0. 需求

修改meshroom未修改稠密点云的输出格式，需要在alicevision项目编译前修改代码

AliceVision/src/software/pipeline# vim main_meshing.cpp

if(saveRawDensePointCloud)
{
  ALICEVISION_LOG_INFO("Save dense point cloud before cut and filtering.");
  StaticVector<StaticVector<int>> ptsCams;
  delaunayGC.createPtsCams(ptsCams);
  sfmData::SfMData densePointCloud;
  createDenseSfMData(sfmData, mp, delaunayGC._verticesCoords, ptsCams, densePointCloud);
  removeLandmarksWithoutObservations(densePointCloud);
  if(colorizeOutput)
    sfmData::colorizeTracks(densePointCloud);
  sfmDataIO::Save(densePointCloud, (outDirectory/"densePointCloud_raw.abc").string(), sfmDataIO::ESfMData::ALL_DENSE);
}

// 修改 densePointCloud_raw.abc -> densePointCloud_raw.ply

1. Nvidia docker安装AliceVision

host克隆alicevision项目

git clone --recursive https://github.com/alicevision/AliceVision.git
cd AliceVision/ && git checkout v2.4.0
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DALICEVISION_USE_ALEMBIC=ON ..

装组件

参考AliceVision/CMakeLists.txt获得各组件的版本
下载编译或apt-get安装


-- Boost 1_76 found. 编译
-- OpenEXR found. (Version 2.5.8) 编译
	可选： libjpeg-turbo-2.1.1 编译
-- OpenImageIO found. 
	apt-get install libopenimageio-dev
-- eigen3 3.4.0 编译（可选）
-- git clone ceres-solver 编译
	apt-get install libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
	apt-get install libmetis-dev liblapack-dev libcxsparse3 libgflags-dev libgtest-dev
-- geogram-1.7.6 编译
	apt-get install libxinerama-dev libxcursor-dev
	apt-get install libglfw3 libglfw3-dev xlibmesa-glu-dev
	# https://stackoverflow.com/questions/8321628/compiling-error-cannot-find-lglu-and-lgl-in-kubuntu-linux
-- alembic 编译
	apt-get install zlib1g-dev

make 编译
- 出现error,修改问题部分
make install

2. AliceVision docker安装AliceVision

下载docker image

docker pull alicevision/alicevision-deps:cuda10.2-ubuntu18.04

克隆项目

git clone --recursive https://github.com/alicevision/AliceVision.git
cd AliceVision/ && git checkout v2.4.0
mkdir build && cd build

安装依赖, 参考AliceVision/CMakeLists.txt获得各组件的版本
```
-- zlib 1.2.11 编译
```

编译项目

export AV_DEV=/opt/AliceVision_git && \
export AV_INSTALL=/opt/AliceVision_install && \
cmake -DCMAKE_BUILD_TYPE=Release -DALICEVISION_USE_ALEMBIC=ON \
 -DOPENIMAGEIO_LIBRARY_DIR_HINTS:PATH=/opt/AliceVision_install/lib/ \
 -DOPENIMAGEIO_INCLUDE_DIR:PATH=/opt/AliceVision_install/include/ \
 -DOPENEXR_HOME:PATH=/opt/AliceVision_install/include/OpenEXR \
 -DGEOGRAM_INSTALL_PREFIX:PATH=/opt/AliceVision_install/lib \
 -DGEOGRAM_INCLUDE_DIR:PATH=/opt/AliceVision_install/include/geogram1 \
 ..

make 编译
- 出现error,修改问题部分
make install

3. 结果

用meshroom的cache测试结果，获得raw dense point cloud.ply文件。

aliceVision_meshing --input /dataset/algorithm/xxx/meshroom_save/06_03_meshroom_cache_result/MeshroomCache_dtu_images_scan12_sift/StructureFromMotion/ab427438bb1653cf7294c95b53293706552114b5/sfm.abc \
--depthMapsFolder /dataset/algorithm/xxx/meshroom_save/06_03_meshroom_cache_result/MeshroomCache_dtu_images_scan12_sift/DepthMapFilter/3cf9ff40f09181afd9e7f29a2b0d2f0b876571c8/ \
--estimateSpaceFromSfM True --estimateSpaceMinObservations 3 --estimateSpaceMinObservationAngle 10 --maxInputPoints 50000000 --maxPoints 5000000 --maxPointsPerVoxel 1000000 --minStep 2 \
--partitioning singleBlock --repartition multiResolution --angleFactor 15.0 --simFactor 15.0 --pixSizeMarginInitCoef 2.0 --pixSizeMarginFinalCoef 4.0 --voteMarginFactor 4.0 \
--contributeMarginFactor 2.0 --simGaussianSizeInit 10.0 --simGaussianSize 10.0 --minAngleThreshold 1.0 --refineFuse True --helperPointsGridSize 10 --nPixelSizeBehind 4.0 --fullWeight 1.0 \
--voteFilteringForWeaklySupportedSurfaces True --addLandmarksToTheDensePointCloud False --invertTetrahedronBasedOnNeighborsNbIterations 10 --minSolidAngleRatio 0.2 \
--nbSolidAngleFilteringIterations 2 --colorizeOutput False --maxNbConnectedHelperPoints 50 --saveRawDensePointCloud True --exportDebugTetrahedralization False --seed 0 --verboseLevel info \
--outputMesh /root/output/MeshroomCache_dtu_images_scan12_sift/mesh.obj --output /root/output/MeshroomCache_dtu_images_scan12_sift/densePointCloud.ply

