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[Siggraph 2017] BundleFusion: Real-time Globally Consistent 3D Reconstruction using Online Surface Re-integration

Home Page: http://graphics.stanford.edu/projects/bundlefusion/

License: Other

C++ 66.68% C 26.78% Objective-C 0.33% FLUX 0.04% HLSL 0.15% Cuda 5.66% Batchfile 0.01% RPC 0.37%

reconstruction computervision 3d-reconstruction cvpr siggraph kinect

bundlefusion's Introduction

BundleFusion

You are free to use this code with proper attribution in non-commercial applications (Please see License.txt).

More information about this project can be found in our paper and project website.

Installation

The code was developed under VS2013, and tested with a Structure Sensor.

Requirements:

DirectX SDK June 2010
NVIDIA CUDA 7.0
our research library mLib, a git submodule in external/mLib
mLib external libraries can be downloaded here

Optional:

Kinect SDK (2.0 and above)
Prime sense SDK

Citation:

@article{dai2017bundlefusion,
  title={BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integration},
  author={Dai, Angela and Nie{\ss}ner, Matthias and Zoll{\"o}fer, Michael and Izadi, Shahram and Theobalt, Christian},
  journal={ACM Transactions on Graphics 2017 (TOG)},
  year={2017}
}

Contact:

If you have any questions, please email Angela Dai at [email protected].

We are also looking for active participation in this open source effort making large-scale 3D scanning publically accessible. Please contact us :)

bundlefusion's People

Contributors

Stargazers

Watchers

Forkers

shengyenlo hollisjoe vbillys harveyliufly huayong hustztz justwon gbyfbi rongduo neon-izm tansangxtt eulerhit luozhipi tyhenry chuong labimage derkreature suryavarman corefan sunbirddy wq1989 lukeqsun eshafeeqe lyph khairulhasanmd lhu1994 hyuantan microcompunics zhangaigh po-hsuan-huang skohlbr perception-slam oluwatoni riverhe2014 atery lfmaster ludhmtf damonmin davidxuzhi arennuit lancelot899 kaist-vclab tcyhx apprisi chenziyu2016 jiapei100 happyyang huanghone zjudzl mpelang mad-thanos wpfhtl shelumielzhang gqphd zhangzongliang qicny bittdy gzzgz iamsile mx7f swayfreeda tavechiang gninnur drinkingcoder suyuan945 wine3603 xunsam yongduek odweibo veolata msavva lulllabs wode-czw nidetaoge xiaojiean njh19 kanster tcmbot shubhampachori12110095 scottmudge lioqio nerdtomars zhengguoxian123 avr-tec tangketan shigengtian rayhero xxylii kongan wamwamja soltrinox remmi-research yorkt sgolodetz aimripeky pangzilu billbliss3 anthony-chenyb summitchen nonlinear1

bundlefusion's Issues

how to install the package and how to run it

Hi, authors,

Thanks for releasing BundleFusion. Could you also list briefly how to install the package and demo steps?

Thanks!

Welcome to BundleFusion learning group!

Bundle fusion is quite suitable for RGB-D SLAM learners. However, people came across many problems when ran or learned the code, while the authors were too busy to reply the reported issues.

So I create a learning group, feel free to contact my wechat (cvlife6) with comment "Bundle Fusion" and I will join you in the group. Then we can exchange and learn together!

FriedLiver stuck

Hi, everyone. I have some problems when using Kinect 2.0 for online Reconstruction. In zParametersDefault.txt I changed s_sensorIdx to 2, and it compiled successfully. My platform is Windows 10、Cuda 9.1、VS2013、Kinect SDK 2.0、Microsoft DirectX SDK (June 2010).
Everytime I set the program running, it stuck, without any response. Thanks very much for any suggestions!

Cannot run VS2015 with Cuda 10.0

Hi,guys! I tried to run BundleFusion in vs2015,but failed because this error happened in my IDE ：
Compiler Error C2280 “attempting to reference a deleted function” .
After a survey on the Google I found the diffience between VS2013 and VS2015.
See this：
(https://stackoverflow.com/questions/31264984/c-compiler-error-c2280-attempting-to-reference-a-deleted-function-in-visual)
And this:
(https://stackoverflow.com/questions/30120573/visual-studio-2013-does-not-delete-the-copy-constructor-when-a-user-defined-move)
And this:
https://docs.microsoft.com/en-us/cpp/cpp/explicitly-defaulted-and-deleted-functions?view=vs-2015
When I tried to force the copy constructor = default,it didn't work.And there were lots of error C2280.
Any suggestion for this error?
Best,
Guy

core-base/common.h cannot be found.

Hi, I seem to be missing a file after downloading the source and accompanying mLib external.

Error 45 error C1083: Cannot open include file: 'core-base/common.h': No such file or directory d:\bundlefusion-master\friedliver\source\mLibCuda.h 2 1 FriedLiver

is there something I'm still missing? I'm using Cuda 7.0 to compile.

INVALID FIRST CHUNK

Firstly, thanks for sharing this project.

I am trying to intergrate realsense r200 with this project.
I use RealSenseSensor files from voxelHashing in this project.
And after some modifications, my R200 camera can output right images in processDepth, but at the 11th frame, I got the "INVALIDE_FIRST_CHUNK" error.
I see it at Bundler::invalidateLastFrame(), and I see the todo comments in that function.
If I want to continue using my R200, what can I do to solve this problem?

It just only scanning a little images and then crashed

When I just scanning about 400 images,it crashed.Has anyone encountered the same situation?
How can I to solve it.I would be grateful if someone helped me

How to run the code with .sens file?

Hello, I compiled your code and it seemed that it couldn't run without the depth camera hard device. I found you provided the .sens file, so I wondered if the code could run with the .sens file? If it does, then how to run it with the .sens file?

1 Is it possible to convert to Linux platform?

If it is, could you provide a roadmap or some hints?

Cannot find any preprocess on the depth image acquired from Kinect?

The raw depth image acquired from Kinect has many holes and noises. I looked into BundleFusion code and did not find any preprocess on the depth image.

Am I missing the code doing this? Or it's not necessary to do filtering or hole filling in BundleFusion?

Thanks.

The licence.txt link is directing to a 404 Page

Just a kindly remind if you didn't notice that.

