The key arguments setting in BundleFusion_Ubuntu_Pangolin

Recently, we get a better version of BundleFusion which can work on ubuntu, and the real time reconstruction result is presented through pangolin window. I think it is outstanding is beacuse I can only feed it with original color and depth images without generate .sens file before.

You should know that there are a lot of parameters belonging to this project. The reconstruction result is strong effected by many of them, so we should set them carefully.

 

And I have checked that there are something different between the parameter files of windows version and this ubuntu_pangolin  version.

s_maxNumImages = 1200

s_SDFVoxelSize=0.02

s_marchingCubeMaxNumTriangles=10000000;

s_hashNumBuckets = 800000;//800000                //smaller voxels require more space
s_hashNumSDFBlocks = 1000000;//50000;//1000000;    //smaller voxels require more space

If the project doesn't work on your own dataset you can adjust there parameters above, of course, you at least the parameters related to resolution should be set correctly, for example, images in my dataset have the resolution of 960x540

s_windowWidth = 960;        //render window width
s_windowHeight = 540;

s_integrationWidth = 480;    //input depth gets re-sampled to this width (decrease to improve perf.)
s_integrationHeight = 270;

s_rayCastWidth = 480;        //should be same as integration except if rendering video
s_rayCastHeight = 270;

s_recordDataWidth = 960;        //only applies to the non compressed version (see RGBDSensor.cpp)
s_recordDataHeight = 540;

 

s_widthSIFT = 960;
s_heightSIFT = 540;

s_downsampledWidth = 270;
s_downsampledHeight = 135;