theictlab / 3dunderworld-sls-gpu_cpu Goto Github PK

hello does it work on raspberry pi ? and can i add motors (steppers) for rotation ?

If one could use a high speed 6DoF tracking for the camera/projector apparatus how might the capture workflow change?

would this mean that the user would be able to move freely about the capture object and as long as the apparatus is stable during the projection/capture the pose estimates of the tracking could be used to register the individual scans?

run ./calibrateCamera

error:

No image read from ../../data/alexander/rightCam/calib ...

i did put the pics in the correct road ....what's the reason???

When Im trying to run calibration step, i am receiving an error:

[lukasz@lukasz-pc build]$ ./bin/calibrateCamera --images "/home/lukasz/Pictures/mouse_3d_scan/m.left/" --output left.cfg
[ WARN:[email protected]] global /build/opencv/src/opencv-4.6.0/modules/imgcodecs/src/loadsave.cpp (239) findDecoder imread_('/home/lukasz/Pictures/mouse_3d_scan/m.left/41.JPG'): can't open/read file: check file path/integrity
QSettings::value: Empty key passed
QSettings::value: Empty key passed
terminate called after throwing an instance of 'cv::Exception'
  what():  OpenCV(4.6.0) /build/opencv/src/opencv-4.6.0/modules/imgproc/src/color.simd_helpers.hpp:92: error: (-2:Unspecified error) in function 'cv::impl::{anonymous}::CvtHelper<VScn, VDcn, VDepth, sizePolicy>::CvtHelper(cv::InputArray, cv::OutputArray, int) [with VScn = cv::impl::{anonymous}::Set<3, 4>; VDcn = cv::impl::{anonymous}::Set<1>; VDepth = cv::impl::{anonymous}::Set<0, 2, 5>; cv::impl::{anonymous}::SizePolicy sizePolicy = cv::impl::<unnamed>::NONE; cv::InputArray = const cv::_InputArray&; cv::OutputArray = const cv::_OutputArray&]'
> Invalid number of channels in input image:
>     'VScn::contains(scn)'
> where
>     'scn' is 1

Aborted (core dumped)

I do not have 41.JPG because i was using 640x480 pattern which produces only 40 images per camera.
How to modify code to support it?

hello,
I am trying to build this project using VS2017 on a Windows 10 PC. The build keeps breaking on CV related includes, I am using openCV v4.0, should i use another version? Also, I tried to build OpenCV 2.4 but could not configure using cmake, im guessing because of VS2017? any tips would help. thanks

I think it would be better to include the paper LaTeX file and put them into the doc. I can write a cmake script to generate pdf. So all of the stuffs can share the same building system .

The header file of FileReaderCUDA.cuh, #include<core/FileReader.h>, I can not fond the file in the core folder.This is what problem?

Hello, I have made an operational setup of 3DUnderworld in Ubuntu, I am ready to build out the scanner. I was wondering if anyone has any recommendations as to what kind of cameras are best suited for this (full frame? lens type? etc) and what features to look for in a projector as well.
also, we have a lot of metrology equipment here, and we would like to know if there is a way to incorporate passive reflective targets into the scan data as well, so we can create a coordinate system to place the point cloud into. has this been done?
thanks for any info anyone has.

cant build source

cmake version 3.16.3

cmake ..

-- The C compiler identification is GNU 9.3.0
-- The CXX compiler identification is GNU 9.3.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found GLM: /usr/include
-- Found OpenCV: /usr (found version "4.2.0")
-- Could NOT find CUDA (missing: CUDA_NVCC_EXECUTABLE CUDA_CUDART_LIBRARY)
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ton14/3DUNDERWORLD-SLS-GPU_CPU/build

make

log build_1.log

Hi，
I tried to run it, but there was an error.
I don't know where to control the number of images to read, w I don't know why this error occurs
I hope you can give me some help if you see it, thank you very much!

[ WARN:[email protected]] global loadsave.cpp:244 findDecoder imread_('/home/ubuntu/Lin/Code/3DUNDERWORLD-SLS-GPU_CPU/3DUNDERWORLD-SLS-DATA/alexander/leftCam/dataset1/0042.jpg'): can't open/read file: check file path/integrity

-R, --rightconfig Right camera configuration file (string)
-o, --output Right camera configuration file (string)

what does the "--output" should be? Thank you very much.

This repository is listed as GPLv3, but on the website indicates that:

This is inconsistent with the license terms of the GPLv3 can someone clarify. As it stands now, commercial use is explicitly allowed in the license. If none is desired, please provide an update notice for versions moving forward.

Here is dataset just boundary of objects

I have study struct light recently, and useing this code, it can generate point cloud data with you given test data.but when I use myself data, the code can not work and it will raise in this code
bkts[vec2Idx.x * projHeight + vec2Idx.y].push_back(getRay(i));
I find that this calculate will cause array index of bkts out of range and code running exception.
On my occasion, I use projector resolution 912x1140, and the camera resolution is 1280x1024, and camera calibration is well done.why this problem occur? the code just support projector resolution 768x1024?

