)\n row_name = matching_key.group(3)\n if not algorithm_name and not row_name in [\"Frame Number\", \"Timestamp\"] :\n algorithm_name = \"unnamed\"\n if (algorithm_name) :\n if not algorithm_name in stats.keys() :\n stats[algorithm_name] = {}\n if not row_name in stats[algorithm_name].keys() :\n stats[algorithm_name][row_name] = {}\n valid_numbers = [ x for x in data[STATISTICS_SECTION][k] if not math.isnan(float(x)) ]\n if len(valid_numbers) > 0 : \n stats[algorithm_name][row_name] = {\n COUNT_FIELD: len(valid_numbers),\n MIN_FIELD: min(valid_numbers),\n MAX_FIELD: max(valid_numbers),\n MEDIAN_FIELD: np.median(valid_numbers),\n MEAN_FIELD: np.mean(valid_numbers)\n }\n else :\n stats[algorithm_name][row_name] = {\n COUNT_FIELD: len(valid_numbers),\n MIN_FIELD: float(\"NaN\"),\n MAX_FIELD: float(\"NaN\"),\n MEDIAN_FIELD: float(\"NaN\"),\n MEAN_FIELD: float(\"NaN\"),\n }\n if not last_algorithm_name :\n last_algorithm_name = algorithm_name\n else :\n if algorithm_name != last_algorithm_name :\n printerr (\"More than one algo used, current algorithm name is '%s', new algorithm name is '%s' unsupported case.\" % ( last_algorithm_name, algorithm_name ) )\n exit(1)\n\n return stats\n\ndef load_data_from_files (filelist) :\n data = {}\n for filename in filelist :\n \n start_time = time.time()\n temp = load_data_from_file(filename)\n load_time = (time.time() - start_time) * 1000\n \n if temp and STATISTICS_SECTION in temp.keys()and PROPERTIES_SECTION in temp.keys() :\n stats = turn_data_to_stats(temp)\n \n if not \"input\" in temp[PROPERTIES_SECTION].keys() :\n printerr (\" %s : input argument not found.\\n\" % filename )\n continue\n \n dataset = temp[PROPERTIES_SECTION][\"input\"]\n #dataset = dataset.split(\"/\")[-1]\n\n libraryname = temp[PROPERTIES_SECTION][LIBRARY_NAME_PROPERTY]\n \n if stats == None :\n printerr (\" %s : stats == None.\\n\" % filename )\n continue\n\n if len(stats.keys()) != 1 :\n printerr(\"This file has more than one algorithm or no algorithm\\n\")\n continue\n\n \n if not libraryname in data.keys() :\n data[libraryname] = {}\n \n if not dataset in data[libraryname].keys() :\n data[libraryname][dataset] = []\n \n data[libraryname][dataset] += [{PROPERTIES_SECTION : temp[PROPERTIES_SECTION] , \"date\" : temp[\"date\"], STATISTICS_SECTION : stats.values()[0]}]\n printinfo (\" %s loaded in %f ms : len of stats = %d\\n\" % (filename,load_time,len(stats.keys())))\n else :\n printerr (\" %s : Error while loading the file. \\n\" % (filename))\n \n return data\n\n\ndef flat_data (data_array, Xcols, Ycols) :\n \n main = {}\n for run in data_array :\n wee = {}\n for col in run[PROPERTIES_SECTION] :\n if col in Xcols :\n wee[col] = run[PROPERTIES_SECTION][col]\n \n for col in run[STATISTICS_SECTION] :\n for subcol in run[STATISTICS_SECTION][col].keys() :\n if col + \"_\" + subcol in Ycols :\n wee[col + \"_\" + subcol] = run[STATISTICS_SECTION][col][subcol]\n if len(main.keys()) != 0 and len(main.keys()) != len(wee.keys()) :\n printerr(\"Invalid datapoint.\\n\")\n exit(1)\n\n for x in Xcols + Ycols :\n if not x in wee.keys() :\n printerr(\"%s not found in the log.\\n\" % x)\n exit(1)\n \n for row in wee.keys() :\n if not row in main :\n main [row] = []\n main [row] += [wee[row]]\n \n return main\n" }, { "path": "icra2018_results/tegra/memory_efusion_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 05:42:01\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//memory_efusion_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /harddrive/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.2031840000\t88427038\t95654128\t1762373632\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0026374757\t0.0013187379\t0.0026374757\t0.0017024400\t0.9474030000\t88630210\t95654128\t1764880384\t-0.0024953254\t-0.0007021125\t0.0006995602\n3\t0.0800000000\t0.0101173818\t0.0042516192\t0.0101173818\t0.0039606649\t0.8080910000\t88632228\t95654128\t1766785024\t-0.0043978756\t-0.0079790503\t0.0020776484\n4\t0.1200000000\t0.0064746188\t0.0048073691\t0.0101173818\t0.0045292216\t0.8297310000\t88632990\t95654128\t1768689664\t-0.0073182695\t-0.0036471700\t0.0007300427\n5\t0.1600000000\t0.0057244324\t0.0049907818\t0.0101173818\t0.0042780893\t0.8271450000\t88635120\t95654128\t1770340352\t-0.0100418907\t-0.0023229974\t0.0015760884\n6\t0.2000000000\t0.0113287689\t0.0060471129\t0.0113287689\t0.0041826629\t0.8321950000\t88637470\t95654128\t1771974656\t-0.0072733378\t-0.0091877244\t0.0032580164\n7\t0.2400000000\t0.0137613313\t0.0071491441\t0.0137613313\t0.0039205636\t0.9063320000\t88637904\t95654128\t1773711360\t-0.0084408261\t-0.0116500510\t0.0038376036\n8\t0.2800000000\t0.0109567223\t0.0076250914\t0.0137613313\t0.0037287651\t1.2978830000\t88639598\t95654128\t1774829568\t-0.0091288676\t-0.0088033425\t0.0031799795\n9\t0.3200000000\t0.0101161199\t0.0079018724\t0.0137613313\t0.0035643689\t1.6133170000\t88641932\t95654128\t1776844800\t-0.0096302973\t-0.0089874156\t0.0023234256\n10\t0.3600000000\t0.0064781415\t0.0077594993\t0.0137613313\t0.0034957043\t1.6552660000\t88643678\t95654128\t1778597888\t-0.0094802184\t-0.0044326806\t0.0014241862\n11\t0.4000000000\t0.0061003678\t0.0076086691\t0.0137613313\t0.0038332496\t1.8122720000\t88645372\t95654128\t1780088832\t-0.0113054272\t-0.0049017230\t0.0014363085\n12\t0.4400000000\t0.0057260180\t0.0074517815\t0.0137613313\t0.0037279963\t1.5530590000\t88647182\t95654128\t1781739520\t-0.0091215577\t-0.0047794878\t0.0001811116\n13\t0.4800000000\t0.0093538854\t0.0075980972\t0.0137613313\t0.0035729087\t1.6520310000\t88647616\t95654128\t1783390208\t-0.0064525381\t-0.0063047465\t-0.0000028049\n14\t0.5200000000\t0.0097767208\t0.0077537132\t0.0137613313\t0.0034581787\t1.8234030000\t88649310\t95654128\t1785016320\t-0.0058873254\t-0.0053321063\t-0.0006355807\n15\t0.5600000000\t0.0114299888\t0.0079987982\t0.0137613313\t0.0033448731\t1.8961130000\t88651004\t95654128\t1786793984\t-0.0082499012\t-0.0058251023\t0.0007048107\n16\t0.6000000000\t0.0188821405\t0.0086790071\t0.0188821405\t0.0034238047\t1.6572270000\t88651438\t95654128\t1785524224\t-0.0077722063\t-0.0163366795\t0.0019653698\n17\t0.6400000000\t0.0165153481\t0.0091399684\t0.0188821405\t0.0034398740\t2.2489750000\t88654412\t95654128\t1786896384\t-0.0106976377\t-0.0154727967\t0.0002382895\n18\t0.6800000000\t0.0189564284\t0.0096853272\t0.0189564284\t0.0034203341\t1.8637490000\t88658730\t95654128\t1784737792\t-0.0070967162\t-0.0152675295\t0.0006038457\n19\t0.7200000000\t0.0173973534\t0.0100912234\t0.0189564284\t0.0034630097\t2.2296280000\t88659164\t95654128\t1786007552\t-0.0088220974\t-0.0132348388\t-0.0007003625\n20\t0.7600000000\t0.0186653025\t0.0105199273\t0.0189564284\t0.0034202548\t1.5727450000\t88660858\t95654128\t1787760640\t-0.0128809717\t-0.0167293735\t0.0001345953\n21\t0.8000000000\t0.0249640271\t0.0112077416\t0.0249640271\t0.0033981273\t1.1015940000\t88662668\t95654128\t1784713216\t-0.0109311007\t-0.0200380180\t0.0010270901\n22\t0.8400000000\t0.0286661051\t0.0120013036\t0.0286661051\t0.0034129316\t1.9831890000\t88663022\t95654128\t1785982976\t-0.0121446857\t-0.0219160989\t0.0007911119\n23\t0.8800000000\t0.0292122103\t0.0127496039\t0.0292122103\t0.0033463056\t2.2179940000\t88664716\t95654128\t1788006400\t-0.0124380551\t-0.0242104828\t0.0000529512\n24\t0.9200000000\t0.0254716799\t0.0132796904\t0.0292122103\t0.0033201928\t1.5735810000\t88666410\t95654128\t1784705024\t-0.0235000979\t-0.0201853029\t-0.0014848781\n25\t0.9600000000\t0.0292996839\t0.0139204901\t0.0292996839\t0.0032720952\t1.8021750000\t88666844\t95654128\t1785974784\t-0.0244310405\t-0.0233809967\t-0.0008299848\n26\t1.0000000000\t0.0297313035\t0.0145285983\t0.0297313035\t0.0032568555\t2.0844480000\t88668522\t95654128\t1788006400\t-0.0265735537\t-0.0223783888\t-0.0013773779\n27\t1.0400000000\t0.0317729115\t0.0151672766\t0.0317729115\t0.0032707686\t2.1589860000\t88670216\t95654128\t1784705024\t-0.0304499213\t-0.0242788196\t-0.0041726837\n28\t1.0800000000\t0.0342184529\t0.0158476757\t0.0342184529\t0.0034082894\t2.1515610000\t88670650\t95654128\t1785966592\t-0.0343751870\t-0.0249869786\t-0.0040311930\n29\t1.1200000000\t0.0409410000\t0.0167129628\t0.0409410000\t0.0037325246\t1.8288640000\t88672328\t95654128\t1787998208\t-0.0378549546\t-0.0311953016\t-0.0045892932\n30\t1.1600000000\t0.0362495072\t0.0173641809\t0.0409410000\t0.0036727095\t0.9585820000\t88674022\t95654128\t1784713216\t-0.049841076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}, { "path": "icra2018_results/tegra/memory_infinitam_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 05:59:26\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//memory_infinitam_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.0597430000\t8923125\t955859216\t1768988672\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0025752268\t0.0012876134\t0.0025752268\t0.0016431226\t0.0897820000\t9088907\t955859216\t1766846464\t0.0001475584\t-0.0015264876\t0.0011166611\n3\t0.0800000000\t0.0054430887\t0.0026727718\t0.0054430887\t0.0017192722\t0.0949580000\t9090485\t955859216\t1765810176\t-0.0038318611\t-0.0031151283\t0.0017624116\n4\t0.1200000000\t0.0070806267\t0.0037747356\t0.0070806267\t0.0015476567\t0.0783950000\t9092067\t955859216\t1765052416\t-0.0022677977\t-0.0055363895\t0.0010813347\n5\t0.1600000000\t0.0088763768\t0.0047950638\t0.0088763768\t0.0013746952\t0.0522730000\t9093641\t955859216\t1765064704\t-0.0045966683\t-0.0063697565\t0.0030369051\n6\t0.2000000000\t0.0102836676\t0.0057098311\t0.0102836676\t0.0012633804\t0.0860970000\t9095551\t955859216\t1765064704\t-0.0038756605\t-0.0083152633\t0.0025941189\n7\t0.2400000000\t0.0119049335\t0.0065948457\t0.0119049335\t0.0012487813\t0.0885220000\t9096805\t955859216\t1765064704\t-0.0037846602\t-0.0100250626\t0.0033162425\n8\t0.2800000000\t0.0135537134\t0.0074647042\t0.0135537134\t0.0012151469\t0.0504240000\t9098059\t955859216\t1765064704\t-0.0048535271\t-0.0114145745\t0.0035833460\n9\t0.3200000000\t0.0144994939\t0.0082463475\t0.0144994939\t0.0012412189\t0.0959810000\t9099953\t955859216\t1765064704\t-0.0065839612\t-0.0129050696\t0.0038821029\n10\t0.3600000000\t0.0164364353\t0.0090653563\t0.0164364353\t0.0012859367\t0.0751830000\t9102519\t955859216\t1765064704\t-0.0065586180\t-0.0136254942\t0.0049675517\n11\t0.4000000000\t0.0168208610\t0.0097704022\t0.0168208610\t0.0015209797\t0.0960850000\t9103773\t955859216\t1765048320\t-0.0073920619\t-0.0148503836\t0.0057736412\n12\t0.4400000000\t0.0183891989\t0.0104886352\t0.0183891989\t0.0018467156\t0.0829480000\t9105027\t955859216\t1765048320\t-0.0073362282\t-0.0165973045\t0.0053857188\n13\t0.4800000000\t0.0194620825\t0.0111789004\t0.0194620825\t0.0019769403\t0.0695530000\t9106281\t955859216\t1765048320\t-0.0093070837\t-0.0177589189\t0.0062027662\n14\t0.5200000000\t0.0215980578\t0.0119231259\t0.0215980578\t0.0019383622\t0.0674580000\t9107535\t955859216\t1765064704\t-0.0092706047\t-0.0187649578\t0.0061609098\n15\t0.5600000000\t0.0229644962\t0.0126592173\t0.0229644962\t0.0018718496\t0.0470440000\t9108789\t955859216\t1765064704\t-0.0118011450\t-0.0189078078\t0.0072193570\n16\t0.6000000000\t0.0226317476\t0.0132825004\t0.0229644962\t0.0018586901\t0.0376670000\t9110043\t955859216\t1766686720\t-0.0113949236\t-0.0204338618\t0.0061442838\n17\t0.6400000000\t0.0235379171\t0.0138857602\t0.0235379171\t0.0018264788\t0.0728750000\t9112577\t955859216\t1765937152\t-0.0131545905\t-0.0226019658\t0.0049283509\n18\t0.6800000000\t0.0242423695\t0.0144611274\t0.0242423695\t0.0017726472\t0.0712870000\t9116455\t955859216\t1764921344\t-0.0144393304\t-0.0231225416\t0.0060585872\n19\t0.7200000000\t0.0251637604\t0.0150244239\t0.0251637604\t0.0017822440\t0.0459720000\t9117709\t955859216\t1766449152\t-0.0158731714\t-0.0237435065\t0.0058728126\n20\t0.7600000000\t0.0248112231\t0.0155137638\t0.0251637604\t0.0018968832\t0.0458590000\t9118963\t955859216\t1765687296\t-0.0188205540\t-0.0246393383\t0.0053884941\n21\t0.8000000000\t0.0255656186\t0.0159924236\t0.0255656186\t0.0018578846\t0.1028640000\t9120217\t955859216\t1765052416\t-0.0216071624\t-0.0244442672\t0.0059025409\n22\t0.8400000000\t0.0259808525\t0.0164464431\t0.0259808525\t0.0018338707\t0.0580290000\t9121471\t955859216\t1765036032\t-0.0269909985\t-0.0256290380\t0.0054998826\n23\t0.8800000000\t0.0264334213\t0.0168806595\t0.0264334213\t0.0017935829\t0.0712620000\t9122725\t955859216\t1765048320\t-0.0269468036\t-0.0270331521\t0.0040376564\n24\t0.9200000000\t0.0290597994\t0.0173881237\t0.0290597994\t0.0017821474\t0.0893490000\t9123979\t955859216\t1765048320\t-0.0341918580\t-0.0279779620\t0.0039193849\n25\t0.9600000000\t0.0310401898\t0.0179342063\t0.0310401898\t0.0017833433\t0.0510710000\t9125233\t955859216\t1766686720\t-0.0355961137\t-0.0287271813\t0.0036785232\n26\t1.0000000000\t0.0305415951\t0.0184191059\t0.0310401898\t0.0017524110\t0.0462380000\t9126487\t955859216\t1765687296\t-0.0414847545\t-0.0297263749\t0.0043636300\n27\t1.0400000000\t0.0317068398\t0.0189112442\t0.0317068398\t0.0018685308\t0.0926110000\t9127741\t955859216\t1765048320\t-0.0470278114\t-0.0315539911\t0.0024883752\n28\t1.0800000000\t0.0337449275\t0.0194410186\t0.0337449275\t0.0020566351\t0.0650310000\t9128995\t955859216\t1765064704\t-0.0515090376\t-0.0317295343\t0.0026655416\n29\t1.1200000000\t0.0356403999\t0.0199996180\t0.0356403999\t0.0022451838\t0.0417620000\t9130249\t955859216\t1766576128\t-0.0572053567\t-0.0333285481\t0.0003417806\n30\t1.1600000000\t0.0347846821\t0.0204924534\t0.0356403999\t0.0022612490\t0.0433460000\t9131503\t955859216\t1765814272\t-0.0664434433\t-0.03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}, { "path": "icra2018_results/tegra/memory_kfusion_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 05:39:58\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//memory_kfusion_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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0\t0.0333600000\t0.0001390000\t0.0001050000\t0.0511200000\t9644530\t96830484\t1768558592\t3.4254567623\t4.1587615013\t5.1712312698\n882\t35.2400000000\t0.0050800606\t0.0093027726\t0.0234041400\t0.0080018208\t0.1099180000\t0.0087890000\t0.0578220000\t0.0000260000\t0.0003100000\t0.0317820000\t9646204\t96830484\t1770094592\t3.4260027409\t4.1547079086\t5.1718630791\n" }, { "path": "icra2018_results/tegra/memory_lsdslam_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 04:30:01\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//memory_lsdslam_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.0403960000\t86789171\t0\t1770831872\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0010192674\t0.0005096337\t0.0010192674\t0.0016461832\t0.1277050000\t98511908\t0\t1779458048\t-0.0006004850\t-0.0001168514\t0.0001065529\n3\t0.0800000000\t0.0050369492\t0.0020187388\t0.0050369492\t0.0023323772\t0.1242850000\t101782498\t0\t1783267328\t-0.0005712212\t-0.0001159408\t-0.0002626191\n4\t0.1200000000\t0.0030104611\t0.0022666694\t0.0050369492\t0.0021966427\t0.1047580000\t101784080\t0\t1784156160\t-0.0008395689\t-0.0004368157\t-0.0003820120\n5\t0.1600000000\t0.0058183502\t0.0029770056\t0.0058183502\t0.0019631229\t0.0969810000\t101785670\t0\t1784664064\t-0.0009796099\t-0.0000026681\t-0.0002612149\n6\t0.2000000000\t0.0051384396\t0.0033372446\t0.0058183502\t0.0018813674\t0.0981920000\t101787580\t0\t1785171968\t-0.0005846015\t-0.0000756629\t-0.0006002688\n7\t0.2400000000\t0.0052057360\t0.0036041719\t0.0058183502\t0.0017249274\t0.0963920000\t101788834\t0\t1785679872\t-0.0005683512\t0.0000713196\t-0.0004218031\n8\t0.2800000000\t0.0065800366\t0.0039761550\t0.0065800366\t0.0016589873\t0.0958290000\t101790088\t0\t1786187776\t-0.0006064161\t0.0001757641\t-0.0005147499\n9\t0.3200000000\t0.0080526276\t0.0044290964\t0.0080526276\t0.0016338017\t0.1087700000\t101792014\t0\t1786822656\t-0.0010380618\t0.0000522985\t-0.0005211149\n10\t0.3600000000\t0.0081044836\t0.0047966351\t0.0081044836\t0.0016452099\t0.1095000000\t101794580\t0\t1787330560\t-0.0013087967\t0.0000751047\t-0.0004509388\n11\t0.4000000000\t0.0093985079\t0.0052149872\t0.0093985079\t0.0018086935\t0.0935730000\t101795834\t0\t1787838464\t-0.0008956442\t0.0000751497\t-0.0001809046\n12\t0.4400000000\t0.0094707115\t0.0055696309\t0.0094707115\t0.0021760242\t0.1013130000\t101797088\t0\t1785970688\t-0.0007592409\t-0.0000004653\t-0.0004498172\n13\t0.4800000000\t0.0110083176\t0.0059879914\t0.0110083176\t0.0022165767\t0.0932590000\t101798342\t0\t1786064896\t-0.0016797759\t-0.0000336222\t-0.0001003948\n14\t0.5200000000\t0.0109668421\t0.0063436236\t0.0110083176\t0.0021936693\t0.1290880000\t101799596\t0\t1786699776\t-0.0019601998\t-0.0010239633\t-0.0000114675\n15\t0.5600000000\t0.0139693972\t0.0068520085\t0.0139693972\t0.0021532663\t0.0999940000\t101800850\t0\t1787207680\t-0.0020311738\t0.0001297701\t-0.0003221621\n16\t0.6000000000\t0.0133044329\t0.0072552850\t0.0139693972\t0.0022222525\t0.0968130000\t101802104\t0\t1787330560\t-0.0015770770\t-0.0000095433\t-0.0005183020\n17\t0.6400000000\t0.0138059678\t0.0076406193\t0.0139693972\t0.0022506147\t0.0952150000\t101804702\t0\t1787711488\t-0.0031563127\t-0.0012518218\t-0.0008958530\n18\t0.6800000000\t0.0174066201\t0.0081831749\t0.0174066201\t0.0023576268\t0.0997690000\t101808580\t0\t1785970688\t-0.0016305163\t-0.0045932359\t-0.0006293858\n19\t0.7200000000\t0.0175940525\t0.0086784842\t0.0175940525\t0.0025287944\t0.0836120000\t101809834\t0\t1785970688\t-0.0023679067\t-0.0004590496\t-0.0013908840\n20\t0.7600000000\t0.0203371495\t0.0092614175\t0.0203371495\t0.0025887978\t0.0857380000\t101811088\t0\t1786572800\t-0.0026742879\t-0.0005095035\t-0.0014838526\n21\t0.8000000000\t0.0241026115\t0.0099681410\t0.0241026115\t0.0025306111\t0.0929630000\t101812342\t0\t1787080704\t-0.0018643828\t-0.0001886232\t-0.0016553181\n22\t0.8400000000\t0.0295360908\t0.0108575933\t0.0295360908\t0.0026147085\t0.0953560000\t101813596\t0\t1787334656\t-0.0021180592\t-0.0002901079\t-0.0015466685\n23\t0.8800000000\t0.0290697664\t0.0116494269\t0.0295360908\t0.0025784997\t0.0998500000\t101814850\t0\t1787584512\t-0.0020464342\t0.0000018626\t-0.0023590252\n24\t0.9200000000\t0.0353328027\t0.0126362342\t0.0353328027\t0.0028168712\t0.1072840000\t101816104\t0\t1788092416\t-0.0040983660\t-0.0000607162\t-0.0031312595\n25\t0.9600000000\t0.0355542935\t0.0135529566\t0.0355542935\t0.0027710757\t0.0855950000\t101817358\t0\t1785970688\t-0.0050165136\t0.0009018445\t-0.0037801615\n26\t1.0000000000\t0.0407121740\t0.0145975419\t0.0407121740\t0.0028418536\t0.1170200000\t101818612\t0\t1785171968\t-0.0061556743\t0.0006631495\t-0.0029550409\n27\t1.0400000000\t0.0460832566\t0.0157636795\t0.0460832566\t0.0030270922\t0.0952960000\t101819866\t0\t1785171968\t-0.0064671142\t0.0004708096\t-0.0043465942\n28\t1.0800000000\t0.0490001515\t0.0169506963\t0.0490001515\t0.0033444868\t0.1024960000\t101821120\t0\t1785679872\t-0.0083510950\t-0.0004519974\t-0.0040306961\n29\t1.1200000000\t0.0525595061\t0.0181785863\t0.0525595061\t0.0036697888\t0.1023120000\t101822374\t0\t1786187776\t-0.0109448284\t-0.0000379827\t-0.0050467951\n30\t1.1600000000\t0.0573767237\t0.0194851909\t0.0573767237\t0.0041520138\t0.1661480000\t101823628\t0\t1786568704\t-0.0156682190\t-0.0000791074\t-0.0038885016\n31\t1.2000000000\t0.0600685775\t0.0207943324\t0.0600685775\t0.0043312046\t0.1409640000\t101824882\t0\t1786695680\t-0.0195193309\t-0.000371879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}, { "path": "icra2018_results/tegra/memory_orbslam2_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 05:34:29\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//memory_orbslam2_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.1649010000\t225834516\t0\t1384038400\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0016766530\t0.0008383265\t0.0016766530\t0.0014063064\t0.1845110000\t229184282\t0\t1493618688\t0.0009001556\t0.0000838387\t-0.0003908983\n3\t0.0800000000\t0.0015822555\t0.0010863028\t0.0016766530\t0.0011931997\t0.1798370000\t229113697\t0\t1495388160\t-0.0042050271\t0.0008191089\t-0.0003776929\n4\t0.1200000000\t0.0026836172\t0.0014856314\t0.0026836172\t0.0013483090\t0.1846090000\t229116406\t0\t1497165824\t-0.0006538451\t0.0009003719\t-0.0009791600\n5\t0.1600000000\t0.0037289024\t0.0019342856\t0.0037289024\t0.0014272208\t0.1841360000\t229118172\t0\t1498927104\t-0.0039363396\t-0.0008332552\t0.0007687336\n6\t0.2000000000\t0.0014823029\t0.0018589552\t0.0037289024\t0.0016825643\t0.1816980000\t229122918\t0\t1500594176\t-0.0040361751\t0.0016616849\t-0.0002794753\n7\t0.2400000000\t0.0013730575\t0.0017895412\t0.0037289024\t0.0015480394\t0.1850950000\t229125328\t0\t1502482432\t-0.0044940715\t0.0020401087\t-0.0001060311\n8\t0.2800000000\t0.0022861408\t0.0018516162\t0.0037289024\t0.0014893680\t0.1804420000\t229126806\t0\t1504149504\t-0.0048252293\t0.0018688004\t0.0000165534\n9\t0.3200000000\t0.0012211959\t0.0017815695\t0.0037289024\t0.0017255683\t0.1810450000\t229128548\t0\t1505689600\t-0.0081305970\t0.0012921972\t-0.0007769379\n10\t0.3600000000\t0.0033468958\t0.0019381021\t0.0037289024\t0.0017277050\t0.1806620000\t229131178\t0\t1507450880\t-0.0061322437\t0.0032521156\t-0.0002586971\n11\t0.4000000000\t0.0013857047\t0.0018878842\t0.0037289024\t0.0020047483\t0.1792020000\t229133348\t0\t1509355520\t-0.0092456676\t0.0000619719\t0.0013931724\n12\t0.4400000000\t0.0007803517\t0.0017955898\t0.0037289024\t0.0022762747\t0.1793340000\t229134626\t0\t1511006208\t-0.0101746200\t0.0001026162\t0.0000843234\n13\t0.4800000000\t0.0019019429\t0.0018037708\t0.0037289024\t0.0023894798\t0.1827040000\t229135936\t0\t1512656896\t-0.0112792291\t-0.0005289036\t0.0002776457\n14\t0.5200000000\t0.0032929734\t0.0019101424\t0.0037289024\t0.0023172562\t0.1791090000\t229138562\t0\t1514434560\t-0.0096168006\t0.0010777062\t-0.0010335768\n15\t0.5600000000\t0.0005310392\t0.0018182022\t0.0037289024\t0.0023163651\t0.1847430000\t229140316\t0\t1515958272\t-0.0156432744\t0.0023403219\t0.0010729401\n16\t0.6000000000\t0.0018011628\t0.0018171372\t0.0037289024\t0.0022656392\t0.1859400000\t229141790\t0\t1517989888\t-0.0131097101\t0.0015623422\t-0.0002303320\n17\t0.6400000000\t0.0033243373\t0.0019057961\t0.0037289024\t0.0022725242\t0.1816760000\t229143720\t0\t1519767552\t-0.0150077194\t-0.0029044121\t-0.0021780066\n18\t0.6800000000\t0.0016184495\t0.0018898324\t0.0037289024\t0.0022444759\t0.1800030000\t229146958\t0\t1521418240\t-0.0173387267\t-0.0008523273\t-0.0014156324\n19\t0.7200000000\t0.0052241446\t0.0020653225\t0.0052241446\t0.0022405042\t0.1799110000\t229149040\t0\t1523195904\t-0.0180345979\t-0.0046625151\t-0.0016840203\n20\t0.7600000000\t0.0020186957\t0.0020629911\t0.0052241446\t0.0024741347\t0.1802910000\t229151662\t0\t1524846592\t-0.0225169249\t-0.0030229178\t-0.0017073650\n21\t0.8000000000\t0.0056635872\t0.0022344481\t0.0056635872\t0.0024492279\t0.1828970000\t229154804\t0\t1526497280\t-0.0207352489\t-0.0022511757\t-0.0017252034\n22\t0.8400000000\t0.0043489048\t0.0023305598\t0.0056635872\t0.0024055590\t0.1876050000\t229158702\t0\t1528147968\t-0.0283416156\t-0.0036515759\t-0.0024477497\n23\t0.8800000000\t0.0063814018\t0.0025066833\t0.0063814018\t0.0023690540\t0.1827700000\t229159868\t0\t1529925632\t-0.0251742546\t-0.0040369122\t-0.0044080056\n24\t0.9200000000\t0.0066323825\t0.0026785875\t0.0066323825\t0.0023217501\t0.1831260000\t229163426\t0\t1531703296\t-0.0336795151\t-0.0033473764\t-0.0052825743\n25\t0.9600000000\t0.0051811608\t0.0027786904\t0.0066323825\t0.0023165763\t0.1812020000\t229165440\t0\t1532956672\t-0.0358606093\t-0.0008799685\t-0.0058860769\n26\t1.0000000000\t0.0063309334\t0.0029153151\t0.0066323825\t0.0022781846\t0.1795870000\t229166122\t0\t1534623744\t-0.0410805903\t-0.0023115252\t-0.0057443343\n27\t1.0400000000\t0.0067953994\t0.0030590220\t0.0067953994\t0.0023444371\t0.2117500000\t229168708\t0\t1536528384\t-0.0458428785\t-0.0006663237\t-0.0070305476\n28\t1.0800000000\t0.0048068389\t0.0031214440\t0.0067953994\t0.0025283498\t0.1825720000\t229171846\t0\t1538306048\t-0.0541934632\t-0.0030674089\t-0.0075136004\n29\t1.1200000000\t0.0033261059\t0.0031285013\t0.0067953994\t0.0025858752\t0.1756440000\t229174352\t0\t1539956736\t-0.0610117577\t-0.0006792184\t-0.0109085348\n30\t1.1600000000\t0.0046261251\t0.0031784221\t0.0067953994\t0.0026634001\t0.1773440000\t229177118\t0\t1541844992\t-0.0683882162\t-0.0006616915\t-0.0074605383\n31\t1.2000000000\t0.0050290483\t0.0032381197\t0.0067953994\t0.0026553755\t0.1747110000\t229179880\t0\t1543512064\t-0.0748161525\t-0.0007810020\t-0.0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}, { "path": "icra2018_results/tegra/violons_libefusion-cuda_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 03:36:52\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libefusion-cuda_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /harddrive/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.2156560000\t88427194\t95654128\t1759629312\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0060421242\t0.0030210621\t0.0060421242\t0.0064368318\t0.9965500000\t88877022\t95654128\t1762390016\t-0.0008748523\t-0.0012246990\t-0.0001687374\n3\t0.0800000000\t0.0096894642\t0.0052438628\t0.0096894642\t0.0048999133\t1.0088750000\t88879040\t95654128\t1764294656\t-0.0010495110\t-0.0070235450\t-0.0013660281\n4\t0.1200000000\t0.0045104325\t0.0050605052\t0.0096894642\t0.0066436972\t0.8861210000\t88879918\t95654128\t1765945344\t-0.0009399353\t-0.0027147047\t-0.0007515959\n5\t0.1600000000\t0.0026945604\t0.0045873163\t0.0096894642\t0.0067346689\t1.0072110000\t88881932\t95654128\t1767833600\t0.0032251042\t-0.0043189097\t-0.0006710247\n6\t0.2000000000\t0.0039803791\t0.0044861601\t0.0096894642\t0.0062175367\t1.0919390000\t88884282\t95654128\t1769484288\t-0.0014663532\t-0.0070180250\t0.0018266647\n7\t0.2400000000\t0.0044943029\t0.0044873233\t0.0096894642\t0.0059194037\t0.8668830000\t88884716\t95654128\t1771102208\t-0.0019190982\t-0.0080829486\t0.0039738230\n8\t0.2800000000\t0.0061284485\t0.0046924640\t0.0096894642\t0.0054830358\t0.9108320000\t88886410\t95654128\t1772879872\t-0.0029237398\t-0.0045402702\t0.0042499709\n9\t0.3200000000\t0.0108284932\t0.0053742450\t0.0108284932\t0.0051686085\t0.8297670000\t88888744\t95654128\t1774497792\t-0.0071536275\t-0.0024286376\t0.0047507863\n10\t0.3600000000\t0.0108999759\t0.0059268181\t0.0108999759\t0.0048986246\t0.9489370000\t88890490\t95654128\t1776107520\t-0.0062365909\t-0.0069117676\t0.0064064916\n11\t0.4000000000\t0.0110429442\t0.0063919205\t0.0110429442\t0.0047324963\t0.9132420000\t88892184\t95654128\t1777876992\t-0.0061007533\t-0.0088447342\t0.0076738545\n12\t0.4400000000\t0.0118310917\t0.0068451847\t0.0118310917\t0.0046988898\t1.1532980000\t88893878\t95654128\t1779654656\t-0.0057497215\t-0.0105310399\t0.0082120877\n13\t0.4800000000\t0.0144750597\t0.0074320982\t0.0144750597\t0.0045667897\t2.0498250000\t88895196\t95654128\t1781194752\t-0.0086358674\t-0.0057269470\t0.0080917561\n14\t0.5200000000\t0.0185696054\t0.0082276344\t0.0185696054\t0.0044587326\t1.8092290000\t88896890\t95654128\t1783074816\t-0.0123526882\t-0.0047213896\t0.0095765460\n15\t0.5600000000\t0.0194061175\t0.0089728666\t0.0194061175\t0.0043976988\t1.8715680000\t88898584\t95654128\t1784606720\t-0.0112659493\t-0.0074909208\t0.0117078265\n16\t0.6000000000\t0.0208537150\t0.0097154197\t0.0208537150\t0.0042622148\t1.6435360000\t88899018\t95654128\t1786351616\t-0.0120193521\t-0.0084528374\t0.0126010133\n17\t0.6400000000\t0.0212096702\t0.0103915520\t0.0212096702\t0.0042782971\t1.3367180000\t88901992\t95654128\t1787994112\t-0.0131628029\t-0.0070669949\t0.0122491764\n18\t0.6800000000\t0.0230852198\t0.0110967558\t0.0230852198\t0.0041865011\t1.9080680000\t88906310\t95654128\t1784692736\t-0.0141601125\t-0.0069040712\t0.0130053684\n19\t0.7200000000\t0.0234045424\t0.0117445340\t0.0234045424\t0.0040969037\t1.9676940000\t88906744\t95654128\t1786073088\t-0.0119209858\t-0.0079395985\t0.0141094560\n20\t0.7600000000\t0.0235551801\t0.0123350663\t0.0235551801\t0.0040593778\t1.9090350000\t88908438\t95654128\t1787850752\t-0.0123176929\t-0.0058918884\t0.0134047093\n21\t0.8000000000\t0.0239467137\t0.0128880019\t0.0239467137\t0.0040396685\t1.5494840000\t88910132\t95654128\t1784438784\t-0.0144135095\t-0.0021146690\t0.0129965115\n22\t0.8400000000\t0.0252549388\t0.0134501354\t0.0252549388\t0.0040042069\t1.7026760000\t88910486\t95654128\t1785802752\t-0.0163701717\t0.0005090383\t0.0124939727\n23\t0.8800000000\t0.0271202009\t0.0140444861\t0.0271202009\t0.0039396203\t1.5014300000\t88912180\t95654128\t1787580416\t-0.0175251402\t0.0018442010\t0.0128565552\n24\t0.9200000000\t0.0283700638\t0.0146413852\t0.0283700638\t0.0038635506\t1.9490400000\t88913858\t95654128\t1784532992\t-0.0179355331\t0.0037226535\t0.0126843061\n25\t0.9600000000\t0.0273149498\t0.0151483278\t0.0283700638\t0.0037923341\t1.5607360000\t88914292\t95654128\t1786064896\t-0.0155534111\t0.0025818695\t0.0132045029\n26\t1.0000000000\t0.0301874969\t0.0157267573\t0.0301874969\t0.0037668581\t1.7017240000\t88915986\t95654128\t1787842560\t-0.0191051606\t0.0044128345\t0.0123772249\n27\t1.0400000000\t0.0315280668\t0.0163119910\t0.0315280668\t0.0037152201\t2.2452510000\t88917680\t95654128\t1784668160\t-0.0203468688\t0.0049826042\t0.0126526942\n28\t1.0800000000\t0.0323523656\t0.0168848615\t0.0323523656\t0.0036770653\t2.1833130000\t88918114\t95654128\t1786064896\t-0.0189024098\t0.0046670372\t0.0130789969\n29\t1.1200000000\t0.0320143700\t0.0174065687\t0.0323523656\t0.0039304680\t1.8733970000\t88919792\t95654128\t1787969536\t-0.0171224810\t0.0045810905\t0.0137671959\n30\t1.1600000000\t0.0325248353\t0.0179105109\t0.0325248353\t0.0041678265\t2.3324670000\t88921486\t95654128\t1784668160\t-0.0180692729\t0.002535626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}, { "path": "icra2018_results/tegra/violons_libefusion-cuda_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 03:58:14\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libefusion-cuda_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /harddrive/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.2389440000\t88427794\t95654128\t1752367104\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0013824130\t0.0006912065\t0.0013824130\t0.0024910870\t1.3388040000\t88636274\t95654128\t1755160576\t0.0013812575\t0.0003508669\t0.0001632988\n3\t0.0800000000\t0.0010363186\t0.0008062439\t0.0013824130\t0.0022441950\t1.0423320000\t88638292\t95654128\t1757319168\t0.0008455459\t-0.0017799647\t-0.0005858577\n4\t0.1200000000\t0.0005300906\t0.0007372056\t0.0013824130\t0.0018684094\t1.0685850000\t88639054\t95654128\t1759096832\t0.0002088040\t-0.0012000720\t-0.0002909744\n5\t0.1600000000\t0.0014999188\t0.0008897482\t0.0014999188\t0.0020455152\t1.2095240000\t88641068\t95654128\t1760874496\t-0.0013151702\t-0.0017727846\t0.0000980004\n6\t0.2000000000\t0.0012231277\t0.0009453114\t0.0014999188\t0.0018791028\t1.0902170000\t88643418\t95654128\t1762525184\t-0.0000010201\t-0.0031980048\t-0.0000420445\n7\t0.2400000000\t0.0023489473\t0.0011458309\t0.0023489473\t0.0017836910\t1.6624270000\t88643852\t95654128\t1764175872\t0.0013491623\t-0.0042034723\t-0.0001894180\n8\t0.2800000000\t0.0031228950\t0.0013929639\t0.0031228950\t0.0017464132\t1.9519370000\t88645546\t95654128\t1765650432\t0.0020729294\t-0.0031684164\t0.0001410516\n9\t0.3200000000\t0.0054810019\t0.0018471903\t0.0054810019\t0.0018185249\t1.7914760000\t88647880\t95654128\t1767403520\t0.0052081756\t-0.0027008587\t0.0002153475\n10\t0.3600000000\t0.0056204847\t0.0022245198\t0.0056204847\t0.0017371846\t1.9605220000\t88649626\t95654128\t1769033728\t0.0052520870\t-0.0038804072\t0.0000630099\n11\t0.4000000000\t0.0086769043\t0.0028111002\t0.0086769043\t0.0018534562\t1.4592440000\t88651320\t95654128\t1770934272\t0.0079627344\t-0.0044535836\t0.0002152058\n12\t0.4400000000\t0.0108587816\t0.0034817403\t0.0108587816\t0.0018508209\t0.8849240000\t88653014\t95654128\t1772457984\t0.0102843642\t-0.0035544061\t0.0005600865\n13\t0.4800000000\t0.0114433011\t0.0040941681\t0.0114433011\t0.0018665395\t1.0827920000\t88653448\t95654128\t1774235648\t0.0111475298\t-0.0019142503\t0.0007589297\n14\t0.5200000000\t0.0113679711\t0.0046137254\t0.0114433011\t0.0018848206\t1.9274170000\t88655142\t95654128\t1775988736\t0.0113631701\t-0.0010269042\t0.0008326165\n15\t0.5600000000\t0.0111102751\t0.0050468287\t0.0114433011\t0.0018905038\t1.7187240000\t88656836\t95654128\t1777774592\t0.0110925371\t-0.0008569338\t0.0009716242\n16\t0.6000000000\t0.0108163543\t0.0054074241\t0.0114433011\t0.0018418086\t1.8264220000\t88657270\t95654128\t1779425280\t0.0111189820\t-0.0008228489\t0.0009835754\n17\t0.6400000000\t0.0097236829\t0.0056613216\t0.0114433011\t0.0017914580\t2.1102130000\t88660244\t95654128\t1780924416\t0.0099018971\t-0.0008922432\t0.0010725072\n18\t0.6800000000\t0.0111722499\t0.0059674843\t0.0114433011\t0.0017585726\t2.2815130000\t88664562\t95654128\t1782829056\t0.0113765318\t-0.0006697292\t0.0008683380\n19\t0.7200000000\t0.0104926014\t0.0062056484\t0.0114433011\t0.0020386587\t1.8834510000\t88664996\t95654128\t1784479744\t0.0106255999\t-0.0004623065\t0.0007153624\n20\t0.7600000000\t0.0108499294\t0.0064378624\t0.0114433011\t0.0021676945\t1.6862990000\t88666690\t95654128\t1786114048\t0.0107553694\t-0.0020464975\t0.0006432245\n21\t0.8000000000\t0.0114195142\t0.0066750839\t0.0114433011\t0.0023796586\t2.5246250000\t88668384\t95654128\t1787781120\t0.0112472149\t-0.0020249973\t0.0003799288\n22\t0.8400000000\t0.0113544548\t0.0068877826\t0.0114433011\t0.0024587331\t2.2186210000\t88668818\t95654128\t1784463360\t0.0112540657\t-0.0022081567\t0.0003543397\n23\t0.8800000000\t0.0113824382\t0.0070832024\t0.0114433011\t0.0024877192\t2.0667450000\t88670512\t95654128\t1785860096\t0.0108199753\t-0.0032892667\t0.0002854304\n24\t0.9200000000\t0.0128078135\t0.0073217279\t0.0128078135\t0.0024832092\t1.5465130000\t88672206\t95654128\t1787756544\t0.0121436836\t-0.0038424740\t0.0003211499\n25\t0.9600000000\t0.0108796982\t0.0074640467\t0.0128078135\t0.0024875855\t1.4597950000\t88672640\t95654128\t1785344000\t0.0094714239\t-0.0049006799\t0.0003520020\n26\t1.0000000000\t0.0106528131\t0.0075866916\t0.0128078135\t0.0024816202\t2.7127350000\t88674334\t95654128\t1786740736\t0.0095728310\t-0.0041628880\t0.0004390136\n27\t1.0400000000\t0.0095114522\t0.0076579790\t0.0128078135\t0.0024958866\t1.6911230000\t88676028\t95654128\t1785090048\t0.0079825679\t-0.0045113624\t0.0003925595\n28\t1.0800000000\t0.0095635839\t0.0077260363\t0.0128078135\t0.0024991509\t1.6781070000\t88676462\t95654128\t1786359808\t0.0079260832\t-0.0046442826\t0.0002644585\n29\t1.1200000000\t0.0080038346\t0.0077356156\t0.0128078135\t0.0025299745\t2.3951850000\t88678156\t95654128\t1785724928\t0.0053398404\t-0.0050806096\t0.0003928833\n30\t1.1600000000\t0.0076535018\t0.0077328784\t0.0128078135\t0.0025538012\t1.8320470000\t88679850\t95654128\t1787121664\t0.0050928392\t-0.0047438755\t0.0002820483\n3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}, { "path": "icra2018_results/tegra/violons_libefusion-cuda_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 04:15:54\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libefusion-cuda_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /harddrive/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.1870130000\t88427918\t95654128\t1753726976\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0026374757\t0.0013187379\t0.0026374757\t0.0017024400\t1.0871570000\t88630598\t95654128\t1756393472\t-0.0024953254\t-0.0007021125\t0.0006995602\n3\t0.0800000000\t0.0101173818\t0.0042516192\t0.0101173818\t0.0039606649\t1.0115280000\t88632616\t95654128\t1758679040\t-0.0043978756\t-0.0079790503\t0.0020776484\n4\t0.1200000000\t0.0064746188\t0.0048073691\t0.0101173818\t0.0045292216\t0.8353740000\t88633378\t95654128\t1760329728\t-0.0073182695\t-0.0036471700\t0.0007300427\n5\t0.1600000000\t0.0057244324\t0.0049907818\t0.0101173818\t0.0042780893\t0.9212980000\t88635508\t95654128\t1762107392\t-0.0100418907\t-0.0023229974\t0.0015760884\n6\t0.2000000000\t0.0113287689\t0.0060471129\t0.0113287689\t0.0041826629\t1.8664200000\t88637858\t95654128\t1763749888\t-0.0072733378\t-0.0091877244\t0.0032580164\n7\t0.2400000000\t0.0137613313\t0.0071491441\t0.0137613313\t0.0039205636\t1.9401190000\t88638292\t95654128\t1765502976\t-0.0084408261\t-0.0116500510\t0.0038376036\n8\t0.2800000000\t0.0109567223\t0.0076250914\t0.0137613313\t0.0037287651\t1.6127030000\t88639986\t95654128\t1766952960\t-0.0091288676\t-0.0088033425\t0.0031799795\n9\t0.3200000000\t0.0101161199\t0.0079018724\t0.0137613313\t0.0035643689\t1.9755370000\t88642320\t95654128\t1768722432\t-0.0096302973\t-0.0089874156\t0.0023234256\n10\t0.3600000000\t0.0064781415\t0.0077594993\t0.0137613313\t0.0034957043\t1.6845150000\t88644066\t95654128\t1770500096\t-0.0094802184\t-0.0044326806\t0.0014241862\n11\t0.4000000000\t0.0061003678\t0.0076086691\t0.0137613313\t0.0038332496\t2.0008120000\t88645760\t95654128\t1772150784\t-0.0113054272\t-0.0049017230\t0.0014363085\n12\t0.4400000000\t0.0057260180\t0.0074517815\t0.0137613313\t0.0037279963\t2.5761470000\t88647570\t95654128\t1773768704\t-0.0091215577\t-0.0047794878\t0.0001811116\n13\t0.4800000000\t0.0093538854\t0.0075980972\t0.0137613313\t0.0035729087\t1.7095350000\t88648004\t95654128\t1775521792\t-0.0064525381\t-0.0063047465\t-0.0000028049\n14\t0.5200000000\t0.0097767208\t0.0077537132\t0.0137613313\t0.0034581787\t1.7338410000\t88649698\t95654128\t1777188864\t-0.0058873254\t-0.0053321063\t-0.0006355807\n15\t0.5600000000\t0.0114299888\t0.0079987982\t0.0137613313\t0.0033448731\t1.8361720000\t88651392\t95654128\t1778798592\t-0.0082499012\t-0.0058251023\t0.0007048107\n16\t0.6000000000\t0.0188821405\t0.0086790071\t0.0188821405\t0.0034238047\t1.8475240000\t88651826\t95654128\t1780576256\t-0.0077722063\t-0.0163366795\t0.0019653698\n17\t0.6400000000\t0.0165153481\t0.0091399684\t0.0188821405\t0.0034398740\t1.7578470000\t88654800\t95654128\t1782353920\t-0.0106976377\t-0.0154727967\t0.0002382895\n18\t0.6800000000\t0.0189564284\t0.0096853272\t0.0189564284\t0.0034203341\t1.7191640000\t88659118\t95654128\t1783894016\t-0.0070967162\t-0.0152675295\t0.0006038457\n19\t0.7200000000\t0.0173973534\t0.0100912234\t0.0189564284\t0.0034630097\t1.8364650000\t88659552\t95654128\t1785765888\t-0.0088220974\t-0.0132348388\t-0.0007003625\n20\t0.7600000000\t0.0186653025\t0.0105199273\t0.0189564284\t0.0034202548\t2.1212070000\t88661246\t95654128\t1787416576\t-0.0128809717\t-0.0167293735\t0.0001345953\n21\t0.8000000000\t0.0249640271\t0.0112077416\t0.0249640271\t0.0033981273\t1.8695640000\t88663056\t95654128\t1784377344\t-0.0109311007\t-0.0200380180\t0.0010270901\n22\t0.8400000000\t0.0286661051\t0.0120013036\t0.0286661051\t0.0034129316\t2.1073450000\t88663410\t95654128\t1785647104\t-0.0121446857\t-0.0219160989\t0.0007911119\n23\t0.8800000000\t0.0292122103\t0.0127496039\t0.0292122103\t0.0033463056\t1.9479860000\t88665104\t95654128\t1787551744\t-0.0124380551\t-0.0242104828\t0.0000529512\n24\t0.9200000000\t0.0254716799\t0.0132796904\t0.0292122103\t0.0033201928\t1.9016750000\t88666798\t95654128\t1784504320\t-0.0235000979\t-0.0201853029\t-0.0014848781\n25\t0.9600000000\t0.0292996839\t0.0139204901\t0.0292996839\t0.0032720952\t1.9689780000\t88667232\t95654128\t1785765888\t-0.0244310405\t-0.0233809967\t-0.0008299848\n26\t1.0000000000\t0.0297313035\t0.0145285983\t0.0297313035\t0.0032568555\t1.7192650000\t88668910\t95654128\t1787670528\t-0.0265735537\t-0.0223783888\t-0.0013773779\n27\t1.0400000000\t0.0317729115\t0.0151672766\t0.0317729115\t0.0032707686\t1.4084950000\t88670604\t95654128\t1784496128\t-0.0304499213\t-0.0242788196\t-0.0041726837\n28\t1.0800000000\t0.0342184529\t0.0158476757\t0.0342184529\t0.0034082894\t1.9525300000\t88671038\t95654128\t1785765888\t-0.0343751870\t-0.0249869786\t-0.0040311930\n29\t1.1200000000\t0.0409410000\t0.0167129628\t0.0409410000\t0.0037325246\t1.5256530000\t88672716\t95654128\t1787416576\t-0.0378549546\t-0.0311953016\t-0.0045892932\n30\t1.1600000000\t0.0362495072\t0.0173641809\t0.0409410000\t0.0036727095\t2.5918750000\t88674410\t95654128\t1784369152\t-0.049841076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}, { "path": "icra2018_results/tegra/violons_libefusion-cuda_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 04:33:42\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libefusion-cuda_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /harddrive/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.2433110000\t88427542\t95654128\t1753587712\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0015061001\t0.0007530500\t0.0015061001\t0.0018541897\t1.3679140000\t88881670\t95654128\t1756508160\t-0.0002115301\t0.0021070603\t0.0016081244\n3\t0.0800000000\t0.0051624225\t0.0022228409\t0.0051624225\t0.0020662965\t1.1524590000\t88883688\t95654128\t1758412800\t-0.0021166240\t-0.0076440927\t0.0021208269\n4\t0.1200000000\t0.0061746258\t0.0032107871\t0.0061746258\t0.0026521142\t1.2248730000\t88884450\t95654128\t1760190464\t-0.0043604253\t-0.0071556014\t0.0010601312\n5\t0.1600000000\t0.0052042869\t0.0036094871\t0.0061746258\t0.0045019434\t1.4097490000\t88886464\t95654128\t1761824768\t-0.0025880532\t0.0001105652\t0.0040212208\n6\t0.2000000000\t0.0058609555\t0.0039847318\t0.0061746258\t0.0045756216\t1.6390290000\t88888814\t95654128\t1763577856\t-0.0007725633\t-0.0102501158\t0.0032170252\n7\t0.2400000000\t0.0077999579\t0.0045297641\t0.0077999579\t0.0042792614\t2.1088340000\t88889248\t95654128\t1765228544\t0.0006374081\t-0.0227531847\t0.0007032438\n8\t0.2800000000\t0.0059381034\t0.0047058065\t0.0077999579\t0.0039941172\t2.1916290000\t88890942\t95654128\t1766805504\t-0.0012284035\t-0.0190775394\t-0.0005988954\n9\t0.3200000000\t0.0059401481\t0.0048429556\t0.0077999579\t0.0049673001\t1.5028030000\t88893276\t95654128\t1768583168\t-0.0020816834\t-0.0151642272\t0.0027334418\n10\t0.3600000000\t0.0040903115\t0.0047676912\t0.0077999579\t0.0047507229\t1.7604250000\t88895022\t95654128\t1770360832\t-0.0038931950\t-0.0208792631\t0.0007899009\n11\t0.4000000000\t0.0041611716\t0.0047125530\t0.0077999579\t0.0046822206\t2.1842470000\t88896828\t95654128\t1771859968\t-0.0033655113\t-0.0171606373\t-0.0004608234\n12\t0.4400000000\t0.0035554043\t0.0046161240\t0.0077999579\t0.0047743797\t1.3800430000\t88898522\t95654128\t1773637632\t-0.0038431706\t-0.0063074632\t0.0024072803\n13\t0.4800000000\t0.0038726067\t0.0045589303\t0.0077999579\t0.0046153716\t1.5111860000\t88898956\t95654128\t1775415296\t-0.0036074820\t-0.0070302812\t0.0025524744\n14\t0.5200000000\t0.0047911834\t0.0045755198\t0.0077999579\t0.0044969057\t1.8678840000\t88900650\t95654128\t1777065984\t-0.0015193999\t-0.0151717495\t0.0001297297\n15\t0.5600000000\t0.0044789440\t0.0045690814\t0.0077999579\t0.0044764382\t1.6506070000\t88902344\t95654128\t1778843648\t0.0018389507\t-0.0137165096\t0.0001314575\n16\t0.6000000000\t0.0038710318\t0.0045254533\t0.0077999579\t0.0043451223\t1.8106990000\t88902778\t95654128\t1780469760\t0.0030917763\t-0.0112649575\t0.0004570980\n17\t0.6400000000\t0.0031842489\t0.0044465590\t0.0077999579\t0.0042351626\t3.0770380000\t88905752\t95654128\t1782222848\t0.0033963614\t-0.0136465542\t-0.0013920283\n18\t0.6800000000\t0.0035370186\t0.0043960289\t0.0077999579\t0.0041177506\t2.8060680000\t88910070\t95654128\t1783873536\t0.0024540985\t-0.0138749015\t-0.0026942627\n19\t0.7200000000\t0.0035926832\t0.0043537476\t0.0077999579\t0.0041226208\t2.4946650000\t88910504\t95654128\t1785540608\t0.0029423966\t-0.0084678084\t-0.0020872033\n20\t0.7600000000\t0.0049786395\t0.0043849922\t0.0077999579\t0.0043475296\t1.9620980000\t88912198\t95654128\t1787420672\t0.0012419542\t-0.0083571607\t-0.0047364864\n21\t0.8000000000\t0.0049706828\t0.0044128822\t0.0077999579\t0.0044808540\t2.1750820000\t88913892\t95654128\t1784119296\t0.0037069316\t-0.0070194337\t-0.0038673377\n22\t0.8400000000\t0.0046807970\t0.0044250602\t0.0077999579\t0.0044509592\t1.5325670000\t88914326\t95654128\t1785516032\t0.0042812140\t-0.0045694532\t-0.0034118036\n23\t0.8800000000\t0.0059137819\t0.0044897872\t0.0077999579\t0.0043706015\t2.2635950000\t88916020\t95654128\t1787420672\t0.0056662662\t-0.0096320156\t-0.0070735775\n24\t0.9200000000\t0.0054464908\t0.0045296498\t0.0077999579\t0.0043150996\t1.9350700000\t88917714\t95654128\t1784754176\t0.0087009622\t-0.0079126339\t-0.0065317238\n25\t0.9600000000\t0.0064993971\t0.0046084397\t0.0077999579\t0.0042444607\t1.9287840000\t88918148\t95654128\t1786015744\t0.0078999503\t-0.0134686325\t-0.0090154195\n26\t1.0000000000\t0.0063287932\t0.0046746072\t0.0077999579\t0.0041624329\t1.8492320000\t88919842\t95654128\t1787809792\t0.0069297049\t-0.0147697125\t-0.0098269051\n27\t1.0400000000\t0.0066499319\t0.0047477674\t0.0077999579\t0.0040840861\t2.3981400000\t88921536\t95654128\t1784492032\t0.0079063214\t-0.0186268110\t-0.0118070841\n28\t1.0800000000\t0.0067699803\t0.0048199892\t0.0077999579\t0.0040166090\t2.2598430000\t88921970\t95654128\t1785888768\t0.0061359722\t-0.0197751503\t-0.0133109391\n29\t1.1200000000\t0.0066804620\t0.0048841435\t0.0077999579\t0.0040525994\t1.8301290000\t88923664\t95654128\t1787539456\t0.0085110385\t-0.0225826558\t-0.0138139976\n30\t1.1600000000\t0.0074174143\t0.0049685858\t0.0077999579\t0.0040242421\t1.7472680000\t88925358\t95654128\t1784492032\t0.0116086695\t-0.0224247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}, { "path": "icra2018_results/tegra/violons_libefusion-cuda_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-19 