rodschulz/bpa

Implementation of The Ball Pivoting Algorithm based on PCL

#BPA - The Ball Pivoting Algorithm

This an implementation of the Ball Pivoting Algorithm for surface reconstruction (Fausto Bernardini et al. 1999) which uses PCL to handle the cloud information.

The last stable implementation can be found in the releases page (https://github.com/rodschulz/BPA/releases).

More information about the algorithm can be found in the following links.

• http://www.research.ibm.com/vistechnology/pdf/bpa_tvcg.pdf
• http://dl.acm.org/citation.cfm?id=614442

bpa's Issues

build failed due to nvcc fatal : Unsupported gpu architecture 'compute_20'

Hello, when I build the project by executing regenerate.sh, the following errors occur:
[ 10%] Building NVCC (Device) object CMakeFiles/BPA.dir/BPA_generated_GpuRoutines.cu.o
nvcc fatal : Unsupported gpu architecture 'compute_20'
CMake Error at BPA_generated_GpuRoutines.cu.o.Debug.cmake:219 (message):
Error generating
/home/roboartisan/Desktop/BPA-master/build/CMakeFiles/BPA.dir//./BPA_generated_GpuRoutines.cu.o

CMakeFiles/BPA.dir/build.make:63: recipe for target 'CMakeFiles/BPA.dir/BPA_generated_GpuRoutines.cu.o' failed
make[2]: *** [CMakeFiles/BPA.dir/BPA_generated_GpuRoutines.cu.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/BPA.dir/all' failed
make[1]: *** [CMakeFiles/BPA.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
is that means the gpu on my machine doesn't support the code?

The output is corrupted

Hi there, Thank you for your code. when I tried the BPA 1.0 (the one without gpu) on three different point cloud, but the outputs (*.off) are all corrupted and neither Meshlab nor geomview is able to show them. I was wondering if I can produce a .ply file as the output rather than .off?

License?

Hello and thank you for making this repository available. Have you chosen a license for this project? If possible, could you upload a LICENSE file to the repository? I am interested in seeing if I can use this BPA implementation with some Apache or BSD code but am unsure as to your licensing constraints, and do not want to violate them.

Thank you!

how can i run this program?

what ide to run this?