How to change the parameters to get voxelsize=4.7cm data

   The 3DMV needs voxelsize at 4.7cm and the default of bundlefusion is 1cm. When I change it the resolution will be so hard to distinguish.How to change the parameters to get 4.7cm data?
Thanks for helping!

integrate and deintegrate are not strictly symmetric

If we do integrate and deintegrate repeatly for the same depth and pose, then the mesh color will be dynamicly changed, huge difference start from the third time reintegrate.
So is it the integrate and deintegrate not strictly symmetric or something else?

what do "fileNameDescGlobalApp" and "fileNameDescGlobalTracking" mean?

I have built project successfully, but stuck in running. It prompted:

usage: DepthSensing [fileNameDescGlobalApp] [fileNameDescGlobalTracking]
fileNameDescGlobalApp = zParametersDefault.txt
fileNameDescGlobalBundling = zParametersBundlingDefault.txt

So how can I acquire them?

FriedLiver stuck since the number of GPU?

Hello everyone
I don't know if you find that this code need two GPUS?one for bunlding ,and one for reconstruction.
I run this code in win10,vs2013,cuda8.0，and stuck in FriedLiver.I get the error in CUDA ----invalid device ordinal(DX11QuadDrawer.cpp(189)).
I have only one GPU, deviceId:0, Geforce GTX TITIAN X,also find in list that :deviceId:0, Geforce GTX TITIAN X(emulated).
i don't know how to solve this problem,I would be very grateful if anyone could help me.

rtx2080ti Runtime API error 73

I try to run bundlefusion with nvidia rtx2080 ti ,cude error ,Source\SiftGPU\SiftPyramid.cpp(387) : cudaSafeCall() Runtime API error 73: an illegal instruction was encountered.
1080& 1080ti worked

Including ground truth camera pose during reconstruction

Dear everyone,
My aim is to use bundlefusion, but provide ground truth camera poses during reconstruction. I see that there is a variable which controls this called "s_binaryDumpSensorUseTrajectory" in the "zParametersDefaut.txt"-file. I can set that variable to true. I find that the variable is only called once. It is called in the DepthSensing.cpp file according to:

if (GlobalAppState::get().s_binaryDumpSensorUseTrajectory && GlobalAppState::get().s_sensorIdx == 3) {
      //overwrite transform and use given trajectory in this case
     transformation = g_depthSensingRGBDSensor->getRigidTransform();
     validTransform = true;

This requires using sensorIdx = 3, which corresponds to the so called BinaryDumpReader. It is not clear what the binary dump reader does compared to sensorIdx = 8 which reads .sens files offline. I can not make it run with sensor sensorIdx = 3.

If anyone knows how to deal with this, I would be very grateful.

Cheers,

How to get output data?

I cannot find the scene after scanning, please give me some instruction. Is it in 2 parameter files?

Error:The Direct3D device has a non-zero reference count,meaning some objects were not released.

Which version of eigen is used by BundleFusion?

Which version of eigen is used by BundleFusion?Has the developer changed the original code of eigen?

Please help this none coder run this program

I know nothing about coding. I own a Kinect and want to do room scanning.

I installed Visual Studio but how do you get this up and running scanning a room? When I press the sln file I dont know what to do and if I press debug or build it freezes.
I have the mlabExternal folder in there too.

Can somebody write a step by step please.

The output file of apt0.sens seems have many regular cavities

I ran the program with the default parameter. The input file is apt0.sens. I viewed the output file in MeshLab, and it has many regular cavities. What's wrong with it?

Structure sensor - crash on connect

I'm using Structure sensor, on iPad Pro 9.3.

How do I link the tablet to the workstation where Bundle Fusion is running ?

How to run the code with .zip file?

error C2015: too many characters in constant

Hi, thanks for this wonderful work. Rescently, I have pull down the latest codes and built it with VS2013 && CUDA7.5. However some errors occurs as follows:
C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5658): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5658): error C2146: syntax error : missing ')' before identifier 'q'
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5658): error C2001: newline in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5671): error C2143: syntax error : missing ';' before '{'
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5671): error C2143: syntax error : missing ')' before ';'
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5671): error C2447: '{' : missing function header (old-style formal list?)
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5671): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5679): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5679): error C2059: syntax error : ')'
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5679): error C2143: syntax error : missing ';' before '}'
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5689): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5689): error C2018: unknown character '0x60'
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5689): error C2143: syntax error : missing ')' before 'constant'
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5689): error C2017: illegal escape sequence
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5689): error C2001: newline in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5696): error C2143: syntax error : missing ';' before '{'
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5696): error C2143: syntax error : missing ')' before ';'
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5696): error C2447: '{' : missing function header (old-style formal list?)
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5696): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5707): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5707): error C2059: syntax error : ')'
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5707): error C2017: illegal escape sequence
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5707): error C2001: newline in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5713): error C2143: syntax error : missing ';' before '{'
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5713): error C2143: syntax error : missing ')' before ';'
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5713): error C2447: '{' : missing function header (old-style formal list?)
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5713): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5713): error C2017: illegal escape sequence
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5713): error C2001: newline in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5724): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5724): error C2017: illegal escape sequence
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5734): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5734): error C2017: illegal escape sequence
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5742): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5742): error C2017: illegal escape sequence
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5742): error C2001: newline in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5750): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5750): error C2001: newline in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5758): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5764): error C2015: too many characters in constant
1>C:\ThirdPartySoftWare\vs2013\VC\include\concrt.h(5764): error C2017: illegal escape sequence
1>CUDACache.cudafe1.stub.c(4): fatal error C1004: unexpected end-of-file found
1> # --error 0x2 --
1>C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V120\BuildCustomizations\CUDA 7.5.targets(604,9): error MSB3721: The command ""C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v7.5\bin\nvcc.exe" -gencode=arch=compute_35,code="sm_35,compute_35" --use-local-env --cl-version 2013 -ccbin "C:\ThirdPartySoftWare\vs2013\VC\bin\x86_amd64" -rdc=true -IInclude\cutil\inc -I"C:\Users\Administrator\Documents\Visual Studio 2013\Projects\BundleFusion-master\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v7.5\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v7.5\include" --keep-dir x64\Release -maxrregcount=62 --machine 64 --compile -cudart static --verbose --keep -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /Zi /MT " -o x64\Release\CUDACache.cu.obj "C:\Users\Administrator\Documents\Visual Studio 2013\Projects\BundleFusion-master\FriedLiver\Source\CUDACache.cu"" exited with code 2.
1>Done executing task "CudaCompile" -- FAILED.
1>Done building target "CudaBuild" in project "FriedLiver.vcxproj" -- FAILED.
Any body can help with this ,Thanks.

