colmap/lib/PoissonRecon/PoissonRecon.cpp

/*
Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
All rights reserved.

Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of
conditions and the following disclaimer. Redistributions in binary form must reproduce
the above copyright notice, this list of conditions and the following disclaimer
in the documentation and/or other materials provided with the distribution.

Neither the name of the Johns Hopkins University nor the names of its contributors
may be used to endorse or promote products derived from this software without specific
prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
DAMAGE.
*/

#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <float.h>
#include <cmath>
#ifdef _WIN32
#include <Windows.h>
#include <Psapi.h>
#endif // _WIN32
#include "MyTime.h"
#include "MarchingCubes.h"
#include "Octree.h"
#include "SparseMatrix.h"
#include "CmdLineParser.h"
#include "PPolynomial.h"
#include "Ply.h"
#include "MemoryUsage.h"
#ifdef _OPENMP
#include "omp.h"
#endif // _OPENMP

namespace {

void DumpOutput( const char* format , ... );
void DumpOutput2( std::vector< char* >& comments , const char* format , ... );
#include "MultiGridOctreeData.h"

#define DEFAULT_FULL_DEPTH 5

#define XSTR(x) STR(x)
#define STR(x) #x
#if DEFAULT_FULL_DEPTH
// #pragma message ( "[WARNING] Setting default full depth to " XSTR(DEFAULT_FULL_DEPTH) )
#endif // DEFAULT_FULL_DEPTH

#include <stdarg.h>
char* outputFile=NULL;
int echoStdout=0;
void DumpOutput( const char* format , ... )
{
	if( outputFile )
	{
		FILE* fp = fopen( outputFile , "a" );
		va_list args;
		va_start( args , format );
		vfprintf( fp , format , args );
		fclose( fp );
		va_end( args );
	}
	if( echoStdout )
	{
		va_list args;
		va_start( args , format );
		vprintf( format , args );
		va_end( args );
	}
}
void DumpOutput2( std::vector< char* >& comments  , const char* format , ... )
{
	if( outputFile )
	{
		FILE* fp = fopen( outputFile , "a" );
		va_list args;
		va_start( args , format );
		vfprintf( fp , format , args );
		fclose( fp );
		va_end( args );
	}
	if( echoStdout )
	{
		va_list args;
		va_start( args , format );
		vprintf( format , args );
		va_end( args );
	}
	comments.push_back( new char[1024] );
	char* str = comments.back();
	va_list args;
	va_start( args , format );
	vsprintf( str , format , args );
	va_end( args );
	if( str[strlen(str)-1]=='\n' ) str[strlen(str)-1] = 0;
}


cmdLineString
	In( "in" ) ,
	Out( "out" ) ,
	VoxelGrid( "voxel" ) ,
	XForm( "xForm" );

cmdLineReadable
#ifdef _WIN32
	Performance( "performance" ) ,
#endif // _WIN32
	Complete( "complete" ) ,
	ShowResidual( "showResidual" ) ,
	NoComments( "noComments" ) ,
	PolygonMesh( "polygonMesh" ) ,
	Confidence( "confidence" ) ,
	NormalWeights( "nWeights" ) ,
	NonManifold( "nonManifold" ) ,
	Dirichlet( "dirichlet" ) ,
	ASCII( "ascii" ) ,
	Density( "density" ) ,
	LinearFit( "linearFit" ) ,
	PrimalVoxel( "primalVoxel" ) ,
	Verbose( "verbose" ) ,
	Double( "double" );

cmdLineInt
	Degree( "degree" , 2 ) ,
	Depth( "depth" , 8 ) ,
	CGDepth( "cgDepth" , 0 ) ,
	KernelDepth( "kernelDepth" ) ,
	AdaptiveExponent( "adaptiveExp" , 1 ) ,
	Iters( "iters" , 8 ) ,
	VoxelDepth( "voxelDepth" , -1 ) ,
	FullDepth( "fullDepth" , DEFAULT_FULL_DEPTH ) ,
	MinDepth( "minDepth" , 0 ) ,
	MaxSolveDepth( "maxSolveDepth" ) ,
	Threads( "threads" , omp_get_num_procs() );

