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3D reconstruction open source code summary [keep updated]

2022-07-05 08:55:00 【Li Yingsong~】

3D reconstruction open source code summary , Irregular update .

Synchronize to Github Warehouse ：https://github.com/ethan-li-coding/Source-Codes-3DVison

List of articles

SFM

  • Openmvg【3.5k stars】【Mozilla Public License Version 2.0】【https://github.com/openMVG/openMVG】

    A multi view geometry 3D reconstruction algorithm library , Recover the three-dimensional pose of the camera from the disordered two-dimensional image set .SFM（Structure From Motion） Classic algorithm library .

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  • Colmap【3k stars】【new BSD license】【https://github.com/colmap/colmap】

    A multi view geometry 3D reconstruction algorithm library , Recover the three-dimensional pose of the camera from the disordered two-dimensional image set （SFM） And multi view stereo reconstruction （MVS）.

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  • AliceVision【1.8k stars】【MPL2 license】【https://github.com/alicevision/AliceVision】

    An open source photogrammetry system framework .

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  • TheiaSfM【600+k stars】【New BSD license】【https://github.com/sweeneychris/TheiaSfM】

    Google launched open source SFM Algorithm library .
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  • MVE【700+k stars】【BSD 3-Clause License】【https://github.com/simonfuhrmann/mve】

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  • OpenSfM【2.2k stars】【BSD license】【https://github.com/mapillary/OpenSfM】

    One use Python Realized SFM Algorithm library .
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MVS

  • openmvs【1.6k stars】【AGPLv3】【https://github.com/cdcseacave/openMVS】

    An open source algorithm library for multi view stereo reconstruction , Based on image set with pose information , Reconstruct a high-quality texture model , The effect is excellent .

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  • meshroom【6.5k stars】【MPL2 license】【https://github.com/alicevision/meshroom】

    and OpenMVS Like the library , It is also based on image sets with pose information , Reconstruct a high-quality texture model , But it didn't work OpenMVS good , Faster . With graphic interface , Well done .

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SLAM

VSLAM

  • orb-slam2【6.2k stars】【GPLv3 license】【https://github.com/raulmur/ORB_SLAM2】

    Very classic Monocular / Binocular /RGBD-slam Algorithm library
  • orb-slam3【2.5k stars】【GPLv3 license】【https://github.com/UZ-SLAMLab/ORB_SLAM3】

    The first one can use monocular 、 Stereoscopic and RGB-D The camera , Use pinhole and fisheye lens models for vision 、 Visual inertia and multiple maps SLAM The system of .

    Monocular slam

    RGBD slam

    • KinectFusion【280+ stars】【MIT License】【https://github.com/chrdiller/KinectFusionLib】

      be based on KinectFusion This paper implements an open source algorithm ,paper：KinectFusion: Real-time dense surface mapping and tracking

    • InfiniTAM∞ v3【680+ stars】【Oxford University Innovation Academic License】【https://github.com/victorprad/InfiniTAM】

      The open source multi platform real-time large-scale deep integration and tracking done by the Oxford University team , fast , stay Windows、Linux、Ios、Android Can be compiled and run , And the speed is ok .

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    • VoxelHashing【460+ stars】【Creative Commons Attribution-NonCommercial-ShareAlike 3.0 License】【https://github.com/niessner/VoxelHashing】

      be based on TSDF Classic depth fusion algorithm of voxel fusion , Yes CUDA edition , fast .

    • ElasticFusion【1.3k stars】【non-commercial use only】【https://github.com/mp3guy/ElasticFusion】

      One for the RGBD The data is based on Surfel Of Fusion Algorithm . Suitable for indoor reconstruction .

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    • ElasticReconstruction【480+ stars】【MIT license】【https://github.com/qianyizh/ElasticReconstruction】

      One for the RGBD The data is based on Voxel Of Fusion Algorithm . Suitable for indoor reconstruction .

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    • BundleFusion【1k stars】【non-commercial applications】【https://github.com/niessner/BundleFusion】

      A real-time and globally consistent 3D reconstruction algorithm library , be based on TSDF, The effect is now Fusion The best of all .