VS2017 Cuda 9.1

Not sure if this is the right place to leave this info but I was able to compile in VS2017 with Cuda 9.1

If you want to run VS2017 with Cuda 9.1

Make sure to download VS2017 with building for C++ (in modify in the installation screen)
Install Cuda 9.1 after VS2017 has been installed
Change reference to 7.0 in FriedLiver.vcxproj to 9.1

If you want to run in debug mode

You will get a FreeImage.dll error
FreeImage can be found in the mLibExternal/libsWindows/dll64
Pop that bad boy in FriedLiver/x64/Debug
Also put the 2 z .txt files in the Debug folder as well

Why occured the error code INVALID FIRST CHUNK?

I try to run the program. But It usually occured the problem. It flowering : I has get the image successfully ,but it show INVALID FIRST CHUNK and exit automatily.

PS D:\3DRe\BundleFusion\FriedLiver\x64\Release> .\FriedLiver.exe
usage: DepthSensing [fileNameDescGlobalApp] [fileNameDescGlobalTracking]
fileNameDescGlobalApp = D:/3DRe/BundleFusion/FriedLiver/x64/Release/zParametersDefault.txt
fileNameDescGlobalBundling = D:/3DRe/BundleFusion/FriedLiver/x64/Release/zParametersBundlingDefault.txt

