README.md

Photogrammetry Software

This repo mainly includes basic module for photogrammetry based on unmanned aerial vehicle. Important features include:

• UAV Path Planing
• Structure from Motion for Pose Estimation
• Multi-View Stereo for Dense Reconstruction
• Texture Mapping
• Rendering

Pre-requisite

The code is tested on a Linux machine of Ubuntu 22.04 with RTX 6000 Ada.
CUDA 11.8
Eigen 3.4.0
Ceres 2.0.0
CGAL 6.0.1

How to use

# get the mission planning software
git clone https://github.com/Haonan-DONG/photogrammetry_software.git --recursive

## compile the third library mve
cd mve
make -j

## compile the root
cmake .. -DMVE_ROOT=../third_party/uavmvs/elibs/mve/
make -j

## path planning
bash shell/mission_plan.sh

# get the rgb_reconstruction
## compile colmap 
cd third_party/colmap
mkdir build
cd build
### here should change to your own cuda_architecture
cmake .. -GNinja -DCMAKE_CUDA_ARCHITECTURES=89
ninja

## compile openMVS
cd third_party/openMVS
mkdir bin && cd bin
cmake -DVCG_ROOT=[VCG_REPO_PATH] -DCMAKE_CUDA_ARCHITECTURES=89 -DCGAL_DIR=[CGAL_INSTALL_PATH] ..

cd scripts/shell
bash rgb_reconstruction [path_to_third_party] [path_to_data]

Data and Run

Mission Plan

The demo data is uploaded into baidu disk, psw:7z9n, After running the mission_plan shell, the path will be visualized as follows:

RGB Reconstrcution

We provide a sample data in baidu disk from DTU datasets and the password is uts5. For custom data, he data format should be like:

---Project
    ---images
        ---A.png
        ---B.png

TODO

Tag 1.0

• Add Mission planning code for DJI platform.
  • Change uavmvs in a cmake lib
    • Add MVE as the sfm basic lib
  • Test the ndair and oblique path planning
  • Test the optimized path planning
• Released Pipeline for COLMAP for SfM.
• Add openMVS as a library. From rgb input into textured mesh.

Feature: suit large-scale dataset

• For large-scale dataset, incoorperate parallel-sfm module

Feature: Lite Version

• Add lite version to generate the real-time orthorectified image.
  • Add GPS info from the exiv file.

Feature: Add mesh refine by line constrain

• Add Mesh refine module by line constrain.

Acknowledgements

• uavmvs
• COLMAP
• OpenMVS
• Poisson Reconstruction
• Meshlab
• OpenREALM
• CGAL