bennihepp / quad3dr Goto Github PK
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Quadrotor planning for 3D Reconstruction
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:
Especially, I want to know:
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.
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