使用colmap进行重建

安装colmap

依赖项

sudo apt-get install \
    git \
    cmake \
    build-essential \
    libboost-program-options-dev \
    libboost-filesystem-dev \
    libboost-graph-dev \
    libboost-regex-dev \
    libboost-system-dev \
    libboost-test-dev \
    libeigen3-dev \
    libsuitesparse-dev \
    libfreeimage-dev \
    libgoogle-glog-dev \
    libgflags-dev \
    libglew-dev \
    qtbase5-dev \
    libqt5opengl5-dev \

针对ubuntu18.04版本，需要安装CGAL Qt5

sudo apt-get install libcgal-qt5-dev

安装ceres-solver

sudo apt-get install libatlas-base-dev libsuitesparse-dev
git clone https://github.com/ceres-solver/ceres-solver # 克隆源码到本地当前目录下，注意自己切换
cd ceres-solver # 进入文件夹
git checkout $(git describe --tags) # Checkout the latest release
mkdir build # 创建build文件夹
cd build # 进入build文件夹
cmake .. -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF # 编译
make
sudo make install # 安装

安装colmap

git clone https://github.com/colmap/colmap.git
cd colmap
git checkout dev
mkdir build
cd build
cmake ..
make
sudo make install

使用colmap进行重建

# The project folder must contain a folder "images" with all the images.
$ DATASET_PATH=/path/to/dataset

$ colmap feature_extractor \      # 特征提取
   --database_path $DATASET_PATH/database.db \
   --image_path $DATASET_PATH/images \
   --SiftExtraction.gpu_index=0      #GPU加速，可选，下同

$ colmap exhaustive_matcher \      # 特征点匹配
   --database_path $DATASET_PATH/database.db \
   --SiftMatching.gpu_index=0

$ mkdir $DATASET_PATH/sparse      # 创建稀疏图文件夹

$ colmap mapper \      # 建稀疏图，不需要GPU加速
    --database_path $DATASET_PATH/database.db \
    --image_path $DATASET_PATH/images \
    --output_path $DATASET_PATH/sparse

$ mkdir $DATASET_PATH/dense      # 创建稠密图文件夹

$ colmap image_undistorter \      # 图形去畸变
    --image_path $DATASET_PATH/images \
    --input_path $DATASET_PATH/sparse/0 \
    --output_path $DATASET_PATH/dense \
    --output_type COLMAP \
    --max_image_size 2000

$ colmap patch_match_stereo \      # 为稠密图再匹配（必需GPU）
    --workspace_path $DATASET_PATH/dense \
    --workspace_format COLMAP \
    --PatchMatchStereo.geom_consistency true \
    --PatchMatchStereo.gpu_index=0

$ colmap stereo_fusion \      # 开始建图
    --workspace_path $DATASET_PATH/dense \
    --workspace_format COLMAP \
    --input_type geometric \
    --output_path $DATASET_PATH/dense/fused.ply

$ colmap poisson_mesher \      # 使用poisson方法建网格添加纹理
    --input_path $DATASET_PATH/dense/fused.ply \
    --output_path $DATASET_PATH/dense/meshed-poisson.ply

$ colmap delaunay_mesher \      # 使用delaunay方法建网格添加纹理
    --input_path $DATASET_PATH/dense \
    --output_path $DATASET_PATH/dense/meshed-delaunay.ply

可使用稀疏图查看点云