04:55:07\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libefusion-cuda_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /harddrive/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287840366\t0.0606188439\t0.0606188439\t0.0606188439\tnan\t0.2101370000\t88633275\t95654128\t1758015488\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1305031229.5644419193\t0.0528085120\t0.0567136779\t0.0606188439\t0.0351166949\t1.3677200000\t89486106\t95654128\t1760280576\t-0.0045660431\t0.0008364068\t0.0132681336\n3\t1305031229.5966169834\t0.0653344542\t0.0595872700\t0.0653344542\t0.0422147627\t1.0928950000\t89605776\t95654128\t1762566144\t-0.0037293795\t-0.0090829935\t0.0052294414\n4\t1305031229.6287899017\t0.0605313666\t0.0598232942\t0.0653344542\t0.0347635937\t1.0849460000\t89661054\t95654128\t1764343808\t-0.0075374451\t-0.0019470393\t0.0114536379\n5\t1305031229.6646571159\t0.0655541942\t0.0609694742\t0.0655541942\t0.0318416417\t1.1328270000\t89780636\t95654128\t1766375424\t-0.0100531848\t-0.0102961808\t0.0129517615\n6\t1305031229.6968429089\t0.0629825667\t0.0613049896\t0.0655541942\t0.0286140083\t0.9499340000\t89836858\t95654128\t1767899136\t-0.0095715849\t-0.0070598479\t0.0161222797\n7\t1305031229.7290771008\t0.0639055222\t0.0616764942\t0.0655541942\t0.0262459838\t1.0681830000\t89954636\t95654128\t1769615360\t-0.0195715427\t-0.0023566554\t0.0180617385\n8\t1305031229.7648689747\t0.0690929294\t0.0626035486\t0.0690929294\t0.0248482780\t1.0598240000\t90011918\t95654128\t1771388928\t-0.0228811763\t-0.0053652218\t0.0157319345\n9\t1305031229.7969229221\t0.0686617270\t0.0632766796\t0.0690929294\t0.0235555459\t1.1105290000\t90131556\t95654128\t1773420544\t-0.0269624982\t-0.0028250718\t0.0179924779\n10\t1305031229.8256299496\t0.0720666647\t0.0641556781\t0.0720666647\t0.0228895336\t1.0867730000\t90133750\t95654128\t1774944256\t-0.0335117094\t-0.0026049905\t0.0174515806\n11\t1305031229.8630619049\t0.0723259524\t0.0648984303\t0.0723259524\t0.0228362832\t1.2691890000\t90190292\t95654128\t1776689152\t-0.0362684801\t-0.0029534132\t0.0189602431\n12\t1305031229.8969380856\t0.0745052770\t0.0656990008\t0.0745052770\t0.0229815120\t1.0477420000\t90308598\t95654128\t1778466816\t-0.0411175080\t-0.0009879270\t0.0179410093\n13\t1305031229.9262549877\t0.0786310211\t0.0666937716\t0.0786310211\t0.0224382336\t0.9137120000\t90309512\t95654128\t1780371456\t-0.0471127033\t-0.0015311420\t0.0161738712\n14\t1305031229.9662408829\t0.0816257969\t0.0677603449\t0.0816257969\t0.0220467835\t1.1448220000\t90365742\t95654128\t1781895168\t-0.0512065589\t-0.0011283467\t0.0140732732\n15\t1305031229.9979310036\t0.0812642351\t0.0686606042\t0.0816257969\t0.0220406709\t1.0344650000\t90537960\t95654128\t1783926784\t-0.0531621389\t-0.0002157573\t0.0143236127\n16\t1305031230.0300021172\t0.0822144747\t0.0695077211\t0.0822144747\t0.0214926156\t0.9677600000\t90655094\t95654128\t1785704448\t-0.0565038547\t-0.0007800165\t0.0144081181\n17\t1305031230.0656960011\t0.0837038755\t0.0703427890\t0.0837038755\t0.0211028478\t0.9494170000\t90715784\t95654128\t1787457536\t-0.0601958260\t-0.0035053822\t0.0143857161\n18\t1305031230.0982739925\t0.0824564770\t0.0710157717\t0.0837038755\t0.0208477423\t0.8411220000\t90835566\t95654128\t1784918016\t-0.0612126105\t0.0000442653\t0.0138134332\n19\t1305031230.1299350262\t0.0833068267\t0.0716626693\t0.0837038755\t0.0204007233\t0.9969780000\t90836512\t95654128\t1786187776\t-0.0634977818\t0.0002402188\t0.0130315116\n20\t1305031230.1657800674\t0.0845989510\t0.0723094834\t0.0845989510\t0.0200143643\t1.9331530000\t90894622\t95654128\t1788067840\t-0.0671889633\t-0.0001413946\t0.0118483091\n21\t1305031230.1977820396\t0.0854547247\t0.0729354473\t0.0854547247\t0.0198150724\t1.9340360000\t91011844\t95654128\t1785020416\t-0.0702919215\t0.0005167575\t0.0104536274\n22\t1305031230.2298529148\t0.0891829506\t0.0736739702\t0.0891829506\t0.0197109099\t1.9853200000\t91068454\t95654128\t1786290176\t-0.0744223446\t-0.0005317536\t0.0076565035\n23\t1305031230.2655899525\t0.0912228078\t0.0744369631\t0.0912228078\t0.0193676495\t1.6743260000\t91185752\t95654128\t1785622528\t-0.0777258351\t0.0003231794\t0.0050167311\n24\t1305031230.2979929447\t0.0897726342\t0.0750759494\t0.0912228078\t0.0192011183\t1.7307920000\t91243350\t95654128\t1786892288\t-0.0796769634\t-0.0008020970\t0.0064094481\n25\t1305031230.3351120949\t0.0914420038\t0.0757305916\t0.0914420038\t0.0188866417\t2.0628990000\t91414372\t95654128\t1784860672\t-0.0829476565\t-0.0027053040\t0.0044681826\n26\t1305031230.3656799793\t0.0944601297\t0.0764509584\t0.0944601297\t0.0185265076\t2.0923600000\t91586762\t95654128\t1786241024\t-0.0856458694\t0.0005981484\t0.0011642340\n27\t1305031230.3973290920\t0.0958335176\t0.0771688310\t0.0958335176\t0.0182846440\t2.0891400000\t91704136\t95654128\t1784844288\t-0.0892046914\t-0.0000825133\t0.0004138118\n28\t1305031230.4368140697\t0.1018119678\t0.0780489430\t0.1018119678\t0.0188747680\t2.1615090000\t91760286\t95654128\t1785978880\t-0.0948578268\t0.0004681463\t-0.0054511409\n29\t1305031230.4653120041\t0.1117228568\t0.0792101124\t0.11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}, { "path": "icra2018_results/tegra/violons_libefusion-cuda_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-19 05:11:50\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libefusion-cuda_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /harddrive/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253988300\t0.0253988300\t0.0253988300\tnan\t0.2552560000\t88654039\t95654128\t1753268224\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1305031102.2112140656\t0.0293943919\t0.0273966109\t0.0293943919\t0.0122530656\t1.3813050000\t89432990\t95654128\t1755774976\t-0.0000554346\t0.0078804428\t0.0104378425\n3\t1305031102.2432110310\t0.0239656884\t0.0262529701\t0.0293943919\t0.0087681085\t1.2259560000\t89509512\t95654128\t1757679616\t-0.0014141212\t0.0065610358\t0.0237118918\n4\t1305031102.2753260136\t0.0206932332\t0.0248630359\t0.0293943919\t0.0077485513\t1.9874380000\t89607146\t95654128\t1759457280\t-0.0017301160\t0.0074324966\t0.0370710753\n5\t1305031102.3112668991\t0.0151589615\t0.0229222210\t0.0293943919\t0.0071888667\t2.3170660000\t89684532\t95654128\t1761234944\t-0.0001425352\t0.0047266171\t0.0516257808\n6\t1305031102.3432331085\t0.0148826102\t0.0215822859\t0.0293943919\t0.0072489471\t1.5910390000\t89783362\t95654128\t1762947072\t-0.0001035580\t0.0067454726\t0.0636193305\n7\t1305031102.3753290176\t0.0159750041\t0.0207812456\t0.0293943919\t0.0067039748\t2.1734400000\t89784392\t95654128\t1764462592\t0.0011613899\t0.0083600041\t0.0759387091\n8\t1305031102.4112579823\t0.0131075876\t0.0198220384\t0.0293943919\t0.0088425727\t1.8817850000\t89786694\t95654128\t1766240256\t-0.0015190806\t0.0113094710\t0.0862212628\n9\t1305031102.4432709217\t0.0134044951\t0.0191089780\t0.0293943919\t0.0094076428\t1.5103640000\t89863860\t95654128\t1768017920\t-0.0038383589\t0.0172586218\t0.0961052477\n10\t1305031102.4753179550\t0.0156274308\t0.0187608233\t0.0293943919\t0.0089063852\t1.8056230000\t89961614\t95654128\t1769762816\t-0.0012851513\t0.0172196478\t0.1104013100\n11\t1305031102.5112190247\t0.0180294886\t0.0186943383\t0.0293943919\t0.0085826273\t1.9437050000\t89964000\t95654128\t1771540480\t0.0000622899\t0.0167089663\t0.1243779287\n12\t1305031102.5432200432\t0.0201554485\t0.0188160975\t0.0293943919\t0.0082491179\t1.7393480000\t90042218\t95654128\t1773191168\t-0.0011371386\t0.0158798359\t0.1378088444\n13\t1305031102.5752859116\t0.0268438160\t0.0194336143\t0.0293943919\t0.0082459189\t1.8793650000\t90138608\t95654128\t1775071232\t-0.0008616130\t0.0113712959\t0.1531594247\n14\t1305031102.6112329960\t0.0300074704\t0.0201888897\t0.0300074704\t0.0079800391\t1.9086920000\t90141110\t95654128\t1776848896\t-0.0024004332\t0.0095386337\t0.1661032736\n15\t1305031102.6432650089\t0.0225312039\t0.0203450440\t0.0300074704\t0.0086625916\t1.8215770000\t90143432\t95654128\t1778483200\t-0.0091921408\t0.0178745687\t0.1737539619\n16\t1305031102.6752851009\t0.0250116214\t0.0206367051\t0.0300074704\t0.0084542250\t2.5611970000\t90144378\t95654128\t1780133888\t-0.0099236481\t0.0206319150\t0.1868849844\n17\t1305031102.7112629414\t0.0303956587\t0.0212107612\t0.0303956587\t0.0085231333\t1.8946790000\t90147928\t95654128\t1781911552\t-0.0091690868\t0.0202030353\t0.2008628249\n18\t1305031102.7432339191\t0.0298850778\t0.0216926677\t0.0303956587\t0.0084473883\t1.9852430000\t90228666\t95654128\t1783529472\t-0.0088690547\t0.0269374587\t0.2123260498\n19\t1305031102.7754719257\t0.0378382094\t0.0225424330\t0.0378382094\t0.0082384039\t1.7115840000\t90323900\t95654128\t1785561088\t-0.0041630561\t0.0273647066\t0.2271546125\n20\t1305031102.8112320900\t0.0391765349\t0.0233741381\t0.0391765349\t0.0081834799\t1.4744970000\t90326286\t95654128\t1787092992\t-0.0053764367\t0.0309430137\t0.2394587994\n21\t1305031102.8432900906\t0.0442591533\t0.0243686627\t0.0442591533\t0.0080214791\t1.7109980000\t90328524\t95654128\t1785315328\t-0.0057297526\t0.0312975124\t0.2536904514\n22\t1305031102.8753631115\t0.0448756292\t0.0253007975\t0.0448756292\t0.0081304928\t1.9645750000\t90329310\t95654128\t1786712064\t-0.0097992448\t0.0342629775\t0.2652524412\n23\t1305031102.9111850262\t0.0469303019\t0.0262412107\t0.0469303019\t0.0079601956\t1.7398290000\t90331532\t95654128\t1785180160\t-0.0123491874\t0.0368277393\t0.2770364285\n24\t1305031102.9432289600\t0.0472379699\t0.0271160757\t0.0472379699\t0.0082681137\t1.8340320000\t90333770\t95654128\t1786449920\t-0.0202539563\t0.0383881070\t0.2865879834\n25\t1305031102.9752030373\t0.0459739827\t0.0278703920\t0.0472379699\t0.0083438831\t1.6552300000\t90410256\t95654128\t1785434112\t-0.0285465047\t0.0433285907\t0.2963753939\n26\t1305031103.0112149715\t0.0489694402\t0.0286818938\t0.0489694402\t0.0082067842\t1.9844150000\t90507006\t95654128\t1787084800\t-0.0284756571\t0.0462728031\t0.3076089323\n27\t1305031103.0432269573\t0.0522538722\t0.0295549301\t0.0522538722\t0.0080637702\t1.9149270000\t90509244\t95654128\t1785561088\t-0.0286886059\t0.0491233058\t0.3191935122\n28\t1305031103.0753190517\t0.0599105768\t0.0306390603\t0.0599105768\t0.0082558472\t2.1360850000\t90510142\t95654128\t1787084800\t-0.0234274492\t0.0491134748\t0.3322163820\n29\t1305031103.1112399101\t0.0566389821\t0.0315356093\t0.0599105768\t0.0083892533\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}, { "path": "icra2018_results/tegra/violons_libefusion-cuda_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-19 05:29:12\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libefusion-cuda_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /harddrive/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6419320107\t0.0019026520\t0.0019026520\t0.0019026520\tnan\t0.3044690000\t95916811\t95654128\t1760464896\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1311867718.6768438816\t0.0026867939\t0.0022947229\t0.0026867939\t0.0026436208\t1.3194680000\t106429634\t95654128\t1760956416\t0.0016575535\t0.0007561003\t0.0003873046\n3\t1311867718.7114279270\t0.0044163745\t0.0030019401\t0.0044163745\t0.0041990122\t1.0164270000\t106432336\t95654128\t1762451456\t0.0025906775\t0.0028173430\t0.0005634688\n4\t1311867718.7410299778\t0.0025706154\t0.0028941089\t0.0044163745\t0.0045286240\t1.0816270000\t106433526\t95654128\t1764102144\t0.0009774094\t0.0001838615\t0.0018734166\n5\t1311867718.7767970562\t0.0031892096\t0.0029531291\t0.0044163745\t0.0042504909\t1.3457040000\t106436416\t95654128\t1765830656\t0.0002441892\t-0.0017546193\t0.0015314815\n6\t1311867718.8094089031\t0.0027338408\t0.0029165810\t0.0044163745\t0.0042080653\t1.1320700000\t106439258\t95654128\t1767481344\t-0.0016219129\t0.0015554618\t0.0005409652\n7\t1311867718.8408079147\t0.0027530068\t0.0028932133\t0.0044163745\t0.0041515397\t1.2368850000\t106440268\t95654128\t1769271296\t-0.0022536186\t0.0010913771\t0.0007893369\n8\t1311867718.8767778873\t0.0040942580\t0.0030433439\t0.0044163745\t0.0041670726\t2.3250770000\t106442518\t95654128\t1770844160\t-0.0034179022\t0.0005883931\t0.0002951959\n9\t1311867718.9088680744\t0.0045646275\t0.0032123754\t0.0045646275\t0.0041030337\t1.6331940000\t106445952\t95654128\t1772494848\t-0.0021985408\t0.0019503941\t0.0002366860\n10\t1311867718.9438331127\t0.0034829513\t0.0032394330\t0.0045646275\t0.0038786842\t2.5144870000\t106448254\t95654128\t1774272512\t-0.0019875937\t0.0015060037\t0.0016517583\n11\t1311867718.9784109592\t0.0023394877\t0.0031576198\t0.0045646275\t0.0037588817\t1.6151290000\t106450504\t95654128\t1775898624\t-0.0030355861\t0.0004447111\t0.0031644357\n12\t1311867719.0091300011\t0.0023727007\t0.0030922098\t0.0045646275\t0.0035936292\t1.8697220000\t106452626\t95654128\t1777696768\t-0.0023580894\t0.0005006964\t0.0033318484\n13\t1311867719.0441620350\t0.0018744332\t0.0029985347\t0.0045646275\t0.0036922378\t1.4907430000\t106453732\t95654128\t1779302400\t-0.0026633660\t0.0019998667\t0.0041592447\n14\t1311867719.0776190758\t0.0017444891\t0.0029089600\t0.0045646275\t0.0037687605\t1.1157340000\t106455950\t95654128\t1780969472\t-0.0023907081\t-0.0002662609\t0.0050225500\n15\t1311867719.1086950302\t0.0025201046\t0.0028830363\t0.0045646275\t0.0036337027\t1.3794410000\t106628084\t95654128\t1782730752\t-0.0010924207\t0.0007869975\t0.0048755486\n16\t1311867719.1437010765\t0.0025536250\t0.0028624481\t0.0045646275\t0.0035385721\t1.4550950000\t106629042\t95654128\t1784356864\t-0.0011782170\t0.0002464216\t0.0059262896\n17\t1311867719.1810290813\t0.0030687256\t0.0028745821\t0.0045646275\t0.0035504863\t1.1450360000\t106633852\t95654128\t1783250944\t-0.0014794022\t-0.0009155595\t0.0062229871\n18\t1311867719.2127099037\t0.0073509561\t0.0031232695\t0.0073509561\t0.0036262904\t1.2536530000\t106638662\t95654128\t1782222848\t0.0026661083\t-0.0021121984\t0.0070753824\n19\t1311867719.2412090302\t0.0070378804\t0.0033293017\t0.0073509561\t0.0036797405\t1.0797770000\t106639524\t95654128\t1783848960\t0.0024061438\t-0.0005767823\t0.0075707557\n20\t1311867719.2779469490\t0.0044439523\t0.0033850342\t0.0073509561\t0.0039186489\t0.9545670000\t106641858\t95654128\t1785647104\t-0.0012319016\t-0.0013397937\t0.0079351524\n21\t1311867719.3104898930\t0.0042740991\t0.0034273707\t0.0073509561\t0.0038332633\t0.9803850000\t106644076\t95654128\t1784520704\t-0.0015691222\t-0.0007102255\t0.0074956841\n22\t1311867719.3413150311\t0.0064362655\t0.0035641386\t0.0073509561\t0.0039059504\t1.0957890000\t106644986\t95654128\t1783468032\t0.0001823943\t-0.0011442683\t0.0084011527\n23\t1311867719.3772718906\t0.0063249106\t0.0036841722\t0.0073509561\t0.0038765446\t1.1779470000\t106647204\t95654128\t1785102336\t-0.0010784838\t-0.0030111857\t0.0085692778\n24\t1311867719.4105761051\t0.0058173607\t0.0037730550\t0.0073509561\t0.0037919310\t1.3993380000\t106649422\t95654128\t1784098816\t-0.0020427653\t-0.0032864467\t0.0080959741\n25\t1311867719.4427709579\t0.0090287225\t0.0039832817\t0.0090287225\t0.0038128468\t1.4402700000\t106650380\t95654128\t1782968320\t-0.0008185323\t-0.0066617532\t0.0100777820\n26\t1311867719.4787840843\t0.0096394327\t0.0042008260\t0.0096394327\t0.0037841303\t1.2588200000\t106652598\t95654128\t1784594432\t-0.0006908162\t-0.0074811187\t0.0106571205\n27\t1311867719.5104370117\t0.0079275807\t0.0043388539\t0.0096394327\t0.0037879428\t1.3561450000\t106825456\t95654128\t1783619584\t-0.0015678462\t-0.0060447566\t0.0097304117\n28\t1311867719.5449650288\t0.0081131607\t0.0044736506\t0.0096394327\t0.0038259490\t1.4603940000\t106826414\t95654128\t1782345728\t-0.0022895823\t-0.0064282897\t0.0094380816\n29\t1311867719.5771939754\t0.0082800090\t0.004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}, { "path": "icra2018_results/tegra/violons_libefusion-cuda_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-19 05:47:09\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libefusion-cuda_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/libefusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nconfidence: 10\ndepth: 3\nicp: 10\nicpErrThresh: 5e-05\ncovThresh: 1e-05\nphotoThresh: 115\nfernThresh: 0.3095\nicpCountThresh: 35000\ntimeDelta: 200\ntextureDim: 512\nnodeTextureDim: 2048\nopenLoop: false\nreloc: false\nfastOdom: false\nso3: true\nframeToFrameRGB: false\nshader-dir: /harddrive/slambench2/benchmarks/efusion/src/cuda/Core/src/Shaders\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520440\t0.0582520440\t0.0582520440\tnan\t0.3047990000\t96224587\t95654128\t1758253056\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1311867170.4941389561\t0.0590395965\t0.0586458202\t0.0590395965\t0.0043695630\t1.0854490000\t106737346\t95654128\t1758498816\t-0.0046297587\t-0.0003250803\t-0.0017532537\n3\t1311867170.5264289379\t0.0593872108\t0.0588929504\t0.0593872108\t0.0035967954\t1.0773730000\t106740048\t95654128\t1760182272\t-0.0087010767\t-0.0014965255\t-0.0033720005\n4\t1311867170.5623490810\t0.0583232008\t0.0587505130\t0.0593872108\t0.0048158044\t1.1960940000\t106741482\t95654128\t1761927168\t-0.0087041268\t-0.0010303888\t-0.0057441890\n5\t1311867170.5942170620\t0.0584076978\t0.0586819500\t0.0593872108\t0.0047503333\t1.0142660000\t106744276\t95654128\t1763655680\t-0.0113976868\t-0.0026515401\t-0.0070477310\n6\t1311867170.6260869503\t0.0571007952\t0.0584184242\t0.0593872108\t0.0045263473\t0.9373760000\t106747118\t95654128\t1765306368\t-0.0123161534\t-0.0040108599\t-0.0096999612\n7\t1311867170.6621398926\t0.0564304069\t0.0581344217\t0.0593872108\t0.0043279576\t1.0757890000\t106748140\t95654128\t1766989824\t-0.0142994700\t-0.0065731280\t-0.0112961400\n8\t1311867170.6942050457\t0.0553153642\t0.0577820395\t0.0593872108\t0.0042001668\t1.1348540000\t106750294\t95654128\t1768718336\t-0.0137486551\t-0.0067191049\t-0.0138849709\n9\t1311867170.7263879776\t0.0557638295\t0.0575577940\t0.0593872108\t0.0040378525\t1.2938190000\t106753876\t95654128\t1770401792\t-0.0166832916\t-0.0081510656\t-0.0149160959\n10\t1311867170.7620189190\t0.0573873818\t0.0575407527\t0.0593872108\t0.0038913842\t1.1944910000\t106756210\t95654128\t1772105728\t-0.0208571628\t-0.0095856255\t-0.0154249892\n11\t1311867170.7941920757\t0.0576700196\t0.0575525043\t0.0593872108\t0.0038753654\t1.0568190000\t106758332\t95654128\t1773756416\t-0.0219789352\t-0.0120281586\t-0.0167258978\n12\t1311867170.8262820244\t0.0578117184\t0.0575741054\t0.0593872108\t0.0039107512\t1.5404930000\t106930530\t95654128\t1775439872\t-0.0231595840\t-0.0151669020\t-0.0187399797\n13\t1311867170.8622210026\t0.0566113368\t0.0575000463\t0.0593872108\t0.0041741095\t1.1397240000\t106931752\t95654128\t1777160192\t-0.0219171587\t-0.0170680452\t-0.0219577681\n14\t1311867170.8943779469\t0.0570422001\t0.0574673430\t0.0593872108\t0.0040900781\t1.1115400000\t106933906\t95654128\t1778843648\t-0.0214157701\t-0.0191405229\t-0.0241591297\n15\t1311867170.9263520241\t0.0568430685\t0.0574257247\t0.0593872108\t0.0040338778\t0.9769760000\t106936124\t95654128\t1780588544\t-0.0204151627\t-0.0215134434\t-0.0269868039\n16\t1311867170.9621469975\t0.0567336865\t0.0573824723\t0.0593872108\t0.0039864537\t0.8180310000\t106937114\t95654128\t1782239232\t-0.0219652895\t-0.0223075058\t-0.0304109044\n17\t1311867170.9942629337\t0.0557758622\t0.0572879658\t0.0593872108\t0.0040482889\t1.0818720000\t106941828\t95654128\t1784000512\t-0.0206563734\t-0.0237760637\t-0.0341141559\n18\t1311867171.0262739658\t0.0555885695\t0.0571935549\t0.0593872108\t0.0039512163\t1.2366440000\t106946670\t95654128\t1785651200\t-0.0201262217\t-0.0271924157\t-0.0363608189\n19\t1311867171.0623519421\t0.0553662516\t0.0570973811\t0.0593872108\t0.0045599777\t0.9349700000\t106947660\t95654128\t1784889344\t-0.0211413894\t-0.0299601126\t-0.0391975492\n20\t1311867171.0942349434\t0.0544657297\t0.0569657985\t0.0593872108\t0.0045674032\t0.9952480000\t107120358\t95654128\t1784508416\t-0.0194505081\t-0.0302127115\t-0.0421793126\n21\t1311867171.1262509823\t0.0545005761\t0.0568484070\t0.0593872108\t0.0044684692\t0.9527990000\t107122576\t95654128\t1784000512\t-0.0215338506\t-0.0326050706\t-0.0440473929\n22\t1311867171.1622469425\t0.0549981445\t0.0567643041\t0.0593872108\t0.0048484479\t1.0948310000\t107123534\t95654128\t1783619584\t-0.0203466564\t-0.0316030905\t-0.0455996394\n23\t1311867171.1942689419\t0.0528933220\t0.0565960006\t0.0593872108\t0.0058697819\t0.9128400000\t107125672\t95654128\t1785372672\t-0.0151479300\t-0.0305932313\t-0.0475577451\n24\t1311867171.2262530327\t0.0532901809\t0.0564582581\t0.0593872108\t0.0059476557\t0.8979990000\t107127890\t95654128\t1784483840\t-0.0115759028\t-0.0311542563\t-0.0488610640\n25\t1311867171.2622439861\t0.0524212271\t0.0562967768\t0.0593872108\t0.0058329640\t1.0107210000\t107128880\t95654128\t1784102912\t-0.0067584771\t-0.0288666245\t-0.0512366779\n26\t1311867171.2943410873\t0.0513527319\t0.0561066213\t0.0593872108\t0.0057673758\t1.2932760000\t107131002\t95654128\t1783181312\t-0.0045648543\t-0.0286129583\t-0.0529360324\n27\t1311867171.3263869286\t0.0525493883\t0.0559748719\t0.0593872108\t0.0060520063\t1.2123180000\t107133220\t95654128\t1783054336\t-0.0039762170\t-0.0290050656\t-0.0530894250\n28\t1311867171.3622460365\t0.0529402234\t0.0558664916\t0.0593872108\t0.0060355928\t1.3546600000\t107134210\t95654128\t1784446976\t-0.0028461213\t-0.0256772153\t-0.0543870144\n29\t1311867171.3941431046\t0.0538258217\t0.0557961237\t0.0593872108\t0.0059808629\t1.0800110000\t107136364\t95654128\t1783709696\t-0.0046027815\t-0.0234379042\t-0.0556271151\n30\t1311867171.4262878895\t0.0560286753\t0.0558038754\t0.0593872108\t0.0060498159\t1.0751850000\t107138582\t95654128\t1783181312\t-0.0087633161\t-0.0259505250\t-0.0548655428\n31\t1311867171.4622440338\t0.0556693748\t0.0557995366\t0.0593872108\t0.0060708967\t1.0712170000\t107139572\t95654128\t1784840192\t-0.0075734709\t-0.0246111285\t-0.0577058569\n32\t1311867171.4944040775\t0.0550765395\t0.0557769430\t0.0593872108\t0.0059884850\t1.1198750000\t107141726\t95654128\t1783828480\t-0.0067127100\t-0.0231670011\t-0.0606448948\n33\t1311867171.5261778831\t0.0566027835\t0.0558019685\t0.0593872108\t0.0059492871\t1.0900790000\t107149048\t95654128\t1783209984\t-0.0087534925\t-0.0229871254\t-0.0607217439\n34\t1311867171.5622971058\t0.0562855378\t0.0558161911\t0.0593872108\t0.0059631345\t0.9141710000\t107155286\t95654128\t1784840192\t-0.0067214258\t-0.0205412060\t-0.0627184734\n35\t1311867171.5942931175\t0.0548040755\t0.0557872735\t0.0593872108\t0.0059562412\t1.0392800000\t107157440\t95654128\t1783828480\t-0.0056193219\t-0.0221905336\t-0.0641570762\n36\t1311867171.6263399124\t0.0565896779\t0.0558095625\t0.0593872108\t0.0059167025\t1.2834270000\t107159658\t95654128\t1783459840\t-0.0094992705\t-0.0218665358\t-0.0633907616\n37\t1311867171.6622560024\t0.0576589406\t0.0558595457\t0.0593872108\t0.0058699786\t1.1393500000\t107160648\t95654128\t1785090048\t-0.0123062236\t-0.0198261105\t-0.0642024428\n38\t1311867171.6943440437\t0.0578230098\t0.0559112158\t0.0593872108\t0.0058651626\t1.0612330000\t107162802\t95654128\t1784221696\t-0.0129630258\t-0.0195442867\t-0.0646993220\n39\t1311867171.7262439728\t0.0576510578\t0.0559558271\t0.0593872108\t0.0057900694\t1.0904630000\t107165020\t95654128\t1784090624\t-0.0165277757\t-0.0210464373\t-0.0650094301\n40\t1311867171.7621190548\t0.0579682216\t0.0560061370\t0.0593872108\t0.0057200750\t1.0309430000\t107166010\t95654128\t1783058432\t-0.0184061714\t-0.0220167041\t-0.0651536286\n41\t1311867171.7941710949\t0.0576449148\t0.0560461072\t0.0593872108\t0.0056848230\t1.1571820000\t107168164\t95654128\t1782546432\t-0.0203307327\t-0.0229816511\t-0.0660416335\n42\t1311867171.8262550831\t0.0574936084\t0.0560805715\t0.0593872108\t0.0056338759\t1.0117920000\t107170382\t95654128\t1784356864\t-0.0217187591\t-0.0232937150\t-0.0674158186\n43\t1311867171.8623590469\t0.0573481768\t0.0561100507\t0.0593872108\t0.0055881382\t1.0577930000\t107171356\t95654128\t1783201792\t-0.0268588215\t-0.0248993803\t-0.0681789145\n44\t1311867171.8944430351\t0.0574418865\t0.0561403197\t0.0593872108\t0.0056763918\t1.2340010000\t107173542\t95654128\t1782820864\t-0.0299081951\t-0.0223788247\t-0.0700934529\n45\t1311867171.9262220860\t0.0565409064\t0.0561492216\t0.0593872108\t0.0057468334\t1.2905970000\t107175728\t95654128\t1784598528\t-0.0337208062\t-0.0240939688\t-0.0707545504\n46\t1311867171.9624669552\t0.0570410080\t0.0561686083\t0.0593872108\t0.0057360583\t1.3976860000\t107176718\t95654128\t1783586816\t-0.0365872085\t-0.0218247715\t-0.0712081790\n47\t1311867171.9946711063\t0.0565888882\t0.0561775504\t0.0593872108\t0.0058883994\t1.0772850000\t107178904\t95654128\t1782820864\t-0.0403092578\t-0.0227173194\t-0.0710438192\n48\t1311867172.0262680054\t0.0557974540\t0.0561696317\t0.0593872108\t0.0059637182\t0.9554710000\t107181090\t95654128\t1784598528\t-0.0412862413\t-0.0219650939\t-0.0710382834\n49\t1311867172.0622880459\t0.0555329733\t0.0561566387\t0.0593872108\t0.0059047433\t1.3772480000\t107182080\t95654128\t1783586816\t-0.0449542478\t-0.0222551860\t-0.0700057149\n50\t1311867172.0941960812\t0.0556864142\t0.0561472342\t0.0593872108\t0.0058698522\t1.0970450000\t107184266\t95654128\t1783095296\t-0.0484787636\t-0.0234941263\t-0.0680501387\n51\t1311867172.1263689995\t0.0556669682\t0.0561378172\t0.0593872108\t0.0058726496\t1.2394160000\t107355964\t95654128\t1784832000\t-0.0523436554\t-0.0249330271\t-0.0667900071\n52\t1311867172.1623349190\t0.0557489507\t0.0561303390\t0.0593872108\t0.0058658668\t1.0592760000\t107356954\t95654128\t1783713792\t-0.0553347915\t-0.0228705667\t-0.0665258989\n53\t1311867172.1944270134\t0.0551638082\t0.0561121026\t0.0593872108\t0.0058285636\t1.1082280000\t107359140\t95654128\t1783062528\t-0.0582162738\t-0.0232382100\t-0.0661056861\n54\t1311867172.2264409065\t0.0565062761\t0.0561194021\t0.0593872108\t0.0060826974\t1.1148580000\t107361326\t95654128\t1784832000\t-0.0594271421\t-0.0202931073\t-0.0654258505\n55\t1311867172.2622280121\t0.0566044897\t0.0561282219\t0.0593872108\t0.0060490784\t1.3555200000\t107362316\t95654128\t1783459840\t-0.0597737655\t-0.0182471536\t-0.0647308379\n56\t1311867172.2944829464\t0.0574160703\t0.0561512192\t0.0593872108\t0.0060248288\t1.1700010000\t107364502\t95654128\t1782845440\t-0.0648879558\t-0.0169185251\t-0.0641474202\n57\t1311867172.3263380527\t0.0577596165\t0.0561794367\t0.0593872108\t0.0060282519\t1.1144180000\t10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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cpp_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 01:38:53\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cpp_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.5107820000\t954995638\t0\t1769201664\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0030307032\t0.0015153516\t0.0030307032\t0.0051710135\t0.6106970000\t953385791\t0\t1766391808\t-0.0004179855\t-0.0040805205\t0.0006781412\n3\t0.0800000000\t0.0063021961\t0.0031109664\t0.0063021961\t0.0043163384\t0.5598730000\t953074333\t0\t1768177664\t-0.0005357219\t-0.0099226749\t0.0005363578\n4\t0.1200000000\t0.0034978779\t0.0032076943\t0.0063021961\t0.0068916938\t0.5682390000\t953075935\t0\t1770082304\t0.0011232148\t-0.0099831866\t0.0018558176\n5\t0.1600000000\t0.0070138560\t0.0039689266\t0.0070138560\t0.0064668200\t0.5665210000\t953077209\t0\t1771732992\t0.0027215397\t-0.0109837959\t0.0027254899\n6\t0.2000000000\t0.0037474607\t0.0039320156\t0.0070138560\t0.0058252651\t0.5703960000\t953079139\t0\t1773350912\t0.0021924744\t-0.0133906724\t0.0027369487\n7\t0.2400000000\t0.0055200560\t0.0041588785\t0.0070138560\t0.0054982837\t0.5680770000\t953080413\t0\t1775140864\t0.0024585607\t-0.0153336581\t0.0031443520\n8\t0.2800000000\t0.0094181057\t0.0048162819\t0.0094181057\t0.0053446976\t0.5684090000\t953081687\t0\t1776812032\t0.0038683375\t-0.0161468387\t0.0041306503\n9\t0.3200000000\t0.0107593322\t0.0054766209\t0.0107593322\t0.0050496571\t0.5707150000\t953082961\t0\t1778589696\t0.0039524189\t-0.0174923502\t0.0041715754\n10\t0.3600000000\t0.0107116550\t0.0060001243\t0.0107593322\t0.0047697090\t0.5715210000\t953085547\t0\t1780240384\t0.0053224508\t-0.0188344084\t0.0043840399\n11\t0.4000000000\t0.0117678279\t0.0065244610\t0.0117678279\t0.0045900930\t0.5727240000\t953086821\t0\t1781858304\t0.0058938973\t-0.0203031264\t0.0047866073\n12\t0.4400000000\t0.0133966962\t0.0070971472\t0.0133966962\t0.0044341521\t0.5734950000\t953088095\t0\t1783668736\t0.0062644258\t-0.0214415602\t0.0047239484\n13\t0.4800000000\t0.0158700496\t0.0077719859\t0.0158700496\t0.0044922169\t0.5764410000\t953089369\t0\t1782620160\t0.0069554667\t-0.0221345536\t0.0048639672\n14\t0.5200000000\t0.0175139718\t0.0084678420\t0.0175139718\t0.0044913810\t0.5756240000\t953090643\t0\t1784160256\t0.0076835668\t-0.0226559360\t0.0050747632\n15\t0.5600000000\t0.0184783936\t0.0091352121\t0.0184783936\t0.0043480890\t0.5787420000\t953091917\t0\t1783050240\t0.0080343671\t-0.0228929389\t0.0048284428\n16\t0.6000000000\t0.0184607804\t0.0097180601\t0.0184783936\t0.0042054049\t0.6191750000\t953093191\t0\t1781731328\t0.0079875123\t-0.0230684597\t0.0045861495\n17\t0.6400000000\t0.0192412399\t0.0102782472\t0.0192412399\t0.0040869392\t0.5729810000\t953094465\t0\t1783263232\t0.0074315192\t-0.0231402200\t0.0042385617\n18\t0.6800000000\t0.0199765339\t0.0108170409\t0.0199765339\t0.0039862641\t0.5839830000\t953098363\t0\t1782239232\t0.0078386646\t-0.0227293652\t0.0042332639\n19\t0.7200000000\t0.0202570576\t0.0113138839\t0.0202570576\t0.0040362789\t0.5706330000\t953099637\t0\t1783906304\t0.0092463410\t-0.0225248206\t0.0042224741\n20\t0.7600000000\t0.0204151012\t0.0117689447\t0.0204151012\t0.0039323573\t0.5738370000\t953100911\t0\t1782796288\t0.0095849754\t-0.0227003694\t0.0038053002\n21\t0.8000000000\t0.0211696867\t0.0122165991\t0.0211696867\t0.0038355620\t0.5717340000\t953102185\t0\t1784414208\t0.0093405666\t-0.0225135833\t0.0041338503\n22\t0.8400000000\t0.0208713263\t0.0126099958\t0.0211696867\t0.0037437322\t0.5712510000\t953103459\t0\t1783410688\t0.0085612098\t-0.0225288440\t0.0038858207\n23\t0.8800000000\t0.0202048980\t0.0129402089\t0.0211696867\t0.0036579517\t0.5718230000\t953104733\t0\t1782366208\t0.0088347187\t-0.0227466617\t0.0038711813\n24\t0.9200000000\t0.0203672405\t0.0132496686\t0.0211696867\t0.0035866194\t0.5722510000\t953106007\t0\t1784025088\t0.0099441232\t-0.0232077483\t0.0042073512\n25\t0.9600000000\t0.0206863675\t0.0135471366\t0.0211696867\t0.0035201479\t0.6139650000\t953107281\t0\t1783042048\t0.0111695779\t-0.0236721225\t0.0046314155\n26\t1.0000000000\t0.0211716145\t0.0138403857\t0.0211716145\t0.0034537242\t0.5686500000\t953108555\t0\t1781886976\t0.0107511897\t-0.0246230643\t0.0045076390\n27\t1.0400000000\t0.0222102702\t0.0141503814\t0.0222102702\t0.0034038690\t0.5782510000\t953109829\t0\t1783513088\t0.0112664411\t-0.0249360185\t0.0048414213\n28\t1.0800000000\t0.0215391777\t0.0144142670\t0.0222102702\t0.0033590948\t0.5792990000\t953111103\t0\t1782484992\t0.0127984229\t-0.0254975185\t0.0048252814\n29\t1.1200000000\t0.0225214418\t0.0146938248\t0.0225214418\t0.0035402061\t0.5709180000\t953112377\t0\t1784152064\t0.0142958416\t-0.0258445516\t0.0051448806\n30\t1.1600000000\t0.0220270827\t0.0149382667\t0.0225214418\t0.0037890466\t0.5737180000\t953113651\t0\t1783119872\t0.0138194486\t-0.0268434957\t0.0051476336\n31\t1.2000000000\t0.0226744395\t0.0151878207\t0.0226744395\t0.0039669023\t0.5768130000\t953114925\t0\t1782136832\t0.0158906151\t-0.0272215698\t0.0055823214\n32\t1.2400000000\t0.0237923823\t0.0154567132\t0.0237923823\t0.0044084740\t0.5710050000\t953116199\t0\t1783762944\t0.0180731993\t-0.0270667840\t0.0062088016\n33\t1.2800000000\t0.0234685242\t0.0156994954\t0.0237923823\t0.0047336495\t0.5709280000\t953117473\t0\t1782632448\t0.0181008596\t-0.0272775143\t0.0068547558\n34\t1.3200000000\t0.0235683452\t0.0159309321\t0.0237923823\t0.0049331008\t0.5999750000\t953123995\t0\t1784414208\t0.0178165454\t-0.0275932252\t0.0076426137\n35\t1.3600000000\t0.0242828075\t0.0161695571\t0.0242828075\t0.0053842019\t0.5742400000\t953125269\t0\t1783365632\t0.0183059145\t-0.0276384596\t0.0084820995\n36\t1.4000000000\t0.0232123416\t0.0163651900\t0.0242828075\t0.0057359381\t0.5697110000\t953126543\t0\t1782284288\t0.0192882065\t-0.0282969344\t0.0091561042\n37\t1.4400000000\t0.0238645636\t0.0165678758\t0.0242828075\t0.0061981749\t0.5685190000\t953127817\t0\t1784033280\t0.0204212964\t-0.0288691390\t0.0098654302\n38\t1.4800000000\t0.0235146172\t0.0167506848\t0.0242828075\t0.0081864683\t0.5762200000\t953129091\t0\t1783140352\t0.0221447907\t-0.0293930564\t0.0114344964\n39\t1.5200000000\t0.0243630707\t0.0169458742\t0.0243630707\t0.0085130288\t0.5710680000\t953130365\t0\t1782136832\t0.0238734335\t-0.0299722087\t0.0126924748\n40\t1.5600000000\t0.0249333009\t0.0171455598\t0.0249333009\t0.0086534571\t0.5751140000\t953131639\t0\t1783746560\t0.0251264405\t-0.0307064541\t0.0132727996\n41\t1.6000000000\t0.0227659587\t0.0172826427\t0.0249333009\t0.0087854998\t0.5902020000\t953132913\t0\t1782763520\t0.0263215546\t-0.0321759544\t0.0141776260\n42\t1.6400000000\t0.0241867267\t0.0174470257\t0.0249333009\t0.0089385716\t0.5783510000\t953134187\t0\t1784397824\t0.0284331664\t-0.0333535150\t0.0149236163\n43\t1.6800000000\t0.0272381622\t0.0176747265\t0.0272381622\t0.0092472809\t0.5841180000\t953135461\t0\t1783287808\t0.0310361851\t-0.0339145474\t0.0162314605\n44\t1.7200000000\t0.0295534898\t0.0179446984\t0.0295534898\t0.0095294873\t0.5891560000\t953136735\t0\t1782267904\t0.0330988392\t-0.0345346332\t0.0177192297\n45\t1.7600000000\t0.0287318937\t0.0181844139\t0.0295534898\t0.0098391562\t0.5840970000\t953138009\t0\t1783873536\t0.0349057093\t-0.0358507857\t0.0186446346\n46\t1.8000000000\t0.0200050585\t0.0182239931\t0.0295534898\t0.0109506050\t0.6053960000\t953139283\t0\t1782870016\t0.0617495105\t-0.0279230289\t0.0122951819\n47\t1.8400000000\t0.0200413410\t0.0182626601\t0.0295534898\t0.0108604853\t0.6100950000\t953140557\t0\t1784541184\t0.1221652329\t-0.0312380381\t0.0012581302\n48\t1.8800000000\t0.0231165700\t0.0183637832\t0.0295534898\t0.0110193111\t0.5840000000\t953141831\t0\t1783525376\t0.1248495802\t-0.0345170014\t0.0026448676\n49\t1.9200000000\t0.0251062233\t0.0185013840\t0.0295534898\t0.0111830761\t0.5782910000\t953143105\t0\t1782542336\t0.1275981963\t-0.0374377556\t0.0034679379\n50\t1.9600000000\t0.0273963008\t0.0186792824\t0.0295534898\t0.0112862992\t0.5756040000\t953144379\t0\t1784127488\t0.1305495948\t-0.0398439839\t0.0043778904\n51\t2.0000000000\t0.0287633147\t0.0188770085\t0.0295534898\t0.0113609686\t0.5690420000\t953145653\t0\t1783136256\t0.1335841715\t-0.0421532169\t0.0046163108\n52\t2.0400000000\t0.0300062299\t0.0190910320\t0.0300062299\t0.0114281236\t0.5718920000\t953146927\t0\t1781850112\t0.1370867044\t-0.0442072116\t0.0049715438\n53\t2.0800000000\t0.0311352201\t0.0193182808\t0.0311352201\t0.0114657845\t0.5582250000\t953148201\t0\t1783533568\t0.1388857067\t-0.0461192429\t0.0052981433\n54\t2.1200000000\t0.0332166329\t0.0195756577\t0.0332166329\t0.0115030566\t0.5613300000\t953149475\t0\t1782407168\t0.1425548494\t-0.0477256700\t0.0054334160\n55\t2.1600000000\t0.0236942489\t0.0196505412\t0.0332166329\t0.0115175333\t0.5816650000\t953150749\t0\t1784020992\t0.1446274072\t-0.0364435390\t0.0016972346\n56\t2.2000000000\t0.0256213825\t0.0197571633\t0.0332166329\t0.0115954107\t0.5379340000\t953152023\t0\t1783042048\t0.1459121704\t-0.0398542956\t0.0022159219\n57\t2.2400000000\t0.0264290422\t0.0198742138\t0.0332166329\t0.0117550142\t0.5297340000\t953153297\t0\t1781850112\t0.1458753645\t-0.0431738645\t0.0030045826\n58\t2.2800000000\t0.0282856897\t0.0200192393\t0.0332166329\t0.0119248621\t0.5233290000\t953154571\t0\t1783517184\t0.1479239315\t-0.0460941978\t0.0032224359\n59\t2.3200000000\t0.0305474959\t0.0201976843\t0.0332166329\t0.0121804036\t0.5224010000\t953155845\t0\t1782484992\t0.1503429413\t-0.0486670360\t0.0033241399\n60\t2.3600000000\t0.0321314670\t0.0203965807\t0.0332166329\t0.0123588020\t0.5204920000\t953157119\t0\t1784152064\t0.1535878181\t-0.0509560741\t0.0027087890\n61\t2.4000000000\t0.0339946523\t0.0206194999\t0.0339946523\t0.0126413095\t0.5392330000\t953158393\t0\t1783119872\t0.1563411504\t-0.0529052839\t0.0028332022\n62\t2.4400000000\t0.0309596788\t0.0207862770\t0.0339946523\t0.0128608617\t0.5404110000\t953159667\t0\t1782034432\t0.1592558771\t-0.0501757786\t0.0008124671\n63\t2.4800000000\t0.0300084744\t0.0209326611\t0.0339946523\t0.0130700515\t0.5447010000\t953160941\t0\t1783517184\t0.1624461412\t-0.0487444736\t-0.0004865863\n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9828\t0.0161696238\t0.5028030000\t954806181\t0\t1783791616\t-0.2081395835\t-0.0455649719\t2.1156361103\n1100\t43.9600000000\t1.0253015757\t0.1335768953\t1.0615919828\t0.0161674043\t0.6045010000\t954807455\t0\t1783013376\t-0.2081188411\t-0.0426086225\t2.1128475666\n" }, { "path": "icra2018_results/tegra/violons_libinfinitam-cpp_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 01:52:25\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cpp_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.5867540000\t954995638\t0\t1771765760\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0002910965\t0.0001455483\t0.0002910965\t0.0020534056\t0.7305460000\t953139727\t0\t1768873984\t0.0002571754\t0.0005311928\t0.0001826408\n3\t0.0800000000\t0.0004577617\t0.0002496194\t0.0004577617\t0.0017290551\t0.6892810000\t952828269\t0\t1770745856\t0.0003170961\t-0.0020085967\t-0.0006930974\n4\t0.1200000000\t0.0004247506\t0.0002934022\t0.0004577617\t0.0014803938\t0.6981110000\t952829871\t0\t1772429312\t0.0004795926\t-0.0013546797\t-0.0006147256\n5\t0.1600000000\t0.0006735011\t0.0003694220\t0.0006735011\t0.0014680103\t0.6859670000\t952831145\t0\t1774206976\t0.0005451371\t-0.0009306478\t-0.0004296732\n6\t0.2000000000\t0.0006569872\t0.0004173495\t0.0006735011\t0.0016120501\t0.6906630000\t952833075\t0\t1775824896\t0.0006312328\t-0.0019516861\t-0.0007426095\n7\t0.2400000000\t0.0007790207\t0.0004690168\t0.0007790207\t0.0016031670\t0.6909480000\t952834349\t0\t1777508352\t0.0006583823\t-0.0021561997\t-0.0008140900\n8\t0.2800000000\t0.0007656234\t0.0005060926\t0.0007790207\t0.0016106914\t0.7033710000\t952835623\t0\t1779269632\t0.0005130592\t-0.0009041536\t-0.0003786774\n9\t0.3200000000\t0.0007770904\t0.0005362035\t0.0007790207\t0.0015152436\t0.6920390000\t952836897\t0\t1780903936\t0.0007065011\t-0.0008357103\t-0.0003088087\n10\t0.3600000000\t0.0007575410\t0.0005583373\t0.0007790207\t0.0014549182\t0.6929670000\t952839483\t0\t1782587392\t0.0007054310\t-0.0015180771\t-0.0004736727\n11\t0.4000000000\t0.0007901298\t0.0005794093\t0.0007901298\t0.0013900280\t0.6959190000\t952840757\t0\t1784356864\t0.0006105092\t-0.0008906043\t-0.0003012363\n12\t0.4400000000\t0.0008149085\t0.0005990342\t0.0008149085\t0.0013422920\t0.6908930000\t952842031\t0\t1783230464\t0.0006533127\t-0.0000866373\t-0.0000065762\n13\t0.4800000000\t0.0007846489\t0.0006133123\t0.0008149085\t0.0013139534\t0.6938260000\t952843305\t0\t1781784576\t0.0005740318\t0.0004037211\t0.0003144571\n14\t0.5200000000\t0.0007722099\t0.0006246621\t0.0008149085\t0.0014175311\t0.6942330000\t952844579\t0\t1783324672\t0.0007183104\t0.0004871410\t0.0004010132\n15\t0.5600000000\t0.0008261008\t0.0006380914\t0.0008261008\t0.0015055754\t0.6873180000\t952845853\t0\t1782206464\t0.0007673725\t0.0005713719\t0.0004756446\n16\t0.6000000000\t0.0008128357\t0.0006490129\t0.0008261008\t0.0014899886\t0.6893000000\t952847127\t0\t1783943168\t0.0010690122\t0.0005240747\t0.0004198054\n17\t0.6400000000\t0.0008736217\t0.0006622252\t0.0008736217\t0.0014548227\t0.6897910000\t952848401\t0\t1782923264\t0.0010283582\t0.0003618375\t0.0004575096\n18\t0.6800000000\t0.0008956101\t0.0006751910\t0.0008956101\t0.0014295015\t0.6898850000\t952852299\t0\t1782050816\t0.0010210092\t-0.0002855734\t0.0002169097\n19\t0.7200000000\t0.0008395265\t0.0006838402\t0.0008956101\t0.0015662047\t0.6905490000\t952853573\t0\t1783681024\t0.0008901245\t-0.0002150962\t0.0001454976\n20\t0.7600000000\t0.0008183112\t0.0006905638\t0.0008956101\t0.0017824161\t0.6893630000\t952854847\t0\t1782833152\t0.0006795703\t-0.0004507552\t0.0000470184\n21\t0.8000000000\t0.0009582066\t0.0007033087\t0.0009582066\t0.0019828855\t0.6871880000\t952856121\t0\t1784475648\t0.0007440611\t-0.0005470748\t-0.0000900981\n22\t0.8400000000\t0.0008392957\t0.0007094899\t0.0009582066\t0.0020045726\t0.7397450000\t952857395\t0\t1783599104\t0.0007198028\t-0.0004003328\t0.0000062159\n23\t0.8800000000\t0.0009253955\t0.0007188771\t0.0009582066\t0.0020142724\t0.6907660000\t952858669\t0\t1782665216\t0.0004904012\t-0.0005274808\t-0.0000571083\n24\t0.9200000000\t0.0009948771\t0.0007303771\t0.0009948771\t0.0019796015\t0.6977570000\t952859943\t0\t1784590336\t0.0005703214\t-0.0003525105\t-0.0000485434\n25\t0.9600000000\t0.0009867561\t0.0007406323\t0.0009948771\t0.0019404185\t0.6908340000\t952861217\t0\t1783566336\t0.0002764327\t-0.0003293427\t-0.0000493976\n26\t1.0000000000\t0.0009839804\t0.0007499918\t0.0009948771\t0.0019031986\t0.6941970000\t952862491\t0\t1782665216\t0.0004309739\t-0.0000770344\t-0.0000018292\n27\t1.0400000000\t0.0009465216\t0.0007572707\t0.0009948771\t0.0018735060\t0.6914350000\t952863765\t0\t1784590336\t0.0001223435\t-0.0000966704\t-0.0000267894\n28\t1.0800000000\t0.0009420904\t0.0007638714\t0.0009948771\t0.0018678418\t0.6933990000\t952865039\t0\t1783693312\t0.0000084327\t-0.0002121412\t0.0000079871\n29\t1.1200000000\t0.0009401255\t0.0007699491\t0.0009948771\t0.0018452803\t0.6862970000\t952866313\t0\t1782706176\t-0.0003395606\t0.0000324855\t0.0001157036\n30\t1.1600000000\t0.0009078729\t0.0007745466\t0.0009948771\t0.0018346766\t0.6891780000\t952867587\t0\t1784315904\t-0.0001613400\t0.0004401623\t0.0000887882\n31\t1.2000000000\t0.0009566820\t0.0007804219\t0.0009948771\t0.0018285691\t0.6916830000\t952868861\t0\t1783488512\t-0.0003293889\t0.0002387570\t0.0000664852\n32\t1.2400000000\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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cpp_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 02:05:41\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cpp_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.4406190000\t954995638\t0\t1769435136\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0025287580\t0.0012643790\t0.0025287580\t0.0016396729\t0.5829190000\t953139695\t0\t1765142528\t0.0001298894\t-0.0014884579\t0.0010924048\n3\t0.0800000000\t0.0054244380\t0.0026510654\t0.0054244380\t0.0017391977\t0.5077960000\t952828237\t0\t1766998016\t-0.0038504642\t-0.0031067394\t0.0017398237\n4\t0.1200000000\t0.0070274421\t0.0037451595\t0.0070274421\t0.0015669244\t0.4986340000\t952829839\t0\t1768681472\t-0.0023110318\t-0.0054961848\t0.0010509992\n5\t0.1600000000\t0.0088551790\t0.0047671634\t0.0088551790\t0.0013909642\t0.5059750000\t952831113\t0\t1770299392\t-0.0046131993\t-0.0063578775\t0.0030123633\n6\t0.2000000000\t0.0102930972\t0.0056881524\t0.0102930972\t0.0012778220\t0.5024910000\t952833043\t0\t1772093440\t-0.0038861982\t-0.0083314199\t0.0025791780\n7\t0.2400000000\t0.0118946498\t0.0065747949\t0.0118946498\t0.0012581951\t0.5077260000\t952834317\t0\t1773727744\t-0.0038171627\t-0.0100242635\t0.0032994985\n8\t0.2800000000\t0.0135098193\t0.0074416729\t0.0135098193\t0.0012218635\t0.5096750000\t952835591\t0\t1775411200\t-0.0048788586\t-0.0113805616\t0.0035558587\n9\t0.3200000000\t0.0144352987\t0.0082187425\t0.0144352987\t0.0012466534\t0.5094420000\t952836865\t0\t1777156096\t-0.0066229966\t-0.0128532359\t0.0038512140\n10\t0.3600000000\t0.0163385924\t0.0090307275\t0.0163385924\t0.0012909927\t0.5093510000\t952839451\t0\t1778839552\t-0.0065648258\t-0.0135375271\t0.0049187383\n11\t0.4000000000\t0.0166966375\t0.0097276284\t0.0166966375\t0.0015214718\t0.5049320000\t952840725\t0\t1780473856\t-0.0074224779\t-0.0147393653\t0.0057224147\n12\t0.4400000000\t0.0182190146\t0.0104352439\t0.0182190146\t0.0018500371\t0.5109770000\t952841999\t0\t1782259712\t-0.0073891315\t-0.0164435059\t0.0053270306\n13\t0.4800000000\t0.0193160996\t0.0111183866\t0.0193160996\t0.0019798412\t0.5093810000\t952843273\t0\t1783877632\t-0.0093520060\t-0.0176293720\t0.0061454088\n14\t0.5200000000\t0.0214044042\t0.0118531022\t0.0214044042\t0.0019401732\t0.5112490000\t952844547\t0\t1782738944\t-0.0093163243\t-0.0185875688\t0.0060941246\n15\t0.5600000000\t0.0227404237\t0.0125789236\t0.0227404237\t0.0018736660\t0.5090140000\t952845821\t0\t1784438784\t-0.0118633416\t-0.0187024008\t0.0071492945\n16\t0.6000000000\t0.0223943722\t0.0131923891\t0.0227404237\t0.0018615365\t0.5144100000\t952847095\t0\t1783287808\t-0.0114700813\t-0.0202183407\t0.0060664122\n17\t0.6400000000\t0.0232618582\t0.0137847109\t0.0232618582\t0.0018285122\t0.5141210000\t952848369\t0\t1782140928\t-0.0132108238\t-0.0223458391\t0.0048402767\n18\t0.6800000000\t0.0240122750\t0.0143529089\t0.0240122750\t0.0017749035\t0.5068970000\t952852267\t0\t1783910400\t-0.0145212021\t-0.0229160916\t0.0059817573\n19\t0.7200000000\t0.0249491297\t0.0149106047\t0.0249491297\t0.0017824498\t0.5141640000\t952853541\t0\t1782861824\t-0.0159210172\t-0.0235471185\t0.0057967831\n20\t0.7600000000\t0.0246747509\t0.0153988120\t0.0249491297\t0.0018944932\t0.5142850000\t952854815\t0\t1781878784\t-0.0188484509\t-0.0245167017\t0.0053310469\n21\t0.8000000000\t0.0253916997\t0.0158746638\t0.0253916997\t0.0018566142\t0.5084200000\t952856089\t0\t1783521280\t-0.0216679387\t-0.0242892690\t0.0058404533\n22\t0.8400000000\t0.0259012319\t0.0163304169\t0.0259012319\t0.0018347269\t0.5443900000\t952857363\t0\t1782476800\t-0.0270100478\t-0.0255603846\t0.0054578921\n23\t0.8800000000\t0.0264086220\t0.0167685997\t0.0264086220\t0.0017946405\t0.5099210000\t952858637\t0\t1784135680\t-0.0269538909\t-0.0270172078\t0.0040060580\n24\t0.9200000000\t0.0290326439\t0.0172796016\t0.0290326439\t0.0017834514\t0.5130090000\t952859911\t0\t1783373824\t-0.0342004895\t-0.0279597286\t0.0038877232\n25\t0.9600000000\t0.0310492106\t0.0178303859\t0.0310492106\t0.0017832536\t0.5050460000\t952861185\t0\t1782243328\t-0.0355904661\t-0.0287421215\t0.0036555349\n26\t1.0000000000\t0.0305184126\t0.0183183870\t0.0310492106\t0.0017516522\t0.5041780000\t952862459\t0\t1784008704\t-0.0414997153\t-0.0297127590\t0.0043343063\n27\t1.0400000000\t0.0316585489\t0.0188124670\t0.0316585489\t0.0018679059\t0.5053720000\t952863733\t0\t1782886400\t-0.0470298566\t-0.0315143652\t0.0024488762\n28\t1.0800000000\t0.0337427706\t0.0193456922\t0.0337427706\t0.0020575715\t0.5035470000\t952865007\t0\t1781903360\t-0.0515263528\t-0.0317365564\t0.0026429466\n29\t1.1200000000\t0.0356616117\t0.0199083101\t0.0356616117\t0.0022462127\t0.4983660000\t952866281\t0\t1783529472\t-0.0572203286\t-0.0333577357\t0.0003263837\n30\t1.1600000000\t0.0347459950\t0.0204028996\t0.0356616117\t0.0022621525\t0.5005420000\t952867555\t0\t1782480896\t-0.0664714128\t-0.0332040861\t0.0019750241\n31\t1.2000000000\t0.0364708230\t0.0209212197\t0.0364708230\t0.0022742735\t0.4983670000\t952868829\t0\t1784164352\t-0.0729596764\t-0.0341592617\t0.0006260027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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cpp_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 