htlife / png_to_klg Goto Github PK

hi，gay!
I compiled your project and get the .klg. but when I run the elasticfusion, it makes no sense. I think elasticfusion maybe support the jpeg file format only. TUM dataset is composed of png, but the elasticfusion needs jpeg.

my method is as followed:
~/work/ElasticFusion/GUI/build$ ./ElasticFusion -l /home/yeweicai/Downloads/dataset/TUM/rgbd_dataset_freiburg2_desk/fr2desk.klg -d 12 -c 3 -f
Not a JPEG file: starts with 0x15 0xe5

I want to know how you can run the elasticfusion. Should I write the support of png for elasticfusion to use the png file format? And can you give me your method to run the elasticfusion with the png? I want your help. I am the beginner of slam and 3D Reconstruction (such as Elasticfusion).

you can email me [email protected]
thanks all.

Hi! I want to execute Elasticfusion. According to the demo, the livingroom_kt0_rs.klg generated is about 16.4MB, not the suggested 3.2MB, and I got a segment error in Elasticfusion. I don't know how to solve this the problem? May it caused by the opencv version? I use opencv 3.3.

Hi,
I created the liv.klg as suggested but when i try to use it in Kintinuous i get :

CloudSliceProcessorThread started
Segmentation fault (core dumped)

Likewise ElasticFusion troughs a Segmentation fault (core dumped), even using the -d 12 -c 3 -f

Any clues?

When i use the generated klg file, the ElasticFusion produced a error:' Not a JPEG file: starts with 0x6f 0x53'. I make sure the associations.txt is right. What should i solve this problem,please?

Hi,

First off, thanks a lot for this repo. I was able to convert the TUM freiburg2_desk dataset to .klg format using your code. However when i try to run it with ./ElasticFusion -l /home/s/png_to_klg/rgbd_dataset_freiburg2_desk/freiburg2.klg -d 12 -c 3 -f, I get the following error:
Not a JPEG file: starts with 0x15 0xe5

Is there a way to make it accept PNG source files instead of JPEG?

Thanks in advance.

Hi...as per your suggestion at mp3guy/ElasticFusion#121
I looked at your project png_to_klg. I think this will serve my purpose of building 3D point cloud offline from pre-recorded depth maps.But is it that png_to_klg data will work only for TUM data set? or it can work for any depth map captured with kinect?

Hello,
I succeeded in converting the TUM dataset, but I want to make some dataset using Realsense, so I record 100 depth and color png images by realsense, the associations.txt file like this:
1 depth/1.png 1 rgb/1.png
2 depth/2.png 2 rgb/2.png
3 depth/3.png 3 rgb/3.png
4 depth/4.png 4 rgb/4.png
5 depth/5.png 5 rgb/5.png
6 depth/6.png 6 rgb/6.png
7 depth/7.png 7 rgb/7.png
8 depth/8.png 8 rgb/8.png

and then I use this code to convert it to klg format.
but problem occurred.
the result is as follows:
Current working directory:
/input-output/dataset1
Depth: depth/99.png
RGB: rgb/99.png
scale: 5000
klg_name:
/input-output/dataset1.klg
Progress:
Conversion complete!
although it said "Conversion complete" but the output klg file is only 4 bytes. and I cannot run ElasticFusion with the converted klg dataset.

what is the problem?

Hi, i try to use this useful tool to convert a TUM dataset to klg format and I ran Kintinuous on the it.
But as I run the evaluation tool, it said that :

Couldn't find matching timestamp pairs between groundtruth and estimated trajectory!

What should I do to fix it?

Hello all,
I'm having this error when trying to run another generated .klg file using ElasticFusion:

Not a JPEG file: starts with 0×2f 0×30

I tried freiburg1desk dataset and it works fine. I've checked similar issues and tried the answered solutions but nothing worked. Here are some lines from my associations.txt:

0.011110 depth/frame0.png 0.011110 rgb/frame0.png
0.016520 depth/frame1.png 0.016520 rgb/frame1.png
0.021930 depth/frame2.png 0.021930 rgb/frame2.png
0.027340 depth/frame3.png 0.027340 rgb/frame3.png
0.032750 depth/frame4.png 0.032750 rgb/frame4.png
0.038160 depth/frame5.png 0.038160 rgb/frame5.png
0.043570 depth/frame6.png 0.043570 rgb/frame6.png
0.048980 depth/frame7.png 0.048980 rgb/frame7.png
0.054390 depth/frame8.png 0.054390 rgb/frame8.png
0.059800 depth/frame9.png 0.059800 rgb/frame9.png
0.065210 depth/frame10.png 0.065210 rgb/frame10.png
0.070620 depth/frame11.png 0.070620 rgb/frame11.png
0.076030 depth/frame12.png 0.076030 rgb/frame12.png
0.081440 depth/frame13.png 0.081440 rgb/frame13.png

I think I correctly followed the steps to create the .klg (otherwise I don't think the frieburg1desk dataset would've worked). What could be wrong here? Thanks.

I typed the following sentence

./pngtoklg -w '/home/username/Downloads/pngtoklg/build/living_room_traj0_frei_png/' -o 'home/username/Downloads/pngtoklg/build/living_room_traj0_frei_png/liv.klg' -s 0.0002

and I got

Current working directory:
/home/username/Downloads/pngtoklg/build/living_room_traj0_frei_png
Depth: depth/1508.png
RGB: rgb/1508.png
scale: 0.0002
klg_name:
home/username/Downloads/pngtoklg/build/living_room_traj0_frei_png/liv.klg
Segmentation fault (core dumped)

How can I fix it? Thanks

Hi, Jacky,
May I ask can we extract png from klg files?
I need to do some processing on some frames in the klg video.
I'm wondering if we can extract the depth and rgb pngs from the klg.
thanks

So, I used png_to_klg to obtain a dataset to run with ElasticFusion. The dataset was collected with the Realsense D435i sensor. Even though png_to_klg says that the conversion was successful, when I run the klg with ElasticFusion I get segmentation fault. However, I'm a 100% sure I'm doing it right, because I also tried to convert the TUM dataset (and ICL-NUIM) and it worked on ElasticFusion.
Then, I discovered that the TUM dataset is collected with a Kinect and that the depth images produced by the Realsense and the Kinect are different, as you can see in the images below.

Realsense:

TUM:

So, is there a way to create a functioning klg for ElasticFusion with this converter using a dataset produced by the Realsense?

Thank you.

I got the error below when I typed make.
/usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFReadRGBAStrip@LIBTIFF_4.0' /usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFSetErrorHandler@LIBTIFF_4.0'
/usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFReadEncodedStrip@LIBTIFF_4.0' /usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFReadRGBATile@LIBTIFF_4.0'
/usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFSetField@LIBTIFF_4.0' /usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFScanlineSize@LIBTIFF_4.0'
/usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFSetWarningHandler@LIBTIFF_4.0' /usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFWriteScanline@LIBTIFF_4.0'
/usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFRGBAImageOK@LIBTIFF_4.0' /usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFIsTiled@LIBTIFF_4.0'
/usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFReadEncodedTile@LIBTIFF_4.0' /usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFClose@LIBTIFF_4.0'
/usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFGetField@LIBTIFF_4.0' /usr/local/lib/libopencv_highgui.so.2.4.9: undefined reference to TIFFOpen@LIBTIFF_4.0'
collect2: error: ld returned 1 exit status
CMakeFiles/pngtoklg.dir/build.make:112: recipe for target 'pngtoklg' failed
make[2]: *** [pngtoklg] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/pngtoklg.dir/all' failed
make[1]: *** [CMakeFiles/pngtoklg.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

Hi,
I want to convert dataset png to klg, I used the rgbd_dataset_freiburg3_long_office_household dataset, first I used the associate.py to generate associations.txt, then I convert, but it failed, this is the output error:
Current working directory:
/home/png_to_klg/build/rgbd_dataset_freiburg3_long_office_household
段错误 (核心已转储)

what is the problem? thank you very much

Hi,Jacky.
I'm going to run the ElasticFusion with ground truth pose given by the file livingRoom2.gt.freiburg from the ICL-NUIM.And i've convert the origin depth and rgb data to klg file by your tool.
When i run with the command ./ElasticFusion -l livingRoom2.klg,it was ok.
But it was error(the reconstruction result was erroneous visibly) when i run with ./ElasticFusion -l livingRoom2.klg -p livingRoom2.gt.freiburg.
What should i do to run correct with the -p option?Thanks a lot!

hello,

I would like to know how the camera parameters are incorporated. I don't see it anywhere.