cmdLineFloat
	Color( "color" , 16.f ) ,
	SamplesPerNode( "samplesPerNode" , 1.5f ) ,
	Scale( "scale" , 1.1f ) ,
	CSSolverAccuracy( "cgAccuracy" , float(1e-3) ) ,
	PointWeight( "pointWeight" , 4.f );


cmdLineReadable* params[] =
{
	&In , &Degree , &Depth , &Out , &XForm ,
	&Scale , &Verbose , &CSSolverAccuracy , &NoComments , &Double ,
	&KernelDepth , &SamplesPerNode , &Confidence , &NormalWeights , &NonManifold , &PolygonMesh , &ASCII , &ShowResidual , &VoxelDepth ,
	&PointWeight , &VoxelGrid , &Threads , &MaxSolveDepth ,
	&AdaptiveExponent , &Dirichlet ,
	&Density ,
	&FullDepth ,
	&MinDepth ,
	&CGDepth , &Iters ,
	&Complete ,
	&Color ,
	&LinearFit ,
	&PrimalVoxel ,
#ifdef _WIN32
	&Performance ,
#endif // _WIN32
};


void ShowUsage(char* ex)
{
	printf( "Usage: %s\n" , ex );
	printf( "\t --%s  <input points>\n" , In.name );

	printf( "\t[--%s <ouput triangle mesh>]\n" , Out.name );
	printf( "\t[--%s <ouput voxel grid>]\n" , VoxelGrid.name );

	printf( "\t[--%s <b-spline degree>=%d]\n" , Degree.name , Degree.value );

	printf( "\t[--%s <maximum reconstruction depth>=%d]\n" , Depth.name , Depth.value );
	printf( "\t\t Running at depth d corresponds to solving on a 2^d x 2^d x 2^d\n" );
	printf( "\t\t voxel grid.\n" );

	printf( "\t[--%s <full depth>=%d]\n" , FullDepth.name , FullDepth.value );
	printf( "\t\t This flag specifies the depth up to which the octree should be complete.\n" );

	printf( "\t[--%s <depth at which to extract the voxel grid>=<%s>]\n" , VoxelDepth.name , Depth.name );

	printf( "\t[--%s <conjugate-gradients depth>=%d]\n" , CGDepth.name , CGDepth.value );
	printf( "\t\t The depth up to which a conjugate-gradients solver should be used.\n");

	printf( "\t[--%s <scale factor>=%f]\n" , Scale.name , Scale.value );
	printf( "\t\t Specifies the factor of the bounding cube that the input\n" );
	printf( "\t\t samples should fit into.\n" );

	printf( "\t[--%s <minimum number of samples per node>=%f]\n" , SamplesPerNode.name, SamplesPerNode.value );
	printf( "\t\t This parameter specifies the minimum number of points that\n" );
	printf( "\t\t should fall within an octree node.\n" );

	printf( "\t[--%s <interpolation weight>=%f]\n" , PointWeight.name , PointWeight.value );
	printf( "\t\t This value specifies the weight that point interpolation constraints are\n" );
	printf( "\t\t given when defining the (screened) Poisson system.\n" );

	printf( "\t[--%s <iterations>=%d]\n" , Iters.name , Iters.value );
	printf( "\t\t This flag specifies the (maximum if CG) number of solver iterations.\n" );

	printf( "\t[--%s <pull factor>]\n" , Color.name );
	printf( "\t\t This flag specifies the pull factor for color interpolation\n" );

#ifdef _OPENMP
	printf( "\t[--%s <num threads>=%d]\n" , Threads.name , Threads.value );
	printf( "\t\t This parameter specifies the number of threads across which\n" );
	printf( "\t\t the solver should be parallelized.\n" );
#endif // _OPENMP

	printf( "\t[--%s]\n" , Confidence.name );
	printf( "\t\t If this flag is enabled, the size of a sample's normals is\n" );
	printf( "\t\t used as a confidence value, affecting the sample's\n" );
	printf( "\t\t constribution to the reconstruction process.\n" );

	printf( "\t[--%s]\n" , NormalWeights.name );
	printf( "\t\t If this flag is enabled, the size of a sample's normals is\n" );
	printf( "\t\t used as to modulate the interpolation weight.\n" );

