colmap相機模型

COLMAP實現不同複雜度的不同相機模型。如果沒有先驗已知的內參，通常最好使用最簡單的相機模型，它足夠複雜來建模畸變效應:

• 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 the OPENCV model only modeling radial distortion effects (建模徑向畸變) with one and two parameters, respectively. （簡化版本的OpenCV相機模型，只建模徑向畸變參數）

• 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.

Ref. https://colmap.github.io/cameras.html