Windows上通过CMake编译COLMAP源码操作步骤

      COLMAP源码：https://github.com/colmap/colmap ，最新的稳定版本位于master分支，最新的开发版本位于dev分支，这里使用master分支进行编译，commit id为1555ff0。官方推荐使用vs2019，使用vs2022有一些已知bugs会导致crash，这里使用vs2019.

      1.安装vcpkg，依次执行如下命令：将vcpkg源码clone到C:/dev目录下

vcpkg.exe integrate install 
vcpkg.exe install ceres:x64-windows
vcpkg.exe install boost:x64-windows
vcpkg.exe install freeimage:x64-windows
vcpkg.exe install flann:x64-windows
vcpkg.exe install glew:x64-windows
vcpkg.exe install qt5:x64-windows
vcpkg.exe install metis:x64-windows

      关于vcpkg的介绍，参考：https://blog.csdn.net/fengbingchun/article/details/131145117

      2.解决编译过程中的error:
      (1).src/estimators/generalized_relative_pose.cc: fatal error C1128: 节数超过对象文件格式限制：
      在主CMakeLists.txt中，在各种option设置语句后，添加如下语句：

if(MSVC)
    add_compile_options(/bigobj)
endif()

      (2).src/estimators/pose.cc: error C2065: "qvec_data", "tvec_data":未声明的标识符
      在此文件的RefineAbsolutePose函数的前部添加如下语句：

double* qvec_data = qvec->data();
double* tvec_data = tvec->data();

      3.编写build.sh，内容如下：注：编译debug时，需要再额外从vcpkg中拷贝一些库到colmap.exe下，脚本中已添加；release不需要

#! /bin/bash

usage() {
    echo "An input parameter is required, and only one of the following parameters can be supported: debug release"
    echo "For example: $0 debug"
    exit -1
}

if [ $# != 1 ]; then
    usage
fi

echo "==== build $1 ===="

common_options=" -DCUDA_ENABLED=OFF \
    -DCMAKE_TOOLCHAIN_FILE=C:/dev/vcpkg/scripts/buildsystems/vcpkg.cmake"

vcpkg_path=C:/dev/vcpkg/installed/x64-windows

if [ $1 == "debug" ]; then
    if [[ ! -d "build_debug" ]]; then
        mkdir build_debug
        cd build_debug
    else
        cd build_debug
    fi

    cmake \
        -G"Visual Studio 16 2019" -A x64 \
        ${common_options} \
        -DCMAKE_BUILD_TYPE=Debug \
        -DCMAKE_CONFIGURATION_TYPES=Debug \
        ..
    cmake --build . --config debug --target colmap_exe --parallel 24

    echo "==== copy dynamic libraries ===="
    colmap_exe_path=src/exe/Debug
    cp ${vcpkg_path}/bin/lz4.dll ${colmap_exe_path}
    cp ${vcpkg_path}/bin/FreeImage.dll ${colmap_exe_path}
    cp ${vcpkg_path}/bin/zlib1.dll ${colmap_exe_path}
    cp ${vcpkg_path}/bin/libpng16.dll ${colmap_exe_path}
    cp ${vcpkg_path}/bin/tiff.dll ${colmap_exe_path}
    cp ${vcpkg_path}/bin/raw.dll ${colmap_exe_path}
    cp ${vcpkg_path}/bin/OpenEXR-3_1.dll ${colmap_exe_path}
    cp ${vcpkg_path}/bin/Imath-3_1.dll ${colmap_exe_path}
    cp ${vcpkg_path}/bin/Iex-3_1.dll ${colmap_exe_path}
    cp ${vcpkg_path}/bin/lcms2.dll ${colmap_exe_path}
    cp ${vcpkg_path}/bin/IlmThread-3_1.dll ${colmap_exe_path}
    cp ${vcpkg_path}/bin/Iex-3_1.dll ${colmap_exe_path}

    cp ${vcpkg_path}/debug/bin/openjp2.dll ${colmap_exe_path}
    cp ${vcpkg_path}/debug/bin/libwebpdecoder.dll ${colmap_exe_path}
elif [ $1 == "release" ]; then
    if [[ ! -d "build_release" ]]; then
        mkdir build_release
        cd build_release
    else
        cd build_release
    fi

    cmake \
        -G"Visual Studio 16 2019" -A x64 \
        ${common_options} \
        -DCMAKE_BUILD_TYPE=Release \
        -DCMAKE_CONFIGURATION_TYPES=Release \
        ..
    cmake --build . --config release --target colmap_exe --parallel 24
else
    echo "Error: $1 is not supported"
    usage
    exit -1
fi

      执行脚本生成colmap.exe：此脚本与主CMakeLists.txt位于同一目录下
      (1).debug：./build.sh debug
      (2).release: ./build.sh release ，执行结果如下所示：

      以debug为例，执行./build.sh debug后，会在build_debug目录下生成COLMAP.sln工程，在build_debug/src/exe/Debug目录下生成colmap.exe
      COLMAP.sln工程界面如下：

      打开colmap gui:打开cmd，执行：colmap.exe gui，结果如下所示：