#if 0
	printf( "\t[--%s]\n" , NonManifold.name );
	printf( "\t\t If this flag is enabled, the isosurface extraction does not add\n" );
	printf( "\t\t a planar polygon's barycenter in order to ensure that the output\n" );
	printf( "\t\t mesh is manifold.\n" );
#endif

	printf( "\t[--%s]\n" , PolygonMesh.name);
	printf( "\t\t If this flag is enabled, the isosurface extraction returns polygons\n" );
	printf( "\t\t rather than triangles.\n" );

#if 0
	printf( "\t[--%s <minimum depth>=%d]\n" , MinDepth.name , MinDepth.value );
	printf( "\t\t This flag specifies the coarsest depth at which the system is to be solved.\n" );

	printf( "\t[--%s <cg solver accuracy>=%g]\n" , CSSolverAccuracy.name , CSSolverAccuracy.value );
	printf( "\t\t This flag specifies the accuracy cut-off to be used for CG.\n" );

	printf( "\t[--%s <adaptive weighting exponent>=%d]\n", AdaptiveExponent.name , AdaptiveExponent.value );
	printf( "\t\t This flag specifies the exponent scale for the adaptive weighting.\n" );

#ifdef _WIN32
	printf( "\t[--%s]\n" , Performance.name );
	printf( "\t\t If this flag is enabled, the running time and peak memory usage\n" );
	printf( "\t\t is output after the reconstruction.\n" );
#endif // _WIN32
#endif
	printf( "\t[--%s]\n" , Dirichlet.name);
	printf( "\t\t If this flag is enabled, Dirichlet boundary constraints are used for reconstruction.\n" );

	printf( "\t[--%s]\n" , Density.name );
	printf( "\t\t If this flag is enabled, the sampling density is written out with the vertices.\n" );

	printf( "\t[--%s]\n" , LinearFit.name );
	printf( "\t\t If this flag is enabled, the iso-surfacing will be performed using linear fitting.\n" );

	printf( "\t[--%s]\n" , PrimalVoxel.name );
	printf( "\t\t If this flag is enabled, voxel sampling is performed at corners rather than centers.\n" );

#if 0
	printf( "\t[--%s]\n" , ASCII.name );
	printf( "\t\t If this flag is enabled, the output file is written out in ASCII format.\n" );

	printf( "\t[--%s]\n" , NoComments.name );
	printf( "\t\t If this flag is enabled, the output file will not include comments.\n" );
#endif

	printf( "\t[--%s]\n" , Double.name );
	printf( "\t\t If this flag is enabled, the reconstruction will be performed with double-precision floats.\n" );

	printf( "\t[--%s]\n" , Verbose.name );
	printf( "\t\t If this flag is enabled, the progress of the reconstructor will be output to STDOUT.\n" );
}

Point3D< unsigned char > ReadASCIIColor( FILE* fp )
{
	Point3D< unsigned char > c;
	if( fscanf( fp , " %c %c %c " , &c[0] , &c[1] , &c[2] )!=3 ) fprintf( stderr , "[ERROR] Failed to read color\n" ) , exit( 0 );
	return c;
}

PlyProperty PlyColorProperties[]=
{
	{ "r"     , PLY_UCHAR , PLY_UCHAR , int( offsetof( Point3D< unsigned char > , coords[0] ) ) , 0 , 0 , 0 , 0 } ,
	{ "g"     , PLY_UCHAR , PLY_UCHAR , int( offsetof( Point3D< unsigned char > , coords[1] ) ) , 0 , 0 , 0 , 0 } ,
	{ "b"     , PLY_UCHAR , PLY_UCHAR , int( offsetof( Point3D< unsigned char > , coords[2] ) ) , 0 , 0 , 0 , 0 } ,
	{ "red"   , PLY_UCHAR , PLY_UCHAR , int( offsetof( Point3D< unsigned char > , coords[0] ) ) , 0 , 0 , 0 , 0 } ,
	{ "green" , PLY_UCHAR , PLY_UCHAR , int( offsetof( Point3D< unsigned char > , coords[1] ) ) , 0 , 0 , 0 , 0 } ,
	{ "blue"  , PLY_UCHAR , PLY_UCHAR , int( offsetof( Point3D< unsigned char > , coords[2] ) ) , 0 , 0 , 0 , 0 }
};