02:16:54\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cpp_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.8259080000\t954995638\t0\t1770733568\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0003881263\t0.0001940631\t0.0003881263\t0.0010333611\t1.0233760000\t953385763\t0\t1765085184\t-0.0001940523\t0.0036086100\t0.0017813192\n3\t0.0800000000\t0.0007211429\t0.0003697564\t0.0007211429\t0.0018866465\t0.9388230000\t953074305\t0\t1766805504\t-0.0019451390\t-0.0020266830\t0.0017657793\n4\t0.1200000000\t0.0008640065\t0.0004933189\t0.0008640065\t0.0023545570\t0.9353190000\t953075907\t0\t1768488960\t-0.0023192738\t-0.0007952096\t0.0006177251\n5\t0.1600000000\t0.0010552917\t0.0006057135\t0.0010552917\t0.0042423851\t0.9627340000\t953077181\t0\t1770246144\t-0.0001187189\t0.0056788325\t0.0036431807\n6\t0.2000000000\t0.0012217654\t0.0007083888\t0.0012217654\t0.0040664473\t0.9578650000\t953079111\t0\t1771917312\t0.0030027553\t-0.0044090343\t0.0027599339\n7\t0.2400000000\t0.0012698837\t0.0007886024\t0.0012698837\t0.0039254769\t0.9979490000\t953080385\t0\t1774944256\t0.0032089448\t-0.0144204032\t-0.0003563718\n8\t0.2800000000\t0.0012073653\t0.0008409477\t0.0012698837\t0.0036445731\t0.9425020000\t953081659\t0\t1776709632\t0.0010051118\t-0.0127783921\t-0.0012683957\n9\t0.3200000000\t0.0010883431\t0.0008684361\t0.0012698837\t0.0045220793\t0.9368740000\t953082933\t0\t1778360320\t-0.0001103831\t-0.0090666683\t0.0016685696\n10\t0.3600000000\t0.0014994163\t0.0009315341\t0.0014994163\t0.0042875227\t0.9384850000\t953085519\t0\t1780011008\t-0.0020229411\t-0.0159801748\t-0.0001115449\n11\t0.4000000000\t0.0013570037\t0.0009702132\t0.0014994163\t0.0041268347\t0.9313070000\t953086793\t0\t1781780480\t-0.0019455865\t-0.0125929080\t-0.0013916764\n12\t0.4400000000\t0.0015243968\t0.0010163952\t0.0015243968\t0.0041904032\t0.9552000000\t953088067\t0\t1783431168\t-0.0009501032\t-0.0024546958\t0.0015401212\n13\t0.4800000000\t0.0015203318\t0.0010551595\t0.0015243968\t0.0040158152\t0.9387940000\t953089341\t0\t1781915648\t0.0010167509\t-0.0045938040\t0.0015782597\n14\t0.5200000000\t0.0016968712\t0.0011009961\t0.0016968712\t0.0039728100\t0.9532690000\t953090615\t0\t1783431168\t0.0039402922\t-0.0120999720\t-0.0011736540\n15\t0.5600000000\t0.0013440389\t0.0011171989\t0.0016968712\t0.0039349492\t0.9441200000\t953091889\t0\t1782083584\t0.0065079909\t-0.0107586458\t-0.0013718579\n16\t0.6000000000\t0.0014858663\t0.0011402406\t0.0016968712\t0.0038099059\t0.9323360000\t953093163\t0\t1783574528\t0.0077317939\t-0.0094446698\t-0.0010760449\n17\t0.6400000000\t0.0016916678\t0.0011726775\t0.0016968712\t0.0037102063\t0.9293220000\t953094437\t0\t1782083584\t0.0074940114\t-0.0129345423\t-0.0028987098\n18\t0.6800000000\t0.0015150504\t0.0011916982\t0.0016968712\t0.0036018900\t0.9329890000\t953098335\t0\t1783582720\t0.0066664973\t-0.0120898513\t-0.0042951098\n19\t0.7200000000\t0.0017877599\t0.0012230699\t0.0017877599\t0.0036713333\t0.9916590000\t953099609\t0\t1782181888\t0.0073413188\t-0.0077866302\t-0.0040916274\n20\t0.7600000000\t0.0016812142\t0.0012459771\t0.0017877599\t0.0039498345\t0.9329160000\t953100883\t0\t1783820288\t0.0067599341\t-0.0091080507\t-0.0066858632\n21\t0.8000000000\t0.0018798064\t0.0012761595\t0.0018798064\t0.0041365165\t0.9589600000\t953102157\t0\t1782546432\t0.0094311796\t-0.0058905394\t-0.0064882729\n22\t0.8400000000\t0.0017238290\t0.0012965081\t0.0018798064\t0.0040716751\t0.9346390000\t953103431\t0\t1784201216\t0.0095290691\t-0.0033452257\t-0.0061299056\n23\t0.8800000000\t0.0019181789\t0.0013235372\t0.0019181789\t0.0040459337\t0.9539580000\t953104705\t0\t1782816768\t0.0122243939\t-0.0094487602\t-0.0100603420\n24\t0.9200000000\t0.0017549687\t0.0013415136\t0.0019181789\t0.0040366121\t0.9359350000\t953105979\t0\t1784455168\t0.0142292166\t-0.0084284069\t-0.0099117905\n25\t0.9600000000\t0.0018983454\t0.0013637868\t0.0019181789\t0.0039536868\t0.9381020000\t953107253\t0\t1783242752\t0.0143053634\t-0.0110958023\t-0.0129500115\n26\t1.0000000000\t0.0018951360\t0.0013842233\t0.0019181789\t0.0038745562\t0.9435260000\t953108527\t0\t1781821440\t0.0126407268\t-0.0115280608\t-0.0139671285\n27\t1.0400000000\t0.0020072646\t0.0014072989\t0.0020072646\t0.0038137422\t0.9307730000\t953109801\t0\t1783484416\t0.0137046194\t-0.0154553959\t-0.0164126065\n28\t1.0800000000\t0.0019873453\t0.0014280149\t0.0020072646\t0.0037460087\t0.9405610000\t953111075\t0\t1782206464\t0.0125787705\t-0.0176726561\t-0.0178422425\n29\t1.1200000000\t0.0020048956\t0.0014479073\t0.0020072646\t0.0037666314\t0.9348040000\t953112349\t0\t1783812096\t0.0137591409\t-0.0197222568\t-0.0190353431\n30\t1.1600000000\t0.0018466520\t0.0014611988\t0.0020072646\t0.0037355185\t0.9388100000\t953113623\t0\t1782542336\t0.0169673078\t-0.0190150943\t-0.0194324479\n31\t1.2000000000\t0.0021455453\t0.0014832745\t0.0021455453\t0.0037431940\t0.9594030000\t953114897\t0\t1784311808\t0.0218952298\t-0.0174801815\t-0.0208284352\n32\t1.2400000000\t0.0018769824\t0.0014955779\t0.0021455453\t0.0037877226\t0.9329470000\t953116171\t0\t1783042048\t0.0221752841\t-0.0146748107\t-0.0219452120\n33\t1.2800000000\t0.0021589387\t0.0015156797\t0.0021589387\t0.0040354142\t0.9447230000\t953117445\t0\t1781518336\t0.0235111173\t-0.0102991937\t-0.0220287573\n34\t1.3200000000\t0.0021975997\t0.0015357362\t0.0021975997\t0.0042478665\t0.9300230000\t953123967\t0\t1783422976\t0.0317813829\t-0.0078666443\t-0.0243408773\n35\t1.3600000000\t0.0021009310\t0.0015518846\t0.0021975997\t0.0041881770\t0.9025480000\t953125241\t0\t1782198272\t0.0309623592\t-0.0092785256\t-0.0259293467\n36\t1.4000000000\t0.0021279689\t0.0015678870\t0.0021975997\t0.0041387427\t0.9009410000\t953126515\t0\t1783955456\t0.0313442349\t-0.0115507534\t-0.0293286927\n37\t1.4400000000\t0.0021159369\t0.0015826991\t0.0021975997\t0.0040818707\t0.9266470000\t953127789\t0\t1782550528\t0.0339456238\t-0.0126444893\t-0.0316049084\n38\t1.4800000000\t0.0021567827\t0.0015978066\t0.0021975997\t0.0040270145\t0.8894020000\t953129063\t0\t1784336384\t0.0338486321\t-0.0126470802\t-0.0318739712\n39\t1.5200000000\t0.0021337562\t0.0016115489\t0.0021975997\t0.0039993253\t0.8868420000\t953130337\t0\t1783074816\t0.0346376449\t-0.0119361216\t-0.0328073651\n40\t1.5600000000\t0.0021122920\t0.0016240675\t0.0021975997\t0.0041980284\t0.8869780000\t953131611\t0\t1781436416\t0.0376095846\t-0.0116420658\t-0.0336467177\n41\t1.6000000000\t0.0023531662\t0.0016418503\t0.0023531662\t0.0044641356\t0.8883570000\t953132885\t0\t1783103488\t0.0432794355\t-0.0096684834\t-0.0342809744\n42\t1.6400000000\t0.0022277071\t0.0016557993\t0.0023531662\t0.0044263719\t0.8759920000\t953134159\t0\t1781653504\t0.0436204374\t-0.0099310521\t-0.0355459005\n43\t1.6800000000\t0.0022249743\t0.0016690359\t0.0023531662\t0.0044127577\t0.8692870000\t953135433\t0\t1783431168\t0.0454232767\t-0.0101228831\t-0.0370668620\n44\t1.7200000000\t0.0021790185\t0.0016806265\t0.0023531662\t0.0043828241\t0.8587540000\t953136707\t0\t1782153216\t0.0473813564\t-0.0092666736\t-0.0372761302\n45\t1.7600000000\t0.0021316784\t0.0016906498\t0.0023531662\t0.0045699315\t0.8514820000\t953137981\t0\t1783967744\t0.0492033884\t-0.0077264439\t-0.0384219065\n46\t1.8000000000\t0.0022145605\t0.0017020392\t0.0023531662\t0.0046636509\t0.8499910000\t953139255\t0\t1782542336\t0.0507014804\t-0.0068858871\t-0.0391054265\n47\t1.8400000000\t0.0024187560\t0.0017172885\t0.0024187560\t0.0046737143\t0.8645640000\t953140529\t0\t1784328192\t0.0524861142\t-0.0040459926\t-0.0395063683\n48\t1.8800000000\t0.0021772922\t0.0017268719\t0.0024187560\t0.0046573866\t0.8507800000\t953141803\t0\t1783070720\t0.0543598086\t-0.0032750939\t-0.0393008403\n49\t1.9200000000\t0.0022766755\t0.0017380924\t0.0024187560\t0.0046889094\t0.8760210000\t953143077\t0\t1781702656\t0.0554875135\t-0.0055013741\t-0.0411554426\n50\t1.9600000000\t0.0023217972\t0.0017497665\t0.0024187560\t0.0046627666\t0.8432120000\t953144351\t0\t1783422976\t0.0509126745\t-0.0035073820\t-0.0431814604\n51\t2.0000000000\t0.0022670222\t0.0017599087\t0.0024187560\t0.0046600533\t0.8468420000\t953145625\t0\t1782153216\t0.0501251891\t0.0006700824\t-0.0423161313\n52\t2.0400000000\t0.0023658446\t0.0017715614\t0.0024187560\t0.0046347541\t0.8347280000\t953146899\t0\t1783947264\t0.0501660071\t-0.0010062853\t-0.0425400957\n53\t2.0800000000\t0.0024408812\t0.0017841900\t0.0024408812\t0.0046008280\t0.8317610000\t953148173\t0\t1782689792\t0.0504351854\t-0.0051818588\t-0.0448345616\n54\t2.1200000000\t0.0022424429\t0.0017926762\t0.0024408812\t0.0046224988\t0.8293260000\t953149447\t0\t1784344576\t0.0507728308\t-0.0043760245\t-0.0444331095\n55\t2.1600000000\t0.0021923073\t0.0017999422\t0.0024408812\t0.0046148550\t0.8508620000\t953150721\t0\t1783074816\t0.0516592786\t-0.0022814365\t-0.0443636812\n56\t2.2000000000\t0.0022699158\t0.0018083346\t0.0024408812\t0.0046229630\t0.8158790000\t953151995\t0\t1781702656\t0.0530546121\t-0.0027904531\t-0.0452460237\n57\t2.2400000000\t0.0023484798\t0.0018178108\t0.0024408812\t0.0046395090\t0.8150510000\t953153269\t0\t1783296000\t0.0533399209\t-0.0052824696\t-0.0475350134\n58\t2.2800000000\t0.0025689355\t0.0018307613\t0.0025689355\t0.0048108104\t0.8279400000\t953154543\t0\t1781944320\t0.0571397357\t-0.0035924444\t-0.0470067896\n59\t2.3200000000\t0.0026037595\t0.0018438629\t0.0026037595\t0.0049712651\t0.8229920000\t953155817\t0\t1783693312\t0.0609237961\t-0.0008012513\t-0.0477212369\n60\t2.3600000000\t0.0026250924\t0.0018568834\t0.0026250924\t0.0050212424\t0.8269300000\t953157091\t0\t1782312960\t0.0642571971\t-0.0051397495\t-0.0503228754\n61\t2.4000000000\t0.0025686112\t0.0018685511\t0.0026250924\t0.0050104770\t0.8334860000\t953158365\t0\t1783947264\t0.0640233234\t-0.0078689326\t-0.0517068133\n62\t2.4400000000\t0.0024076076\t0.0018772455\t0.0026250924\t0.0050547054\t0.7929670000\t953159639\t0\t1782566912\t0.0660888329\t-0.0071850228\t-0.0511818789\n63\t2.4800000000\t0.0026780702\t0.0018899571\t0.0026780702\t0.0050912618\t0.8062140000\t953160913\t0\t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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cpp_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-19 02:29:18\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cpp_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287840366\t0.0606188439\t0.0606188439\t0.0606188439\tnan\t0.4327580000\t955056214\t0\t1770795008\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1305031229.5644419193\t0.0543008223\t0.0574598331\t0.0606188439\t0.0575154386\t0.6404430000\t953937995\t0\t1765089280\t0.0013284727\t0.0021752566\t0.0096042426\n3\t1305031229.5966169834\t0.0526679009\t0.0558625224\t0.0606188439\t0.0579651978\t0.5831240000\t953627049\t0\t1766907904\t0.0134093547\t-0.0028601678\t0.0144226337\n4\t1305031229.6287899017\t0.0486778058\t0.0540663432\t0.0606188439\t0.0479727785\t0.6002290000\t953629131\t0\t1768779776\t0.0181392469\t0.0010273705\t0.0209821649\n5\t1305031229.6646571159\t0.0491808131\t0.0530892372\t0.0606188439\t0.0428248784\t0.5723700000\t953630949\t0\t1770463232\t0.0175234601\t-0.0027280499\t0.0255012531\n6\t1305031229.6968429089\t0.0501704067\t0.0526027655\t0.0606188439\t0.0383582944\t0.5785400000\t953633423\t0\t1772113920\t0.0196025092\t-0.0042240052\t0.0289259385\n7\t1305031229.7290771008\t0.0478473045\t0.0519234139\t0.0606188439\t0.0365901110\t0.5965690000\t953635177\t0\t1773858816\t0.0188597720\t-0.0036055960\t0.0342993289\n8\t1305031229.7648689747\t0.0481450669\t0.0514511205\t0.0606188439\t0.0339867748\t0.5955120000\t953637027\t0\t1775542272\t0.0209880508\t-0.0045139603\t0.0390044041\n9\t1305031229.7969229221\t0.0485008061\t0.0511233078\t0.0606188439\t0.0320864180\t0.5981020000\t953638813\t0\t1777160192\t0.0224461090\t-0.0050776736\t0.0428236090\n10\t1305031229.8256299496\t0.0478119105\t0.0507921681\t0.0606188439\t0.0303557355\t0.5972430000\t953641847\t0\t1778970624\t0.0242812298\t-0.0046882550\t0.0481722243\n11\t1305031229.8630619049\t0.0489652716\t0.0506260866\t0.0606188439\t0.0293552630\t0.5920690000\t953643761\t0\t1780604928\t0.0272096954\t-0.0042807739\t0.0526911877\n12\t1305031229.8969380856\t0.0514247529\t0.0506926421\t0.0606188439\t0.0295543220\t0.5875390000\t953645547\t0\t1782222848\t0.0292605869\t-0.0042593074\t0.0566220507\n13\t1305031229.9262549877\t0.0545423292\t0.0509887719\t0.0606188439\t0.0285052952\t0.6176090000\t953647301\t0\t1784033280\t0.0354337804\t-0.0009483785\t0.0630965978\n14\t1305031229.9662408829\t0.0574350618\t0.0514492212\t0.0606188439\t0.0275761876\t0.5885240000\t953649215\t0\t1782349824\t0.0361509174\t-0.0010470260\t0.0666313469\n15\t1305031229.9979310036\t0.0596316643\t0.0519947174\t0.0606188439\t0.0274281242\t0.5766900000\t953650969\t0\t1784016896\t0.0372411124\t-0.0007555957\t0.0704538226\n16\t1305031230.0300021172\t0.0623285212\t0.0526405801\t0.0623285212\t0.0266459844\t0.5803090000\t953652755\t0\t1782362112\t0.0380477533\t-0.0008432003\t0.0737015903\n17\t1305031230.0656960011\t0.0661172643\t0.0534333262\t0.0661172643\t0.0260534134\t0.5790790000\t953654605\t0\t1784000512\t0.0387226641\t-0.0020595030\t0.0765622854\n18\t1305031230.0982739925\t0.0683833286\t0.0542638819\t0.0683833286\t0.0254805949\t0.5785160000\t953659015\t0\t1782370304\t0.0387406908\t-0.0019745734\t0.0788502544\n19\t1305031230.1299350262\t0.0698051080\t0.0550818412\t0.0698051080\t0.0247991483\t0.6042030000\t953660801\t0\t1783992320\t0.0379568674\t-0.0011932148\t0.0806973949\n20\t1305031230.1657800674\t0.0730145276\t0.0559784755\t0.0730145276\t0.0243076504\t0.5834090000\t953662651\t0\t1782370304\t0.0373982452\t-0.0017067118\t0.0830453336\n21\t1305031230.1977820396\t0.0752828941\t0.0568977335\t0.0752828941\t0.0238630206\t0.5764360000\t953664437\t0\t1784025088\t0.0367249846\t-0.0025708643\t0.0849393830\n22\t1305031230.2298529148\t0.0773567185\t0.0578276874\t0.0773567185\t0.0234075269\t0.5843940000\t953666223\t0\t1782468608\t0.0355429314\t-0.0030011819\t0.0865821764\n23\t1305031230.2655899525\t0.0798041001\t0.0587831836\t0.0798041001\t0.0230290519\t0.5932760000\t953668073\t0\t1784152064\t0.0341872610\t-0.0036662878\t0.0885230303\n24\t1305031230.2979929447\t0.0817128047\t0.0597385845\t0.0817128047\t0.0225729718\t0.6114960000\t953669859\t0\t1782722560\t0.0327740237\t-0.0035330050\t0.0907797366\n25\t1305031230.3351120949\t0.0850541368\t0.0607512066\t0.0850541368\t0.0222213300\t0.6198500000\t953671741\t0\t1784532992\t0.0320036039\t-0.0050126659\t0.0929688364\n26\t1305031230.3656799793\t0.0853716955\t0.0616981485\t0.0853716955\t0.0218208875\t0.6430790000\t953673495\t0\t1783169024\t0.0297696777\t-0.0044551045\t0.0947101116\n27\t1305031230.3973290920\t0.0857760385\t0.0625899222\t0.0857760385\t0.0214041292\t0.6486110000\t953675313\t0\t1781960704\t0.0267408807\t-0.0055106981\t0.0964611471\n28\t1305031230.4368140697\t0.0882240981\t0.0635054284\t0.0882240981\t0.0221082960\t0.6608130000\t953677195\t0\t1783644160\t0.0243069194\t-0.0068114279\t0.0982394889\n29\t1305031230.4653120041\t0.0899938345\t0.0644188218\t0.0899938345\t0.0219527700\t0.6807550000\t953678917\t0\t1782366208\t0.0205324125\t-0.0107504381\t0.0993829295\n30\t1305031230.4972999096\t0.0902861655\t0.0652810665\t0.0902861655\t0.0217323143\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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cpp_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-19 02:39:07\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cpp_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253988300\t0.0253988300\t0.0253988300\tnan\t0.4791890000\t955056310\t0\t1770221568\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1305031102.2112140656\t0.0217132382\t0.0235560341\t0.0253988300\t0.0240807198\t0.6371710000\t953938575\t0\t1765076992\t-0.0023110609\t0.0007926704\t0.0125146396\n3\t1305031102.2432110310\t0.0218830090\t0.0229983591\t0.0253988300\t0.0192133201\t0.6071230000\t953627629\t0\t1766801408\t-0.0037648196\t0.0053030890\t0.0258693416\n4\t1305031102.2753260136\t0.0166577362\t0.0214132033\t0.0253988300\t0.0157464548\t0.6255480000\t953629743\t0\t1768738816\t-0.0045058951\t0.0041049188\t0.0388879441\n5\t1305031102.3112668991\t0.0125653408\t0.0196436308\t0.0253988300\t0.0141426807\t0.6299490000\t953631593\t0\t1770516480\t-0.0033666748\t0.0037937891\t0.0516050719\n6\t1305031102.3432331085\t0.0089179929\t0.0178560245\t0.0253988300\t0.0148810281\t0.6348860000\t953634035\t0\t1772134400\t-0.0042274017\t0.0023542177\t0.0636251271\n7\t1305031102.3753290176\t0.0086959992\t0.0165474495\t0.0253988300\t0.0137550554\t0.6449540000\t953635789\t0\t1773797376\t-0.0045752311\t0.0031223341\t0.0755111650\n8\t1305031102.4112579823\t0.0069343597\t0.0153458132\t0.0253988300\t0.0147573621\t0.6420730000\t953637671\t0\t1775562752\t-0.0064932299\t0.0048687789\t0.0872642323\n9\t1305031102.4432709217\t0.0075785089\t0.0144827794\t0.0253988300\t0.0167665033\t0.6352560000\t953639457\t0\t1777246208\t-0.0082849171\t0.0075757690\t0.0996242762\n10\t1305031102.4753179550\t0.0110958805\t0.0141440895\t0.0253988300\t0.0160631513\t0.6322440000\t953642523\t0\t1778868224\t-0.0071401950\t0.0111965314\t0.1126649082\n11\t1305031102.5112190247\t0.0133498581\t0.0140718867\t0.0253988300\t0.0161505850\t0.6330240000\t953644373\t0\t1780633600\t-0.0073671723\t0.0107301213\t0.1251651198\n12\t1305031102.5432200432\t0.0163775757\t0.0142640274\t0.0253988300\t0.0154022485\t0.6778520000\t953646191\t0\t1782317056\t-0.0085271988\t0.0107750772\t0.1370552182\n13\t1305031102.5752859116\t0.0188209489\t0.0146145599\t0.0253988300\t0.0158768560\t0.6185090000\t953647945\t0\t1784094720\t-0.0114282425\t0.0102413446\t0.1486866027\n14\t1305031102.6112329960\t0.0235547293\t0.0152531434\t0.0253988300\t0.0167637806\t0.6226660000\t953649795\t0\t1782284288\t-0.0129637737\t0.0076711057\t0.1597723216\n15\t1305031102.6432650089\t0.0261492636\t0.0159795514\t0.0261492636\t0.0169669304\t0.6307330000\t953651581\t0\t1784221696\t-0.0159895029\t0.0083113248\t0.1706601679\n16\t1305031102.6752851009\t0.0239397082\t0.0164770612\t0.0261492636\t0.0170281577\t0.6404420000\t953653367\t0\t1782702080\t-0.0179047883\t0.0152680939\t0.1823418438\n17\t1305031102.7112629414\t0.0265402682\t0.0170690146\t0.0265402682\t0.0168263684\t0.6191710000\t953655217\t0\t1784307712\t-0.0183669031\t0.0179004837\t0.1947544664\n18\t1305031102.7432339191\t0.0301314481\t0.0177947053\t0.0301314481\t0.0164467201\t0.6149340000\t953659659\t0\t1782718464\t-0.0191838052\t0.0194257516\t0.2075117528\n19\t1305031102.7754719257\t0.0298243705\t0.0184278456\t0.0301314481\t0.0165171660\t0.6341630000\t953661413\t0\t1784356864\t-0.0186980963\t0.0254253782\t0.2203727961\n20\t1305031102.8112320900\t0.0337720662\t0.0191950566\t0.0337720662\t0.0161469702\t0.6487780000\t953663263\t0\t1782784000\t-0.0199224744\t0.0273315031\t0.2330058217\n21\t1305031102.8432900906\t0.0353447236\t0.0199640884\t0.0353447236\t0.0157480524\t0.6041150000\t953665081\t0\t1781407744\t-0.0219851732\t0.0307009239\t0.2455426902\n22\t1305031102.8753631115\t0.0383028872\t0.0207976701\t0.0383028872\t0.0154429153\t0.6001490000\t953666835\t0\t1783037952\t-0.0247266982\t0.0325005278\t0.2572790086\n23\t1305031102.9111850262\t0.0411039367\t0.0216805513\t0.0411039367\t0.0151398281\t0.5918270000\t953668685\t0\t1781809152\t-0.0272495188\t0.0351213142\t0.2687972188\n24\t1305031102.9432289600\t0.0426411964\t0.0225539115\t0.0426411964\t0.0152337543\t0.5916750000\t953670503\t0\t1783451648\t-0.0292246900\t0.0386258475\t0.2801080942\n25\t1305031102.9752030373\t0.0453554057\t0.0234659713\t0.0453554057\t0.0162051964\t0.5947330000\t953672225\t0\t1782022144\t-0.0328820087\t0.0411625132\t0.2913650572\n26\t1305031103.0112149715\t0.0483161025\t0.0244217456\t0.0483161025\t0.0158924776\t0.5868460000\t953674107\t0\t1783726080\t-0.0335788727\t0.0441867672\t0.3029504120\n27\t1305031103.0432269573\t0.0512476936\t0.0254152992\t0.0512476936\t0.0155968920\t0.5911290000\t953675925\t0\t1782030336\t-0.0334141627\t0.0471050218\t0.3143710792\n28\t1305031103.0753190517\t0.0541951917\t0.0264431525\t0.0541951917\t0.0159737637\t0.5858070000\t953677679\t0\t1783734272\t-0.0323164612\t0.0496869534\t0.3251523376\n29\t1305031103.1112399101\t0.0580569096\t0.0275332820\t0.0580569096\t0.0159077995\t0.6194710000\t953679529\t0\t1782288384\t-0.0319524668\t0.0512570739\t0.3349383175\n30\t1305031103.1433179379\t0.0572063290\t0.0285223836\t0.0580569096\t0.015667257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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cpp_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-19 02:48:22\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cpp_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6419320107\t0.0019026520\t0.0019026520\t0.0019026520\tnan\t0.4323020000\t958693034\t0\t1770409984\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1311867718.6768438816\t0.0027222037\t0.0023124279\t0.0027222037\t0.0021564551\t0.5627880000\t968632743\t0\t1765244928\t0.0005164510\t-0.0010936994\t0.0001798777\n3\t1311867718.7114279270\t0.0031998577\t0.0026082378\t0.0031998577\t0.0034740969\t0.5063090000\t968321829\t0\t1766739968\t0.0005414290\t-0.0010923829\t0.0002229991\n4\t1311867718.7410299778\t0.0041535799\t0.0029945733\t0.0041535799\t0.0042840818\t0.5170930000\t968323879\t0\t1768407040\t0.0010235405\t-0.0015497371\t0.0003004720\n5\t1311867718.7767970562\t0.0055215186\t0.0034999624\t0.0055215186\t0.0043328137\t0.5144030000\t968325729\t0\t1770057728\t0.0021279443\t-0.0026175210\t0.0001474886\n6\t1311867718.8094089031\t0.0056038373\t0.0038506082\t0.0056038373\t0.0041691247\t0.5261170000\t968328171\t0\t1771835392\t0.0020348993\t-0.0026791331\t0.0002581733\n7\t1311867718.8408079147\t0.0062560188\t0.0041942383\t0.0062560188\t0.0038580576\t0.5203800000\t968329925\t0\t1773486080\t0.0026844614\t-0.0024253663\t0.0003454532\n8\t1311867718.8767778873\t0.0070276498\t0.0045484147\t0.0070276498\t0.0036762000\t0.5322640000\t968331775\t0\t1775247360\t0.0029800036\t-0.0028167740\t0.0004529347\n9\t1311867718.9088680744\t0.0079749720\t0.0049291433\t0.0079749720\t0.0035488510\t0.5425510000\t968333529\t0\t1776914432\t0.0036907864\t-0.0027795082\t0.0006452871\n10\t1311867718.9438331127\t0.0086715957\t0.0053033886\t0.0086715957\t0.0033970858\t0.5395870000\t968336691\t0\t1778565120\t0.0044372287\t-0.0028011375\t0.0010422878\n11\t1311867718.9784109592\t0.0095486473\t0.0056893212\t0.0095486473\t0.0033672821\t0.5491370000\t968338541\t0\t1780342784\t0.0048542167\t-0.0037217583\t0.0012516964\n12\t1311867719.0091300011\t0.0099188192\t0.0060417793\t0.0099188192\t0.0032145368\t0.5559290000\t968340263\t0\t1781993472\t0.0048059565\t-0.0041586147\t0.0013767426\n13\t1311867719.0441620350\t0.0108008822\t0.0064078642\t0.0108008822\t0.0031134331\t0.5618590000\t968342113\t0\t1783754752\t0.0055802651\t-0.0042275270\t0.0016255215\n14\t1311867719.0776190758\t0.0118897557\t0.0067994279\t0.0118897557\t0.0031009619\t0.5607070000\t968343931\t0\t1781911552\t0.0065739057\t-0.0046500736\t0.0017758372\n15\t1311867719.1086950302\t0.0124932183\t0.0071790139\t0.0124932183\t0.0029912324\t0.5636040000\t968345717\t0\t1783382016\t0.0069134827\t-0.0050463038\t0.0020168941\n16\t1311867719.1437010765\t0.0134275518\t0.0075695475\t0.0134275518\t0.0029022557\t0.6149340000\t968347535\t0\t1781506048\t0.0076452424\t-0.0050778883\t0.0022302240\n17\t1311867719.1810290813\t0.0144314533\t0.0079731890\t0.0144314533\t0.0028862151\t0.5631670000\t968349385\t0\t1783238656\t0.0082772011\t-0.0055704145\t0.0025775169\n18\t1311867719.2127099037\t0.0148636140\t0.0083559904\t0.0148636140\t0.0028202809\t0.5696130000\t968353795\t0\t1781506048\t0.0084169051\t-0.0058969860\t0.0028509451\n19\t1311867719.2412090302\t0.0157005247\t0.0087425448\t0.0157005247\t0.0027981034\t0.5712860000\t968355517\t0\t1783001088\t0.0087130973\t-0.0063769422\t0.0030896224\n20\t1311867719.2779469490\t0.0170060880\t0.0091557220\t0.0170060880\t0.0031184502\t0.5838560000\t968357335\t0\t1781125120\t0.0094178505\t-0.0066734664\t0.0032724121\n21\t1311867719.3104898930\t0.0180170480\t0.0095776899\t0.0180170480\t0.0030977194\t0.5771240000\t968359153\t0\t1782730752\t0.0101720300\t-0.0067485818\t0.0034030336\n22\t1311867719.3413150311\t0.0193813536\t0.0100233110\t0.0193813536\t0.0032175325\t0.5806360000\t968360939\t0\t1784373248\t0.0111272270\t-0.0071389289\t0.0034835998\n23\t1311867719.3772718906\t0.0210286118\t0.0105018023\t0.0210286118\t0.0032547602\t0.5837140000\t968362757\t0\t1782521856\t0.0121979713\t-0.0079122754\t0.0034724493\n24\t1311867719.4105761051\t0.0215905532\t0.0109638336\t0.0215905532\t0.0032100197\t0.5812590000\t968364575\t0\t1784000512\t0.0124833751\t-0.0081555303\t0.0034877476\n25\t1311867719.4427709579\t0.0226408858\t0.0114309157\t0.0226408858\t0.0032949385\t0.6198060000\t968366393\t0\t1782140928\t0.0133451736\t-0.0086114462\t0.0035924183\n26\t1311867719.4787840843\t0.0232483596\t0.0118854328\t0.0232483596\t0.0033750144\t0.5868060000\t968368211\t0\t1783619584\t0.0132260676\t-0.0100192204\t0.0035402346\n27\t1311867719.5104370117\t0.0230147243\t0.0122976288\t0.0232483596\t0.0035821381\t0.5859280000\t968369997\t0\t1781760000\t0.0125882337\t-0.0103840549\t0.0036512141\n28\t1311867719.5449650288\t0.0236965120\t0.0127047317\t0.0236965120\t0.0036169007\t0.5962100000\t968371815\t0\t1783255040\t0.0126733799\t-0.0101461150\t0.0039970982\n29\t1311867719.5771939754\t0.0249575973\t0.0131272443\t0.0249575973\t0.0036255614\t0.5932710000\t968373633\t0\t1781379072\t0.0133445160\t-0.0108856326\t0.0040449784\n30\t1311867719.6112511158\t0.0255328193\t0.0135407635\t0.0255328193\t0.003584651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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cpp_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-19 03:04:13\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cpp_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/libinfinitam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520440\t0.0582520440\t0.0582520440\tnan\t0.4212670000\t959000730\t0\t1771651072\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1311867170.4941389561\t0.0573716909\t0.0578118674\t0.0582520440\t0.0124388076\t0.5941320000\t968634455\t0\t1768742912\t-0.0004072063\t-0.0012858611\t-0.0024128598\n3\t1311867170.5264289379\t0.0565330833\t0.0573856061\t0.0582520440\t0.0101374190\t0.5487000000\t968323541\t0\t1770512384\t-0.0017271454\t-0.0022885066\t-0.0047758869\n4\t1311867170.5623490810\t0.0561588481\t0.0570789166\t0.0582520440\t0.0096938434\t0.5108920000\t968325719\t0\t1772179456\t0.0001774310\t-0.0028418067\t-0.0061319824\n5\t1311867170.5942170620\t0.0564953238\t0.0569621980\t0.0582520440\t0.0086582634\t0.5164660000\t968327473\t0\t1773940736\t0.0032409180\t-0.0038395303\t-0.0071700001\n6\t1311867170.6260869503\t0.0565168299\t0.0568879700\t0.0582520440\t0.0085122241\t0.5157960000\t968329915\t0\t1775591424\t0.0035738882\t-0.0049959933\t-0.0088231694\n7\t1311867170.6621398926\t0.0566335991\t0.0568516313\t0.0582520440\t0.0084199616\t0.5244090000\t968331797\t0\t1777369088\t0.0042968453\t-0.0060216044\t-0.0103924451\n8\t1311867170.6942050457\t0.0565211475\t0.0568103208\t0.0582520440\t0.0080838246\t0.5224440000\t968333551\t0\t1779019776\t0.0039362623\t-0.0066581853\t-0.0121149849\n9\t1311867170.7263879776\t0.0572928116\t0.0568639309\t0.0582520440\t0.0083787838\t0.5229120000\t968335337\t0\t1780686848\t0.0047124927\t-0.0067693987\t-0.0132087953\n10\t1311867170.7620189190\t0.0571096987\t0.0568885077\t0.0582520440\t0.0084417302\t0.5265020000\t968338531\t0\t1782448128\t0.0037039455\t-0.0089412266\t-0.0147657823\n11\t1311867170.7941920757\t0.0576219745\t0.0569551865\t0.0582520440\t0.0083976173\t0.5337340000\t968340253\t0\t1784066048\t0.0046737590\t-0.0111022461\t-0.0163421072\n12\t1311867170.8262820244\t0.0582906455\t0.0570664747\t0.0582906455\t0.0084289973\t0.5327960000\t968342071\t0\t1782333440\t0.0057570767\t-0.0142005840\t-0.0181467272\n13\t1311867170.8622210026\t0.0583749451\t0.0571671263\t0.0583749451\t0.0082448838\t0.5597090000\t968343921\t0\t1784066048\t0.0054283361\t-0.0167541299\t-0.0205275044\n14\t1311867170.8943779469\t0.0589005798\t0.0572909444\t0.0589005798\t0.0079490197\t0.5352150000\t968345675\t0\t1782333440\t0.0052025281\t-0.0189113524\t-0.0228585508\n15\t1311867170.9263520241\t0.0592489652\t0.0574214791\t0.0592489652\t0.0080009781\t0.5328270000\t968347493\t0\t1783939072\t0.0049774339\t-0.0210463870\t-0.0255774222\n16\t1311867170.9621469975\t0.0584873073\t0.0574880934\t0.0592489652\t0.0078015419\t0.5332460000\t968349343\t0\t1782206464\t0.0025168243\t-0.0233095996\t-0.0286660884\n17\t1311867170.9942629337\t0.0581962466\t0.0575297495\t0.0592489652\t0.0076254012\t0.5268830000\t968351097\t0\t1783939072\t0.0015525046\t-0.0249249153\t-0.0317830965\n18\t1311867171.0262739658\t0.0583953001\t0.0575778356\t0.0592489652\t0.0074121499\t0.5266250000\t968355539\t0\t1782198272\t0.0013889928\t-0.0262809321\t-0.0344621167\n19\t1311867171.0623519421\t0.0577870794\t0.0575888484\t0.0592489652\t0.0079009288\t0.5270720000\t968357389\t0\t1783803904\t0.0006853252\t-0.0291139595\t-0.0373733751\n20\t1311867171.0942349434\t0.0569565743\t0.0575572347\t0.0592489652\t0.0078046348\t0.5327110000\t968359143\t0\t1782087680\t0.0012669293\t-0.0310232844\t-0.0399177782\n21\t1311867171.1262509823\t0.0568180680\t0.0575220363\t0.0592489652\t0.0076808976\t0.5264550000\t968360961\t0\t1783803904\t0.0016555191\t-0.0313842520\t-0.0420547910\n22\t1311867171.1622469425\t0.0565060675\t0.0574758559\t0.0592489652\t0.0076399803\t0.5218010000\t968362811\t0\t1782214656\t0.0030336701\t-0.0331913158\t-0.0437400490\n23\t1311867171.1942689419\t0.0555156134\t0.0573906280\t0.0592489652\t0.0079690359\t0.5180560000\t968364565\t0\t1783824384\t0.0048632957\t-0.0332807004\t-0.0448272675\n24\t1311867171.2262530327\t0.0571334325\t0.0573799115\t0.0592489652\t0.0080088304\t0.5173580000\t968366383\t0\t1782067200\t0.0073663658\t-0.0331329703\t-0.0454714559\n25\t1311867171.2622439861\t0.0565476492\t0.0573466210\t0.0592489652\t0.0080435426\t0.5283060000\t968368233\t0\t1783824384\t0.0080527533\t-0.0333015174\t-0.0465279184\n26\t1311867171.2943410873\t0.0566229634\t0.0573187880\t0.0592489652\t0.0079543632\t0.5302400000\t968369955\t0\t1782210560\t0.0085970769\t-0.0314652361\t-0.0471848845\n27\t1311867171.3263869286\t0.0564616099\t0.0572870407\t0.0592489652\t0.0082504094\t0.5422700000\t968371773\t0\t1783840768\t0.0059548561\t-0.0306783821\t-0.0484997295\n28\t1311867171.3622460365\t0.0552461408\t0.0572141514\t0.0592489652\t0.0081286308\t0.5516500000\t968373623\t0\t1782083584\t0.0032905680\t-0.0301448815\t-0.0500379801\n29\t1311867171.3941431046\t0.0556897856\t0.0571615871\t0.0592489652\t0.0082740839\t0.5507110000\t968375377\t0\t1783840768\t0.0016465661\t-0.0285147578\t-0.0511362143\n30\t1311867171.4262878895\t0.0563095883\t0.0571331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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cuda_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 06:05:36\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cuda_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.0600070000\t9055081\t955859216\t1769037824\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0030796253\t0.0015398127\t0.0030796253\t0.0051980098\t0.0679160000\t9384703\t955859216\t1767231488\t-0.0004412749\t-0.0040355935\t0.0006708794\n3\t0.0800000000\t0.0063277814\t0.0031358022\t0.0063277814\t0.0043254801\t0.0608920000\t9386281\t955859216\t1768607744\t-0.0005280133\t-0.0098962383\t0.0005286219\n4\t0.1200000000\t0.0034282017\t0.0032089021\t0.0063277814\t0.0068763620\t0.0759520000\t9387863\t955859216\t1766957056\t0.0010960712\t-0.0099197524\t0.0018420874\n5\t0.1600000000\t0.0069111115\t0.0039493440\t0.0069111115\t0.0064541179\t0.0955310000\t9389437\t955859216\t1765081088\t0.0026801426\t-0.0108894827\t0.0027075049\n6\t0.2000000000\t0.0036851119\t0.0039053053\t0.0069111115\t0.0058146557\t0.0854880000\t9391347\t955859216\t1765068800\t0.0021821600\t-0.0133301169\t0.0027215795\n7\t0.2400000000\t0.0054515046\t0.0041261909\t0.0069111115\t0.0054895361\t0.0419050000\t9392601\t955859216\t1766432768\t0.0024365392\t-0.0152695607\t0.0031306273\n8\t0.2800000000\t0.0093697906\t0.0047816409\t0.0093697906\t0.0053377610\t0.0659430000\t9393855\t955859216\t1765847040\t0.0038609661\t-0.0161003526\t0.0041185687\n9\t0.3200000000\t0.0107250018\t0.0054420143\t0.0107250018\t0.0050432784\t0.0758740000\t9395749\t955859216\t1765072896\t0.0039528613\t-0.0174582470\t0.0041623074\n10\t0.3600000000\t0.0106940242\t0.0059672153\t0.0107250018\t0.0047634960\t0.0623310000\t9398315\t955859216\t1765085184\t0.0053193183\t-0.0188170504\t0.0043809977\n11\t0.4000000000\t0.0117380824\t0.0064918396\t0.0117380824\t0.0045842179\t0.0407360000\t9399569\t955859216\t1766449152\t0.0058876481\t-0.0202745665\t0.0047804802\n12\t0.4400000000\t0.0133785354\t0.0070657309\t0.0133785354\t0.0044289360\t0.0569270000\t9400823\t955859216\t1766068224\t0.0062713367\t-0.0214215070\t0.0047200890\n13\t0.4800000000\t0.0158552770\t0.0077418498\t0.0158552770\t0.0044865807\t0.0413410000\t9402077\t955859216\t1765089280\t0.0069556241\t-0.0221189223\t0.0048628538\n14\t0.5200000000\t0.0175231695\t0.0084405155\t0.0175231695\t0.0044873557\t0.0887800000\t9403331\t955859216\t1765085184\t0.0076843789\t-0.0226648469\t0.0050772894\n15\t0.5600000000\t0.0184833538\t0.0091100381\t0.0184833538\t0.0043442140\t0.0702610000\t9404585\t955859216\t1765085184\t0.0080508590\t-0.0228940342\t0.0048286282\n16\t0.6000000000\t0.0184273068\t0.0096923674\t0.0184833538\t0.0042012883\t0.0499490000\t9405839\t955859216\t1765085184\t0.0079695573\t-0.0230383184\t0.0045816847\n17\t0.6400000000\t0.0192077551\t0.0102520960\t0.0192077551\t0.0040825623\t0.0459140000\t9408373\t955859216\t1766559744\t0.0074271653\t-0.0231072661\t0.0042317752\n18\t0.6800000000\t0.0200516731\t0.0107965170\t0.0200516731\t0.0039808863\t0.0618050000\t9412251\t955859216\t1766211584\t0.0078896908\t-0.0227937382\t0.0042468091\n19\t0.7200000000\t0.0203029569\t0.0112968559\t0.0203029569\t0.0040316686\t0.0408800000\t9413505\t955859216\t1767575552\t0.0092713265\t-0.0225642342\t0.0042348853\n20\t0.7600000000\t0.0204567779\t0.0117548520\t0.0204567779\t0.0039280208\t0.0496590000\t9414759\t955859216\t1766703104\t0.0096157584\t-0.0227349382\t0.0038148188\n21\t0.8000000000\t0.0211403705\t0.0122017815\t0.0211403705\t0.0038312079\t0.0493620000\t9416013\t955859216\t1765974016\t0.0093373284\t-0.0224840324\t0.0041298233\n22\t0.8400000000\t0.0208135676\t0.0125932263\t0.0211403705\t0.0037395753\t0.0638680000\t9417267\t955859216\t1765089280\t0.0085491519\t-0.0224736035\t0.0038731783\n23\t0.8800000000\t0.0203150474\t0.0129289577\t0.0211403705\t0.0036537239\t0.0425830000\t9418521\t955859216\t1766449152\t0.0089148246\t-0.0228405260\t0.0038881837\n24\t0.9200000000\t0.0203999598\t0.0132402494\t0.0211403705\t0.0035813892\t0.0789480000\t9419775\t955859216\t1765830656\t0.0099424738\t-0.0232408587\t0.0042160642\n25\t0.9600000000\t0.0206158794\t0.0135352746\t0.0211403705\t0.0035152313\t0.0485530000\t9421029\t955859216\t1765072896\t0.0111629320\t-0.0236031860\t0.0046140789\n26\t1.0000000000\t0.0211200919\t0.0138269984\t0.0211403705\t0.0034490315\t0.0580300000\t9422283\t955859216\t1766449152\t0.0107598128\t-0.0245712195\t0.0044891555\n27\t1.0400000000\t0.0221333485\t0.0141346410\t0.0221333485\t0.0033986417\t0.0789040000\t9423537\t955859216\t1765941248\t0.0112010613\t-0.0248714313\t0.0048344960\n28\t1.0800000000\t0.0215430632\t0.0143992275\t0.0221333485\t0.0033551684\t0.0795800000\t9424791\t955859216\t1765687296\t0.0128012756\t-0.0254999418\t0.0048287632\n29\t1.1200000000\t0.0225070566\t0.0146788078\t0.0225070566\t0.0035356704\t0.0813460000\t9426045\t955859216\t1765433344\t0.0143048242\t-0.0258287657\t0.0051393034\n30\t1.1600000000\t0.0220213961\t0.0149235607\t0.0225070566\t0.0037857941\t0.0919790000\t9427299\t955859216\t1765179392\t0.0138211371\t-0.0268370472\t0.0051475791\n31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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cuda_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 06:07:29\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cuda_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.0562030000\t8929769\t955859216\t1769836544\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0003012840\t0.0001506420\t0.0003012840\t0.0020374763\t0.0631980000\t9095551\t955859216\t1767575552\t0.0002577147\t0.0005514526\t0.0001830395\n3\t0.0800000000\t0.0004729226\t0.0002580689\t0.0004729226\t0.0017208448\t0.0516380000\t9097129\t955859216\t1768071168\t0.0003186495\t-0.0019856594\t-0.0006928600\n4\t0.1200000000\t0.0004425067\t0.0003041783\t0.0004729226\t0.0014734975\t0.0536170000\t9098711\t955859216\t1766932480\t0.0004839354\t-0.0013270257\t-0.0006141628\n5\t0.1600000000\t0.0006832334\t0.0003799893\t0.0006832334\t0.0014633632\t0.0837230000\t9100285\t955859216\t1766064128\t0.0005459327\t-0.0009056352\t-0.0004289765\n6\t0.2000000000\t0.0006676085\t0.0004279259\t0.0006832334\t0.0016078580\t0.0639250000\t9102195\t955859216\t1765179392\t0.0006305756\t-0.0019286295\t-0.0007419488\n7\t0.2400000000\t0.0007889742\t0.0004795042\t0.0007889742\t0.0015986499\t0.0565410000\t9103449\t955859216\t1766535168\t0.0006585474\t-0.0021320917\t-0.0008135838\n8\t0.2800000000\t0.0007749581\t0.0005164359\t0.0007889742\t0.0016071529\t0.0637600000\t9104703\t955859216\t1766031360\t0.0005146636\t-0.0008790736\t-0.0003783810\n9\t0.3200000000\t0.0007888140\t0.0005467002\t0.0007889742\t0.0015120177\t0.0916410000\t9106597\t955859216\t1765429248\t0.0007089394\t-0.0008115403\t-0.0003082162\n10\t0.3600000000\t0.0007741907\t0.0005694492\t0.0007889742\t0.0014525783\t0.0784220000\t9109163\t955859216\t1765011456\t0.0007107475\t-0.0014930045\t-0.0004732510\n11\t0.4000000000\t0.0007991215\t0.0005903285\t0.0007991215\t0.0013882322\t0.0898290000\t9110417\t955859216\t1765392384\t0.0006084199\t-0.0008682336\t-0.0003005653\n12\t0.4400000000\t0.0008265935\t0.0006100173\t0.0008265935\t0.0013400639\t0.0605420000\t9111671\t955859216\t1764995072\t0.0006540985\t-0.0000601398\t-0.0000060157\n13\t0.4800000000\t0.0007931333\t0.0006241031\t0.0008265935\t0.0013124384\t0.0681730000\t9112925\t955859216\t1765027840\t0.0005724947\t0.0004243007\t0.0003153346\n14\t0.5200000000\t0.0007878663\t0.0006358005\t0.0008265935\t0.0014152547\t0.0509590000\t9114179\t955859216\t1765044224\t0.0007189481\t0.0005157207\t0.0004012349\n15\t0.5600000000\t0.0008436546\t0.0006496574\t0.0008436546\t0.0015036261\t0.0581320000\t9115433\t955859216\t1766408192\t0.0007729750\t0.0005973673\t0.0004765516\n16\t0.6000000000\t0.0008263640\t0.0006607016\t0.0008436546\t0.0014882820\t0.0515380000\t9116687\t955859216\t1765937152\t0.0010689194\t0.0005510510\t0.0004210324\n17\t0.6400000000\t0.0008907183\t0.0006742320\t0.0008907183\t0.0014533667\t0.0527060000\t9119221\t955859216\t1765048320\t0.0010332572\t0.0003903625\t0.0004592208\n18\t0.6800000000\t0.0009085388\t0.0006872490\t0.0009085388\t0.0014282903\t0.0597950000\t9123099\t955859216\t1765044224\t0.0010221229\t-0.0002598291\t0.0002172282\n19\t0.7200000000\t0.0008489251\t0.0006957583\t0.0009085388\t0.0015647238\t0.0550890000\t9124353\t955859216\t1766408192\t0.0008865500\t-0.0001893363\t0.0001461147\n20\t0.7600000000\t0.0008302625\t0.0007024835\t0.0009085388\t0.0017812830\t0.0498760000\t9125607\t955859216\t1765916672\t0.0006752172\t-0.0004219941\t0.0000478339\n21\t0.8000000000\t0.0009730385\t0.0007153671\t0.0009730385\t0.0019819879\t0.0635980000\t9126861\t955859216\t1765052416\t0.0007486077\t-0.0005231758\t-0.0000895096\n22\t0.8400000000\t0.0008559184\t0.0007217558\t0.0009730385\t0.0020034834\t0.0536560000\t9128115\t955859216\t1765044224\t0.0007177059\t-0.0003643166\t0.0000081540\n23\t0.8800000000\t0.0009347111\t0.0007310147\t0.0009730385\t0.0020133712\t0.0549820000\t9129369\t955859216\t1766408192\t0.0004881036\t-0.0005045814\t-0.0000560699\n24\t0.9200000000\t0.0010035135\t0.0007423688\t0.0010035135\t0.0019786627\t0.0767570000\t9130623\t955859216\t1766043648\t0.0005683378\t-0.0003315037\t-0.0000476096\n25\t0.9600000000\t0.0009954718\t0.0007524929\t0.0010035135\t0.0019394431\t0.0787330000\t9131877\t955859216\t1765502976\t0.0002744884\t-0.0003076888\t-0.0000486001\n26\t1.0000000000\t0.0009921145\t0.0007617092\t0.0010035135\t0.0019022888\t0.0609130000\t9133131\t955859216\t1765376000\t0.0004272564\t-0.0000536087\t-0.0000006648\n27\t1.0400000000\t0.0009625802\t0.0007691488\t0.0010035135\t0.0018727513\t0.0609560000\t9134385\t955859216\t1765044224\t0.0001246327\t-0.0000707222\t-0.0000260389\n28\t1.0800000000\t0.0009517138\t0.0007756690\t0.0010035135\t0.0018671072\t0.0579890000\t9135639\t955859216\t1765044224\t0.0000055504\t-0.0001900203\t0.0000088703\n29\t1.1200000000\t0.0009490582\t0.0007816479\t0.0010035135\t0.0018444966\t0.0552230000\t9136893\t955859216\t1766408192\t-0.0003454637\t0.0000608231\t0.0001161155\n30\t1.1600000000\t0.0009219712\t0.0007863254\t0.0010035135\t0.0018341342\t0.0770570000\t9138147\t955859216\t1765912576\t-0.0001608776\t0.0004659212\t0.000089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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cuda_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 