export_pmvs.md

OpenSfM to PMVS dense point cloud reconstruction

Download CMVS: http://www.di.ens.fr/cmvs/

• Install PMVS/CMVS
• PMVS Inputs
• Usage

PMVS Installation Hints (Linux/Ubuntu)

• Installation pointers here: http://www.di.ens.fr/cmvs/documentation.html

• Type make in cmvs/program/main. Should make three binaries:

  • pmvs2
  • cmvs
  • genOptions

• Most dependencies installed with apt-get:

  sudo apt-get install libgsl0-dev libblas-dev libatlas-dev liblapack-dev liblapacke-dev

• Updated Graclus link: http://www.cs.utexas.edu/users/dml/Software/graclus.html

Lapack Errors:

http://mdda.net/oss-blog/2014-06/building-VisualSFM-on-FC20/

ERROR : ../base/numeric/mylapack.cc:6:25: fatal error: clapack/f2c.h: No such file or directory

Update ../base/numeric/mylapack.cc From:

extern "C" {
#include <clapack/f2c.h>
#include <clapack/clapack.h>
};

To:

extern "C" {
//#include <clapack/f2c.h>
//#include <clapack/clapack.h>
#include <lapacke.h>
};
#define integer int

Update ../base/numeric/mylapack.h From:

static void lls(std::vector<float>& A,
              std::vector<float>& b,
              long int width, long int height);

static void lls(std::vector<double>& A,
              std::vector<double>& b,
              long int width, long int height);

To:

static void lls(std::vector<float>& A,
              std::vector<float>& b,
              int width, int height);

static void lls(std::vector<double>& A,
              std::vector<double>& b,
              int width, int height);

Accumulate Error:

../base/cmvs/bundle.cc: In member function ‘int CMVS::Cbundle::addImagesSub(const std::vector<std::map<int, float> >&)’:
../base/cmvs/bundle.cc:1134:52: error: ‘accumulate’ was not declared in this scope
   return accumulate(addnum.begin(), addnum.end(), 0);

Add this to ../base/cmvs/bundle.cc

#include <numeric>

Stdlib Error:

genOption.cc: In function ‘int main(int, char**)’:
genOption.cc:17:12: error: ‘exit’ was not declared in this scope

Add this to genOption.cc

#include <cstdlib>

PMVS Inputs

These are the files that export_pmvs generates for PMVS from OpenSfM output. More info: http://www.di.ens.fr/pmvs/documentation.html

• Images: visualize/%08d.jpg (radially undistorted)
• Camera Parameters: txt/%08d.txt
• Image Co-Visibility file: vis.dat
• Options file: options.txt (includes mention of vis.dat)
• Output directory: models/

Usage

From the root OpenSfM directory, run:

bin/export_pmvs <path_to_dataset>

There will be an individual pmvs directory for each separate reconstruction.

To perform the PMVS point cloud reconstruction, run:

./pmvs2 <path_to_dataset>/pmvs/recon0/ pmvs_options.txt 

This will generate files in <path_to_dataset>/pmvs/recon0/models/ including a pmvs_options.txt.ply

Important: note that the trailing / in recon0/ is needed. Otherwise PMVS will fail to find the options file and will give an Unrecognizable option warning.