bool ValidPlyColorProperties( const bool* props ){ return ( props[0] || props[3] ) && ( props[1] || props[4] ) && ( props[2] || props[5] ); }

template< class Real , int Degree , class Vertex >
int _Execute( int argc , char* argv[] )
{
	Reset< Real >();
	int paramNum = sizeof(params)/sizeof(cmdLineReadable*);
	std::vector< char* > comments;

	if( Verbose.set ) echoStdout=1;

	XForm4x4< Real > xForm , iXForm;
	if( XForm.set )
	{
		FILE* fp = fopen( XForm.value , "r" );
		if( !fp )
		{
			fprintf( stderr , "[WARNING] Could not read x-form from: %s\n" , XForm.value );
			xForm = XForm4x4< Real >::Identity();
		}
		else
		{
			for( int i=0 ; i<4 ; i++ ) for( int j=0 ; j<4 ; j++ )
			{
				float f;
				if( fscanf( fp , " %f " , &f )!=1 ) fprintf( stderr , "[ERROR] Execute: Failed to read xform\n" ) , exit( 0 );
				xForm(i,j) = (Real)f;
			}
			fclose( fp );
		}
	}
	else xForm = XForm4x4< Real >::Identity();
	iXForm = xForm.inverse();

	DumpOutput2( comments , "Running Screened Poisson Reconstruction (Version 8.0)\n" );
	char str[1024];
	for( int i=0 ; i<paramNum ; i++ )
		if( params[i]->set )
		{
			params[i]->writeValue( str );
			if( strlen( str ) ) DumpOutput2( comments , "\t--%s %s\n" , params[i]->name , str );
			else                DumpOutput2( comments , "\t--%s\n" , params[i]->name );
		}

	double t;
	double tt=Time();
	Real isoValue = 0;

	Octree< Real > tree;
	tree.threads = Threads.value;
	if( !In.set )
	{
		ShowUsage( argv[0] );
		return 0;
	}
	if( !MaxSolveDepth.set ) MaxSolveDepth.value = Depth.value;

	OctNode< TreeNodeData >::SetAllocator( MEMORY_ALLOCATOR_BLOCK_SIZE );

	t=Time();
	int kernelDepth = KernelDepth.set ? KernelDepth.value : Depth.value-2;
	if( kernelDepth>Depth.value )
	{
		fprintf( stderr,"[WARNING] %s can't be greater than %s: %d <= %d\n" , KernelDepth.name , Depth.name , KernelDepth.value , Depth.value );
		kernelDepth = Depth.value;
	}

	double maxMemoryUsage;
	t=Time() , tree.maxMemoryUsage=0;
	SparseNodeData< PointData< Real > , 0 >* pointInfo = new SparseNodeData< PointData< Real > , 0 >();
	SparseNodeData< Point3D< Real > , NORMAL_DEGREE >* normalInfo = new SparseNodeData< Point3D< Real > , NORMAL_DEGREE >();
	SparseNodeData< Real , WEIGHT_DEGREE >* densityWeights = new SparseNodeData< Real , WEIGHT_DEGREE >();
	SparseNodeData< Real , NORMAL_DEGREE >* nodeWeights = new SparseNodeData< Real , NORMAL_DEGREE >();
	int pointCount;
	typedef typename Octree< Real >::template ProjectiveData< Point3D< Real > > ProjectiveColor;
	SparseNodeData< ProjectiveColor , DATA_DEGREE >* colorData = NULL;