s_RenderMode = 1
s_SDFIntegrationWeightMax = 99999999
s_SDFIntegrationWeightSample = 1
s_SDFMarchingCubeThreshFactor = 10.0f
s_SDFMaxIntegrationDistance = 3.0f
s_SDFRayIncrementFactor = 0.8f
s_SDFRayThresDistFactor = 50.0f
s_SDFRayThresSampleDistFactor = 50.5f
s_SDFTruncation = 0.06f
s_SDFTruncationScale = 0.02f
s_SDFUseGradients = false
s_SDFVoxelSize = 0.010f
s_bUseCameraCalibration = false
s_binaryDumpSensorFile = ../data/sequence.sens
s_binaryDumpSensorUseTrajectory = false
s_colorFilter = false
s_colorSigmaD = 2.0f
s_colorSigmaR = 0.1f
s_depthFilter = false
s_depthSigmaD = 2.0f
s_depthSigmaR = 0.1f
s_garbageCollectionEnabled = true
s_garbageCollectionStarve = 0
s_generateVideo = false
s_generateVideoDir = output/
s_hashMaxCollisionLinkedListSize = 7
s_hashNumBuckets = 800000
s_hashNumSDFBlocks = 200000
s_integrationEnabled = true
s_integrationHeight = 240
s_integrationWidth = 320
s_lightAmbient = 0.4f 0.4f 0.4f 1.0f
s_lightDiffuse = 0.6f 0.52944f 0.4566f 0.6f
s_lightDirection = 0.0f -1.0f 2.0f
s_lightSpecular = 0.3f 0.3f 0.3f 1.0f
s_marchingCubesMaxNumTriangles = 3000000
s_materialAmbient = 0.75f 0.65f 0.5f 1.0f
s_materialDiffuse = 1.0f 0.9f 0.7f 1.0f
s_materialShininess = 16.0f
s_materialSpecular = 1.0f 1.0f 1.0f 1.0f
s_maxFrameFixes = 10
s_minPoseDistSqrt = 0.0f
s_numSolveFramesBeforeExit = 30
s_playData = true
s_printConvergenceFile =
s_printTimingsDirectory =
s_rayCastHeight = 240
s_rayCastWidth = 320
s_reconstructionEnabled = true
s_recordCompression = true
s_recordData = false
s_recordDataFile = dump/recording.sens
s_recordDataHeight = 480
s_recordDataWidth = 640
s_remappingDepthDiscontinuityThresLin = 0.01f
s_remappingDepthDiscontinuityThresOffset = 0.012f
s_renderDepthMax = 4.0f
s_renderDepthMin = 0.1f
s_renderingDepthDiscontinuityThresLin = 0.001f
s_renderingDepthDiscontinuityThresOffset = 0.012f
s_sensorDepthMax = 4.0f
s_sensorDepthMin = 0.1f
s_sensorIdx = 9
s_streamingEnabled = false
s_streamingGridDimensions = 257 257 257
s_streamingInitialChunkListSize = 2000
s_streamingMinGridPos = -128 -128 -128
s_streamingOutParts = 80
s_streamingPos = 0.0f 0.0f 3.0f 1.0f
s_streamingRadius = 5.0f
s_streamingVoxelExtents = 1.0f 1.0f 1.0f
s_timingsDetailledEnabled = true
s_timingsTotalEnabled = false
s_topNActive = 30
s_topVideoCameraPose = 0.0f 0.0f 0.0f 0.0f
s_topVideoMinMax = 0.0f 0.0f
s_topVideoTransformWorld = 1.0f 0.0f 0.0f 0.0f 0.0f 1.0f 0.0f 0.0f 0.0f 0.0f 1.0f 0.0f 0.0f 0.0f 0.0f 1.0f
s_trackingEnabled = true
s_windowHeight = 480
s_windowWidth = 640
GPUs found:
        deviceId: 0: GeForce GTX 1060 6GB
        deviceId: 0: GeForce GTX 1060 6GB (emulated)
s_sensorIdx: 9
[RS2] +Rs2Driver
[RS2] oni::driver::Rs2Driver::initialize
[RS2] oni::driver::Rs2Driver::enumerateDevices
[RS2] oni::driver::Rs2Driver::devicesChanged removed=0000000000000000 added=0000000002DD2110
[RS2] deviceConnected
[RS2] oni::driver::Rs2Device::queryDeviceInfo
[RS2] DEVICE serial=938422073868 name=Intel RealSense D435
[RS2] Rs2Driver INITIALIZED
After initialization:
[RS2] oni::driver::Rs2Driver::deviceOpen uri=938422073868
[RS2] +Rs2Device
[RS2] oni::driver::Rs2Device::initialize
[RS2] oni::driver::Rs2Device::queryDeviceInfo
[RS2] DEVICE serial=938422073868 name=Intel RealSense D435
[RS2] oni::driver::Rs2Device::initializeStreams
[RS2] SENSOR 0
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=1280 height=720 framerate=6
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=640 height=480 framerate=30
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=640 height=480 framerate=15
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=640 height=480 framerate=6
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=480 height=270 framerate=60
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=480 height=270 framerate=30
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=480 height=270 framerate=15
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=480 height=270 framerate=6
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=1280 height=720 framerate=6
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=640 height=480 framerate=30
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=640 height=480 framerate=15
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=640 height=480 framerate=6
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=480 height=270 framerate=60
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=480 height=270 framerate=30
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=480 height=270 framerate=15
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=480 height=270 framerate=6
[RS2] UNIQ streamId (0) -> type (1)
[RS2] UNIQ streamId (1) -> type (3)
[RS2] oni::driver::Rs2Device::addStream type=1 sensorId=0 streamId=0
[RS2] +Rs2Stream type=1
[RS2] oni::driver::Rs2Stream::initialize type=1 sensorId=0 streamId=0
[RS2] oni::driver::Rs2Device::addStream type=3 sensorId=0 streamId=1
[RS2] +Rs2Stream type=3
[RS2] oni::driver::Rs2Stream::initialize type=3 sensorId=0 streamId=1
[RS2] SENSOR 1
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=1280 height=720 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=1280 height=720 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=1280 height=720 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=640 height=480 framerate=30
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=640 height=480 framerate=30
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=640 height=480 framerate=30
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=640 height=480 framerate=15
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=640 height=480 framerate=15
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=640 height=480 framerate=15
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=640 height=480 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=640 height=480 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=640 height=480 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=424 height=240 framerate=60
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=424 height=240 framerate=60
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=424 height=240 framerate=60
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=424 height=240 framerate=30
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=424 height=240 framerate=30
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=424 height=240 framerate=30
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=424 height=240 framerate=15
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=424 height=240 framerate=15
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=424 height=240 framerate=15
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=424 height=240 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=424 height=240 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=424 height=240 framerate=6
[RS2] UNIQ streamId (0) -> type (2)
[RS2] oni::driver::Rs2Device::addStream type=2 sensorId=1 streamId=0
[RS2] +Rs2Stream type=2
[RS2] oni::driver::Rs2Stream::initialize type=2 sensorId=1 streamId=0
[RS2] FILL OniSensorInfo
[RS2] STREAM type=1 sensorId=0 streamId=0
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=1280 height=720 framerate=6
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=640 height=480 framerate=30
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=640 height=480 framerate=15
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=640 height=480 framerate=6
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=480 height=270 framerate=60
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=480 height=270 framerate=30
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=480 height=270 framerate=15
[RS2]   type=1 sensorId=0 streamId=0 profileId=4 format=1 width=480 height=270 framerate=6
[RS2] STREAM type=3 sensorId=0 streamId=1
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=1280 height=720 framerate=6
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=640 height=480 framerate=30
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=640 height=480 framerate=15
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=640 height=480 framerate=6
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=480 height=270 framerate=60
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=480 height=270 framerate=30
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=480 height=270 framerate=15
[RS2]   type=3 sensorId=0 streamId=1 profileId=5 format=9 width=480 height=270 framerate=6
[RS2] STREAM type=2 sensorId=1 streamId=0
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=1280 height=720 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=1280 height=720 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=1280 height=720 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=640 height=480 framerate=30
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=640 height=480 framerate=30
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=640 height=480 framerate=30
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=640 height=480 framerate=15
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=640 height=480 framerate=15
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=640 height=480 framerate=15
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=640 height=480 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=640 height=480 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=640 height=480 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=424 height=240 framerate=60
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=424 height=240 framerate=60
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=424 height=240 framerate=60
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=424 height=240 framerate=30
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=424 height=240 framerate=30
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=424 height=240 framerate=30
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=424 height=240 framerate=15
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=424 height=240 framerate=15
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=424 height=240 framerate=15
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=5 width=424 height=240 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=10 width=424 height=240 framerate=6
[RS2]   type=2 sensorId=1 streamId=0 profileId=7 format=4 width=424 height=240 framerate=6
[RS2] oni::driver::Rs2Device::mainLoop
[RS2] oni::driver::Rs2Device::getSensorInfoList
[RS2] oni::driver::Rs2Device::createStream sensorType=3
[RS2] oni::driver::Rs2Stream::start type=1 sensorId=0 streamId=0
[RS2] oni::driver::Rs2Device::updateConfiguration
[RS2] oni::driver::Rs2Device::getSensorInfoList
[RS2] oni::driver::Rs2Device::createStream sensorType=2
[RS2] oni::driver::Rs2Stream::start type=2 sensorId=1 streamId=0
[RS2] oni::driver::Rs2Device::updateConfiguration
getGain: 64
getExposure: 166
getAutoExposureEnabled: 1
getAutoWhiteBalanceEnabled: 1
sensor dimensions depth ( 640 / 480 )
sensor dimensions color ( 640 / 480 )
[RS2] oni::driver::Rs2Device::setProperty propertyId=5 dataSize=4
[RS2] registrationMode=1
depth intrinsics
1.#INF 0 320 0
0 1.#INF 240 0
0 0 1 0
0 0 0 1

color intrinsics
1.#INF 0 320 0
0 1.#INF 240 0
0 0 1 0
0 0 0 1

[RS2] oni::driver::Rs2Device::restartPipeline
[RS2] oni::driver::Rs2Device::startPipeline
[RS2] rs2_create_config
[RS2] ENABLE STREAM type=1 sensorId=0 streamId=0 640x480 @30
[RS2] ENABLE STREAM type=2 sensorId=1 streamId=0 640x480 @30
[RS2] rs2_create_pipeline
[RS2] rs2_pipeline_start_with_config
[RS2] type=1 sensorId=0 streamId=0 fovX=0.000000 fovY=0.000000 depthScale=0.000000
[RS2] type=2 sensorId=1 streamId=0 fovX=0.000000 fovY=0.000000 depthScale=0.000000
[RS2] STARTED
#INFO get image successfully ...
<<< [Frame: 0 ] 200000 >>>
#INFO get image successfully ...
<<< [Frame: 1 ] 200000 >>>
#INFO get image successfully ...
<<< [Frame: 2 ] 200000 >>>
#INFO get image successfully ...
<<< [Frame: 3 ] 200000 >>>
#INFO get image successfully ...
<<< [Frame: 4 ] 200000 >>>
#INFO get image successfully ...
<<< [Frame: 5 ] 200000 >>>
#INFO get image successfully ...
<<< [Frame: 6 ] 200000 >>>
#INFO get image successfully ...
<<< [Frame: 7 ] 200000 >>>
#INFO get image successfully ...
<<< [Frame: 8 ] 200000 >>>
#INFO get image successfully ...
<<< [Frame: 9 ] 200000 >>>
#INFO get image successfully ...
**INVALID FIRST CHUNK**
<<< [Frame: 10 ] 200000 >>>

**OnD3D11FrameRender StopScanningAndExit(true)**
**[ stop scanning and exit ]**

Thank you for your reply!

