llcc343 / BundleFusion_Ubuntu_Pangolin

a porting for BundleFusion working on ubuntu, with Pangolin as visualizer

BundleFusion_Ubuntu_Pangolin

This is an ubuntu porting project for https://github.com/niessner/BundleFusion, a GPU-based 3D reconstruction method.
Youtube Demo:https://www.youtube.com/watch?v=QOHhFObUprA

@article{dai2017bundlefusion,
  title={BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integration},
  author={Dai, Angela and Nie{\ss}ner, Matthias and Zoll{\"o}fer, Michael and Izadi, Shahram and Theobalt, Christian},
  journal={ACM Transactions on Graphics 2017 (TOG)},
  year={2017}
}

Installation

This code is tested under ubuntu16.04/GCC7/CUDA10.1 (GPU: RTX2060).

Requirements:

• CMake
• Eigen 3.1.0
• NVIDIA CUDA 9.0/10.+
• OpenCV

Optional:

• Pangolin

mkdir build && cd build
cmake -DVISUALIZATION=ON ..
make -j8

We use -DVISUALIZATION=OFF/ON to switch visualization plug.

Usage

• Download datasets from BundleFusion project mainpage http://graphics.stanford.edu/projects/bundlefusion/ and unzip it.
• Run Commands:

cd build
./bundle_fusion_example ../zParametersDefault.txt ../zParametersBundlingDefault.txt /PATH/TO/dataset/office2

A pangolin window will show up and get real time reconstruction result.

• Save Mesh:

we provide save mesh button at pangoln GUI, you need to specify the save path at zParametersDefault.txt for item "s_generateMeshDir".

Result

We provide a reconstruction result of dataset office2 with Google Drive: https://drive.google.com/file/d/121rR0_6H_xTpsSsYAHIHV_sZqJjHdN5R/view?usp=sharing

Issues

• Pangolin OpenGL error:

Problem:

/usr/local/include/pangolin/gl/glsl.h:709:70: error: ‘glUniformMatrix3dv’ was not declared in this scope
     glUniformMatrix3dv( GetUniformHandle(name), 1, GL_FALSE, m.data());
                                                                      ^
/usr/local/include/pangolin/gl/glsl.h: In member function ‘void pangolin::GlSlProgram::SetUniform(const string&, const Matrix4d&)’:
/usr/local/include/pangolin/gl/glsl.h:713:70: error: ‘glUniformMatrix4dv’ was not declared in this scope
     glUniformMatrix4dv( GetUniformHandle(name), 1, GL_FALSE, m.data());

Solution:

sudo vim /usr/local/include/pangolin/gl/glplatform.h
#goto line#58
#replace "GL/glew.h" with "/usr/include/GL/glew.h"

Contact

contact with fangasfrank #at gmail.com for porting issues.