{"id":267,"date":"2025-10-28T17:47:00","date_gmt":"2025-10-28T09:47:00","guid":{"rendered":"https:\/\/snaili.com\/?p=267"},"modified":"2025-11-05T01:43:21","modified_gmt":"2025-11-04T17:43:21","slug":"%e8%bf%90%e7%94%a8colmap%e8%bf%9b%e8%a1%8c%e4%b8%89%e7%bb%b4%e9%87%8d%e5%bb%ba","status":"publish","type":"post","link":"https:\/\/snaili.com\/index.php\/2025\/10\/28\/%e8%bf%90%e7%94%a8colmap%e8%bf%9b%e8%a1%8c%e4%b8%89%e7%bb%b4%e9%87%8d%e5%bb%ba\/","title":{"rendered":"CDS548 \u8fd0\u7528colmap\u8fdb\u884c\u4e09\u7ef4\u91cd\u5efa"},"content":{"rendered":"\n

1. Scene Description<\/p>\n\n\n\n

\u25cb Object type, number of photos, environment (indoor\/outdoor), and purpose<\/p>\n\n\n\n

(e.g., digital twin of a classroom or building).<\/p>\n\n\n\n

The scene features an outdoor sculpture located in Eight Zero Plaza, captured using 59 photographs. The purpose of these images is to perform 3D reconstruction of the sculpture and its surrounding environment using the Structure-from-Motion (SfM) pipeline.<\/p>\n\n\n\n

2. Reconstruction Process<\/p>\n\n\n\n

\u25cb Screenshots of each step (feature matching, sparse model, dense model).<\/p>\n\n\n\n

Step1<\/p>\n\n\n\n

\u4ece\u5b89\u88c5\u5305\u4e2d\u6253\u5f00bat\u6587\u4ef6\uff08\u8fd9\u91cc\u6ce8\u610f\u7b49\u5230\u7a0b\u5e8f\u6253\u5f00\u7684\u65f6\u5019\u4e0d\u8981\u5173\u6389\uff0c\u4f1a\u628a\u7a0b\u5e8f\u4e00\u8d77\u5173\u7684\uff09<\/p>\n\n\n\n

\u5efa\u7acb\u65b0project\uff1a<\/p>\n\n\n\n

\u3010New\u3011\u65b0\u5efadb\u6587\u4ef6<\/p>\n\n\n\n

\u3010Select\u3011\u9009\u62e9images\u6240\u5728\u8def\u5f84<\/p>\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n

Step2<\/p>\n\n\n\n

\u7279\u5f81\u63d0\u53d6\u548c\u5339\u914d<\/p>\n\n\n\n

\u3010Processing\u3011\u2014> \u3010Feature extraction\u3011<\/p>\n\n\n\n

Camera model\u9009\u62e9\u3010SIMPLE_RADIAL\u3011<\/p>\n\n\n\n

\u53c2\u6570\u9009\u62e9\u3010Parameters from EXIF\u3011<\/p>\n\n\n\n

\u53c2\u6570\u8bbe\u7f6e\uff08\u8fd9\u91cc\u6211\u89c9\u5f97\u53ef\u4ee5\u9009\u7528\u7684\u662fExhaustive Matching\u548cSequential Matching\uff09\uff1a<\/p>\n\n\n\n

Matching Type\uff08\u5339\u914d\u7c7b\u578b\uff09<\/p>\n\n\n\n

Exhaustive Matching\uff08\u7a77\u4e3e\u5339\u914d\uff09\uff1a\u5bf9\u6240\u6709\u56fe\u50cf\u4e24\u4e24\u8fdb\u884c\u5339\u914d\uff0c\u9002\u7528\u4e8e\u56fe\u50cf\u6570\u91cf\u8f83\u5c11\u7684\u60c5\u51b5\uff08\u5982 <100 \u5f20\uff09\uff0c\u4f46\u8ba1\u7b97\u91cf\u5927\u3002<\/p>\n\n\n\n

Sequential Matching\uff08\u987a\u5e8f\u5339\u914d\uff09\uff1a\u53ea\u5339\u914d\u76f8\u90bb\u56fe\u50cf\uff0c\u9002\u7528\u4e8e\u56fe\u50cf\u6309\u987a\u5e8f\u62cd\u6444\u7684\u573a\u666f\uff08\u5982\u8f68\u8ff9\u62cd\u6444\uff09\u3002<\/p>\n\n\n\n

