qianyizh / elasticreconstruction Goto Github PK

Hi, @qianyizh , I wonder if there is a Linux version? Since I am not familiar with the deploy on Windows ? Thanks so much!

Hi,I want to know how to creat gt.info and gt.log files in ../ElasticReconstruction master/Matlab_Toolbox/Example/Data/RegistrationEvaluation/livingroom1 and what's the mean of gt.info . Is the gt.log file an evaluation of Transformation Matrix for two Frame Point Clouds？Can you help me ?Thanks a lot!

which version of PCL did you use?

I use 1.6.0 on VS2010, and it raise a compilation error on LINE 103, FILE IntegrateApp.cpp

hi,can i use kinect 2 as input for your code?

Hi,

May somebody explain what are the steps to compile and use this program ?

I wonder if it may be adapted in order to use it on Android, linked to ARCore, for real time scanning and 3D reconstruction. Any idea ?

Thanks a lot !

Hi
I run this code with different oni files and sometimes I have PCLException error.
could you help me please what is cause of this error?
out put log is attach.
OutPut.txt

Windows 10 64 bit with OpenNI, Cuda latest, VC 2010 redist. I unzipped the executables, ran test.sh and this is the result

/c/codes/indoor-excutables-1.1/bin
$ ./test.sh
C:/codes/indoor-excutables-1.1/bin/pcl_kinfu_largeScale_release.exe: error 
while loading shared libraries: ?: cannot open shared object file: No such 
file or directory

Please advice on how I should handle this issue

Dear Quian-Yi,
thank you very much for sharing your great work!
I am having a question about how to render the voxel representation.
In your paper you show beautiful images of the reconstructed scene. How did you do this? Did you apply some "heavy" rendering like Maya or was it pure in opengl?

Thank you very much!

Regards
Eugen

Hi @qianyizh , I am looking for an algorithm that is offline and can produce very fined details from RGB-D data. I find this project, but the provided results on http://redwood-data.org/indoor/models.html website seem not so precise. Is ElasticReconstrction the same as Robust Reconstruction of Indoor Scene, or there are some revisions for detail reconstruction?

I'm confused that SfM+MVS can produce very fined detail from only RGB data, but most algorithm that I find can only produce rather coarse result from RGB-D data, why rare research is focused on reconstruct precise result from RGB-D data, I don't understand.

Do you know any algorithm that suits me, thank you.

when I use your code :the part of Graph Optimizer ,I got an error :"DenseBase::resize() does not actually allow to resize"
can you tell how to solve it

When running this code (both my compiled version and the pre-compiled binaries available at the Reconstruction site) with the provided demo.sh, I run into some issues in FragmentOptimizer, resulting in the output giving a bunch of NANs.

For example, every entry in pose.txt is of form

0	0	1
1.#QNAN000 1.#QNAN000 1.#QNAN000 1.#QNAN000
1.#QNAN000 1.#QNAN000 1.#QNAN000 1.#QNAN000
1.#QNAN000 1.#QNAN000 1.#QNAN000 1.#QNAN000
1.#QNAN000 1.#QNAN000 1.#QNAN000 1.#QNAN000

and output.ctr is of form

1.#QNAN00000 1.#QNAN00000 1.#QNAN00000

Any ideas on what is going on here?

The output from FragmentOptimizer looks like:

FragmentOptimizer.exe --slac --rgbdslam ../sandbox/init.log --registration ../sandbox/reg_output.log --dir ../sandbox/pcds/ --num $numpcds --resolution 12 --iteration 10 --length 4.0 --write_xyzn_sample 10
Parameters: weight 1.00000, resolution 12, piece number 57, max iteration 10
IPose initialized.
Read ../sandbox/pcds/cloud_bin_1.pcd ... get 137524 points.
Read ../sandbox/pcds/cloud_bin_3.pcd ... get 188961 points.

snip

Read ../sandbox/pcds/corres_0_1.txt, get 120912 correspondences.
Read ../sandbox/pcds/corres_1_2.txt, get 94185 correspondences.

snip

Processing 224 :   224 ... Done.
Data error score is : 17028297.21
CHOLMOD warning: matrix not positive definite
SLAC optimization.
Regularization error score is : 0.00
Processing 224 :   224 ... Done.
Data error score is : 1.#R
CHOLMOD warning: matrix not positive definite
Regularization error score is : 1.#R
Processing 224 :   224 ... Done.
Data error score is : 1.#R
CHOLMOD warning: matrix not positive definite
Regularization error score is : -1.#J
Processing 224 :   224 ... Done.
Data error score is : 1.#R
CHOLMOD warning: matrix not positive definite
Regularization error score is : 1.#R
Processing 224 :   224 ... Done.
Data error score is : 1.#R
CHOLMOD warning: matrix not positive definite
Regularization error score is : -1.#J
Processing 224 :   224 ... Done.
Data error score is : 1.#R
CHOLMOD warning: matrix not positive definite
Regularization error score is : 1.#R
Processing 224 :   224 ... Done.
Data error score is : 1.#R
CHOLMOD warning: matrix not positive definite
Regularization error score is : -1.#J
Processing 224 :   224 ... Done.
Data error score is : 1.#R
CHOLMOD warning: matrix not positive definite
Regularization error score is : 1.#R
Processing 224 :   224 ... Done.
Data error score is : 1.#R
CHOLMOD warning: matrix not positive definite
Regularization error score is : -1.#J
Processing 224 :   224 ... Done.
Data error score is : 1.#R
CHOLMOD warning: matrix not positive definite
Regularization error score is : 1.#R
Neat Optimization took 601446ms.
Save ctr to file output.ctr ... Done.
Save sample pcd into sample.pcd ... Optimize All took 618325ms.