开源框架

OpenSource SfM (Structure from Motion)

Project Language License
Bundler C++ GNU General Public License - contamination
Colmap C++ BSD 3-clause license - Permissive
MAP-Tk C++ BSD 3-Clause license - Permissive
MicMac C++ CeCILL-B
MVE C++ BSD 3-Clause license + parts under the GPL 3 license
OpenMVG C++ MPL2 - Permissive
OpenSfM Python Simplified BSD license - Permissive
TheiaSfM C++ New BSD license - Permissive

OpenSource Multiple View Geometry Library Solvers

Project Language License
OpenGV C++ BSD - permissive

OpenSource MVS (Multiple View Stereovision)

Project Language License
Colmap C++ CUDA BSD 3-clause license - Permissive (Can use CGAL -> GNU General Public License - contamination)
GPUIma + fusibile C++ CUDA GNU General Public License - contamination
HPMVS C++ GNU General Public License - contamination
MICMAC C++ CeCILL-B
MVE C++ BSD 3-Clause license + parts under the GPL 3 license
OpenMVS C++ (CUDA optional) AGPL3
PMVS C++ CUDA GNU General Public License - contamination
SMVS Shading-aware Multi-view Stereo C++ BSD-3-Clause license

OpenSource SLAM (Simultaneous Localization And Mapping)

Project Language License
COSLAM C++ GNU General Public License
DSO-Direct Sparse Odometry C++ GPLv3
DTSLAM-Deferred Triangulation SLAM C++ modified BSD
LSD-SLAM C++/ROS GNU General Public License
MAPLAB-ROVIOLI C++/ROS Apachev2.0
OKVIS: Open Keyframe-based Visual-Inertial SLAM C++ BSD
ORB-SLAM C++ GPLv3
REBVO - Realtime Edge Based Visual Odometry for a Monocular Camera C++ GNU General Public License
SVO semi-direct Visual Odometry C++/ROS GNU General Public License

Large scale image retrieval / CBIR (Content Based Image Retrieval)

Project Language License
DBoW2 C++ modified BSD License
libvot C++ BSD 3-Clause License
VocabTree2 C++ BSD License

OpenSource minimization

Project Language License
CERES SOLVER C++ BSD License
GTSAM C++ BSD License
G2O C++ BSD License + L/GPL3 restriction
NLOPT C++ LGPL
Project Language License
ANN C++ GNU General Public License
Annoy C++ Apache License
FLANN C++ BSD License
Libnabo C++ BSD License
Nanoflann C++ BSD License

Mesh storage processing

Project Language License
3DTK C++ GPLv3
CGAL C++ Module dependent GPL/LGPL
InstantMesh Mesh Simplification C++ BSD License
GEOGRAM C++ Revised BSD License
libigl C++ MPL2
Mesh-processing-library C++ MIT License
Open3D C++ MIT License
OpenMesh C++ BSD 3 clause license
PCL C++ 3-clause BSD license
VCG C++ GPL

特征类型

Features detection/Description

From handcrafted to deep local features. G. Csurka, C. R. Dance, M. Humenberger. 2018.

Project Detection Description
AKAZE x MSURF/MLDB
DART x x
KAZE x MSURF/MLDB
LIOP/MIOP   x
LIFT (machine learning) x x
MROGH   x
SIFT x x
SURF x x
SFOP x  
SuperPoint (machine learning) x x

“Real time” oriented methods

Project Detection Description
BRIEF   x
BRISK x x
FAST x  
FREAK   x
FRIF x x
HIPS   x
LATCH   x
MOPS   x
PhonySift Multi-scale Fast Reduced Sift grid
ORB Multiscale Fast Oriented BRIEF

参考

Awesome 3D reconstruction list