The VisualSFM system is the recommended way to use PMVS and CMVS :

  • http://www.di.ens.fr/pmvs/
  • http://www.di.ens.fr/cmvs/

So, download the Linux 64-bit source code from :

http://ccwu.me/vsfm/

The Process for Running VisualSFM :

The following have to be run in a coordinated fashion, which is what VisualSFM does :

  • Bundler

  • CMVS

  • PMVS2

Emphasising this, the notes for CMVS state : You should ALWAYS use CMVS after Bundler and before PMVS2 (even when your image set is small), because :

  • PMVS2 will run faster and produce more accurate results with the produced clusters (see the bullet below for the reasoning.)

  • CMVS produces option files (option-0000, option-0001, …) for PMVS2 and a script file (pmvs.sh) containing PMVS2 commands. You just need to run pmvs.sh.

  • CMVS produces “vis.dat”, which is an optional input file for PMVS2 containing image-neighborhood information. PMVS2 should run significantly faster with this additional input file.

  • Besides clustering input images, CMVS also removes redundant images that are unnecessary for MVS reconstructions, which speeds up PMVS2 as well as improves reconstruction accuracy (redundant image clusters without enough baseline degrades reconstruction accuracy.)

This is not going to be easy…

See installation instructions for Ubuntu: :

  • http://www.10flow.com/2012/08/15/building-visualsfm-on-ubuntu-12-04-precise-pangolin-desktop-64-bit/

And the notes :

  • http://abstract.cs.washington.edu/~ccwu/vsfm/vsfm.cgi?linux64

Ultimately, we have to :

  • Go through each sub-module in turn

  • Get them to compile cleanly

  • Copy the resulting .so to the main VisualSFM directory structure

Building SIFT

Source files :

  • http://cs.unc.edu/~ccwu/siftgpu/

  • http://cs.unc.edu/~ccwu/siftgpu/download.html

mv ~/Downloads/SiftGPU-V400.zip .
unzip SiftGPU-V400.zip
cd SiftGPU
make

Errors :

/usr/bin/ld: cannot find -lGLEW
/usr/bin/ld: cannot find -lglut
/usr/bin/ld: cannot find -lIL

Therefore :

yum install freeglut-devel glew-devel DevIL-devel

Compiles OK (with warnings). Next : Copy resultant .so into vsfm :

cd ..
cp SiftGPU/bin/libsiftgpu.so vsfm/bin/

MultiCore Bundle Adjustment

Source files :

  • http://grail.cs.washington.edu/projects/mcba/
wget http://grail.cs.washington.edu/projects/mcba/pba_v1.0.5.zip
unzip pba_v1.0.5.zip
cd pba
make -f makefile_no_gpu 
## or 'make' if there is a GPU...

Compiles OK (with warnings). Next : Copy resultant (relevant) executable into vsfm :

cd ..
#cp  pba/bin/libpba_no_gpu.so vsfm/bin/
cp  pba/bin/libpba_no_gpu.so vsfm/bin/libpba.so 

PMVS2

Source files :

  • http://www.di.ens.fr/pmvs/

  • http://www.di.ens.fr/pmvs/documentation.html

wget http://www.di.ens.fr/pmvs/pmvs-2-fix0.tar.gz
tar -xzf pmvs-2-fix0.tar.gz 
cd pmvs-2/program/main
make

Errors :

ERROR : boost::shared_ptr
ERROR : ../base/pmvs/optim.h:6:30: fatal error: gsl/gsl_multimin.h: No such file or directory
ERROR : ../base/image/image.cc:8:21: fatal error: jpeglib.h: No such file or directory

Therefore :

yum install boost-devel gsl-devel libjpeg-turbo-devel blas-devel

BUT : make still has errors :

ERROR : ../base/numeric/mylapack.cc:6:25: fatal error: clapack/f2c.h: No such file or directory

This is an actual programming problem : The lapack files have been refactored on Fedora.

