Dense SFM Workstation Setup

This repository implements a pixsfm and COLMAP based dense 3D-reconstruction pipeline.

Directory Structure

├── dense-reconstruction
│   ├── output
│   └── scripts
├── pipeline-dense-sfm
│   ├── config
│   ├── dense_sfm_output
│   └── svo_output
├── rig-bundle-adjuster
│   ├── output
│   └── scripts
└── sparse-reconstruction
    ├── output
    ├── pixsfm_dataset
    │   ├── left
    │   └── right
    └── scripts

Understanding the config files

All config files can be found at pipeline-dense-sfm/config folder.

1. config.json file

{
  "svo_path": "svo_output/",     # target svo folder path
  "camera_params": [1093.2768, 1093.2768, 964.989,  569.276, 0, 0, 0, 0],   # [fx, fy, cx, cy, k1, k2, k3,k4]    
  "dense_sfm_path":"dense_sfm_output/"   # dense sfm output path 
}

> All the paths mentioned in `config.json` would be relative to the `pipeline-dense-sfm` folder

2. rig.json file

[
  {
    "ref_camera_id": 1,
    "cameras":
    [
      {
          "camera_id": 1,
          "image_prefix": "left",
          "rel_tvec": [0.13, 0, 0],
          "rel_qvec": [0,0,0,1]
      },
      {
          "camera_id": 2,
          "image_prefix": "right",
          "rel_tvec": [0, 0, 0],
	      "rel_qvec": [0,0,0,1]
      }
    ]
  }
]

How to use?

git clone git@github.com:shubham-monarch/workstation-sfm-setup.git
git checkout dev
cd workstation-sfm-setup
cd pipeline-dense-sfm

• Update pipeline-dense-sfm/config/rig.json
• Update pipeline-dense-sfm/config/config.json
  • svo_path: folder containing the target svo files
  • camera-params: [fx,fy, cx, cy, k1, k2, k3, k4]
  • dense_sfm_path: folder containng the dense reconstruction output
• [Important] Copy the svo files at svo_path

The svo_path folder should look like this =>

├── frame_0
│   ├── images
│   ├── pointcloud
│   └── pose
└── frame_1
    ├── images
    ├── pointcloud
    └── pose

Execute the main script => sbatch run-dense-sfm-pipeline.sh

Running with the default configuration would generate the dense sfm output at the pipeline-dense-sfm/dense_sfm_output/ folder

Some Helpful SLURM commands

squeue => see the current SLURM queue
tail -f slurm-<id>.out => see the <id>.out file in real time
scancel <id> => cancel id