Comments (3)
Hi, this is a feature that would be nice to add. COLMAP_SLAM calls the COLMAP API, but currently in the official COLMAP the equirectangular camera model is not implemented yet. I think this would help colmap/colmap#6. Have you seen if this https://github.com/daleydeng/colmap/tree/cvai works for a regular SfM with equirectangular model work? If yes, it should be quick to include it in COLMAP_SLAM
from colmap_slam.
Yes, I have to see , the effect is better is not so good, https://github.com/stella-cv/stella_vslam code offer equirectangular camera model SLAM system, but it use the ORB, the outdoor scene will be lost, the cumulative error is bigger
from colmap_slam.
Hi, I've not tried yet, but If you have the binaries from https://github.com/daleydeng/colmap/tree/cvai you should able to run it with colmap-slam. In config.ini :
- change
COLMAP_EXE_DIR = C:\...\COLMAP\COLMAP-3.8-windows-cuda
to point to the binaries - change camera calibration
[CALIBRATION]
# OPENCV camera model (see COLMAP doc)
# {
# "0": "(SIMPLE_PINHOLE, 3)",
# "1": "(PINHOLE, 4)",
# "2": "(SIMPLE_RADIAL, 4)",
# "3": "(RADIAL, 5)",
# "4": "(OPENCV, 8)",
# "5": "(OPENCV_FISHEYE, 8)",
# "6": "(SIMPLE_RAFULL_OPENCVDIAL, 12)",
# "7": "(FOV, 5)",
# "8": "(SIMPLE_RADIAL_FISHEYE, 4)",
# "9": "(RADIAL_FISHEYE, 5)",
# "10": "(THIN_PRISM_FISHEYE, 12)"
# }
N_CAMERAS = 1
CAM0 = 9,2448,2048,774.076,1273.05,1011.24,-0.06044,0.0025
The first number is the camera model, you have to check the right number from the repository
from colmap_slam.
Related Issues (6)
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