（Ubuntu版）Colmap 安装

一、安装相关依赖

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 \
    libcgal-dev \
    libcgal-qt5-dev

 

二、下载相关源码

Ceres-solver：地址

Colmap ：地址

 

三、安装顺序

• Ceres-solver：

sudo apt-get install libatlas-base-dev libsuitesparse-dev

cd ceres-solver

mkdir build

cd build

cmake .. -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF

make

sudo make install

 

• Colmap ：

cd colmap

mkdir build

cd build

cmake ..

make

sudo make install

PS: anacoda 的环境 遇到的小问题 解决地址

 

四、运行使用（图形界面 方式）

colmap -h

colmap gui

 

五、测试（python 方式）

import os
import subprocess



# $ DATASET_PATH=/path/to/dataset

# $ colmap feature_extractor \
#    --database_path $DATASET_PATH/database.db \
#    --image_path $DATASET_PATH/images

# $ colmap exhaustive_matcher \
#    --database_path $DATASET_PATH/database.db

# $ mkdir $DATASET_PATH/sparse

# $ colmap mapper \
#     --database_path $DATASET_PATH/database.db \
#     --image_path $DATASET_PATH/images \
#     --output_path $DATASET_PATH/sparse

# $ mkdir $DATASET_PATH/dense
def run_colmap(basedir, match_type):
    
    logfile_name = os.path.join(basedir, 'colmap_output.txt')
    logfile = open(logfile_name, 'w')
    
    feature_extractor_args = [
        'colmap', 'feature_extractor', 
            '--database_path', os.path.join(basedir, 'database.db'), 
            '--image_path', os.path.join(basedir, 'images'),
            '--ImageReader.single_camera', '1',
            # '--SiftExtraction.use_gpu', '0',
    ]
    feat_output = ( subprocess.check_output(feature_extractor_args, universal_newlines=True) )
    logfile.write(feat_output)
    print('Features extracted')

    exhaustive_matcher_args = [
        'colmap', match_type, 
            '--database_path', os.path.join(basedir, 'database.db'), 
    ]

    match_output = ( subprocess.check_output(exhaustive_matcher_args, universal_newlines=True) )
    logfile.write(match_output)
    print('Features matched')
    
    p = os.path.join(basedir, 'sparse')
    if not os.path.exists(p):
        os.makedirs(p)

    # mapper_args = [
    #     'colmap', 'mapper', 
    #         '--database_path', os.path.join(basedir, 'database.db'), 
    #         '--image_path', os.path.join(basedir, 'images'),
    #         '--output_path', os.path.join(basedir, 'sparse'),
    #         '--Mapper.num_threads', '16',
    #         '--Mapper.init_min_tri_angle', '4',
    # ]
    mapper_args = [
        'colmap', 'mapper',
            '--database_path', os.path.join(basedir, 'database.db'),
            '--image_path', os.path.join(basedir, 'images'),
            '--output_path', os.path.join(basedir, 'sparse'), # --export_path changed to --output_path in colmap 3.6
            '--Mapper.num_threads', '16',
            '--Mapper.init_min_tri_angle', '4',
            '--Mapper.multiple_models', '0',
            '--Mapper.extract_colors', '0',
    ]

    map_output = ( subprocess.check_output(mapper_args, universal_newlines=True) )
    logfile.write(map_output)
    logfile.close()
    print('Sparse map created')
    
    print( 'Finished running COLMAP, see {} for logs'.format(logfile_name) )