Title: OpenMVS 的编译与运行
文章目录
简单记录一下，备忘.
I. 编译与准备
1. 获得源码
git clone https://github.com/cdcseacave/openMVS.git
切换分支:
git checkout develop
一些 bug 在 develop 版本中修正了, 比如程序自己 “killed” 退出.
2. wiki
https://github.com/cdcseacave/openMVS/wiki/Usage
3. 退出 Conda 环境
隔离 Conda 环境与系统库, 不然容易冲突. 原先在 docker 容器的 conda 虚拟环境中编译, 版本冲突较多.
conda deactivate
4. 编译
makedir openMVS_build
cd openMVS_build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
make install
说明:
在 docker 的 ubuntu24 镜像下, 没有能够生成 Viewer. cmake 步骤中提示 -- Can't find GLAD. Continuing without it. 尝试好多次都没能配置成功.
Windows 下应该更容易生成 Viewer.
5. 数据准备
参考博文 https://blog.csdn.net/yangyu0515/article/details/129235389
.
|-- images
| |-- 00000.jpg
| |-- 00001.jpg
| |-- 00002.jpg
| |-- 00003.jpg
| |-- 00004.jpg
| |-- 00005.jpg
| |-- 00006.jpg
| |-- 00007.jpg
| |-- 00008.jpg
| |-- 00009.jpg
| `-- 00010.jpg
`-- scene.mvs
II. 命令了解
1. 稠密重建 DensifyPointCloud
../openMVS_build/bin/DensifyPointCloud -h
17:14:59 [App ] OpenMVS x64 v2.3.0
17:14:59 [App ] Build date: May 7 2025, 16:53:39
17:14:59 [App ] CPU: Intel(R) Xeon(R) Silver 4216 CPU @ 2.10GHz (64 cores)
17:14:59 [App ] RAM: 31.05GB Physical Memory 9.31GB Virtual Memory
17:14:59 [App ] OS: Linux 5.14.0-1059-oem (x86_64)
17:14:59 [App ] Disk: 416.64GB (881.87GB) space
17:14:59 [App ] SSE & AVX compatible CPU & OS detected
17:14:59 [App ] Command line: DensifyPointCloud -h
17:14:59 [App ] Available options:
Generic options:
-h [ --help ] produce this help message
-w [ --working-folder ] arg working directory (default current
directory)
-c [ --config-file ] arg (=DensifyPointCloud.cfg)
file name containing program options
--archive-type arg (=-1) project archive type: -1-interface,
0-text, 1-binary, 2-compressed binary
--process-priority arg (=-1) process priority (below normal by
default)
--max-threads arg (=0) maximum number of threads (0 for using
all available cores)
-v [ --verbosity ] arg (=2) verbosity level
Densify options:
-i [ --input-file ] arg input filename containing camera poses
and image list
-p [ --pointcloud-file ] arg sparse point-cloud with views file name
to densify (overwrite existing
point-cloud)
-m [ --mask-path ] arg path to folder containing mask images
with '.mask.png' extension
-o [ --output-file ] arg output filename for storing the dense
point-cloud (optional)
--view-neighbors-file arg input filename containing the list of
views and their neighbors (optional)
--output-view-neighbors-file arg output filename containing the
generated list of views and their
neighbors
--resolution-level arg (=1) how many times to scale down the images
before point-cloud computation
--max-resolution arg (=2560) do not scale images higher than this
resolution
--min-resolution arg (=640) do not scale images lower than this
resolution
--sub-resolution-levels arg (=2) number of patch-match sub-resolution
iterations (0 - disabled)
--number-views arg (=5) number of views used for depth-map
estimation (0 - all neighbor views
available)
--number-views-fuse arg (=2) minimum number of images that agrees
with an estimate during fusion in order
to consider it inlier (<2 - only merge
depth-maps)
--ignore-mask-label arg (=-1) label value to ignore in the image
mask, stored in the MVS scene or next
to each image with '.mask.png'
extension (<0 - disabled)
--iters arg (=3) number of patch-match iterations
