bennihepp / quad3dr Goto Github PK

Hi Benjamin

This is really an amazing work. I was trying to compile your code and run several toy examples on my self-collected dataset. But I have some trouble to run the code.

by calling

foo@bar:~$ ./viewpoint_planner_gui --config-file ../../viewpoint_planner/viewpoint_planner.cfg 

I got error

Error parsing command line: unrecognised option 'viewpoint_planner.drone_extent_x'

Then I comment out "drone_extent_x", "drone_extent_y", "drone_extent_z", "viewpoint_sample_count" and "viewpoint_motion_min_connections" in the config file, it got another different error:

Reading dense reconstruction workspace
terminate called after throwing an instance of 'bh::Exception'
  what():  Quad3DR/viewpoint_planner/src/reconstruction/sparse_reconstruction.cpp [readCameras:385]: Unable to open cameras file
Aborted (core dumped)

any idea what's wrong ? how can I got these cameras file ?

I have tried to run your project, but I am not clear about the specific operation steps, and I also found that some configuration files are missing. For example, I don't know how to generate in-viewpoint-graph-file when I want to run viewpoint_planner. Could you please give me some Suggestions to solve these problems?

Hi Ben

Sorry to bother again. I encounter another issue when convert the colmap mesh into the raw occupancy map, where the error is unable to open colmap array for reading.

  void readColmapFormat(const std::string& filename) {
    std::ifstream text_in(filename, std::ios_base::in);
    BH_ASSERT_STR(text_in, std::string("Unable to open colmap array for reading: ") + filename);

    char unused_char;
    text_in >> width_ >> unused_char
            >> height_ >> unused_char
            >> channels_ >> unused_char;
    std::streampos pos = text_in.tellg();
    text_in.close();

    BH_ASSERT(width_ > 0);
    BH_ASSERT(height_ > 0);
    BH_ASSERT(channels_ > 0);
    data_.resize(width_ * height_ * channels_);

    std::ifstream binary_in(filename, std::ios_base::in | std::ios_base::binary);
    BH_ASSERT_STR(binary_in, std::string("Unable to open colmap array for reading: ") + filename);
    binary_in.seekg(pos);
    binary_in.read(reinterpret_cast<char*>(data_.data()), data_.size() * sizeof(T));
    binary_in.close();
  }

As far as I know, the depthmaps is a bin file, how can you read it as txt ?

+── images
│   +── image1.jpg
│   +── image2.jpg
│   +── ...
+── sparse
│   +── cameras.txt
│   +── images.txt
│   +── points3D.txt
+── stereo
│   +── consistency_graphs
│   │   +── image1.jpg.photometric.bin
│   │   +── image2.jpg.photometric.bin
│   │   +── ...
│   +── depth_maps
│   │   +── image1.jpg.photometric.bin
│   │   +── image2.jpg.photometric.bin
│   │   +── ...
│   +── normal_maps
│   │   +── image1.jpg.photometric.bin
│   │   +── image2.jpg.photometric.bin
│   │   +── ...
│   +── patch-match.cfg
│   +── fusion.cfg
+── fused.ply
+── meshed-poisson.ply
+── meshed-delaunay.ply
+── run-colmap-geometric.sh
+── run-colmap-photometric.sh

Could anyone provide some informations to help me build this program. I have tried so many combinations but failed to build it.

I have tried:

• ubuntu14 + cuda7.5 + gcc4.8 (cmake failed with qt5)
• ubuntu16 + cuda7.5 + gcc4.8 (make error with some functions in octomap)
• ubuntu18 + cuda10.2 + gcc8 (make error with some cuda functions)

Especially, I want to know:

• ubuntu 14/16/18?
• version of gcc
• version of cuda
• version of zed (if needed?)

Also, I list some of the dependency of this program, hope it would be help for anyone else.

sudo apt install -y libglew-dev libglfw-dev libboost-dev libboost-filesystem-dev libboost-serialization-dev libboost-program-options-dev libopencv-dev libtbb-dev cmake git libtclap-dev libompl-dev libqglviewer-dev liboctomap-dev liboctovis-dev libqt5websockets5-dev libgstreamer1.0-dev libglm-dev

Hi, I got the following error during the compiling.

`-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- system
-- filesystem
-- program_options
-- serialization
-- A library with BLAS API found.
-- Found CUDA: /usr/local/cuda (found suitable version "10.0", minimum required is "10.0")
-- Found CUDA: /usr/local/cuda (found version "10.0")
With profiling
Defining OPENCV_3_0 macro
-- Checking for module 'gstreamer-1.0 >= '
-- Comparison operator but no version after package name 'gstreamer-1.0' in file '(command line arguments)'
-- Checking for module 'gstreamer-base-1.0 >= '
-- Comparison operator but no version after package name 'gstreamer-base-1.0' in file '(command line arguments)'
-- Checking for module 'gstreamer-app-1.0 >= '
-- Comparison operator but no version after package name 'gstreamer-app-1.0' in file '(command line arguments)'
-- Checking for module 'gstreamer-audio-1.0 >= '
-- Comparison operator but no version after package name 'gstreamer-audio-1.0' in file '(command line arguments)'
-- Checking for module 'gstreamer-fft-1.0 >= '
-- Comparison operator but no version after package name 'gstreamer-fft-1.0' in file '(command line arguments)'
-- Checking for module 'gstreamer-mpegts-1.0>=1.4.0'
-- No package 'gstreamer-mpegts-1.0' found
-- Checking for module 'gstreamer-pbutils-1.0 >= '
-- Comparison operator but no version after package name 'gstreamer-pbutils-1.0' in file '(command line arguments)'
-- Checking for module 'gstreamer-tag-1.0 >= '
-- Comparison operator but no version after package name 'gstreamer-tag-1.0' in file '(command line arguments)'
-- Checking for module 'gstreamer-video-1.0 >= '
-- Comparison operator but no version after package name 'gstreamer-video-1.0' in file '(command line arguments)'
-- Could NOT find SQLITE3 (missing: SQLITE3_LIBRARY)
-- Configuring done
CMake Error at video/CMakeLists.txt:73 (add_executable):
Cannot find source file:

../src/common.cpp

Tried extensions .c .C .c++ .cc .cpp .cxx .m .M .mm .h .hh .h++ .hm .hpp
.hxx .in .txx

CMake Error: CMake can not determine linker language for target: video_streamer_bundlefusion
CMake Error: Cannot determine link language for target "video_streamer_bundlefusion".
-- Generating done
-- Build files have been written to: /home/szx/Quad3DR/build
`

Any comment is appreciated.

Hi!
I've already used occupancymap_from_colmap to generate a raw octree.Then I run viewpoint_planner_cmdline, and successfully build augment octree, bvh tree and weight grid. But the program failed to generate next viewpoint.
I would be most grateful if you could help me.