qvec 和 tvec 分别是 quaternion vector 和 tvec,可以构造两个 image view 之间的 relative pose. F, E, H, qvec, tvec 是有很大信息量重叠的,分别存储应该是为了不同场景的使用便利性。 CREATE TABLE two_view_geometries( pair_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NO...
two_view_geometries To initialize an empty SQLite database file with the required schema, you can either create a new project in the GUI or execute src/exe/database_create.cc. 官网给出了四个datasets,可是直接拖到workspace文件夹里练练手。 此处以South Building为例: 新建项目 定位到db数据库和...
self.create_images_table = \lambda: self.executescript(CREATE_IMAGES_TABLE) self.create_two_view_geometries_table = \lambda: self.executescript(CREATE_TWO_VIEW_GEOMETRIES_TABLE) self.create_keypoints_table = \lambda: self.executescript(CREATE_KEYPOINTS_TABLE) self.create_matches_table = \lambda...
self.create_images_table = \lambda: self.executescript(CREATE_IMAGES_TABLE) self.create_two_view_geometries_table = \lambda: self.executescript(CREATE_TWO_VIEW_GEOMETRIES_TABLE) self.create_keypoints_table = \lambda: self.executescript(CREATE_KEYPOINTS_TABLE) self.create_matches_table = \lambda...
CREATE_TWO_VIEW_GEOMETRIES_TABLE = """ CREATE TABLE IF NOT EXISTS two_view_geometries ( pair_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB, config INTEGER NOT NULL, F BLOB, E BLOB, H BLOB, qvec BLOB, tvec BLOB) """ Contributor tsattler ...
""".format(MAX_IMAGE_ID)CREATE_TWO_VIEW_GEOMETRIES_TABLE=""" CREATE TABLE IF NOT EXISTS two_view_geometries ( pair_id INTEGER PRIMARY KEY NOT NULL, rows INTEGER NOT NULL, cols INTEGER NOT NULL, data BLOB, config INTEGER NOT NULL, ...
COLMAP only uses the data in two_view_geometries for reconstruction. Every entry in the two tables stores the feature matches between two unique images, where the pair_id is the row-major, linear index in the upper-triangular match matrix, generated as follows:...
⼀般正常拍摄的照⽚，不考虑畸变即为该模型。⼿动参数的情况下官⽅推荐OPENCV相机模型，相⽐PINHOLE，考虑了xy轴畸变。各模型区别具体可参考查看。请根据⾃⼰的已有相机参数选⽤合适的相机模型。images.txt ⽰例：# Image list with two lines of data per image:# IMAGE_ID, QW, QX, QY, QZ...
keypoints特征角点,imageid,rows,cols、data(又是个data)。matches匹配点pair_id,rows,cols、data。two_view_geometries这个就完全不懂了,之后再看。 下午目标就把database的构造函数、角点和匹配点写入的代码看下,因为还要看SLAM应该要明天把怎么读图看了,姑且计划明天把整个线程类理解了。
What's the difference between the fields of these two tables: rows of two_view_geometry vs rows of matches I did a query on an occasion and found out the following: select * from two_view_geometries, matches where matches.pair_id = 27487...