ColMap安装指南

1. 按照连接安装依赖https://colmap.github.io/install.html#linux

2. 如果有报警告cuda相关可暂时不管，或者是将cuda/bin软连接添加进去（具体看colmap的issue）

3. colmap 编译和安装：

   cmake .. -GNinja \
   -DCMAKE_CUDA_ARCHITECTURES=xx #xx可在invidia根据gpu型号查询
   
   ninja
   sudo ninja install

   查询：https://developer.nvidia.com/cuda-gpus

4. 重建时需要处理数据，自己的数据可以在colmap文件夹下的dataset.py中生成对应的database，需要自己写一个数据填写脚本：

   def kitti_usage():
       # KITTI data has 0-n images, poses is one to one
       import os
       import argparse
       from scipy.spatial.transform import Rotation as R
   
       parser = argparse.ArgumentParser()
       parser.add_argument("--database_path", default="database.db")
       parser.add_argument("--kitti_path", default="")
       # parser.add_argument("--image_num", type=int, default=-1)
   
       args = parser.parse_args()
   
       db_path = os.path.join(args.kitti_path, args.database_path)
       if os.path.exists(db_path):
           print("ERROR: database path already exists -- will not modify it.")
           # return
   
       # Open the database.
   
       db = COLMAPDatabase.connect(db_path)
   
       # For convenience, try creating all the tables upfront.
   
       db.create_tables()
   
       # Create dummy cameras.
       model1, model_type1, width1, height1, params1 = (
           1,
           'PINHOLE',
           1226,
           370,
           np.array((7.070912e+02, 7.070912e+02, 6.018873e+02, 1.831104e+02)),
       )
       # model2, width2, height2, params2 = (
       #     2,
       #     1024,
       #     768,
       #     np.array((1024.0, 512.0, 384.0, 0.1)),
       # )
   
       camera_id1 = db.add_camera(model1, width1, height1, params1)
       # camera_id2 = db.add_camera(model2, width2, height2, params2)
   
       camera_head = "# Camera list with one line of data per camera:\n#   CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]\n# Number of cameras: 1\n"
   
       outlist = [model1, model_type1, width1, height1] + [p for p in params1.tolist()]
   
       cameras_txt_path = os.path.join(args.kitti_path, "model/cameras.txt")
       with open(cameras_txt_path, "w") as f:
           f.write(camera_head)
           f.write(" ".join([f'{out}' for out in outlist]))
       # Create dummy images.
   
       image_ids = [[], []]
   
       truth_file = os.path.join(args.kitti_path, "07.txt")
       poses = None
       with open(truth_file, "r") as f:
           poses = f.readlines()
   
       image_num = 0
   
       image_path = os.path.join(args.kitti_path, 'image_2')
       file_list = os.listdir(image_path)
       for f in file_list:
           if f.endswith('.png'):
               image_num+=1
       print(f"Total {image_num} in dir {image_path}")
       
       for i in range(image_num):
           image_id1 = db.add_image("{:06d}.png".format(i), camera_id1)
           # image_id2 = db.add_image(os.path.join(args.kitti_path, "image2/{:06d}.png".format(i)), camera_id2)
           image_ids[0].append(image_id1)
           # image_ids[1].append(image_id2)
   
       db.commit()
       # Commit the data to the file.
   
       image_file_content = []
       for i in range(image_num):
           pose_line = poses[i]
           pose_line= list(map(float, pose_line.strip().split()))
           rotation_matrix= np.array([[pose_line[0], pose_line[1], pose_line[2]], [pose_line[4], pose_line[5], pose_line[6]], [pose_line[8], pose_line[9], pose_line[10]]])
           t = np.array([pose_line[3], pose_line[7], pose_line[11]])
           
           rotation_matrix = rotation_matrix.T
           t = -rotation_matrix @ t
   
           r = R.from_matrix(rotation_matrix).as_quat()
           r_w = r[-1]
           r[1:] = r[:-1]
           r[0] = r_w
           
   
           rt = np.concatenate([r, t])
           pose_line = " ".join([f"{image_ids[0][i]}"]+[f"{rt_data}" for rt_data in rt.tolist()] + ["{:} {:06d}.png\n\n".format(camera_id1, i)])
   
           image_file_content.append(pose_line)
   
       image_txt_path = os.path.join(args.kitti_path, "model/images.txt")
       with open(image_txt_path, 'w') as f:
           for line in image_file_content:
               f.write(line)
   
   
       # Read and check cameras.
   
       rows = db.execute("SELECT * FROM cameras")
   
       camera_id, model, width, height, params, prior = next(rows)
       params = blob_to_array(params, np.float64)
       assert camera_id == camera_id1
       assert model == model1 and width == width1 and height == height1
       assert np.allclose(params, params1)
   
       # camera_id, model, width, height, params, prior = next(rows)
       # params = blob_to_array(params, np.float64)
       # assert camera_id == camera_id2
       # assert model == model2 and width == width2 and height == height2
       # assert np.allclose(params, params2)
   
       db.close()