• Environment:
  • freeimage: sudo apt install libfreeimage-dev
  • Pangolin: version 0.8
  • CUDA: version 11.6
  • OpenCV: version 4.5.5, with opencv_contrib
• Note:
  • If you want to use different dataset, you need first crop the image size to a multiple of 4
    • use datasets_convert.py to convert ETH3D-type datasets into what BundleFusion needs
    • BundleFusion will horizontal flip rgb and depth images, so that I flip rgb and depth images horizontally beforehand in datasets_convert.py
    • I cannot find where to specify the depth scale, so that I convert origin depth scale (5000 for ETH3D datasets) to 1000 in datasets_convert.py
    • If you do not change the image size, you might get error message "ERROR: image width must be a multiple of 4" from SiftGPU.cpp
    • Scaling is not recommended, because I feel that the reconstructed model will also scale after images are scaled
    • After cropping images, $c_x$ and $c_y$ of camera intrinsic should be changed:
      • suppose, the image size before and after cropping is (Ho, Wo) and (Hn, Wn), then updated $c_x$ and $c_y$ are $$$ c_x' = c_x - (Wo-Wn)/2 $$$ $$$ c_y' = c_y - (Ho-Hn)/2 $$$
      • $f_x$ and $f_y$ are unchanged
    • Change zParametersBundlingDefault.txt:
      • line 44~47, to a quarter of the image size
    • Change zParametersDefault.txt
      • line 114-115, to the image size
      • line 118-121, to the updated camera intrinsic (depth and rgb are same)
  • If you want to debug, e.g. break point, you must comment out set(CMAKE_BUILD_TYPE Release) in CMakeLists.txt (line 4)
  • If you want to save model, you cannot comment out set(CMAKE_BUILD_TYPE Release) in CMakeLists.txt (line 4)

---

Origin README

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.