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[depthMap] bug fix: use RAII instead of pointers #671

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merged 1 commit into from
Jul 24, 2019
Merged

[depthMap] bug fix: use RAII instead of pointers #671

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4 changes: 2 additions & 2 deletions src/aliceVision/depthMap/RefineRc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,12 +57,12 @@ DepthSimMap* RefineRc::getDepthPixSizeMapFromSGM()
StaticVector<IdValue> volumeBestIdVal;
volumeBestIdVal.reserve(_width * _height);

for(int i = 0; i < _volumeBestIdVal->size(); i++)
for(int i = 0; i < _volumeBestIdVal.size(); i++)
{
// float sim = (*depthSimMapFinal->dsm)[i].y;
// sim = std::min(sim,mp->simThr);
const float sim = _sp->mp->simThr - 0.0001;
const int id = (*_volumeBestIdVal)[i].id;
const int id = _volumeBestIdVal[i].id;

if(id > 0)
volumeBestIdVal.push_back(IdValue(id, sim));
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15 changes: 7 additions & 8 deletions src/aliceVision/depthMap/SemiGlobalMatchingRc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,6 @@ SemiGlobalMatchingRc::SemiGlobalMatchingRc(int rc, int scale, int step, SemiGlob

SemiGlobalMatchingRc::~SemiGlobalMatchingRc()
{
delete _volumeBestIdVal;
}

bool SemiGlobalMatchingRc::selectBestDepthsRange(int nDepthsThr, StaticVector<float>* rcSeedsDistsAsc)
Expand Down Expand Up @@ -498,7 +497,7 @@ bool SemiGlobalMatchingRc::sgmrc(bool checkIfExists)

// for each pixel: choose the voxel with the minimal similarity value
const int zborder = 2;
_volumeBestIdVal = svol->getOrigVolumeBestIdValFromVolumeStepZ(zborder);
svol->getOrigVolumeBestIdValFromVolumeStepZ(_volumeBestIdVal, zborder);

delete svol;

Expand All @@ -508,8 +507,8 @@ bool SemiGlobalMatchingRc::sgmrc(bool checkIfExists)
{
if((*rcSilhoueteMap)[i])
{
(*_volumeBestIdVal)[i].id = 0;
(*_volumeBestIdVal)[i].value = 1.0f;
_volumeBestIdVal[i].id = 0;
_volumeBestIdVal[i].value = 1.0f;
}
}
delete rcSilhoueteMap;
Expand All @@ -520,13 +519,13 @@ bool SemiGlobalMatchingRc::sgmrc(bool checkIfExists)

if(_sp->exportIntermediateResults)
{
DepthSimMap* depthSimMapFinal = _sp->getDepthSimMapFromBestIdVal(_width, _height, _volumeBestIdVal, _scale, _step, _rc, zborder, _depths);
DepthSimMap* depthSimMapFinal = _sp->getDepthSimMapFromBestIdVal(_width, _height, &_volumeBestIdVal, _scale, _step, _rc, zborder, _depths);
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just asking, any chances that it returns a nullptr? In case it would be better to deal with it. Also an assert(depthSimMapFinal) would not kill anyone... ;-)

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This function cannot return null.
The refactoring done here has been started for months now. It's quite close to be merged, but it will be done after the release.
So I would prefer to limit conflicts, as most of these things (like the bug fixed in this PR) are already fixed on the other side.

depthSimMapFinal->saveToImage(_sp->mp->getDepthMapsFolder() + "sgm_" + std::to_string(_sp->mp->getViewId(_rc)) + "_" + "scale" + mvsUtils::num2str(depthSimMapFinal->scale) + "_step" + mvsUtils::num2str(depthSimMapFinal->step) + ".png", 1.0f);
delete depthSimMapFinal;

std::vector<unsigned short> volumeBestId(_volumeBestIdVal->size());
for(int i = 0; i < _volumeBestIdVal->size(); i++)
volumeBestId.at(i) = std::max(0, (*_volumeBestIdVal)[i].id);
std::vector<unsigned short> volumeBestId(_volumeBestIdVal.size());
for(int i = 0; i < _volumeBestIdVal.size(); i++)
volumeBestId.at(i) = std::max(0, _volumeBestIdVal[i].id);

using namespace imageIO;
OutputFileColorSpace colorspace(EImageColorSpace::NO_CONVERSION);
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2 changes: 1 addition & 1 deletion src/aliceVision/depthMap/SemiGlobalMatchingRc.hpp
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Expand Up @@ -35,7 +35,7 @@ class SemiGlobalMatchingRc