--geometric-iters arg (=2) number of geometric consistent
patch-match iterations (0 - disabled)
--estimate-colors arg (=2) estimate the colors for the dense
point-cloud (0 - disabled, 1 - final, 2
- estimate)
--estimate-normals arg (=2) estimate the normals for the dense
point-cloud (0 - disabled, 1 - final, 2
- estimate)
--estimate-scale arg (=0) estimate the point-scale for the dense
point-cloud (scale multiplier, 0 -
disabled)
--estimate-segmentation arg (=0) estimate segmentation of the dense
point-cloud based on the image
segmentation masks; num views to agree
(0 - disabled, <0 - only segmentation)
--sub-scene-area arg (=0) split the scene in sub-scenes such that
each sub-scene surface does not exceed
the given maximum sampling area (0 -
disabled)
--sample-mesh arg (=0) uniformly samples points on a mesh (0 -
disabled, <0 - number of points, >0 -
sample density per square unit)
--fusion-mode arg (=0) depth-maps fusion mode (-2 - fuse
disparity-maps, -1 - export
disparity-maps only, 0 - depth-maps &
fusion, 1 - export depth-maps only)
--fusion-filter arg (=2) filter used to fuse the depth-maps (0 -
merge, 1 - fuse, 2 - dense-fuse)
--postprocess-dmaps arg (=0) flags used to filter the depth-maps
after estimation (0 - disabled, 1 -
remove-speckles, 2 - fill-gaps, 4 -
adjust-confidence)
--filter-point-cloud arg (=0) filter dense point-cloud based on
visibility (0 - disabled)
--export-number-views arg (=0) export points with >= number of views
(0 - disabled, <0 - save MVS project
too)
--roi-border arg (=0) add a border to the region-of-interest
when cropping the scene (0 - disabled,
>0 - percentage, <0 - absolute)
--estimate-roi arg (=2) estimate and set region-of-interest (0
- disabled, 1 - enabled, 2 - adaptive)
--crop-to-roi arg (=1) crop scene using the region-of-interest
--remove-dmaps arg (=0) remove depth-maps after fusion
--tower-mode arg (=4) add a cylinder of points in the center
of ROI; scene assume to be Z-up
oriented (0 - disabled, 1 - replace, 2
- append, 3 - select neighbors, 4 -
select neighbors & append, <0 - force
tower mode)
--normalize-coordinates arg (=0) normalize scene coordinates and output
the inverse transform to file (0 -
disabled, 1 - center, 2 - center &
scale17:14:59 [App ] MEMORYINFO: {
17:14:59 [App ] VmPeak: 182316 kB
17:14:59 [App ] VmSize: 182256 kB
17:14:59 [App ] } ENDINFO
2. 曲面重建 ReconstructMesh
../openMVS_build/bin/ReconstructMesh -h
17:17:23 [App ] OpenMVS x64 v2.3.0
17:17:23 [App ] Build date: May 7 2025, 16:53:39
17:17:23 [App ] CPU: Intel(R) Xeon(R) Silver 4216 CPU @ 2.10GHz (64 cores)
17:17:23 [App ] RAM: 31.05GB Physical Memory 9.31GB Virtual Memory
17:17:23 [App ] OS: Linux 5.14.0-1059-oem (x86_64)
17:17:23 [App ] Disk: 416.64GB (881.87GB) space
17:17:23 [App ] SSE & AVX compatible CPU & OS detected
17:17:23 [App ] Command line: ReconstructMesh -h
17:17:23 [App ] Available options:
Generic options:
-h [ --help ] produce this help message
-w [ --working-folder ] arg working directory (default current
directory)
-c [ --config-file ] arg (=ReconstructMesh.cfg)
file name containing program options
--export-type arg (=ply) file type used to export the 3D scene
(ply or obj)
--archive-type arg (=4294967295) project archive type: -1-interface,
0-text, 1-binary, 2-compressed binary
--process-priority arg (=-1) process priority (below normal by