Segmentation Fault

Thread 1 "BPA" received signal SIGSEGV, Segmentation fault.
std::_List_iterator<boost::shared_ptr<Edge> >::operator-- (this=0x7fffffffc8d8) at /usr/include/c++/11/bits/stl_list.h:234
234		_M_node = _M_node->_M_prev;
(gdb) bt full
#0  std::_List_iterator<boost::shared_ptr<Edge> >::operator-- (this=0x7fffffffc8d8)
    at /usr/include/c++/11/bits/stl_list.h:234
No locals.
#1  0x0000555555622225 in std::__advance<std::_List_iterator<boost::shared_ptr<Edge> >, long> (
    __i=<error reading variable: Cannot access memory at address 0x55a22daf2fef61c7>, __n=0)
    at /usr/include/c++/11/bits/stl_iterator_base_funcs.h:169
No locals.
#2  0x000055555562150e in std::advance<std::_List_iterator<boost::shared_ptr<Edge> >, int> (
    __i=<error reading variable: Cannot access memory at address 0x55a22daf2fef61c7>, __n=-2)
    at /usr/include/c++/11/bits/stl_iterator_base_funcs.h:206
        __d = -2
#3  0x000055555561f8c8 in Front::joinAndFix (this=0x7fffffffc8c0, _data={...}, _pivoter=...)
    at /mnt/thor_hdd_01/satyajit/experiments/BPA/src/Front.cpp:87
        debug = NONE
#4  0x000055555565db1e in main (_argn=2, _argv=0x7fffffffcd48)
    at /mnt/thor_hdd_01/satyajit/experiments/BPA/src/main.cpp:66
        data = {first = 18, second = {px = 0x555583f86a00, pn = {pi_ = 0x555583f86950}}}
        edge = {px = 0x555561ff64a0, pn = {pi_ = 0x555583f84130}}
        seed = {px = 0x55556229ea90, pn = {pi_ = 0x555583f840f0}}
        inputFile = "/home/satyajit/EBH-Grove-RANSAC/2.pcd"
        ballRadius = 0.01
        debug = NONE
        debugMask = 7
        begin = 51390
        cloud = std::shared_ptr<pcl::PointCloud<pcl::PointNormal>> (use count 3, weak count 0) = {
          get() = 0x55555574cfa0}
        pivoter = {kdtree = {<pcl::KdTree<pcl::PointNormal>> = {
              _vptr.KdTree = 0x555555737298 <vtable for pcl::KdTreeFLANN<pcl::PointNormal, flann::L2_Simple<float> >+16>, 
              input_ = std::shared_ptr<const pcl::PointCloud<pcl::PointNormal>> (use count 3, weak count 0) = {get() = 0x55555574cfa0}, 
              indices_ = std::shared_ptr<const std::vector<int, std::allocator<int> >> (empty) = {
                get() = 0x0}, epsilon_ = 0, min_pts_ = 1, sorted_ = true, 
              point_representation_ = std::shared_ptr<const pcl::PointRepresentation<pcl::PointNormal>> (use count 1, weak count 0) = {get() = 0x555555788b30}}, 
            flann_index_ = std::shared_ptr<flann::Index<flann::L2_Simple<float> >> (use count 1, weak count 0) = {get() = 0x55555e610930}, cloud_ = std::shared_ptr<float> (use count 1, weak count 0) = {
              get() = 0x55555578a770}, index_mapping_ = std::vector of length 6981875, capacity 6981875 = {
              0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 
              25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 
              48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 
              71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 
--Type <RET> for more, q to quit, c to continue without paging--
              94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 
              113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 
              131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 
              149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 
              167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 
              185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199...}, 
            identity_mapping_ = true, dim_ = 3, total_nr_points_ = 6981875, param_k_ = {checks = -1, 
              eps = 0, sorted = true, max_neighbors = -1, use_heap = flann::FLANN_Undefined, cores = 1, 
              matrices_in_gpu_ram = false}, param_radius_ = {checks = -1, eps = 0, sorted = true, 
              max_neighbors = -1, use_heap = flann::FLANN_Undefined, cores = 1, 
              matrices_in_gpu_ram = false}}, 
          cloud = std::shared_ptr<pcl::PointCloud<pcl::PointNormal>> (use count 3, weak count 0) = {
            get() = 0x55555574cfa0}, notUsed = std::map with 6981872 elements = {[0] = true, [1] = true, 
            [2] = true, [3] = true, [4] = true, [5] = true, [6] = true, [7] = true, [8] = true, 
