【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 theOPENCV
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. TheFOV
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
- https://colmap.github.io/cameras.html
- https://github.com/colmap/colmap/blob/master/src/base/camera_models.h
- 【COLMAP官方文档翻译】Camera Model - Lovejoker7的文章 - 知乎
https://zhuanlan.zhihu.com/p/581870131
【推荐】国内首个AI IDE,深度理解中文开发场景,立即下载体验Trae
【推荐】编程新体验,更懂你的AI,立即体验豆包MarsCode编程助手
【推荐】抖音旗下AI助手豆包,你的智能百科全书,全免费不限次数
【推荐】轻量又高性能的 SSH 工具 IShell:AI 加持,快人一步
· AI与.NET技术实操系列:向量存储与相似性搜索在 .NET 中的实现
· 基于Microsoft.Extensions.AI核心库实现RAG应用
· Linux系列:如何用heaptrack跟踪.NET程序的非托管内存泄露
· 开发者必知的日志记录最佳实践
· SQL Server 2025 AI相关能力初探
· 震惊!C++程序真的从main开始吗?99%的程序员都答错了
· winform 绘制太阳,地球,月球 运作规律
· 【硬核科普】Trae如何「偷看」你的代码?零基础破解AI编程运行原理
· 上周热点回顾(3.3-3.9)
· 超详细:普通电脑也行Windows部署deepseek R1训练数据并当服务器共享给他人