06:09:09\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cuda_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.0598230000\t8923125\t955859216\t1771614208\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0025752268\t0.0012876134\t0.0025752268\t0.0016431226\t0.0786280000\t9088907\t955859216\t1769709568\t0.0001475579\t-0.0015264887\t0.0011166616\n3\t0.0800000000\t0.0054430887\t0.0026727718\t0.0054430887\t0.0017192722\t0.0728280000\t9090485\t955859216\t1769127936\t-0.0038318646\t-0.0031151343\t0.0017624131\n4\t0.1200000000\t0.0071020788\t0.0037800986\t0.0071020788\t0.0015485467\t0.0630890000\t9092067\t955859216\t1768239104\t-0.0022695232\t-0.0055576218\t0.0010869699\n5\t0.1600000000\t0.0088641653\t0.0047969119\t0.0088641653\t0.0013752144\t0.0751210000\t9093641\t955859216\t1767206912\t-0.0046069017\t-0.0063595572\t0.0030346569\n6\t0.2000000000\t0.0102949962\t0.0057132593\t0.0102949962\t0.0012637319\t0.0778850000\t9095551\t955859216\t1766187008\t-0.0038687084\t-0.0083256084\t0.0025956517\n7\t0.2400000000\t0.0119190756\t0.0065998045\t0.0119190756\t0.0012485981\t0.0877420000\t9096805\t955859216\t1765318656\t-0.0037822886\t-0.0100387419\t0.0033189708\n8\t0.2800000000\t0.0135721471\t0.0074713473\t0.0135721471\t0.0012153601\t0.0760950000\t9098059\t955859216\t1765056512\t-0.0048508532\t-0.0114322798\t0.0035875798\n9\t0.3200000000\t0.0145241236\t0.0082549891\t0.0145241236\t0.0012414429\t0.0437150000\t9099953\t955859216\t1765044224\t-0.0065808552\t-0.0129288891\t0.0038882240\n10\t0.3600000000\t0.0164575148\t0.0090752417\t0.0164575148\t0.0012866144\t0.0801230000\t9102519\t955859216\t1765044224\t-0.0065611973\t-0.0136464555\t0.0049732681\n11\t0.4000000000\t0.0168754328\t0.0097843500\t0.0168754328\t0.0015194634\t0.0864590000\t9103773\t955859216\t1765044224\t-0.0073827649\t-0.0149024474\t0.0057871044\n12\t0.4400000000\t0.0184440073\t0.0105059881\t0.0184440073\t0.0018456307\t0.0508350000\t9105027\t955859216\t1766535168\t-0.0073275422\t-0.0166499503\t0.0053982846\n13\t0.4800000000\t0.0195238609\t0.0111996706\t0.0195238609\t0.0019769412\t0.0778070000\t9106281\t955859216\t1766207488\t-0.0093030622\t-0.0178189762\t0.0062185288\n14\t0.5200000000\t0.0216732863\t0.0119477860\t0.0216732863\t0.0019380178\t0.0740810000\t9107535\t955859216\t1765175296\t-0.0092591327\t-0.0188367907\t0.0061802622\n15\t0.5600000000\t0.0230075251\t0.0126851020\t0.0230075251\t0.0018714597\t0.0594290000\t9108789\t955859216\t1765076992\t-0.0118039949\t-0.0189502221\t0.0072314856\n16\t0.6000000000\t0.0226826966\t0.0133099516\t0.0230075251\t0.0018583132\t0.0728720000\t9110043\t955859216\t1765076992\t-0.0113932267\t-0.0204836484\t0.0061568902\n17\t0.6400000000\t0.0235749185\t0.0139137732\t0.0235749185\t0.0018261288\t0.0569390000\t9112577\t955859216\t1765076992\t-0.0131504443\t-0.0226375088\t0.0049379757\n18\t0.6800000000\t0.0242691208\t0.0144890703\t0.0242691208\t0.0017723705\t0.1031660000\t9116455\t955859216\t1765076992\t-0.0144604184\t-0.0231519341\t0.0060674706\n19\t0.7200000000\t0.0251664948\t0.0150510400\t0.0251664948\t0.0017817018\t0.0811350000\t9117709\t955859216\t1765011456\t-0.0158801451\t-0.0237470530\t0.0058745728\n20\t0.7600000000\t0.0248312354\t0.0155400498\t0.0251664948\t0.0018946246\t0.0491200000\t9118963\t955859216\t1765060608\t-0.0188180786\t-0.0246588457\t0.0053929128\n21\t0.8000000000\t0.0255986452\t0.0160190305\t0.0255986452\t0.0018558586\t0.0435640000\t9120217\t955859216\t1766424576\t-0.0216097590\t-0.0244772136\t0.0059106573\n22\t0.8400000000\t0.0260306560\t0.0164741044\t0.0260306560\t0.0018324958\t0.0745810000\t9121471\t955859216\t1765933056\t-0.0269832555\t-0.0256769434\t0.0055112932\n23\t0.8800000000\t0.0264499094\t0.0169078350\t0.0264499094\t0.0017921326\t0.0821580000\t9122725\t955859216\t1765048320\t-0.0269340593\t-0.0270482525\t0.0040385360\n24\t0.9200000000\t0.0290522892\t0.0174138540\t0.0290522892\t0.0017803555\t0.0587030000\t9123979\t955859216\t1765048320\t-0.0342034586\t-0.0279725175\t0.0039185127\n25\t0.9600000000\t0.0310425777\t0.0179590029\t0.0310425777\t0.0017814102\t0.0774820000\t9125233\t955859216\t1765048320\t-0.0355943628\t-0.0287297145\t0.0036775856\n26\t1.0000000000\t0.0305353925\t0.0184427102\t0.0310425777\t0.0017504821\t0.0939160000\t9126487\t955859216\t1765048320\t-0.0414848998\t-0.0297203436\t0.0043620123\n27\t1.0400000000\t0.0317087807\t0.0189340462\t0.0317087807\t0.0018671473\t0.0697960000\t9127741\t955859216\t1764532224\t-0.0470252186\t-0.0315560736\t0.0024862895\n28\t1.0800000000\t0.0337589718\t0.0194635078\t0.0337589718\t0.0020556981\t0.0485790000\t9128995\t955859216\t1765031936\t-0.0515055247\t-0.0317430757\t0.0026680089\n29\t1.1200000000\t0.0356607288\t0.0200220326\t0.0356607288\t0.0022444701\t0.0680800000\t9130249\t955859216\t1765076992\t-0.0572011098\t-0.0333480872\t0.0003456818\n30\t1.1600000000\t0.0348133035\t0.0205150750\t0.0356607288\t0.0022606804\t0.1238190000\t9131503\t955859216\t1765011456\t-0.0664383769\t-0.03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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cuda_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 06:10:45\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cuda_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.0722040000\t9033933\t955859216\t1771188224\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t0.0400000000\t0.0003964737\t0.0001982368\t0.0003964737\t0.0010248341\t0.0860370000\t9363555\t955859216\t1769410560\t-0.0001980127\t0.0036694212\t0.0017793722\n3\t0.0800000000\t0.0007566700\t0.0003843812\t0.0007566700\t0.0018723195\t0.0663810000\t9365133\t955859216\t1768828928\t-0.0019371730\t-0.0019830137\t0.0017652622\n4\t0.1200000000\t0.0008909514\t0.0005110237\t0.0008909514\t0.0023449316\t0.0639210000\t9366715\t955859216\t1767940096\t-0.0023126691\t-0.0007440012\t0.0006165215\n5\t0.1600000000\t0.0010882578\t0.0006264706\t0.0010882578\t0.0042310228\t0.0725400000\t9368289\t955859216\t1767051264\t-0.0001116577\t0.0057229260\t0.0036422110\n6\t0.2000000000\t0.0012545865\t0.0007311565\t0.0012545865\t0.0040549452\t0.1019940000\t9370199\t955859216\t1766162432\t0.0030103859\t-0.0043637548\t0.0027586326\n7\t0.2400000000\t0.0013044926\t0.0008130617\t0.0013044926\t0.0039142341\t0.0796130000\t9371453\t955859216\t1765384192\t0.0032241049\t-0.0143835014\t-0.0003576893\n8\t0.2800000000\t0.0012412750\t0.0008665884\t0.0013044926\t0.0036343695\t0.0697930000\t9372707\t955859216\t1765249024\t0.0010237879\t-0.0127391545\t-0.0012698706\n9\t0.3200000000\t0.0011032075\t0.0008928794\t0.0013044926\t0.0045075067\t0.0640470000\t9374601\t955859216\t1766502400\t-0.0001122485\t-0.0090157390\t0.0016667220\n10\t0.3600000000\t0.0015316510\t0.0009567565\t0.0015316510\t0.0042745869\t0.0686740000\t9377167\t955859216\t1765908480\t-0.0020110516\t-0.0159454308\t-0.0001116242\n11\t0.4000000000\t0.0013769809\t0.0009949587\t0.0015316510\t0.0041148731\t0.0639150000\t9378421\t955859216\t1765130240\t-0.0019420680\t-0.0125515154\t-0.0013928518\n12\t0.4400000000\t0.0015508180\t0.0010412804\t0.0015508180\t0.0041784620\t0.0735690000\t9379675\t955859216\t1765126144\t-0.0009496158\t-0.0024078512\t0.0015381359\n13\t0.4800000000\t0.0015484233\t0.0010802913\t0.0015508180\t0.0040043992\t0.0689280000\t9380929\t955859216\t1765126144\t0.0010158021\t-0.0045428951\t0.0015773703\n14\t0.5200000000\t0.0017278782\t0.0011265476\t0.0017278782\t0.0039614864\t0.0694780000\t9382183\t955859216\t1765142528\t0.0039468389\t-0.0120559931\t-0.0011747052\n15\t0.5600000000\t0.0013678342\t0.0011426333\t0.0017278782\t0.0039245041\t0.0635530000\t9383437\t955859216\t1766506496\t0.0065135527\t-0.0107216723\t-0.0013733283\n16\t0.6000000000\t0.0015086863\t0.0011655116\t0.0017278782\t0.0037999973\t0.0672680000\t9384691\t955859216\t1765879808\t0.0077376012\t-0.0094077131\t-0.0010772251\n17\t0.6400000000\t0.0017138193\t0.0011977650\t0.0017278782\t0.0037011987\t0.0633620000\t9387225\t955859216\t1765146624\t0.0074893832\t-0.0128902178\t-0.0029001629\n18\t0.6800000000\t0.0015406918\t0.0012168165\t0.0017278782\t0.0035930601\t0.0686370000\t9391103\t955859216\t1765142528\t0.0066682249\t-0.0120457904\t-0.0042962395\n19\t0.7200000000\t0.0018213419\t0.0012486336\t0.0018213419\t0.0036639808\t0.1025460000\t9392357\t955859216\t1765142528\t0.0073523675\t-0.0077414983\t-0.0040929336\n20\t0.7600000000\t0.0017031844\t0.0012713612\t0.0018213419\t0.0039405240\t0.0682830000\t9393611\t955859216\t1765011456\t0.0067596775\t-0.0090707196\t-0.0066877143\n21\t0.8000000000\t0.0019010345\t0.0013013456\t0.0019010345\t0.0041286288\t0.0718300000\t9394865\t955859216\t1765015552\t0.0094267000\t-0.0058451067\t-0.0064893793\n22\t0.8400000000\t0.0017444509\t0.0013214868\t0.0019010345\t0.0040644712\t0.0742710000\t9396119\t955859216\t1765015552\t0.0095317280\t-0.0033047311\t-0.0061314558\n23\t0.8800000000\t0.0019485595\t0.0013487508\t0.0019485595\t0.0040391139\t0.0861180000\t9397373\t955859216\t1765142528\t0.0122308657\t-0.0094036153\t-0.0100616179\n24\t0.9200000000\t0.0017837159\t0.0013668744\t0.0019485595\t0.0040296927\t0.1078190000\t9398627\t955859216\t1765142528\t0.0142400842\t-0.0083871139\t-0.0099133095\n25\t0.9600000000\t0.0019223528\t0.0013890935\t0.0019485595\t0.0039468976\t0.0727200000\t9399881\t955859216\t1765142528\t0.0143090645\t-0.0110609801\t-0.0129512083\n26\t1.0000000000\t0.0019205249\t0.0014095332\t0.0019485595\t0.0038678987\t0.1168640000\t9401135\t955859216\t1765150720\t0.0126443841\t-0.0114827855\t-0.0139688756\n27\t1.0400000000\t0.0020354348\t0.0014327147\t0.0020354348\t0.0038071458\t0.0676670000\t9402389\t955859216\t1765150720\t0.0137112737\t-0.0154176550\t-0.0164140034\n28\t1.0800000000\t0.0020118493\t0.0014533981\t0.0020354348\t0.0037396344\t0.0680310000\t9403643\t955859216\t1765150720\t0.0125817703\t-0.0176332183\t-0.0178439841\n29\t1.1200000000\t0.0020275055\t0.0014731949\t0.0020354348\t0.0037609092\t0.0824790000\t9404897\t955859216\t1765019648\t0.0137594966\t-0.0196812842\t-0.0190365706\n30\t1.1600000000\t0.0018738803\t0.0014865511\t0.0020354348\t0.0037300503\t0.0679640000\t9406151\t955859216\t1765023744\t0.0169760324\t-0.0189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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cuda_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-19 06:12:36\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cuda_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287840366\t0.0606188439\t0.0606188439\t0.0606188439\tnan\t0.0573950000\t9378113\t955859216\t1771376640\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1305031229.5644419193\t0.0543001406\t0.0574594922\t0.0606188439\t0.0575126074\t0.1514070000\t10035927\t955859216\t1767477248\t0.0013291052\t0.0021773300\t0.0096043535\n3\t1305031229.5966169834\t0.0526696481\t0.0558628775\t0.0606188439\t0.0579676036\t0.1072820000\t10038017\t955859216\t1766715392\t0.0134074325\t-0.0028640786\t0.0144224335\n4\t1305031229.6287899017\t0.0486809313\t0.0540673910\t0.0606188439\t0.0479748104\t0.0731510000\t10040079\t955859216\t1765842944\t0.0181316137\t0.0010182944\t0.0209811907\n5\t1305031229.6646571159\t0.0491838790\t0.0530906886\t0.0606188439\t0.0428264870\t0.0682130000\t10042197\t955859216\t1765068800\t0.0175183322\t-0.0027363396\t0.0255012102\n6\t1305031229.6968429089\t0.0501782075\t0.0526052751\t0.0606188439\t0.0383596115\t0.0540890000\t10044651\t955859216\t1765076992\t0.0196018014\t-0.0042391689\t0.0289257541\n7\t1305031229.7290771008\t0.0478465967\t0.0519254639\t0.0606188439\t0.0365923164\t0.0534320000\t10046385\t955859216\t1765076992\t0.0188563652\t-0.0036094973\t0.0343016312\n8\t1305031229.7648689747\t0.0481443480\t0.0514528244\t0.0606188439\t0.0339887198\t0.0790420000\t10048215\t955859216\t1765076992\t0.0209808536\t-0.0045182002\t0.0390049666\n9\t1305031229.7969229221\t0.0484983064\t0.0511245446\t0.0606188439\t0.0320880572\t0.0756430000\t10050621\t955859216\t1765076992\t0.0224419665\t-0.0050774822\t0.0428243838\n10\t1305031229.8256299496\t0.0478111953\t0.0507932097\t0.0606188439\t0.0303571522\t0.0514260000\t10053635\t955859216\t1766440960\t0.0242758971\t-0.0046921624\t0.0481726974\n11\t1305031229.8630619049\t0.0489657111\t0.0506270734\t0.0606188439\t0.0293571164\t0.0501440000\t10055529\t955859216\t1766096896\t0.0272049569\t-0.0042869463\t0.0526917763\n12\t1305031229.8969380856\t0.0514226444\t0.0506933710\t0.0606188439\t0.0295570976\t0.0927640000\t10057295\t955859216\t1765212160\t0.0292495005\t-0.0042686784\t0.0566212460\n13\t1305031229.9262549877\t0.0545396172\t0.0509892361\t0.0606188439\t0.0285076724\t0.0875660000\t10059029\t955859216\t1765031936\t0.0354210623\t-0.0009633061\t0.0630948246\n14\t1305031229.9662408829\t0.0574342832\t0.0514495966\t0.0606188439\t0.0275792757\t0.0571660000\t10060923\t955859216\t1766428672\t0.0361351818\t-0.0010730318\t0.0666284636\n15\t1305031229.9979310036\t0.0596217103\t0.0519944042\t0.0606188439\t0.0274324376\t0.0749630000\t10062657\t955859216\t1768329216\t0.0372185633\t-0.0007749144\t0.0704460889\n16\t1305031230.0300021172\t0.0623163842\t0.0526395279\t0.0623163842\t0.0266501929\t0.0484740000\t10064423\t955859216\t1769979904\t0.0380258597\t-0.0008578690\t0.0736914203\n17\t1305031230.0656960011\t0.0661099181\t0.0534319038\t0.0661099181\t0.0260564368\t0.0549490000\t10067533\t955859216\t1771757568\t0.0387095399\t-0.0020693978\t0.0765562281\n18\t1305031230.0982739925\t0.0683818832\t0.0542624582\t0.0683818832\t0.0254823052\t0.0506030000\t10071923\t955859216\t1773408256\t0.0387345180\t-0.0019861204\t0.0788540617\n19\t1305031230.1299350262\t0.0698066577\t0.0550805740\t0.0698066577\t0.0248008034\t0.0691960000\t10073689\t955859216\t1775058944\t0.0379532464\t-0.0012072688\t0.0807038173\n20\t1305031230.1657800674\t0.0730139166\t0.0559772411\t0.0730139166\t0.0243089032\t0.0487110000\t10075519\t955859216\t1776836608\t0.0373936035\t-0.0017170884\t0.0830473006\n21\t1305031230.1977820396\t0.0752804354\t0.0568964409\t0.0752804354\t0.0238640293\t0.0564550000\t10077285\t955859216\t1778487296\t0.0367164388\t-0.0025859028\t0.0849391744\n22\t1305031230.2298529148\t0.0773513690\t0.0578262103\t0.0773513690\t0.0234082677\t0.0538600000\t10079051\t955859216\t1780264960\t0.0355338082\t-0.0030098548\t0.0865833014\n23\t1305031230.2655899525\t0.0797970891\t0.0587814659\t0.0797970891\t0.0230293370\t0.1058040000\t10080881\t955859216\t1781915648\t0.0341749564\t-0.0036792746\t0.0885201693\n24\t1305031230.2979929447\t0.0815957412\t0.0597320607\t0.0815957412\t0.0225715280\t0.0524990000\t10082647\t955859216\t1783566336\t0.0326367505\t-0.0035876711\t0.0906741694\n25\t1305031230.3351120949\t0.0849031359\t0.0607389037\t0.0849031359\t0.0222194424\t0.0554300000\t10084509\t955859216\t1785344000\t0.0318389758\t-0.0050589503\t0.0928333551\n26\t1305031230.3656799793\t0.0852987021\t0.0616835114\t0.0852987021\t0.0218165263\t0.0670420000\t10086243\t955859216\t1786994688\t0.0296905451\t-0.0044747670\t0.0946569666\n27\t1305031230.3973290920\t0.0858250037\t0.0625776407\t0.0858250037\t0.0213993468\t0.0510890000\t10088041\t955859216\t1786109952\t0.0267902855\t-0.0054990612\t0.0965175331\n28\t1305031230.4368140697\t0.0883344635\t0.0634975272\t0.0883344635\t0.0220980384\t0.0632880000\t10089903\t955859216\t1785376768\t0.0244052634\t-0.0068205013\t0.0983555019\n29\t1305031230.4653120041\t0.0901628807\t0.0644170222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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cuda_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-19 06:13:52\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cuda_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253988300\t0.0253988300\t0.0253988300\tnan\t0.0778270000\t9399065\t955859216\t1771368448\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1305031102.2112140656\t0.0217163358\t0.0235575829\t0.0253988300\t0.0240789484\t0.1040690000\t10056943\t955859216\t1767469056\t-0.0023057188\t0.0007948904\t0.0125143249\n3\t1305031102.2432110310\t0.0218869653\t0.0230007103\t0.0253988300\t0.0192105562\t0.0813910000\t10059033\t955859216\t1769082880\t-0.0037555362\t0.0053054742\t0.0258695055\n4\t1305031102.2753260136\t0.0166602228\t0.0214155884\t0.0253988300\t0.0157436866\t0.0857050000\t10061127\t955859216\t1768476672\t-0.0044986624\t0.0041056862\t0.0388874039\n5\t1305031102.3112668991\t0.0125689600\t0.0196462628\t0.0253988300\t0.0141430064\t0.0555690000\t10063277\t955859216\t1767989248\t-0.0033507748\t0.0037889318\t0.0516047254\n6\t1305031102.3432331085\t0.0089124609\t0.0178572958\t0.0253988300\t0.0148728411\t0.0978640000\t10065699\t955859216\t1767096320\t-0.0042445916\t0.0023637896\t0.0636266321\n7\t1305031102.3753290176\t0.0087025641\t0.0165494770\t0.0253988300\t0.0137474957\t0.0699340000\t10067433\t955859216\t1766338560\t-0.0045749177\t0.0031395825\t0.0755108595\n8\t1305031102.4112579823\t0.0069137691\t0.0153450135\t0.0253988300\t0.0147529752\t0.0758420000\t10069295\t955859216\t1764655104\t-0.0065156580\t0.0048665055\t0.0872651413\n9\t1305031102.4432709217\t0.0075910469\t0.0144834616\t0.0253988300\t0.0167567272\t0.0770260000\t10071701\t955859216\t1765060608\t-0.0082676969\t0.0075824326\t0.0996247455\n10\t1305031102.4753179550\t0.0111135747\t0.0141464729\t0.0253988300\t0.0160541025\t0.0669180000\t10074747\t955859216\t1764184064\t-0.0071157557\t0.0112032387\t0.1126657799\n11\t1305031102.5112190247\t0.0133435437\t0.0140734794\t0.0253988300\t0.0161391015\t0.0544100000\t10076577\t955859216\t1764687872\t-0.0073608062\t0.0107506867\t0.1251640469\n12\t1305031102.5432200432\t0.0163709521\t0.0142649354\t0.0253988300\t0.0153912958\t0.0819240000\t10078375\t955859216\t1764892672\t-0.0085299658\t0.0107820062\t0.1370540112\n13\t1305031102.5752859116\t0.0188265778\t0.0146158310\t0.0253988300\t0.0158701001\t0.0875060000\t10080109\t955859216\t1765068800\t-0.0114118708\t0.0102430070\t0.1486853808\n14\t1305031102.6112329960\t0.0235444605\t0.0152535903\t0.0253988300\t0.0167522403\t0.0580580000\t10081939\t955859216\t1765068800\t-0.0129834432\t0.0076751029\t0.1597731560\n15\t1305031102.6432650089\t0.0261454843\t0.0159797165\t0.0261454843\t0.0169535238\t0.0867160000\t10083705\t955859216\t1765068800\t-0.0159860570\t0.0083160019\t0.1706590205\n16\t1305031102.6752851009\t0.0239375550\t0.0164770814\t0.0261454843\t0.0170160787\t0.0794060000\t10085471\t955859216\t1765068800\t-0.0179017056\t0.0152708413\t0.1823408604\n17\t1305031102.7112629414\t0.0265389662\t0.0170689570\t0.0265389662\t0.0168146568\t0.0698590000\t10088581\t955859216\t1765068800\t-0.0183671825\t0.0179016106\t0.1947541237\n18\t1305031102.7432339191\t0.0301277675\t0.0177944465\t0.0301277675\t0.0164356704\t0.0828090000\t10093003\t955859216\t1765068800\t-0.0191902500\t0.0194283482\t0.2075121999\n19\t1305031102.7754719257\t0.0298178848\t0.0184272590\t0.0301277675\t0.0165069468\t0.0864810000\t10094737\t955859216\t1765068800\t-0.0187081899\t0.0254294463\t0.2203724235\n20\t1305031102.8112320900\t0.0337676406\t0.0191942781\t0.0337676406\t0.0161370775\t0.0857930000\t10096567\t955859216\t1765068800\t-0.0199204832\t0.0273364838\t0.2330048680\n21\t1305031102.8432900906\t0.0353407599\t0.0199631582\t0.0353407599\t0.0157383984\t0.0556040000\t10098365\t955859216\t1765068800\t-0.0219802111\t0.0307062417\t0.2455423772\n22\t1305031102.8753631115\t0.0383023173\t0.0207967563\t0.0383023173\t0.0154332382\t0.0732670000\t10100099\t955859216\t1765019648\t-0.0247151051\t0.0325025842\t0.2572779059\n23\t1305031102.9111850262\t0.0410987660\t0.0216794524\t0.0410987660\t0.0151304061\t0.0603640000\t10101929\t955859216\t1765179392\t-0.0272428785\t0.0351275131\t0.2687968910\n24\t1305031102.9432289600\t0.0426365957\t0.0225526667\t0.0426365957\t0.0152249305\t0.0830970000\t10103727\t955859216\t1765068800\t-0.0292200670\t0.0386310518\t0.2801075578\n25\t1305031102.9752030373\t0.0453521833\t0.0234646474\t0.0453521833\t0.0161974450\t0.0664030000\t10105429\t955859216\t1766543360\t-0.0328826457\t0.0411657281\t0.2913644016\n26\t1305031103.0112149715\t0.0483128056\t0.0244203458\t0.0483128056\t0.0158849207\t0.0506900000\t10107291\t955859216\t1766178816\t-0.0335730128\t0.0441906601\t0.3029495776\n27\t1305031103.0432269573\t0.0512440205\t0.0254138152\t0.0512440205\t0.0155895103\t0.0465700000\t10109089\t955859216\t1765191680\t-0.0334136412\t0.0471086577\t0.3143700957\n28\t1305031103.0753190517\t0.0541915148\t0.0264415902\t0.0541915148\t0.0159666856\t0.0666050000\t10110823\t955859216\t1765081088\t-0.0323097669\t0.0496917553\t0.3251510262\n29\t1305031103.1112399101\t0.0580528714\t0.02753163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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cuda_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-19 06:15:14\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cuda_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6419320107\t0.0019026520\t0.0019026520\t0.0019026520\tnan\t0.1280200000\t16661933\t955859216\t1776246784\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1311867718.6768438816\t0.0027224415\t0.0023125467\t0.0027224415\t0.0021564565\t0.1380020000\t27150179\t955859216\t1769136128\t0.0005140036\t-0.0010962028\t0.0001806884\n3\t1311867718.7114279270\t0.0032007154\t0.0026086029\t0.0032007154\t0.0034754149\t0.0871210000\t27152301\t955859216\t1768247296\t0.0005431200\t-0.0010950742\t0.0002253659\n4\t1311867718.7410299778\t0.0041615274\t0.0029968341\t0.0041615274\t0.0042902517\t0.0730420000\t27154331\t955859216\t1767231488\t0.0010361911\t-0.0015528316\t0.0003020797\n5\t1311867718.7767970562\t0.0055256747\t0.0035026022\t0.0055256747\t0.0043372507\t0.1366970000\t27156481\t955859216\t1766469632\t0.0021326202\t-0.0026201177\t0.0001482273\n6\t1311867718.8094089031\t0.0056276894\t0.0038567834\t0.0056276894\t0.0041723840\t0.0833580000\t27158903\t955859216\t1762881536\t0.0020866522\t-0.0026646771\t0.0002599266\n7\t1311867718.8408079147\t0.0062838425\t0.0042035061\t0.0062838425\t0.0038612485\t0.0889140000\t27160637\t955859216\t1762631680\t0.0027294329\t-0.0024183709\t0.0003479942\n8\t1311867718.8767778873\t0.0070376233\t0.0045577708\t0.0070376233\t0.0036759457\t0.1301240000\t27162467\t955859216\t1764413440\t0.0030003176\t-0.0028127788\t0.0004571371\n9\t1311867718.9088680744\t0.0079892315\t0.0049390442\t0.0079892315\t0.0035488961\t0.1346670000\t27164841\t955859216\t1766068224\t0.0037140562\t-0.0027769618\t0.0006488235\n10\t1311867718.9438331127\t0.0086718872\t0.0053123285\t0.0086718872\t0.0033954166\t0.0951800000\t27167983\t955859216\t1767567360\t0.0044403458\t-0.0027975212\t0.0010433124\n11\t1311867718.9784109592\t0.0095667141\t0.0056990908\t0.0095667141\t0.0033691947\t0.0953150000\t27169813\t955859216\t1769345024\t0.0048778094\t-0.0037225201\t0.0012519627\n12\t1311867719.0091300011\t0.0099385362\t0.0060523779\t0.0099385362\t0.0032162853\t0.0825040000\t27171515\t955859216\t1770995712\t0.0048309024\t-0.0041620648\t0.0013781030\n13\t1311867719.0441620350\t0.0108212680\t0.0064192156\t0.0108212680\t0.0031157755\t0.0881170000\t27173345\t955859216\t1772646400\t0.0056099542\t-0.0042239940\t0.0016285209\n14\t1311867719.0776190758\t0.0119057437\t0.0068111105\t0.0119057437\t0.0031024589\t0.0953160000\t27175143\t955859216\t1774424064\t0.0065995497\t-0.0046419380\t0.0017780266\n15\t1311867719.1086950302\t0.0124929417\t0.0071898992\t0.0124929417\t0.0029926855\t0.0996960000\t27176909\t955859216\t1776074752\t0.0069174822\t-0.0050395895\t0.0020176345\n16\t1311867719.1437010765\t0.0134427231\t0.0075807007\t0.0134427231\t0.0029043833\t0.0940240000\t27178707\t955859216\t1777741824\t0.0076666935\t-0.0050717769\t0.0022302468\n17\t1311867719.1810290813\t0.0144231226\t0.0079831961\t0.0144231226\t0.0028898081\t0.0932860000\t27181817\t955859216\t1779503104\t0.0082698008\t-0.0055703828\t0.0025842369\n18\t1311867719.2127099037\t0.0148914382\t0.0083669874\t0.0148914382\t0.0028248629\t0.0794090000\t27186207\t955859216\t1781153792\t0.0084538274\t-0.0058915387\t0.0028541584\n19\t1311867719.2412090302\t0.0157150719\t0.0087537286\t0.0157150719\t0.0028017261\t0.0956270000\t27187909\t955859216\t1782820864\t0.0087315934\t-0.0063771317\t0.0030933439\n20\t1311867719.2779469490\t0.0170094371\t0.0091665141\t0.0170094371\t0.0031245486\t0.1192830000\t27189707\t955859216\t1784582144\t0.0094250562\t-0.0066686976\t0.0032754815\n21\t1311867719.3104898930\t0.0180543177\t0.0095897428\t0.0180543177\t0.0031021083\t0.0662550000\t27191505\t955859216\t1783746560\t0.0102188690\t-0.0067417971\t0.0034068092\n22\t1311867719.3413150311\t0.0194102973\t0.0100361317\t0.0194102973\t0.0032204036\t0.0576840000\t27193271\t955859216\t1782566912\t0.0111630093\t-0.0071335598\t0.0034870096\n23\t1311867719.3772718906\t0.0210511927\t0.0105150473\t0.0210511927\t0.0032573989\t0.1126290000\t27195069\t955859216\t1779646464\t0.0122258328\t-0.0079090148\t0.0034767892\n24\t1311867719.4105761051\t0.0215996895\t0.0109769074\t0.0215996895\t0.0032132498\t0.0926840000\t27196867\t955859216\t1780183040\t0.0124940258\t-0.0081549576\t0.0034890412\n25\t1311867719.4427709579\t0.0226410665\t0.0114434738\t0.0226410665\t0.0032977199\t0.0809790000\t27198665\t955859216\t1775951872\t0.0133473817\t-0.0086085005\t0.0035952912\n26\t1311867719.4787840843\t0.0232707895\t0.0118983706\t0.0232707895\t0.0033796328\t0.1105470000\t27200463\t955859216\t1777623040\t0.0132523216\t-0.0100179929\t0.0035420551\n27\t1311867719.5104370117\t0.0230278987\t0.0123105753\t0.0232707895\t0.0035876617\t0.0939330000\t27202229\t955859216\t1779249152\t0.0126073882\t-0.0103750424\t0.0036515314\n28\t1311867719.5449650288\t0.0236945264\t0.0127171450\t0.0236945264\t0.0036217483\t0.1167630000\t27204027\t955859216\t1780899840\t0.0126721840\t-0.0101460051\t0.0040007061\n29\t1311867719.5771939754\t0.0249818936\t0.0131400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}, { "path": "icra2018_results/tegra/violons_libinfinitam-cuda_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-19 06:17:46\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libinfinitam-cuda_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/libinfinitam-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ntrackerType: ICP\ndepthTrackerICPThreshold: 0.01\ndepthTrackerTerminationThreshold: 0.001\nvoxelSize: 0.005\nviewFrustum_min: 0.2\nviewFrustum_max: 3\nmu: 0.02\ntrackingRegime: B,B,R,R,R\nnoICPRunTillLevel: 0\nmaxW: 100\nuseSwapping: false\nuseBilateralFilter: false\nuseApproximateRaycast: false\nmodelSensorNoise: false\nskipPoints: true\nstopIntegratingAtMaxW: false\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520440\t0.0582520440\t0.0582520440\tnan\t0.1024790000\t16969741\t955859216\t1776545792\t-0.0000000000\t0.0000000000\t-0.0000000000\n2\t1311867170.4941389561\t0.0573715791\t0.0578118116\t0.0582520440\t0.0124349492\t0.1386140000\t27457923\t955859216\t1767538688\t-0.0004085616\t-0.0012875802\t-0.0024125730\n3\t1311867170.5264289379\t0.0565348007\t0.0573861413\t0.0582520440\t0.0101357584\t0.0934150000\t27460045\t955859216\t1768054784\t-0.0017292867\t-0.0022871140\t-0.0047748750\n4\t1311867170.5623490810\t0.0561600290\t0.0570796132\t0.0582520440\t0.0096964818\t0.1073640000\t27462203\t955859216\t1767170048\t0.0001750392\t-0.0028360307\t-0.0061330586\n5\t1311867170.5942170620\t0.0564950667\t0.0569627039\t0.0582520440\t0.0086592846\t0.0896830000\t27464257\t955859216\t1766408192\t0.0032361590\t-0.0038347614\t-0.0071717864\n6\t1311867170.6260869503\t0.0565173700\t0.0568884816\t0.0582520440\t0.0085124457\t0.0946580000\t27466679\t955859216\t1765646336\t0.0035818054\t-0.0049946494\t-0.0088235931\n7\t1311867170.6621398926\t0.0566279218\t0.0568512588\t0.0582520440\t0.0083968371\t0.1264550000\t27468541\t955859216\t1764114432\t0.0042598960\t-0.0060167732\t-0.0103954244\n8\t1311867170.6942050457\t0.0565226451\t0.0568101821\t0.0582520440\t0.0080573217\t0.0916190000\t27470275\t955859216\t1765769216\t0.0039563915\t-0.0066648577\t-0.0121139735\n9\t1311867170.7263879776\t0.0572951511\t0.0568640675\t0.0582520440\t0.0083562468\t0.0913540000\t27472681\t955859216\t1767505920\t0.0047212164\t-0.0067722304\t-0.0132068722\n10\t1311867170.7620189190\t0.0571066774\t0.0568883285\t0.0582520440\t0.0084198534\t0.0923630000\t27475855\t955859216\t1769156608\t0.0036940032\t-0.0089362245\t-0.0147687532\n11\t1311867170.7941920757\t0.0576170422\t0.0569545752\t0.0582520440\t0.0083760649\t0.0931860000\t27477557\t955859216\t1770840064\t0.0046629449\t-0.0111038424\t-0.0163445342\n12\t1311867170.8262820244\t0.0582868196\t0.0570655956\t0.0582868196\t0.0084109249\t0.1085720000\t27479355\t955859216\t1772584960\t0.0057382639\t-0.0141976783\t-0.0181468856\n13\t1311867170.8622210026\t0.0583695062\t0.0571658964\t0.0583695062\t0.0082274951\t0.0782330000\t27481185\t955859216\t1774235648\t0.0054121087\t-0.0167566817\t-0.0205283836\n14\t1311867170.8943779469\t0.0589024760\t0.0572899378\t0.0589024760\t0.0079315308\t0.0736640000\t27482919\t955859216\t1775919104\t0.0052009136\t-0.0189088266\t-0.0228568297\n15\t1311867170.9263520241\t0.0592451803\t0.0574202873\t0.0592451803\t0.0079863027\t0.1167680000\t27484717\t955859216\t1777664000\t0.0049754023\t-0.0210529361\t-0.0255790185\n16\t1311867170.9621469975\t0.0584840924\t0.0574867751\t0.0592451803\t0.0077872465\t0.0933770000\t27486547\t955859216\t1779314688\t0.0025200630\t-0.0233214907\t-0.0286666453\n17\t1311867170.9942629337\t0.0581960864\t0.0575284993\t0.0592451803\t0.0076123511\t0.0776180000\t27489561\t955859216\t1781092352\t0.0015519669\t-0.0249283444\t-0.0317821130\n18\t1311867171.0262739658\t0.0583935492\t0.0575765576\t0.0592451803\t0.0073994415\t0.0982680000\t27493983\t955859216\t1782743040\t0.0013804225\t-0.0262854621\t-0.0344605036\n19\t1311867171.0623519421\t0.0577847175\t0.0575875134\t0.0592451803\t0.0078910994\t0.1039430000\t27495813\t955859216\t1784393728\t0.0006803693\t-0.0291164704\t-0.0373738967\n20\t1311867171.0942349434\t0.0569526739\t0.0575557714\t0.0592451803\t0.0077952537\t0.0913240000\t27497547\t955859216\t1783422976\t0.0012557718\t-0.0310258381\t-0.0399186835\n21\t1311867171.1262509823\t0.0568133704\t0.0575204190\t0.0592451803\t0.0076722591\t0.0867170000\t27499345\t955859216\t1779326976\t0.0016490094\t-0.0313904472\t-0.0420563146\n22\t1311867171.1622469425\t0.0564999990\t0.0574740363\t0.0592451803\t0.0076313355\t0.0729800000\t27501175\t955859216\t1781010432\t0.0030276091\t-0.0332010649\t-0.0437421873\n23\t1311867171.1942689419\t0.0555127300\t0.0573887621\t0.0592451803\t0.0079611866\t0.0769310000\t27502909\t955859216\t1782661120\t0.0048666080\t-0.0332905427\t-0.0448280163\n24\t1311867171.2262530327\t0.0571290068\t0.0573779390\t0.0592451803\t0.0080017406\t0.0753970000\t27504707\t955859216\t1784045568\t0.0073609790\t-0.0331379361\t-0.0454733334\n25\t1311867171.2622439861\t0.0565460660\t0.0573446640\t0.0592451803\t0.0080372865\t0.0922620000\t27506537\t955859216\t1785790464\t0.0080440082\t-0.0333045982\t-0.0465266332\n26\t1311867171.2943410873\t0.0566184893\t0.0573167342\t0.0592451803\t0.0079475528\t0.0892340000\t27508239\t955859216\t1784053760\t0.0086006289\t-0.0314714015\t-0.0471883640\n27\t1311867171.3263869286\t0.0564532876\t0.0572847547\t0.0592451803\t0.0082466909\t0.0906190000\t27510037\t955859216\t1779834880\t0.0059544644\t-0.0306996591\t-0.0485015139\n28\t1311867171.3622460365\t0.0552348457\t0.0572115437\t0.0592451803\t0.0081247639\t0.0758140000\t27511867\t955859216\t1778458624\t0.0032593245\t-0.0301588252\t-0.0500441380\n29\t1311867171.394143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}, { "path": "icra2018_results/tegra/violons_libkfusion-cpp_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 07:05:05\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cpp_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000001192\t0.0000001192\t0.0000001192\tnan\t3.3372330000\t1.2927590000\t0.0648600000\t0.1449770000\t0.0000100000\t1.8338690000\t106105399\t0\t1699143680\t4.0000000000\t4.0000000000\t4.0000000000\n2\t0.0400000000\t0.0071111759\t0.0035556476\t0.0071111759\t0.0073250318\t1.5181350000\t1.3116590000\t0.0520880000\t0.1458490000\t0.0000020000\t0.0082640000\t108526280\t0\t1701376000\t4.0000000000\t4.0000000000\t4.0000000000\n3\t0.0800000000\t0.0160688832\t0.0077267261\t0.0160688832\t0.0105654109\t1.5124000000\t1.3021020000\t0.0567850000\t0.1450190000\t0.0000030000\t0.0081550000\t108528278\t0\t1703161856\t4.0000000000\t4.0000000000\t4.0000000000\n4\t0.1200000000\t0.0069097765\t0.0075224887\t0.0160688832\t0.0105835684\t3.2821290000\t1.2724250000\t0.0517330000\t0.1453010000\t1.8042420000\t0.0082300000\t108530280\t0\t1711661056\t4.0000000000\t4.0000000000\t4.0000000000\n5\t0.1600000000\t0.0087667508\t0.0077713411\t0.0160688832\t0.0110948680\t5.2654780000\t1.2634880000\t0.2550440000\t0.1449880000\t1.7878380000\t1.8139250000\t108532274\t0\t1713930240\t4.0003609657\t4.0041584969\t3.9997615814\n6\t0.2000000000\t0.0088930801\t0.0079582976\t0.0160688832\t0.0099833752\t3.2840000000\t1.2636650000\t0.2263850000\t0.0000050000\t1.7855420000\t0.0082130000\t108534604\t0\t1715699712\t4.0005435944\t3.9987919331\t4.0005841255\n7\t0.2400000000\t0.0089947032\t0.0081063556\t0.0160688832\t0.0091706561\t3.4152070000\t1.2674440000\t0.2088580000\t0.1451980000\t1.7852890000\t0.0082150000\t108536278\t0\t1717342208\t4.0003771782\t3.9986178875\t4.0004816055\n8\t0.2800000000\t0.0089769550\t0.0082151805\t0.0160688832\t0.0085523286\t3.2713600000\t1.2643300000\t0.2096640000\t0.0000020000\t1.7888630000\t0.0082970000\t108537952\t0\t1718992896\t4.0010104179\t4.0014648438\t4.0004425049\n9\t0.3200000000\t0.0089526102\t0.0082971171\t0.0160688832\t0.0080187106\t5.2763360000\t1.2653640000\t0.2452490000\t0.1450400000\t1.8077590000\t1.8127040000\t108540266\t0\t1720770560\t4.0009670258\t4.0013675690\t4.0000157356\n10\t0.3600000000\t0.0091746869\t0.0083848741\t0.0160688832\t0.0075717002\t3.3328780000\t1.2685130000\t0.2695300000\t0.0000030000\t1.7863680000\t0.0082500000\t108543252\t0\t1722556416\t4.0024051666\t4.0002002716\t4.0001811981\n11\t0.4000000000\t0.0092233662\t0.0084611006\t0.0160688832\t0.0072054119\t3.4738880000\t1.2745620000\t0.2602680000\t0.1449720000\t1.7855700000\t0.0082950000\t108544926\t0\t1724198912\t4.0022978783\t3.9996788502\t4.0003643036\n12\t0.4400000000\t0.0093294214\t0.0085334607\t0.0160688832\t0.0068918983\t3.3314620000\t1.2649640000\t0.2597400000\t0.0000020000\t1.7982480000\t0.0082850000\t108546600\t0\t1725849600\t4.0025753975\t4.0002422333\t3.9998216629\n13\t0.4800000000\t0.0092632920\t0.0085896016\t0.0160688832\t0.0067038265\t5.2763360000\t1.2623880000\t0.2700520000\t0.1450760000\t1.7931890000\t1.8053910000\t108548274\t0\t1727500288\t4.0026903152\t4.0017886162\t3.9992966652\n14\t0.5200000000\t0.0092733689\t0.0086384421\t0.0160688832\t0.0065180099\t3.3333860000\t1.2653340000\t0.2691120000\t0.0000030000\t1.7904800000\t0.0082050000\t108549948\t0\t1729277952\t4.0027470589\t4.0027580261\t3.9991123676\n15\t0.5600000000\t0.0092625180\t0.0086800472\t0.0160688832\t0.0062904919\t3.5077510000\t1.2640400000\t0.3033530000\t0.1450980000\t1.7867440000\t0.0082760000\t108551622\t0\t1730928640\t4.0029349327\t4.0034260750\t3.9985947609\n16\t0.6000000000\t0.0093272459\t0.0087204971\t0.0160688832\t0.0060789167\t3.3238510000\t1.2725190000\t0.2579540000\t0.0000030000\t1.7848580000\t0.0082610000\t108553296\t0\t1732706304\t4.0029759407\t4.0033111572\t3.9983282089\n17\t0.6400000000\t0.0093151079\t0.0087554742\t0.0160688832\t0.0058993488\t5.2662980000\t1.2644780000\t0.2590000000\t0.1454770000\t1.7921110000\t1.8049690000\t108556250\t0\t1734356992\t4.0021777153\t4.0039448738\t3.9977540970\n18\t0.6800000000\t0.0094566746\t0.0087944298\t0.0160688832\t0.0057494444\t3.2763910000\t1.2636060000\t0.2106440000\t0.0000030000\t1.7935750000\t0.0082790000\t108560548\t0\t1736007680\t4.0026130676\t4.0052156448\t3.9974820614\n19\t0.7200000000\t0.0094302790\t0.0088278955\t0.0160688832\t0.0057144659\t3.4681750000\t1.2649980000\t0.2592500000\t0.1451520000\t1.7902140000\t0.0083050000\t108562222\t0\t1737809920\t4.0038146973\t4.0056328773\t3.9974064827\n20\t0.7600000000\t0.0095032770\t0.0088616646\t0.0160688832\t0.0055638826\t3.2881990000\t1.2713740000\t0.2158750000\t0.0000030000\t1.7924100000\t0.0082470000\t108563896\t0\t1739444224\t4.0043559074\t4.0057172775\t3.9969449043\n21\t0.8000000000\t0.0095035536\t0.0088922307\t0.0160688832\t0.0054230280\t5.2846250000\t1.2650650000\t0.2623310000\t0.1453880000\t1.7992240000\t1.8123340000\t108565570\t0\t1741103104\t4.0034112930\t4.0065169334\t3.9971871376\n22\t0.8400000000\t0.0097120618\t0.0089294958\t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}, { "path": "icra2018_results/tegra/violons_libkfusion-cpp_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 08:03:17\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cpp_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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000050000\t1.1812560000\t0.0081820000\t110100160\t0\t1785819136\t4.0138034821\t4.0251560211\t3.7372593880\n967\t38.6400000000\t0.0183713064\t0.0110995431\t0.0184193589\t0.0092229554\t2.8318740000\t1.2681020000\t0.2327460000\t0.1393070000\t1.1773490000\t0.0081800000\t110101834\t0\t1787613184\t4.0140814781\t4.0251536369\t3.7372579575\n" }, { "path": "icra2018_results/tegra/violons_libkfusion-cpp_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 08:58:14\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cpp_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000002980\t0.0000002980\t0.0000002980\tnan\t3.4492590000\t1.2784360000\t0.0661550000\t0.1514530000\t0.0000100000\t1.9527320000\t105973239\t0\t1771278336\t4.0000000000\t4.0000000000\t4.0000000000\n2\t0.0400000000\t0.0010032422\t0.0005017701\t0.0010032422\t0.0033378715\t1.5413300000\t1.3324150000\t0.0528170000\t0.1477560000\t0.0000030000\t0.0081190000\t108230300\t0\t1770143744\t4.0000000000\t4.0000000000\t4.0000000000\n3\t0.0800000000\t0.0055015511\t0.0021683638\t0.0055015511\t0.0047728951\t1.4799290000\t1.2732370000\t0.0514740000\t0.1467370000\t0.0000020000\t0.0082510000\t108232298\t0\t1771667456\t4.0000000000\t4.0000000000\t4.0000000000\n4\t0.1200000000\t0.0036504185\t0.0025388775\t0.0055015511\t0.0040723570\t3.4127410000\t1.2737150000\t0.0525090000\t0.1516660000\t1.9265590000\t0.0081480000\t108234300\t0\t1780428800\t4.0000000000\t4.0000000000\t4.0000000000\n5\t0.1600000000\t0.0021276572\t0.0024566334\t0.0055015511\t0.0048988422\t5.5507210000\t1.2678400000\t0.3105270000\t0.1469760000\t1.8999510000\t1.9252610000\t108236294\t0\t1782706176\t3.9957129955\t4.0020360947\t4.0009112358\n6\t0.2000000000\t0.0021158110\t0.0023998297\t0.0055015511\t0.0043899979\t3.4471590000\t1.3046430000\t0.2280610000\t0.0000020000\t1.9060730000\t0.0082110000\t108238624\t0\t1784348672\t3.9965538979\t4.0017571449\t4.0000624657\n7\t0.2400000000\t0.0020491821\t0.0023497372\t0.0055015511\t0.0040164879\t3.5459980000\t1.2671630000\t0.2190850000\t0.1470800000\t1.9041530000\t0.0083480000\t108240298\t0\t1786126336\t3.9963860512\t4.0014791489\t4.0003576279\n8\t0.2800000000\t0.0021295445\t0.0023222131\t0.0055015511\t0.0037228078\t3.4112400000\t1.2626810000\t0.2295270000\t0.0000030000\t1.9106610000\t0.0082030000\t108241972\t0\t1787777024\t3.9949586391\t4.0019369125\t4.0002703667\n9\t0.3200000000\t0.0021676212\t0.0023050362\t0.0055015511\t0.0035287651\t5.4599250000\t1.2623370000\t0.2183710000\t0.1469730000\t1.9041360000\t1.9279150000\t108244286\t0\t1784483840\t3.9930224419\t4.0012898445\t4.0003123283\n10\t0.3600000000\t0.0022070820\t0.0022952408\t0.0055015511\t0.0033890221\t3.3911190000\t1.2617860000\t0.2183150000\t0.0000030000\t1.9026400000\t0.0081970000\t108247272\t0\t1785880576\t3.9929070473\t4.0026335716\t4.0009012222\n11\t0.4000000000\t0.0022589520\t0.0022919418\t0.0055015511\t0.0033576532\t3.5852290000\t1.2570600000\t0.2691710000\t0.1467680000\t1.9037850000\t0.0082540000\t108248946\t0\t1787650048\t3.9919445515\t4.0017886162\t4.0016002655\n12\t0.4400000000\t0.0022641739\t0.0022896278\t0.0055015511\t0.0034313691\t3.4008480000\t1.2640270000\t0.2229490000\t0.0000030000\t1.9054620000\t0.0081970000\t108250620\t0\t1784602624\t3.9918572903\t4.0017395020\t4.0008211136\n13\t0.4800000000\t0.0022805610\t0.0022889304\t0.0055015511\t0.0034363556\t5.4660710000\t1.2650930000\t0.2189940000\t0.1468370000\t1.9108210000\t1.9241290000\t108252294\t0\t1786126336\t3.9894258976\t4.0015444756\t4.0013942719\n14\t0.5200000000\t0.0023245795\t0.0022914767\t0.0055015511\t0.0033244423\t3.7395220000\t1.2633780000\t0.5539610000\t0.0000030000\t1.9137770000\t0.0082030000\t108253968\t0\t1787904000\t3.9894297123\t4.0028066635\t4.0008144379\n15\t0.5600000000\t0.0023152155\t0.0022930593\t0.0055015511\t0.0032123239\t3.5731180000\t1.2608330000\t0.2543850000\t0.1468520000\t1.9026260000\t0.0081940000\t108255642\t0\t1784856576\t3.9863409996\t4.0038952827\t4.0015859604\n16\t0.6000000000\t0.0023966364\t0.0022995329\t0.0055015511\t0.0031281966\t3.5066140000\t1.2674290000\t0.3254620000\t0.0000040000\t1.9052530000\t0.0082510000\t108257316\t0\t1786380288\t3.9871170521\t4.0023283958\t4.0005326271\n17\t0.6400000000\t0.0024171770\t0.0023064531\t0.0055015511\t0.0030499340\t5.4984950000\t1.2595050000\t0.2541290000\t0.1468740000\t1.9131640000\t1.9245880000\t108260270\t0\t1785618432\t3.9851157665\t4.0009016991\t3.9991016388\n18\t0.6800000000\t0.0024460810\t0.0023142102\t0.0055015511\t0.0029601350\t3.4480590000\t1.2685680000\t0.2588310000\t0.0000040000\t1.9119790000\t0.0084370000\t108264568\t0\t1787269120\t3.9835417271\t4.0011630058\t4.0000801086\n19\t0.7200000000\t0.0024325005\t0.0023204360\t0.0055015511\t0.0029193315\t3.5865810000\t1.2662280000\t0.2531620000\t0.1468650000\t1.9118890000\t0.0082050000\t108266242\t0\t1784483840\t3.9820523262\t4.0014052391\t3.9996454716\n20\t0.7600000000\t0.0025416587\t0.0023314972\t0.0055015511\t0.0029369214\t3.3967790000\t1.2633510000\t0.2181630000\t0.0000040000\t1.9068030000\t0.0082060000\t108267916\t0\t1786134528\t3.9790830612\t4.0002136230\t3.9993202686\n21\t0.8000000000\t0.0025807053\t0.0023433642\t0.0055015511\t0.0028726179\t5.5180750000\t1.2700340000\t0.2667000000\t0.1469400000\t1.9080000000\t1.9261200000\t108269590\t0\t1788030976\t3.9761929512\t4.0010929108\t3.9996607304\n22\t0.8400000000\t0.0028562606\t0.0023666777\t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}, { "path": "icra2018_results/tegra/violons_libkfusion-cpp_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 09:49:10\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cpp_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000002920\t0.0000002920\t0.0000002920\tnan\t3.1256310000\t1.2871140000\t0.0674250000\t0.1441660000\t0.0000100000\t1.6262150000\t106083959\t0\t1771466752\t4.0000000000\t4.0000000000\t4.0000000000\n2\t0.0400000000\t0.0040127714\t0.0020065317\t0.0040127714\t0.0032323198\t1.5082860000\t1.3056180000\t0.0545000000\t0.1397800000\t0.0000030000\t0.0081010000\t108504764\t0\t1772879872\t4.0000000000\t4.0000000000\t4.0000000000\n3\t0.0800000000\t0.0039232424\t0.0026454353\t0.0040127714\t0.0045263772\t1.4766890000\t1.2696270000\t0.0537180000\t0.1449380000\t0.0000020000\t0.0081600000\t108506762\t0\t1774657536\t4.0000000000\t4.0000000000\t4.0000000000\n4\t0.1200000000\t0.0033563883\t0.0028231735\t0.0040127714\t0.0050261360\t3.0779010000\t1.2735220000\t0.0535040000\t0.1397900000\t1.6027680000\t0.0081590000\t108508764\t0\t1783164928\t4.0000000000\t4.0000000000\t4.0000000000\n5\t0.1600000000\t0.0020580813\t0.0026701551\t0.0040127714\t0.0052619023\t4.8744360000\t1.2670840000\t0.2838270000\t0.1392790000\t1.5825270000\t1.6015390000\t108510758\t0\t1785569280\t4.0005683899\t4.0062360764\t4.0028858185\n6\t0.2000000000\t0.0022257280\t0.0025960839\t0.0040127714\t0.0049518959\t3.1652110000\t1.2609970000\t0.3099500000\t0.0000060000\t1.5858790000\t0.0082050000\t108513088\t0\t1787219968\t4.0035066605\t3.9963691235\t4.0019783974\n7\t0.2400000000\t0.0022985039\t0.0025535725\t0.0040127714\t0.0047228898\t3.2702810000\t1.2625700000\t0.2709370000\t0.1394830000\t1.5888510000\t0.0082570000\t108514762\t0\t1784299520\t4.0037336349\t3.9863731861\t3.9988577366\n8\t0.2800000000\t0.0024037436\t0.0025348439\t0.0040127714\t0.0043794021\t3.1429610000\t1.2613450000\t0.2710850000\t0.0000160000\t1.6021240000\t0.0082060000\t108516436\t0\t1785688064\t4.0014567375\t3.9884219170\t3.9979786873\n9\t0.3200000000\t0.0023832549\t0.0025180007\t0.0040127714\t0.0050602410\t4.8573600000\t1.2614030000\t0.2740160000\t0.1393910000\t1.5801170000\t1.6022290000\t108518750\t0\t1787592704\t4.0003561974\t3.9923226833\t4.0009708405\n10\t0.3600000000\t0.0024723008\t0.0025134307\t0.0040127714\t0.0047859766\t3.1362470000\t1.2609000000\t0.2799970000\t0.0000020000\t1.5869280000\t0.0082190000\t108521736\t0\t1784680448\t3.9983148575\t3.9848935604\t3.9990823269\n11\t0.4000000000\t0.0026058198\t0.0025218297\t0.0040127714\t0.0045839115\t3.4043870000\t1.2594130000\t0.4032430000\t0.1450780000\t1.5882160000\t0.0082110000\t108523410\t0\t1786077184\t3.9983010292\t3.9888927937\t3.9978272915\n12\t0.4400000000\t0.0026437505\t0.0025319898\t0.0040127714\t0.0046245112\t3.1349510000\t1.2608970000\t0.2819720000\t0.0000030000\t1.5836020000\t0.0082680000\t108525084\t0\t1787727872\t3.9992921352\t3.9987778664\t4.0008053780\n13\t0.4800000000\t0.0025806068\t0.0025357295\t0.0040127714\t0.0044316174\t4.8512690000\t1.2672630000\t0.2689670000\t0.1394650000\t1.5802640000\t1.5950880000\t108526758\t0\t1784434688\t4.0013046265\t3.9965150356\t4.0008144379\n14\t0.5200000000\t0.0027118695\t0.0025483110\t0.0040127714\t0.0043591000\t3.1858460000\t1.2689230000\t0.3225680000\t0.0000030000\t1.5858710000\t0.0082610000\t108528432\t0\t1786068992\t4.0040988922\t3.9890573025\t3.9980893135\n15\t0.5600000000\t0.0027320797\t0.0025605622\t0.0040127714\t0.0042933362\t3.3969110000\t1.2572550000\t0.4025710000\t0.1394990000\t1.5890420000\t0.0082960000\t108530106\t0\t1787846656\t4.0069055557\t3.9907152653\t3.9979007244\n16\t0.6000000000\t0.0027423620\t0.0025719247\t0.0040127714\t0.0041517715\t3.1333910000\t1.2613850000\t0.2777410000\t0.0000030000\t1.5857510000\t0.0082900000\t108531780\t0\t1784672256\t4.0079178810\t3.9920563698\t3.9981825352\n17\t0.6400000000\t0.0027842496\t0.0025844144\t0.0040127714\t0.0040370768\t4.8715160000\t1.2654990000\t0.2786550000\t0.1397200000\t1.5862520000\t1.6011350000\t108534734\t0\t1786068992\t4.0076704025\t3.9883072376\t3.9963226318\n18\t0.6800000000\t0.0028498175\t0.0025991590\t0.0040127714\t0.0039179233\t3.1759480000\t1.2646400000\t0.3101390000\t0.0000040000\t1.5925650000\t0.0083640000\t108539032\t0\t1788100608\t4.0069384575\t3.9893968105\t3.9949452877\n19\t0.7200000000\t0.0028617827\t0.0026129813\t0.0040127714\t0.0039445254\t3.3293390000\t1.2652460000\t0.3236750000\t0.1399330000\t1.5918270000\t0.0084140000\t108540706\t0\t1784926208\t4.0073871613\t3.9935777187\t3.9951608181\n20\t0.7600000000\t0.0029032738\t0.0026274959\t0.0040127714\t0.0042035944\t3.1318770000\t1.2591520000\t0.2755200000\t0.0000030000\t1.5886640000\t0.0082630000\t108542380\t0\t1786585088\t4.0069413185\t3.9922835827\t3.9925365448\n21\t0.8000000000\t0.0029300905\t0.0026419052\t0.0040127714\t0.0043503276\t4.8716810000\t1.2650400000\t0.2753380000\t0.1403810000\t1.5856310000\t1.6050270000\t108544054\t0\t1785434112\t4.0093951225\t3.9955039024\t3.9927725792\n22\t0.8400000000\t0.0029452394\t0.0026556931\t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}, { "path": "icra2018_results/tegra/violons_libkfusion-cpp_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 