Where can i find the files like "zParametersSun3d.txt" and "zParametersBundlingSun3d.txt"?

Hi, authors,

Q1: Where can i find the files like "zParametersSun3d.txt" and "zParametersBundlingSun3d.txt"?

Q2: when I use kinect v2, how can i change the "zParametersDefault.txt" and "zParametersBundlingDefault.txt" files?

Q3: how to solve the following problem？

Thanks!

Assertion failure m_SIFTImagesGPU.size() < m_maxNumImages

I'm running the code on Windows 10 + GTX 1080 + VS 2013 + CUDA 8.0.
However I get assertion failure after the program has succesfully run for several frames (using the apt0.sens file downloaded from the authors' website):

In file \SiftGPU\SIFTImageManager.cpp, Line 44:
In function SIFTImageGPU& SIFTImageManager::createSIFTImageGPU( )
assert(m_SIFTImagesGPU.size() < m_maxNumImages) fails.

It seems the problem could happen on random frames so it may be related to some multi-threading issue?
Has anyone encountered similar problem? Thanks!

Kinect XBOX One doesnt work

I have tested it on Kinect One but it doesn't work properly. DirectX window is black and not responsing. Found out the code, it stucks at this line:

while (hr != S_OK) hr = m_pMultiSourceFrameReader->AcquireLatestFrame(&pMultiSourceFrame);

Line 41, KinectOneSensor.cpp

How can i get the depth map after reconstruction?

I have the file of .sens, but how can i get the depth map after reconstruction?

Kinect V1

Why does this happen?

Building error

I think that the problem has something to do with mLib - where exactly should the mLibExternals.zip file be extracted ? Are there other folders which need to exist besides External, FriedLiver and img ?

Error 1 error C1189: #error : "Mixing a dll CGAL library with a static runtime is a really bad idea..." d:\Kits\BundleFusion-master\FriedLiver\Include\CGAL\auto_link\auto_link.h 374 1 FriedLiver

Error 2 error MSB3721: The command ""C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v7.0\bin\nvcc.exe" -gencode=arch=compute_35,code="sm_35,compute_35" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -rdc=true -IInclude\cutil\inc -I"D:\Kits\BundleFusion-master\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v7.0\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v7.0\include" --keep-dir x64\Release -maxrregcount=62 --machine 64 --compile -cudart static -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /Zi /MT " -o x64\Release\CUDACache.cu.obj "d:\Kits\BundleFusion-master\FriedLiver\Source\CUDACache.cu"" exited with code 2. C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V120\BuildCustomizations\CUDA 7.0.targets 593 9 FriedLiver

.Sens File Encoding

How to create the .sens file for processing NYU dataset like demonstrated by the author?

Here I could see how to decode .sens, but not how to encode.
https://github.com/ScanNet/ScanNet/tree/master/SensReader

Or is it there another method for reading the original .ppm, .pgm and accelerometer .dump files?

any linux support

Can this system be compiled and run on linux (ubuntu16) with cuda 8. Anyone try this?

How to get the evalLie_derivI?

In LieDerivUtil.h
I want to know how to get the evalLie_derivI. Could some one know how to prove the evalLie_derivl?
Thank you very much!

Hardware requirement

My computer only has one graphic card,GTX 560 Ti with 1024MB GPU memory.I want to run the program after compiled it successfully.But it reports CUDA error,(13) invalid device symbol....So i change the minDevices=1 and DEVICE_BUNDLING=0 in DualGPU.h,it reports the same error as above.
So i want to know is it possible to run the program on only one graphic card with enough GPU memory,or it is necessary to run with two graphic cards.

Decompression error in .sens files

Hi there!
When I try to read a .sens I've just recorded to do the reconstruction with it, the 40% of the files are corrupted, it starts reading the file but it stops in a fixed frame and throws a decompression error:

if (m_colorCompressed == NULL || m_colorSizeBytes == 0) throw MLIB_EXCEPTION("decompression error");
in file sensorData.h line 582

Does anyone know how to fix that?
Thanks!

runtime API error 10： invalid device ordinal

I just set 's_sensorIdx = 8;' in zParametersDefault.txt, but when I run the project, I get the mistake runtime API error 10： invalid device ordinal. My computer only have one GPU, so I think this is the problem, but how to solve it ?

Cuda 8.0

Is there a possibility to run this with cuda 8.0? I wish to use my gtx 1080 graphics card

How to get the global view of reconstruction result?

How was the bottm-right corner reconstruction result get? Offline processing?

the program can't run in win10 ???

cuda7.0 is not supported by win10, so the program can only run in win8.1 or 7???

Visual Studio 2015

Is there any possibility to compile the code with Visual Studio 2015?

Cuda 9.1

This isn't as much as an issue as an FYI to people trying to use bundle fusion.

I was able to get it to compile with Cuda 9.1 using VS2013 Developer.