	char* ext = GetFileExtension( In.value );
	if( Color.set && Color.value>0 )
	{
		colorData = new SparseNodeData< ProjectiveColor , DATA_DEGREE >();
		OrientedPointStreamWithData< float , Point3D< unsigned char > >* pointStream;
		if     ( !strcasecmp( ext , "bnpts" ) ) pointStream = new BinaryOrientedPointStreamWithData< float , Point3D< unsigned char > >( In.value );
		else if( !strcasecmp( ext , "ply"   ) ) pointStream = new    PLYOrientedPointStreamWithData< float , Point3D< unsigned char > >( In.value , PlyColorProperties , 6 , ValidPlyColorProperties );
		else                                    pointStream = new  ASCIIOrientedPointStreamWithData< float , Point3D< unsigned char > >( In.value , ReadASCIIColor );
		pointCount = tree.template SetTree< float , NORMAL_DEGREE , WEIGHT_DEGREE , DATA_DEGREE , Point3D< unsigned char > >( pointStream , MinDepth.value , Depth.value , FullDepth.value , kernelDepth , Real(SamplesPerNode.value) , Scale.value , Confidence.set , NormalWeights.set , PointWeight.value , AdaptiveExponent.value , *densityWeights , *pointInfo , *normalInfo , *nodeWeights , colorData , xForm , Dirichlet.set , Complete.set );
		delete pointStream;

		for( const OctNode< TreeNodeData >* n = tree.tree().nextNode() ; n!=NULL ; n=tree.tree().nextNode( n ) )
		{
			int idx = colorData->index( n );
			if( idx>=0 ) colorData->data[idx] *= (Real)pow( Color.value , n->depth() );
		}
	}
	else
	{
		OrientedPointStream< float >* pointStream;
		if     ( !strcasecmp( ext , "bnpts" ) ) pointStream = new BinaryOrientedPointStream< float >( In.value );
		else if( !strcasecmp( ext , "ply"   ) ) pointStream = new    PLYOrientedPointStream< float >( In.value );
		else                                    pointStream = new  ASCIIOrientedPointStream< float >( In.value );
		pointCount = tree.template SetTree< float , NORMAL_DEGREE , WEIGHT_DEGREE , DATA_DEGREE , Point3D< unsigned char > >( pointStream , MinDepth.value , Depth.value , FullDepth.value , kernelDepth , Real(SamplesPerNode.value) , Scale.value , Confidence.set , NormalWeights.set , PointWeight.value , AdaptiveExponent.value , *densityWeights , *pointInfo , *normalInfo , *nodeWeights , colorData , xForm , Dirichlet.set , Complete.set );
		delete pointStream;
	}
	delete[] ext;
	if( !Density.set ) delete densityWeights , densityWeights = NULL;
	{
		std::vector< int > indexMap;
		if( NORMAL_DEGREE>Degree ) tree.template EnableMultigrid< NORMAL_DEGREE >( &indexMap );
		else                       tree.template EnableMultigrid<        Degree >( &indexMap );
		if( pointInfo ) pointInfo->remapIndices( indexMap );
		if( normalInfo ) normalInfo->remapIndices( indexMap );
		if( densityWeights ) densityWeights->remapIndices( indexMap );
		if( nodeWeights ) nodeWeights->remapIndices( indexMap );
		if( colorData ) colorData->remapIndices( indexMap );
	}

	DumpOutput2( comments , "#             Tree set in: %9.1f (s), %9.1f (MB)\n" , Time()-t , tree.maxMemoryUsage );
	DumpOutput( "Input Points: %d\n" , pointCount );
	DumpOutput( "Leaves/Nodes: %d/%d\n" , tree.leaves() , tree.nodes() );
	DumpOutput( "Memory Usage: %.3f MB\n" , float( MemoryInfo::Usage() )/(1<<20) );

	maxMemoryUsage = tree.maxMemoryUsage;
	t=Time() , tree.maxMemoryUsage=0;
	DenseNodeData< Real , Degree > constraints = tree.template SetLaplacianConstraints< Degree >( *normalInfo );
	delete normalInfo;
	DumpOutput2( comments , "#      Constraints set in: %9.1f (s), %9.1f (MB)\n" , Time()-t , tree.maxMemoryUsage );
	DumpOutput( "Memory Usage: %.3f MB\n" , float( MemoryInfo::Usage())/(1<<20) );
	maxMemoryUsage = std::max< double >( maxMemoryUsage , tree.maxMemoryUsage );

