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Reduce memory usage in overlap computation by using float16 #81

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b68283f
Adding some extra logging.
mihaidusmanu May 27, 2023
c76cae5
Revert
mihaidusmanu May 27, 2023
08363c5
float32
mihaidusmanu May 27, 2023
6d8039f
Merge branch 'main' into mihai/mesh-caching-test
mihaidusmanu Nov 13, 2024
e2d9518
Fix.
mihaidusmanu Nov 13, 2024
332d45f
CR.
mihaidusmanu Nov 13, 2024
9a71e8d
Fix.
mihaidusmanu Nov 13, 2024
32238b1
Fix.
mihaidusmanu Nov 13, 2024
4f42ef2
fix.
mihaidusmanu Nov 13, 2024
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8 changes: 4 additions & 4 deletions scantools/proc/overlap.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ def overlay(overlap: np.ndarray, image: np.ndarray):


class OverlapTracer:
def __init__(self, renderer: Renderer, stride: int = 1, num_rays: Optional[float] = None):
def __init__(self, renderer: Renderer, stride: int = 1, num_rays: Optional[int] = None):
self.renderer = renderer
self.stride = stride
self.num_rays = num_rays
Expand Down Expand Up @@ -100,7 +100,7 @@ def trajectory_overlap(self, keys_q: List, session_q: Session,
if is_self:
keys_r, session_r, poses_r = keys_q, session_q, poses_q

overlap_matrix = np.full((len(keys_q), len(keys_r)), -1, float)
overlap_matrix = np.full((len(keys_q), len(keys_r)), -1, dtype=np.float16)
overlap_matrix[discard] = 0

# cache the image poses as they might be compositions of rig poses
Expand Down Expand Up @@ -195,8 +195,8 @@ def compute_overlaps_for_sequence(capture: Capture, id_q: str, id_ref: str,
valid_image_indices_list = [np.array(list(range(len(keys_ref))))]
selected_keys_ref_list = [keys_ref]

ov_q2r = np.zeros([len(keys_q), len(keys_ref)])
ov_r2q = np.zeros([len(keys_ref), len(keys_q)])
ov_q2r = np.zeros([len(keys_q), len(keys_ref)], dtype=np.float16)
ov_r2q = np.zeros([len(keys_ref), len(keys_q)], dtype=np.float16)
for sub_info in zip(sub_mesh_id_list, valid_image_indices_list, selected_keys_ref_list):
sub_mesh_id, valid_image_indices, selected_keys_ref = sub_info
sub_mesh_path = capture.proc_path(id_ref) / session_ref.proc.meshes[sub_mesh_id]
Expand Down