openMVG/openMVG
OpenMVG
openMVG este o bibliotecă de geometrie pentru viziune artificială și un toolkit pentru geometrie multi-vedere. Servește drept framework pentru reconstrucția 3D și structura din mișcare (structure from motion), oferind instrumentele necesare pentru a recupera nori de puncte 3D și poziții ale camerelor din colecții de imagini 2D.
Biblioteca implementează pipeline-uri de tip structure-from-motion atât globale, cât și incrementale. Utilizează algoritmi geometrici pentru a calcula estimarea poziției camerei și localizarea imaginilor, folosind ajustarea de tip bundle adjustment Levenberg-Marquardt pentru a rafina coordonatele 3D și parametrii camerei prin minimizarea erorii de reproiecție.
Proiectul acoperă o gamă largă de capabilități de recuperare spațială, inclusiv extracția caracteristicilor imaginilor, potrivirea corespondențelor între perechi și recuperarea 3D bazată pe triangulație. Include, de asemenea, sisteme pentru organizarea datelor de reconstrucție și exportul informațiilor despre scenă pentru utilizarea în instrumente externe de vizualizare.
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.