	t=Time() , tree.maxMemoryUsage=0;
	DenseNodeData< Real , Degree > solution = tree.SolveSystem( *pointInfo , constraints , ShowResidual.set , Iters.value , MaxSolveDepth.value , CGDepth.value , CSSolverAccuracy.value );
	delete pointInfo;
	constraints.resize( 0 );

	DumpOutput2( comments , "# Linear system solved in: %9.1f (s), %9.1f (MB)\n" , Time()-t , tree.maxMemoryUsage );
	DumpOutput( "Memory Usage: %.3f MB\n" , float( MemoryInfo::Usage() )/(1<<20) );
	maxMemoryUsage = std::max< double >( maxMemoryUsage , tree.maxMemoryUsage );

	CoredFileMeshData< Vertex > mesh;

	if( Verbose.set ) tree.maxMemoryUsage=0;
	t=Time();
	isoValue = tree.GetIsoValue( solution , *nodeWeights );
	delete nodeWeights;
	DumpOutput( "Got average in: %f\n" , Time()-t );
	DumpOutput( "Iso-Value: %e\n" , isoValue );

	if( VoxelGrid.set )
	{
		double t = Time();
		FILE* fp = fopen( VoxelGrid.value , "wb" );
		if( !fp ) fprintf( stderr , "Failed to open voxel file for writing: %s\n" , VoxelGrid.value );
		else
		{
			int res = 0;
			Pointer( Real ) values = tree.Evaluate( solution , res , isoValue , VoxelDepth.value , PrimalVoxel.set );
			fwrite( &res , sizeof(int) , 1 , fp );
			if( sizeof(Real)==sizeof(float) ) fwrite( values , sizeof(float) , res*res*res , fp );
			else
			{
				float *fValues = new float[res*res*res];
				for( int i=0 ; i<res*res*res ; i++ ) fValues[i] = float( values[i] );
				fwrite( fValues , sizeof(float) , res*res*res , fp );
				delete[] fValues;
			}
			fclose( fp );
			DeletePointer( values );
		}
		DumpOutput( "Got voxel grid in: %f\n" , Time()-t );
	}

	if( Out.set )
	{
		t = Time() , tree.maxMemoryUsage = 0;
		tree.template GetMCIsoSurface< Degree , WEIGHT_DEGREE , DATA_DEGREE >( densityWeights , colorData , solution , isoValue , mesh , !LinearFit.set , !NonManifold.set , PolygonMesh.set );
		if( PolygonMesh.set ) DumpOutput2( comments , "#         Got polygons in: %9.1f (s), %9.1f (MB)\n" , Time()-t , tree.maxMemoryUsage );
		else                  DumpOutput2( comments , "#        Got triangles in: %9.1f (s), %9.1f (MB)\n" , Time()-t , tree.maxMemoryUsage );
		maxMemoryUsage = std::max< double >( maxMemoryUsage , tree.maxMemoryUsage );
		DumpOutput2( comments , "#             Total Solve: %9.1f (s), %9.1f (MB)\n" , Time()-tt , maxMemoryUsage );

		if( NoComments.set )
		{
			if( ASCII.set ) PlyWritePolygons( Out.value , &mesh , PLY_ASCII         , NULL , 0 , iXForm );
			else            PlyWritePolygons( Out.value , &mesh , PLY_BINARY_NATIVE , NULL , 0 , iXForm );
		}
		else
		{
			if( ASCII.set ) PlyWritePolygons( Out.value , &mesh , PLY_ASCII         , &comments[0] , (int)comments.size() , iXForm );
			else            PlyWritePolygons( Out.value , &mesh , PLY_BINARY_NATIVE , &comments[0] , (int)comments.size() , iXForm );
		}
		DumpOutput( "Vertices / Polygons: %d / %d\n" , mesh.outOfCorePointCount()+mesh.inCorePoints.size() , mesh.polygonCount() );
	}
	solution.resize( 0 );
	if( colorData ){ delete colorData ; colorData = NULL; }
	return 1;
}