StaticVector<int> _sgmTCams;
StaticVector<Pixel> _depthsTcamsLimits;
StaticVector<IdValue>* _volumeBestIdVal = nullptr;
StaticVector<IdValue> _volumeBestIdVal;
StaticVector<float> _depths;

SemiGlobalMatchingParams* _sp;
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13 changes: 5 additions & 8 deletions src/aliceVision/depthMap/SemiGlobalMatchingVolume.cpp
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Expand Up @@ -271,16 +271,15 @@ void SemiGlobalMatchingVolume::SGMoptimizeVolumeStepZ(int rc, int volStepXY, int
mvsUtils::printfElapsedTime(tall, "SemiGlobalMatchingVolume::SGMoptimizeVolumeStepZ");
}

StaticVector<IdValue>* SemiGlobalMatchingVolume::getOrigVolumeBestIdValFromVolumeStepZ(int zborder)
void SemiGlobalMatchingVolume::getOrigVolumeBestIdValFromVolumeStepZ(StaticVector<IdValue>& out_volumeBestIdVal, int zborder)
{
long tall = clock();

StaticVector<IdValue>* volumeBestIdVal = new StaticVector<IdValue>();
volumeBestIdVal->reserve(volDimX * volDimY);
volumeBestIdVal->resize_with(volDimX * volDimY, IdValue(-1, 1.0f));
out_volumeBestIdVal.reserve(volDimX * volDimY);
out_volumeBestIdVal.resize_with(volDimX * volDimY, IdValue(-1, 1.0f));
unsigned char* _volumeStepZPtr = _volumeStepZ->getDataWritable().data();
int* _volumeBestZPtr = _volumeBestZ->getDataWritable().data();
IdValue* volumeBestIdValPtr = volumeBestIdVal->getDataWritable().data();
IdValue* out_volumeBestIdValPtr = out_volumeBestIdVal.getDataWritable().data();
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same here, I'd put an assert and if it is the case deal with the nullptr (but i don't know how the funciton works)

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It's not possible to be null here.

for(int z = zborder; z < volDimZ / volStepZ - zborder; z++)
{
for(int y = 1; y < volDimY - 1; y++)
Expand All @@ -291,7 +290,7 @@ StaticVector<IdValue>* SemiGlobalMatchingVolume::getOrigVolumeBestIdValFromVolum
// value from volumeStepZ converted from (0, 255) to (-1, +1)
float val = (((float)_volumeStepZPtr[volumeIndex]) / 255.0f) * 2.0f - 1.0f;
int bestZ = _volumeBestZPtr[volumeIndex]; // TODO: what is bestZ?
IdValue& idVal = volumeBestIdValPtr[y * volDimX + x];
IdValue& idVal = out_volumeBestIdValPtr[y * volDimX + x];
assert(bestZ >= 0);

if(idVal.id == -1)
Expand All @@ -312,8 +311,6 @@ StaticVector<IdValue>* SemiGlobalMatchingVolume::getOrigVolumeBestIdValFromVolum

if(sp->mp->verbose)
mvsUtils::printfElapsedTime(tall, "SemiGlobalMatchingVolume::getOrigVolumeBestIdValFromVolumeStepZ ");

return volumeBestIdVal;
}

void SemiGlobalMatchingVolume::copyVolume(const StaticVector<unsigned char>* volume, int zFrom, int nZSteps)
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2 changes: 1 addition & 1 deletion src/aliceVision/depthMap/SemiGlobalMatchingVolume.hpp
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Expand Up @@ -28,7 +28,7 @@ class SemiGlobalMatchingVolume
void cloneVolumeSecondStepZ();

void SGMoptimizeVolumeStepZ(int rc, int volStepXY, int volLUX, int volLUY, int scale);
StaticVector<IdValue>* getOrigVolumeBestIdValFromVolumeStepZ(int zborder);
void getOrigVolumeBestIdValFromVolumeStepZ(StaticVector<IdValue>& out_volumeBestIdVal, int zborder);

void exportVolume(StaticVector<float>& depths, int camIndex, int scale, int step, const std::string& filepath) const;
void exportVolumeStep(StaticVector<float>& depths, int camIndex, int scale, int step, const std::string& filepath) const;
Expand Down