I read your papers with great interest.

We are also very interested in your results.

Linked projects seem to have ACMM, ACMH, ACMP, ACMMP.

Which of these algorithms is the best?

Hi! Could you explain when the error is triggered and how I can avoid it? https://github.com/GhiXu/ACMMP/blob/f4c78f04b8a78f8565242950190df14a53fba7ab/ACMMP.cpp#L975 The method still produces good results, but always with this error, I'm confused.

Hi, thank you for opening this great project! I tested this algorithm on ETH3d training data "kicker", the memory is keep increasing. My computer capacity is 32Gb, and at the end ACMMP use more than 30Gb memory. And in another bigger dataset, the program just killed half way. I think this should not happen but I don't find the bug, can you help me? And this bug is at depth estimation stage, not depth fusion stage.

(base) -bash-4.2$ cmake .
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/local/GNU/gcc-7.5.0/bin/gcc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/local/GNU/gcc-7.5.0/bin/g++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found CUDA: /usr/local/cuda-10.2 (found suitable version "10.2", minimum required is "6.0")
-- Found OpenCV: /usr/local/software/opencv-4.5.1 (found version "4.5.1")
-- Found OpenMP_C: -fopenmp (found version "4.5")
-- Found OpenMP_CXX: -fopenmp (found version "4.5")
-- Found OpenMP: TRUE (found version "4.5")
-- Configuring done
-- Generating done
-- Build files have been written to: /export/data/lwangcg/ACMP

[ 25%] Building NVCC (Device) object CMakeFiles/ACMP.dir/ACMP_generated_ACMP.cu.o
/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(177): error: "conjunction_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(177): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(180): error: "disjunction_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(180): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(183): error: "negation_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(183): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2661): error: "is_swappable_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2661): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2666): error: "is_nothrow_swappable_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2666): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2745): error: "is_swappable_with_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2745): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2750): error: "is_nothrow_swappable_with_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2750): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2882): error: "is_invocable_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2882): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2886): error: "is_nothrow_invocable_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2886): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2891): error: "is_invocable_r_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2891): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2896): error: "is_nothrow_invocable_r_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2896): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2903): error: "is_void_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2903): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2905): error: "is_null_pointer_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2905): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2907): error: "is_integral_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2907): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2909): error: "is_floating_point_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2909): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2911): error: "is_array_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2911): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2913): error: "is_pointer_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2913): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2915): error: "is_lvalue_reference_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2915): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2918): error: "is_rvalue_reference_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2918): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2921): error: "is_member_object_pointer_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2921): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2924): error: "is_member_function_pointer_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2924): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2927): error: "is_enum_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2927): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2929): error: "is_union_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2929): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2931): error: "is_class_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2931): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2933): error: "is_function_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2933): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2935): error: "is_reference_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2935): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2937): error: "is_arithmetic_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2937): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2939): error: "is_fundamental_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2939): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2941): error: "is_object_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2941): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2943): error: "is_scalar_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2943): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2945): error: "is_compound_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2945): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2947): error: "is_member_pointer_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2947): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2949): error: "is_const_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2949): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2951): error: "is_volatile_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2951): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2953): error: "is_trivial_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2953): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2955): error: "is_trivially_copyable_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2955): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2958): error: "is_standard_layout_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2958): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2960): error: "is_pod_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2960): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2962): error: "is_literal_type_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2962): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2964): error: "is_empty_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2964): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2966): error: "is_polymorphic_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2966): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2968): error: "is_abstract_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2968): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2970): error: "is_final_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2970): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2972): error: "is_signed_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2972): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2974): error: "is_unsigned_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2974): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2976): error: "is_constructible_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2976): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2979): error: "is_default_constructible_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2979): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2982): error: "is_copy_constructible_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2982): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2985): error: "is_move_constructible_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2985): error: "constexpr" is not valid here

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2988): error: "is_assignable_v" is not a function or static data member

/usr/local/GNU/gcc-7.5.0/include/c++/7.5.0/type_traits(2988): error: "constexpr" is not valid here

Error limit reached.
100 errors detected in the compilation of "/tmp/tmpxft_0001a47b_00000000-7_ACMP.compute_52.cpp1.ii".
Compilation terminated.
CMake Error at ACMP_generated_ACMP.cu.o.cmake:280 (message):
  Error generating file
  /export/data/lwangcg/ACMP/CMakeFiles/ACMP.dir//./ACMP_generated_ACMP.cu.o


make[2]: *** [CMakeFiles/ACMP.dir/ACMP_generated_ACMP.cu.o] Error 1
make[1]: *** [CMakeFiles/ACMP.dir/all] Error 2
make: *** [all] Error 2

Hi, I think I found a pretty severe bug in both ACMM and ACMMP. The problem is the following line:

https://github.com/GhiXu/ACMMP/blob/f4c78f04b8a78f8565242950190df14a53fba7ab/ACMMP.cu#L1100

When the if statement is not satisfied, that variable remains uninitialized and it is both refined with PlaneHypothesisRefinement() and assigned to plane_hypotheses[center]. This produces random values which then propagates throughout the execution. You can verify it yourself if you just print the number of depth values smaller than 0 and bigger than any reasonable threshold. I would suggest to simply initialize it with the current value:

float4 plane_hypotheses_now = plane_hypotheses[center]

The issue doesn't exist in ACMP, where this line is not executed and plane_hypotheses[center] is directly manipulated.

Now, the problem is that with this fix the 3D output has slightly less points (around 8-9% less), which is weird. Can you look a bit into this issue and clarify what happens? Maybe I'm missing something. Thank you in advance!