Windows上安装Ubuntub LTS,并运行OpenMVG+OpenMVS

一、安装

1.安装Linux LTS（如已有Ubutnu环境，跳过该步骤）

Linux安装教程,注意该方法只适应于18.04
开启xrdp服务： sudo service xrdp restart

2.配置镜像站（如已配置过镜像源，跳过该步骤）

2.1 修改镜像源文件

详情可参考此处链接的（二.更换源），此处不做详细说明，仅列出相关指令
查看Ubuntu版本号

lsb_release -a

备份源文件

sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak

打开源文件

sudo vim /etc/apt/sources.list

进入编辑后，按下“i”键开始编辑

使用“#”注释掉源文件中的所有行
将2.2任意源复制到文档的最后末尾处

按“ESC”退出编辑模式,输入 “:wq” 保存并退出文本
输入以下指令更新源

sudo apt update
sudo apt upgrade -y

2.2 镜像源

更多版本清华镜像，点击这里

2.2.1 Ubuntu 18.04-清华镜像源

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

2.2.2 Ubuntu 20.04-阿里镜像源

#ubuntu 20.04 LTS的阿里源镜像
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse

2.2.3 Ubuntu 20.04-清华镜像源

ubuntu 20.04 LTS的清华源镜像
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse

3.安装OpenMVS，OpenMVG

3.1 OpenMVG安装

OpenMVG官网安装指南
需要环境：

CMake 可通过指令安装： sudo apt install cmake
Git 系统常自带
C/C++ compiler (GCC, Visual Studio or Clang) 系统常自带GCC

• Visual Studio >= 2015 (recommended)
• GCC >= 4.8.1 （sudo update-alternatives --config gcc 可切换gcc版本）
• Clang >= 3.3

非必要
QT version >= v5.4

部分安装需要权限，输入：sudo -s 可在当前路径获取权限
由于QT编译原因，导致的报错，可以通过关闭DOpenMVG_BUILD_GUI_SOFTWARES方式通过编译
cmake -DCMAKE_BUILD_TYPE=RELEASE -DOpenMVG_BUILD_GUI_SOFTWARES=OFF …/openMVG/src/

3.2OpenMVS安装

OpenMVS官网安装指南

• 需要注意的是，该软件仅支持Eigen 3.2，因此如果之前有安装过其他版本，需要重新安装

（可选）由于工作需要此处修改了部分源码，代码文件的替换步骤在以下步骤处，在查看教程时，可根据需要进行修改。

……………
……………
……………
 #OpenMVS
git clone https://github.com/cdcseacave/openMVS.git openMVS

**************************************************************
**本项目替换了 /home/lgn/openMVS/libs/MVS/SceneDensify.cpp 文件**
**************************************************************
mkdir openMVS_build && cd openMVS_build
cmake . ../openMVS -DCMAKE_BUILD_TYPE=Release -DVCG_ROOT="$main_path/vcglib"

#If you want to use OpenMVS as shared library, add to the CMake command:
-DBUILD_SHARED_LIBS=ON

#Install OpenMVS library (optional):
make -j2 && sudo make install

二、运行

1. OPenMVG

[可选]此处为官方提供的测试指令，可能会出现报错，可跳过该步骤

cd openMVG_Build/software/SfM/
python SfM_SequentialPipeline.py /home/lgnzgxl/Test/Image/ /home/lgnzgxl/Test/Result/
python SfM_GlobalPipeline.py /home/lgnzgxl/Test/Image/ /home/lgnzgxl/Test/Result/

正式使用

• 实验的数据图片放在以下路径下： /home/lgnzgxl/Test/Image/
• 计算结果存储在目录下：/home/lgnzgxl/Test/Result2/
• focal参数相机焦距，在不知道得情况下，可通过Max(width,height)*1.2 得到一个初始值， 如图片：宽度4000，高度3200，则取值4000 * 1.2=4800

dataset=/home/lgnzgxl/Test/Image
dataset_out=/home/lgnzgxl/Test/Result2
focal=4800

openMVG_main_SfMInit_ImageListing -i $dataset -f $focal -o $dataset_out
openMVG_main_ComputeFeatures -i $dataset_out/sfm_data.json -o $dataset_out
openMVG_main_ComputeMatches -i $dataset_out/sfm_data.json  -o $dataset_out
openMVG_main_IncrementalSfM -i $dataset_out/sfm_data.json -m $dataset_out -o $dataset_out/reconstruction
openMVG_main_ComputeSfM_DataColor -i $dataset_out/reconstruction/sfm_data.bin -o  $dataset_out/colored.ply
openMVG_main_openMVG2MVSTEXTURING -i $dataset_out/reconstruction/sfm_data.bin -o $dataset_out/camera
openMVG_main_openMVG2openMVS -i $dataset_out/reconstruction/sfm_data.bin -o $dataset_out/scene.mvs -d $dataset_out/scene_undistorted_images

[可选]此命令产生的 robust.bin 似乎可以直接用sfm_data.bin取代

openMVG_main_ComputeStructureFromKnownPoses -i $dataset_out/reconstruction/sfm_data.bin -m $dataset_out -o $dataset_out/reconstruction/robust.bin -f $dataset_out/matches.f.bin
openMVG_main_openMVG2openMVS -i $dataset_out/reconstruction/robust.bin -o $dataset_out/reconstruction/scene.mvs

