DensifyPointCloud运行失败

HuangTY96 commented 3 years ago

hty@hty-ThinkStation-P330:~/Desktop/work/test$ DensifyPointCloud -i sfm.txt 16:01:04 [App ] Build date: Jul 19 2021, 14:56:48 16:01:04 [App ] CPU: Intel(R) Xeon(R) E-2244G CPU @ 3.80GHz (8 cores) 16:01:04 [App ] RAM: 31.20GB Physical Memory 2.00GB Virtual Memory 16:01:04 [App ] OS: Linux 5.4.0-72-generic (x86_64) 16:01:04 [App ] SSE & AVX compatible CPU & OS detected 16:01:04 [App ] Command line: -i sfm.txt 16:01:04 [App ] error: invalid project

工作空间目录结构： test ----images(包含orbslam2运行时读入的所有image) ----sfm.txt

请问如何运行DensifyPointCloud指令呢

WangWen-Believer commented 3 years ago

你这里的运行指令不对啊，我就是为了最大程度不更改源作者代码的运行操作，你只需要把图像放入到 /data/image文件夹里，将sfm.txt拷贝到 /data这个工作环境目录中，DensifyPointCloud -w /data -i sfm.txt -o dense.mvs就可以了

HuangTY96 commented 3 years ago

你这里的运行指令不对啊，我就是为了最大程度不更改源作者代码的运行操作，你只需要把图像放入到//data/image文件夹里，将sfm.txt拷贝到/data这个工作环境目录中，DensifyPointCloud -w **/data -i sfm.txt -o dense.mvs就可以了

解决了，谢谢回复，最近我把您的代码稍作修改，放到orbslam3中运行得到的txt文件会导致openmvs发生coredump，请问您有试过orbslam3➕openmvs吗

WangWen-Believer commented 3 years ago

你这里的运行指令不对啊，我就是为了最大程度不更改源作者代码的运行操作，你只需要把图像放入到//data/image文件夹里，将sfm.txt拷贝到/data这个工作环境目录中，DensifyPointCloud -w **/data -i sfm.txt -o dense.mvs就可以了

解决了，谢谢回复，最近我把您的代码稍作修改，放到orbslam3中运行得到的txt文件会导致openmvs发生coredump，请问您有试过orbslam3openmvs吗

这个我还没有对orbslam3进行尝试，不过这些原理都是相同的，相信你会解决的！奥对了，在这里提醒一下没，对位姿进行导出的时候是四元数qw qx qy qz的顺序。

HuangTY96 commented 3 years ago

你这里的运行指令不对啊，我就是为了最大程度不更改源作者代码的运行操作，你只需要把图像放入到//data/image文件夹里，将sfm.txt拷贝到/data这个工作环境目录中，DensifyPointCloud -w **/data -i sfm.txt -o dense.mvs就可以了

解决了，谢谢回复，最近我把您的代码稍作修改，放到orbslam3中运行得到的txt文件会导致openmvs发生coredump，请问您有试过orbslam3openmvs吗

这个我还没有对orbslam3进行尝试，不过这些原理都是相同的，相信你会解决的！

奥对了，在这里提醒一下没，对位姿进行导出的时候是四元数qw qx qy qz的顺序。

嗯，导出的位姿应该是对的，因为单核运行openmvs的时候有可能成功，感觉是哪里有问题导致了openmp多线程运行的问题，谢谢回复

zslxx commented 2 years ago

zd@zd-server:~/code/zsl_workspace/lib/openMVS_build$ ./bin/DensifyPointCloud -w /home/zd/code/zsl_workspace/database/openMVSdata_desk_sam -i sfm.txt -o dense.mvs 21:36:54 [App ] Build date: Nov 19 2021, 16:54:40 21:36:54 [App ] CPU: Intel(R) Xeon(R) CPU E5-2689 0 @ 2.60GHz (32 cores) 21:36:54 [App ] RAM: 39.16GB Physical Memory 2.00GB Virtual Memory 21:36:54 [App ] OS: Linux 5.4.0-84-generic (x86_64) 21:36:54 [App ] SSE & AVX compatible CPU & OS detected 21:36:54 [App ] Command line: -w /home/zd/code/zsl_workspace/database/openMVSdata_desk_sam -i sfm.txt -o dense.mvs 21:36:54 [App ] error: invalid project

我遇到了一样的报错我的图片序列放在openMVSdata_desk_sam下的image文件夹里。sfm.txt放在这个文件夹下。

HuangTY96 commented 2 years ago

zd@zd-server:~/code/zsl_workspace/lib/openMVS_build$ ./bin/DensifyPointCloud -w /home/zd/code/zsl_workspace/database/openMVSdata_desk_sam -i sfm.txt -o dense.mvs 21:36:54 [App ] Build date: Nov 19 2021, 16:54:40 21:36:54 [App ] CPU: Intel(R) Xeon(R) CPU E5-2689 0 @ 2.60GHz (32 cores) 21:36:54 [App ] RAM: 39.16GB Physical Memory 2.00GB Virtual Memory 21:36:54 [App ] OS: Linux 5.4.0-84-generic (x86_64) 21:36:54 [App ] SSE & AVX compatible CPU & OS detected 21:36:54 [App ] Command line: -w /home/zd/code/zsl_workspace/database/openMVSdata_desk_sam -i sfm.txt -o dense.mvs 21:36:54 [App ] error: invalid project