1>  Compiling CUDA source file Source\CUDAImageUtil.cu...
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\CUDACache.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\CUDACache.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\CUDAImageUtil.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\CUDAImageUtil.cu" 
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>  Compiling CUDA source file Source\DepthSensing\CUDAHistogramHashSDF.cu...
1>  Compiling CUDA source file Source\DepthSensing\CameraUtil.cu...
1>  Compiling CUDA source file Source\DepthSensing\CUDASceneRepChunkGrid.cu...
1>  Compiling CUDA source file Source\DepthSensing\CUDAImageHelper.cu...
1>  Compiling CUDA source file Source\SiftGPU\SIFTImageManager.cu...
1>  Compiling CUDA source file Source\SiftGPU\ProgramCU.cu...
1>  Compiling CUDA source file Source\DepthSensing\CUDARayCastSDF.cu...
1>  Compiling CUDA source file Source\SiftGPU\CUDASiftConstant.cu...
1>  Compiling CUDA source file Source\Solver\SolverBundling.cu...
1>  Compiling CUDA source file Source\DepthSensing\CUDAMarchingCubesSDF.cu...
1>  Compiling CUDA source file Source\SBA.cu...
1>  Compiling CUDA source file Source\DepthSensing\CUDAConstant.cu...
1>  Compiling CUDA source file Source\OnlineBundler.cu...
1>  Compiling CUDA source file Source\DepthSensing\CUDASceneRepHashSDF.cu...
1>  Compiling CUDA source file Source\DepthSensing\ScanCS.cu...
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\SIFTImageManager.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\SiftGPU\SIFTImageManager.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\CUDAHistogramHashSDF.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\DepthSensing\CUDAHistogramHashSDF.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\CameraUtil.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\DepthSensing\CameraUtil.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\CUDASceneRepChunkGrid.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\DepthSensing\CUDASceneRepChunkGrid.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\CUDAImageHelper.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\DepthSensing\CUDAImageHelper.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=0 --ptxas-options=-v --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\SolverBundling.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\Solver\SolverBundling.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\OnlineBundler.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\OnlineBundler.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\CUDASiftConstant.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\SiftGPU\CUDASiftConstant.cu" 
1>  
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\CUDARayCastSDF.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\DepthSensing\CUDARayCastSDF.cu" 
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\CUDASceneRepHashSDF.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\DepthSensing\CUDASceneRepHashSDF.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\SBA.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\SBA.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\CUDAConstant.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\DepthSensing\CUDAConstant.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\CUDAMarchingCubesSDF.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\DepthSensing\CUDAMarchingCubesSDF.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\ProgramCU.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\SiftGPU\ProgramCU.cu" 
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\x86_amd64" -x cu -rdc=true -IInclude\cutil\inc -I"C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include"     --keep-dir x64\Release -maxrregcount=62  --machine 64 --compile -cudart static    -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W3 /nologo /Ox /FS /Zi  /MT " -o x64\Release\ScanCS.cu.obj "C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\Source\DepthSensing\ScanCS.cu" 
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>C:/Users/adamm/Documents/BundleFusion-master - Test/FriedLiver/Source/SiftGPU/ProgramCU.cu(1334): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(27): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(33): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(40): warning : function "__shfl_down(float, unsigned int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(48): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(55): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\siftgpu\cudaUtil.h(62): warning : function "__shfl_xor(float, int, int)"
1>c:\users\adamm\documents\bundlefusion-master - test\friedliver\source\solver\SolverBundlingUtil.h(17): warning : function "__shfl_down(float, unsigned int, int)"
1>  CUDACache.cu
1>  CUDAImageUtil.cu
1>  CUDAConstant.cu
1>  ScanCS.cu
1>  CUDASiftConstant.cu
1>  CUDASceneRepChunkGrid.cu
1>  CUDAImageHelper.cu
1>  CUDAHistogramHashSDF.cu
1>  CUDASceneRepHashSDF.cu
1>  CameraUtil.cu
1>  OnlineBundler.cu
1>  SBA.cu
1>  ProgramCU.cu
1>  CUDAMarchingCubesSDF.cu
1>  ptxas info    : 896 bytes gmem
1>  ptxas info    : Compiling entry function '_Z25FindImageImageCorr_KernelILb1EEv11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z25FindImageImageCorr_KernelILb1EEv11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 32 registers, 748 bytes cmem[0], 28 bytes cmem[2]
1>  ptxas info    : Compiling entry function '_Z15PCGStep_Kernel011SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z15PCGStep_Kernel011SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 32 registers, 748 bytes cmem[0]
1>  ptxas info    : Function properties for cudaGetDevice
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Compiling entry function '_Z18EvalResidualDevice11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z18EvalResidualDevice11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 32 registers, 748 bytes cmem[0], 32 bytes cmem[2]
1>  ptxas info    : Compiling entry function '_Z23BuildDenseSystem_KernelILb0ELb1EEv11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z23BuildDenseSystem_KernelILb0ELb1EEv11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 110 registers, 748 bytes cmem[0], 4 bytes cmem[2]
1>  ptxas info    : Compiling entry function '_Z34convertLiePosesToMatricesCU_KernelPK6float3S1_jP8float4x4S3_' for 'sm_35'
