This project is an SfM (Structure from Motion) system that utilizes computer vision and image processing technologies to reconstruct three-dimensional structures from multiple photographs. Aiming to provide developers with a complete, basic SfM solution.
- Operating System: Windows 10 or higher, Linux
- Development Environment: Visual Studio 2017 or higher (Windows), GCC/G++ (Linux)
- Main Dependencies:
- Ceres Solver: Used for Bundle Adjustment (BA) optimization
- OpenCV 4.4.0 or higher: Used for image processing and computer vision operations, especially as newer versions include the SIFT algorithm in the main module, eliminating the need for the extra contrib module.
- Eigen: Provides efficient matrix and vector calculations.
It is recommended to use vcpkg to manage and install project dependencies to simplify the configuration process.
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Install vcpkg (if not already installed):
git clone https://github.com/Microsoft/vcpkg.git cd vcpkg ./bootstrap-vcpkg.bat ./vcpkg integrate install -
Install Ceres Solver via vcpkg:
vcpkg install ceres:x64-windows
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OpenCV: We recommend downloading the precompiled binaries of OpenCV directly from (https://opencv.org/releases/). This approach simplifies the installation process, especially for users who may not be familiar with building from source.
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Install Denpendencies:
sudo apt-get update sudo apt-get install -y git cmake build-essential libopencv-dev libeigen3-dev
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Install Ceres Solver::
sudo apt-get install -y libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git clone https://ceres-solver.googlesource.com/ceres-solver mkdir ceres-bin cd ceres-bin cmake ../ceres-solver make -j4 sudo make install -
Install OpenCV 4.4.0 or higher:
sudo apt-get install -y libopencv-dev sudo apt-get remove -y libopencv-dev sudo apt-get install -y build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev sudo apt-get install -y python3.8-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev git clone https://github.com/opencv/opencv.git cd opencv git checkout 4.4.0 mkdir build cd build cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local .. make -j4 sudo make install
The project is built using CMake. For ease of configuration, it's recommended to use CMake GUI. You can download CMake GUI from (https://cmake.org/download/).
mkdir build
cd build
cmake ..
makeIf the camera is uncalibrated, please set the focal length to -1 in the configuration parameters. The initial focal length will be automatically calculate. If optimization of internal parameters is specified, the focal length and distortion coefficients will also be optimized during the bundle adjustment (BA) process.