我遇到了一样的报错我的图片序列放在openMVSdata_desk_sam下的image文件夹里。sfm.txt放在这个文件夹下。

我这边最后发现就是路径错了，建议查一下路径

zslxx commented 2 years ago

zd@zd-server:~/code/zsl_workspace/lib/openMVS_build$ ./bin/DensifyPointCloud -w /home/zd/code/zsl_workspace/database/openMVSdata_desk_sam -i sfm.txt -o dense.mvs 21:36:54 [App ] Build date: Nov 19 2021, 16:54:40 21:36:54 [App ] CPU: Intel(R) Xeon(R) CPU E5-2689 0 @ 2.60GHz (32 cores) 21:36:54 [App ] RAM: 39.16GB Physical Memory 2.00GB Virtual Memory 21:36:54 [App ] OS: Linux 5.4.0-84-generic (x86_64) 21:36:54 [App ] SSE & AVX compatible CPU & OS detected 21:36:54 [App ] Command line: -w /home/zd/code/zsl_workspace/database/openMVSdata_desk_sam -i sfm.txt -o dense.mvs 21:36:54 [App ] error: invalid project 我遇到了一样的报错我的图片序列放在openMVSdata_desk_sam下的image文件夹里。sfm.txt放在这个文件夹下。

我这边最后发现就是路径错了，建议查一下路径

我最终的目录是 openMVSdata_desk_sam ----image(包含orbslam2关键帧image) ----sfm.txt

Tguangchao commented 1 year ago

你这里的运行指令不对啊，我就是为了最大程度不更改源作者代码的运行操作，你只需要把图像放入到//data/image文件夹里，将sfm.txt拷贝到/data这个工作环境目录中，DensifyPointCloud -w **/data -i sfm.txt -o dense.mvs就可以了

解决了，谢谢回复，最近我把您的代码稍作修改，放到orbslam3中运行得到的txt文件会导致openmvs发生coredump，请问您有试过orbslam3heavy_plus_signopenmvs吗

你好，你这个问题解决了吗，我也遇见类似的问题，我是在ubuntu18.04上面运行的

hjh454454 commented 1 year ago

你这里的运行指令不对啊，我就是为了最大程度不更改源作者代码的运行操作，你只需要把图像放入到//data/image文件夹里，将sfm.txt拷贝到/data这个工作环境目录中，DensifyPointCloud -w **/data -i sfm.txt -o dense.mvs就可以了

解决了，谢谢回复，最近我把您的代码稍作修改，放到orbslam3中运行得到的txt文件会导致openmvs发生coredump，请问您有试过orbslam3heavy_plus_signopenmvs吗

请问您是怎么将代码进行修改的，我也是想放在orbslam3中运行，但是我运行过程中会出现段错误，不知道怎么修改

ddkats commented 1 year ago

Hi @WangWen-Believer,

I modified your implementation to include ORB-SLAM3. However, when running OpenMVS as you suggested (readpose files + modified Densify Interface), I encountered an error regarding: malloc(): invalid size (unsorted), as described below:

We are using Keyframe from SLAM to achieve 3D reconstruction load mvs ok numViews 304 deal with feature points 13:03:05 [App ] Set the ROI by the estimated core points 13:03:05 [App ] Point-cloud composed of 11902 points with:

points info: 11901 points inside ROI (99.99%) inside ROI track length: 0 min / 7.48256 mean (5.24675 std) / 70 max outside ROI track length: 8 min / 8 mean (0 std) / 8 max
visibility info (89058 views - 7.48 views/point): 4 points with 1- views (0.03%) 59 points with 2 views (0.50%) 1804 points with 3 views (15.16%) 10035 points with 4+ views (84.31%) 0 min / 7.48261 mean (5.24653 std) / 70 max 13:03:06 [App ] Preparing2 images for dense reconstruction completed: 304 images (474ms) malloc(): invalid size (unsorted) Aborted

hplegend commented 3 months ago

Hi @WangWen-Believer,

I modified your implementation to include ORB-SLAM3. However, when running OpenMVS as you suggested (readpose files + modified Densify Interface), I encountered an error regarding: malloc(): invalid size (unsorted), as described below:

We are using Keyframe from SLAM to achieve 3D reconstruction load mvs ok numViews 304 deal with feature points 13:03:05 [App ] Set the ROI by the estimated core points 13:03:05 [App ] Point-cloud composed of 11902 points with:

points info: 11901 points inside ROI (99.99%) inside ROI track length: 0 min / 7.48256 mean (5.24675 std) / 70 max outside ROI track length: 8 min / 8 mean (0 std) / 8 max

visibility info (89058 views - 7.48 views/point): 4 points with 1- views (0.03%) 59 points with 2 views (0.50%) 1804 points with 3 views (15.16%) 10035 points with 4+ views (84.31%) 0 min / 7.48261 mean (5.24653 std) / 70 max 13:03:06 [App ] Preparing2 images for dense reconstruction completed: 304 images (474ms) malloc(): invalid size (unsorted) Aborted

So do I! Have you solved it?

WangWen-Believer / ORB_SLAM2-to-OpenMVS

DensifyPointCloud运行失败 #1