#ifdef _WIN32
inline double to_seconds( const FILETIME& ft )
{
	const double low_to_sec=100e-9; // 100 nanoseconds
	const double high_to_sec=low_to_sec*4294967296.0;
	return ft.dwLowDateTime*low_to_sec+ft.dwHighDateTime*high_to_sec;
}
#endif // _WIN32

template< class Real , class Vertex >
int Execute( int argc , char* argv[] )
{
	switch( Degree.value )
	{
	case 1: return _Execute< Real , 1 , Vertex >( argc , argv );
	case 2: return _Execute< Real , 2 , Vertex >( argc , argv );
	case 3: return _Execute< Real , 3 , Vertex >( argc , argv );
	case 4: return _Execute< Real , 4 , Vertex >( argc , argv );
	default:
		fprintf( stderr , "[ERROR] Only B-Splines of degree 1 - 4 are supported" );
		return EXIT_FAILURE;
	}
}

}  // namespace

int PoissonRecon( int argc , char* argv[] )
{
#if defined(WIN32) && defined(MAX_MEMORY_GB)
	if( MAX_MEMORY_GB>0 )
	{
		SIZE_T peakMemory = 1;
		peakMemory <<= 30;
		peakMemory *= MAX_MEMORY_GB;
		printf( "Limiting memory usage to %.2f GB\n" , float( peakMemory>>30 ) );
		HANDLE h = CreateJobObject( NULL , NULL );
		AssignProcessToJobObject( h , GetCurrentProcess() );

		JOBOBJECT_EXTENDED_LIMIT_INFORMATION jeli = { 0 };
		jeli.BasicLimitInformation.LimitFlags = JOB_OBJECT_LIMIT_JOB_MEMORY;
		jeli.JobMemoryLimit = peakMemory;
		if( !SetInformationJobObject( h , JobObjectExtendedLimitInformation , &jeli , sizeof( jeli ) ) )
			fprintf( stderr , "Failed to set memory limit\n" );
	}
#endif // defined(WIN32) && defined(MAX_MEMORY_GB)
	double t = Time();

	cmdLineParse( argc-1 , &argv[1] , sizeof(params)/sizeof(cmdLineReadable*) , params , 1 );
	if( Density.set )
		if( Color.set )
			if( Double.set ) Execute< double , PlyColorAndValueVertex< float > >( argc , argv );
			else             Execute< float  , PlyColorAndValueVertex< float > >( argc , argv );
		else
			if( Double.set ) Execute< double , PlyValueVertex< float > >( argc , argv );
			else             Execute< float  , PlyValueVertex< float > >( argc , argv );
	else
		if( Color.set )
			if( Double.set ) Execute< double , PlyColorVertex< float > >( argc , argv );
			else             Execute< float  , PlyColorVertex< float > >( argc , argv );
		else
			if( Double.set ) Execute< double , PlyVertex< float > >( argc , argv );
			else             Execute< float  , PlyVertex< float > >( argc , argv );
#ifdef _WIN32
	if( Performance.set )
	{
		HANDLE cur_thread=GetCurrentThread();
		FILETIME tcreat, texit, tkernel, tuser;
		if( GetThreadTimes( cur_thread , &tcreat , &texit , &tkernel , &tuser ) )
			printf( "Time (Wall/User/Kernel): %.2f / %.2f / %.2f\n" , Time()-t , to_seconds( tuser ) , to_seconds( tkernel ) );
		else printf( "Time: %.2f\n" , Time()-t );
		HANDLE h = GetCurrentProcess();
		PROCESS_MEMORY_COUNTERS pmc;
		if( GetProcessMemoryInfo( h , &pmc , sizeof(pmc) ) ) printf( "Peak Memory (MB): %d\n" , pmc.PeakWorkingSetSize>>20 );
	}
#endif // _WIN32
	return EXIT_SUCCESS;
}