colmap在ubuntu18.04下的配置

colmap介绍
官方教程：https://colmap.github.io/install.html#
具体安装可以参考：中文翻译版

有几个地方需要注意，安装colmap的前提需要安装Ceres Solver优化库，而Ceres Solver优化库又有与其对应的Eigen库需要安装（要注意适合你自己的版本）。

colmap在make的时候。需要QT5来编译，如果你的电脑里面有装anaconda的话，anaconda自带的QT5会和你系统的QT5冲突导致安装失败，我之前没注意这个问题，装colmap的时候直接cmake…

(base) smile@smile-X3-S-Series-GK7MR0R:~/app_install/colmap/build$ cmake ..
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found required Ceres dependency: Eigen version 3.3.1 in /usr/local/share/eigen3/cmake
-- Found required Ceres dependency: glog
-- Found required Ceres dependency: gflags
-- Found Ceres version: 2.0.0 installed in: /usr/local with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, Multithreading]
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   program_options
--   filesystem
--   graph
--   system
--   unit_test_framework
-- Found Eigen3: /usr/local/include/eigen3 (Required is at least version "2.91.0") 
-- Found Eigen
--   Includes : /usr/local/include/eigen3
-- Found FreeImage
--   Includes : /usr/include
--   Libraries : /usr/lib/x86_64-linux-gnu/libfreeimage.so
-- Found Glog
--   Includes : /usr/include
--   Libraries : /usr/lib/x86_64-linux-gnu/libglog.so
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- Found Glew
--   Includes : /usr/include
--   Libraries : /usr/lib/x86_64-linux-gnu/libGLEW.so
-- Found Git: /usr/bin/git (found version "2.17.1") 
CMake Error at /home/smile/Downloads/yes/lib/cmake/Qt5Core/Qt5CoreConfig.cmake:15 (message):
  The imported target "Qt5::Core" references the file

     "/home/smile/Downloads/yes/include/qt/"

  but this file does not exist.  Possible reasons include:

  * The file was deleted, renamed, or moved to another location.

  * An install or uninstall procedure did not complete successfully.

  * The installation package was faulty and contained

     "/home/smile/Downloads/yes/lib/cmake/Qt5Core/Qt5CoreConfig.cmake"

  but not all the files it references.

Call Stack (most recent call first):
  /home/smile/Downloads/yes/lib/cmake/Qt5Core/Qt5CoreConfig.cmake:51 (_qt5_Core_check_file_exists)
  /home/smile/Downloads/yes/lib/cmake/Qt5/Qt5Config.cmake:28 (find_package)
  CMakeLists.txt:119 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/smile/app_install/colmap/build/CMakeFiles/CMakeOutput.log".
See also "/home/smile/app_install/colmap/build/CMakeFiles/CMakeError.log".

然后我：conda deactivate
在cmake …
发现还是报相同的错误
我在colmap文件夹下的cmakelists里为QT5添加了我自己的路径，
/home/smile/app_install/colmap/CMakeLists.txt

if(GUI_ENABLED)
    find_package(Qt5 5.4 COMPONENTS Core OpenGL Widgets )
    if(Qt5_FOUND)
        message(STATUS "Found Qt")
        message(STATUS "  Module : ${Qt5Core_DIR}")
        message(STATUS "  Module : ${Qt5OpenGL_DIR}")
        message(STATUS "  Module : ${Qt5Widgets_DIR}")

添加PATH /usr/lib/x86_64-linux-gnu/cmake

if(GUI_ENABLED)
    find_package(Qt5 5.4 COMPONENTS Core OpenGL Widgets PATH /usr/lib/x86_64-linux-gnu/cmake)
    if(Qt5_FOUND)
        message(STATUS "Found Qt")
        message(STATUS "  Module : ${Qt5Core_DIR}")
        message(STATUS "  Module : ${Qt5OpenGL_DIR}")
        message(STATUS "  Module : ${Qt5Widgets_DIR}")

然后cmake … 还是报错，

make: *** No targets specified and no makefile found. Stop.

查看当前环境变量

echo $PATH

/usr/local/cuda-11.4/bin:/home/smile/miniconda3/condabin:/home/smile/Downloads/yes/bin:/opt/ros/melodic/bin:/home/smile/.local/bin:/home/smile/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin

然后去除和miniconda（anaconda相关的！）/home/smile/miniconda3/condabin:/home/smile/Downloads/yes/bin:把这部分去掉了

export PATH=/opt/ros/melodic/bin:/home/smile/.local/bin:/home/smile/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin

然后

smile@smile-X3-S-Series-GK7MR0R:~/app_install/colmap/build$ cmake .. -DQt5_DIR=/usr/lib/x86_64-linux-gnu/qt5



[ 95%] Building CXX object src/CMakeFiles/colmap_cuda.dir/util/cudacc.cc.o
[ 95%] Linking CXX static library libcolmap_cuda.a
[ 95%] Built target colmap_cuda
Scanning dependencies of target colmap_exe
[ 95%] Building CXX object src/exe/CMakeFiles/colmap_exe.dir/colmap.cc.o
[ 95%] Building CXX object src/exe/CMakeFiles/colmap_exe.dir/database.cc.o
[ 97%] Building CXX object src/exe/CMakeFiles/colmap_exe.dir/feature.cc.o
[ 97%] Building CXX object src/exe/CMakeFiles/colmap_exe.dir/gui.cc.o
[ 97%] Building CXX object src/exe/CMakeFiles/colmap_exe.dir/image.cc.o
[ 97%] Building CXX object src/exe/CMakeFiles/colmap_exe.dir/model.cc.o
[ 97%] Building CXX object src/exe/CMakeFiles/colmap_exe.dir/mvs.cc.o
[100%] Building CXX object src/exe/CMakeFiles/colmap_exe.dir/sfm.cc.o
[100%] Building CXX object src/exe/CMakeFiles/colmap_exe.dir/vocab_tree.cc.o
[100%] Linking CXX executable colmap
[100%] Built target colmap_exe
最后就安装成功了

接下来记得把miniconda（或者anaconda相关）的路径添加回来，不然miniconda（或者anaconda）的使用可能会出问题。

export PATH=/usr/local/cuda-11.4/bin:/home/smile/miniconda3/condabin:/home/smile/Downloads/yes/bin:/opt/ros/melodic/bin:/home/smile/.local/bin:/home/smile/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin

接下来安装一下启动界面，就可以使用了

sudo apt install colmap

colmap gui

最后提一下，因为Eigen下载地址和Ceres Solver的版本问题，你可能需要重装Eigen、重装Ceres Solver：
1.删除你安装的文件夹所有的内容

我安装在这里，把这两个文件夹删除，（sudo rm -rf pakagename）

/usr/local/include 文件夹下删除相关文件
/usr/local/lib/cmake 文件夹下删除相关文件
可以使用类似于：
sudo rm -rf /usr/local/include/ceres
sudo rm -rf /usr/local/lib/cmake/Ceres
sudo rm -rf /usr/local/lib/libceres.a

这个冲突解决方法在：

一个colmap的基本使用教程
colmap的参数设置使用教程
安装colmap前最好不要装anaconda，有人已安装，就将anaconda的相关环境变量注释掉sudo gedit ~/.bashrc 注释后更新source ~/.bashrc ，还是不行 后来运行了修复语句，然后就可以安装：
安装修复：sudo apt-get -f install
安装MeshLab：sudo apt-get install meshlab