10:46:06\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cpp_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287840366\t0.0606188253\t0.0606188253\t0.0606188253\tnan\t2.4481420000\t0.9090340000\t0.0545170000\t0.1159810000\t0.0000090000\t1.3670420000\t106428375\t0\t1770766336\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1305031229.5644419193\t0.0642096773\t0.0624142513\t0.0642096773\t0.1658526063\t1.1084880000\t0.9439950000\t0.0412580000\t0.1158940000\t0.0000020000\t0.0069170000\t109177604\t0\t1769758720\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1305031229.5966169834\t0.0662607327\t0.0636964117\t0.0662607327\t0.1252030593\t1.0645200000\t0.9006010000\t0.0409200000\t0.1157480000\t0.0000030000\t0.0068490000\t109180114\t0\t1771155456\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1305031229.6287899017\t0.0688454211\t0.0649836641\t0.0688454211\t0.1129914361\t2.3629920000\t0.9073660000\t0.0413810000\t0.1159180000\t1.2910160000\t0.0070620000\t109182596\t0\t1780297728\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1305031229.6646571159\t0.0660009906\t0.0651871294\t0.0688454211\t0.1146828825\t3.7148890000\t0.9026260000\t0.3995230000\t0.1174240000\t1.1337820000\t1.1612500000\t109185134\t0\t1782329344\t3.9731409550\t4.0052924156\t4.0138816833\n6\t1305031229.6968429089\t0.0563660786\t0.0637169542\t0.0688454211\t0.1026617663\t2.4915210000\t0.9134420000\t0.4004200000\t0.0000030000\t1.1702760000\t0.0071120000\t109188008\t0\t1783963648\t3.9885725975\t3.9999763966\t4.0209732056\n7\t1305031229.7290771008\t0.0504580960\t0.0618228316\t0.0688454211\t0.0944324161\t2.4714010000\t0.9234080000\t0.4044470000\t0.1167890000\t1.0192640000\t0.0071430000\t109190162\t0\t1785741312\t3.9916918278\t4.0025815964\t4.0272111893\n8\t1305031229.7648689747\t0.0483699813\t0.0601412253\t0.0688454211\t0.0875849680\t2.2741710000\t0.9314440000\t0.2700540000\t0.0000030000\t1.0651150000\t0.0072780000\t109192412\t0\t1787392000\t3.9982845783\t3.9968996048\t4.0331091881\n9\t1305031229.7969229221\t0.0485966839\t0.0588584985\t0.0688454211\t0.0820246057\t3.3347450000\t0.9509700000\t0.4057280000\t0.1179070000\t0.9057110000\t0.9541260000\t109195238\t0\t1784725504\t3.9983441830\t3.9944641590\t4.0363526344\n10\t1305031229.8256299496\t0.0431757681\t0.0572902255\t0.0688454211\t0.0773875145\t2.1603850000\t0.9411170000\t0.2416460000\t0.0000030000\t0.9700430000\t0.0072730000\t109198672\t0\t1786122240\t4.0013890266\t3.9980561733\t4.0419950485\n11\t1305031229.8630619049\t0.0423466638\t0.0559317199\t0.0688454211\t0.0737733632\t2.3656750000\t0.9989070000\t0.4088290000\t0.1200680000\t0.8302030000\t0.0073690000\t109200986\t0\t1787899904\t4.0051550865\t3.9987044334\t4.0450439453\n12\t1305031229.8969380856\t0.0430087671\t0.0548548071\t0.0688454211\t0.0708056168\t2.0954290000\t0.9771670000\t0.2089370000\t0.0000060000\t0.9016430000\t0.0073600000\t109203172\t0\t1784598528\t4.0110373497\t4.0005750656\t4.0481500626\n13\t1305031229.9262549877\t0.0434661098\t0.0539787535\t0.0688454211\t0.0678461132\t3.1721980000\t0.9842680000\t0.4142880000\t0.1223510000\t0.7922990000\t0.8586590000\t109205326\t0\t1785995264\t4.0163807869\t4.0022959709\t4.0533380508\n14\t1305031229.9662408829\t0.0455673262\t0.0533779373\t0.0688454211\t0.0652208650\t2.3042090000\t0.9817560000\t0.4260240000\t0.0000050000\t0.8887230000\t0.0073930000\t109207640\t0\t1788035072\t4.0200529099\t4.0031991005\t4.0585145950\n15\t1305031229.9979310036\t0.0476748757\t0.0529977332\t0.0688454211\t0.0632078279\t2.1888840000\t0.9798540000\t0.3114120000\t0.1239810000\t0.7659130000\t0.0074020000\t109209794\t0\t1784479744\t4.0226144791\t4.0032200813\t4.0627489090\n16\t1305031230.0300021172\t0.0505405031\t0.0528441563\t0.0688454211\t0.0611116775\t2.2402450000\t0.9747410000\t0.4279820000\t0.0000040000\t0.8298350000\t0.0073430000\t109211980\t0\t1785876480\t4.0252823830\t4.0038352013\t4.0670242310\n17\t1305031230.0656960011\t0.0552398823\t0.0529850813\t0.0688454211\t0.0592807765\t3.0069880000\t0.9726090000\t0.3494430000\t0.1248320000\t0.7470540000\t0.8127020000\t109215510\t0\t1787899904\t4.0275554657\t4.0024290085\t4.0702757835\n18\t1305031230.0982739925\t0.0571156740\t0.0532145587\t0.0688454211\t0.0575974812\t2.0326660000\t0.9721660000\t0.2486350000\t0.0000030000\t0.8042630000\t0.0072550000\t109220320\t0\t1784725504\t4.0274138451\t4.0023121834\t4.0726714134\n19\t1305031230.1299350262\t0.0597089007\t0.0535563662\t0.0688454211\t0.0559950801\t2.2689570000\t0.9749000000\t0.4212780000\t0.1254860000\t0.7396770000\t0.0072650000\t109222506\t0\t1786376192\t4.0282998085\t4.0031056404\t4.0757756233\n20\t1305031230.1657800674\t0.0646792650\t0.0541125111\t0.0688454211\t0.0545690767\t2.1978350000\t0.9840140000\t0.4317410000\t0.0000030000\t0.7743820000\t0.0073350000\t109224756\t0\t1788153856\t4.0298671722\t4.0024428368\t4.0791015625\n21\t1305031230.1977820396\t0.0679935664\t0.0547735138\t0.0688454211\t0.0532461929\t2.9515710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}, { "path": "icra2018_results/tegra/violons_libkfusion-cpp_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 11:16:42\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cpp_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253987648\t0.0253987648\t0.0253987648\tnan\t2.5541610000\t0.9495920000\t0.0554780000\t0.1174420000\t0.0000080000\t1.4300110000\t106449111\t0\t1770606592\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1305031102.2112140656\t0.0277590584\t0.0265789116\t0.0277590584\t0.0329534858\t1.1037450000\t0.9363370000\t0.0424740000\t0.1173590000\t0.0000020000\t0.0071560000\t109198308\t0\t1772630016\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1305031102.2432110310\t0.0337214470\t0.0289597567\t0.0337214470\t0.0304148611\t1.1240540000\t0.9563610000\t0.0426300000\t0.1173440000\t0.0000020000\t0.0073100000\t109200818\t0\t1774407680\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1305031102.2753260136\t0.0413634107\t0.0320606702\t0.0413634107\t0.0283056894\t2.3468880000\t0.9748970000\t0.0426000000\t0.1171050000\t1.2047620000\t0.0071720000\t109203332\t0\t1783169024\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1305031102.3112668991\t0.0195325762\t0.0295550514\t0.0413634107\t0.0301328891\t3.5507680000\t0.9495830000\t0.2402750000\t0.1163650000\t1.1169010000\t1.1273260000\t109205902\t0\t1785454592\t3.9956083298\t3.9985203743\t4.0339026451\n6\t1305031102.3432331085\t0.0165487379\t0.0273873325\t0.0413634107\t0.0279495239\t2.2839290000\t0.9587590000\t0.2441830000\t0.0000030000\t1.0734960000\t0.0071830000\t109208744\t0\t1787105280\t3.9933271408\t3.9974977970\t4.0460596085\n7\t1305031102.3753290176\t0.0143050468\t0.0255184345\t0.0413634107\t0.0256323720\t2.2843790000\t0.9148360000\t0.2398460000\t0.1154250000\t1.0067170000\t0.0072240000\t109210898\t0\t1785454592\t3.9915554523\t3.9987471104\t4.0578465462\n8\t1305031102.4112579823\t0.0161135532\t0.0243428244\t0.0413634107\t0.0248950037\t2.1008990000\t0.9116820000\t0.2026920000\t0.0000030000\t0.9790330000\t0.0071290000\t109213180\t0\t1787359232\t3.9903795719\t4.0006742477\t4.0697312355\n9\t1305031102.4432709217\t0.0140174208\t0.0231955573\t0.0413634107\t0.0252536668\t3.1751410000\t0.9491360000\t0.2759600000\t0.1147570000\t0.9093820000\t0.9255610000\t109216006\t0\t1787240448\t3.9873242378\t4.0034241676\t4.0821056366\n10\t1305031102.4753179550\t0.0116250403\t0.0220385056\t0.0413634107\t0.0240300652\t2.0388230000\t0.9429540000\t0.2128310000\t0.0000030000\t0.8754210000\t0.0072920000\t109219472\t0\t1785208832\t3.9876480103\t4.0076684952\t4.0952630043\n11\t1305031102.5112190247\t0.0164535064\t0.0215307784\t0.0413634107\t0.0234075941\t2.1837850000\t0.9698200000\t0.2761270000\t0.1141460000\t0.8161400000\t0.0072170000\t109221722\t0\t1786986496\t3.9874100685\t4.0066928864\t4.1077718735\n12\t1305031102.5432200432\t0.0179979354\t0.0212363748\t0.0413634107\t0.0223196347\t2.1360750000\t0.9410330000\t0.3858810000\t0.0000060000\t0.8015370000\t0.0072820000\t109223940\t0\t1785344000\t3.9864935875\t4.0065870285\t4.1198072433\n13\t1305031102.5752859116\t0.0202989932\t0.0211642685\t0.0413634107\t0.0221625691\t2.9826130000\t0.9359630000\t0.4187790000\t0.1134000000\t0.7479720000\t0.7661430000\t109226094\t0\t1786986496\t3.9835627079\t4.0057673454\t4.1314249039\n14\t1305031102.6112329960\t0.0283836257\t0.0216799369\t0.0413634107\t0.0226180302\t2.0238690000\t0.9389580000\t0.3520590000\t0.0000050000\t0.7252490000\t0.0072470000\t109228344\t0\t1785716736\t3.9843041897\t4.0026168823\t4.1423964500\n15\t1305031102.6432650089\t0.0308780223\t0.0222931426\t0.0413634107\t0.0225169905\t2.0198730000\t0.9388400000\t0.2793780000\t0.1128680000\t0.6812350000\t0.0071970000\t109230530\t0\t1787240448\t3.9798440933\t4.0030741692\t4.1535253525\n16\t1305031102.6752851009\t0.0282497071\t0.0226654279\t0.0413634107\t0.0223324317\t1.8771220000\t0.9220900000\t0.2769880000\t0.0000030000\t0.6705230000\t0.0071630000\t109232716\t0\t1785335808\t3.9765012264\t4.0097045898\t4.1653256416\n17\t1305031102.7112629414\t0.0316527896\t0.0231940962\t0.0413634107\t0.0218753423\t2.7666490000\t0.9267590000\t0.4101710000\t0.1120740000\t0.6494390000\t0.6677680000\t109236246\t0\t1787105280\t3.9767916203\t4.0127487183\t4.1776680946\n18\t1305031102.7432339191\t0.0347458757\t0.0238358617\t0.0413634107\t0.0212933797\t1.9785250000\t0.9139330000\t0.4166410000\t0.0000020000\t0.6403710000\t0.0072030000\t109241088\t0\t1785327616\t3.9764461517\t4.0140328407\t4.1902947426\n19\t1305031102.7754719257\t0.0331696235\t0.0243271124\t0.0413634107\t0.0211189351\t1.9785970000\t0.9501690000\t0.2906880000\t0.1116470000\t0.6183360000\t0.0073720000\t109243242\t0\t1786978304\t3.9771418571\t4.0198831558\t4.2032251358\n20\t1305031102.8112320900\t0.0379328988\t0.0250074017\t0.0413634107\t0.0206063612\t1.8437550000\t0.9509370000\t0.2855500000\t0.0000030000\t0.5995300000\t0.0073300000\t109245492\t0\t1785454592\t3.9762976170\t4.0221457481\t4.2156286240\n21\t1305031102.8432900906\t0.0390094444\t0.0256741656\t0.0413634107\t0.0201131050\t2.6671090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}, { "path": "icra2018_results/tegra/violons_libkfusion-cpp_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 11:46:54\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cpp_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6419320107\t0.0019025257\t0.0019025257\t0.0019025257\tnan\t2.5490190000\t0.9149040000\t0.0550070000\t0.1187900000\t0.0000090000\t1.4408370000\t113712199\t0\t1769353216\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1311867718.6768438816\t0.0021839470\t0.0020432363\t0.0021839470\t0.0015734782\t1.1309110000\t0.9599210000\t0.0416930000\t0.1183630000\t0.0000020000\t0.0069520000\t126291456\t0\t1769340928\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1311867718.7114279270\t0.0026191149\t0.0022351959\t0.0026191149\t0.0052681777\t1.0922440000\t0.9159080000\t0.0415300000\t0.1238920000\t0.0000030000\t0.0069920000\t126293998\t0\t1771102208\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1311867718.7410299778\t0.0032201277\t0.0024814288\t0.0032201277\t0.0047920722\t2.4863750000\t0.9587450000\t0.0417610000\t0.1184240000\t1.3564480000\t0.0070260000\t126296448\t0\t1780207616\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1311867718.7767970562\t0.0102790073\t0.0040409445\t0.0102790073\t0.0093991090\t3.9766110000\t0.9036970000\t0.2698750000\t0.1184600000\t1.3363610000\t1.3443960000\t126299018\t0\t1781850112\t3.9891881943\t3.9964041710\t4.0032477379\n6\t1311867718.8094089031\t0.0111378012\t0.0052237540\t0.0111378012\t0.0088732140\t2.6582810000\t0.9139600000\t0.4072900000\t0.0000020000\t1.3262170000\t0.0070040000\t126301860\t0\t1783640064\t3.9877426624\t3.9977478981\t4.0040683746\n7\t1311867718.8408079147\t0.0115118017\t0.0061220465\t0.0115118017\t0.0081134332\t2.7801820000\t0.9222130000\t0.4106400000\t0.1187280000\t1.3177670000\t0.0070310000\t126304014\t0\t1785278464\t3.9869349003\t3.9982521534\t4.0042514801\n8\t1311867718.8767778873\t0.0151338438\t0.0072485212\t0.0151338438\t0.0077122156\t2.5247590000\t0.9227890000\t0.2730280000\t0.0000040000\t1.3171390000\t0.0070330000\t126306264\t0\t1784442880\t3.9833164215\t3.9974730015\t4.0047249794\n9\t1311867718.9088680744\t0.0145786814\t0.0080629834\t0.0151338438\t0.0072450385\t4.0785260000\t0.9277920000\t0.4108650000\t0.1190570000\t1.3010750000\t1.3156760000\t126309058\t0\t1784291328\t3.9835577011\t3.9977281094\t4.0048475266\n10\t1311867718.9438331127\t0.0158578660\t0.0088424717\t0.0158578660\t0.0068873684\t2.6482820000\t0.9222700000\t0.4148560000\t0.0000030000\t1.3001860000\t0.0070970000\t126312620\t0\t1785921536\t3.9821507931\t3.9979395866\t4.0057187080\n11\t1311867718.9784109592\t0.0144037968\t0.0093480467\t0.0158578660\t0.0067751901\t2.7302690000\t0.9143820000\t0.4064120000\t0.1183610000\t1.2791750000\t0.0070980000\t126314870\t0\t1785032704\t3.9839460850\t3.9964599609\t4.0056343079\n12\t1311867719.0091300011\t0.0181386732\t0.0100805989\t0.0181386732\t0.0067915979\t2.5655580000\t0.9271680000\t0.3501980000\t0.0000050000\t1.2769900000\t0.0070850000\t126316992\t0\t1784934400\t3.9798710346\t3.9964549541\t4.0066061020\n13\t1311867719.0441620350\t0.0168107618\t0.0105983037\t0.0181386732\t0.0065182474\t3.9898770000\t0.9230990000\t0.3836820000\t0.1188490000\t1.2684480000\t1.2909340000\t126319242\t0\t1784188928\t3.9809930325\t3.9964718819\t4.0068135262\n14\t1311867719.0776190758\t0.0181683172\t0.0111390190\t0.0181683172\t0.0063253112\t2.6292440000\t0.9270450000\t0.4236380000\t0.0000050000\t1.2672710000\t0.0071140000\t126321460\t0\t1783926784\t3.9796946049\t3.9957447052\t4.0073690414\n15\t1311867719.1086950302\t0.0169197079\t0.0115243982\t0.0181683172\t0.0061302204\t2.7423800000\t0.9299290000\t0.4210700000\t0.1187430000\t1.2616220000\t0.0070730000\t126323646\t0\t1785667584\t3.9810242653\t3.9951002598\t4.0075087547\n16\t1311867719.1437010765\t0.0179919880\t0.0119286226\t0.0181683172\t0.0059853928\t2.4347690000\t0.9309770000\t0.2411490000\t0.0000040000\t1.2505790000\t0.0071540000\t126325864\t0\t1784778752\t3.9795155525\t3.9950368404\t4.0081710815\n17\t1311867719.1810290813\t0.0160176866\t0.0121691558\t0.0181683172\t0.0059246600\t3.9664590000\t0.9214170000\t0.4143690000\t0.1240620000\t1.2424930000\t1.2599610000\t126329394\t0\t1784561664\t3.9816949368\t3.9940876961\t4.0082030296\n18\t1311867719.2127099037\t0.0172360651\t0.0124506507\t0.0181683172\t0.0057776795\t2.6090440000\t0.9208700000\t0.4234540000\t0.0000040000\t1.2528520000\t0.0070700000\t126334204\t0\t1783910400\t3.9803044796\t3.9934408665\t4.0087127686\n19\t1311867719.2412090302\t0.0176635832\t0.0127250156\t0.0181683172\t0.0057002891\t2.5299140000\t0.9301900000\t0.2426690000\t0.1182470000\t1.2275210000\t0.0071040000\t126336326\t0\t1783672832\t3.9793572426\t3.9936642647\t4.0092020035\n20\t1311867719.2779469490\t0.0180318914\t0.0129903594\t0.0181683172\t0.0058512817\t2.6254900000\t0.9574810000\t0.4223890000\t0.0000040000\t1.2345070000\t0.0071030000\t126338544\t0\t1785307136\t3.9785938263\t3.9924757481\t4.0094294548\n21\t1311867719.3104898930\t0.0165055394\t0.0131577489\t0.0181683172\t0.0057604161\t3.9496090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}, { "path": "icra2018_results/tegra/violons_libkfusion-cpp_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-19 12:45:07\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cpp_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/libkfusion-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520030\t0.0582520030\t0.0582520030\tnan\t2.4455840000\t0.9180360000\t0.0550560000\t0.1180430000\t0.0000080000\t1.3338310000\t114019895\t0\t1771241472\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1311867170.4941389561\t0.0599970818\t0.0591245424\t0.0599970818\t0.0035990404\t1.1499810000\t0.9786060000\t0.0417990000\t0.1181400000\t0.0000020000\t0.0069650000\t126599252\t0\t1770160128\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1311867170.5264289379\t0.0615839623\t0.0599443490\t0.0615839623\t0.0081929966\t1.0965890000\t0.9248370000\t0.0422980000\t0.1181430000\t0.0000020000\t0.0070310000\t126601794\t0\t1771765760\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1311867170.5623490810\t0.0628964603\t0.0606823768\t0.0628964603\t0.0105671055\t2.3778700000\t0.9256300000\t0.0422150000\t0.1184490000\t1.2801940000\t0.0070990000\t126604372\t0\t1780908032\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1311867170.5942170620\t0.0609258004\t0.0607310615\t0.0628964603\t0.0111249439\t3.8348060000\t0.9316270000\t0.2379590000\t0.1182040000\t1.2620660000\t1.2806180000\t126606846\t0\t1782542336\t4.0031242371\t3.9974739552\t3.9970715046\n6\t1311867170.6260869503\t0.0606062971\t0.0607102675\t0.0628964603\t0.0110248414\t2.6353080000\t0.9438330000\t0.4147810000\t0.0000040000\t1.2652870000\t0.0070770000\t126609688\t0\t1784217600\t4.0016174316\t3.9956717491\t3.9953827858\n7\t1311867170.6621398926\t0.0602243580\t0.0606408518\t0.0628964603\t0.0105573441\t2.5385990000\t0.9278970000\t0.2391790000\t0.1184520000\t1.2407320000\t0.0070910000\t126611970\t0\t1783066624\t4.0018320084\t3.9940991402\t3.9936189651\n8\t1311867170.6942050457\t0.0600399859\t0.0605657436\t0.0628964603\t0.0100564805\t2.6427530000\t0.9655810000\t0.4207740000\t0.0000050000\t1.2447970000\t0.0071170000\t126614124\t0\t1782325248\t4.0011572838\t3.9931411743\t3.9919660091\n9\t1311867170.7263879776\t0.0608425252\t0.0605964971\t0.0628964603\t0.0100315659\t3.9665910000\t0.9290950000\t0.4171900000\t0.1186060000\t1.2414500000\t1.2558310000\t126616950\t0\t1783963648\t4.0015869141\t3.9936790466\t3.9908607006\n10\t1311867170.7620189190\t0.0603579953\t0.0605726469\t0.0628964603\t0.0098614389\t2.5977840000\t0.9291920000\t0.4132430000\t0.0000030000\t1.2437920000\t0.0072760000\t126620544\t0\t1785708544\t3.9995050430\t3.9909121990\t3.9892861843\n11\t1311867170.7941920757\t0.0607265905\t0.0605866418\t0.0628964603\t0.0096796996\t2.6817700000\t0.9330580000\t0.3808830000\t0.1184130000\t1.2368550000\t0.0071000000\t126622666\t0\t1784610816\t4.0003924370\t3.9889500141\t3.9876811504\n12\t1311867170.8262820244\t0.0612731390\t0.0606438499\t0.0628964603\t0.0096061179\t2.6137360000\t0.9563900000\t0.4140740000\t0.0000020000\t1.2316130000\t0.0070810000\t126624884\t0\t1783738368\t4.0014548302\t3.9856190681\t3.9859545231\n13\t1311867170.8622210026\t0.0614284761\t0.0607042058\t0.0628964603\t0.0096859467\t3.8424840000\t0.9165670000\t0.3417230000\t0.1185320000\t1.2183270000\t1.2429260000\t126627134\t0\t1785462784\t4.0042290688\t3.9817683697\t3.9834074974\n14\t1311867170.8943779469\t0.0618332960\t0.0607848551\t0.0628964603\t0.0094039292\t2.4156020000\t0.9089010000\t0.2687610000\t0.0000030000\t1.2254220000\t0.0070560000\t126629288\t0\t1784360960\t4.0020575523\t3.9801092148\t3.9812393188\n15\t1311867170.9263520241\t0.0620482937\t0.0608690843\t0.0628964603\t0.0093862685\t2.4761490000\t0.8995100000\t0.2317900000\t0.1185710000\t1.2146950000\t0.0069780000\t126631506\t0\t1783595008\t4.0028309822\t3.9772646427\t3.9783926010\n16\t1311867170.9621469975\t0.0615710244\t0.0609129556\t0.0628964603\t0.0091725699\t2.4112100000\t0.8937740000\t0.2692360000\t0.0000030000\t1.2367780000\t0.0069580000\t126633756\t0\t1785327616\t4.0006346703\t3.9752943516\t3.9754130840\n17\t1311867170.9942629337\t0.0615527928\t0.0609505930\t0.0628964603\t0.0090176158\t3.7969810000\t0.8895930000\t0.2646450000\t0.1190540000\t1.2460830000\t1.2721730000\t126637190\t0\t1784479744\t3.9983484745\t3.9747169018\t3.9725239277\n18\t1311867171.0262739658\t0.0615949519\t0.0609863908\t0.0628964603\t0.0087661695\t2.5487800000\t0.8848690000\t0.3969550000\t0.0000040000\t1.2554040000\t0.0069030000\t126642032\t0\t1783607296\t3.9982666969\t3.9730911255\t3.9697606564\n19\t1311867171.0623519421\t0.0607731752\t0.0609751689\t0.0628964603\t0.0091366908\t2.5651400000\t0.8731100000\t0.2945550000\t0.1190670000\t1.2670960000\t0.0068890000\t126644282\t0\t1785237504\t3.9973049164\t3.9699714184\t3.9667077065\n20\t1311867171.0942349434\t0.0605317093\t0.0609529959\t0.0628964603\t0.0090687818\t2.5704950000\t0.8813250000\t0.3954560000\t0.0000030000\t1.2814050000\t0.0068890000\t126646436\t0\t1784242176\t3.9973285198\t3.9690551758\t3.9645607471\n21\t1311867171.1262509823\t0.0605473183\t0.0609336779\t0.0628964603\t0.0089234842\t3.9461950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}, { "path": "icra2018_results/tegra/violons_libkfusion-cuda_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 03:18:19\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cuda_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000001192\t0.0000001192\t0.0000001192\tnan\t0.2304760000\t0.0758630000\t0.0260140000\t0.0004930000\t0.0000470000\t0.1265850000\t7890518\t96830484\t1026588672\t4.0000000000\t4.0000000000\t4.0000000000\n2\t0.0400000000\t0.0071111759\t0.0035556476\t0.0071111759\t0.0073250318\t0.0374000000\t0.0108830000\t0.0109820000\t0.0000760000\t0.0000060000\t0.0151380000\t8220144\t96830484\t1027256320\t4.0000000000\t4.0000000000\t4.0000000000\n3\t0.0800000000\t0.0160688832\t0.0077267261\t0.0160688832\t0.0105654109\t0.0300170000\t0.0092550000\t0.0081120000\t0.0001370000\t0.0000080000\t0.0120320000\t8222142\t96830484\t1027891200\t4.0000000000\t4.0000000000\t4.0000000000\n4\t0.1200000000\t0.0069097765\t0.0075224887\t0.0160688832\t0.0105835684\t0.1152620000\t0.0136600000\t0.0172610000\t0.0002150000\t0.0002810000\t0.0826600000\t8224164\t96830484\t1028526080\t4.0000000000\t4.0000000000\t4.0000000000\n5\t0.1600000000\t0.0087672304\t0.0077714371\t0.0160688832\t0.0110947667\t0.1567160000\t0.0096570000\t0.0622380000\t0.0002980000\t0.0003080000\t0.0837820000\t8226158\t96830484\t1029160960\t4.0003604889\t4.0041589737\t3.9997618198\n6\t0.2000000000\t0.0087729022\t0.0079383479\t0.0160688832\t0.0099842521\t0.0910700000\t0.0084450000\t0.0435070000\t0.0000220000\t0.0004050000\t0.0374510000\t8228488\t96830484\t1029795840\t4.0005397797\t3.9986739159\t4.0006165504\n7\t0.2400000000\t0.0089614438\t0.0080845045\t0.0160688832\t0.0091709170\t0.1212740000\t0.0081960000\t0.0536250000\t0.0004810000\t0.0003050000\t0.0573240000\t8230162\t96830484\t1030369280\t4.0003643036\t3.9985847473\t4.0004940033\n8\t0.2800000000\t0.0086605372\t0.0081565086\t0.0160688832\t0.0085533177\t0.0926600000\t0.0081360000\t0.0395710000\t0.0000230000\t0.0003680000\t0.0442000000\t8231836\t96830484\t1031147520\t4.0010013580\t4.0011544228\t4.0005350113\n9\t0.3200000000\t0.0086929584\t0.0082161141\t0.0160688832\t0.0080191187\t0.1375200000\t0.0085340000\t0.0431890000\t0.0003070000\t0.0002760000\t0.0837500000\t8234150\t96830484\t1031798784\t4.0009446144\t4.0011124611\t4.0001001358\n10\t0.3600000000\t0.0088473009\t0.0082792328\t0.0160688832\t0.0075715586\t0.0917150000\t0.0087570000\t0.0461860000\t0.0000230000\t0.0003720000\t0.0359980000\t8237136\t96830484\t1032433664\t4.0023875237\t3.9998784065\t4.0002794266\n11\t0.4000000000\t0.0089137303\t0.0083369144\t0.0160688832\t0.0072054639\t0.1055710000\t0.0088660000\t0.0516440000\t0.0004280000\t0.0002690000\t0.0428550000\t8238810\t96830484\t1033068544\t4.0022621155\t3.9993741512\t4.0004625320\n12\t0.4400000000\t0.0089347186\t0.0083867314\t0.0160688832\t0.0068919919\t0.0974020000\t0.0092110000\t0.0503860000\t0.0000950000\t0.0003020000\t0.0358790000\t8240484\t96830484\t1033703424\t4.0025334358\t3.9998526573\t3.9999463558\n13\t0.4800000000\t0.0089757601\t0.0084320413\t0.0160688832\t0.0067033457\t0.1244690000\t0.0087500000\t0.0465300000\t0.0003720000\t0.0002760000\t0.0681270000\t8242158\t96830484\t1034338304\t4.0026526451\t4.0015048981\t3.9993927479\n14\t0.5200000000\t0.0089717600\t0.0084705926\t0.0160688832\t0.0065182433\t0.0940190000\t0.0094470000\t0.0477510000\t0.0000240000\t0.0003000000\t0.0360250000\t8243832\t96830484\t1034973184\t4.0027189255\t4.0024604797\t3.9992067814\n15\t0.5600000000\t0.0089664999\t0.0085036531\t0.0160688832\t0.0062908370\t0.1009160000\t0.0085960000\t0.0475030000\t0.0003020000\t0.0003400000\t0.0423200000\t8245506\t96830484\t1035608064\t4.0029129982\t4.0031342506\t3.9986877441\n16\t0.6000000000\t0.0090225749\t0.0085360857\t0.0160688832\t0.0060791835\t0.0906920000\t0.0088450000\t0.0439710000\t0.0000270000\t0.0003770000\t0.0359890000\t8247180\t96830484\t1036242944\t4.0029549599\t4.0030102730\t3.9984180927\n17\t0.6400000000\t0.0090523968\t0.0085664570\t0.0160688832\t0.0058997607\t0.1224610000\t0.0086960000\t0.0452390000\t0.0003120000\t0.0002690000\t0.0674830000\t8250134\t96830484\t1036877824\t4.0021615028\t4.0036854744\t3.9978315830\n18\t0.6800000000\t0.0092077553\t0.0086020846\t0.0160688832\t0.0057495889\t0.0855210000\t0.0085500000\t0.0364830000\t0.0000230000\t0.0003660000\t0.0382250000\t8254432\t96830484\t1037623296\t4.0025982857\t4.0049695969\t3.9975538254\n19\t0.7200000000\t0.0092679001\t0.0086371276\t0.0160688832\t0.0057176365\t0.1125500000\t0.0083580000\t0.0516170000\t0.0003430000\t0.0002690000\t0.0514940000\t8256106\t96830484\t1038274560\t4.0038008690\t4.0054721832\t3.9974596500\n20\t0.7600000000\t0.0093646012\t0.0086735012\t0.0160688832\t0.0055669590\t0.0806750000\t0.0084050000\t0.0342820000\t0.0000170000\t0.0002050000\t0.0358520000\t8257780\t96830484\t1038909440\t4.0043578148\t4.0055813789\t3.9969880581\n21\t0.8000000000\t0.0094007514\t0.0087081322\t0.0160688832\t0.0054260382\t0.1262140000\t0.0090030000\t0.0508820000\t0.0003740000\t0.0003090000\t0.0636950000\t8259454\t96830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}, { "path": "icra2018_results/tegra/violons_libkfusion-cuda_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 03:20:41\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cuda_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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}, { "path": "icra2018_results/tegra/violons_libkfusion-cuda_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 03:22:55\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cuda_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame 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}, { "path": "icra2018_results/tegra/violons_libkfusion-cuda_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-19 03:24:58\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cuda_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000002920\t0.0000002920\t0.0000002920\tnan\t0.1023620000\t0.0173210000\t0.0169500000\t0.0001000000\t0.0000100000\t0.0635630000\t7868678\t96830484\t1770655744\t4.0000000000\t4.0000000000\t4.0000000000\n2\t0.0400000000\t0.0040127714\t0.0020065317\t0.0040127714\t0.0032323198\t0.0472550000\t0.0122780000\t0.0080340000\t0.0009110000\t0.0000050000\t0.0253050000\t8198304\t96830484\t1769148416\t4.0000000000\t4.0000000000\t4.0000000000\n3\t0.0800000000\t0.0039232424\t0.0026454353\t0.0040127714\t0.0045263772\t0.1068400000\t0.0325750000\t0.0301410000\t0.0006730000\t0.0000220000\t0.0421890000\t8200302\t96830484\t1767256064\t4.0000000000\t4.0000000000\t4.0000000000\n4\t0.1200000000\t0.0033563883\t0.0028231735\t0.0040127714\t0.0050261360\t0.0968410000\t0.0222330000\t0.0197960000\t0.0002020000\t0.0002650000\t0.0533240000\t8202324\t96830484\t1766113280\t4.0000000000\t4.0000000000\t4.0000000000\n5\t0.1600000000\t0.0020584480\t0.0026702284\t0.0040127714\t0.0052620040\t0.1396510000\t0.0095890000\t0.0622300000\t0.0003810000\t0.0002820000\t0.0660110000\t8204318\t96830484\t1765339136\t4.0005674362\t4.0062384605\t4.0028867722\n6\t0.2000000000\t0.0022279536\t0.0025965160\t0.0040127714\t0.0049476665\t0.1032490000\t0.0095650000\t0.0574240000\t0.0000210000\t0.0002950000\t0.0348060000\t8206648\t96830484\t1765081088\t4.0035138130\t3.9963679314\t4.0019836426\n7\t0.2400000000\t0.0023014175\t0.0025543591\t0.0040127714\t0.0047215604\t0.1032710000\t0.0098340000\t0.0509680000\t0.0004040000\t0.0002870000\t0.0405070000\t8208322\t96830484\t1764970496\t4.0037331581\t3.9863786697\t3.9988594055\n8\t0.2800000000\t0.0024058358\t0.0025357936\t0.0040127714\t0.0043780790\t0.0911480000\t0.0099210000\t0.0448780000\t0.0000240000\t0.0003210000\t0.0349320000\t8209996\t96830484\t1763807232\t4.0014529228\t3.9884290695\t3.9979808331\n9\t0.3200000000\t0.0023834214\t0.0025188634\t0.0040127714\t0.0050587518\t0.1200340000\t0.0090140000\t0.0450680000\t0.0003030000\t0.0003120000\t0.0649560000\t8212310\t96830484\t1763975168\t4.0003538132\t3.9923250675\t4.0009708405\n10\t0.3600000000\t0.0024723369\t0.0025142107\t0.0040127714\t0.0047844902\t0.0928560000\t0.0092870000\t0.0458020000\t0.0000250000\t0.0003610000\t0.0360380000\t8215296\t96830484\t1765613568\t3.9983100891\t3.9848978519\t3.9990837574\n11\t0.4000000000\t0.0026106657\t0.0025229794\t0.0040127714\t0.0045836493\t0.1453640000\t0.0090940000\t0.0938620000\t0.0000570000\t0.0000530000\t0.0409610000\t8216970\t96830484\t1767239680\t3.9983108044\t3.9888923168\t3.9978291988\n12\t0.4400000000\t0.0026466376\t0.0025332842\t0.0040127714\t0.0046222946\t0.0900070000\t0.0097380000\t0.0454020000\t0.0000240000\t0.0003760000\t0.0333880000\t8218644\t96830484\t1769017344\t3.9992911816\t3.9987828732\t4.0008072853\n13\t0.4800000000\t0.0025967760\t0.0025381682\t0.0040127714\t0.0044295951\t0.1208940000\t0.0091450000\t0.0454050000\t0.0003040000\t0.0003840000\t0.0652760000\t8220318\t96830484\t1770668032\t4.0013036728\t3.9965372086\t4.0008158684\n14\t0.5200000000\t0.0027372187\t0.0025523861\t0.0040127714\t0.0043598152\t0.0983920000\t0.0111760000\t0.0511950000\t0.0000240000\t0.0003120000\t0.0338550000\t8221992\t96830484\t1769410560\t4.0040879250\t3.9890961647\t3.9980862141\n15\t0.5600000000\t0.0027276226\t0.0025640685\t0.0040127714\t0.0042910284\t0.1113650000\t0.0102990000\t0.0640400000\t0.0003730000\t0.0002710000\t0.0359780000\t8223666\t96830484\t1767903232\t4.0069079399\t3.9907083511\t3.9979023933\n16\t0.6000000000\t0.0027499998\t0.0025756892\t0.0040127714\t0.0041493365\t0.0901130000\t0.0095380000\t0.0446410000\t0.0000210000\t0.0014840000\t0.0338270000\t8225340\t96830484\t1766739968\t4.0079059601\t3.9920754433\t3.9981877804\n17\t0.6400000000\t0.0027915987\t0.0025883898\t0.0040127714\t0.0040347247\t0.1355210000\t0.0097150000\t0.0526060000\t0.0003170000\t0.0003580000\t0.0708150000\t8228294\t96830484\t1765244928\t4.0076589584\t3.9883260727\t3.9963281155\n18\t0.6800000000\t0.0028616060\t0.0026035685\t0.0040127714\t0.0039154018\t0.1120990000\t0.0092130000\t0.0604470000\t0.0000270000\t0.0003400000\t0.0416280000\t8232592\t96830484\t1764978688\t4.0069379807\t3.9894137383\t3.9949533939\n19\t0.7200000000\t0.0028733131\t0.0026177656\t0.0040127714\t0.0039408206\t0.1081070000\t0.0092000000\t0.0566630000\t0.0003090000\t0.0002730000\t0.0411460000\t8234266\t96830484\t1764986880\t4.0073790550\t3.9935991764\t3.9951674938\n20\t0.7600000000\t0.0029136736\t0.0026325610\t0.0040127714\t0.0041996213\t0.0848460000\t0.0091890000\t0.0401970000\t0.0000250000\t0.0003020000\t0.0329870000\t8235940\t96830484\t1763819520\t4.0069322586\t3.9923043251\t3.9925448895\n21\t0.8000000000\t0.0028847996\t0.0026445723\t0.0040127714\t0.0043455623\t0.1162210000\t0.0098670000\t0.0454100000\t0.0003900000\t0.0003080000\t0.0584270000\t8237614\t96830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}, { "path": "icra2018_results/tegra/violons_libkfusion-cuda_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-19 03:27:34\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cuda_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287840366\t0.0606188253\t0.0606188253\t0.0606188253\tnan\t0.1444140000\t0.0394290000\t0.0186040000\t0.0004280000\t0.0000480000\t0.0730690000\t8213518\t96830484\t1770606592\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1305031229.5644419193\t0.0642096773\t0.0624142513\t0.0642096773\t0.1658526063\t0.0518190000\t0.0148390000\t0.0151840000\t0.0003150000\t0.0000220000\t0.0199600000\t8871336\t96830484\t1769353216\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1305031229.5966169834\t0.0662607327\t0.0636964117\t0.0662607327\t0.1252030593\t0.0487240000\t0.0132280000\t0.0108580000\t0.0000700000\t0.0000040000\t0.0204330000\t8873846\t96830484\t1768226816\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1305031229.6287899017\t0.0688454211\t0.0649836641\t0.0688454211\t0.1129914361\t0.0947770000\t0.0220740000\t0.0150060000\t0.0002070000\t0.0002850000\t0.0565540000\t8876348\t96830484\t1766682624\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1305031229.6646571159\t0.0660073161\t0.0651883945\t0.0688454211\t0.1146815906\t0.1536550000\t0.0085930000\t0.0706300000\t0.0003640000\t0.0002690000\t0.0721660000\t8878886\t96830484\t1766576128\t3.9731338024\t4.0052871704\t4.0138797760\n6\t1305031229.6968429089\t0.0563749559\t0.0637194881\t0.0688454211\t0.1026607419\t0.1138000000\t0.0092530000\t0.0638570000\t0.0000250000\t0.0004110000\t0.0398110000\t8881760\t96830484\t1768091648\t3.9885642529\t3.9999618530\t4.0209727287\n7\t1305031229.7290771008\t0.0504670925\t0.0618262887\t0.0688454211\t0.0944304650\t0.1080220000\t0.0090750000\t0.0604310000\t0.0003070000\t0.0002650000\t0.0375000000\t8883914\t96830484\t1769844736\t3.9916899204\t4.0025506020\t4.0272154808\n8\t1305031229.7648689747\t0.0483920984\t0.0601470149\t0.0688454211\t0.0875827377\t0.1092240000\t0.0108430000\t0.0667440000\t0.0000220000\t0.0003720000\t0.0307890000\t8886164\t96830484\t1768882176\t3.9982411861\t3.9968731403\t4.0331044197\n9\t1305031229.7969229221\t0.0486251563\t0.0588668084\t0.0688454211\t0.0820227982\t0.1370010000\t0.0094070000\t0.0661860000\t0.0004010000\t0.0002700000\t0.0582050000\t8888990\t96830484\t1770508288\t3.9983160496\t3.9944117069\t4.0363583565\n10\t1305031229.8256299496\t0.0431816503\t0.0572982926\t0.0688454211\t0.0773861567\t0.0906670000\t0.0111440000\t0.0453450000\t0.0000250000\t0.0003740000\t0.0318990000\t8892424\t96830484\t1769353216\t4.0013742447\t3.9980475903\t4.0419926643\n11\t1305031229.8630619049\t0.0423634015\t0.0559405752\t0.0688454211\t0.0737720180\t0.1153300000\t0.0096120000\t0.0672910000\t0.0003200000\t0.0002710000\t0.0358820000\t8894738\t96830484\t1768210432\t4.0051417351\t3.9986724854\t4.0450448990\n12\t1305031229.8969380856\t0.0430381075\t0.0548653696\t0.0688454211\t0.0708035267\t0.0837500000\t0.0095960000\t0.0412380000\t0.0000250000\t0.0005250000\t0.0304330000\t8896924\t96830484\t1769910272\t4.0110988617\t4.0005612373\t4.0481553078\n13\t1305031229.9262549877\t0.0435138233\t0.0539921737\t0.0688454211\t0.0678469189\t0.1374950000\t0.0111150000\t0.0671020000\t0.0003410000\t0.0003560000\t0.0565460000\t8899078\t96830484\t1768738816\t4.0164823532\t4.0023322105\t4.0533270836\n14\t1305031229.9662408829\t0.0455033407\t0.0533858285\t0.0688454211\t0.0652225772\t0.1080790000\t0.0093040000\t0.0642310000\t0.0000250000\t0.0003070000\t0.0319530000\t8901392\t96830484\t1770508288\t4.0199174881\t4.0032386780\t4.0584087372\n15\t1305031229.9979310036\t0.0476685464\t0.0530046764\t0.0688454211\t0.0632056490\t0.1186070000\t0.0116240000\t0.0673500000\t0.0002980000\t0.0002700000\t0.0369490000\t8903546\t96830484\t1769336832\t4.0225658417\t4.0031871796\t4.0627064705\n16\t1305031230.0300021172\t0.0504597835\t0.0528456206\t0.0688454211\t0.0611077333\t0.0977560000\t0.0096590000\t0.0539030000\t0.0000300000\t0.0003900000\t0.0316090000\t8905732\t96830484\t1771053056\t4.0251278877\t4.0037612915\t4.0669584274\n17\t1305031230.0656960011\t0.0551199540\t0.0529794049\t0.0688454211\t0.0592776110\t0.1306490000\t0.0110810000\t0.0686360000\t0.0003880000\t0.0002730000\t0.0497420000\t8909262\t96830484\t1770135552\t4.0273513794\t4.0023422241\t4.0701670647\n18\t1305031230.0982739925\t0.0569276884\t0.0531987540\t0.0688454211\t0.0575944833\t0.0982150000\t0.0109920000\t0.0530660000\t0.0000250000\t0.0003340000\t0.0312470000\t8914072\t96830484\t1768718336\t4.0271396637\t4.0022411346\t4.0725073814\n19\t1305031230.1299350262\t0.0593218468\t0.0535210220\t0.0688454211\t0.0559890913\t0.1011570000\t0.0095410000\t0.0526740000\t0.0002920000\t0.0003480000\t0.0360430000\t8916258\t96830484\t1770377216\t4.0277972221\t4.0029826164\t4.0755438805\n20\t1305031230.1657800674\t0.0627599806\t0.0539829699\t0.0688454211\t0.0545648167\t0.0914060000\t0.0115560000\t0.0474670000\t0.0000270000\t0.0003060000\t0.0305120000\t8918508\t96830484\t1769627648\t4.0275964737\t4.0022168159\t4.0777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}, { "path": "icra2018_results/tegra/violons_libkfusion-cuda_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-19 03:29:13\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cuda_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253987648\t0.0253987648\t0.0253987648\tnan\t0.1144280000\t0.0158470000\t0.0156510000\t0.0001090000\t0.0000120000\t0.0804500000\t8234222\t96830484\t1767612416\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1305031102.2112140656\t0.0277590584\t0.0265789116\t0.0277590584\t0.0329534858\t0.0432330000\t0.0100290000\t0.0082400000\t0.0000700000\t0.0000040000\t0.0233190000\t8892104\t96830484\t1769771008\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1305031102.2432110310\t0.0337214470\t0.0289597567\t0.0337214470\t0.0304148611\t0.0797460000\t0.0363080000\t0.0155490000\t0.0000620000\t0.0000040000\t0.0258130000\t8894614\t96830484\t1767641088\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1305031102.2753260136\t0.0413634107\t0.0320606702\t0.0413634107\t0.0283056894\t0.0682040000\t0.0106270000\t0.0102290000\t0.0001760000\t0.0001360000\t0.0463300000\t8897148\t96830484\t1767649280\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1305031102.3112668991\t0.0195333268\t0.0295552015\t0.0413634107\t0.0301329162\t0.1261920000\t0.0088510000\t0.0499120000\t0.0003300000\t0.0019600000\t0.0634050000\t8899718\t96830484\t1766903808\t3.9956057072\t3.9985215664\t4.0339012146\n6\t1305031102.3432331085\t0.0165448189\t0.0273868044\t0.0413634107\t0.0279478040\t0.1111050000\t0.0090890000\t0.0679690000\t0.0000240000\t0.0002770000\t0.0318520000\t8902560\t96830484\t1765867520\t3.9933166504\t3.9975037575\t4.0460615158\n7\t1305031102.3753290176\t0.0143035026\t0.0255177613\t0.0413634107\t0.0256299190\t0.0953490000\t0.0092630000\t0.0460290000\t0.0003120000\t0.0006510000\t0.0372670000\t8904714\t96830484\t1767485440\t3.9915561676\t3.9987485409\t4.0578479767\n8\t1305031102.4112579823\t0.0161063094\t0.0243413298\t0.0413634107\t0.0248946262\t0.0784350000\t0.0090690000\t0.0346410000\t0.0000210000\t0.0003430000\t0.0324920000\t8906996\t96830484\t1769267200\t3.9903631210\t4.0006780624\t4.0697340965\n9\t1305031102.4432709217\t0.0140135018\t0.0231937934\t0.0413634107\t0.0252535638\t0.1255080000\t0.0097950000\t0.0597280000\t0.0004230000\t0.0002770000\t0.0548230000\t8909822\t96830484\t1768390656\t3.9873230457\t4.0034270287\t4.0821080208\n10\t1305031102.4753179550\t0.0116270650\t0.0220371205\t0.0413634107\t0.0240294950\t0.0749620000\t0.0085760000\t0.0356830000\t0.0000270000\t0.0002960000\t0.0298790000\t8913288\t96830484\t1770180608\t3.9876568317\t4.0076665878\t4.0952644348\n11\t1305031102.5112190247\t0.0164490193\t0.0215291113\t0.0413634107\t0.0234072113\t0.0981670000\t0.0105270000\t0.0504210000\t0.0002970000\t0.0002750000\t0.0345850000\t8915538\t96830484\t1769279488\t3.9873988628\t4.0066909790\t4.1077752113\n12\t1305031102.5432200432\t0.0179887172\t0.0212340785\t0.0413634107\t0.0223192355\t0.1051950000\t0.0103300000\t0.0653560000\t0.0000260000\t0.0003600000\t0.0270580000\t8917756\t96830484\t1767919616\t3.9864666462\t4.0065851212\t4.1198124886\n13\t1305031102.5752859116\t0.0202986002\t0.0211621186\t0.0413634107\t0.0221638080\t0.1306470000\t0.0091550000\t0.0679180000\t0.0004000000\t0.0002760000\t0.0505070000\t8919910\t96830484\t1769562112\t3.9835603237\t4.0057654381\t4.1314287186\n14\t1305031102.6112329960\t0.0283821970\t0.0216778385\t0.0413634107\t0.0226195854\t0.1069200000\t0.0108660000\t0.0690920000\t0.0000260000\t0.0003620000\t0.0244920000\t8922160\t96830484\t1768173568\t3.9843022823\t4.0026168823\t4.1423993111\n15\t1305031102.6432650089\t0.0308798477\t0.0222913058\t0.0413634107\t0.0225175673\t0.0876230000\t0.0089570000\t0.0458510000\t0.0003270000\t0.0002610000\t0.0300780000\t8924346\t96830484\t1769816064\t3.9798583984\t4.0030717850\t4.1535291672\n16\t1305031102.6752851009\t0.0282558128\t0.0226640875\t0.0413634107\t0.0223348935\t0.0786850000\t0.0119230000\t0.0377190000\t0.0000260000\t0.0002850000\t0.0264250000\t8926532\t96830484\t1768427520\t3.9764909744\t4.0096969604\t4.1653313637\n17\t1305031102.7112629414\t0.0316540524\t0.0231929089\t0.0413634107\t0.0218772512\t0.1361670000\t0.0084270000\t0.0792080000\t0.0000700000\t0.0000520000\t0.0458400000\t8930062\t96830484\t1767280640\t3.9767699242\t4.0127444267\t4.1776733398\n18\t1305031102.7432339191\t0.0347451679\t0.0238347011\t0.0413634107\t0.0212948966\t0.0944010000\t0.0087570000\t0.0666110000\t0.0000060000\t0.0001800000\t0.0182730000\t8934904\t96830484\t1769054208\t3.9764485359\t4.0140333176\t4.1902980804\n19\t1305031102.7754719257\t0.0331700183\t0.0243260336\t0.0413634107\t0.0211206091\t0.1040370000\t0.0094870000\t0.0547280000\t0.0002930000\t0.0002730000\t0.0368280000\t8937058\t96830484\t1770659840\t3.9771361351\t4.0198812485\t4.2032289505\n20\t1305031102.8112320900\t0.0379331224\t0.0250063880\t0.0413634107\t0.0206080147\t0.0891110000\t0.0106660000\t0.0514170000\t0.0000240000\t0.0002820000\t0.0259450000\t8939308\t96830484\t1769406464\t3.9763009548\t4.0221447945\t4.2156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}, { "path": "icra2018_results/tegra/violons_libkfusion-cuda_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-19 03:30:52\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cuda_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6419320107\t0.0019025257\t0.0019025257\t0.0019025257\tnan\t0.2080690000\t0.0177980000\t0.0171920000\t0.0001240000\t0.0000120000\t0.1372210000\t15497082\t96830484\t1774424064\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1311867718.6768438816\t0.0021839470\t0.0020432363\t0.0021839470\t0.0015734782\t0.0907160000\t0.0237960000\t0.0171100000\t0.0000590000\t0.0000040000\t0.0389520000\t25985332\t96830484\t1771900928\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1311867718.7114279270\t0.0026191149\t0.0022351959\t0.0026191149\t0.0052681777\t0.0777800000\t0.0172320000\t0.0177040000\t0.0000690000\t0.0000040000\t0.0317390000\t25987874\t96830484\t1770885120\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1311867718.7410299778\t0.0032201277\t0.0024814288\t0.0032201277\t0.0047920722\t0.0894710000\t0.0159070000\t0.0109560000\t0.0000620000\t0.0000880000\t0.0560540000\t25990344\t96830484\t1770668032\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1311867718.7767970562\t0.0102618802\t0.0040375191\t0.0102618802\t0.0093908740\t0.2044910000\t0.0107230000\t0.1007330000\t0.0003590000\t0.0002670000\t0.0745740000\t25992914\t96830484\t1769504768\t3.9892063141\t3.9964056015\t4.0032463074\n6\t1311867718.8094089031\t0.0111374026\t0.0052208330\t0.0111374026\t0.0088666867\t0.1205480000\t0.0109400000\t0.0679720000\t0.0000210000\t0.0003110000\t0.0347730000\t25995756\t96830484\t1768480768\t3.9877436161\t3.9977455139\t4.0040683746\n7\t1311867718.8408079147\t0.0115064383\t0.0061187766\t0.0115064383\t0.0081073943\t0.1339470000\t0.0092730000\t0.0701090000\t0.0003570000\t0.0003010000\t0.0419840000\t25997910\t96830484\t1770123264\t3.9869406223\t3.9982502460\t4.0042495728\n8\t1311867718.8767778873\t0.0151337860\t0.0072456528\t0.0151337860\t0.0077067087\t0.0992190000\t0.0113600000\t0.0456370000\t0.0000210000\t0.0004230000\t0.0356340000\t26000160\t96830484\t1766948864\t3.9833176136\t3.9974684715\t4.0047245026\n9\t1311867718.9088680744\t0.0145941861\t0.0080621565\t0.0151337860\t0.0072399251\t0.1549070000\t0.0102150000\t0.0715190000\t0.0003140000\t0.0004930000\t0.0660770000\t26002954\t96830484\t1767731200\t3.9835429192\t3.9977228642\t4.0048470497\n10\t1311867718.9438331127\t0.0158720519\t0.0088431460\t0.0158720519\t0.0068827351\t0.1346670000\t0.0094460000\t0.0685680000\t0.0000240000\t0.0003850000\t0.0360410000\t26006516\t96830484\t1766465536\t3.9821381569\t3.9979324341\t4.0057210922\n11\t1311867718.9784109592\t0.0143935960\t0.0093477324\t0.0158720519\t0.0067737003\t0.1374590000\t0.0092000000\t0.0703800000\t0.0002820000\t0.0002940000\t0.0416370000\t26008766\t96830484\t1767964672\t3.9839572906\t3.9964573383\t4.0056304932\n12\t1311867719.0091300011\t0.0181231536\t0.0100790175\t0.0181231536\t0.0067897077\t0.1204980000\t0.0094470000\t0.0687810000\t0.0000220000\t0.0002830000\t0.0351690000\t26010888\t96830484\t1769762816\t3.9798867702\t3.9964544773\t4.0065989494\n13\t1311867719.0441620350\t0.0167894252\t0.0105952027\t0.0181231536\t0.0065165275\t0.1533470000\t0.0111550000\t0.0704600000\t0.0003560000\t0.0002750000\t0.0648390000\t26013138\t96830484\t1768742912\t3.9810168743\t3.9964642525\t4.0068097115\n14\t1311867719.0776190758\t0.0181547422\t0.0111351698\t0.0181547422\t0.0063245432\t0.1213250000\t0.0095090000\t0.0686340000\t0.0000240000\t0.0003690000\t0.0358660000\t26015356\t96830484\t1770250240\t3.9797084332\t3.9957439899\t4.0073599815\n15\t1311867719.1086950302\t0.0170223452\t0.0115276482\t0.0181547422\t0.0061269012\t0.1368910000\t0.0113360000\t0.0694840000\t0.0003670000\t0.0002800000\t0.0407430000\t26017542\t96830484\t1768878080\t3.9809286594\t3.9950649738\t4.0075216293\n16\t1311867719.1437010765\t0.0180021338\t0.0119323035\t0.0181547422\t0.0059799049\t0.0970290000\t0.0098180000\t0.0412240000\t0.0000250000\t0.0010960000\t0.0348710000\t26019760\t96830484\t1770614784\t3.9795091152\t3.9950249195\t4.0081753731\n17\t1311867719.1810290813\t0.0160394553\t0.0121739007\t0.0181547422\t0.0059186263\t0.1295700000\t0.0112890000\t0.0471320000\t0.0003150000\t0.0002740000\t0.0640020000\t26023290\t96830484\t1769271296\t3.9816782475\t3.9940738678\t4.0082120895\n18\t1311867719.2127099037\t0.0171447918\t0.0124500613\t0.0181547422\t0.0057694990\t0.1258250000\t0.0113180000\t0.0678770000\t0.0000240000\t0.0002940000\t0.0344380000\t26028100\t96830484\t1767862272\t3.9804043770\t3.9934437275\t4.0087151527\n19\t1311867719.2412090302\t0.0176467691\t0.0127235722\t0.0181547422\t0.0056946464\t0.1142760000\t0.0095070000\t0.0412440000\t0.0011450000\t0.0002970000\t0.0404950000\t26030222\t96830484\t1769472000\t3.9793758392\t3.9936635494\t4.0092039108\n20\t1311867719.2779469490\t0.0180098470\t0.0129878860\t0.0181547422\t0.0058464799\t0.1219600000\t0.0117340000\t0.0699040000\t0.0000270000\t0.0002910000\t0.0335840000\t26032440\t96830484\t1768124416\t3.9786188602\t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}, { "path": "icra2018_results/tegra/violons_libkfusion-cuda_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-19 