上面两种方式都可以在--colorizeOutput False 的时候生成未过滤的稠密点云，但是数量小于10w（其他项目生成的稠密点云在100w以上），使用--colorizeOutput True 会报错：

报错

方法1报错：
Compute scene structure color
0%   10   20   30   40   50   60   70   80   90   100%
|----|----|----|----|----|----|----|----|----|----|
Abnormal program termination: function terminate() was called
aliceVision_meshing: /build/openimageio-l3oG0b/openimageio-2.1.12.0~dfsg0/src/include/OpenImageIO/unordered_map_concurrent.h:434: OpenImageIO_v2_1::unordered_map_concurrent<KEY, VALUE, HASH, PRED, BINS, BINMAP>::Bin::~Bin() [with KEY = OpenImageIO_v2_1::ustring; VALUE = OpenImageIO_v2_1::intrusive_ptr<OpenImageIO_v2_1::pvt::ImageCacheFile>; HASH = OpenImageIO_v2_1::ustringHash; PRED = std::equal_to<OpenImageIO_v2_1::ustring>; long unsigned int BINS = 64; BINMAP = tsl::robin_map<OpenImageIO_v2_1::ustring, OpenImageIO_v2_1::intrusive_ptr<OpenImageIO_v2_1::pvt::ImageCacheFile>, OpenImageIO_v2_1::ustringHash>]: Assertion `m_nlocks == 0' failed.
./run.sh: line 1:    27 Aborted                 (core dumped) aliceVision_meshing --input /dataset/algorithm/xxx/meshroom_save/06_03_meshroom_cache_result/MeshroomCache_dtu_images_scan12_sift/StructureFromMotion/ab427438bb1653cf7294c95b53293706552114b5/sfm.abc --depthMapsFolder /dataset/algorithm/xxx/meshroom_save/06_03_meshroom_cache_result/MeshroomCache_dtu_images_scan12_sift/DepthMapFilter/3cf9ff40f09181afd9e7f29a2b0d2f0b876571c8/ --estimateSpaceFromSfM True --estimateSpaceMinObservations 3 --estimateSpaceMinObservationAngle 10 --maxInputPoints 50000000 --maxPoints 5000000 --maxPointsPerVoxel 1000000 --minStep 2 --partitioning singleBlock --repartition multiResolution --angleFactor 15.0 --simFactor 15.0 --pixSizeMarginInitCoef 2.0 --pixSizeMarginFinalCoef 4.0 --voteMarginFactor 4.0 --contributeMarginFactor 2.0 --simGaussianSizeInit 10.0 --simGaussianSize 10.0 --minAngleThreshold 1.0 --refineFuse True --helperPointsGridSize 10 --nPixelSizeBehind 4.0 --fullWeight 1.0 --voteFilteringForWeaklySupportedSurfaces True --addLandmarksToTheDensePointCloud False --invertTetrahedronBasedOnNeighborsNbIterations 10 --minSolidAngleRatio 0.2 --nbSolidAngleFilteringIterations 2 --colorizeOutput True --maxNbConnectedHelperPoints 50 --saveRawDensePointCloud True --exportDebugTetrahedralization False --seed 0 --verboseLevel info --outputMesh /root/output/MeshroomCache_dtu_images_scan12_sift/mesh.obj --output /root/output/MeshroomCache_dtu_images_scan12_sift/densePointCloud.ply

方法2报错：
Compute scene structure color
0%   10   20   30   40   50   60   70   80   90   100%
|----|----|----|----|----|----|----|----|----|----|
Abnormal program termination: function terminate() was called
Abnormal program termination: received signal 11 (Segmentation fault)

0. 需求#

1. Nvidia docker安装AliceVision#

2. AliceVision docker安装AliceVision#

3. 结果#

0. 需求

1. Nvidia docker安装AliceVision

2. AliceVision docker安装AliceVision

3. 结果