1>  ptxas info    : Function properties for _Z34convertLiePosesToMatricesCU_KernelPK6float3S1_jP8float4x4S3_
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 32 registers, 360 bytes cmem[0], 32 bytes cmem[2]
1>  ptxas info    : Function properties for _Z13findDenseCorrjjjffRK8float4x4RK6float4PS3_PK6uchar4S5_S8_ffR6float3SA_R6float2SA_SA_
1>      8 bytes stack frame, 4 bytes spill stores, 4 bytes spill loads
1>  ptxas info    : Compiling entry function '_Z15PCGInit_Kernel1ILb1EEv11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z15PCGInit_Kernel1ILb1EEv11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 48 registers, 748 bytes cmem[0], 4 bytes cmem[2]
1>  ptxas info    : Compiling entry function '_Z23BuildDenseSystem_KernelILb1ELb1EEv11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z23BuildDenseSystem_KernelILb1ELb1EEv11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 124 registers, 748 bytes cmem[0], 4 bytes cmem[2]
1>  ptxas info    : Compiling entry function '_Z16PCGStep_Kernel1b11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z16PCGStep_Kernel1b11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 21 registers, 748 bytes cmem[0]
1>  ptxas info    : Function properties for cudaOccupancyMaxActiveBlocksPerMultiprocessorWithFlags
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Compiling entry function '_Z23EvalGNConvergenceDevice11SolverInput19SolverStateAnalysis11SolverState' for 'sm_35'
1>  ptxas info    : Function properties for _Z23EvalGNConvergenceDevice11SolverInput19SolverStateAnalysis11SolverState
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 14 registers, 2048 bytes smem, 712 bytes cmem[0]
1>  ptxas info    : Compiling entry function '_Z31FindDenseCorrespondences_Kernel11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z31FindDenseCorrespondences_Kernel11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 32 registers, 16 bytes smem, 748 bytes cmem[0]
1>  ptxas info    : Compiling entry function '_Z26PCGStep_Kernel_Dense_Brute11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z26PCGStep_Kernel_Dense_Brute11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 40 registers, 748 bytes cmem[0]
1>  ptxas info    : Compiling entry function '_Z21EvalMaxResidualDevice11SolverInput11SolverState19SolverStateAnalysis16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z21EvalMaxResidualDevice11SolverInput11SolverState19SolverStateAnalysis16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 40 registers, 4096 bytes smem, 780 bytes cmem[0], 32 bytes cmem[2]
1>  ptxas info    : Compiling entry function '_Z15PCGStep_Kernel3ILb1EEv11SolverInput11SolverState' for 'sm_35'
1>  ptxas info    : Function properties for _Z15PCGStep_Kernel3ILb1EEv11SolverInput11SolverState
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 40 registers, 680 bytes cmem[0], 72 bytes cmem[2]
1>  ptxas info    : Function properties for cudaFuncGetAttributes
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Compiling entry function '_Z23BuildDenseSystem_KernelILb1ELb0EEv11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z23BuildDenseSystem_KernelILb1ELb0EEv11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 95 registers, 748 bytes cmem[0]
1>  ptxas info    : Compiling entry function '_Z15PCGStep_Kernel211SolverInput11SolverState' for 'sm_35'
1>  ptxas info    : Function properties for _Z15PCGStep_Kernel211SolverInput11SolverState
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 22 registers, 680 bytes cmem[0], 4 bytes cmem[2]
1>  ptxas info    : Function properties for _Z13findDenseCorrjjjffRK8float4x4RK6float4PS3_S5_S5_S5_ffR6float3S7_R6float2S7_S7_
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Compiling entry function '_Z15PCGInit_Kernel2j11SolverState' for 'sm_35'
1>  ptxas info    : Function properties for _Z15PCGInit_Kernel2j11SolverState
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 6 registers, 560 bytes cmem[0]
1>  ptxas info    : Compiling entry function '_Z33WeightDenseCorrespondences_Kernelj11SolverState' for 'sm_35'
1>  ptxas info    : Function properties for _Z33WeightDenseCorrespondences_Kernelj11SolverState
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 5 registers, 560 bytes cmem[0]
1>  ptxas info    : Compiling entry function '_Z20PCGStep_Kernel_Dense11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z20PCGStep_Kernel_Dense11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 48 registers, 748 bytes cmem[0]
1>  ptxas info    : Compiling entry function '_Z19ResetResidualDevice11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z19ResetResidualDevice11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 4 registers, 748 bytes cmem[0]
1>  ptxas info    : Compiling entry function '_Z15PCGStep_Kernel3ILb0EEv11SolverInput11SolverState' for 'sm_35'
1>  ptxas info    : Function properties for _Z15PCGStep_Kernel3ILb0EEv11SolverInput11SolverState
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 20 registers, 680 bytes cmem[0], 4 bytes cmem[2]
1>  ptxas info    : Function properties for cudaDeviceGetAttribute
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Compiling entry function '_Z25FindImageImageCorr_KernelILb0EEv11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z25FindImageImageCorr_KernelILb0EEv11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 32 registers, 748 bytes cmem[0], 28 bytes cmem[2]
1>  ptxas info    : Compiling entry function '_Z16PCGStep_Kernel1a11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z16PCGStep_Kernel1a11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 31 registers, 748 bytes cmem[0]
1>  ptxas info    : Function properties for cudaOccupancyMaxActiveBlocksPerMultiprocessor
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Compiling entry function '_Z24CountHighResidualsDevice11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z24CountHighResidualsDevice11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 32 registers, 748 bytes cmem[0], 32 bytes cmem[2]
1>  ptxas info    : Compiling entry function '_Z14FlipJtJ_KerneljjPf' for 'sm_35'
1>  ptxas info    : Function properties for _Z14FlipJtJ_KerneljjPf
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 7 registers, 336 bytes cmem[0]
1>  ptxas info    : Compiling entry function '_Z15PCGInit_Kernel1ILb0EEv11SolverInput11SolverState16SolverParameters' for 'sm_35'