03:33:55\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_libkfusion-cuda_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/libkfusion-cuda-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ncompute-size-ratio: 1\nintegration-rate: 2\ntracking-rate: 1\nrendering-rate: 4\nicp-threshold: 1e-05\nmu: 0.1\nvolume-size: 8,8,8\nvolume-direction: 4,4,4\nvolume-resolution: 256,256,256\npyramid-level1: 10\npyramid-level2: 5\npyramid-level3: 4\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tDuration_Preprocessing\tDuration_Tracking\tDuration_Integration\tDuration_Raycasting\tDuration_Render\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520030\t0.0582520030\t0.0582520030\tnan\t0.1430140000\t0.0245570000\t0.0155410000\t0.0000960000\t0.0000110000\t0.0641300000\t15804914\t96830484\t1770934272\t4.0000000000\t4.0000000000\t4.0000000000\n2\t1311867170.4941389561\t0.0599970818\t0.0591245424\t0.0599970818\t0.0035990404\t0.1019250000\t0.0241920000\t0.0307720000\t0.0003040000\t0.0000210000\t0.0382180000\t26293100\t96830484\t1769693184\t4.0000000000\t4.0000000000\t4.0000000000\n3\t1311867170.5264289379\t0.0615839623\t0.0599443490\t0.0615839623\t0.0081929966\t0.0848160000\t0.0169700000\t0.0181340000\t0.0000660000\t0.0000050000\t0.0243400000\t26295642\t96830484\t1768529920\t4.0000000000\t4.0000000000\t4.0000000000\n4\t1311867170.5623490810\t0.0628964603\t0.0606823768\t0.0628964603\t0.0105671055\t0.0979760000\t0.0125580000\t0.0113640000\t0.0000900000\t0.0001270000\t0.0576260000\t26298240\t96830484\t1765875712\t4.0000000000\t4.0000000000\t4.0000000000\n5\t1311867170.5942170620\t0.0609255508\t0.0607310116\t0.0628964603\t0.0111240522\t0.1721570000\t0.0121080000\t0.0707980000\t0.0003910000\t0.0002710000\t0.0674980000\t26300714\t96830484\t1763966976\t4.0031204224\t3.9974741936\t3.9970712662\n6\t1311867170.6260869503\t0.0606068857\t0.0607103240\t0.0628964603\t0.0110236689\t0.1530400000\t0.0108200000\t0.0828730000\t0.0000210000\t0.0002800000\t0.0386120000\t26303556\t96830484\t1765011456\t4.0016202927\t3.9956722260\t3.9953827858\n7\t1311867170.6621398926\t0.0602267869\t0.0606412472\t0.0628964603\t0.0105600055\t0.1362940000\t0.0113540000\t0.0749060000\t0.0003540000\t0.0003060000\t0.0390620000\t26305838\t96830484\t1764585472\t4.0018520355\t3.9940953255\t3.9936211109\n8\t1311867170.6942050457\t0.0600393713\t0.0605660127\t0.0628964603\t0.0100604432\t0.1148600000\t0.0094850000\t0.0627040000\t0.0000210000\t0.0002850000\t0.0329040000\t26307992\t96830484\t1766244352\t4.0011649132\t3.9931421280\t3.9919643402\n9\t1311867170.7263879776\t0.0608413592\t0.0605966068\t0.0628964603\t0.0100341190\t0.1314870000\t0.0090820000\t0.0536170000\t0.0003100000\t0.0003770000\t0.0614120000\t26310818\t96830484\t1767870464\t4.0015835762\t3.9936788082\t3.9908602238\n10\t1311867170.7620189190\t0.0603601485\t0.0605729610\t0.0628964603\t0.0098654994\t0.1216210000\t0.0091920000\t0.0688800000\t0.0000230000\t0.0003050000\t0.0331030000\t26314412\t96830484\t1769521152\t3.9995176792\t3.9909095764\t3.9892880917\n11\t1311867170.7941920757\t0.0607255362\t0.0605868314\t0.0628964603\t0.0096819937\t0.1176770000\t0.0107110000\t0.0581590000\t0.0003800000\t0.0002660000\t0.0392040000\t26316534\t96830484\t1768566784\t4.0003919601\t3.9889512062\t3.9876794815\n12\t1311867170.8262820244\t0.0612730682\t0.0606440178\t0.0628964603\t0.0096071606\t0.1153620000\t0.0089190000\t0.0633360000\t0.0000250000\t0.0002820000\t0.0333870000\t26318752\t96830484\t1770283008\t4.0014433861\t3.9856188297\t3.9859566689\n13\t1311867170.8622210026\t0.0614246465\t0.0607040662\t0.0628964603\t0.0096868568\t0.1368790000\t0.0108490000\t0.0580610000\t0.0003560000\t0.0002690000\t0.0605250000\t26321002\t96830484\t1769455616\t4.0042152405\t3.9817748070\t3.9834048748\n14\t1311867170.8943779469\t0.0618292317\t0.0607844352\t0.0628964603\t0.0094042355\t0.0963760000\t0.0102470000\t0.0400770000\t0.0000250000\t0.0002860000\t0.0350160000\t26323156\t96830484\t1764970496\t4.0020465851\t3.9801175594\t3.9812355042\n15\t1311867170.9263520241\t0.0620423369\t0.0608682953\t0.0628964603\t0.0093865211\t0.1122580000\t0.0107130000\t0.0500970000\t0.0002840000\t0.0003380000\t0.0380400000\t26325374\t96830484\t1766662144\t4.0028033257\t3.9772746563\t3.9783899784\n16\t1311867170.9621469975\t0.0615640618\t0.0609117807\t0.0628964603\t0.0091720081\t0.0973930000\t0.0087940000\t0.0464760000\t0.0000270000\t0.0003140000\t0.0346700000\t26327624\t96830484\t1768423424\t4.0006170273\t3.9753031731\t3.9754066467\n17\t1311867170.9942629337\t0.0615488924\t0.0609492578\t0.0628964603\t0.0090175198\t0.1342220000\t0.0092010000\t0.0465010000\t0.0003540000\t0.0002780000\t0.0635180000\t26331058\t96830484\t1769775104\t3.9983317852\t3.9747266769\t3.9725198746\n18\t1311867171.0262739658\t0.0615876988\t0.0609847268\t0.0628964603\t0.0087659622\t0.1184540000\t0.0108490000\t0.0676330000\t0.0000240000\t0.0002970000\t0.0325970000\t26335900\t96830484\t1768677376\t3.9982314110\t3.9730978012\t3.9697573185\n19\t1311867171.0623519421\t0.0607667975\t0.0609732568\t0.0628964603\t0.0091367860\t0.1122540000\t0.0089710000\t0.0451080000\t0.0003280000\t0.0002690000\t0.0392570000\t26338150\t96830484\t1770283008\t3.9972741604\t3.9699807167\t3.9667031765\n20\t1311867171.0942349434\t0.0605248772\t0.0609508378\t0.0628964603\t0.0090692939\t0.1171090000\t0.0106460000\t0.0511780000\t0.0000260000\t0.0003390000\t0.0335380000\t26340304\t96830484\t1768648704\t3.9972934723\t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}, { "path": "icra2018_results/tegra/violons_liblsdslam-cpp_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 06:00:58\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liblsdslam-cpp_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.0413500000\t86921331\t0\t921436160\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0091206590\t0.0045603295\t0.0091206590\t0.0109384144\t0.1597670000\t98808100\t0\t1048420352\t0.0022240358\t0.0018558704\t0.0004305617\n3\t0.0800000000\t0.0102847572\t0.0064684721\t0.0102847572\t0.0112365875\t0.1115730000\t102078690\t0\t1052258304\t0.0058347303\t-0.0071401927\t0.0008932189\n4\t0.1200000000\t0.0048796036\t0.0060712550\t0.0102847572\t0.0110993170\t0.0913850000\t102080272\t0\t1053020160\t0.0048465184\t-0.0071327714\t0.0010495052\n5\t0.1600000000\t0.0032268881\t0.0055023816\t0.0102847572\t0.0104725662\t0.0837010000\t102081862\t0\t1053528064\t0.0006014031\t-0.0013356443\t0.0005571538\n6\t0.2000000000\t0.0094214482\t0.0061555594\t0.0102847572\t0.0095840825\t0.0784090000\t102083772\t0\t1054035968\t0.0015696948\t-0.0006562072\t0.0007669924\n7\t0.2400000000\t0.0100692660\t0.0067146603\t0.0102847572\t0.0088211801\t0.0731650000\t102085026\t0\t1054543872\t0.0016552011\t-0.0002872772\t0.0006694405\n8\t0.2800000000\t0.0069246208\t0.0067409054\t0.0102847572\t0.0083959484\t0.0782280000\t102086280\t0\t1055051776\t0.0008991957\t-0.0005901603\t0.0006825746\n9\t0.3200000000\t0.0075088795\t0.0068262358\t0.0102847572\t0.0078950167\t0.0717350000\t102088206\t0\t1055686656\t0.0011365548\t-0.0000287040\t0.0006530352\n10\t0.3600000000\t0.0088686766\t0.0070304799\t0.0102847572\t0.0074842781\t0.0696410000\t102090772\t0\t1056194560\t0.0016014694\t-0.0001619773\t0.0008678896\n11\t0.4000000000\t0.0085444609\t0.0071681145\t0.0102847572\t0.0071151039\t0.1020640000\t102092026\t0\t1056702464\t0.0020919847\t-0.0009807276\t0.0009022617\n12\t0.4400000000\t0.0071545225\t0.0071669819\t0.0102847572\t0.0068356975\t0.0880000000\t102093280\t0\t1057210368\t0.0021309198\t-0.0019654986\t0.0003347530\n13\t0.4800000000\t0.0069957580\t0.0071538108\t0.0102847572\t0.0067184358\t0.0777680000\t102094534\t0\t1057718272\t0.0014660374\t-0.0006853301\t0.0005426986\n14\t0.5200000000\t0.0063389656\t0.0070956076\t0.0102847572\t0.0065557992\t0.0868360000\t102095788\t0\t1058353152\t0.0013995696\t-0.0004661931\t0.0004210388\n15\t0.5600000000\t0.0058485926\t0.0070124732\t0.0102847572\t0.0063318189\t0.0850780000\t102097042\t0\t1058861056\t0.0014996264\t-0.0004072366\t0.0003044875\n16\t0.6000000000\t0.0063145752\t0.0069688546\t0.0102847572\t0.0061229689\t0.0786670000\t102098296\t0\t1059368960\t0.0016341689\t-0.0000938898\t0.0002611615\n17\t0.6400000000\t0.0049452637\t0.0068498199\t0.0102847572\t0.0059460641\t0.0786550000\t102100894\t0\t1059876864\t0.0013245471\t-0.0008777804\t0.0000737607\n18\t0.6800000000\t0.0040671085\t0.0066952248\t0.0102847572\t0.0058254318\t0.0707210000\t102104772\t0\t1060384768\t0.0008719845\t-0.0015044574\t0.0000086878\n19\t0.7200000000\t0.0063963928\t0.0066794968\t0.0102847572\t0.0061291771\t0.0833340000\t102106026\t0\t1061019648\t-0.0005786899\t-0.0061492985\t0.0008356494\n20\t0.7600000000\t0.0099695576\t0.0068439998\t0.0102847572\t0.0060827238\t0.0848940000\t102107280\t0\t1061527552\t-0.0028933380\t-0.0083671743\t0.0013817921\n21\t0.8000000000\t0.0113686090\t0.0070594574\t0.0113686090\t0.0059900405\t0.0825700000\t102108534\t0\t1062035456\t-0.0043779965\t-0.0094175879\t0.0016015979\n22\t0.8400000000\t0.0078993458\t0.0070976342\t0.0113686090\t0.0059876013\t0.0847330000\t102109788\t0\t1062543360\t-0.0020900597\t-0.0072775413\t0.0010477796\n23\t0.8800000000\t0.0049570105\t0.0070045636\t0.0113686090\t0.0060791546\t0.0954520000\t102111042\t0\t1063051264\t0.0000925793\t-0.0036683546\t0.0004564076\n24\t0.9200000000\t0.0056984001\t0.0069501401\t0.0113686090\t0.0060324397\t0.0799350000\t102112296\t0\t1063686144\t0.0011216660\t-0.0007411655\t0.0001158502\n25\t0.9600000000\t0.0068463641\t0.0069459890\t0.0113686090\t0.0059188367\t0.0850190000\t102113550\t0\t1064194048\t0.0009186671\t-0.0007672459\t0.0003470096\n26\t1.0000000000\t0.0070991009\t0.0069518780\t0.0113686090\t0.0058034221\t0.0748260000\t102114804\t0\t1064701952\t0.0003017280\t-0.0010629836\t0.0002630062\n27\t1.0400000000\t0.0065181693\t0.0069358147\t0.0113686090\t0.0057000782\t0.0749360000\t102116058\t0\t1065209856\t0.0005860382\t-0.0014976242\t0.0002165283\n28\t1.0800000000\t0.0078901220\t0.0069698971\t0.0113686090\t0.0056008012\t0.1023360000\t102117312\t0\t1065717760\t0.0017145929\t-0.0013833080\t0.0006172636\n29\t1.1200000000\t0.0087825013\t0.0070324007\t0.0113686090\t0.0056500381\t0.0950930000\t102118566\t0\t1066352640\t0.0013545447\t-0.0022468038\t0.0009896355\n30\t1.1600000000\t0.0084846457\t0.0070808088\t0.0113686090\t0.0058282852\t0.0726030000\t102119820\t0\t1066860544\t0.0006885737\t-0.0074584051\t0.0017386023\n31\t1.2000000000\t0.0122599471\t0.0072478778\t0.0122599471\t0.0059252419\t0.0764200000\t102121074\t0\t1067368448\t-0.0005240567\t-0.0093893809\t0.0024692249\n32\t1.2400000000\t0.01514403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}, { "path": "icra2018_results/tegra/violons_liblsdslam-cpp_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 06:03:00\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liblsdslam-cpp_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.0506070000\t86795971\t0\t976482304\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0033705044\t0.0016852522\t0.0033705044\t0.0054106945\t0.2689160000\t98518756\t0\t1095843840\t0.0022963362\t0.0028668733\t0.0001717152\n3\t0.0800000000\t0.0075102816\t0.0036269287\t0.0075102816\t0.0054655237\t0.1566880000\t101789346\t0\t1099653120\t0.0039740796\t0.0039736638\t0.0003096815\n4\t0.1200000000\t0.0019486375\t0.0032073559\t0.0075102816\t0.0061830273\t0.1243500000\t101790928\t0\t1100414976\t0.0003381678\t0.0002916229\t-0.0001045707\n5\t0.1600000000\t0.0012014543\t0.0028061756\t0.0075102816\t0.0054261034\t0.1518760000\t101792518\t0\t1100922880\t0.0002680846\t-0.0001553374\t0.0000558771\n6\t0.2000000000\t0.0019333151\t0.0026606988\t0.0075102816\t0.0050250951\t0.1079960000\t101794428\t0\t1101557760\t-0.0000145821\t-0.0004096011\t-0.0002697191\n7\t0.2400000000\t0.0019818847\t0.0025637254\t0.0075102816\t0.0051560429\t0.2162140000\t101795682\t0\t1102065664\t-0.0006491534\t-0.0042378344\t-0.0002625633\n8\t0.2800000000\t0.0004956174\t0.0023052119\t0.0075102816\t0.0049487851\t0.1151190000\t101796936\t0\t1102573568\t-0.0002630980\t-0.0013435701\t-0.0000252999\n9\t0.3200000000\t0.0008880292\t0.0021477471\t0.0075102816\t0.0046562758\t0.1271550000\t101798862\t0\t1103081472\t0.0000160443\t-0.0002884316\t-0.0001227701\n10\t0.3600000000\t0.0012787767\t0.0020608501\t0.0075102816\t0.0044065811\t0.1235510000\t101801428\t0\t1103589376\t-0.0000999364\t-0.0006757299\t-0.0001430929\n11\t0.4000000000\t0.0008700256\t0.0019525933\t0.0075102816\t0.0041895496\t0.1124520000\t101802682\t0\t1104224256\t-0.0000014565\t-0.0004570811\t-0.0000629745\n12\t0.4400000000\t0.0002331002\t0.0018093022\t0.0075102816\t0.0040102592\t0.1261940000\t101803936\t0\t1104732160\t0.0000162739\t-0.0002809684\t0.0000549899\n13\t0.4800000000\t0.0003654936\t0.0016982400\t0.0075102816\t0.0038547841\t0.1067440000\t101805190\t0\t1105240064\t0.0001998892\t-0.0001442756\t0.0002456309\n14\t0.5200000000\t0.0001327949\t0.0015864225\t0.0075102816\t0.0037514241\t0.1074570000\t101806444\t0\t1105747968\t0.0001556035\t0.0001755415\t0.0002702832\n15\t0.5600000000\t0.0004023565\t0.0015074848\t0.0075102816\t0.0036971673\t0.1160710000\t101807698\t0\t1106255872\t0.0003862177\t-0.0000352905\t0.0003557773\n16\t0.6000000000\t0.0047872891\t0.0017124725\t0.0075102816\t0.0040172387\t0.1845090000\t101808952\t0\t1106890752\t0.0031236913\t0.0040287138\t0.0006492213\n17\t0.6400000000\t0.0047073881\t0.0018886441\t0.0075102816\t0.0038916914\t0.1417220000\t101811550\t0\t1107398656\t0.0028081017\t0.0039285207\t0.0006309351\n18\t0.6800000000\t0.0068192757\t0.0021625680\t0.0075102816\t0.0038173695\t0.1435480000\t101815428\t0\t1107906560\t0.0043711346\t0.0047033643\t0.0006183098\n19\t0.7200000000\t0.0065569337\t0.0023938504\t0.0075102816\t0.0037793953\t0.1645760000\t101816682\t0\t1108414464\t0.0042978823\t0.0044428748\t0.0005996169\n20\t0.7600000000\t0.0009596035\t0.0023221381\t0.0075102816\t0.0043248293\t0.1251130000\t101817936\t0\t1109049344\t0.0003886615\t-0.0000759575\t0.0002800639\n21\t0.8000000000\t0.0010050923\t0.0022594216\t0.0075102816\t0.0043186045\t0.1085620000\t101819190\t0\t1109557248\t0.0000360385\t-0.0001035897\t0.0002880407\n22\t0.8400000000\t0.0012565067\t0.0022138346\t0.0075102816\t0.0042550251\t0.1136160000\t101820444\t0\t1110065152\t0.0005358672\t0.0002350141\t0.0003399083\n23\t0.8800000000\t0.0013974643\t0.0021783402\t0.0075102816\t0.0041841664\t0.1128850000\t101821698\t0\t1110573056\t0.0004167517\t0.0001469732\t0.0002423339\n24\t0.9200000000\t0.0009360880\t0.0021265797\t0.0075102816\t0.0040960658\t0.1229670000\t101822952\t0\t1111080960\t0.0001515582\t-0.0000836589\t0.0001878129\n25\t0.9600000000\t0.0008417661\t0.0020751872\t0.0075102816\t0.0040107704\t0.1310930000\t101824206\t0\t1111715840\t-0.0000231448\t-0.0002493341\t0.0001459979\n26\t1.0000000000\t0.0005063048\t0.0020148455\t0.0075102816\t0.0039329682\t0.1280990000\t101825460\t0\t1112223744\t-0.0000088439\t-0.0003446910\t0.0000855407\n27\t1.0400000000\t0.0006890377\t0.0019657415\t0.0075102816\t0.0038604654\t0.1267540000\t101826714\t0\t1112731648\t-0.0000671922\t-0.0003712362\t0.0000995821\n28\t1.0800000000\t0.0008630786\t0.0019263607\t0.0075102816\t0.0038020379\t0.1224790000\t101827968\t0\t1113239552\t-0.0000567125\t-0.0003129480\t0.0001359894\n29\t1.1200000000\t0.0009593936\t0.0018930170\t0.0075102816\t0.0037374816\t0.1381700000\t101829222\t0\t1113874432\t-0.0002111903\t-0.0003649209\t0.0001607218\n30\t1.1600000000\t0.0008856904\t0.0018594395\t0.0075102816\t0.0036837864\t0.1282300000\t101830476\t0\t1114390528\t-0.0000815274\t-0.0002421695\t0.0001164390\n31\t1.2000000000\t0.0009706324\t0.0018307683\t0.0075102816\t0.0036369744\t0.1328230000\t101831730\t0\t1114898432\t-0.0001835214\t-0.0000525425\t0.0000609605\n32\t1.2400000000\t0.001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24\t456.8115844727\t17.1291616780\t0.0262730000\t760766564\t0\t1785483264\t0.3454783261\t0.0826514810\t0.1186627224\n955\t38.1600000000\t0.5132541060\t63.2393274714\t456.8115844727\t17.1201817764\t0.0415990000\t760767838\t0\t1785991168\t0.3454783261\t0.0826514810\t0.1186627224\n956\t38.2000000000\t0.5131739378\t63.1737143401\t456.8115844727\t17.1112159830\t0.0402870000\t760769112\t0\t1786245120\t0.3454783261\t0.0826514810\t0.1186627224\n957\t38.2400000000\t0.5132601261\t63.1082384214\t456.8115844727\t17.1022642610\t0.0305840000\t760770386\t0\t1786609664\t0.3454783261\t0.0826514810\t0.1186627224\n958\t38.2800000000\t0.5131266713\t63.0428990563\t456.8115844727\t17.0933265735\t0.0441750000\t760771660\t0\t1787117568\t0.3454783261\t0.0826514810\t0.1186627224\n959\t38.3200000000\t0.5131102800\t62.9776959398\t456.8115844727\t17.0844028840\t0.0344260000\t760772934\t0\t1787625472\t0.3454783261\t0.0826514810\t0.1186627224\n960\t38.3600000000\t0.5129584074\t62.9126285048\t456.8115844727\t17.0754931557\t0.0344990000\t760774208\t0\t1786273792\t0.3454783261\t0.0826514810\t0.1186627224\n961\t38.4000000000\t0.5128642917\t62.8476963881\t456.8115844727\t17.0665973526\t0.0423440000\t760775482\t0\t1786273792\t0.3454783261\t0.0826514810\t0.1186627224\n962\t38.4400000000\t0.5128030777\t62.7828992017\t456.8115844727\t17.0577154384\t0.0357150000\t760776756\t0\t1786003456\t0.3454783261\t0.0826514810\t0.1186627224\n963\t38.4800000000\t0.5127490759\t62.7182365328\t456.8115844727\t17.0488473769\t0.0354470000\t760778030\t0\t1786003456\t0.3454783261\t0.0826514810\t0.1186627224\n964\t38.5200000000\t0.5125738382\t62.6537078371\t456.8115844727\t17.0399931321\t0.0424110000\t760779304\t0\t1785393152\t0.3454783261\t0.0826514810\t0.1186627224\n965\t38.5600000000\t0.5124172568\t62.5893127173\t456.8115844727\t17.0311526684\t0.0332650000\t760780578\t0\t1785380864\t0.3454783261\t0.0826514810\t0.1186627224\n966\t38.6000000000\t0.5123637319\t62.5250508653\t456.8115844727\t17.0223259498\t0.0332820000\t760781852\t0\t1785737216\t0.3454783261\t0.0826514810\t0.1186627224\n967\t38.6400000000\t0.5122821331\t62.4609218387\t456.8115844727\t17.0135129407\t0.0379940000\t760783126\t0\t1784999936\t0.3454783261\t0.0826514810\t0.1186627224\n" }, { "path": "icra2018_results/tegra/violons_liblsdslam-cpp_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 06:03:55\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liblsdslam-cpp_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.0359950000\t86789171\t0\t1093373952\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0010192674\t0.0005096337\t0.0010192674\t0.0016461832\t0.1005890000\t98511972\t0\t1103286272\t-0.0006004850\t-0.0001168514\t0.0001065529\n3\t0.0800000000\t0.0050369492\t0.0020187388\t0.0050369492\t0.0023323772\t0.1028270000\t101782562\t0\t1107095552\t-0.0005712212\t-0.0001159408\t-0.0002626191\n4\t0.1200000000\t0.0030104611\t0.0022666694\t0.0050369492\t0.0021966427\t0.1010610000\t101784144\t0\t1107857408\t-0.0008395689\t-0.0004368157\t-0.0003820120\n5\t0.1600000000\t0.0058183502\t0.0029770056\t0.0058183502\t0.0019631229\t0.0952180000\t101785734\t0\t1108365312\t-0.0009796099\t-0.0000026681\t-0.0002612149\n6\t0.2000000000\t0.0051384396\t0.0033372446\t0.0058183502\t0.0018813674\t0.0966620000\t101787644\t0\t1108873216\t-0.0005846015\t-0.0000756629\t-0.0006002688\n7\t0.2400000000\t0.0052057360\t0.0036041719\t0.0058183502\t0.0017249274\t0.0953290000\t101788898\t0\t1109381120\t-0.0005683512\t0.0000713196\t-0.0004218031\n8\t0.2800000000\t0.0065800366\t0.0039761550\t0.0065800366\t0.0016589873\t0.0943560000\t101790152\t0\t1109889024\t-0.0006064161\t0.0001757641\t-0.0005147499\n9\t0.3200000000\t0.0080526276\t0.0044290964\t0.0080526276\t0.0016338017\t0.1069040000\t101792078\t0\t1110523904\t-0.0010380618\t0.0000522985\t-0.0005211149\n10\t0.3600000000\t0.0081044836\t0.0047966351\t0.0081044836\t0.0016452099\t0.1078890000\t101794644\t0\t1111031808\t-0.0013087967\t0.0000751047\t-0.0004509388\n11\t0.4000000000\t0.0093985079\t0.0052149872\t0.0093985079\t0.0018086935\t0.0938630000\t101795898\t0\t1111539712\t-0.0008956442\t0.0000751497\t-0.0001809046\n12\t0.4400000000\t0.0094707115\t0.0055696309\t0.0094707115\t0.0021760242\t0.1019540000\t101797152\t0\t1112047616\t-0.0007592409\t-0.0000004653\t-0.0004498172\n13\t0.4800000000\t0.0110083176\t0.0059879914\t0.0110083176\t0.0022165767\t0.0938020000\t101798406\t0\t1112555520\t-0.0016797759\t-0.0000336222\t-0.0001003948\n14\t0.5200000000\t0.0109668421\t0.0063436236\t0.0110083176\t0.0021936693\t0.1372300000\t101799660\t0\t1113063424\t-0.0019601998\t-0.0010239633\t-0.0000114675\n15\t0.5600000000\t0.0139693972\t0.0068520085\t0.0139693972\t0.0021532663\t0.0989020000\t101800914\t0\t1113571328\t-0.0020311738\t0.0001297701\t-0.0003221621\n16\t0.6000000000\t0.0133044329\t0.0072552850\t0.0139693972\t0.0022222525\t0.0961540000\t101802168\t0\t1114079232\t-0.0015770770\t-0.0000095433\t-0.0005183020\n17\t0.6400000000\t0.0138059678\t0.0076406193\t0.0139693972\t0.0022506147\t0.0952720000\t101804766\t0\t1114587136\t-0.0031563127\t-0.0012518218\t-0.0008958530\n18\t0.6800000000\t0.0174066201\t0.0081831749\t0.0174066201\t0.0023576268\t0.0998800000\t101808644\t0\t1115222016\t-0.0016305163\t-0.0045932359\t-0.0006293858\n19\t0.7200000000\t0.0175940525\t0.0086784842\t0.0175940525\t0.0025287944\t0.0836740000\t101809898\t0\t1115729920\t-0.0023679067\t-0.0004590496\t-0.0013908840\n20\t0.7600000000\t0.0203371495\t0.0092614175\t0.0203371495\t0.0025887978\t0.0854530000\t101811152\t0\t1116237824\t-0.0026742879\t-0.0005095035\t-0.0014838526\n21\t0.8000000000\t0.0241026115\t0.0099681410\t0.0241026115\t0.0025306111\t0.0934130000\t101812406\t0\t1116745728\t-0.0018643828\t-0.0001886232\t-0.0016553181\n22\t0.8400000000\t0.0295360908\t0.0108575933\t0.0295360908\t0.0026147085\t0.0973900000\t101813660\t0\t1117253632\t-0.0021180592\t-0.0002901079\t-0.0015466685\n23\t0.8800000000\t0.0290697664\t0.0116494269\t0.0295360908\t0.0025784997\t0.1002850000\t101814914\t0\t1117761536\t-0.0020464342\t0.0000018626\t-0.0023590252\n24\t0.9200000000\t0.0353328027\t0.0126362342\t0.0353328027\t0.0028168712\t0.1086480000\t101816168\t0\t1118269440\t-0.0040983660\t-0.0000607162\t-0.0031312595\n25\t0.9600000000\t0.0355542935\t0.0135529566\t0.0355542935\t0.0027710757\t0.0868120000\t101817422\t0\t1118904320\t-0.0050165136\t0.0009018445\t-0.0037801615\n26\t1.0000000000\t0.0407121740\t0.0145975419\t0.0407121740\t0.0028418536\t0.1171870000\t101818676\t0\t1119412224\t-0.0061556743\t0.0006631495\t-0.0029550409\n27\t1.0400000000\t0.0460832566\t0.0157636795\t0.0460832566\t0.0030270922\t0.0964130000\t101819930\t0\t1119920128\t-0.0064671142\t0.0004708096\t-0.0043465942\n28\t1.0800000000\t0.0490001515\t0.0169506963\t0.0490001515\t0.0033444868\t0.1027600000\t101821184\t0\t1120428032\t-0.0083510950\t-0.0004519974\t-0.0040306961\n29\t1.1200000000\t0.0525595061\t0.0181785863\t0.0525595061\t0.0036697888\t0.1033210000\t101822438\t0\t1120935936\t-0.0109448284\t-0.0000379827\t-0.0050467951\n30\t1.1600000000\t0.0573767237\t0.0194851909\t0.0573767237\t0.0041520138\t0.1664190000\t101823692\t0\t1121443840\t-0.0156682190\t-0.0000791074\t-0.0038885016\n31\t1.2000000000\t0.0600685775\t0.0207943324\t0.0600685775\t0.0043312046\t0.1415680000\t101824946\t0\t1121951744\t-0.0195193309\t-0.000371879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}, { "path": "icra2018_results/tegra/violons_liblsdslam-cpp_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 06:06:10\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liblsdslam-cpp_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.0471660000\t86899891\t0\t745693184\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0023446572\t0.0011723286\t0.0023446572\t0.0021041625\t0.1492910000\t98786436\t0\t876662784\t-0.0002852791\t0.0014954667\t0.0006866874\n3\t0.0800000000\t0.0075948481\t0.0033131684\t0.0075948481\t0.0080315103\t0.1718690000\t102057026\t0\t880447488\t0.0012554106\t0.0039727781\t0.0004085181\n4\t0.1200000000\t0.0050777206\t0.0037543065\t0.0075948481\t0.0073383569\t0.1100790000\t102058608\t0\t881209344\t0.0008574961\t0.0019417178\t-0.0002163760\n5\t0.1600000000\t0.0045407121\t0.0039115876\t0.0075948481\t0.0093500209\t0.0894590000\t102060198\t0\t881717248\t-0.0011459948\t0.0012547594\t0.0010638405\n6\t0.2000000000\t0.0107402997\t0.0050497063\t0.0107402997\t0.0116118998\t0.1176050000\t102062108\t0\t882352128\t0.0025259408\t0.0054924614\t0.0011174739\n7\t0.2400000000\t0.0156035004\t0.0065573912\t0.0156035004\t0.0114285807\t0.1129570000\t102063362\t0\t882860032\t0.0043355413\t0.0001782499\t0.0011262146\n8\t0.2800000000\t0.0071289954\t0.0066288417\t0.0156035004\t0.0115473482\t0.0974020000\t102064616\t0\t883367936\t0.0014490756\t-0.0065932041\t0.0005209973\n9\t0.3200000000\t0.0013683990\t0.0060443481\t0.0156035004\t0.0118275744\t0.1000200000\t102066542\t0\t883875840\t0.0002015101\t-0.0092197265\t0.0017992224\n10\t0.3600000000\t0.0089556947\t0.0063354827\t0.0156035004\t0.0114770547\t0.0976820000\t102069108\t0\t884383744\t0.0001396918\t-0.0087586213\t0.0011171554\n11\t0.4000000000\t0.0053464146\t0.0062455674\t0.0156035004\t0.0109826523\t0.1082400000\t102070362\t0\t885018624\t-0.0006893562\t-0.0086705703\t0.0000857120\n12\t0.4400000000\t0.0035623375\t0.0060219649\t0.0156035004\t0.0111393019\t0.1439490000\t102071616\t0\t885526528\t-0.0016122588\t-0.0067996518\t0.0014331206\n13\t0.4800000000\t0.0025169421\t0.0057523478\t0.0156035004\t0.0107423511\t0.1198390000\t102072870\t0\t886034432\t-0.0022669565\t-0.0039478885\t0.0013786645\n14\t0.5200000000\t0.0071462160\t0.0058519098\t0.0156035004\t0.0105546336\t0.0957480000\t102074124\t0\t886542336\t-0.0003283287\t-0.0067178952\t0.0002357676\n15\t0.5600000000\t0.0086052809\t0.0060354679\t0.0156035004\t0.0102425509\t0.1136310000\t102075378\t0\t887050240\t0.0008428729\t-0.0043073911\t0.0002245001\n16\t0.6000000000\t0.0078931181\t0.0061515710\t0.0156035004\t0.0099692784\t0.1046670000\t102076632\t0\t887685120\t-0.0002286811\t-0.0063595036\t0.0007458482\n17\t0.6400000000\t0.0104427896\t0.0064039957\t0.0156035004\t0.0097240717\t0.0973340000\t102079230\t0\t888193024\t-0.0003984412\t-0.0064314059\t0.0002412419\n18\t0.6800000000\t0.0102575570\t0.0066180824\t0.0156035004\t0.0095047228\t0.1031950000\t102083108\t0\t888700928\t0.0013745028\t-0.0042889379\t-0.0005667781\n19\t0.7200000000\t0.0084796138\t0.0067160577\t0.0156035004\t0.0093650972\t0.1111230000\t102084362\t0\t889208832\t0.0024868674\t-0.0017562904\t-0.0007484712\n20\t0.7600000000\t0.0097669782\t0.0068686038\t0.0156035004\t0.0092607720\t0.1060160000\t102085616\t0\t889716736\t0.0033084331\t-0.0019663922\t-0.0018465341\n21\t0.8000000000\t0.0085105440\t0.0069467914\t0.0156035004\t0.0093451422\t0.1132660000\t102086870\t0\t890351616\t0.0017510556\t-0.0037142611\t-0.0016079081\n22\t0.8400000000\t0.0092581846\t0.0070518547\t0.0156035004\t0.0092126191\t0.1242140000\t102088124\t0\t890859520\t0.0000844505\t-0.0042872545\t-0.0014144285\n23\t0.8800000000\t0.0116193090\t0.0072504397\t0.0156035004\t0.0093562632\t0.0964020000\t102089378\t0\t891367424\t0.0053926622\t-0.0032270055\t-0.0027791692\n24\t0.9200000000\t0.0136235114\t0.0075159843\t0.0156035004\t0.0094693208\t0.1139690000\t102090632\t0\t891875328\t0.0018477757\t-0.0079759425\t-0.0018416485\n25\t0.9600000000\t0.0146757755\t0.0078023760\t0.0156035004\t0.0094880274\t0.0989270000\t102091886\t0\t892383232\t0.0040571289\t-0.0045228451\t-0.0041952366\n26\t1.0000000000\t0.0146169951\t0.0080644767\t0.0156035004\t0.0093275197\t0.0889420000\t102093140\t0\t893018112\t0.0047017583\t-0.0035957003\t-0.0043082871\n27\t1.0400000000\t0.0178340580\t0.0084263131\t0.0178340580\t0.0091697983\t0.1145340000\t102094394\t0\t893526016\t0.0056708986\t-0.0046414016\t-0.0050874124\n28\t1.0800000000\t0.0181716345\t0.0087743603\t0.0181716345\t0.0090257882\t0.1049100000\t102095648\t0\t894033920\t0.0070423516\t-0.0059747412\t-0.0056901257\n29\t1.1200000000\t0.0205717310\t0.0091811661\t0.0205717310\t0.0088939043\t0.0926240000\t102096902\t0\t894541824\t0.0075405282\t-0.0058453805\t-0.0058094794\n30\t1.1600000000\t0.0187446196\t0.0094999479\t0.0205717310\t0.0087671463\t0.1014150000\t102098156\t0\t895176704\t0.0101546627\t-0.0085139405\t-0.0055602384\n31\t1.2000000000\t0.0220228080\t0.0099039112\t0.0220228080\t0.0086429310\t0.1017210000\t102099410\t0\t895684608\t0.0098212417\t-0.0058730347\t-0.0063363886\n32\t1.2400000000\t0.0214952044\t0.0102661391\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}, { "path": "icra2018_results/tegra/violons_liblsdslam-cpp_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 06:09:22\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liblsdslam-cpp_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287480354\t0.0606188439\t0.0606188439\t0.0606188439\tnan\t0.0459180000\t87244243\t0\t443711488\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1305031229.5644249916\t0.0582198836\t0.0594193637\t0.0606188439\t0.1449896693\t0.1766930000\t99459356\t0\t576020480\t0.0075847739\t-0.0009307559\t0.0055031846\n3\t1305031229.5966000557\t0.0850225389\t0.0679537555\t0.0850225389\t0.1660447018\t0.2008610000\t102730458\t0\t579817472\t-0.0065036328\t-0.0385077633\t0.0017556350\n4\t1305031229.6287529469\t0.0755757987\t0.0698592663\t0.0850225389\t0.1359203707\t0.1671440000\t102732520\t0\t580452352\t0.0003893150\t-0.0246820245\t0.0047542513\n5\t1305031229.6646571159\t0.1048541293\t0.0768582389\t0.1048541293\t0.1216100049\t0.1727690000\t102734686\t0\t580960256\t0.0034678692\t-0.0613471866\t0.0029658086\n6\t1305031229.6968269348\t0.1058274657\t0.0816864433\t0.1058274657\t0.1087786396\t0.1548810000\t102737108\t0\t581595136\t0.0068523260\t-0.0620819591\t0.0051611504\n7\t1305031229.7290639877\t0.0956967846\t0.0836879207\t0.1058274657\t0.0996455404\t0.1522250000\t102738842\t0\t582103040\t0.0126664378\t-0.0502570271\t0.0102340644\n8\t1305031229.7648479939\t0.1127030104\t0.0873148069\t0.1127030104\t0.0929062719\t0.2022860000\t115080236\t0\t594927616\t0.0066439202\t-0.0663514808\t0.0056229839\n9\t1305031229.7969090939\t0.1001381129\t0.0887396187\t0.1127030104\t0.0869549340\t0.1839250000\t118740722\t0\t599252992\t0.0062874602\t-0.0513773523\t0.0092008868\n10\t1305031229.8256130219\t0.0939616039\t0.0892618172\t0.1127030104\t0.0824297417\t0.1459190000\t121935832\t0\t602935296\t0.0105969273\t-0.0410361178\t0.0098013990\n11\t1305031229.8630549908\t0.1040657982\t0.0906076336\t0.1127030104\t0.0787764460\t0.1221680000\t121937726\t0\t603570176\t0.0063505233\t-0.0532467961\t0.0092139263\n12\t1305031229.8969290257\t0.0972355753\t0.0911599621\t0.1127030104\t0.0752434286\t0.1810720000\t121939492\t0\t604078080\t0.0089381142\t-0.0427655429\t0.0108096777\n13\t1305031229.9262480736\t0.0949130654\t0.0914486624\t0.1127030104\t0.0723565276\t0.1238850000\t121941226\t0\t604585984\t0.0087361364\t-0.0373091064\t0.0107552195\n14\t1305031229.9661600590\t0.1028540879\t0.0922633356\t0.1127030104\t0.0698585080\t0.1184550000\t121943120\t0\t605220864\t0.0088830823\t-0.0455219671\t0.0097054103\n15\t1305031229.9979169369\t0.1038322523\t0.0930345967\t0.1127030104\t0.0676012712\t0.3016880000\t140776010\t0\t621219840\t0.0085426522\t-0.0492417365\t0.0132510066\n16\t1305031230.0299909115\t0.1088541523\t0.0940233190\t0.1127030104\t0.0654079187\t0.2022210000\t144435624\t0\t625410048\t0.0023167264\t-0.0571449809\t0.0139710624\n17\t1305031230.0656869411\t0.1077007204\t0.0948278720\t0.1127030104\t0.0633761219\t0.1569240000\t147630894\t0\t629092352\t-0.0002145964\t-0.0551155247\t0.0139374649\n18\t1305031230.0982420444\t0.1115516424\t0.0957569703\t0.1127030104\t0.0616285631\t0.1534040000\t147635284\t0\t629727232\t-0.0000854294\t-0.0585942380\t0.0129970694\n19\t1305031230.1299190521\t0.1108925864\t0.0965535817\t0.1127030104\t0.0599761881\t0.1577450000\t147637050\t0\t630235136\t-0.0001810999\t-0.0577651374\t0.0144796614\n20\t1305031230.1657710075\t0.1111962199\t0.0972857136\t0.1127030104\t0.0583883538\t0.1402390000\t147638880\t0\t630870016\t-0.0012313195\t-0.0592076182\t0.0172504205\n21\t1305031230.1977720261\t0.1104284525\t0.0979115583\t0.1127030104\t0.0570737690\t0.1444770000\t147640646\t0\t631377920\t-0.0027280659\t-0.0582633354\t0.0177159104\n22\t1305031230.2298300266\t0.1134077087\t0.0986159288\t0.1134077087\t0.0559366336\t0.2402520000\t159943472\t0\t644194304\t-0.0026526034\t-0.0627318174\t0.0207365546\n23\t1305031230.2655799389\t0.1130353138\t0.0992428586\t0.1134077087\t0.0546589931\t0.0724700000\t163603558\t0\t648257536\t0.0022964559\t-0.0611039512\t0.0246488024\n24\t1305031230.2979819775\t0.1103662103\t0.0997063316\t0.1134077087\t0.0535824144\t0.2012080000\t166797420\t0\t652066816\t0.0033781927\t-0.0564559251\t0.0267272424\n25\t1305031230.3256850243\t0.1063938290\t0.0999738315\t0.1134077087\t0.0525871873\t0.1781880000\t166799122\t0\t652701696\t0.0001570042\t-0.0534735136\t0.0291596074\n26\t1305031230.3656499386\t0.1126961485\t0.1004631514\t0.1134077087\t0.0516297335\t0.1802650000\t166801016\t0\t653209600\t0.0016810417\t-0.0582444817\t0.0290983934\n27\t1305031230.3972649574\t0.1122406349\t0.1008993545\t0.1134077087\t0.0507523007\t0.1635070000\t166802814\t0\t653971456\t0.0009853444\t-0.0579219759\t0.0320193693\n28\t1305031230.4256699085\t0.1119963154\t0.1012956745\t0.1134077087\t0.0499183529\t0.1628390000\t166804484\t0\t654487552\t0.0013629787\t-0.0568037443\t0.0347360186\n29\t1305031230.4652199745\t0.1207584962\t0.1019668063\t0.1207584962\t0.0491619165\t0.1885580000\t179103338\t0\t667312128\t0.0083308574\t-0.0664841533\t0.0484716669\n30\t1305031230.4972279072\t0.1293676049\t0.1028801662\t0.1293676049\t0.0487656399\t0.1833180000\t182762984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}, { "path": "icra2018_results/tegra/violons_liblsdslam-cpp_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 06:09:52\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liblsdslam-cpp_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253988300\t0.0253988300\t0.0253988300\tnan\t0.0432760000\t87265011\t0\t923815936\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1305031102.2112140656\t0.0280409548\t0.0267198924\t0.0280409548\t0.0123609044\t0.2895260000\t99480040\t0\t935124992\t-0.0006099615\t0.0053528892\t0.0072600655\n3\t1305031102.2432110310\t0.0359880105\t0.0298092651\t0.0359880105\t0.0133845120\t0.2466490000\t102751142\t0\t939061248\t0.0004206164\t0.0173057783\t0.0178165194\n4\t1305031102.2753260136\t0.0412140600\t0.0326604638\t0.0412140600\t0.0132691698\t0.2172740000\t102753236\t0\t939696128\t0.0000183965\t0.0268396381\t0.0280537456\n5\t1305031102.3112668991\t0.0443367288\t0.0349957168\t0.0443367288\t0.0118007662\t0.2227200000\t102755402\t0\t940204032\t0.0009339002\t0.0341212861\t0.0394116901\n6\t1305031102.3432331085\t0.0495219305\t0.0374167524\t0.0495219305\t0.0105784811\t0.2341970000\t102757824\t0\t940711936\t0.0022950524\t0.0422406010\t0.0488620810\n7\t1305031102.3753290176\t0.0541357584\t0.0398051819\t0.0541357584\t0.0105536279\t0.2370800000\t102759558\t0\t941219840\t0.0059042498\t0.0497328453\t0.0601434559\n8\t1305031102.4112579823\t0.0587387830\t0.0421718820\t0.0587387830\t0.0129466068\t0.2963290000\t115105264\t0\t954044416\t0.0049435357\t0.0585378297\t0.0682741329\n9\t1305031102.4432709217\t0.0705640092\t0.0453265628\t0.0705640092\t0.0146364270\t0.2462780000\t118765750\t0\t958234624\t0.0050407043\t0.0739800259\t0.0760361850\n10\t1305031102.4753179550\t0.0762758404\t0.0484214906\t0.0762758404\t0.0141625327\t0.1463690000\t121960892\t0\t961916928\t0.0062921657\t0.0837072954\t0.0880063474\n11\t1305031102.5112190247\t0.0837449655\t0.0516327156\t0.0837449655\t0.0141769256\t0.1426240000\t121962722\t0\t962551808\t0.0087088859\t0.0947596729\t0.0997449011\n12\t1305031102.5432200432\t0.0844418555\t0.0543668106\t0.0844418555\t0.0137624912\t0.1613690000\t121964520\t0\t963059712\t0.0083554359\t0.0988506675\t0.1107230857\n13\t1305031102.5752859116\t0.0856451467\t0.0567728364\t0.0856451467\t0.0131918578\t0.1911340000\t121966254\t0\t963694592\t0.0096977651\t0.1027918980\t0.1229809597\n14\t1305031102.6112329960\t0.0854976401\t0.0588246081\t0.0856451467\t0.0131287382\t0.1881890000\t121968084\t0\t964202496\t0.0153419254\t0.1040718704\t0.1368853301\n15\t1305031102.6432650089\t0.0851280242\t0.0605781692\t0.0856451467\t0.0131382369\t0.4925010000\t140805226\t0\t981979136\t0.0109507181\t0.1076509058\t0.1414096951\n16\t1305031102.6752851009\t0.0913586617\t0.0625019500\t0.0913586617\t0.0131252396\t0.2202400000\t144464840\t0\t986169344\t0.0122755188\t0.1182418317\t0.1526604146\n17\t1305031102.7112629414\t0.0926472619\t0.0642752036\t0.0926472619\t0.0127598182\t0.1314910000\t147660110\t0\t989978624\t0.0136291366\t0.1237345114\t0.1651421487\n18\t1305031102.7432339191\t0.1016466394\t0.0663513945\t0.1016466394\t0.0133851975\t0.1344850000\t147664532\t0\t990613504\t0.0136293545\t0.1379199475\t0.1747663170\n19\t1305031102.7754719257\t0.1050806418\t0.0683897759\t0.1050806418\t0.0135722825\t0.1335440000\t147666266\t0\t991121408\t0.0129614212\t0.1464011371\t0.1866202056\n20\t1305031102.8112320900\t0.1074474677\t0.0703426605\t0.1074474677\t0.0139546207\t0.1322360000\t147668096\t0\t991629312\t0.0110666584\t0.1551139802\t0.1970042735\n21\t1305031102.8432900906\t0.1082745790\t0.0721489423\t0.1082745790\t0.0137519569\t0.1380250000\t147669894\t0\t992391168\t0.0115381507\t0.1605361849\t0.2093610615\n22\t1305031102.8753631115\t0.1056974083\t0.0736738726\t0.1082745790\t0.0136849399\t0.4526810000\t159980408\t0\t1005342720\t0.0103813717\t0.1624312848\t0.2200519443\n23\t1305031102.9111850262\t0.1140114069\t0.0754276785\t0.1140114069\t0.0142030643\t0.2424730000\t163640494\t0\t1009278976\t0.0090856245\t0.1773365438\t0.2322068959\n24\t1305031102.9432289600\t0.1081655100\t0.0767917548\t0.1140114069\t0.0140097413\t0.1632660000\t166834388\t0\t1012961280\t0.0072690644\t0.1757756621\t0.2430645376\n25\t1305031102.9752030373\t0.1049468443\t0.0779179583\t0.1140114069\t0.0137430807\t0.1711030000\t166836090\t0\t1013596160\t0.0047128615\t0.1773274392\t0.2526886463\n26\t1305031103.0112149715\t0.1073129848\t0.0790485363\t0.1140114069\t0.0135729819\t0.1664330000\t166837952\t0\t1014104064\t0.0050748205\t0.1845207661\t0.2631732821\n27\t1305031103.0432269573\t0.1094893143\t0.0801759725\t0.1140114069\t0.0134123994\t0.1583860000\t166839750\t0\t1014992896\t0.0045559113\t0.1918150783\t0.2735345364\n28\t1305031103.0753190517\t0.1128568500\t0.0813431467\t0.1140114069\t0.0133746294\t0.1443960000\t166841484\t0\t1015500800\t0.0039165453\t0.1999519616\t0.2831188440\n29\t1305031103.1112399101\t0.1174356118\t0.0825877145\t0.1174356118\t0.0137198390\t0.1430610000\t166843314\t0\t1016008704\t0.0042740759\t0.2093916237\t0.2906775773\n30\t1305031103.1433179379\t0.1181251183\t0.0837722946\t0.1181251183\t0.0135434338\t0.4241070000\t179151120\t0\t1028833280\t0.0031665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}, { "path": "icra2018_results/tegra/violons_liblsdslam-cpp_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 06:14:03\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liblsdslam-cpp_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6417100430\t0.0019026520\t0.0019026520\t0.0019026520\tnan\t0.0624830000\t94528067\t0\t877420544\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1311867718.6768438816\t0.0025652444\t0.0022339482\t0.0025652444\t0.0019624690\t0.2335310000\t116573264\t0\t1003802624\t0.0009610364\t-0.0003349602\t0.0001371624\n3\t1311867718.7114160061\t0.0043678656\t0.0029452540\t0.0043678656\t0.0029368388\t0.2619050000\t119844366\t0\t1007611904\t0.0000202624\t-0.0024260706\t-0.0004448985\n4\t1311867718.7409899235\t0.0023795010\t0.0028038158\t0.0043678656\t0.0033251583\t0.1465640000\t119846364\t0\t1008517120\t-0.0006771828\t0.0000691075\t0.0006482161\n5\t1311867718.7767970562\t0.0018156213\t0.0026061769\t0.0043678656\t0.0029313804\t0.1524640000\t119848594\t0\t1009008640\t-0.0007969409\t0.0002572367\t0.0012054094\n6\t1311867718.8094038963\t0.0045337696\t0.0029274423\t0.0045337696\t0.0035567057\t0.1768140000\t119850984\t0\t1009516544\t-0.0004509087\t-0.0028540355\t0.0003419270\n7\t1311867718.8408079147\t0.0035068772\t0.0030102187\t0.0045337696\t0.0033358959\t0.1436850000\t119852750\t0\t1010151424\t-0.0004536401\t-0.0009327424\t0.0006168497\n8\t1311867718.8767778873\t0.0044556139\t0.0031908931\t0.0045337696\t0.0032274671\t0.1783350000\t119854580\t0\t1010659328\t-0.0012482518\t-0.0023233241\t0.0008721164\n9\t1311867718.9088499546\t0.0060166540\t0.0035048666\t0.0060166540\t0.0032666061\t0.1822680000\t119856954\t0\t1011167232\t-0.0029006661\t-0.0033974235\t0.0004115086\n10\t1311867718.9438269138\t0.0051292013\t0.0036673000\t0.0060166540\t0.0031476166\t0.1810870000\t119860096\t0\t1011675136\t-0.0035915412\t-0.0020427082\t0.0010834427\n11\t1311867718.9784109592\t0.0032697143\t0.0036311559\t0.0060166540\t0.0030241180\t0.1517720000\t119861958\t0\t1012330496\t-0.0015786496\t-0.0000847512\t0.0023594161\n12\t1311867719.0090429783\t0.0038173213\t0.0036466697\t0.0060166540\t0.0029262482\t0.1638870000\t119863628\t0\t1012817920\t-0.0015499371\t-0.0004925239\t0.0022571257\n13\t1311867719.0441069603\t0.0051419255\t0.0037616893\t0.0060166540\t0.0028131502\t0.2011170000\t119865458\t0\t1013325824\t-0.0031693419\t-0.0025662284\t0.0021456012\n14\t1311867719.0768620968\t0.0055146152\t0.0038868983\t0.0060166540\t0.0027612881\t0.1754490000\t119867256\t0\t1013833728\t-0.0032300637\t-0.0032299121\t0.0025507663\n15\t1311867719.1086890697\t0.0063125612\t0.0040486092\t0.0063125612\t0.0027868417\t0.2205980000\t119869022\t0\t1014489088\t-0.0014643940\t-0.0040101171\t0.0028270686\n16\t1311867719.1436860561\t0.0059815743\t0.0041694195\t0.0063125612\t0.0026951608\t0.1694690000\t119870820\t0\t1014996992\t-0.0021267682\t-0.0036424815\t0.0030031705\n17\t1311867719.1810290813\t0.0057456642\t0.0042621398\t0.0063125612\t0.0026180011\t0.3198440000\t132220950\t0\t1027801088\t-0.0032143076\t-0.0035535609\t0.0034535334\n18\t1311867719.2126939297\t0.0042600026\t0.0042620211\t0.0063125612\t0.0026432237\t0.2221280000\t135883356\t0\t1031737344\t-0.0021714072\t-0.0018143915\t0.0045128576\n19\t1311867719.2412030697\t0.0057258043\t0.0043390623\t0.0063125612\t0.0025987948\t0.1256650000\t139077154\t0\t1035419648\t-0.0029616295\t-0.0041189417\t0.0050517577\n20\t1311867719.2779400349\t0.0055931979\t0.0044017691\t0.0063125612\t0.0029525882\t0.1442490000\t139078952\t0\t1036308480\t-0.0039888723\t-0.0044414434\t0.0055654836\n21\t1311867719.3104751110\t0.0056587579\t0.0044616257\t0.0063125612\t0.0030019058\t0.1602980000\t139080750\t0\t1036816384\t-0.0051875766\t-0.0043362104\t0.0053361477\n22\t1311867719.3412981033\t0.0045584780\t0.0044660280\t0.0063125612\t0.0030114398\t0.1382100000\t139082516\t0\t1037324288\t-0.0044978368\t-0.0031855050\t0.0059039192\n23\t1311867719.3772559166\t0.0040892898\t0.0044496481\t0.0063125612\t0.0029731981\t0.1270730000\t139084314\t0\t1037959168\t-0.0049460852\t-0.0033128711\t0.0069643287\n24\t1311867719.4105629921\t0.0051137102\t0.0044773174\t0.0063125612\t0.0029486016\t0.1442370000\t139086112\t0\t1038467072\t-0.0055641094\t-0.0043405122\t0.0061056777\n25\t1311867719.4427659512\t0.0019465759\t0.0043760877\t0.0063125612\t0.0030080199\t0.1620570000\t139087910\t0\t1038974976\t-0.0055956165\t-0.0010930659\t0.0077638784\n26\t1311867719.4787509441\t0.0008374940\t0.0042399880\t0.0063125612\t0.0030149738\t0.1628920000\t139089708\t0\t1039491072\t-0.0075892834\t-0.0000426638\t0.0086693373\n27\t1311867719.5103800297\t0.0049102241\t0.0042648115\t0.0063125612\t0.0034199798\t0.1397950000\t139091474\t0\t1039998976\t-0.0046976623\t-0.0044523259\t0.0074818223\n28\t1311867719.5449209213\t0.0028644418\t0.0042147983\t0.0063125612\t0.0035122216\t0.1549270000\t139093272\t0\t1040633856\t-0.0069426466\t-0.0023292513\t0.0076187858\n29\t1311867719.5771799088\t0.0027038264\t0.0041626958\t0.0063125612\t0.0034676330\t0.1772260000\t139095070\t0\t1041141760\t-0.0064835227\t-0.0006597953\t0.0096191624\n30\t1311867719.6112289429\t0.0037313292\t0.0041483170\t0.00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}, { "path": "icra2018_results/tegra/violons_liblsdslam-cpp_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 06:16:07\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liblsdslam-cpp_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/liblsdslam-cpp-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\ncamera-path: \npackage-path: lsdslam/src/cpp/\nkfusage: 5\nkfdist: 5\nminUseGrad: 5\nfabmap: true\nkfreactive: false\nsubpixelstereo: true\nmaxLoopClosureCandiates: 20\nrandSeed: 1\nuse-pose-optim: true\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520440\t0.0582520440\t0.0582520440\tnan\t0.0569700000\t94835795\t0\t1289920512\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1311867170.4941389561\t0.0611953549\t0.0597236995\t0.0611953549\t0.0088769346\t0.1819430000\t116880924\t0\t1300484096\t-0.0043363627\t0.0014787407\t-0.0000160180\n3\t1311867170.5264289379\t0.0625342205\t0.0606605398\t0.0625342205\t0.0068025817\t0.1749810000\t120152058\t0\t1304293376\t-0.0085155768\t0.0024614935\t-0.0014082161\n4\t1311867170.5623490810\t0.0622892939\t0.0610677283\t0.0625342205\t0.0056800369\t0.1158610000\t120154216\t0\t1305165824\t-0.0138590951\t0.0014301802\t-0.0037234668\n5\t1311867170.5942170620\t0.0654902533\t0.0619522333\t0.0654902533\t0.0068551669\t0.1401150000\t120156286\t0\t1305690112\t-0.0167241544\t0.0025477943\t-0.0027489252\n6\t1311867170.6260869503\t0.0636746362\t0.0622393005\t0.0654902533\t0.0065549394\t0.1579970000\t120158708\t0\t1306308608\t-0.0159827154\t0.0008288115\t-0.0052628033\n7\t1311867170.6621398926\t0.0643371046\t0.0625389868\t0.0654902533\t0.0060781757\t0.1321510000\t120160570\t0\t1306816512\t-0.0173256006\t0.0007432570\t-0.0061667264\n8\t1311867170.6942050457\t0.0630389825\t0.0626014862\t0.0654902533\t0.0060112824\t0.1353270000\t120162304\t0\t1307324416\t-0.0195133612\t-0.0026966156\t-0.0083137639\n9\t1311867170.7263879776\t0.0669525266\t0.0630849351\t0.0669525266\t0.0067839943\t0.1545660000\t120164742\t0\t1307832320\t-0.0229993649\t0.0007934144\t-0.0076974337\n10\t1311867170.7620189190\t0.0720806420\t0.0639845058\t0.0720806420\t0.0072763251\t0.1614310000\t120167916\t0\t1308356608\t-0.0307751019\t0.0007661089\t-0.0061874175\n11\t1311867170.7941920757\t0.0731059760\t0.0648137304\t0.0731059760\t0.0070369634\t0.1630130000\t120169618\t0\t1308975104\t-0.0310605839\t-0.0009098459\t-0.0065512597\n12\t1311867170.8262820244\t0.0742821619\t0.0656027663\t0.0742821619\t0.0068540051\t0.1649750000\t120171416\t0\t1309483008\t-0.0355211608\t-0.0067018000\t-0.0075827013\n13\t1311867170.8622210026\t0.0700561404\t0.0659453336\t0.0742821619\t0.0086520444\t0.1737880000\t120173246\t0\t1309990912\t-0.0378693044\t-0.0211869460\t-0.0120584108\n14\t1311867170.8943779469\t0.0706328228\t0.0662801542\t0.0742821619\t0.0085797613\t0.2311960000\t132516124\t0\t1322815488\t-0.0409508497\t-0.0300084185\t-0.0146712763\n15\t1311867170.9263520241\t0.0708773285\t0.0665866325\t0.0742821619\t0.0083456637\t0.1742520000\t136175970\t0\t1326751744\t-0.0409714617\t-0.0347238630\t-0.0168486144\n16\t1311867170.9621469975\t0.0736370534\t0.0670272838\t0.0742821619\t0.0081640308\t0.1405080000\t139369896\t0\t1330561024\t-0.0462509580\t-0.0373524614\t-0.0186943542\n17\t1311867170.9942629337\t0.0731007308\t0.0673845454\t0.0742821619\t0.0080046334\t0.1151710000\t139372974\t0\t1331322880\t-0.0456846878\t-0.0414447486\t-0.0215295106\n18\t1311867171.0262739658\t0.0743198320\t0.0677698391\t0.0743198320\t0.0077843252\t0.1182800000\t139377396\t0\t1331957760\t-0.0467521511\t-0.0464044996\t-0.0233519319\n19\t1311867171.0623519421\t0.0761784613\t0.0682123982\t0.0761784613\t0.0080128196\t0.1049150000\t139379226\t0\t1332465664\t-0.0494860746\t-0.0508915633\t-0.0252896696\n20\t1311867171.0942349434\t0.0748374909\t0.0685436528\t0.0761784613\t0.0078415347\t0.1087420000\t139380960\t0\t1332973568\t-0.0463114567\t-0.0521720275\t-0.0274562370\n21\t1311867171.1262509823\t0.0768263862\t0.0689380687\t0.0768263862\t0.0076636631\t0.1102320000\t139382758\t0\t1333481472\t-0.0486748070\t-0.0558159910\t-0.0286860969\n22\t1311867171.1622469425\t0.0769624189\t0.0693028119\t0.0769624189\t0.0076427352\t0.1099330000\t139384588\t0\t1334005760\t-0.0471723117\t-0.0565028824\t-0.0299092103\n23\t1311867171.1942689419\t0.0741562024\t0.0695138289\t0.0769624189\t0.0081756823\t0.1312540000\t139386322\t0\t1334624256\t-0.0426738597\t-0.0556349866\t-0.0309651438\n24\t1311867171.2262530327\t0.0746658817\t0.0697284977\t0.0769624189\t0.0081105300\t0.1586480000\t139388120\t0\t1335132160\t-0.0389052592\t-0.0581661463\t-0.0320588760\n25\t1311867171.2622439861\t0.0721969530\t0.0698272359\t0.0769624189\t0.0079460212\t0.1572750000\t139389950\t0\t1335640064\t-0.0333669372\t-0.0564755946\t-0.0338429809\n26\t1311867171.2943410873\t0.0698427707\t0.0698278334\t0.0769624189\t0.0078782854\t0.1515570000\t139391652\t0\t1336164352\t-0.0277461056\t-0.0563492663\t-0.0355957225\n27\t1311867171.3263869286\t0.0706397146\t0.0698579031\t0.0769624189\t0.0078539652\t0.1753020000\t139393450\t0\t1336782848\t-0.0253314413\t-0.0575823970\t-0.0366530456\n28\t1311867171.3622460365\t0.0699633509\t0.0698616691\t0.0769624189\t0.0077699082\t0.1485670000\t139395280\t0\t1337290752\t-0.0246620458\t-0.0550452434\t-0.0379052013\n29\t1311867171.3941431046\t0.0706799701\t0.0698898864\t0.0769624189\t0.0076870584\t0.1540140000\t139397014\t0\t1337798656\t-0.0254849531\t-0.0532474108\t-0.0388439298\n30\t1311867171.4262878895\t0.075654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}, { "path": "icra2018_results/tegra/violons_liborbslam2-original_living_room_traj0_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 06:19:40\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liborbslam2-original_living_room_traj0_loop.log\ninput: datasets/ICL_NUIM/living_room_traj0_loop.