./SLS can run ,but ./SLS_GPU can't.Errors happen as follows.

terminate called after throwing an instance of 'std::bad_function_call'
what(): bad_function_call
Segmentation fault(core dumped)

Hello,
I can't obtain point cloud data from my data. When i use data in this repository, all it works. So, it is problem with my data. I use mono camera but i think it isn't problem? I can't find reason why it doesn't works. So, Could you guide me to resolve this problem? Here is my data folder:
https://drive.google.com/file/d/1q5WMicj6ofwGbRiOl-IXRPAzG2PjEqud/view?usp=sharing

My Setup:
2x PointGrey Camera
1x Optimo DLP Projector

At build time, it fails with:

In file included from /tmp/3Dunderworldsls/src/3DUNDERWORLD-SLS-GPU_CPU/src/lib/calibration/Calibrator.cpp:2:0:
/tmp/3Dunderworldsls/src/3DUNDERWORLD-SLS-GPU_CPU/./src/lib/calibration/Calibrator.hpp:41:16: error: 'vector' in namespace 'cv' does not name a template type
     static cv::vector<cv::Point2f> manualMarkCheckBoard(cv::Mat img);
                ^~~~~~
/tmp/3Dunderworldsls/src/3DUNDERWORLD-SLS-GPU_CPU/./src/lib/calibration/Calibrator.hpp:53:41: error: 'cv::vector' has not been declared
                                     cv::vector<cv::Point2f> &camCorners,
                                         ^~~~~~

My system is using:

• opencv 3.2
• cuda 8.0
• glm 0.9
• cmake 3.8
• gcc 7.1

Add the following to calibrator.hpp

namespace cv
{
using std::vector;
}

hello sir , is there visual studio version ? everytime my friend try to compile on windows he get problems with cuda , i really would like to know if we can use it on windows , or is it just linux ?

In the file “3DUNDERWORLD-SLS-GPU_CPU/src/lib/core/ImageFileProcessor.cpp”, line 90-94: I think the expression of camTransMat_ has something wrong!

Refer to https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html

In my opinion, camTransMat_ = - R.transpose() * t, where R denotes the rotation matrix and t is the translation vector.

However, after the twice transpose operations of R in line 92 and line 93, the camTransMat_ in line 94 is “- R * t”， not “R.transpose() * t”.

Could you share your ideas about the aforementioned? Thanks!

C:>cd \Users\dream\3DUNDERWORLD-SLS-GPU_CPU-dev

C:\Users\dream\3DUNDERWORLD-SLS-GPU_CPU-dev>mkdir build

C:\Users\dream\3DUNDERWORLD-SLS-GPU_CPU-dev>cd build

C:\Users\dream\3DUNDERWORLD-SLS-GPU_CPU-dev\build>cmake ..
-- Building for: Visual Studio 15 2017
-- Selecting Windows SDK version to target Windows 10.0.17134.
CMake Error at CMakeLists.txt:24 (project):
Failed to run MSBuild command:

C:/Program Files (x86)/Microsoft Visual Studio/2017/BuildTools/MSBuild/15.0/Bin/MSBuild.exe

to get the value of VCTargetsPath:

Microsoft (R) Build Engine version 15.7.180.61344 for .NET Framework
Copyright (C) Microsoft Corporation. All rights reserved.

Build started 8/6/2018 12:59:46 AM.
Project "C:\Users\dream\3DUNDERWORLD-SLS-GPU_CPU-dev\build\CMakeFiles\3.12.0\VCTargetsPath.vcxproj" on node 1 (default targets).
C:\Program Files (x86)\Microsoft Visual Studio\2017\BuildTools\Common7\IDE\VC\VCTargets\Platforms\Win32\PlatformToolsets\v141\Toolset.targets(34,5): error MSB8036: The Windows SDK version 8.1 was not found. Install the required version of Windows SDK or change the SDK version in the project property pages or by right-clicking the solution and selecting "Retarget solution". [C:\Users\dream\3DUNDERWORLD-SLS-GPU_CPU-dev\build\CMakeFiles\3.12.0\VCTargetsPath.vcxproj]
Done Building Project "C:\Users\dream\3DUNDERWORLD-SLS-GPU_CPU-dev\build\CMakeFiles\3.12.0\VCTargetsPath.vcxproj" (default targets) -- FAILED.

Build FAILED.

"C:\Users\dream\3DUNDERWORLD-SLS-GPU_CPU-dev\build\CMakeFiles\3.12.0\VCTargetsPath.vcxproj" (default target) (1) ->
(Desktop_PlatformPrepareForBuild target) ->
  C:\Program Files (x86)\Microsoft Visual Studio\2017\BuildTools\Common7\IDE\VC\VCTargets\Platforms\Win32\PlatformToolsets\v141\Toolset.targets(34,5): error MSB8036: The Windows SDK version 8.1 was not found. Install the required version of Windows SDK or change the SDK version in the project property pages or by right-clicking the solution and selecting "Retarget solution". [C:\Users\dream\3DUNDERWORLD-SLS-GPU_CPU-dev\build\CMakeFiles\3.12.0\VCTargetsPath.vcxproj]

    0 Warning(s)
    1 Error(s)

Time Elapsed 00:00:00.65

Exit code: 1

-- Configuring incomplete, errors occurred!
See also "C:/Users/dream/3DUNDERWORLD-SLS-GPU_CPU-dev/build/CMakeFiles/CMakeOutput.log".

C:\Users\dream\3DUNDERWORLD-SLS-GPU_CPU-dev\build>make
'make' is not recognized as an internal or external command,
operable program or batch file.