How can i save the final model as `.off` format ? about surfelwarp HOT 14 CLOSED

Can you make sure geometry.live_vertex_confid.ArrayView() has correct size? You can get it by geometry.live_vertex_confid.ArrayView().Size().

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Sory for the late reply~
The result is:

/home/jiajie/body-reconstruction/surfelwarp/apps/surfelwarp_app/main.cpp:40: The 0th Frame
geometry.live_vertex_confid.ArrayView().Size():76728
/home/jiajie/body-reconstruction/surfelwarp/apps/surfelwarp_app/main.cpp:40: The 1th Frame
geometry.live_vertex_confid.ArrayView().Size():76904
/home/jiajie/body-reconstruction/surfelwarp/apps/surfelwarp_app/main.cpp:40: The 2th Frame
geometry.live_vertex_confid.ArrayView().Size():77042

BTW,the subfuction :

//Also save the reference point cloud
	Visualizer::SavePointCloud(geometry.reference_vertex_confid.ArrayView(), (save_dir / "reference.off").string());

inside the fuction saveCorrespondedCloud(observation,fused_geometry_idx,save_dir); works well,
But somethings wrong with :

Visualizer::SaveMatchedCloudPair(
		observation.vertex_config_map,
		geometry.live_vertex_confid.ArrayView(),
        m_camera.GetCamera2WorldEigen(),
		cloud_1_name, cloud_2_name
	);

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When i call:

void surfelwarp::Visualizer::SaveMatchedCloudPair(
        cudaTextureObject_t cloud_1,
        const DeviceArray<float4> &cloud_2,
        const Eigen::Matrix4f &from1To2,
        const std::string &cloud_1_name, const std::string &cloud_2_name
) {
    const auto h_cloud_1 = downloadPointCloud(cloud_1);
    const auto h_cloud_2 = downloadPointCloud(cloud_2);
    SaveMatchedCloudPair(
            h_cloud_1,
            h_cloud_2,
            from1To2,
            cloud_1_name, cloud_2_name
    );
}

h_cloud_1 return all zero value in h_cloud_1.points ,while h_cloud_2 return reasonable value.
For example:

	Locals		
		cloud_1	<optimized out>	
		cloud_1_name	"frame_1/observation.off"	std::__cxx11::string &
		cloud_2	@0x7fffffffd9a0	surfelwarp::DeviceArray &
		cloud_2_name	"frame_1/model.off"	std::__cxx11::string &
		from1To2	(4 x 4), ColumnMajor	Eigen::Matrix4f &
		h_cloud_1	@0x555570001660	std::shared_ptr<cilantro::PointCloud<float, 3> >
			colors	<not accessible>	Eigen::Matrix<float, 3, -1, 0, 3, -1>
			normals	<not accessible>	Eigen::Matrix<float, 3, -1, 0, 3, -1>
			points	(3 x 264000), ColumnMajor	cilantro::VectorSet
				[0,0]	-0.0	float
				[1,0]	-0.0	float
				[2,0]	0.0	float
				[0,1]	-0.0	float
				[1,1]	-0.0	float
				[2,1]	0.0	float
				[0,2]	-0.0	float
				[1,2]	-0.0	float
				[2,2]	0.0	float
				[0,3]	-0.0	float
				[1,3]	-0.0	float
				[2,3]	0.0	float
			        ......			
		h_cloud_1@1	<optimized out>	
		h_cloud_2	@0x55555dab58d0	std::shared_ptr<cilantro::PointCloud<float, 3> >
			colors	<not accessible>	Eigen::Matrix<float, 3, -1, 0, 3, -1>
			normals	<not accessible>	Eigen::Matrix<float, 3, -1, 0, 3, -1>
			points	(3 x 76728), ColumnMajor	cilantro::VectorSet
				[0,0]	290.2420959472656	float
				[1,0]	-174.35791015625	float
				[2,0]	606.0	float
				[0,1]	291.3052673339844	float
				[1,1]	-174.35791015625	float
				[2,1]	606.0	float
				[0,2]	292.3684387207031	float
				[1,2]	-174.35791015625	float
				[2,2]	606.0	float
				[0,3]	290.2420959472656	float
				[1,3]	-173.29473876953125	float
			        ......