            [9] = true, [10] = true, [11] = true, [12] = true, [14] = true, [15] = true, [16] = true, 
            [17] = true, [18] = true, [19] = true, [20] = true, [21] = true, [22] = true, [23] = true, 
            [24] = true, [25] = true, [26] = true, [27] = true, [28] = true, [29] = true, [30] = true, 
            [31] = true, [32] = true, [33] = true, [34] = true, [35] = true, [36] = true, [37] = true, 
            [38] = true, [39] = true, [40] = true, [41] = true, [42] = true, [43] = true, [44] = true, 
            [45] = true, [46] = true, [47] = true, [48] = true, [49] = true, [50] = true, [51] = true, 
            [52] = true, [53] = true, [54] = true, [55] = true, [56] = true, [57] = true, [58] = true, 
            [59] = true, [60] = true, [61] = true, [62] = true, [63] = true, [64] = true, [65] = true, 
            [66] = true, [67] = true, [68] = true, [69] = true, [70] = true, [71] = true, [72] = true, 
            [73] = true, [74] = true, [75] = true, [76] = true, [77] = true, [78] = true, [79] = true, 
            [80] = true, [81] = true, [82] = true, [83] = true, [84] = true, [85] = true, [86] = true, 
            [87] = true, [88] = true, [89] = true, [90] = true, [91] = true, [92] = true, [93] = true, 
            [94] = true, [95] = true, [96] = true, [97] = true, [98] = true, [99] = true, 
            [100] = true...}, ballRadius = 0.01, notUsedArray = 0x55556f940a60}
        front = {front = std::__cxx11::list = {[0] = {px = 0x555583f86b40, pn = {pi_ = 0x555583f84110}}, 
            [1] = {px = 0x555583f86c60, pn = {pi_ = 0x555583f86930}}, [2] = {px = 0x555561b726c0, pn = {
                pi_ = 0x555583f86b20}}, [3] = {px = 0x555583f86510, pn = {pi_ = 0x555583f88800}}}, 
          pos = <error reading variable: Cannot access memory at address 0x55a22daf2fef61c7>, 
          points = std::map with 4 elements = {[13] = std::map with 2 elements = {[{px = 0x555583f86b40, 
                pn = {pi_ = 0x555583f84110}}] = {px = 0x555583f86b40, pn = {pi_ = 0x555583f84110}}, [{
                px = 0x555583f86510, pn = {
    pi_ = 0x555583f88800}}] = {px = 0x555583f86510, pn = {pi_ = 0x555583f88800}}}, [18] = std::map with 2 elements = {[{
                px = 0x555583f86b40, pn = {
    pi_ = 0x555583f84110}}] = {px = 0x555583f86b40, pn = {pi_ = 0x555583f84110}}, [{px = 0x555583f86c60, pn = {
                  pi_ = 0x555583f86930}}] = {px = 0x555583f86c60, pn = {pi_ = 0x555583f86930}}}, 
            [47135] = std::map with 2 elements = {[{px = 0x555561b726c0, pn = {
    pi_ = 0x555583f86b20}}] = {px = 0x555561b726c0, pn = {pi_ = 0x555583f86b20}}, [{px = 0x555583f86510, pn = {
                  pi_ = 0x555583f88800}}] = {px = 0x555583f86510, pn = {pi_ = 0x555583f88800}}}, 
--Type <RET> for more, q to quit, c to continue without paging--
            [47138] = std::map with 2 elements = {[{px = 0x555583f86c60, pn = {
    pi_ = 0x555583f86930}}] = {px = 0x555583f86c60, pn = {pi_ = 0x555583f86930}}, [{px = 0x555561b726c0, pn = {
                  pi_ = 0x555583f86b20}}] = {px = 0x555561b726c0, pn = {pi_ = 0x555583f86b20}}}}}
        mesh = std::vector of length 2, capacity 2 = {{px = 0x55556229ea90, pn = {pi_ = 0x555583f840f0}}, {
            px = 0x555583f86a00, pn = {pi_ = 0x555583f86950}}}
        end = 8589921360
        elapsedTime = 6.9533465768579304e-310

list iterator not dereferencable

Hi rod,

I'm trying to use your implementation for creating a mesh out of a point cloud created with the Kinect v1 Sensor.
My cloud looks like this: http://pastebin.com/WQNt6P7J (x y z norm_x norm_y norm_z) in Meshlab and the PCL::Viewer it looks just fine.
Here is the main.cpp: http://pastebin.com/s35WW1A0

In Front.cpp at

removeEdgePoints(*pos); (Line 84)

I get the error: _DEBUG_ERROR("list iterator not dereferencable"); This happens after finding the first seed and adding a point. I'm using Visual Studio 2013 and PCL 1.7.2.

Do you have any idea how to fix this?

Thanks,
Toni

some errors I meet

When I try to make -j8 in build,
the following error I saw, I need your help
error: call of overloaded ‘advance(std::__cxx11::list<boost::shared_ptr >::iterator&, int)’ is ambiguous
advance(pos, -1);