default)
--max-threads arg (=0) maximum number of threads (0 for using
all available cores)
-v [ --verbosity ] arg (=2) verbosity level
Reconstruct options:
-i [ --input-file ] arg input filename containing camera poses
and image list
-p [ --pointcloud-file ] arg dense point-cloud with views file name
to reconstruct (overwrite existing
point-cloud)
-o [ --output-file ] arg output filename for storing the mesh
-d [ --min-point-distance ] arg (=1.5)
minimum distance in pixels between the
projection of two 3D points to consider
them different while triangulating (0 -
disabled)
--integrate-only-roi arg (=0) use only the points inside the ROI
--constant-weight arg (=1) considers all view weights 1 instead of
the available weight
-f [ --free-space-support ] arg (=0) exploits the free-space support in
order to reconstruct weakly-represented
surfaces
--thickness-factor arg (=1) multiplier adjusting the minimum
thickness considered during visibility
weighting
--quality-factor arg (=1) multiplier adjusting the quality weight
considered during graph-cut
Clean options:
--decimate arg (=1) decimation factor in range (0..1] to be
applied to the reconstructed surface (1
- disabled)
--target-face-num arg (=0) target number of faces to be applied to
the reconstructed surface. (0 -
disabled)
--remove-spurious arg (=20) spurious factor for removing faces with
too long edges or isolated components
(0 - disabled)
--remove-spikes arg (=1) flag controlling the removal of spike
faces
--close-holes arg (=30) try to close small holes in the
reconstructed surface (0 - disabled)
--smooth arg (=2) number of iterations to smooth the
reconstructed surface (0 - disabled)
--edge-length arg (=0) remesh such that the average edge
length is this size (0 - disabled)
--roi-border arg (=0) add a border to the region-of-interest
when cropping the scene (0 - disabled,
>0 - percentage, <0 - absolute)
--crop-to-roi arg (=1) crop scene using the region-of-interes17:17:23 [App ] MEMORYINFO: {
17:17:23 [App ] VmPeak: 179168 kB
17:17:23 [App ] VmSize: 179108 kB
17:17:23 [App ] } ENDINFO
3. 网格优化 RefineMesh
../openMVS_build/bin/RefineMesh -h
17:21:23 [App ] OpenMVS x64 v2.3.0
17:21:23 [App ] Build date: May 7 2025, 16:53:39
17:21:23 [App ] CPU: Intel(R) Xeon(R) Silver 4216 CPU @ 2.10GHz (64 cores)
17:21:23 [App ] RAM: 31.05GB Physical Memory 9.31GB Virtual Memory
17:21:23 [App ] OS: Linux 5.14.0-1059-oem (x86_64)
17:21:23 [App ] Disk: 416.64GB (881.87GB) space
17:21:23 [App ] SSE & AVX compatible CPU & OS detected
17:21:23 [App ] Command line: RefineMesh -h
17:21:23 [App ] Available options:
Generic options:
-h [ --help ] produce this help message
-w [ --working-folder ] arg working directory (default current
directory)
-c [ --config-file ] arg (=RefineMesh.cfg)
file name containing program options
--export-type arg (=ply) file type used to export the 3D scene
(ply or obj)
--archive-type arg (=4294967295) project archive type: -1-interface,
0-text, 1-binary, 2-compressed binary
--process-priority arg (=-1) process priority (below normal by
default)
--max-threads arg (=0) maximum number of threads (0 for using
all available cores)
-v [ --verbosity ] arg (=2) verbosity level
Refine options:
-i [ --input-file ] arg input filename containing camera poses
and image list