Is it something wrong occour when return the value from GPU device to host ?

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I guess you add the save command to a place where sync has not finished. Where did you add the code? Can you attach your file?

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I add the code in void surfelwarp::SurfelWarpSerial::ProcessNextFrameWithReinit(bool offline_save) of SurfelWarpSerial.cpp:

//Debug save
	if(offline_save) {
		const auto with_recent = draw_recent || use_reinit;
		const auto& save_dir = createOrGetDataDirectory(m_frame_idx);
		saveCameraObservations(observation, save_dir);
		saveSolverMaps(solver_maps, save_dir);

		const auto num_fused_vertex = m_surfel_geometry[fused_geometry_idx]->NumValidSurfels();
		saveVisualizationMaps(
			num_fused_vertex, fused_geometry_idx,
			m_camera.GetWorld2CameraEigen(), m_camera.GetInitWorld2CameraEigen(),
			save_dir, with_recent
		);

        //Here the place i add the code
        saveCorrespondedCloud(observation,fused_geometry_idx,save_dir);
	}

I did not chage any code of SurfelWarpSerial.cpp except here.

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Can you add a line Visualizer::DrawPointCloud(observation.vertex_config_map) before saveCorrespondedCloud(observation,fused_geometry_idx,save_dir) to make sure the image processing is correct?

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I add it ,and show nothing~Whether or not i Comment saveCorrespondedCloud(observation,fused_geometry_idx,save_dir); out

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It means the image processing is not correct as there is not valid vertex. I would recommend to debug the image processing using the surfelwarp/apps/imgproc_app/main.cpp application to make sure the rgbd image, vertex and normal map are correct. Also make sure the far-away clipping value is reasonable.

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Thanks! I will work it out myselves~

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@Wjiajie hi, I got the same problem.
I want to reconstruct the mesh in form of obj or ply, @weigao95 Could you guild me how to generate the mesh from the generated *.png files?

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Thanks! I will work it out myselves~

I can also use this functionVisualizer::SavePointCloudto save the point cloud，But can't usesaveCorrespondedCloud It reported the following error on clion:

/home/wya/project/SW/surfelwarp/apps/surfelwarp_app/main.cpp:86: The 0th Frame
surfelwarp_app: /usr/local/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:365: Eigen::DenseCoeffsBase<Derived, 1>::Scalar& Eigen::DenseCoeffsBase<Derived, 1>::operator()(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<float, 3, -1>; Eigen::DenseCoeffsBase<Derived, 1>::Scalar = float; Eigen::Index = long int]: Assertion `row >= 0 && row < rows() && col >= 0 && col < cols()' failed.

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@Wjiajie
Hi, can you ran Visualizer::SaveMatchedCloudPair successfully?
In my case, I can run Visualizer::SavePointCloud and the Visualizer::DrawPointCloud, but Visualizer::SaveMatchedCloudPair return malloc error.

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I used to fail in running Visualizer::SaveMatchedCloudPair as well. But after I switched to building with PCL, the problem was gone. Perhaps this problem stems from cilantro. BTW, I also found PCL works on my Ubuntu 18 with CUDA 11.2.

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I used to fail in running Visualizer::SaveMatchedCloudPair as well. But after I switched to building with PCL, the problem was gone. Perhaps this problem stems from cilantro. BTW, I also found PCL works on my Ubuntu 18 with CUDA 11.2.

I've had similar experience (probably unrelated to original issue in this thread though). I think it has to do with custom memory aligned allocators used in Eigen (which is used by cilantro). Not 100% sure.

As far as I can tell, it was solved by using make_shared instead of (new T) in data_transfer.cu, e.g.:

PointCloud3f_Pointer point_cloud = std::make_shared<PointCloud3f>(); //(new PointCloud3f);

There was also some mis-use of input->points.size() instead of input.size().

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