[可选]全景影像的应用

dataset=/home/lgnzgxl/Test/PanoFlat/OpenMVG/Image/
dataset_out=/home/lgnzgxl/Test/PanoFlat/OpenMVG/

openMVG_main_SfMInit_ImageListing -i $dataset -o $dataset_out/matches -f 1 -c 7
openMVG_main_ComputeFeatures -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches
openMVG_main_ComputeMatches -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches -g a
openMVG_main_IncrementalSfM -i $dataset_out/matches/sfm_data.json -m $dataset_out/matches -o $dataset_out/reconstruction

openMVG_main_openMVGSpherical2Cubic -i $dataset_out/reconstruction/sfm_data.bin -o $dataset_out/reconstruction/cubic
openMVG_main_openMVG2openMVS -i $dataset_out/reconstruction/cubic/sfm_data_perspective.bin -o $dataset_out/reconstruction/cubic/scene.mvs -d $dataset_out/reconstruction/cubic/openmvs_images
DensifyPointCloud $dataset_out/reconstruction/cubic/scene.mvs

2.OpenMVS

• 安装OpenMVS后，可能会出现相关指令无法找到的情况，此时需要把编译后的~/openMVS_build/bin下若干文件，拷贝到根目录/user/bin文件夹下
• 执行前，需要调整当前的工作路径（使用cd 命令调整），并保证当前路径下包含undistorted_images目录，内部包含纠正后的图片 即工作目录下包含 scene.mvs
  文件 和 undistorted_images 图像
• 若不指定 -o 参数（输出位置），默认输出结果与输入路径一致

生成稠密点云

DensifyPointCloud  scene.mvs

生成Mesh

ReconstructMesh -d 4 scene_dense.mvs

构建精细化Mesh

RefineMesh --resolution-level=4 scene_dense_mesh.mvs

贴图纹理

TextureMesh scene_dense_mesh_refine.mvs

3.OpenMVG与OpenMVS(可选)

当各个模块都没有问题后，可直接修改三个参数后

• dataset
• dataset_out
• focal

直接复制全部指令进行执行所有OpoenMVS与OpenMVG的操作。

dataset=/home/lgnzgxl/Test/Image
dataset_out=/home/lgnzgxl/Test/Result2
focal=4800

openMVG_main_SfMInit_ImageListing -i $dataset -f $focal -o $dataset_out
openMVG_main_ComputeFeatures -i $dataset_out/sfm_data.json -o $dataset_out
openMVG_main_ComputeMatches -i $dataset_out/sfm_data.json  -o $dataset_out
openMVG_main_IncrementalSfM -i $dataset_out/sfm_data.json -m $dataset_out -o $dataset_out/reconstruction
openMVG_main_ComputeSfM_DataColor -i $dataset_out/reconstruction/sfm_data.bin -o  $dataset_out/colored.ply
openMVG_main_openMVG2MVSTEXTURING -i $dataset_out/reconstruction/sfm_data.bin -o $dataset_out/camera
openMVG_main_openMVG2openMVS -i $dataset_out/reconstruction/sfm_data.bin -o $dataset_out/scene.mvs -d $dataset_out/scene_undistorted_images
mkdir $dataset_out/OpenMVS
cp -r $dataset_out/scene.mvs $dataset_out/OpenMVS
cp -r $dataset_out/scene_undistorted_images $dataset_out/OpenMVS
mv  $dataset_out/OpenMVS/scene_undistorted_images $dataset_out/OpenMVS/undistorted_images
cd $dataset_out/OpenMVS
DensifyPointCloud  scene.mvs
ReconstructMesh -d 4 scene_dense.mvs
RefineMesh --resolution-level=4 scene_dense_mesh.mvs
TextureMesh scene_dense_mesh_refine.mvs

针对全景直接复制全部指令进行执行所有OpoenMVS与OpenMVG的操作。

dataset=/home/lgnzgxl/Test/PanoFlat/OpenMVG/Image/
dataset_out=/home/lgnzgxl/Test/PanoFlat/OpenMVG/

openMVG_main_SfMInit_ImageListing -i $dataset -o $dataset_out/matches -f 1 -c 7
openMVG_main_ComputeFeatures -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches
openMVG_main_ComputeMatches -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches -g a
openMVG_main_IncrementalSfM -i $dataset_out/matches/sfm_data.json -m $dataset_out/matches -o $dataset_out/reconstruction

openMVG_main_openMVGSpherical2Cubic -i $dataset_out/reconstruction/sfm_data.bin -o $dataset_out/reconstruction/cubic
openMVG_main_openMVG2openMVS -i $dataset_out/reconstruction/cubic/sfm_data_perspective.bin -o $dataset_out/reconstruction/cubic/scene.mvs -d $dataset_out/reconstruction/cubic/openmvs_images

mkdir $dataset_out/OpenMVS
cp -r $dataset_out/reconstruction/cubic/scene.mvs $dataset_out/OpenMVS
cp -r $dataset_out/reconstruction/cubic/openmvs_images $dataset_out/OpenMVS
mv  $dataset_out/OpenMVS/openmvs_images $dataset_out/OpenMVS/undistorted_images
cd $dataset_out/OpenMVS
DensifyPointCloud  scene.mvs
ReconstructMesh -d 4 scene_dense.mvs
RefineMesh --resolution-level=4 scene_dense_mesh.mvs
TextureMesh scene_dense_mesh_refine.mvs

三 其他参考（随笔记录）

1. OpenMVS与OpenMVG的其他参考

相关参考

2.文件授权

授予文件权限
sudo chmod -R 777 某一目录

文件的拷贝
mt的文件路径
将数据拷贝到windows
cp -r /home/lgnzgxl/Test/MyTest/scene_dense.ply /mnt/e