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Add Pointcloud / plyfile support to Bonn #22

Merged
merged 5 commits into from
Aug 12, 2019
Merged

Add Pointcloud / plyfile support to Bonn #22

merged 5 commits into from
Aug 12, 2019

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matthewspear
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  • Add parameter to load plyfile with BONNReader
  • Add tinyply dependency to handle reading ascii plyfiles
  • Add function to convert plyfile to slambench pointcloud
  • Updated makefile to support plyfile

@matthewspear
Add Pointcloud / plyfile support to Bonn
81a6d4b 
- Add parameter to load plyfile with BONNReader
- Add tinyply dependency to handle reading ascii plyfiles
- Add function to convert plyfile to slambench pointcloud
- Updated makefile to support plyfile
@matthewspear
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Stats

Groundtruth Subsection:

  • 2.3GB on disk as .ply
  • Reading took 74.6424 seconds
  • Read 54676774 total points

Groundtruth Full:

  • 16.4GB on disk as .ply
  • Reading took 511.208 seconds
  • Read 394109339 total points

As expected trying to load full groundtruth crashes after running out of memory:

terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
Aborted (core dumped)

@matthewspear
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Pointcloud displays in Pangolin (light blue):
Screenshot from 2019-08-07 03-58-16

But struggles to run properly due to the renderer or possibly my computer!

mihaibujanca
mihaibujanca requested changes Aug 7, 2019
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@mihaibujanca mihaibujanca left a comment

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Nice work. I don't think a new Timer.h is required. See comments below for other changes.

@matthewspear
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I think that is everything @mihaibujanca, let me know if anything else needs changing!

@mihaibujanca
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Nice work, just tested it

@mihaibujanca mihaibujanca merged commit 5a9b09c into mihaibujanca:master Aug 12, 2019
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@mihaibujanca mihaibujanca mihaibujanca approved these changes

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@matthewspear @mihaibujanca