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.1632210000\t225837088\t0\t1777274880\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0030761305\t0.0015380653\t0.0030761305\t0.0050352369\t0.1863150000\t229418242\t0\t1780850688\t-0.0023614559\t-0.0065556234\t0.0031459653\n3\t0.0800000000\t0.0029567843\t0.0020109716\t0.0030761305\t0.0039262776\t0.1893980000\t229348376\t0\t1782755328\t-0.0006512312\t-0.0133153237\t0.0026897315\n4\t0.1200000000\t0.0018992918\t0.0019830517\t0.0030761305\t0.0048957544\t0.1858810000\t229351098\t0\t1784786944\t-0.0013885585\t-0.0067196619\t0.0020441550\n5\t0.1600000000\t0.0021113290\t0.0020087071\t0.0030761305\t0.0047032188\t0.1891560000\t229352824\t0\t1786437632\t-0.0011853365\t-0.0047804979\t0.0010219942\n6\t0.2000000000\t0.0033422562\t0.0022309653\t0.0033422562\t0.0042354051\t0.1928230000\t229355510\t0\t1785462784\t-0.0021036821\t-0.0093260454\t0.0021020130\n7\t0.2400000000\t0.0031160696\t0.0023574088\t0.0033422562\t0.0041499128\t0.1855540000\t229357444\t0\t1786728448\t-0.0014354170\t-0.0108568929\t0.0032472673\n8\t0.2800000000\t0.0015626880\t0.0022580687\t0.0033422562\t0.0041416896\t0.1867430000\t229358938\t0\t1785425920\t0.0014953644\t-0.0086082434\t0.0023589029\n9\t0.3200000000\t0.0044389777\t0.0025003919\t0.0044389777\t0.0039609339\t0.1896840000\t229365892\t0\t1784299520\t-0.0022548572\t-0.0093639223\t0.0021255775\n10\t0.3600000000\t0.0035266681\t0.0026030195\t0.0044389777\t0.0038025209\t0.1882190000\t229365566\t0\t1782116352\t-0.0000836422\t-0.0092411749\t0.0026449261\n11\t0.4000000000\t0.0015971031\t0.0025115726\t0.0044389777\t0.0037954663\t0.1838420000\t229369708\t0\t1782882304\t0.0037863615\t-0.0096969353\t0.0025819750\n12\t0.4400000000\t0.0013512711\t0.0024148808\t0.0044389777\t0.0036999384\t0.1921460000\t229371098\t0\t1785405440\t0.0040715719\t-0.0092478171\t0.0017615580\n13\t0.4800000000\t0.0011637234\t0.0023186379\t0.0044389777\t0.0036749922\t0.1833250000\t229372480\t0\t1784152064\t0.0031247311\t-0.0076855263\t0.0012696367\n14\t0.5200000000\t0.0023846119\t0.0023233503\t0.0044389777\t0.0036988023\t0.1871300000\t229373862\t0\t1783152640\t0.0013261873\t-0.0072735064\t0.0006949953\n15\t0.5600000000\t0.0016954945\t0.0022814933\t0.0044389777\t0.0035751766\t0.1783370000\t229374420\t0\t1778577408\t0.0023334278\t-0.0065663056\t0.0001167352\n16\t0.6000000000\t0.0015236762\t0.0022341297\t0.0044389777\t0.0035092960\t0.1915890000\t229376934\t0\t1776041984\t0.0037503247\t-0.0049368027\t0.0002885128\n17\t0.6400000000\t0.0015232284\t0.0021923120\t0.0044389777\t0.0034247450\t0.1832400000\t229379296\t0\t1777549312\t0.0028266904\t-0.0049030348\t0.0000484341\n18\t0.6800000000\t0.0027088681\t0.0022210095\t0.0044389777\t0.0033342895\t0.1867070000\t229382126\t0\t1779736576\t0.0036603538\t-0.0061567230\t0.0001309143\n19\t0.7200000000\t0.0026093691\t0.0022414495\t0.0044389777\t0.0035944607\t0.1848510000\t229388664\t0\t1781755904\t0.0030368126\t-0.0048488025\t-0.0001543637\n20\t0.7600000000\t0.0015803262\t0.0022083934\t0.0044389777\t0.0035062372\t0.1881320000\t229388474\t0\t1783533568\t0.0056790384\t-0.0047433143\t-0.0011815794\n21\t0.8000000000\t0.0020582578\t0.0022012440\t0.0044389777\t0.0034590927\t0.1816110000\t229389712\t0\t1784532992\t0.0024941794\t-0.0040484187\t-0.0020064565\n22\t0.8400000000\t0.0012012173\t0.0021557883\t0.0044389777\t0.0034140675\t0.1829460000\t229391266\t0\t1786564608\t0.0036218755\t-0.0019794463\t-0.0022608233\n23\t0.8800000000\t0.0023933605\t0.0021661175\t0.0044389777\t0.0033585994\t0.1873430000\t229392836\t0\t1783132160\t0.0019405616\t-0.0037930126\t-0.0017895577\n24\t0.9200000000\t0.0021302889\t0.0021646247\t0.0044389777\t0.0033359332\t0.1835310000\t229394098\t0\t1781653504\t0.0041130055\t-0.0062269405\t-0.0013941998\n25\t0.9600000000\t0.0031642492\t0.0022046096\t0.0044389777\t0.0033792192\t0.1826860000\t229398296\t0\t1783812096\t0.0039941855\t-0.0032803209\t0.0002192634\n26\t1.0000000000\t0.0016847550\t0.0021846152\t0.0044389777\t0.0033928932\t0.1842490000\t229400038\t0\t1785548800\t0.0050348439\t-0.0064686663\t-0.0015232207\n27\t1.0400000000\t0.0038887630\t0.0022477318\t0.0044389777\t0.0033450729\t0.1891260000\t229400644\t0\t1784647680\t0.0049339901\t-0.0075014471\t0.0002288621\n28\t1.0800000000\t0.0040130173\t0.0023107777\t0.0044389777\t0.0032884431\t0.1846900000\t229402166\t0\t1783799808\t0.0043402971\t-0.0048199771\t-0.0002723997\n29\t1.1200000000\t0.0042851651\t0.0023788600\t0.0044389777\t0.0034465598\t0.1892280000\t229407080\t0\t1780219904\t0.0052719973\t-0.0043555619\t-0.0002677773\n30\t1.1600000000\t0.0047449074\t0.0024577283\t0.0047449074\t0.0036904220\t0.1824740000\t229406366\t0\t1778352128\t0.0041599367\t-0.0074365744\t0.0002274528\n31\t1.2000000000\t0.0040154681\t0.0025079780\t0.0047449074\t0.0038716227\t0.1800740000\t229409868\t0\t1776812032\t0.0069435528\t-0.0061867307\t0.0001363961\n32\t1.240000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t-0.0616896637\t1.0958259106\n1100\t43.9600000000\t0.0167050473\t0.0104459010\t0.0294891559\t0.0142368212\t0.1953360000\t251231416\t0\t1785167872\t-0.1877464205\t-0.0631701946\t1.0981891155\n" }, { "path": "icra2018_results/tegra/violons_liborbslam2-original_living_room_traj1_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 06:25:12\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liborbslam2-original_living_room_traj1_loop.log\ninput: datasets/ICL_NUIM/living_room_traj1_loop.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.1594190000\t225821264\t0\t1771626496\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0006322594\t0.0003161297\t0.0006322594\t0.0016329817\t0.1793020000\t229169542\t0\t1774051328\t0.0000740347\t0.0006893943\t-0.0004102595\n3\t0.0800000000\t0.0019706578\t0.0008676391\t0.0019706578\t0.0021090803\t0.1780700000\t229095992\t0\t1775955968\t0.0004180617\t-0.0041669640\t-0.0010802659\n4\t0.1200000000\t0.0028546657\t0.0013643957\t0.0028546657\t0.0018938772\t0.1771980000\t229101398\t0\t1777967104\t-0.0015396876\t-0.0038877153\t-0.0007328999\n5\t0.1600000000\t0.0007072779\t0.0012329722\t0.0028546657\t0.0021302526\t0.1793610000\t229103120\t0\t1779638272\t-0.0006572722\t-0.0014357914\t-0.0001916429\n6\t0.2000000000\t0.0007236152\t0.0011480793\t0.0028546657\t0.0020760364\t0.1836220000\t229108634\t0\t1781268480\t-0.0004263424\t-0.0027798826\t-0.0006840291\n7\t0.2400000000\t0.0030840011\t0.0014246396\t0.0030840011\t0.0024607709\t0.1872270000\t229110352\t0\t1783066624\t-0.0020272180\t-0.0048149424\t-0.0011664431\n8\t0.2800000000\t0.0014514155\t0.0014279866\t0.0030840011\t0.0029855460\t0.1831250000\t229112810\t0\t1785098240\t-0.0011865910\t-0.0002369150\t0.0001306492\n9\t0.3200000000\t0.0011034871\t0.0013919311\t0.0030840011\t0.0028712116\t0.1784140000\t229114304\t0\t1786875904\t0.0009762178\t-0.0012516276\t0.0000825028\n10\t0.3600000000\t0.0014781026\t0.0014005482\t0.0030840011\t0.0028584187\t0.1792950000\t229117454\t0\t1782169600\t-0.0006603656\t-0.0031134326\t-0.0009575582\n11\t0.4000000000\t0.0024387294\t0.0014949283\t0.0030840011\t0.0027725045\t0.1792800000\t229118488\t0\t1781665792\t0.0007106397\t-0.0035659946\t-0.0004142506\n12\t0.4400000000\t0.0008053528\t0.0014374637\t0.0030840011\t0.0026875389\t0.1786680000\t229120842\t0\t1783468032\t-0.0002612591\t-0.0011601700\t-0.0003452653\n13\t0.4800000000\t0.0009643648\t0.0014010715\t0.0030840011\t0.0026784768\t0.1795890000\t229121612\t0\t1785077760\t0.0006748838\t-0.0000419959\t0.0007681635\n14\t0.5200000000\t0.0009418047\t0.0013682667\t0.0030840011\t0.0026330034\t0.1788770000\t229123002\t0\t1784074240\t0.0009396579\t0.0002901095\t0.0000325352\n15\t0.5600000000\t0.0018550168\t0.0014007167\t0.0030840011\t0.0026616996\t0.1777100000\t229124652\t0\t1782968320\t0.0006903705\t-0.0014758960\t0.0009087144\n16\t0.6000000000\t0.0015899934\t0.0014125465\t0.0030840011\t0.0026338977\t0.1861070000\t229126678\t0\t1780412416\t-0.0011135135\t0.0007081383\t0.0002338964\n17\t0.6400000000\t0.0029016323\t0.0015001398\t0.0030840011\t0.0028104406\t0.1736560000\t229127300\t0\t1778630656\t0.0008341246\t-0.0028495672\t0.0002482499\n18\t0.6800000000\t0.0026437019\t0.0015636710\t0.0030840011\t0.0027342212\t0.1724300000\t229132602\t0\t1780137984\t0.0017353209\t-0.0028343769\t-0.0002608570\n19\t0.7200000000\t0.0013841158\t0.0015542207\t0.0030840011\t0.0029685891\t0.1710910000\t229135240\t0\t1782665216\t-0.0009793595\t-0.0014016455\t0.0000036493\n20\t0.7600000000\t0.0020791844\t0.0015804689\t0.0030840011\t0.0030269925\t0.1706360000\t229136154\t0\t1783955456\t-0.0008780963\t-0.0027447653\t-0.0003605862\n21\t0.8000000000\t0.0025227708\t0.0016253404\t0.0030840011\t0.0030195704\t0.1811540000\t229137180\t0\t1785733120\t0.0002488398\t-0.0034164025\t-0.0007020697\n22\t0.8400000000\t0.0007032672\t0.0015834280\t0.0030840011\t0.0030594338\t0.1739380000\t229138822\t0\t1784750080\t0.0005290636\t-0.0011969036\t-0.0003459814\n23\t0.8800000000\t0.0021605825\t0.0016085217\t0.0030840011\t0.0030695323\t0.1819330000\t229140592\t0\t1785987072\t-0.0012710718\t-0.0029044305\t-0.0002749765\n24\t0.9200000000\t0.0019384924\t0.0016222705\t0.0030840011\t0.0030559386\t0.1906740000\t229143938\t0\t1784090624\t-0.0018487467\t-0.0011707458\t-0.0012662968\n25\t0.9600000000\t0.0026929893\t0.0016650992\t0.0030840011\t0.0030276238\t0.1735800000\t229144408\t0\t1782681600\t-0.0031013119\t0.0000512454\t-0.0006449151\n26\t1.0000000000\t0.0012302565\t0.0016483745\t0.0030840011\t0.0030297292\t0.1765140000\t229146050\t0\t1783816192\t-0.0004446412\t-0.0017377858\t-0.0003976426\n27\t1.0400000000\t0.0022008303\t0.0016688358\t0.0030840011\t0.0029960349\t0.2090280000\t229148212\t0\t1786339328\t-0.0017958576\t-0.0024478578\t-0.0005460715\n28\t1.0800000000\t0.0037557126\t0.0017433671\t0.0037557126\t0.0029923480\t0.1864080000\t229149522\t0\t1783947264\t-0.0033816034\t-0.0032763432\t-0.0009839400\n29\t1.1200000000\t0.0015328801\t0.0017361090\t0.0037557126\t0.0029635968\t0.1765620000\t229151284\t0\t1783451648\t-0.0021522476\t-0.0014428742\t-0.0005574360\n30\t1.1600000000\t0.0024999930\t0.0017615718\t0.0037557126\t0.0029447747\t0.1742410000\t229152546\t0\t1785614336\t-0.0031022150\t-0.0011651883\t-0.0005185237\n31\t1.2000000000\t0.0019528458\t0.0017677419\t0.0037557126\t0.0029439066\t0.1784790000\t229153256\t0\t1784090624\t-0.0030238330\t0.0000164677\t-0.00034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}, { "path": "icra2018_results/tegra/violons_liborbslam2-original_living_room_traj2_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 06:29:41\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liborbslam2-original_living_room_traj2_loop.log\ninput: datasets/ICL_NUIM/living_room_traj2_loop.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.1550350000\t225832032\t0\t1771012096\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0014313232\t0.0007156616\t0.0014313232\t0.0012994849\t0.2121070000\t229184250\t0\t1770524672\t0.0006581696\t0.0002409728\t-0.0004112680\n3\t0.0800000000\t0.0015986046\t0.0010099759\t0.0015986046\t0.0012106350\t0.1923260000\t229113605\t0\t1769631744\t-0.0043599396\t0.0007933624\t-0.0005638560\n4\t0.1200000000\t0.0025625008\t0.0013981072\t0.0025625008\t0.0015030597\t0.1831090000\t229116466\t0\t1771405312\t-0.0007651650\t0.0010692495\t-0.0008835325\n5\t0.1600000000\t0.0033080552\t0.0017800968\t0.0033080552\t0.0016293658\t0.1819140000\t229118240\t0\t1772883968\t-0.0045461673\t-0.0007636446\t0.0008597028\n6\t0.2000000000\t0.0010997391\t0.0016667038\t0.0033080552\t0.0018582507\t0.1847850000\t229123454\t0\t1774534656\t-0.0045890105\t0.0020316094\t-0.0003118569\n7\t0.2400000000\t0.0011017808\t0.0015860005\t0.0033080552\t0.0017081959\t0.1849270000\t229125180\t0\t1776566272\t-0.0049471781\t0.0021273063\t-0.0001025872\n8\t0.2800000000\t0.0026124064\t0.0017143013\t0.0033080552\t0.0016681742\t0.1835710000\t229126806\t0\t1778089984\t-0.0045765373\t0.0022254123\t-0.0000543934\n9\t0.3200000000\t0.0013466377\t0.0016734498\t0.0033080552\t0.0018296116\t0.1836890000\t229128556\t0\t1779613696\t-0.0078928396\t0.0013401783\t-0.0005790861\n10\t0.3600000000\t0.0032167227\t0.0018277771\t0.0033080552\t0.0018284254\t0.1826390000\t229130978\t0\t1781645312\t-0.0064287814\t0.0035329887\t-0.0002855470\n11\t0.4000000000\t0.0016429899\t0.0018109782\t0.0033080552\t0.0020160400\t0.1812040000\t229133240\t0\t1783169024\t-0.0086579695\t0.0004761029\t0.0014675055\n12\t0.4400000000\t0.0008761504\t0.0017330759\t0.0033080552\t0.0023816688\t0.1864350000\t229134602\t0\t1784967168\t-0.0107537834\t0.0002679621\t0.0000298793\n13\t0.4800000000\t0.0015374204\t0.0017180255\t0.0033080552\t0.0024827525\t0.1891400000\t229135904\t0\t1786597376\t-0.0112762246\t0.0006451863\t0.0001494178\n14\t0.5200000000\t0.0034266028\t0.0018400667\t0.0034266028\t0.0023905376\t0.1826970000\t229138546\t0\t1783091200\t-0.0095544988\t0.0005430994\t-0.0008344530\n15\t0.5600000000\t0.0009415949\t0.0017801686\t0.0034266028\t0.0024006183\t0.1894040000\t229140300\t0\t1782034432\t-0.0160803571\t0.0020275211\t0.0010757227\n16\t0.6000000000\t0.0026617956\t0.0018352703\t0.0034266028\t0.0023944184\t0.1824530000\t229141782\t0\t1783312384\t-0.0124555193\t0.0022582377\t-0.0001530996\n17\t0.6400000000\t0.0036080938\t0.0019395540\t0.0036080938\t0.0024345379\t0.1814700000\t229143612\t0\t1785503744\t-0.0146324635\t-0.0029591334\t-0.0022498947\n18\t0.6800000000\t0.0017785733\t0.0019306107\t0.0036080938\t0.0024035281\t0.1815350000\t229147034\t0\t1784344576\t-0.0178455506\t-0.0014289076\t-0.0015437480\n19\t0.7200000000\t0.0044847336\t0.0020650382\t0.0044847336\t0.0023830012\t0.1860730000\t229149024\t0\t1783451648\t-0.0191986505\t-0.0042364202\t-0.0015589664\n20\t0.7600000000\t0.0029233287\t0.0021079527\t0.0044847336\t0.0024826552\t0.1806320000\t229151630\t0\t1779408896\t-0.0222831499\t-0.0039281002\t-0.0015793118\n21\t0.8000000000\t0.0054242653\t0.0022658723\t0.0054242653\t0.0024329833\t0.1844310000\t229154780\t0\t1778368512\t-0.0215592124\t-0.0032885198\t-0.0016858662\n22\t0.8400000000\t0.0044204351\t0.0023638070\t0.0054242653\t0.0023765304\t0.1868880000\t229158422\t0\t1780006912\t-0.0283740442\t-0.0038597609\t-0.0022924212\n23\t0.8800000000\t0.0064602704\t0.0025419141\t0.0064602704\t0.0023593829\t0.1810890000\t229159640\t0\t1781403648\t-0.0248624086\t-0.0028821700\t-0.0046925945\n24\t0.9200000000\t0.0058363420\t0.0026791819\t0.0064602704\t0.0023209396\t0.1816570000\t229163362\t0\t1783570432\t-0.0342931375\t-0.0026345411\t-0.0054048188\n25\t0.9600000000\t0.0047086249\t0.0027603597\t0.0064602704\t0.0022994096\t0.1771450000\t229165424\t0\t1784856576\t-0.0364596024\t-0.0011650682\t-0.0057174251\n26\t1.0000000000\t0.0056688362\t0.0028722241\t0.0064602704\t0.0022616013\t0.1762050000\t229166090\t0\t1786634240\t-0.0419057533\t-0.0024756331\t-0.0058216825\n27\t1.0400000000\t0.0058540511\t0.0029826622\t0.0064602704\t0.0023438986\t0.2019780000\t229168592\t0\t1783574528\t-0.0467933007\t-0.0004914570\t-0.0068055941\n28\t1.0800000000\t0.0040868837\t0.0030220987\t0.0064602704\t0.0025304410\t0.1778080000\t229171754\t0\t1785614336\t-0.0553563610\t-0.0030685039\t-0.0073033413\n29\t1.1200000000\t0.0046187984\t0.0030771573\t0.0064602704\t0.0026787045\t0.1768310000\t229174444\t0\t1784709120\t-0.0605350733\t-0.0026142881\t-0.0107380766\n30\t1.1600000000\t0.0043244767\t0.0031187346\t0.0064602704\t0.0027372247\t0.1771480000\t229177134\t0\t1783717888\t-0.0686885267\t-0.0004705007\t-0.0075295828\n31\t1.2000000000\t0.0044127894\t0.0031604783\t0.0064602704\t0.0027276073\t0.1767730000\t229179996\t0\t1782849536\t-0.0754016787\t-0.0005745856\t-0.0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}, { "path": "icra2018_results/tegra/violons_liborbslam2-original_living_room_traj3_loop.log", "content": "SLAMBench Report run started:\t2018-02-18 06:35:09\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liborbslam2-original_living_room_traj3_loop.log\ninput: datasets/ICL_NUIM/living_room_traj3_loop.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nRGB-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.751875,1,0.4992185,0.4989583\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t0.0000000000\t0.0000000000\t0.0000000000\t0.0000000000\tnan\t0.1691740000\t225847256\t0\t1771155456\t0.0000000000\t0.0000000000\t0.0000000000\n2\t0.0400000000\t0.0010897097\t0.0005448548\t0.0010897097\t0.0014839020\t0.2291410000\t229438938\t0\t1771220992\t-0.0012844919\t0.0042652939\t0.0021963941\n3\t0.0800000000\t0.0013292350\t0.0008063149\t0.0013292350\t0.0015329618\t0.1909380000\t229373516\t0\t1773096960\t-0.0012266875\t-0.0029063171\t0.0019270806\n4\t0.1200000000\t0.0019475541\t0.0010916247\t0.0019475541\t0.0020683224\t0.1849420000\t229374394\t0\t1774854144\t-0.0015680999\t-0.0003982396\t-0.0003852027\n5\t0.1600000000\t0.0004263747\t0.0009585747\t0.0019475541\t0.0042795138\t0.1794700000\t229378716\t0\t1776885760\t-0.0010454102\t0.0050546336\t0.0031648702\n6\t0.2000000000\t0.0014089583\t0.0010336386\t0.0019475541\t0.0044040737\t0.1903340000\t229378686\t0\t1778155520\t0.0021619396\t-0.0037960541\t0.0031455329\n7\t0.2400000000\t0.0033068131\t0.0013583778\t0.0033068131\t0.0044113168\t0.1866250000\t229384432\t0\t1780187136\t0.0035648961\t-0.0122877341\t0.0003435582\n8\t0.2800000000\t0.0021067387\t0.0014519230\t0.0033068131\t0.0041722849\t0.1853840000\t229384406\t0\t1781837824\t0.0010523186\t-0.0115250954\t-0.0014175348\n9\t0.3200000000\t0.0034815895\t0.0016774415\t0.0034815895\t0.0049296663\t0.1837610000\t229386488\t0\t1783599104\t0.0008803632\t-0.0065985434\t0.0012371071\n10\t0.3600000000\t0.0030050520\t0.0018102025\t0.0034815895\t0.0046584793\t0.1880240000\t229390906\t0\t1785266176\t-0.0006643084\t-0.0152667994\t-0.0002088121\n11\t0.4000000000\t0.0036626898\t0.0019786104\t0.0036626898\t0.0044876190\t0.1882050000\t229392908\t0\t1783869440\t-0.0006999715\t-0.0104615688\t-0.0011614891\n12\t0.4400000000\t0.0013733611\t0.0019281730\t0.0036626898\t0.0046174564\t0.1826650000\t229395402\t0\t1782722560\t-0.0022540195\t-0.0019266580\t0.0012917893\n13\t0.4800000000\t0.0014250341\t0.0018894700\t0.0036626898\t0.0044215678\t0.1800800000\t229395556\t0\t1778917376\t0.0011247306\t-0.0051611462\t0.0011935129\n14\t0.5200000000\t0.0008290971\t0.0018137291\t0.0036626898\t0.0044185953\t0.1788860000\t229396950\t0\t1777410048\t0.0023454896\t-0.0124667129\t-0.0007519674\n15\t0.5600000000\t0.0037759738\t0.0019445454\t0.0037759738\t0.0044727263\t0.1766640000\t229399892\t0\t1778806784\t0.0069665448\t-0.0080516525\t-0.0010445147\n16\t0.6000000000\t0.0013666431\t0.0019084265\t0.0037759738\t0.0044264314\t0.1827060000\t229402722\t0\t1780715520\t0.0054885093\t-0.0098581035\t-0.0002116395\n17\t0.6400000000\t0.0028192920\t0.0019620068\t0.0037759738\t0.0043319377\t0.1845990000\t229401824\t0\t1782345728\t0.0086121270\t-0.0126774013\t-0.0025703153\n18\t0.6800000000\t0.0004475505\t0.0018778704\t0.0037759738\t0.0042744496\t0.1860190000\t229407242\t0\t1784123392\t0.0050970879\t-0.0129319914\t-0.0047337683\n19\t0.7200000000\t0.0035743257\t0.0019671575\t0.0037759738\t0.0043185139\t0.1808190000\t229409408\t0\t1785774080\t0.0059073344\t-0.0051843189\t-0.0038469264\n20\t0.7600000000\t0.0018366415\t0.0019606317\t0.0037759738\t0.0046066551\t0.1799110000\t229409846\t0\t1785028608\t0.0038627568\t-0.0093244649\t-0.0062140473\n21\t0.8000000000\t0.0014608994\t0.0019368349\t0.0037759738\t0.0047773431\t0.1820460000\t229412044\t0\t1786814464\t0.0078258682\t-0.0055387965\t-0.0060994127\n22\t0.8400000000\t0.0018678652\t0.0019336999\t0.0037759738\t0.0047223703\t0.1917820000\t229414774\t0\t1783390208\t0.0094478577\t-0.0031012180\t-0.0056509222\n23\t0.8800000000\t0.0015659926\t0.0019177127\t0.0037759738\t0.0046811940\t0.1929540000\t229415336\t0\t1779695616\t0.0115567809\t-0.0095785856\t-0.0093213292\n24\t0.9200000000\t0.0011029402\t0.0018837638\t0.0037759738\t0.0046493189\t0.1802200000\t229417742\t0\t1781092352\t0.0117116962\t-0.0089901583\t-0.0095319459\n25\t0.9600000000\t0.0013806415\t0.0018636389\t0.0037759738\t0.0045675526\t0.1808020000\t229418544\t0\t1783148544\t0.0129484013\t-0.0108677503\t-0.0131272059\n26\t1.0000000000\t0.0020260806\t0.0018698867\t0.0037759738\t0.0044852229\t0.1909770000\t229423098\t0\t1784750080\t0.0118004605\t-0.0120713282\t-0.0122739878\n27\t1.0400000000\t0.0007452878\t0.0018282349\t0.0037759738\t0.0044141175\t0.1857840000\t229425596\t0\t1786781696\t0.0121284649\t-0.0161258858\t-0.0160607658\n28\t1.0800000000\t0.0027112076\t0.0018597696\t0.0037759738\t0.0043560477\t0.1838760000\t229427586\t0\t1782861824\t0.0094645070\t-0.0165056232\t-0.0178513005\n29\t1.1200000000\t0.0022842360\t0.0018744064\t0.0037759738\t0.0043965697\t0.1845920000\t229429044\t0\t1781489664\t0.0133955711\t-0.0190797914\t-0.0184712559\n30\t1.1600000000\t0.0022026566\t0.0018853480\t0.0037759738\t0.0043748106\t0.1812080000\t229432742\t0\t1783468032\t0.0167246331\t-0.0184581913\t-0.0185844842\n31\t1.2000000000\t0.0024676572\t0.0019041322\t0.0037759738\t0.0043599350\t0.1847600000\t229433844\t0\t1785262080\t0.0223955289\t-0.0177642498\t-0.0206158571\n32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}, { "path": "icra2018_results/tegra/violons_liborbslam2-original_rgbd_dataset_freiburg1_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 06:40:54\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liborbslam2-original_rgbd_dataset_freiburg1_rpy.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031229.5287840366\t0.0606188439\t0.0606188439\t0.0606188439\tnan\t0.1654270000\t225877524\t0\t1771491328\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1305031229.5644419193\t0.0549066812\t0.0577627625\t0.0606188439\t0.0478177145\t0.2316440000\t230430119\t0\t1774559232\t-0.0097887106\t-0.0017962920\t0.0139603131\n3\t1305031229.5966169834\t0.0754603073\t0.0636619441\t0.0754603073\t0.0540476947\t0.2731810000\t230871457\t0\t1776709632\t0.0064977058\t-0.0176140685\t-0.0036115781\n4\t1305031229.6287899017\t0.0668348819\t0.0644551786\t0.0754603073\t0.0460729872\t0.4338340000\t231254541\t0\t1781067776\t-0.0026182048\t-0.0099314647\t0.0066217524\n5\t1305031229.6646571159\t0.0781336203\t0.0671908669\t0.0781336203\t0.0435545113\t0.2036860000\t231897728\t0\t1783988224\t0.0072961459\t-0.0243324209\t0.0039660381\n6\t1305031229.6968429089\t0.0799928531\t0.0693245313\t0.0799928531\t0.0390568118\t0.2191840000\t231683296\t0\t1784655872\t0.0095342174\t-0.0231424775\t0.0036479309\n7\t1305031229.7290771008\t0.0703819320\t0.0694755885\t0.0799928531\t0.0362216327\t0.1936280000\t231338541\t0\t1785540608\t0.0038926164\t-0.0166511778\t0.0132943504\n8\t1305031229.7648689747\t0.0744591877\t0.0700985384\t0.0799928531\t0.0340356223\t0.3725910000\t231453038\t0\t1785430016\t0.0089694019\t-0.0219360385\t0.0147525724\n9\t1305031229.7969229221\t0.0777243450\t0.0709458503\t0.0799928531\t0.0321801940\t0.1956220000\t232177872\t0\t1784147968\t0.0079661598\t-0.0202800855\t0.0114423735\n10\t1305031229.8256299496\t0.0769411251\t0.0715453777\t0.0799928531\t0.0304160179\t0.2117720000\t232001388\t0\t1783226368\t0.0022928987\t-0.0186542496\t0.0124030542\n11\t1305031229.8630619049\t0.0767598376\t0.0720194195\t0.0799928531\t0.0295683412\t0.4728640000\t231858509\t0\t1784700928\t0.0097849499\t-0.0193411000\t0.0158564840\n12\t1305031229.8969380856\t0.0815814584\t0.0728162561\t0.0815814584\t0.0299887795\t0.3055670000\t232955250\t0\t1784872960\t0.0017516396\t-0.0194088221\t0.0108419470\n13\t1305031229.9262549877\t0.0764834657\t0.0730983492\t0.0815814584\t0.0289288415\t0.2277300000\t232901204\t0\t1780936704\t0.0077238432\t-0.0155790243\t0.0173914507\n14\t1305031229.9662408829\t0.0756134316\t0.0732779979\t0.0815814584\t0.0281393480\t0.2079950000\t232369199\t0\t1781194752\t0.0117745753\t-0.0139043592\t0.0212687030\n15\t1305031229.9979310036\t0.0705998912\t0.0730994575\t0.0815814584\t0.0276755441\t0.4180290000\t232331069\t0\t1782636544\t0.0107828211\t-0.0070806844\t0.0244363956\n16\t1305031230.0300021172\t0.0708796307\t0.0729607183\t0.0815814584\t0.0270687425\t0.3142180000\t233690213\t0\t1785294848\t0.0180494078\t-0.0073594525\t0.0305358358\n17\t1305031230.0656960011\t0.0694372579\t0.0727534559\t0.0815814584\t0.0268864740\t0.3152840000\t233556084\t0\t1782161408\t0.0107641332\t-0.0104264356\t0.0324032865\n18\t1305031230.0982739925\t0.0676894262\t0.0724721209\t0.0815814584\t0.0262060883\t0.2530730000\t232873691\t0\t1781862400\t0.0092845839\t-0.0069934581\t0.0335203074\n19\t1305031230.1299350262\t0.0694242343\t0.0723117059\t0.0815814584\t0.0255088961\t0.4363650000\t232834485\t0\t1784414208\t0.0075261826\t-0.0063952645\t0.0319920927\n20\t1305031230.1657800674\t0.0703847185\t0.0722153565\t0.0815814584\t0.0249718382\t0.3518730000\t234377446\t0\t1784459264\t0.0071103377\t-0.0075753476\t0.0341353044\n21\t1305031230.1977820396\t0.0723244771\t0.0722205527\t0.0815814584\t0.0244825990\t0.2303170000\t234303056\t0\t1783009280\t0.0069268662\t-0.0075032171\t0.0329429246\n22\t1305031230.2298529148\t0.0745700225\t0.0723273468\t0.0815814584\t0.0240876969\t0.2369300000\t234233910\t0\t1782001664\t0.0052377116\t-0.0089077149\t0.0326392055\n23\t1305031230.2655899525\t0.0825344548\t0.0727711341\t0.0825344548\t0.0239424621\t0.1656800000\t232847033\t0\t1783480320\t0.0084357373\t-0.0113044623\t0.0284742750\n24\t1305031230.2979929447\t0.0833468065\t0.0732117871\t0.0833468065\t0.0235822124\t0.1775480000\t232850315\t0\t1785376768\t0.0121354368\t-0.0110755842\t0.0338820666\n25\t1305031230.3351120949\t0.0832133070\t0.0736118479\t0.0833468065\t0.0233141093\t0.1741540000\t232854169\t0\t1784254464\t0.0066639995\t-0.0130862286\t0.0329595543\n26\t1305031230.3656799793\t0.0826289877\t0.0739586610\t0.0833468065\t0.0228758237\t0.2085040000\t233386371\t0\t1783214080\t0.0052834759\t-0.0086381920\t0.0334812030\n27\t1305031230.3973290920\t0.0823461339\t0.0742693081\t0.0833468065\t0.0224452442\t0.4218060000\t233401145\t0\t1785946112\t0.0028576599\t-0.0085927937\t0.0346707851\n28\t1305031230.4368140697\t0.0843181610\t0.0746281957\t0.0843181610\t0.0230899138\t0.3059350000\t234261058\t0\t1784123392\t-0.0023848070\t-0.0091642058\t0.0314507559\n29\t1305031230.4653120041\t0.0799013749\t0.0748100295\t0.0843181610\t0.0229288642\t0.2716480000\t234670984\t0\t1780080640\t-0.0221481435\t-0.0116284657\t0.0263331383\n30\t1305031230.4972999096\t0.0865149572\t0.0752001937\t0.0865149572\t0.022746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}, { "path": "icra2018_results/tegra/violons_liborbslam2-original_rgbd_dataset_freiburg1_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 06:46:53\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liborbslam2-original_rgbd_dataset_freiburg1_xyz.log\ninput: datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9235938,1.229375,0.5171875,0.4875\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nRGB-intrinsics-parameters: 0.8082812,1.076042,0.4978125,0.531875\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1305031102.1753039360\t0.0253988300\t0.0253988300\t0.0253988300\tnan\t0.1760650000\t225849628\t0\t1770418176\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1305031102.2112140656\t0.0281997994\t0.0267993147\t0.0281997994\t0.0139400400\t0.1920400000\t229928426\t0\t1772769280\t-0.0009392386\t0.0071761515\t0.0118162083\n3\t1305031102.2432110310\t0.0226107799\t0.0254031364\t0.0281997994\t0.0101199005\t0.1832070000\t229999091\t0\t1774530560\t-0.0015280230\t0.0054240790\t0.0250633340\n4\t1305031102.2753260136\t0.0196907222\t0.0239750328\t0.0281997994\t0.0089455725\t0.1765810000\t229932945\t0\t1776562176\t-0.0022966457\t0.0065464829\t0.0368976444\n5\t1305031102.3112668991\t0.0145704467\t0.0220941156\t0.0281997994\t0.0079847658\t0.1795880000\t229990351\t0\t1778212864\t-0.0013605448\t0.0047888514\t0.0502236448\n6\t1305031102.3432331085\t0.0125778643\t0.0205080737\t0.0281997994\t0.0077675227\t0.1740290000\t229986797\t0\t1780244480\t-0.0023762945\t0.0058158776\t0.0618077181\n7\t1305031102.3753290176\t0.0107081681\t0.0191080872\t0.0281997994\t0.0071883332\t0.1733520000\t229983635\t0\t1781784576\t-0.0034944536\t0.0063511785\t0.0740375891\n8\t1305031102.4112579823\t0.0084442534\t0.0177751080\t0.0281997994\t0.0095948311\t0.1821150000\t229938757\t0\t1783164928\t-0.0078060534\t0.0117714321\t0.0844790190\n9\t1305031102.4432709217\t0.0118500246\t0.0171167654\t0.0281997994\t0.0102635140\t0.2063700000\t230386557\t0\t1785327616\t-0.0072081340\t0.0183398761\t0.0957835615\n10\t1305031102.4753179550\t0.0124255605\t0.0166476449\t0.0281997994\t0.0096771363\t0.2853290000\t230824063\t0\t1783988224\t-0.0048524723\t0.0175617728\t0.1098261178\n11\t1305031102.5112190247\t0.0134435929\t0.0163563674\t0.0281997994\t0.0093402653\t0.4298800000\t231739052\t0\t1785290752\t-0.0041227727\t0.0182263516\t0.1222831905\n12\t1305031102.5432200432\t0.0137100322\t0.0161358395\t0.0281997994\t0.0089945805\t0.2632150000\t231762012\t0\t1783046144\t-0.0075365826\t0.0151832281\t0.1347708106\n13\t1305031102.5752859116\t0.0216076653\t0.0165567492\t0.0281997994\t0.0090302717\t0.2290720000\t231253869\t0\t1783017472\t-0.0061662453\t0.0106101092\t0.1489485502\n14\t1305031102.6112329960\t0.0234710313\t0.0170506265\t0.0281997994\t0.0087317361\t0.4431310000\t231473314\t0\t1785823232\t-0.0100440122\t0.0095551014\t0.1606478840\n15\t1305031102.6432650089\t0.0178443678\t0.0171035426\t0.0281997994\t0.0091624466\t0.2574600000\t232302042\t0\t1783197696\t-0.0155601343\t0.0176504515\t0.1700938195\n16\t1305031102.6752851009\t0.0213156771\t0.0173668010\t0.0281997994\t0.0089434239\t0.2674880000\t232382780\t0\t1783459840\t-0.0142212389\t0.0204134844\t0.1834713221\n17\t1305031102.7112629414\t0.0268274751\t0.0179233112\t0.0281997994\t0.0089893847\t0.1876880000\t231339271\t0\t1784459264\t-0.0140554793\t0.0201388523\t0.1974963099\n18\t1305031102.7432339191\t0.0245568398\t0.0182918406\t0.0281997994\t0.0089359133\t0.1962720000\t231296433\t0\t1786499072\t-0.0153387450\t0.0276378319\t0.2087470591\n19\t1305031102.7754719257\t0.0307075772\t0.0189453004\t0.0307075772\t0.0087725632\t0.1968960000\t231286955\t0\t1783361536\t-0.0121594528\t0.0285779964\t0.2229142338\n20\t1305031102.8112320900\t0.0317675434\t0.0195864126\t0.0317675434\t0.0087147032\t0.1882740000\t231275441\t0\t1783832576\t-0.0153705087\t0.0317394249\t0.2346003950\n21\t1305031102.8432900906\t0.0368335508\t0.0204077049\t0.0368335508\t0.0085698875\t0.2162090000\t231712693\t0\t1786118144\t-0.0164439082\t0.0317659676\t0.2481490523\n22\t1305031102.8753631115\t0.0383273475\t0.0212222341\t0.0383273475\t0.0085889776\t0.4564360000\t231766385\t0\t1783914496\t-0.0205264464\t0.0345006771\t0.2598372996\n23\t1305031102.9111850262\t0.0401128344\t0.0220435645\t0.0401128344\t0.0084178906\t0.3424600000\t232795648\t0\t1783824384\t-0.0213341285\t0.0383135825\t0.2711260021\n24\t1305031102.9432289600\t0.0423059650\t0.0228878312\t0.0423059650\t0.0086978869\t0.2519900000\t232827372\t0\t1784414208\t-0.0284330025\t0.0399188101\t0.2822503150\n25\t1305031102.9752030373\t0.0426024832\t0.0236764173\t0.0426024832\t0.0087277795\t0.2008160000\t231692925\t0\t1785237504\t-0.0337034278\t0.0447420962\t0.2929314673\n26\t1305031103.0112149715\t0.0450158641\t0.0244971652\t0.0450158641\t0.0085849685\t0.1954740000\t231715473\t0\t1786994688\t-0.0326820575\t0.0480779000\t0.3035570383\n27\t1305031103.0432269573\t0.0477955602\t0.0253600688\t0.0477955602\t0.0084302086\t0.1911890000\t231752051\t0\t1782706176\t-0.0323862880\t0.0518181473\t0.3160433173\n28\t1305031103.0753190517\t0.0545276180\t0.0264017669\t0.0545276180\t0.0085591474\t0.1869580000\t231796337\t0\t1780035584\t-0.0276061147\t0.0519869588\t0.3283344507\n29\t1305031103.1112399101\t0.0516098030\t0.0272710096\t0.0545276180\t0.0087170022\t0.1948700000\t231777091\t0\t1781047296\t-0.0286610909\t0.0594374388\t0.3351837397\n30\t1305031103.1433179379\t0.0562013760\t0.0282353551\t0.0562013760\t0.0086508468\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}, { "path": "icra2018_results/tegra/violons_liborbslam2-original_rgbd_dataset_freiburg2_rpy.log", "content": "SLAMBench Report run started:\t2018-02-18 06:52:57\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liborbslam2-original_rgbd_dataset_freiburg2_rpy.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867718.6419320107\t0.0019026520\t0.0019026520\t0.0019026520\tnan\t0.2095920000\t232662400\t0\t1771601920\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1311867718.6768438816\t0.0018501661\t0.0018764090\t0.0019026520\t0.0004229187\t0.2139860000\t245319745\t0\t1774141440\t0.0003404527\t-0.0003233516\t0.0006755633\n3\t1311867718.7114279270\t0.0022588139\t0.0020038773\t0.0022588139\t0.0033990547\t0.1939680000\t245247371\t0\t1775763456\t-0.0008074777\t0.0016060069\t0.0001717690\n4\t1311867718.7410299778\t0.0028558373\t0.0022168673\t0.0028558373\t0.0049081234\t0.1736560000\t245252313\t0\t1777795072\t0.0000555765\t-0.0001343128\t0.0005003273\n5\t1311867718.7767970562\t0.0031371734\t0.0024009285\t0.0031371734\t0.0042834049\t0.1760130000\t245256643\t0\t1778937856\t-0.0009316629\t-0.0011110066\t0.0002900098\n6\t1311867718.8094089031\t0.0024581340\t0.0024104628\t0.0031371734\t0.0039832625\t0.1735720000\t245261773\t0\t1780969472\t-0.0014924901\t0.0004859685\t0.0006383846\n7\t1311867718.8408079147\t0.0033563643\t0.0025455916\t0.0033563643\t0.0037617615\t0.1826480000\t245265475\t0\t1783017472\t-0.0024369524\t0.0002874515\t0.0001770417\n8\t1311867718.8767778873\t0.0036966968\t0.0026894797\t0.0036966968\t0.0035598952\t0.1835120000\t245270441\t0\t1785159680\t-0.0015092113\t0.0003336112\t0.0004401972\n9\t1311867718.9088680744\t0.0050272825\t0.0029492356\t0.0050272825\t0.0036038386\t0.1773130000\t245275215\t0\t1783660544\t-0.0014763392\t-0.0001842402\t-0.0002196411\n10\t1311867718.9438331127\t0.0044128397\t0.0030955960\t0.0050272825\t0.0034327525\t0.1779060000\t245281109\t0\t1778692096\t-0.0005531940\t-0.0000328156\t0.0011225867\n11\t1311867718.9784109592\t0.0046627694\t0.0032380663\t0.0050272825\t0.0032854765\t0.1778820000\t245284491\t0\t1774399488\t-0.0019191861\t-0.0000207563\t0.0008152474\n12\t1311867719.0091300011\t0.0053739990\t0.0034160607\t0.0053739990\t0.0031525641\t0.2068770000\t245769181\t0\t1776287744\t-0.0020412654\t0.0000292436\t0.0003848035\n13\t1311867719.0441620350\t0.0056012985\t0.0035841559\t0.0056012985\t0.0030791548\t0.2654850000\t246160259\t0\t1778356224\t-0.0016803226\t0.0004103329\t0.0003382948\n14\t1311867719.0776190758\t0.0067450684\t0.0038099354\t0.0067450684\t0.0030724048\t0.3824020000\t246648108\t0\t1782890496\t-0.0003840957\t0.0002673660\t-0.0001071233\n15\t1311867719.1086950302\t0.0067971251\t0.0040090814\t0.0067971251\t0.0030299605\t0.2150800000\t246293730\t0\t1784922112\t-0.0014452764\t-0.0006728013\t-0.0000574030\n16\t1311867719.1437010765\t0.0061521130\t0.0041430208\t0.0067971251\t0.0030101110\t0.2002340000\t246130349\t0\t1783656448\t-0.0016274441\t0.0001687459\t0.0008305301\n17\t1311867719.1810290813\t0.0071149962\t0.0043178429\t0.0071149962\t0.0029520633\t0.1907400000\t246135235\t0\t1781739520\t-0.0005560311\t0.0004560992\t0.0007813360\n18\t1311867719.2127099037\t0.0064731636\t0.0044375830\t0.0071149962\t0.0028818493\t0.1875820000\t246140713\t0\t1783386112\t-0.0016234057\t-0.0006953054\t0.0015420397\n19\t1311867719.2412090302\t0.0058602267\t0.0045124589\t0.0071149962\t0.0028744928\t0.2140670000\t246587519\t0\t1784774656\t-0.0015649697\t-0.0002286822\t0.0027415068\n20\t1311867719.2779469490\t0.0072021340\t0.0046469427\t0.0072021340\t0.0031306738\t0.4034440000\t247489996\t0\t1785589760\t-0.0023722814\t-0.0003179356\t0.0014117927\n21\t1311867719.3104898930\t0.0063434695\t0.0047277297\t0.0072021340\t0.0031788764\t0.2918540000\t246817390\t0\t1783889920\t-0.0020613633\t0.0002812893\t0.0028850450\n22\t1311867719.3413150311\t0.0071636904\t0.0048384552\t0.0072021340\t0.0032494900\t0.1782840000\t246542605\t0\t1784270848\t-0.0019476770\t-0.0008770773\t0.0026375619\n23\t1311867719.3772718906\t0.0073191067\t0.0049463096\t0.0073191067\t0.0031907341\t0.2024680000\t246545875\t0\t1783664640\t-0.0033598200\t-0.0021015760\t0.0023058658\n24\t1311867719.4105761051\t0.0082021207\t0.0050819684\t0.0082021207\t0.0031284646\t0.1864970000\t246549505\t0\t1780584448\t-0.0028945708\t-0.0015698129\t0.0016057815\n25\t1311867719.4427709579\t0.0078117670\t0.0051911603\t0.0082021207\t0.0030842904\t0.1922630000\t246552735\t0\t1779703808\t-0.0026141577\t-0.0017501495\t0.0024997096\n26\t1311867719.4787840843\t0.0077160471\t0.0052882714\t0.0082021207\t0.0030667229\t0.2184960000\t246988565\t0\t1781596160\t-0.0037806202\t-0.0039736782\t0.0028764335\n27\t1311867719.5104370117\t0.0081767347\t0.0053952515\t0.0082021207\t0.0031694699\t0.3906650000\t246987155\t0\t1782149120\t-0.0048705377\t-0.0024001731\t0.0017368557\n28\t1311867719.5449650288\t0.0087931715\t0.0055166058\t0.0087931715\t0.0032652922\t0.3104140000\t248016764\t0\t1784115200\t-0.0049545267\t-0.0020928867\t0.0017553489\n29\t1311867719.5771939754\t0.0082745580\t0.0056117076\t0.0087931715\t0.0032176997\t0.2240800000\t247348830\t0\t1783046144\t-0.0054159835\t-0.0033660040\t0.0028235943\n30\t1311867719.6112511158\t0.0095275408\t0.0057422353\t0.009527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}, { "path": "icra2018_results/tegra/violons_liborbslam2-original_rgbd_dataset_freiburg2_xyz.log", "content": "SLAMBench Report run started:\t2018-02-18 06:58:45\n\nProperties:\n=================\n\nframe-limit: 0\nlog-file: output//violons_liborbslam2-original_rgbd_dataset_freiburg2_xyz.log\ninput: datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam\nload-library: build/lib/liborbslam2-original-library.so\ndse: false\nhelp: false\nnegative-focal-length: false\nrealtime-mode: false\nrealtime-multiplier: 1\nfile-output: \nDepth-intrinsics-parameters: 0.9075,1.212083,0.4825,0.52708\nDepth-disparity-params: 0.001,0\nGrey-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nRGB-intrinsics-parameters: 0.8139063,1.085417,0.5079687,0.5202\nmode: auto\nsettings: \nvocabulary: ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt\nmax-features: 1000\nscale-levels: 8\nscale-factor: 1.2\ninitial-fast-threshold: 20\nsecond-fast-threshold: 7\ncamera-fps: 40\ndepth-threshold: 40\n\nStatistics:\n=================\n\nFrame