sequential_matcher:针对顺序采集的视频图像,由于相邻帧存在视觉上的重叠且没有必要进行完全匹配,它只匹配视频流中的相邻帧。同时,这种匹配方式能够基于 vocabulary tree 进行回环检测。最后,帧之间的前后关系由图像文件名给定,与数据集中的存储顺序无关。 vocab_tree_matcher:针对大量图像(几千帧量级),可以通过提供 vo...
• COLMAP的sequential_matcher API用于在k个图像的自定义窗口上进行匹配,对于n个非定向图像,匹配窗口扩展到k+n,以增加确保图像跟踪不受图像方向失败中断的机会,这种方法通过自适应匹配增加了重新定位的能力,克服了场景中可能的临时障碍或照明突变。 关键帧选择 关键帧选择基于最后一个关键帧与当前帧之间的光流创新...
匹配模式 这里主要介绍一下Colmap中两种常见的匹配模式:sequential和exhaustive。假设输入有 张图,我们要确定图与图之间的关联,一种直接的想法就是两两去计算匹配关系,这就对应了exhaustive模式,而另一种情形是,拍摄时图像是有空间关联的,即相邻拍摄的图像有很大概率是有大重叠的,这时我们就可以只计算相邻的一些图像之...
commands.emplace_back("rig_bundle_adjuster", &RunRigBundleAdjuster); commands.emplace_back("sequential_matcher", &RunSequentialMatcher); commands.emplace_back("spatial_matcher", &RunSpatialMatcher); commands.emplace_back("stereo_fusion", &RunStereoFuser); commands.emplace_back("transitive_matcher", ...
--mapper_mode:exhaustive模式更精确但计算量更大,sequential模式更快但可能牺牲一些精度。 --ba_refine_focal_length、--ba_refine_principal_point、--ba_refine_radial_distortion、--ba_refine_tangential_distortion:通常建议开启这些选项以优化相机参数,从而获得更准确的重建结果。4...
Sequential Matching: This mode is useful if the images are acquired in sequential order, e.g., by a video camera. In this case, consecutive frames have visual overlap and there is no need to match all image pairs exhaustively. Instead, consecutively captured images are matched against each ot...
SequentialMatcher:sequential_matcher.sh source task_params.sh PROJ_PATH=data/${C_ID}/${SHOP_ID}/colmap/proj/${VIDEO_ID}/${SEG_ID} # [GPU] SIFT 特征匹配 (强烈建议利用GPU,否则极慢) mkdir -p ${PROJ_PATH}/sequential_matcher cp ${PROJ_PATH}/feature_extractor/database.db ${PROJ_PATH}...
//构建了三个匹配线程方法if(options_.data_type==DataType::VIDEO){matcher=sequential_matcher_.get();}elseif(options_.data_type==DataType::INDIVIDUAL||options_.data_type==DataType::INTERNET){Databasedatabase(*option_manager_.database_path);constsize_tnum_images=database.NumImages();if(option...
What feature matching algorithm is used by the COLMAP sequential matcher? I tried looking at the code but I could not find the name of an algorithm. Is the algorithm documented in a paper or thesis? If so please could you let me know what the title of the publication is?
Sequential Matching: This mode is useful if the images are acquired in sequential order, e.g., by a video camera. In this case, consecutive frames have visual overlap and there is no need to match all image pairs exhaustively. Instead, consecutively captured images are matched against each ot...