Spatial Matching\uff08\u7a7a\u95f4\u5339\u914d\uff09\uff1a\u5229\u7528\u56fe\u50cf\u7684 GPS \u4fe1\u606f\u8fdb\u884c\u5339\u914d\uff0c\u9002\u7528\u4e8e\u6709\u5730\u7406\u5750\u6807\u7684\u56fe\u50cf\u3002<\/p>\n\n\n\n

Transitive Matching\uff08\u4f20\u9012\u5339\u914d\uff09\uff1a\u901a\u8fc7\u4e2d\u95f4\u56fe\u50cf\u5efa\u7acb\u95f4\u63a5\u5339\u914d\u5173\u7cfb\u3002<\/p>\n\n\n\n

Hierachical\uff1a\u8fd9\u4e2a\u662f\u547d\u4ee4\u884c\u53ef\u4ee5\u8fdb\u884c\u7684\uff0c\u4e4b\u540e\u4f1a\u5728\u6700\u540e\u4e00\u90e8\u5206\u5c06\u8fd9\u91cc\u505a\u4e00\u4e2a\u7b80\u5355\u7684\u8865\u5145\u3002<\/p>\n\n\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n

Step3<\/p>\n\n\n\n

\u7a00\u758f\u91cd\u5efa<\/p>\n\n\n\n

\u3010Reconstruction\u3011\u2013> \u3010Automatic reconstruction\u3011<\/p>\n\n\n\n

Workspace folder\uff0c\u3010Select folder\u3011\u9009\u62e9\u9879\u76ee\u76ee\u5f55<\/p>\n\n\n\n

Image folder\uff0c\u3010Select folder\u3011\u9009\u62e9\u56fe\u7247\u8def\u5f84<\/p>\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n

Step4<\/p>\n\n\n\n

\u7a20\u5bc6\u91cd\u5efa<\/p>\n\n\n\n

\u3010Reconstruction\u3011\u2013> \u3010Dense reconstruction\u3011<\/p>\n\n\n\n

Workspace\u5de5\u4f5c\u7a7a\u95f4\uff0c\u3010Select\u3011\u9009\u62e9\u9879\u76ee\u76ee\u5f55\u2013> \u3010Undistortion\u3011<\/p>\n\n\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n

\u8fdb\u884c\u7acb\u4f53\u5339\u914d<\/p>\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n\n\n

\u8fdb\u884c\u7a20\u5bc6\u70b9\u4e91\u878d\u5408<\/p>\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n

\u6210\u54c1\u56fe\u5982\u4e0b<\/p>\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n

\u5bfc\u51fa\uff1a\u8fd9\u91cc\u628atxt\u3001.ply\u548c.obj\u683c\u5f0f\u90fd\u5bfc\u51fa\u6765<\/p>\n\n\n\n\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n

Step5<\/p>\n\n\n\n

\u5728Meshlab\u6216CloudCompare\u4e2d\u8fdb\u884c\u53ef\u89c6\u5316\u5904\u7406<\/p>\n\n\n\n

\u5bfc\u5165\u6a21\u578b<\/p>\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n

\u6a21\u578b\u9884\u5904\u7406<\/p>\n\n\n\n

\u7f51\u683c\u7b80\u5316\uff1aFilters > Remeshing, Simplification and Reconstruction > Quadric Edge Collapse Decimation\uff0c\u8bbe\u7f6e\u76ee\u6807\u9762\u7247\u6570\u6216\u7b80\u5316\u6bd4\u4f8b\u3002\u53c2\u6570\u5efa\u8bae\uff1a\u4fdd\u755990%\u4ee5\u4e0a\u7279\u5f81\u65f6\uff0c\u7b80\u5316\u6bd4\u4f8b\u4e0d\u8d85\u8fc730%\u3002<\/p>\n\n\n\n

\u5b54\u6d1e\u586b\u5145\uff1aFilters > Remeshing, Simplification and Reconstruction > Close Holes\uff0c\u9009\u62e9\u5b54\u6d1e\u540e\u6267\u884c\u586b\u5145\u3002<\/p>\n\n\n\n