1>  ptxas info    : Function properties for _Z15PCGInit_Kernel1ILb0EEv11SolverInput11SolverState16SolverParameters
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 48 registers, 748 bytes cmem[0], 4 bytes cmem[2]
1>  ptxas info    : Compiling entry function '_Z26collectHighResidualsDevice11SolverInput11SolverState19SolverStateAnalysis16SolverParametersj' for 'sm_35'
1>  ptxas info    : Function properties for _Z26collectHighResidualsDevice11SolverInput11SolverState19SolverStateAnalysis16SolverParametersj
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 32 registers, 784 bytes cmem[0], 32 bytes cmem[2]
1>  ptxas info    : Compiling entry function '_Z42BuildVariablesToCorrespondencesTableDeviceP6EntryJjjPiS1_' for 'sm_35'
1>  ptxas info    : Function properties for _Z42BuildVariablesToCorrespondencesTableDeviceP6EntryJjjPiS1_
1>      24 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  ptxas info    : Used 18 registers, 352 bytes cmem[0]
1>  ptxas info    : Function properties for cudaMalloc
1>      0 bytes stack frame, 0 bytes spill stores, 0 bytes spill loads
1>  CUDARayCastSDF.cu
1>  SolverBundling.cu
1>  SIFTImageManager.cu
1>  stdafx.cpp
1>  BinaryDumpReader.cpp
1>  Bundler.cpp
1>  ConditionManager.cpp
1>  CorrespondenceEvaluator.cpp
1>  CUDACache.cpp
1>  CUDAImageCalibrator.cpp
1>  CUDAImageManager.cpp
1>  CUDAHistogramHashSDF.cpp
1>  CUDAImageHelper.cpp
1>  CUDAMarchingCubesHashSDF.cpp
1>  CUDARayCastSDF.cpp
1>  CUDAScan.cpp
1>  CUDASceneRepChunkGrid.cpp
1>  CUDASceneRepHashSDF.cpp
1>  DepthSensing.cpp
1>  DX11CustomRenderTarget.cpp
1>  DX11PhongLighting.cpp
1>  DX11QuadDrawer.cpp
1>  DX11RayIntervalSplatting.cpp
1>  DX11RGBDRenderer.cpp
1>  Compiling...
1>  DX11Utils.cpp
1>  StdOutputLogger.cpp
1>  TimingLogDepthSensing.cpp
1>  DualGPU.cpp
1>  FriedLiver.cpp
1>  GlobalAppState.cpp
1>  KinectOneSensor.cpp
1>  KinectSensor.cpp
1>  OnlineBundler.cpp
1>  PrimeSenseSensor.cpp
1>  RGBDSensor.cpp
1>  SBA.cpp
1>  SensorDataReader.cpp
1>  CuTexImage.cpp
1>  GlobalUtil.cpp
1>  SiftGPU.cpp
1>  SIFTImageManager.cpp
1>  SiftMatch.cpp
1>  SIFTMatchFilter.cpp
1>Source\SiftGPU\SIFTMatchFilter.cpp(862): warning C4244: 'argument' : conversion from 'double' to 'float', possible loss of data
1>Source\SiftGPU\SIFTMatchFilter.cpp(947): warning C4244: 'argument' : conversion from 'double' to 'float', possible loss of data
1>  SiftPyramid.cpp
1>  Compiling...
1>  SiftVisualization.cpp
1>  CUDASolverBundling.cpp
1>  StructureSensor.cpp
1>  TimingLog.cpp
1>  TrajectoryManager.cpp
1>  uplink.cpp
1>  DXUT.cpp
1>Source\DXUT\Core\DXUT.cpp(1870): warning C4996: 'GetVersionExW': was declared deprecated
1>          C:\Program Files (x86)\Windows Kits\8.1\Include\um\sysinfoapi.h(442) : see declaration of 'GetVersionExW'
1>Source\DXUT\Core\DXUT.cpp(4245): warning C4996: 'GetVersionExW': was declared deprecated
1>          C:\Program Files (x86)\Windows Kits\8.1\Include\um\sysinfoapi.h(442) : see declaration of 'GetVersionExW'
1>  DXUTDevice11.cpp
1>  DXUTDevice9.cpp
1>  DXUTmisc.cpp
1>Source\DXUT\Core\DXUTmisc.cpp(1117): warning C4996: 'GetVersionExA': was declared deprecated
1>          C:\Program Files (x86)\Windows Kits\8.1\Include\um\sysinfoapi.h(433) : see declaration of 'GetVersionExA'
1>  DXUTcamera.cpp
1>  DXUTgui.cpp
1>  DXUTres.cpp
1>  DXUTsettingsdlg.cpp
1>  SDKmesh.cpp
1>  SDKmisc.cpp
1>  
1>  C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver>"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\bin\nvcc.exe" -dlink -o x64\Release\FriedLiver.device-link.obj -Xcompiler "/EHsc /W3 /nologo /Ox /Zi  /MT " -L../opencv/lib/ -L"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\lib\x64" d3d11.lib d3dcompiler.lib d3dx11.lib d3dx9.lib dxerr.lib dxguid.lib winmm.lib comctl32.lib Shlwapi.lib cudart.lib cublas.lib FreeImage.lib zlib64.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib  -gencode=arch=compute_35,code=sm_35  --machine 64 x64\Release\CUDACache.cu.obj x64\Release\CUDAImageUtil.cu.obj x64\Release\CameraUtil.cu.obj x64\Release\CUDAConstant.cu.obj x64\Release\CUDAHistogramHashSDF.cu.obj x64\Release\CUDAImageHelper.cu.obj x64\Release\CUDAMarchingCubesSDF.cu.obj x64\Release\CUDARayCastSDF.cu.obj x64\Release\CUDASceneRepChunkGrid.cu.obj x64\Release\CUDASceneRepHashSDF.cu.obj x64\Release\ScanCS.cu.obj x64\Release\OnlineBundler.cu.obj x64\Release\SBA.cu.obj x64\Release\CUDASiftConstant.cu.obj x64\Release\ProgramCU.cu.obj x64\Release\SIFTImageManager.cu.obj x64\Release\SolverBundling.cu.obj 
1>  d3d11.lib
1>  d3dcompiler.lib
1>  d3dx11.lib
1>  d3dx9.lib
1>  dxerr.lib
1>  dxguid.lib
1>  winmm.lib
1>  comctl32.lib
1>  Shlwapi.lib
1>  cudart.lib
1>  cublas.lib
1>  FreeImage.lib
1>  zlib64.lib
1>  kernel32.lib
1>  user32.lib
1>  gdi32.lib
1>  winspool.lib
1>  comdlg32.lib
1>  advapi32.lib
1>  shell32.lib
1>  ole32.lib
1>  oleaut32.lib
1>  uuid.lib
1>  odbc32.lib
1>  odbccp32.lib
1>  CUDACache.cu.obj
1>  CUDAImageUtil.cu.obj
1>  CameraUtil.cu.obj
1>  CUDAConstant.cu.obj
1>  CUDAHistogramHashSDF.cu.obj
1>  CUDAImageHelper.cu.obj
1>  CUDAMarchingCubesSDF.cu.obj
1>  CUDARayCastSDF.cu.obj
1>  CUDASceneRepChunkGrid.cu.obj
1>  CUDASceneRepHashSDF.cu.obj
1>  ScanCS.cu.obj
1>  OnlineBundler.cu.obj
1>  SBA.cu.obj
1>  CUDASiftConstant.cu.obj
1>  ProgramCU.cu.obj
1>  SIFTImageManager.cu.obj
1>  SolverBundling.cu.obj
1>  Generating code
1>  Finished generating code
1>  FriedLiver.vcxproj -> C:\Users\adamm\Documents\BundleFusion-master - Test\FriedLiver\x64\Release\FriedLiver.exe```

How to generate global .ply Mesh file?

When I press the key '9' , StopScanningAndExtractIsoSurfaceMC() will be excuted.
But it seems only genetate current local map, Why?
How to generate global .ply Mesh file?

bundle fusion automatically exit when setting s_SDFVoxelSize=0.004f

In the test Dataset office3.sens, when limiting the voxel size into 4mm, the program will stuck after outputting "<<<[Frame: 222] 273 >>>" , then it exits without any more output.
But when setting the voxelsize more than 7mm, the program will run OK.
I check out the GPU memory comsumption and CPU memory comsumption, but there are still a lot free space.
My hardware configuration is win10+cuda8.0+vs2013+GTX1080ti
the parameter I changed is only the following:
s_SDFVoxelSize = 0.004f;

Does anyone know the reason?

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