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Most of the DynamicFusion implementation done here. #50

Merged
merged 315 commits into from
Jul 20, 2023
Merged

Most of the DynamicFusion implementation done here. #50

merged 315 commits into from
Jul 20, 2023

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Algomorph
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This includes most of the DynamicFusion algorithm. Here are the unpublished, but extremely important mathematical and algorithmic details the implementation is based on.
The part still missing is the warp field update (only the node hierarchy rebuilding is implemented for this so far).

@Algomorph
Implement face attribute interpolation to handle rendered normals in-…
4554845 
…house
@Algomorph
Add face attribute interpolation (untested)
bc3087c
@Algomorph
Add skeleton test for face attr. interp.
f4b9bfd
@Algomorph
update Catch2 version, enable catch_discover_tests macro usage in tests
649d28b
@Algomorph
Remove stray source file from test_utils
ebb1a4a
@Algomorph
Upgrade test_main.hpp to accommodate new Catch2 header structure
233a2b2
@Algomorph
Add Catch2 C++17 patch
bc658ec
@Algomorph
Add patch command to Catch2 content fetching
cf357c5
@Algomorph
Catch2: std17->std20 build patch
92f8174
@Algomorph
Fix CXX11 ABI problem in Catch2
6ed6867
@Algomorph
Implement face attribute interpolation test
8915453
@Algomorph
Fix face interpolation + tests
62548a0
@Algomorph
move normals operations + kernels to geometry::functional
f5a41ab
@Algomorph
Add skeleton for DeformableMeshRenderToImageFitter
7755d36
@Algomorph
Update submodules, restructure geometry module internally (pending py…
a227696 
…bind updates)
@Algomorph
Lots of code - for optimizer forward pass
2b98ef4
@Algomorph
finish the pure-C++ residual computation (untested)
000078c
@Algomorph
Rearranging things, skeleton for jacobian / partial derivatives, some…
2abefe3 
… code
@Algomorph
Continue building out the jacobians, add in jacobian computation for …
4a36eec 
…perspective correction
@Algomorph
CPP folder restructuring, fix some python binding errors stemming fro…
8653297 
…m latent overloading of tri mesh warping
@Algomorph
Finish C++ namespace manipulations -- move alignment stuff to alignment
d4d571c
@Algomorph
Update rendering functions' template params to make argument type tem…
e0ac2b2 
…plate specification unnecessary (simplify usage & code complexity)
@Algomorph
Fix bug in platform-independent tuple
ea3efb1
@Algomorph
Finish barycentric coordinate jacobian wrt ray space vertices
67c802b
@Algomorph
Nomenclature: 'ray space' -> NDC
d5666db
@Algomorph
Complete jacobian of barycentrics w.r.t. camera-space vertices, w/o p…
4c5e22d 
…ersp correction
@Algomorph
fix non-perspective-correct barycentrics jacobian, libcu++ usage, WIP…
847bf28 
… error in perspective-correct jacobian
@Algomorph
Full implementations of perspective-correct & distorted jacobians wrt…
db9d074 
… 3d vertices, usage of that within rendered vertex & normals jacobians
@Algomorph
Fix some compile bugs in new code
3d7f521
@Algomorph
Renderd vertex and normal jacobians -- implementation finished
a0199e6
@Algomorph
Add dense cholesky solver, tests (fails tests)
ce4bf2c
@Algomorph
Working solution for cholesky dense solver for vector rhs (matrix rhs…
4e445fe 
… fails tests)
@Algomorph
Fix SolveCholeskyCUDA
a9b97b4
@Algomorph
Modified all cholesky solvers to use col-major ordering without trans…
6e7ca5f 
…positions (exploiting right-hand-side solvers)
@Algomorph
Remove unneded transpose from pos-semidef block inversion
b4ce915
@Algomorph
Continue on the solver
beb57e6
@Algomorph
Add diagonal block-sparse times vector product
f292f98
@Algomorph
Add tests for new block-sparse arrowhead solver (passing)
74e9514
@Algomorph
Get rid of old block-sparse arrowhead factorizer
5ce0933
@Algomorph
Add skeleton for transpose blocks on CPU
689fe78
@Algomorph
Fix test main includes (Catch2 & Pybind)
1cbb4f6
@Algomorph
Fix tiny bug in block sparse arrowhead solver, update test data: test…
8e72e82 
…s passing
@Algomorph
Implement edge (regularization) negative gradient computation
1171d9d
@Algomorph
Fix CUDA FetchSub routine in AtomicTensor
887fef1
@Algomorph
Rename 1-node test files
018ccfe
@Algomorph
Convert one-node fitter testing data to downloadable target
d5e03be
@Algomorph
Fitter 2-node test data converted to downloadable target, 2-node rota…
765fd48 
…tion-only case added
@Algomorph
Add python module build fix due to Make/ninja divergence
e151a9b
@Algomorph
Add variable-node-weight anchor computation test
7b8327a
@Algomorph
Fix bugs in graph warp field test due to dtype upgrades
8f9e8a1
@Algomorph
Fix all old tests
05792de
@Algomorph
Fix tests w/ new Open3D version
02b25e5
@Algomorph
Update README to reflect Open3D changes
93463d0
@Algomorph Algomorph self-assigned this Jul 19, 2023
@Algomorph Algomorph merged commit e4991c8 into main Jul 20, 2023
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@Algomorph