-m [ --mesh-file ] arg mesh file name to refine (overwrite
existing mesh)
-o [ --output-file ] arg output filename for storing the mesh
--resolution-level arg (=0) how many times to scale down the images
before mesh refinement
--min-resolution arg (=640) do not scale images lower than this
resolution
--max-views arg (=8) maximum number of neighbor images used
to refine the mesh
--decimate arg (=0) decimation factor in range [0..1] to be
applied to the input surface before
refinement (0 - auto, 1 - disabled)
--close-holes arg (=30) try to close small holes in the input
surface (0 - disabled)
--ensure-edge-size arg (=1) ensure edge size and improve vertex
valence of the input surface (0 -
disabled, 1 - auto, 2 - force)
--max-face-area arg (=32) maximum face area projected in any pair
of images that is not subdivided (0 -
disabled)
--scales arg (=2) how many iterations to run mesh
optimization on multi-scale images
--scale-step arg (=0.5) image scale factor used at each mesh
optimization step
--alternate-pair arg (=0) refine mesh using an image pair
alternatively as reference (0 - both, 1
- alternate, 2 - only left, 3 - only
right)
--regularity-weight arg (=0.200000003)
scalar regularity weight to balance
between photo-consistency and
regularization terms during mesh
optimization
--rigidity-elasticity-ratio arg (=0.899999976)
scalar ratio used to compute the
regularity gradient as a combination of
rigidity and elasticity
--gradient-step arg (=45.0499992) gradient step to be used instead (0 -
auto)
--planar-vertex-ratio arg (=0) threshold used to remove vertices on
planar patches (0 - disabled)
--reduce-memory arg (=1) recompute some data in order to reduce
memory requirement17:21:23 [App ] MEMORYINFO: {
17:21:23 [App ] VmPeak: 178968 kB
17:21:23 [App ] VmSize: 178908 kB
17:21:23 [App ] } ENDINFO
4. 纹理贴图 TextureMesh
../openMVS_build/bin/TextureMesh -h
17:22:19 [App ] OpenMVS x64 v2.3.0
17:22:19 [App ] Build date: May 7 2025, 16:53:39
17:22:19 [App ] CPU: Intel(R) Xeon(R) Silver 4216 CPU @ 2.10GHz (64 cores)
17:22:19 [App ] RAM: 31.05GB Physical Memory 9.31GB Virtual Memory
17:22:19 [App ] OS: Linux 5.14.0-1059-oem (x86_64)
17:22:19 [App ] Disk: 416.64GB (881.87GB) space
17:22:19 [App ] SSE & AVX compatible CPU & OS detected
17:22:19 [App ] Command line: TextureMesh -h
17:22:19 [App ] Available options:
Generic options:
-h [ --help ] produce this help message
-w [ --working-folder ] arg working directory (default current
directory)
-c [ --config-file ] arg (=TextureMesh.cfg)
file name containing program options
--export-type arg (=ply) file type used to export the 3D scene
(ply, obj, glb or gltf)
--archive-type arg (=4294967295) project archive type: -1-interface,
0-text, 1-binary, 2-compressed binary
--process-priority arg (=-1) process priority (below normal by
default)
--max-threads arg (=0) maximum number of threads (0 for using
all available cores)
-v [ --verbosity ] arg (=2) verbosity level
Texture options:
-i [ --input-file ] arg input filename containing camera poses
and image list
-m [ --mesh-file ] arg mesh file name to texture (overwrite
existing mesh)
-o [ --output-file ] arg output filename for storing the mesh
--decimate arg (=1) decimation factor in range [0..1] to be
applied to the input surface before
refinement (0 - auto, 1 - disabled)