\u4f18\u5316\u6280\u5de7\uff1a\u586b\u5145\u540e\u4f7f\u7528Filters > Smoothing, Fairing and Deformation > Laplacian Smooth\u5e73\u6ed1\u8fb9\u754c\u3002<\/p>\n\n\n\n

3. Result Visualization<\/p>\n\n\n\n

\u25cb Show sparse and dense reconstructions, camera poses, and model views.<\/p>\n\n\n\n

\u7a00\u758f\u91cd\u5efa\u6548\u679c\uff1a<\/p>\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n

\u5bc6\u96c6\u91cd\u5efa\u6548\u679c\uff1a<\/p>\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n

\u6444\u50cf\u673a\u59ff\u6001\uff1a<\/p>\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n

\u6a21\u578b\u89c6\u56fe\uff1a<\/p>\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n

4. Problem Analysis<\/p>\n\n\n\n

Discuss issues you observed, such as:<\/p>\n\n\n\n

\u25cb Incomplete surfaces (occlusion, limited coverage).<\/p>\n\n\n\n

\u25cb Misalignment or drift of cameras.<\/p>\n\n\n\n

\u25cb Textureless or reflective regions failing to reconstruct.<\/p>\n\n\n\n

\u25cb Noise, holes, or floating points in the dense model.<\/p>\n\n\n\n

\u25cb Scale ambiguity or distorted geometry.<\/p>\n\n\n\n

 <\/strong>COLMAP\u7a81\u7136\u95ea\u9000\uff08\u7a0b\u5e8f\u7ec8\u6b62\uff09<\/strong><\/strong><\/p>\n\n\n\n

    \n
  1. \u95ee\u9898\u539f\u56e0\uff1aCUDA\u663e\u5b58\u4e0d\u8db3<\/li>\n\n\n\n
  2. \u89e3\u51b3\u65b9\u6cd5\uff1a
    \u51cf\u5c11\u56fe\u7247\u6570\u91cf\uff0c\u6216\u8005\u964d\u4f4e\u56fe\u7247\u50cf\u7d20\uff08\u7f29\u5c0f\u56fe\u7247\u5c3a\u5bf8\uff09<\/li>\n<\/ol>\n\n\n\n
    \"\"<\/div><\/figure>\n\n\n\n

    \u53ef\u7528\u8bb0\u4e8b\u672c\u6253\u5f00\u4e4b\u524d\u81ea\u5df1\u4fdd\u5b58\u7684bundler\u6587\u4ef6\uff0c\u770b\u770bbundler.out.list.txt\u662f\u5426\u4e3a\u7a7a\u6587\u4ef6\u3002\u5982\u679c\u662f\u7a7a\u6587\u4ef6\u8bf4\u660e\u4f60\u662f\u5728\u8ba1\u7b97\u51fa\u5bc6\u96c6\u91cd\u5efa\u6a21\u578b\u540e\u5bfc\u51fa\u7684bundler\u6587\u4ef6\uff0c\u53ef\u4ee5\u518d\u6b21\u6253\u5f00\u9879\u76ee\uff0c\u5728\u52a0\u8f7d\u7a00\u758f\u91cd\u5efa\u540e\u4ece\u8fd9\u91cc\u4fdd\u5b58bundler\u6587\u4ef6<\/p>\n","protected":false},"excerpt":{"rendered":"

    1. Scene Description \u25cb Object type, number of photos, e […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[9,1],"tags":[],"class_list":["post-267","post","type-post","status-publish","format-standard","hentry","category-9","category-uncategorized"],"_links":{"self":[{"href":"https:\/\/snaili.com\/index.php\/wp-json\/wp\/v2\/posts\/267","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/snaili.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/snaili.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/snaili.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/snaili.com\/index.php\/wp-json\/wp\/v2\/comments?post=267"}],"version-history":[{"count":3,"href":"https:\/\/snaili.com\/index.php\/wp-json\/wp\/v2\/posts\/267\/revisions"}],"predecessor-version":[{"id":366,"href":"https:\/\/snaili.com\/index.php\/wp-json\/wp\/v2\/posts\/267\/revisions\/366"}],"wp:attachment":[{"href":"https:\/\/snaili.com\/index.php\/wp-json\/wp\/v2\/media?parent=267"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/snaili.com\/index.php\/wp-json\/wp\/v2\/categories?post=267"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/snaili.com\/index.php\/wp-json\/wp\/v2\/tags?post=267"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}