Updating the PMVS2 source

Update ../base/numeric/mylapack.cc ::

FROM ::

extern "C" {
#include <clapack/f2c.h>
#include <clapack/clapack.h>
};

TO ::

extern "C" {
//#include <clapack/f2c.h>
//#include <clapack/clapack.h>
#include <lapacke/lapacke.h>
};
#define integer int

Update ../base/numeric/mylapack.h ::

FROM ::

static void lls(std::vector<float>& A,
                  std::vector<float>& b,
                  long int width, long int height);
  
  static void lls(std::vector<double>& A,
                  std::vector<double>& b,
                  long int width, long int height);

TO::

static void lls(std::vector<float>& A,
                  std::vector<float>& b,
                  int width, int height);
  
  static void lls(std::vector<double>& A,
                  std::vector<double>& b,
                  int width, int height);

Now it should compile fine :

make 
cd ../../..

Copy resultant executable into vsfm :

cp pmvs-2/program/main/pmvs2 vsfm/bin/

Graculus

Source files : (Need to send email to authors) :

  • http://www.cs.utexas.edu/users/dml/Software/graclus.html
mv ~/Downloads/_u_www_users_dml_Software_graclus1.2.tar.gz .
tar -xzf _u_www_users_dml_Software_graclus1.2.tar.gz
cd graclus1.2/

Need to change Makeile.in:

FROM ::

# What options to be used by the compiler
COPTIONS = -DNUMBITS=32

TO ::

# What options to be used by the compiler
COPTIONS = -DNUMBITS=64

The this works with warnings :

make 
cd ..

Copy resultant executable into vsfm :

cp graclus1.2/graclus vsfm/bin/

CMVS

Source files :

  • http://www.di.ens.fr/cmvs/
wget http://www.di.ens.fr/cmvs/cmvs-fix2.tar.gz
tar -xzf cmvs-fix2.tar.gz 
cd cmvs/program/main

Update Makefile TO :: (as distributed, file is just purposefully broken)

#Your INCLUDE path (e.g., -I/usr/include)
YOUR_INCLUDE_PATH =

#Your metis directory (contains header files under graclus1.2/metisLib/)
YOUR_INCLUDE_METIS_PATH = -I../../../graclus1.2/metisLib

#Your LDLIBRARY path (e.g., -L/usr/lib)
YOUR_LDLIB_PATH = -L../../../graclus1.2

Updating the CMVS source

Once again, the lapack references need updating (same methodology as PVMS2)

Edit ../base/numeric/lapack.cc and lapack.h as in pmvs-2

Next, edit the source file cmvs/program/base/cmvs/bundle.cc by adding these includes at the top of the file:

#include <vector>
#include <numeric>

And now edit cmvs/program/main/genOption.cc by adding this include statement at the top:

#include <stdlib.h>

This should now work :

make

Copy resultant executable(s) into vsfm :

cp cmvs/program/main/cmvs vsfm/bin/
cp cmvs/program/main/genOption vsfm/bin

Running the Whole Enchilada

cd vsfm/bin
./VisualSFM

or, (if you don’t want to make the Library path changes in your .bash_profile) :

LD_LIBRARY_PATH=$LD_LIBRARY_PATH:. ./VisualSFM 

Error when trying to “»” : Step C: Sparse 3D reconstruction

Problem :

libpba.so: cannot open shared object file: No such file or directory
ERROR: unable to Load libpba.so (Multicore Bundle Adjustment). Make sure you have libpba.so in the VisualSFM bin folder; Run <ldd> to check its dependencies.

Solution :

  • Need to rename the nogpu version if that’s what was built above…

Running VisualSFM (finally)

See the following for an introductory How-To on using VisualSFM : https://github.com/dddExperiments/SFMToolkit



Martin Andrews

{Finance, Software, AI} entrepreneur, living in Singapore with my family.



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