openMVG/openMVG
OpenMVG
openMVG 是一个用于多视图几何的计算机视觉几何库和工具包。它作为运动恢复结构（SfM）和 3D 场景重建的框架，提供了从一系列 2D 图像中恢复 3D 点云和相机位姿所需的工具。
该库实现了全局和增量式的运动恢复结构流水线。它利用几何算法进行相机位姿估计和图像定位，并采用 Levenberg-Marquardt 光束法平差（Bundle Adjustment）通过最小化重投影误差来优化 3D 坐标和相机参数。
该项目涵盖了广泛的空间恢复功能，包括图像特征提取、成对对应匹配以及基于三角测量的 3D 恢复。它还包含用于组织重建数据并将场景信息导出以供外部可视化工具使用的系统。
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.
