openMVG/openMVG
OpenMVG
openMVG est une bibliothèque et un toolkit de vision par ordinateur dédiés à la géométrie multi-vues. Il sert de framework pour le structure-from-motion (SfM) et la reconstruction de scènes 3D, fournissant les outils nécessaires pour récupérer des nuages de points 3D et les poses de caméras à partir de collections d'images 2D.
La bibliothèque implémente des pipelines de SfM globaux et incrémentaux. Elle utilise des algorithmes géométriques pour calculer l'estimation de pose de caméra et la localisation d'images, en employant l'ajustement de faisceau (bundle adjustment) de Levenberg-Marquardt pour affiner les coordonnées 3D et les paramètres de caméra en minimisant l'erreur de reprojection.
Le projet couvre un large éventail de capacités de récupération spatiale, incluant l'extraction de caractéristiques d'image, la mise en correspondance de paires et la reconstruction 3D par triangulation. Il inclut également des systèmes pour organiser les données de reconstruction et exporter les informations de scène vers des outils de visualisation externes.
Features
- Computer Vision Libraries - Provides a comprehensive library for processing visual data to perform 3D reconstruction and camera pose estimation.
- Structure from Motion Pipelines - Implements full structure-from-motion pipelines to generate 3D point clouds and camera poses from 2D images.
- Stereo Triangulation - Determines the 3D position of points by intersecting rays from multiple cameras observing the same visual feature.
- Scene Reconstruction - Creates 3D point clouds and camera positions from sets of 2D images using structure from motion.
- Local Feature Matching - Identifies shared visual landmarks between images by comparing local descriptors to establish geometric constraints.
- Image Pair Matching - The library calculates pairwise correspondences between images to identify shared visual content.
- Multi-View Geometry Solvers - Uses mathematical relationships between images to triangulate 3D landmarks and spatial layouts.
- Camera Pose Estimators - Calculates camera orientations and positions from imagery to enable triangulation-based 3D recovery.
- Image Feature Engineering - Maintains point-based features and associated descriptors for all images in a dataset to enable matching.
- Image Localizations - Provides tools to calculate the position and orientation of new images relative to an existing 3D scene.
- Bundle Adjustment Algorithms - Employs Levenberg-Marquardt bundle adjustment to refine 3D coordinates and camera parameters by minimizing reprojection error.
- Epipolar Geometry - Analyzes the geometric relationship between corresponding points in image pairs to calculate relative camera motion.
- 3D Reconstruction Pipelines - Provides a sequential pipeline for extracting image features, matching pairs, and estimating 3D structures.
- Global Solvers - Computes all camera poses and 3D points simultaneously by solving a large-scale linear system from all image matches.
- Incremental Solvers - Builds 3D scenes by adding cameras and points one by one and refining the model through local bundle adjustment.
- Robotics Algorithms - Multiple view geometry library for 3D vision.
- Structure From Motion - Library for multiple view geometry and 3D reconstruction.
- Matching and Verification - Library for multiple view geometry and feature matching.
- Structure From Motion - Modular library for multiple view geometry and reconstruction.
