【colmap】计算机视觉中的相机模型

COLMAP实现不同复杂度的不同相机模型。如果没有先验已知的内参，通常最好使用最简单的相机模型，它足够复杂来建模畸变效应:

相机模型

  • SIMPLE_PINHOLE和PINHOLE: Use these camera models, if your images are undistorted a priori. These use one and two focal length parameters, respectively. Note that even in the case of undistorted images, COLMAP could try to improve the intrinsics with a more complex camera model.

  • SIMPLE_RADIAL和RADIAL: This should be the camera model of choice, if the intrinsics are unknown and every image has a different camera calibration, e.g., in the case of Internet photos. Both models are simplified versions of the OPENCV model only modeling radial distortion effects (建模径向畸变) with one and two parameters, respectively. （简化版本的OpenCV相机模型，只建模径向畸变参数）

  • OPENCV和OPENCV_FULL: Use these camera models, if you know the calibration parameters a priori. You can also try to let COLMAP estimate the parameters, if you share the intrinsics for multiple images. Note that the automatic estimation of parameters will most likely fail, if every image has a separate set of intrinsic parameters.

  • SIMPLE_RADIAL_FISHEYE, RADIAL_FISHEYE, OPENCV_FISHEYE, FOV, THIN_PRISM_FISHEYE: Use these camera models for fisheye lenses and note that all other models are not really capable of modeling the distortion effects of fisheye lenses. The FOV model is used by Google Project Tango (make sure to not initialize omega to zero).

进阶

  • Share intrinsic camera params: 多张图片之间共享内参
  • Fix intrinsic camera params: 固定相机内参

参考资料

posted @ 2022-11-08 23:10  达可奈特  阅读(1024)  评论(0)  编辑  收藏  举报