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}
}
Update 03/15/2023: We add Docker support for easy usage Thanks @adizhol add the support for docker, now BundelFusion_Ubuntu_Pangolin can be deployed via docker
Requirements:
Find suitable docker image for cuda from here: https://hub.docker.com/r/nvidia/cudagl/ Recommanded:
- nvidia/cudagl:11.4.0-devel-ubuntu20.04 (for CUDA 11)(test passed!)
- nvidia/cudagl:10.1-devel-ubuntu18.04 (for CUDA 10)(test passed!)
- nvidia/cudagl:10.0-devel-ubuntu16.04 (for CUDA 10)(test passed!)
- nvidia/cudagl:9.1-devel-ubuntu16.04 (for CUDA 9)
docker build -t bundlefusion-cu10.0-cudagl:latest .
export DATASETS=path/to/dataset
./run_docker.sh
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.
- 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".
We provide a reconstruction result of dataset office2 with Google Drive: https://drive.google.com/file/d/121rR0_6H_xTpsSsYAHIHV_sZqJjHdN5R/view?usp=sharing
- 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 with fangasfrank #at gmail.com for porting issues.