{"id":13423702,"url":"https://github.com/ethz-asl/aerial_mapper","last_synced_at":"2025-03-15T17:32:11.254Z","repository":{"id":41045395,"uuid":"94774594","full_name":"ethz-asl/aerial_mapper","owner":"ethz-asl","description":"Real-time Dense Point Cloud, Digital Surface Map (DSM) and (Ortho-)Mosaic Generation for UAVs","archived":true,"fork":false,"pushed_at":"2021-03-15T00:10:53.000Z","size":363,"stargazers_count":563,"open_issues_count":7,"forks_count":158,"subscribers_count":48,"default_branch":"master","last_synced_at":"2024-10-26T23:12:19.507Z","etag":null,"topics":["colmap","dem","dsm","grid-map","mapping","mosaic","orthomosaic","pix4d","uav"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ethz-asl.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2017-06-19T12:31:30.000Z","updated_at":"2024-10-25T10:50:53.000Z","dependencies_parsed_at":"2022-09-20T12:54:09.499Z","dependency_job_id":null,"html_url":"https://github.com/ethz-asl/aerial_mapper","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Faerial_mapper","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Faerial_mapper/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Faerial_mapper/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ethz-asl%2Faerial_mapper/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ethz-asl","download_url":"https://codeload.github.com/ethz-asl/aerial_mapper/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":243767181,"owners_count":20344886,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["colmap","dem","dsm","grid-map","mapping","mosaic","orthomosaic","pix4d","uav"],"created_at":"2024-07-31T00:00:40.916Z","updated_at":"2025-03-15T17:32:10.807Z","avatar_url":"https://github.com/ethz-asl.png","language":"C++","funding_links":[],"categories":["C++"],"sub_categories":[],"readme":"# aerial-mapper \n\n\n### Overview\n- Load camera poses from different formats (such as [PIX4D](https://pix4d.com/), [COLMAP](https://colmap.github.io/))\n- Generates a dense point cloud from raw images, camera poses and camera intrinsics\n- Generates Digital Surface Models (DSMs) from raw point clouds and exports e.g. to [GeoTiff](http://www.gdal.org/frmt_gtiff.html) format\n- Different methods to generate (ortho-)mosaics from raw images, camera poses and camera intrinsics\n\n\n### Package Overview\n- [**aerial_mapper:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper) Meta package\n- [**aerial_mapper_demos:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_demos) Sample executables.\n- [**aerial_mapper_dense_pcl:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_dense_pcl) Dense point cloud generation using planar rectification.\n- [**aerial_mapper_dsm:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_dsm) Digitial Surface Map/Model generation.\n- [**aerial_mapper_google_maps_api:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_google_maps_api) Wrapper package for Google Maps API.\n- [**aerial_mapper_grid_map:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_grid_map) Wrapper package for grid_map.\n- [**aerial_mapper_io:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_io) Input/Output handler that reads/writes poses, intrinsics, point clouds, GeoTiffs etc.\n- [**aerial_mapper_ortho:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_ortho) Different methods for (ortho-)mosaic generation.\n- [**aerial_mapper_thirdparty:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_thirdparty) Package containing thirdparty code.\n- [**aerial_mapper_utils:**](https://github.com/ethz-asl/aerial_mapper/tree/master/aerial_mapper_utils) Package for common utility functions.\n\n### Getting started\n- [How to install](https://github.com/ethz-asl/aerial_mapper/wiki/How-to-install)\n- [How to run (+ sample dataset)](https://github.com/ethz-asl/aerial_mapper/wiki/How-to-run)\n- [How to contribute](https://github.com/ethz-asl/aerial_mapper/wiki/How-to-contribute)\n\n### Output samples\nDense point cloud \u003cbr\u003e (from virtual stereo pair, 2 images) | Digital Surface Map \u003cbr\u003e (DSM, exported as GeoTiff) | (Ortho-)Mosaic \u003cbr\u003e (from homography, 249 images) |\n:---: | :---: | :---: |\n![](https://github.com/ethz-asl/aerial_mapper/wiki/dense_preview.png) | ![](https://github.com/ethz-asl/aerial_mapper/wiki/dsm_preview.png)| ![](https://github.com/ethz-asl/aerial_mapper/wiki/ortho_from_homogr.gif) \n\nRaw images | Dense point cloud | Digital Surface Map |\n:---: | :---: | :---: | \n![](https://github.com/ethz-asl/aerial_mapper/wiki/raw_images.gif) | ![](https://github.com/ethz-asl/aerial_mapper/wiki/dense.gif)  | ![](https://github.com/ethz-asl/aerial_mapper/wiki/dsm.png) \n__Observation Angle \u003cbr\u003e (red: nadir)__ | __Grid-based Orthomosaic \u003cbr\u003e (Cell resolution: 0.5m)__ | __Textured DSM__ \n![](https://github.com/ethz-asl/aerial_mapper/wiki/observation_angle.gif) | ![](https://github.com/ethz-asl/aerial_mapper/wiki/ortho.gif) | ![](https://github.com/ethz-asl/aerial_mapper/wiki/ortho_elevated.gif) \n\n\u003chr\u003e\n\n### Publications\nIf you use this work in an academic context, please cite the following publication:\n\nT. Hinzmann, J. L. Schönberger, M. Pollefeys, and R. Siegwart, **\"Mapping on the Fly: Real-time 3D Dense Reconstruction, Digital Surface Map and Incremental Orthomosaic Generation for Unmanned Aerial Vehicles\"** [[PDF]](http://www.timohinzmann.com/publications/fsr_2017_hinzmann.pdf)\n\n```\n@INPROCEEDINGS{fsr_hinzmann_2017,\n   Author = {T. Hinzmann, J. L. Schönberger, M. Pollefeys, and R. Siegwart},\n   Title = {Mapping on the Fly: Real-time 3D Dense Reconstruction, Digital Surface Map and Incremental Orthomosaic Generation for Unmanned Aerial Vehicles},\n   Booktitle = {Field and Service Robotics - Results of the 11th International Conference},\n   Year = {2017}\n}\n```\n### Acknowledgment\nThis work was partially funded by the European FP7 project SHERPA (FP7-600958) and the Federal office armasuisse Science and Technology under project number 050-45. Furthermore, the authors wish to thank [Lucas P. Teixeira](https://github.com/weblucas) from the [Vision for Robotics Lab](http://www.iris.ethz.ch/the-institute/vision-for-robotics-lab.html) at ETH Zurich for sharing scripts that bridge the gap between Blender and Gazebo.\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fethz-asl%2Faerial_mapper","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fethz-asl%2Faerial_mapper","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fethz-asl%2Faerial_mapper/lists"}