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    • badslam【400+ stars】【BSD-3-Clause License】【CVPR2019】【https://github.com/ETH3D/badslam】

      One is based on RGBD Real time direct method of data BA-SLAM Algorithm , Suitable for outdoor reconstruction , From the Federal Institute of technology in Zurich （ETH） The team .

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    • tsdf-fusion 【400+ stars】 【BSD-2-Clause License】【https://github.com/andyzeng/tsdf-fusion】

      One fuses multiple registered depth maps into TSDF Voxel Algorithm ,TSDF Voxels can be used for Marching Cubes Grid construction

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Feature matching

  • CudaSift【570+ stars】【non-commercial】【https://github.com/Celebrandil/CudaSift】

    One CUDA Fast implementation SIFT Algorithm ,SIFT It is a classic scale invariant feature matching algorithm

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Stereo matching

Point cloud splicing

  • ICPCUDA【400+ stars】【No License】【https://github.com/mp3guy/ICPCUDA】

    A depth map based data （DepthMap） Fast ICP Splice Library （CUDA Speed up ）, about VGA Size （640x480）, stay NVIDIA GeForce GTX TITAN X Up to 750Hz The speed of . The author also opened source KinectFusion.
  • CUDA-ScanMatcher-ICP [100+ stars] [MIT License]【 https://github.com/botforge/CUDA-ScanMatcher-ICP】

    One is based on CUDA Of ICP Point cloud splicing algorithm , It is suitable for laser scanning point cloud and general point cloud .

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  • Super4PCS【300+ stars】【Apache License V2】【https://github.com/nmellado/Super4PCS】

    Point cloud rough matching algorithm Super4PCS The implementation of the .

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Grid construction

  • PoissonRecon 【700+ stars】【MIT License】【https://github.com/mkazhdan/PoissonRecon】

    Poisson reconstruction , A grid construction algorithm , The input is an unordered point cloud with normals .

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Point cloud mesh processing

  • pcl【6.3k stars】【BSD License】【https://github.com/PointCloudLibrary/pcl】

    This is probably the most widely used point cloud processing algorithm library , You can use it to display pictures 、 Show point cloud , It also implements many point cloud processing algorithms , Such as point cloud filtering 、 Point cloud registration 、 Point cloud segmentation , Its official website is https://pointclouds.org/.

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  • OpenMesh【BSD 3 clause license】【https://www.graphics.rwth-aachen.de/software/openmesh/】

    A very classic grid processing library , Based on half data structure , It's very efficient , And very stable , There are many implementations of basic grid algorithms .

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  • vcglib【560+ stars】【GPLv3.0 License】【http://vcg.isti.cnr.it/vcglib/】

    and OpenMesh The same grid processing basic algorithm library , Also very efficient and stable , Well known grid processing software MeshLib Just use it .

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Texture mapping

  • mvs-texturing【500+ stars】【BSD 3-Clause License】【https://github.com/nmoehrle/mvs-texturing】

    A texture mapping algorithm library for multi view stereo reconstruction ,OpenMVS、MVE This algorithm is used to do texture mapping .

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  • UVAtlas【500+ stars】【MIT License】【https://github.com/microsoft/UVAtlas】

    Microsoft open source automatic UV Expansion algorithm ,UV Expansion can be used to map meshes to a two-dimensional UV On the drawing , A mesh mapped texture can be used UV Figure to organize , Improve the utilization of texture map .

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3D rendering

  • potree 【2.3k stars】【FreeBSD Licnese】【https://github.com/potree/potree】

    One is based on WebGL Large point cloud rendering project , It is interesting to .

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  • OpenSceneGraph（OSG）【2.2k stars】【 OpenSceneGraph Public License】【https://github.com/openscenegraph/OpenSceneGraph】

    A very mature and easy-to-use cross platform 3D data rendering Library , Rendering includes point clouds 、 grid 、 3D data including texture model , Suitable for large-scale software as a rendering engine , It can also be handled LOD data .

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  • Pangolin【1.3k stars】【MIT License】【https://github.com/stevenlovegrove/Pangolin】

    A lightweight cross platform 3D rendering Library , Can be used for slam Rendering engine for related projects .
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