# BundleFusion_Ubuntu_Pangolin

**Repository Path**: hzustc/BundleFusion_Ubuntu_Pangolin

## Basic Information

- **Project Name**: BundleFusion_Ubuntu_Pangolin
- **Description**: bundle fusion with pangolin
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2021-03-31
- **Last Updated**: 2024-10-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# BundleFusion_Ubuntu_Pangolin
This is an ubuntu porting project for [https://github.com/niessner/BundleFusion](https://github.com/niessner/BundleFusion), a GPU-based 3D reconstruction method. 
<br>
<b>Youtube Demo:</b>[https://www.youtube.com/watch?v=QOHhFObUprA](https://www.youtube.com/watch?v=QOHhFObUprA)
<p align="center">
<a href="https://www.youtube.com/watch?v=QOHhFObUprA
" target="_blank"><img src="asset/demo_office2.png"
alt="demo for BundleFusion_Ubuntu" width="720" height="540" /></a>
</p>



```
@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}
}
```

## Installation

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.

## Usage

* Download datasets from BundleFusion project mainpage [http://graphics.stanford.edu/projects/bundlefusion/](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".



## Result

We provide a reconstruction result of dataset [office2](http://graphics.stanford.edu/projects/bundlefusion/data/office2/office2.zip) with Google Drive: [https://drive.google.com/file/d/121rR0_6H_xTpsSsYAHIHV_sZqJjHdN5R/view?usp=sharing](https://drive.google.com/file/d/121rR0_6H_xTpsSsYAHIHV_sZqJjHdN5R/view?usp=sharing)



## Issues

* Pangolin OpenGL error:

<b>Problem:</b>

```
/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());
```

<b>Solution:</b>

```
sudo vim /usr/local/include/pangolin/gl/glplatform.h
#goto line#58
#replace "GL/glew.h" with "/usr/include/GL/glew.h"
```

## Contact

contact with fangasfrank #at gmail.com for porting issues.