ElasticFusion环境配置

ElasticFusion

系统环境 Ubuntu16.04+CUDA8.0+Opencv2.14+RTX3080

流程

依赖包

sudo apt-get install cmake cmake-qt-gui git build-essential libusb-1.0-0-dev libudev-dev 
sudo apt-get install freeglut3-dev libglew-dev libsuitesparse-dev libeigen3-dev 
sudo apt-get install zlib1g-dev libjpeg-dev doxygen graphviz

openjdk-7-jdk

sudo add-apt-repository ppa:openjdk-r/ppa
sudo apt-get update
sudo apt-get install openjdk-7-jdk

OpenGL

sudo apt-get install build-essential libgl1-mesa-dev
sudo apt-get install freeglut3-dev
sudo apt-get install libglew-dev libsdl2-dev libsdl2-image-dev libglm-dev libfreetype6-dev

下载代码

https://github.com/mp3guy/ElasticFusion

cd ElasticFusion

注意：下面都放在ElasticFusion文件夹中

安装Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build && cd build
cmake ../ -DAVFORMAT_INCLUDE_DIR="" -DCPP11_NO_BOOST=ON
make -j4
cd ../..

安装OpenNI2

git clone https://github.com/occipital/OpenNI2.git
cd OpenNI2
make -j4
cd ..

Build

1. build Core

   cd ElasticFusion-master/Core
   mkdir build && cd build
   cmake ../src
   make -j4
   cd ../../
   

2. build GPUTest

   cd GPUTest  
   mkdir build && cd build  
   cmake ../src  
   make -j4  
   cd ../../
   

3. build GUI

   cd GUI
   mkdir build && cd build
   cmake ../src
   make -j4
   cd ../../
   

Run

在数据集中运行

下载数据集

http://www.doc.ic.ac.uk/~sleutene/datasets/elasticfusion/dyson_lab.klg

放到ElasticFuison/GUI/build中，并运行

./ElasticFusion -l dyson_lab.klg

出现的问题

1. 显卡驱动问题

GLSL Shader compilation failed: /home/thx/ElasticFusion/Core/src/Shaders/copy_unstable.geom:
0:19(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.00 ES, and 3.00 ES

OpenGL Error 500: GL_INVALID_ENUM: An unacceptable value is specified for an enumerated argument.
In: /usr/local/include/pangolin/gl/gl.hpp, line 205
OpenGL Error 501: GL_INVALID_VALUE: A numeric argument is out of range.
In: /usr/local/include/pangolin/gl/gl.hpp, line 205
Segmentation fault (core dumped)

Solution：重装显卡驱动

在安装显卡时，不要加-no-opengl-files

显卡驱动

2.修改cmakelist

thx@thx-MS-7B96:~/ElasticFusion/GUI/build$ ./ElasticFusion -l dyson_lab.klg
Error: invalid texture reference: /home/thx/ElasticFusion/Core/src/Cuda/convenience.cuh:68

在Core/src/Cmakelists.txt文件中，把第33行

set(CUDA_ARCH_PTX “” CACHE STRING “Specify ‘virtual’ PTX arch to build PTX intermediate code for. Example: 1.0 1.2 or 10 12”)
//改为
set(CUDA_ARCH_PTX “61” CACHE STRING “Specify ‘virtual’ PTX arch to build PTX intermediate code for. Example: 1.0 1.2 or 10 12”)

3.修改Pangolin

把glDrawFrustum改为glDrawFrustrum

修改GPUConfig.h

出现

在ElasticFusion/GPUtest/build文件夹中运行

./GPUTest ../

把最后四行添加到/ElasticFusion/Core/src/Utils/GPUConfig.h

使用KinectV1相机实时运行

1. build libFreenect

   cd ElasticFusion
   git clone https://github.com/OpenKinect/libfreenect
   cd libfreenect
   

   打开CmakeLists.txt，在cmake_minimum_required(VERSION 2.8.12)下添加

   add_definitions(-std=c++11)
   
   

   保存后关闭

   mkdir build && cd build  
   cmake .. -DBUILD_OPENNI2_DRIVER=ON  
   make -j4
   cp -L lib/OpenNI2-FreenectDriver/libFreenectDriver.so ${OPENNI2_DIR}/Bin/x64-Release/OpenNI2/Drivers   #OPENNI2_DIR需要修改
   
   

   其中的OPENNI2_DIR是需要自己修改的，就是在ElasticFusion中的OPENNI2的完整路径

2. 接入Kinect V1

   cd ..
   sudo cp platform/linux/udev/51-kinect.rules /etc/udev/rules.d
   
   

   重启电脑

   查看lsusb，如果有XBOX camera，XBOX motor，XBOX audio就成功了

   

3. 运行

   在/ElasticFuison/GUI/build中

   ./ElasticFuison