--close-holes arg (=30) try to close small holes in the input
surface (0 - disabled)
--resolution-level arg (=0) how many times to scale down the images
before mesh refinement
--min-resolution arg (=640) do not scale images lower than this
resolution
--outlier-threshold arg (=0.0599999987)
threshold used to find and remove
outlier face textures (0 - disabled)
--cost-smoothness-ratio arg (=0.100000001)
ratio used to adjust the preference for
more compact patches (1 - best
quality/worst compactness, ~0 - worst
quality/best compactness)
--virtual-face-images arg (=0) generate texture patches using virtual
faces composed of coplanar triangles
sharing at least this number of views
(0 - disabled, 3 - good value)
--global-seam-leveling arg (=1) generate uniform texture patches using
global seam leveling
--local-seam-leveling arg (=1) generate uniform texture patch borders
using local seam leveling
--texture-size-multiple arg (=0) texture size should be a multiple of
this value (0 - power of two)
--patch-packing-heuristic arg (=3) specify the heuristic used when
deciding where to place a new patch (0
- best fit, 3 - good speed, 100 - best
speed)
--empty-color arg (=16744231) color used for faces not covered by any
image
--sharpness-weight arg (=0.5) amount of sharpness to be applied on
the texture (0 - disabled)
--orthographic-image-resolution arg (=0)
orthographic image resolution to be
generated from the textured mesh - the
mesh is expected to be already
geo-referenced or at least properly
oriented (0 - disabled)
--ignore-mask-label arg (=-1) label value to ignore in the image
mask, stored in the MVS scene or next
to each image with '.mask.png'
extension (-1 - auto estimate mask for
lens distortion, -2 - disabled)
--max-texture-size arg (=8192) maximum texture size, split it in
multiple textures of this size if
needed (0 - unbounded17:22:19 [App ] MEMORYINFO: {
17:22:19 [App ] VmPeak: 179196 kB
17:22:19 [App ] VmSize: 179136 kB
17:22:19 [App ] } ENDINFO
III. 命令运行
1. 运行稠密重建
../openMVS_build/bin/DensifyPointCloud scene.mvs
生成 scene_dense.mvs 和 scene_dense.ply 稠密点云模型. 其中 scene_dense.mvs 主要描述相机位姿、特征匹配等, 后面的命令中都用同一个 .mvs 文件.
2. 运行网格重建
../openMVS_build/bin/ReconstructMesh -i scene_dense.mvs
生成 scene_dense_mesh.ply 网格重建的三维模型.
3. 运行网格优化
上一步的输出作为下一步的输入, 输入的 .mvs 和 .ply 需要同名. scene_dense.mvs 复制一份为 scene_dense_mesh.mvs.
cp scene_dense.mvs scene_dense_mesh.mvs
直接运行 RefineMesh, 应该电脑内存不够的缘故, 程序自己 “killed” 退出了.
../openMVS_build/bin/RefineMesh -i scene_dense_mesh.mvs
降低精度等级就可以运行, 但是这相当于降采样了, 还不如上一步获得效果好. 这一步会生成 scene_dense_mesh_refine.ply.
../openMVS_build/bin/RefineMesh -i scene_dense_mesh.mvs --resolution-level 1
注意: RefineMesh 只是优化/微调 mesh 三维模型, 不是必须要处理的步骤. 这一步可以跳过.
4. 运行纹理贴图
如果使用网格重建中生成的 scene_dense_mesh.ply 来做纹理贴图, 则直接运行
../openMVS_build/bin/TextureMesh -i scene_dense_mesh.mvs
生成 scene_dense_mesh_texture.ply 和 scene_dense_mesh_texture0.png. 这两个文件放在同一文件夹下, meshlab 打开 scene_dense_mesh_texture.ply 就可获得纹理贴图效果. 注意 conda 虚拟环境也可能引起冲突, 退出虚拟环境即可.
如果使用网格优化中生成 .ply 来做纹理贴图, 还是需要先复制一份 .mvs, 然后再运行纹理贴图命令.
cp scene_dense.mvs scene_dense_mesh_refine.mvs
../openMVS_build/bin/TextureMesh -i scene_dense_mesh_refine.mvs
IV. 简单结果
版权声明：本文为博主原创文章，遵循 CC 4.0 BY 版权协议，转载请附上原文出处链接和本声明。
原文链接：https://blog.csdn.net/woyaomaishu2/article/details/147773670
本文作者：wzf@robotics_notes
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