Optimizations

[Gushroom]

1. Move entire embedding_store to pinned CPU memory, saves 7GB CUDA memory when using full dim features, only load slices as needed. Increased batch sizes everywhere because bulk is released.
2. Have semantic term and dense depth disparity term share a projection and cosine similarity cache, so they dont recompute.
3. Use pytorch's gridsample to replace handwritten bilinear_sample functions, use autograd for the require grad version.
4. Early stopping in inner BA loop.
5. GPU-based solver, replaces scipy cpu solver when system dim >= 150, avoids 2 memory loads per solve, and is faster as system dim grows.
6. Reduced update() iters from 3 to 1, sounds dangerous somehow just works, maybe frontend doesnt need so much BA anyways.
   result of master(fixed basics so it would run):
   room0,0.03825371247444848
   room1,0.01005237004357161
   room2,0.057475465760270746
   office0,0.03942505742579552
   office1,0.11074517577864879
   office2,0.08503124845291919
   office3,0.03086148128370234
   office4,0.03128040904201112
   rgbd_dataset_freiburg3_walking_xyz,0.01638278260556373
   rgbd_dataset_freiburg3_walking_rpy,0.032532340569786905
   rgbd_dataset_freiburg3_walking_halfsphere,0.02115683070638981
   rgbd_dataset_freiburg3_walking_static,0.005543244622892279
   rgbd_dataset_freiburg3_sitting_xyz,0.01051249305306071
   rgbd_dataset_freiburg3_sitting_rpy,0.025846121224890568
   rgbd_dataset_freiburg3_sitting_halfsphere,0.016400059590165477
   rgbd_dataset_freiburg3_sitting_static,0.005484478207241217
   result as of PR:
   room0,0.03749123880664903
   room1,0.008577582840133742
   room2,0.056811805273262364
   office0,0.0391795609748814
   office1,0.08516443380078807
   office2,0.08865144726319692
   office3,0.02947708054431146
   office4,0.032610775559089075
   rgbd_dataset_freiburg3_walking_xyz,0.016106582739058756
   rgbd_dataset_freiburg3_walking_rpy,0.030542095363680407
   rgbd_dataset_freiburg3_walking_halfsphere,0.020357887640457668
   rgbd_dataset_freiburg3_walking_static,0.005579860666927469
   rgbd_dataset_freiburg3_sitting_xyz,0.010530894028695118
   rgbd_dataset_freiburg3_sitting_rpy,0.02591678430689701
   rgbd_dataset_freiburg3_sitting_halfsphere,0.01661740119671936
   rgbd_dataset_freiburg3_sitting_static,0.0055112765165804874

[Jaafar-m]

We need to make the default settings to read from file, but fall back to geocalib with Warning if File didn't exist.
Also Add in Readme, example of the intrinsics @zaid-nasser

[Jaafar-m]

Same here, default is file, and fall back if file not exited. @zaid-nasser

[Gushroom]

let's merge this into master and add this as a separate feature?

[Jaafar-m]

@zaid-nasser Also let's fix the logic here, and remove this path, and make it relative in all settings.

[Gushroom]

it's a placeholder, it will be overwritten by whatever that's passed in the running script, but there is a subtle issue here, this field cannot be none.