Number\tTimestamp\tAbsoluteError\tMeanATE\tMaxATE\tRPE_RMSE\tDuration_Frame\tCPU_Memory\tGPU_Memory\tCUDA_Memory\tX\tY\tZ\n1\t1311867170.4622900486\t0.0582520440\t0.0582520440\t0.0582520440\tnan\t0.2025870000\t232994048\t0\t1770569728\t0.0000000000\t0.0000000000\t0.0000000000\n2\t1311867170.4941389561\t0.0585756078\t0.0584138259\t0.0585756078\t0.0034028764\t0.2485680000\t245650053\t0\t1770332160\t-0.0037833005\t-0.0009414774\t-0.0018492915\n3\t1311867170.5264289379\t0.0586280376\t0.0584852298\t0.0586280376\t0.0026159889\t0.1707880000\t245579079\t0\t1772355584\t-0.0067041628\t-0.0009053058\t-0.0039333063\n4\t1311867170.5623490810\t0.0580519997\t0.0583769223\t0.0586280376\t0.0037410649\t0.1760540000\t245584813\t0\t1774133248\t-0.0078443661\t-0.0005861038\t-0.0060355649\n5\t1311867170.5942170620\t0.0569400825\t0.0580895543\t0.0586280376\t0.0045247200\t0.1783270000\t245590563\t0\t1775943680\t-0.0106019322\t-0.0027362446\t-0.0084363036\n6\t1311867170.6260869503\t0.0551154725\t0.0575938740\t0.0586280376\t0.0044352901\t0.1787690000\t245595553\t0\t1777688576\t-0.0094444454\t-0.0038714861\t-0.0113319103\n7\t1311867170.6621398926\t0.0556503460\t0.0573162272\t0.0586280376\t0.0041329494\t0.1797820000\t245599143\t0\t1779212288\t-0.0115148863\t-0.0041057542\t-0.0124842860\n8\t1311867170.6942050457\t0.0557987802\t0.0571265463\t0.0586280376\t0.0038533002\t0.1716910000\t245602413\t0\t1781276672\t-0.0117122177\t-0.0034645684\t-0.0142176896\n9\t1311867170.7263879776\t0.0566393100\t0.0570724089\t0.0586280376\t0.0036873131\t0.1764790000\t245606259\t0\t1783402496\t-0.0149373086\t-0.0052102045\t-0.0146349268\n10\t1311867170.7620189190\t0.0569225438\t0.0570574224\t0.0586280376\t0.0035334542\t0.1692800000\t245611089\t0\t1784418304\t-0.0180233605\t-0.0073142066\t-0.0159661341\n11\t1311867170.7941920757\t0.0556345955\t0.0569280745\t0.0586280376\t0.0037192422\t0.1691150000\t245615351\t0\t1783848960\t-0.0187813304\t-0.0093204537\t-0.0190208256\n12\t1311867170.8262820244\t0.0554144531\t0.0568019394\t0.0586280376\t0.0037327077\t0.1754470000\t245619757\t0\t1779482624\t-0.0190296154\t-0.0125404121\t-0.0211115703\n13\t1311867170.8622210026\t0.0537745208\t0.0565690610\t0.0586280376\t0.0039599583\t0.1781130000\t245623843\t0\t1776214016\t-0.0180479512\t-0.0146123292\t-0.0249690209\n14\t1311867170.8943779469\t0.0537642762\t0.0563687193\t0.0586280376\t0.0038162331\t0.1717330000\t245627697\t0\t1776066560\t-0.0180740319\t-0.0165215451\t-0.0278637968\n15\t1311867170.9263520241\t0.0533844791\t0.0561697699\t0.0586280376\t0.0038396594\t0.1740780000\t245632031\t0\t1777729536\t-0.0189932398\t-0.0195865873\t-0.0310562793\n16\t1311867170.9621469975\t0.0537181646\t0.0560165446\t0.0586280376\t0.0037860931\t0.1698830000\t245635405\t0\t1779486720\t-0.0208562482\t-0.0206712913\t-0.0340419859\n17\t1311867170.9942629337\t0.0532430448\t0.0558533975\t0.0586280376\t0.0036912124\t0.1699390000\t245640523\t0\t1781276672\t-0.0205119327\t-0.0211629272\t-0.0378756672\n18\t1311867171.0262739658\t0.0524694473\t0.0556654003\t0.0586280376\t0.0036173519\t0.1689490000\t245646065\t0\t1782566912\t-0.0206973143\t-0.0255436413\t-0.0403877273\n19\t1311867171.0623519421\t0.0528631918\t0.0555179156\t0.0586280376\t0.0043409314\t0.1736280000\t245650451\t0\t1784545280\t-0.0228473246\t-0.0273610782\t-0.0431987941\n20\t1311867171.0942349434\t0.0529033281\t0.0553871863\t0.0586280376\t0.0044337013\t0.2175470000\t246101301\t0\t1784332288\t-0.0206072778\t-0.0261510015\t-0.0456851944\n21\t1311867171.1262509823\t0.0534034818\t0.0552927241\t0.0586280376\t0.0043467862\t0.2526040000\t246454227\t0\t1783934976\t-0.0215436425\t-0.0281334110\t-0.0469275601\n22\t1311867171.1622469425\t0.0548955910\t0.0552746726\t0.0586280376\t0.0047186689\t0.3536440000\t247151424\t0\t1785344000\t-0.0223160461\t-0.0278552379\t-0.0476545058\n23\t1311867171.1942689419\t0.0533635318\t0.0551915796\t0.0586280376\t0.0056809159\t0.2084850000\t246422999\t0\t1784410112\t-0.0176048949\t-0.0264256783\t-0.0493520498\n24\t1311867171.2262530327\t0.0532327294\t0.0551099608\t0.0586280376\t0.0057776981\t0.1733950000\t246425573\t0\t1784893440\t-0.0145662557\t-0.0281004515\t-0.0506140552\n25\t1311867171.2622439861\t0.0519217253\t0.0549824314\t0.0586280376\t0.0056669731\t0.1868800000\t246428923\t0\t1783496704\t-0.0096299639\t-0.0262577981\t-0.0532548502\n26\t1311867171.2943410873\t0.0514647588\t0.0548471363\t0.0586280376\t0.0055857640\t0.1855930000\t246432369\t0\t1781592064\t-0.0066775009\t-0.0263443571\t-0.0540268533\n27\t1311867171.3263869286\t0.0532566905\t0.0547882309\t0.0586280376\t0.0059136040\t0.1761090000\t246436215\t0\t1783222272\t-0.0075239688\t-0.0265756547\t-0.0537592098\n28\t1311867171.3622460365\t0.0555086024\t0.0548139584\t0.0586280376\t0.0058631719\t0.1788230000\t246439725\t0\t1785229312\t-0.0076570068\t-0.0229884014\t-0.0534442030\n29\t1311867171.3941431046\t0.0561696962\t0.0548607080\t0.0586280376\t0.0058267872\t0.1776770000\t246442947\t0\t1783377920\t-0.0092201363\t-0.0222559776\t-0.0543685071\n30\t1311867171.4262878895\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\t258415725\t0\t1783980032\t-0.0753003061\t-0.2671110928\t-0.1109975949\n1129\t1311867208.0924620628\t0.0525666140\t0.0529886425\t0.0692697018\t0.0053234083\t0.2073200000\t258418011\t0\t1785749504\t-0.0741249099\t-0.2673103809\t-0.1120935306\n1130\t1311867208.1276559830\t0.0520501286\t0.0529878119\t0.0692697018\t0.0053226039\t0.2087840000\t258419945\t0\t1784868864\t-0.0755486265\t-0.2700044513\t-0.1119778678\n1131\t1311867208.1596069336\t0.0524654724\t0.0529873501\t0.0692697018\t0.0053203016\t0.2404460000\t258421655\t0\t1784090624\t-0.0747728944\t-0.2701284289\t-0.1126291007\n1132\t1311867208.1905009747\t0.0519792363\t0.0529864595\t0.0692697018\t0.0053204882\t0.2046510000\t258423605\t0\t1785905152\t-0.0735060573\t-0.2714328468\t-0.1132555455\n1133\t1311867208.2280850410\t0.0507253893\t0.0529844639\t0.0692697018\t0.0053195480\t0.2130550000\t258426107\t0\t1784741888\t-0.0739724562\t-0.2743631601\t-0.1143120155\n1134\t1311867208.2581789494\t0.0520213023\t0.0529836145\t0.0692697018\t0.0053175001\t0.2122520000\t258427729\t0\t1783963648\t-0.0754884928\t-0.2754016221\t-0.1130504161\n1135\t1311867208.2901990414\t0.0521290600\t0.0529828616\t0.0692697018\t0.0053153464\t0.2093040000\t258429767\t0\t1785380864\t-0.0778777301\t-0.2773950398\t-0.1129777730\n1136\t1311867208.3270208836\t0.0524800792\t0.0529824190\t0.0692697018\t0.0053146382\t0.2099050000\t258431829\t0\t1784401920\t-0.0747644156\t-0.2773735821\t-0.1143178269\n1137\t1311867208.3580970764\t0.0524784625\t0.0529819758\t0.0692697018\t0.0053147223\t0.2074460000\t258433883\t0\t1783091200\t-0.0749249831\t-0.2786293030\t-0.1143798232\n1138\t1311867208.3910560608\t0.0517003275\t0.0529808496\t0.0692697018\t0.0053126584\t0.2035330000\t258436033\t0\t1784741888\t-0.0750627965\t-0.2800358534\t-0.1158322841\n1139\t1311867208.4260230064\t0.0534924828\t0.0529812987\t0.0692697018\t0.0053108059\t0.2049950000\t258437687\t0\t1783377920\t-0.0777968615\t-0.2814366221\t-0.1138474718\n1140\t1311867208.4577419758\t0.0524887070\t0.0529808666\t0.0692697018\t0.0053096357\t0.2543510000\t258775525\t0\t1782620160\t-0.0771923140\t-0.2833703160\t-0.1149530038\n1141\t1311867208.4907650948\t0.0522955582\t0.0529802660\t0.0692697018\t0.0053074991\t0.4504250000\t258798399\t0\t1783025664\t-0.0759076029\t-0.2841496468\t-0.1154834479\n1142\t1311867208.5257411003\t0.0522118211\t0.0529795931\t0.0692697018\t0.0053058374\t0.4524350000\t258800285\t0\t1784647680\t-0.0765687823\t-0.2861026227\t-0.1145185456\n1143\t1311867208.5583798885\t0.0528719202\t0.0529794989\t0.0692697018\t0.0053039949\t0.4391320000\t258970827\t0\t1783443456\t-0.0785955563\t-0.2873260677\t-0.1133281961\n1144\t1311867208.5904500484\t0.0533119328\t0.0529797895\t0.0692697018\t0.0053026420\t0.4495940000\t262299636\t0\t1782538240\t-0.0771537051\t-0.2867460847\t-0.1139491796\n1145\t1311867208.6259779930\t0.0535223484\t0.0529802634\t0.0692697018\t0.0053008626\t0.3677310000\t262275118\t0\t1779167232\t-0.0781628489\t-0.2879511416\t-0.1127645224\n1146\t1311867208.6582078934\t0.0517779104\t0.0529792142\t0.0692697018\t0.0052990048\t0.2697680000\t262338480\t0\t1781026816\t-0.0786667913\t-0.2900861800\t-0.1135217920\n1147\t1311867208.6910300255\t0.0518538356\t0.0529782330\t0.0692697018\t0.0053002716\t0.4726480000\t261290798\t0\t1777676288\t-0.0775400847\t-0.2898996770\t-0.1130947024\n1148\t1311867208.7262260914\t0.0520314872\t0.0529774084\t0.0692697018\t0.0053003065\t0.2677410000\t258810277\t0\t1777745920\t-0.0784734190\t-0.2908589542\t-0.1128010601\n1149\t1311867208.7591009140\t0.0515766665\t0.0529761893\t0.0692697018\t0.0052981314\t0.2121550000\t258812067\t0\t1779507200\t-0.0802619308\t-0.2923386693\t-0.1124834642\n1150\t1311867208.7909750938\t0.0528683737\t0.0529760955\t0.0692697018\t0.0052966049\t0.2145250000\t258814017\t0\t1781260288\t-0.0803163424\t-0.2920755744\t-0.1108889282\n1151\t1311867208.8259930611\t0.0517704822\t0.0529750481\t0.0692697018\t0.0052973191\t0.2178340000\t258816007\t0\t1782910976\t-0.0798961669\t-0.2943778634\t-0.1108574122\n1152\t1311867208.8588190079\t0.0517045073\t0.0529739452\t0.0692697018\t0.0053031908\t0.2074900000\t258817949\t0\t1784688640\t-0.0797721297\t-0.2955586910\t-0.1102596670\n1153\t1311867208.8916258812\t0.0529280901\t0.0529739054\t0.0692697018\t0.0053126945\t0.2126110000\t258820395\t0\t1783861248\t-0.0807906687\t-0.2947641313\t-0.1099050194\n1154\t1311867208.9275119305\t0.0539983176\t0.0529747931\t0.0692697018\t0.0053130073\t0.2099180000\t258822145\t0\t1782808576\t-0.0832508132\t-0.2966390848\t-0.1084469110\n1155\t1311867208.9577760696\t0.0527868159\t0.0529746303\t0.0692697018\t0.0053122467\t0.2135580000\t258823935\t0\t1784459264\t-0.0833832249\t-0.2996205389\t-0.1084239036\n1156\t1311867208.9911639690\t0.0520663261\t0.0529738446\t0.0692697018\t0.0053109042\t0.2122330000\t258826037\t0\t1783844864\t-0.0821706280\t-0.3006318510\t-0.1100045815\n1157\t1311867209.0270779133\t0.0542469323\t0.0529749449\t0.0692697018\t0.0053119594\t0.2016620000\t258828323\t0\t1782824960\t-0.0827680379\t-0.3009608984\t-0.1081979945\n1158\t1311867209.0579569340\t0.0524585061\t0.0529744990\t0.0692697018\t0.0053098659\t0.2116280000\t258829993\t0\t1784569856\t-0.0837272108\t-0.3033306003\t-0.1106937453\n1159\t1311867209.0906980038\t0.0532099940\t0.0529747022\t0.0692697018\t0.0053100758\t0.1996140000\t258832295\t0\t1783590912\t-0.0842584297\t-0.3031810820\t-0.1113083586\n1160\t1311867209.1260778904\t0.0553142205\t0.0529767190\t0.0692697018\t0.0053081696\t0.2093150000\t258834205\t0\t1782444032\t-0.0853141025\t-0.3024468720\t-0.1108681485\n1161\t1311867209.1600620747\t0.0547375716\t0.0529782357\t0.0692697018\t0.0053074900\t0.2073580000\t258836203\t0\t1784336384\t-0.0852325559\t-0.3049883842\t-0.1105895266\n1162\t1311867209.1917839050\t0.0534154624\t0.0529786119\t0.0692697018\t0.0053052998\t0.2123800000\t258838385\t0\t1785704448\t-0.0850527957\t-0.3060545325\t-0.1130322888\n1163\t1311867209.2259531021\t0.0562167801\t0.0529813963\t0.0692697018\t0.0053035720\t0.2065740000\t258840239\t0\t1784950784\t-0.0849274471\t-0.3050288558\t-0.1112972051\n" }, { "path": "icra2018_results/utils.py", "content": "\n#########################################################################################\n# UTILS SYSTEM\n#########################################################################################\n\nimport sys\n\n\n\nclass shellcolors:\n GREEN = '\\033[92m'\n YELLOW = '\\033[93m'\n RED = '\\033[91m'\n ENDC = '\\033[0m'\n BOLD = '\\033[1m'\n UNDERLINE = '\\033[4m'\n \nWARNING_CODE = shellcolors.YELLOW + \"[ERROR]\" + shellcolors.ENDC\nERROR_CODE = shellcolors.RED + \"[ERROR]\" + shellcolors.ENDC\nINVALID = shellcolors.RED + \"[INVALID]\" + shellcolors.ENDC\nVALID = shellcolors.GREEN + \"[VALID]\" + shellcolors.ENDC\n\nverbose_level = False\n\ndef setverbose(v) :\n global verbose_level\n verbose_level = v\n\ndef printwarning(msg) :\n sys.stderr.write(WARNING_CODE + \" \" + msg)\n\n \ndef printerr(err) :\n sys.stderr.write(ERROR_CODE + \" \" + err)\n \ndef printinfo(err) :\n global verbose_level\n if verbose_level :\n sys.stderr.write(shellcolors.GREEN + \"[INFO]\" + shellcolors.ENDC + \" \" + err)\n\n" }, { "path": "icra2018_results/violins.py", "content": "#!/usr/bin/python\nimport math\nimport sys\nimport re\nimport numpy as np\n\n\nimport matplotlib\nimport pylab as plot\nimport datetime as datetime\nimport os\nimport argparse\nimport pprint\n\n\nfrom slamlog import *\nfrom plotutils import *\n\n\n\n\n#########################################################################################\n# rendering setting\n#########################################################################################\n\n\n\n\ndefault_order = [\n \"KF-CUDA\",\n \"EF-CUDA\",\n \"IT-CPP\",\n \"OS2-CPP\",\n]\n\n\n\n#########################################################################################\n# UTILS PLOT\n#########################################################################################\n\n\ndef generate_latex_doc (containt) :\n\n latex_str = \"\" \n latex_str += \"\\\\documentclass[landscape]{article}\\n\"\n latex_str += \"\\\\usepackage[table]{xcolor}\\n\"\n latex_str += \"\\\\usepackage[ margin=0cm]{geometry}\\n\"\n latex_str += \"\\\\setlength{\\\\arrayrulewidth}{0.2mm}\\n\"\n latex_str += \"\\\\setlength{\\\\tabcolsep}{2pt}\\n\"\n latex_str += \"\\\\renewcommand{\\\\arraystretch}{1}\\n\"\n latex_str += \"\\\\begin{document}\\n\"\n \n latex_str += containt\n \n latex_str += \"\\\\end{document}\\n\"\n\n return latex_str\n \ndef generate_latex_table (data , table_title, value_name, value_type , precision = \"%.2f\", high_threshold = None , low_threshold = None) :\n\n dataset_labels = []\n\n for a in data :\n dataset_labels = list ( set ( dataset_labels + data[a].keys() ) ) \n\n algorithm_labels = data.keys()\n \n \n latex_str = \"\" \n latex_str += table_title + \"\\\\\\\\\\n\"\n latex_str += \"{\\\\rowcolors{3}{black!10}{black!2}\\n\"\n latex_str += \"\\\\tiny\\n\"\n latex_str += \"\\\\begin{tabular}{%s}\\n\" % ( \"|l|\" + \"|\".join([\"l\" for x in dataset_labels]) + \"|\")\n latex_str += \"\\\\hline\\n\"\n# latex_str += \"Dataset name & \\\\multicolumn{4}{c|}{ICLNUIM Dataset} & \\\\multicolumn{19}{c|}{TUM Dataset} & \\\\multicolumn{11}{c|}{EuRoC MAV Dataset} \\\\\\\\\\n\"\n# latex_str += \"\\\\hline\\n\"\n# latex_str += \"Scene name & \\\\multicolumn{4}{c|}{Living Room} & \\\\multicolumn{7}{c|}{Freiburg 1} & \\\\multicolumn{12}{c|}{Freiburg 2} & \\\\multicolumn{5}{c|}{Machine Hall} & \\\\multicolumn{3}{c|}{Vicon Room 1} & \\\\multicolumn{3}{c|}{Vicon Room 2}\\\\\\\\\\n\"\n latex_str += \"Algorithm & \" + \" & \".join([x.replace(\"_\",\"\\_\") for x in dataset_labels]) + \"\\\\\\\\\\n\"\n latex_str += \"\\\\hline\\n\"\n for algorithm in data :\n latex_str += algorithm.replace(\"_\",\"\\_\")\n for dataset in dataset_labels :\n accuracy = None\n \n if not dataset in data[algorithm].keys() :\n latex_str += \"& - \"\n continue\n\n if len(data[algorithm][dataset]) == 0 :\n printerr (\"Cannot find any iteration in %s data.\\n\" % (dataset, algorithm))\n exit(1)\n\n \n for it in data[algorithm][dataset] :\n \n if not STATISTICS_SECTION in it.keys() :\n printerr (\"Invalid data (%s,%s), no STATISTICS_SECTION.\\n\" % (algorithm,dataset))\n exit(1)\n\n \n if not ATE_COLUMN in it[STATISTICS_SECTION].keys() :\n printerr (\"Invalid data(%s,%s), no ATE_COLUMN.\\n\" % (algorithm,dataset))\n exit(1) \n\n for it in data[algorithm][dataset] :\n if accuracy == None :\n accuracy = 0.0\n accuracy += float(it[STATISTICS_SECTION][value_name][value_type])\n accuracy = accuracy / len(data[algorithm][dataset])\n\n \n if accuracy == None :\n latex_str += \"& - \"\n elif high_threshold and accuracy > high_threshold :\n latex_str += \"& $>$\" + precision % high_threshold\n elif low_threshold and accuracy < low_threshold :\n latex_str += \" & \\\\textbf{\" + precision % accuracy + \"} \" \n else :\n latex_str += \" & \" + precision % accuracy\n latex_str += \"\\\\\\\\\\n\" \n latex_str += \"\\\\hline\\n\"\n latex_str += \"\\\\end{tabular}\\n\"\n latex_str += \"\\n\"\n \n return latex_str\n \ndef generate_latex (data) :\n\n tables = \"\"\n tables += generate_latex_table (data , \"ATE Mean\" , ATE_COLUMN , MEAN_FIELD, precision = \"%.2f\" , high_threshold = 1 , low_threshold = 0.1)\n tables += generate_latex_table (data , \"ATE Max\" , ATE_COLUMN , MAX_FIELD, precision = \"%.2f\" , high_threshold = 1 , low_threshold = 0.1)\n tables += generate_latex_table (data , \"Frame count\" , ATE_COLUMN , COUNT_FIELD, precision= \"%d\")\n \n return generate_latex_doc (tables) \n \n\n#########################################################################################\n# MAIN\n#########################################################################################\n\n\ndef main(): \n\n # GET ARGUMENTS\n parser = argparse.ArgumentParser()\n #parser.add_argument('-i','--input', action='append', help=' Set flag', required=True)\n parser.add_argument('files', metavar='N', type=str, nargs='+', help='Files to process')\n parser.add_argument('--latex', action=\"store_true\", help='Generate the latex file')\n parser.add_argument('--violins', action=\"store_true\", help='Generate the violins data')\n parser.add_argument('--plot', type=str, help='Generate the violins pdf file')\n \n args = parser.parse_args()\n #print \"Input files: %s\" % (str(args.input))\n data = load_data_from_files (args.files)\n if args.latex :\n latex_str = generate_latex (data)\n print latex_str\n if args.violins :\n violins = generate_violins (data)\n print violins\n if args.plot :\n violins = generate_violins (data)\n plot_violins (violins, args.plot, default_order)\n \nmain()\n" }, { "path": "scripts/evaluate.py", "content": "#!/usr/bin/env python2\nfrom __future__ import print_function\nimport sys\nimport argparse\nimport math\nimport os\nimport numpy as np\nimport matplotlib.pyplot as plt\nfrom tum_evaluate_tools import associate\nfrom tum_evaluate_tools import evaluate_ate\nfrom tf import transformations\n\ndef parse_input(filename, remove_repeat=True, input=None):\n sequences = {}\n info = {}\n inputs = {}\n if input is None:\n seq = 0 # valid seq will start from 1\n else:\n seq = 1\n sequences[1] = {}\n sequences[1]['traj'] = {}\n inputs[1] = input\n with open(filename) as fp:\n last_pose = None\n for line in fp:\n if line.startswith('#') or len(line.strip()) is 0:\n continue\n elif line.startswith('seq:'):\n try:\n seq = int(line.lstrip('seq:'))\n sequences[seq] = {}\n sequences[seq]['traj'] = {}\n inputs[seq] = info['scene'] + '-%s' % seq\n except ValueError:\n exit('Invalid seq value:\\n' + line)\n elif line.startswith('input:'):\n if input is not None: continue\n seq += 1\n sequences[seq] = {}\n sequences[seq]['traj'] = {}\n inputs[seq] = line.lstrip('input:').strip()\n elif line.startswith('reloc:'):\n aided_reloc = line.lstrip('aided_reloc:')\n sequences[seq]['aided_reloc'] = bool(aided_reloc) \\\n if 'false' not in aided_reloc and 'False' not in aided_reloc else False\n elif ':' in line:\n key = line.split(':')[0].strip()\n value = line.split(':')[1].strip()\n if key not in info: info[key] = value\n else:\n s = line.split()\n if len(s) != 8 and len(s) != 9:\n exit('Invalid line:\\n' + line)\n try:\n stamp = float(s[0])\n pose = [float(v) for v in s[-7:]]\n except ValueError:\n exit('Invalid line:\\n' + line)\n else:\n if np.isnan(sum(pose)): continue\n if remove_repeat and pose == last_pose: continue\n sequences[seq]['traj'][stamp] = pose\n last_pose = pose\n return info, sequences, inputs\n\ndef tf_matrix_to_values(matrix):\n t = list(matrix[:3, 3])\n q = list(transformations.quaternion_from_matrix(matrix))\n return t + q\n\ndef tf_values_to_matrix(values):\n angles = transformations.euler_from_quaternion(values[3:])\n return transformations.compose_matrix(angles=angles, translate=values[:3])\n\ndef transform_target_frame(sequences, scene, tf_target_new):\n tf_target_new = tf_values_to_matrix(tf_target_new)\n for seq in sequences:\n for t in sequences[seq]['traj'].keys():\n base_pose = np.dot(tf_values_to_matrix(sequences[seq]['traj'][t]), tf_target_new)\n sequences[seq]['traj'][t] = tf_matrix_to_values(base_pose)\n\ndef transform_world_frame(sequences, gts, auto_scale):\n seq = min(sequences.keys())\n traj0 = sequences[seq]['traj']\n gt0 = gts[seq]['traj']\n matches, ref_traj_interpolated = associate.associate_with_interpolation(gt0, traj0, 0, 0.5)\n if len(matches) < 1:\n sequences[seq]['ate'] = {}\n sequences[seq]['ate_rmse'] = float('nan')\n sequences[seq]['ate_num'] = 0\n sequences[seq]['oe'] = {}\n sequences[seq]['aoe_rmse'] = float('nan')\n return\n first_xyz = np.matrix([[float(value) for value in ref_traj_interpolated[a][0:3]] for a,b in matches]).transpose()\n second_xyz = np.matrix([[float(value) for value in traj0[b][0:3]] for a,b in matches]).transpose()\n if auto_scale:\n rot, trans, scale, ate = evaluate_ate.umeyama_align(second_xyz, first_xyz)\n else:\n rot, trans, ate = evaluate_ate.align(second_xyz, first_xyz)\n scale = 1\n sequences[seq]['ate'] = {m[1]: e for m, e in zip(matches, ate)}\n #print sequences[seq]['ate']\n sequences[seq]['ate_rmse'] = np.sqrt(np.dot(ate, ate) / len(ate))\n sequences[seq]['ate_num'] = len(ate)\n tf_matrix = evaluate_ate.compose_transform_matrix(rot, trans, scale)\n for seq in sequences:\n traj_trans = {t: tf_matrix_to_values(np.dot(tf_matrix, tf_values_to_matrix(p))) for t,p in sequences[seq]['traj'].items()}\n sequences[seq]['traj'] = traj_trans\n seq = min(sequences.keys())\n sequences[seq]['oe'] = {b: angle_diff_from_quaternions(ref_traj_interpolated[a][3:], sequences[seq]['traj'][b][3:]) for a,b in matches}\n aoe = np.abs(np.array(sequences[seq]['oe'].values()))\n sequences[seq]['aoe_rmse'] = np.sqrt(np.dot(aoe, aoe) / len(aoe)) if len(aoe) > 0 else float('nan')\n #print(sequences[seq]['oe'].values())\n\ndef calculate_ate(sequences, gts):\n for seq in sequences:\n if 'ate' in sequences[seq]: continue\n matches, ref_traj_interpolated = associate.associate_with_interpolation(gts[seq]['traj'], sequences[seq]['traj'], 0, 0.5)\n first_xyz = np.matrix([[float(value) for value in ref_traj_interpolated[a][0:3]] for a,b in matches]).transpose()\n second_xyz = np.matrix([[float(value) for value in sequences[seq]['traj'][b][0:3]] for a,b in matches]).transpose()\n error = second_xyz - first_xyz\n ate = np.sqrt(np.sum(np.multiply(error, error), 0)).A[0]\n sequences[seq]['ate'] = {m[1]: e for m, e in zip(matches, ate)}\n sequences[seq]['oe'] = {b: angle_diff_from_quaternions(ref_traj_interpolated[a][3:], sequences[seq]['traj'][b][3:]) for a,b in matches}\n aoe = np.abs(np.array(sequences[seq]['oe'].values()))\n sequences[seq]['ate_rmse'] = np.sqrt(np.dot(ate, ate) / len(ate)) if len(ate) > 0 else float('nan')\n sequences[seq]['aoe_rmse'] = np.sqrt(np.dot(aoe, aoe) / len(aoe)) if len(aoe) > 0 else float('nan')\n sequences[seq]['ate_num'] = len(ate)\n #print(sequences[seq]['oe'].values())\n\ndef calculate_correctness(sequences, gts, ate_threshold, aoe_threshold, max_pose_interval, reloc_score_factor):\n is_pose_correct = lambda ate, oe: ate <= ate_threshold and abs(oe) <= aoe_threshold\n for seq in sequences:\n ate = sequences[seq]['ate']\n oe = sequences[seq]['oe']\n c_ate = [ate[t] for t in ate if is_pose_correct(ate[t], oe[t])]\n c_oe = [oe[t] for t in oe if is_pose_correct(ate[t], oe[t])]\n sequences[seq]['c_ate_rmse'] = np.sqrt(np.dot(c_ate, c_ate) / len(c_ate)) if len(c_ate) > 0 else float('nan')\n sequences[seq]['c_aoe_rmse'] = np.sqrt(np.dot(c_oe, c_oe) / len(c_oe)) if len(c_oe) > 0 else float('nan')\n sequences[seq]['c_ate_num'] = len(c_ate)\n if len(ate) is 0:\n sequences[seq]['reloc_correct'] = False\n sequences[seq]['reloc_time'] = float('inf')\n sequences[seq]['reloc_score'] = 0\n sequences[seq]['track_time'] = 0\n sequences[seq]['track_cr'] = 0\n sequences[seq]['correct_time'] = 0\n sequences[seq]['cr'] = 0\n continue\n t0 = min(ate.keys())\n tmin = min(gts[seq]['traj'].keys())\n tmax = max(ate.keys() + gts[seq]['traj'].keys())\n gt = gts[seq]['traj']\n\n # re-localization metrics\n reloc_time = t0 - min(gt.keys())\n if reloc_time < 0: reloc_time = 0\n sequences[seq]['reloc_time'] = reloc_time\n sequences[seq]['reloc_correct'] = is_pose_correct(ate[t0], oe[t0])\n sequences[seq]['reloc_score'] = math.exp(-reloc_time / reloc_score_factor) if sequences[seq]['reloc_correct'] else 0\n\n # tracking metrics\n tracked = 0 # accumulated time of correct tracking\n stamps = sorted(ate.keys())\n for t in stamps:\n next_t = tmax if t == stamps[-1] \\\n else stamps[stamps.index(t) + 1]\n if next_t <= t: break\n if is_pose_correct(ate[t], oe[t]):\n tracked += min(max_pose_interval, next_t - t)\n sequences[seq]['track_time'] = tmax - t0\n sequences[seq]['track_cr'] = tracked / (tmax - t0)\n sequences[seq]['correct_time'] = tracked\n sequences[seq]['cr'] = tracked / (tmax - tmin)\n\ndef angle_diff_from_quaternions(q1, q2):\n tf1 = transformations.compose_matrix(angles=transformations.euler_from_quaternion(q1))\n tf2 = transformations.compose_matrix(angles=transformations.euler_from_quaternion(q2))\n angle,_,_ = transformations.rotation_from_matrix(np.dot(np.linalg.inv(tf1), tf2))\n return angle / np.pi * 180.\n\ndef plot_all_traj(sequences, gts):\n fig = plt.figure()\n traj_num = max(sequences.keys())\n for seq in sequences:\n ax = fig.add_subplot(traj_num * 10 + 100 + seq)\n traj = sequences[seq]['traj']\n tt = sorted(traj.keys())\n tx = [traj[t][0] for t in tt]\n ty = [traj[t][1] for t in tt]\n ax.plot(tx, ty, '-r')\n ax.hold(True)\n if len(tx) > 0:\n ax.plot(tx[0], ty[0], 'or')\n traj = gts[seq]['traj']\n tt = sorted(traj.keys())\n tx = [traj[t][0] for t in tt]\n ty = [traj[t][1] for t in tt]\n ax.plot(tx, ty, '-g')\n ax.plot(tx[0], ty[0], 'og')\n plt.show()\n\ndef evaluate(sequences, inputs, gts, gt_info, ate_threshold, aoe_threshold, max_pose_interval, reloc_score_factor, auto_scale, print_results=True):\n seqs = sorted(sequences.keys())\n res = []\n print_str = lambda s: [print(s) if print_results else None, res.append(s)]\n column1 = '%-12s'\n print_str(column1 % 'inputs' + ' '.join(['%8s' % inputs[seq].rstrip('.slam') for seq in seqs]))\n print_str(column1 % 'poses' + ' '.join(['%8d' % len(sequences[seq]['traj']) for seq in seqs]))\n #transform_target_frame(gts, info['scene'], gt_info['frame'], info['frame'])\n transform_world_frame(sequences, gts, auto_scale)\n calculate_ate(sequences, gts)\n print_str(column1 % 'matches' + ' '.join(['%8d' % sequences[seq]['ate_num'] for seq in seqs]))\n print_str(column1 % 'ATE RMSE' + ' '.join(['%8.3f' % sequences[seq]['ate_rmse'] for seq in seqs]))\n calculate_correctness(sequences, gts, ate_threshold, aoe_threshold, max_pose_interval, reloc_score_factor)\n print_str(column1 % 'C-ATE RMSE' + ' '.join(['%8.3f' % sequences[seq]['c_ate_rmse'] for seq in seqs]))\n print_str(column1 % 'AOE RMSE' + ' '.join(['%8.3f' % sequences[seq]['aoe_rmse'] for seq in seqs]))\n print_str(column1 % 'C-AOE RMSE' + ' '.join(['%8.3f' % sequences[seq]['c_aoe_rmse'] for seq in seqs]))\n print_str(column1 % 'correct time' + ' '.join(['%8.3f' % sequences[seq]['correct_time'] for seq in seqs]))\n print_str(column1 % 'correct rate' + ' '.join(['%8.3f' % sequences[seq]['cr'] for seq in seqs]))\n #print_str(column1 % ('CR-T') + ' '.join(['%8.3f' % sequences[seq]['track_cr'] for seq in seqs]))\n #print_str(column1 % 'reloc time' + ' '.join(['%8.3f' % sequences[seq]['reloc_time'] for seq in seqs]))\n print_str(column1 % 'reloc score' + ' '.join(['%8.3f' % sequences[seq]['reloc_score'] for seq in seqs]))\n print_str('(ATE threshold: %.1f m. AOE threshold: %.1f deg. Reloc time factor: %.1f s.)' % (ate_threshold, aoe_threshold, reloc_score_factor))\n return '\\n'.join(res)\n\ndef main():\n parser = argparse.ArgumentParser(usage='%(prog)s [options] RESULT_FILE.txt [RESULT_FILE2.txt ...]')\n parser.add_argument('-g', '--gt-path', help='path to ground-truth files, default is the same folder with results', type=str, default='')\n group = parser.add_mutually_exclusive_group()\n group.add_argument('-r', '--remove-repeated-pose', help='ignore repeated poses', dest='remove_repeat', action='store_true')\n group.add_argument('-k', '--keep-repeated-pose', help='keep repeated poses', dest='remove_repeat', action='store_false')\n parser.add_argument('-t', '--ate-threshold', type=float, help='ATE threshold of correctness (meter)', default=float('inf'))\n parser.add_argument('-o', '--aoe-threshold', type=float, help='AOE threshold of correctness (degree)', default=float('inf'))\n parser.add_argument('-m', '--max-pose-interval', help='consider lost after no pose for such time (sec)', type=float, default=1.)\n parser.add_argument('-f', '--reloc-score-factor', help='a factor to score time for re-localization (sec)', type=float, default=60.)\n parser.add_argument('-s', '--scale', help='find optimal scale', dest='scale', action='store_true')\n group = parser.add_mutually_exclusive_group()\n group.add_argument('-p', '--plot', help='plot trajectories', dest='plot', action='store_true')\n group.add_argument('-np', '--no-plot', help='not plot trajectories', dest='plot', action='store_false')\n parser.set_defaults(remove_repeat=True)\n parser.set_defaults(scale=False)\n parser.set_defaults(plot=True)\n args, left = parser.parse_known_args()\n if len(left) < 1:\n parser.print_help(sys.stderr)\n for filename in left:\n info, sequences, inputs = parse_input(filename, args.remove_repeat)\n print('%s: %d trajectories' % (filename, len(sequences)))\n gt_path = args.gt_path if args.gt_path != '' else os.path.dirname(filename)\n gts = {}\n for seq, input in inputs.items():\n gt_file = gt_path + '/%s.gt' % input.rstrip('.slam')\n gt_info, gt_sequences, _ = parse_input(gt_file, input=input)\n gts[seq] = gt_sequences[1] # assume only one sequence in each gt file\n evaluate(sequences, inputs, gts, gt_info, args.ate_threshold, args.aoe_threshold, args.max_pose_interval, args.reloc_score_factor, args.scale)\n if args.plot:\n plot_all_traj(sequences, gts)\n\nif __name__ == \"__main__\":\n main()\n" }, { "path": "scripts/tum_evaluate_tools/__init__.py", "content": "" }, { "path": "scripts/tum_evaluate_tools/associate.py", "content": "#!/usr/bin/python\n# Software License Agreement (BSD License)\n#\n# Copyright (c) 2013, Juergen Sturm, TUM\n# All rights reserved.\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions\n# are met:\n#\n# * Redistributions of source code must retain the above copyright\n# notice, this list of conditions and the following disclaimer.\n# * Redistributions in binary form must reproduce the above\n# copyright notice, this list of conditions and the following\n# disclaimer in the documentation and/or other materials provided\n# with the distribution.\n# * Neither the name of TUM nor the names of its\n# contributors may be used to endorse or promote products derived\n# from this software without specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS\n# \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT\n# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS\n# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE\n# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,\n# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,\n# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\n# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\n# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT\n# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN\n# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n#\n# Requirements: \n# sudo apt-get install python-argparse\n\n\"\"\"\nThe Kinect provides the color and depth images in an un-synchronized way. This means that the set of time stamps from the color images do not intersect with those of the depth images. Therefore, we need some way of associating color images to depth images.\n\nFor this purpose, you can use the ''associate.py'' script. It reads the time stamps from the rgb.txt file and the depth.txt file, and joins them by finding the best matches.\n\"\"\"\n\nimport argparse\nimport sys\nimport os\nimport numpy\nimport math\n\n\ndef read_file_list(filename):\n \"\"\"\n Reads a trajectory from a text file. \n \n File format:\n The file format is \"stamp d1 d2 d3 ...\", where stamp denotes the time stamp (to be matched)\n and \"d1 d2 d3..\" is arbitary data (e.g., a 3D position and 3D orientation) associated to this timestamp. \n \n Input:\n filename -- File name\n \n Output:\n dict -- dictionary of (stamp,data) tuples\n \n \"\"\"\n file = open(filename)\n data = file.read()\n lines = data.replace(\",\",\" \").replace(\"\\t\",\" \").split(\"\\n\") \n list = [[float(v.strip()) for v in line.split(\" \") if v.strip()!=\"\"] for line in lines if len(line)>0 and line[0]!=\"#\"]\n list = [(float(l[0]),l[1:]) for l in list if len(l)>1]\n return dict(list)\n\ndef associate(first_list, second_list,offset,max_difference):\n \"\"\"\n Associate two dictionaries of (stamp,data). As the time stamps never match exactly, we aim \n to find the closest match for every input tuple.\n \n Input:\n first_list -- first dictionary of (stamp,data) tuples\n second_list -- second dictionary of (stamp,data) tuples\n offset -- time offset between both dictionaries (e.g., to model the delay between the sensors)\n max_difference -- search radius for candidate generation\n\n Output:\n matches -- list of matched tuples ((stamp1,data1),(stamp2,data2))\n \n \"\"\"\n first_keys = first_list.keys()\n second_keys = second_list.keys()\n potential_matches = [(abs(a - (b + offset)), a, b) \n for a in first_keys \n for b in second_keys \n if abs(a - (b + offset)) < max_difference]\n potential_matches.sort()\n matches = []\n for diff, a, b in potential_matches:\n if a in first_keys and b in second_keys:\n first_keys.remove(a)\n second_keys.remove(b)\n matches.append((a, b))\n \n matches.sort()\n return matches\n\ndef slerp(q1, q2, w1, w2):\n q1_dot_q2 = q1[0]*q2[0] + q1[1]*q2[1] + q1[2]*q2[2] + q2[3]*q2[3]\n if (q1_dot_q2 < 0.0):\n q2 = [-v for v in q2]\n q1_dot_q2 = -q1_dot_q2\n if (q1_dot_q2 > 0.99999):\n k1 = w1\n k2 = w2\n else:\n sin_theta = math.sqrt(1.0 - q1_dot_q2 * q1_dot_q2)\n theta = math.atan2(sin_theta, q1_dot_q2)\n k1 = math.sin(w2 * theta) / sin_theta\n k2 = math.sin(w1 * theta) / sin_theta\n q = [k1 * q1[0] + k2 * q2[0], k1 * q1[1] + k2 * q2[1], k1 * q1[2] + k2 * q2[2], k1 * q1[3] + k2 * q2[3]]\n return q\n\ndef associate_with_interpolation(first_list, second_list, offset, max_difference):\n \"\"\"\n Interpolate first_list according to keys in second_list\n \"\"\"\n interpolated_first_list = {}\n matches = []\n first_keys = first_list.keys()\n second_keys = second_list.keys()\n first_keys.sort()\n second_keys.sort()\n idx1 = 0\n for i in range(len(second_keys)):\n key = second_keys[i] + offset\n if key < first_keys[0]:\n continue\n elif key > first_keys[-1]:\n break\n idx1 = next(i for i in range(idx1, len(first_keys) - 1) if first_keys[i] <= key and first_keys[i + 1] >= key)\n key1 = first_keys[idx1]\n key2 = first_keys[idx1 + 1]\n if max((key - key1), (key2 - key)) < max_difference:\n w2 = float(key - key1) / (key2 - key1)\n w1 = 1 - w2\n x1 = first_list.get(key1)\n x2 = first_list.get(key2)\n interpolated = [w1 * x1[0] + w2 * x2[0], w1 * x1[1] + w2 * x2[1], w1 * x1[2] + w2 * x2[2]]\n interpolated += slerp(x1[3:], x2[3:], w1, w2)\n interpolated_first_list.update({key: interpolated})\n matches.append((key, second_keys[i]))\n matches.sort()\n return matches, interpolated_first_list\n\n\nif __name__ == '__main__':\n \n # parse command line\n parser = argparse.ArgumentParser(description='''\n This script takes two data files with timestamps and associates them \n ''')\n parser.add_argument('first_file', help='first text file (format: timestamp data)')\n parser.add_argument('second_file', help='second text file (format: timestamp data)')\n parser.add_argument('--first_only', help='only output associated lines from first file', action='store_true')\n parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0)\n parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02)\n args = parser.parse_args()\n\n first_list = read_file_list(args.first_file)\n second_list = read_file_list(args.second_file)\n\n matches = associate(first_list, second_list,float(args.offset),float(args.max_difference)) \n\n if args.first_only:\n for a,b in matches:\n print(\"%f %s\"%(a,\" \".join(first_list[a])))\n else:\n for a,b in matches:\n print(\"%f %s %f %s\"%(a,\" \".join(first_list[a]),b-float(args.offset),\" \".join(second_list[b])))\n \n \n" }, { "path": "scripts/tum_evaluate_tools/evaluate_ate.py", "content": "#!/usr/bin/python\n# Software License Agreement (BSD License)\n#\n# Copyright (c) 2013, Juergen Sturm, TUM\n# All rights reserved.\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions\n# are met:\n#\n# * Redistributions of source code must retain the above copyright\n# notice, this list of conditions and the following disclaimer.\n# * Redistributions in binary form must reproduce the above\n# copyright notice, this list of conditions and the following\n# disclaimer in the documentation and/or other materials provided\n# with the distribution.\n# * Neither the name of TUM nor the names of its\n# contributors may be used to endorse or promote products derived\n# from this software without specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS\n# \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT\n# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS\n# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE\n# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,\n# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,\n# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\n# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\n# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT\n# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN\n# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n#\n# Requirements: \n# sudo apt-get install python-argparse\n\n\"\"\"\nThis script computes the absolute trajectory error from the ground truth\ntrajectory and the estimated trajectory.\n\"\"\"\n\nimport sys\nimport numpy\nimport argparse\nimport associate\n\ndef umeyama_align(x, y, with_scale=True):\n \"\"\"\n Computes the least squares solution parameters of an Sim(m) matrix\n that minimizes the distance between a set of registered points.\n Umeyama, Shinji: Least-squares estimation of transformation parameters\n between two point patterns. IEEE PAMI, 1991\n :param x: mxn matrix of points, m = dimension, n = nr. of data points\n :param y: mxn matrix of points, m = dimension, n = nr. of data points\n :param with_scale: set to True to align also the scale (default: 1.0 scale)\n :return: r, t, c - rotation matrix, translation vector and scale factor\n \"\"\"\n if x.shape != y.shape:\n print x.shape, y.shape\n raise RuntimeError(\"data matrices must have the same shape\")\n\n # m = dimension, n = nr. of data points\n m, n = x.shape\n\n # means, eq. 34 and 35\n mean_x = x.mean(axis=1)\n mean_y = y.mean(axis=1)\n\n # variance, eq. 36\n # \"transpose\" for column subtraction\n # mean_x_ = mean_x[:, numpy.newaxis]\n # print mean_x.shape\n # print mean_x_.shape\n temp = x - mean_x\n # temp = numpy.array(temp)\n # print temp.shape\n sigma_x = 1.0 / n * (numpy.linalg.norm(temp)**2)\n\n # covariance matrix, eq. 38\n outer_sum = numpy.zeros((m, m))\n for i in range(n):\n outer_sum += numpy.outer((y[:, i] - mean_y), (x[:, i] - mean_x))\n cov_xy = numpy.multiply(1.0 / n, outer_sum)\n\n # SVD (text betw. eq. 38 and 39)\n u, d, v = numpy.linalg.svd(cov_xy)\n\n # S matrix, eq. 43\n s = numpy.eye(m)\n if numpy.linalg.det(u) * numpy.linalg.det(v) < 0.0:\n # Ensure a RHS coordinate system (Kabsch algorithm).\n s[m - 1, m - 1] = -1\n\n # rotation, eq. 40\n r = u.dot(s).dot(v)\n\n # scale & translation, eq. 42 and 41\n c = 1 / sigma_x * numpy.trace(numpy.diag(d).dot(s)) if with_scale else 1.0\n t = mean_y - numpy.multiply(c, r.dot(mean_x))\n\n model_aligned = r * (c * x) + t\n alignment_error = model_aligned - y\n\n alignment_error_t = alignment_error.T\n count = 0\n count_ex = 0\n for i in range(alignment_error_t.shape[0]):\n count = count + 1\n err = alignment_error_t[i]\n err = err * err.T\n if err > 0.1:\n count_ex = count_ex + 1\n # print i\n print count_ex, count\n\n trans_error = numpy.sqrt(numpy.sum(numpy.multiply(alignment_error, alignment_error), 0)).A[0]\n\n return r, t, c, trans_error\n\ndef align(model,data):\n \"\"\"Align two trajectories using the method of Horn (closed-form).\n \n Input:\n model -- first trajectory (3xn)\n data -- second trajectory (3xn)\n \n Output:\n rot -- rotation matrix (3x3)\n trans -- translation vector (3x1)\n trans_error -- translational error per point (1xn)\n \n \"\"\"\n numpy.set_printoptions(precision=3,suppress=True)\n model_zerocentered = model - model.mean(1)\n data_zerocentered = data - data.mean(1)\n \n W = numpy.zeros( (3,3) )\n for column in range(model.shape[1]):\n W += numpy.outer(model_zerocentered[:,column],data_zerocentered[:,column])\n U,d,Vh = numpy.linalg.linalg.svd(W.transpose())\n S = numpy.matrix(numpy.identity( 3 ))\n if(numpy.linalg.det(U) * numpy.linalg.det(Vh)<0):\n S[2,2] = -1\n rot = U*S*Vh\n trans = data.mean(1) - rot * model.mean(1)\n \n model_aligned = rot * model + trans\n alignment_error = model_aligned - data\n \n trans_error = numpy.sqrt(numpy.sum(numpy.multiply(alignment_error,alignment_error),0)).A[0]\n \n return rot,trans,trans_error\n\ndef compose_transform_matrix(rot, trans, scale=1):\n M = numpy.identity(4)\n M[:3, :3] = rot\n M[:3, 3:] = trans\n if scale is not 1:\n S = numpy.identity(4) * scale\n S[3, 3] = 1\n M = numpy.dot(M, S)\n M /= M[3, 3]\n return M\n\ndef plot_traj(ax,stamps,traj,style,color,label):\n \"\"\"\n Plot a trajectory using matplotlib. \n \n Input:\n ax -- the plot\n stamps -- time stamps (1xn)\n traj -- trajectory (3xn)\n style -- line style\n color -- line color\n label -- plot legend\n \n \"\"\"\n stamps.sort()\n interval = numpy.median([s-t for s,t in zip(stamps[1:],stamps[:-1])])\n x = []\n y = []\n last = stamps[0]\n for i in range(len(stamps)):\n if stamps[i]-last < 2*interval:\n x.append(traj[i][0])\n y.append(traj[i][1])\n elif len(x)>0:\n ax.plot(x,y,style,color=color,label=label)\n label=\"\"\n x=[]\n y=[]\n last= stamps[i]\n if len(x)>0:\n ax.plot(x,y,style,color=color,label=label)\n \n\nif __name__==\"__main__\":\n # parse command line\n parser = argparse.ArgumentParser(description='''\n This script computes the absolute trajectory error from the ground truth trajectory and the estimated trajectory. \n ''')\n parser.add_argument('first_file', help='ground truth trajectory (format: timestamp tx ty tz qx qy qz qw)')\n parser.add_argument('second_file', help='estimated trajectory (format: timestamp tx ty tz qx qy qz qw)')\n parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0)\n parser.add_argument('--scale', help='scaling factor for the second trajectory (default: 1.0)',default=1.0)\n parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02)\n parser.add_argument('--save', help='save aligned second trajectory to disk (format: stamp2 x2 y2 z2)')\n parser.add_argument('--save_associations', help='save associated first and aligned second trajectory to disk (format: stamp1 x1 y1 z1 stamp2 x2 y2 z2)')\n parser.add_argument('--plot', help='plot the first and the aligned second trajectory to an image (format: png)')\n parser.add_argument('--verbose', help='print all evaluation data (otherwise, only the RMSE absolute translational error in meters after alignment will be printed)', action='store_true')\n args = parser.parse_args()\n\n first_list = associate.read_file_list(args.first_file)\n second_list = associate.read_file_list(args.second_file)\n\n matches = associate.associate(first_list, second_list,float(args.offset),float(args.max_difference)) \n if len(matches)<2:\n sys.exit(\"Couldn't find matching timestamp pairs between groundtruth and estimated trajectory! Did you choose the correct sequence?\")\n\n\n first_xyz = numpy.matrix([[float(value) for value in first_list[a][0:3]] for a,b in matches]).transpose()\n second_xyz = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for a,b in matches]).transpose()\n rot,trans,trans_error = align(second_xyz,first_xyz)\n \n second_xyz_aligned = rot * second_xyz + trans\n \n first_stamps = first_list.keys()\n first_stamps.sort()\n first_xyz_full = numpy.matrix([[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose()\n \n second_stamps = second_list.keys()\n second_stamps.sort()\n second_xyz_full = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for b in second_stamps]).transpose()\n second_xyz_full_aligned = rot * second_xyz_full + trans\n \n if args.verbose:\n print (\"compared_pose_pairs %d pairs\"%(len(trans_error)))\n\n print (\"absolute_translational_error.rmse %f m\"%numpy.sqrt(numpy.dot(trans_error,trans_error) / len(trans_error)))\n print (\"absolute_translational_error.mean %f m\"%numpy.mean(trans_error))\n print (\"absolute_translational_error.median %f m\"%numpy.median(trans_error))\n print (\"absolute_translational_error.std %f m\"%numpy.std(trans_error))\n print (\"absolute_translational_error.min %f m\"%numpy.min(trans_error))\n print (\"absolute_translational_error.max %f m\"%numpy.max(trans_error))\n else:\n print (\"%f\"%numpy.sqrt(numpy.dot(trans_error,trans_error) / len(trans_error)))\n \n if args.save_associations:\n file = open(args.save_associations,\"w\")\n file.write(\"\\n\".join([\"%f %f %f %f %f %f %f %f\"%(a,x1,y1,z1,b,x2,y2,z2) for (a,b),(x1,y1,z1),(x2,y2,z2) in zip(matches,first_xyz.transpose().A,second_xyz_aligned.transpose().A)]))\n file.close()\n \n if args.save:\n file = open(args.save,\"w\")\n file.write(\"\\n\".join([\"%f \"%stamp+\" \".join([\"%f\"%d for d in line]) for stamp,line in zip(second_stamps,second_xyz_full_aligned.transpose().A)]))\n file.close()\n\n if args.plot:\n import matplotlib\n matplotlib.use('Agg')\n import matplotlib.pyplot as plt\n import matplotlib.pylab as pylab\n from matplotlib.patches import Ellipse\n fig = plt.figure()\n ax = fig.add_subplot(111)\n plot_traj(ax,first_stamps,first_xyz_full.transpose().A,'-',\"black\",\"ground truth\")\n plot_traj(ax,second_stamps,second_xyz_full_aligned.transpose().A,'-',\"blue\",\"estimated\")\n\n label=\"difference\"\n for (a,b),(x1,y1,z1),(x2,y2,z2) in zip(matches,first_xyz.transpose().A,second_xyz_aligned.transpose().A):\n ax.plot([x1,x2],[y1,y2],'-',color=\"red\",label=label)\n label=\"\"\n \n ax.legend()\n \n ax.set_xlabel('x [m]')\n ax.set_ylabel('y [m]')\n plt.savefig(args.plot,dpi=90)\n \n" } ]