parallel_sfm

Goal: Given a set of images captured from multiple views covering entire 360 degree information and camera parameters, this code will compute the scene’s 3D reconstructions.

The serial implementation of structure-from-motion (sfm) is borrowed from the opencv-contrib.

Updates:

1. Parallelized feature descriptor extraction in images using OpenMP. More precisely, parallelized nRobustViewMatching::computeCrossMatch written in parallel_sfm/src/libmv_light/libmv/correspondence/nRobustViewMatching.cc

#Installation

OpenCV Installation

sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
 
cd ~/<my_working _directory>
git clone https://github.com/opencv/opencv.git
git clone https://github.com/opencv/opencv_contrib.git

Now, delete the sfm folder from opencv_contrib folder and then install opencv with opencv-contrib

cmake [<some optional parameters>] <path to the OpenCV source directory>

For example:

cd ~/opencv
mkdir release
cd release
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=<path to oencv_contrib/modules> <path to opencv source code>

make -jX ,where X jobs will run in parallel
sudo make install

SfM Dependencies Installation

sudo apt-get install libeigen3-dev libgflags-dev libgoogle-glog-dev
 # CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-devhttps://github.com/opencv/opencv.git

# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
# - If you want to build Ceres as a *static* library (the default)
#   you can use the SuiteSparse package in the main Ubuntu package
#   repository:
sudo apt-get install libsuitesparse-dev
# - However, if you want to build Ceres as a *shared* library, you must
#   add the following PPA:
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update
sudo apt-get install libsuitesparse-dev
# Install Ceres
git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
mkdir build && cd build
cmake ..
make -jX #where X jobs will run in parallel
make test
sudo make install

parallel_sfm Installation

cd ~/<my_directory>
git clone https://github.com/KSheth96/parallel_sfm.git
cd <path-of-the-downloaded-folder>/build
cmake ..
make -jX #where X jobs will run in parallel

#Execute
./foo  <path-of-the-downloaded-folder>/samples/data/images/dataset_files.txt 350 240 360