introduction.md

APIS

run_matching

input: images, retrivel results, matching strategy
purpose: extract feature from images and propose feature matching

run_reconstruction

input: matching results, camera intrinsic parameters
purpose: reconstruct the scene for sequential images

estimate_scale

input: images, reconstruction results
purpose: estimate the true scale of the reconstruction

unpack_collect_data

input: binary file recorded by RGBCaptureTool
purpose: parse recorded binary files to generate image data and camera internal parameters

Data Format

ios camera file

Camera intrisic parameters acquired by RGBCaptureTool

image_name model_name fx fy cx cy distortion_param

camera intrisic file (for unordered data)

Camera intrisic parameters for unordered dataset

image_name model_name width height fx(fy) cx cy distortion_param

retrieval file

The retrieval file is a text file, and each line record a pair of image names. For each image， a fixed number of similar images are retrieved and arranged in order.

image1 image1_similar1
image1 image1_similar2
...
image1 image1_similarK
image2 image2_similar1
...
image2 image2_similarK
...
imageN imageN_similarK
...

feature file

The feature file is a binary file that stores the keypoints and descriptors of each image.

frame pair file

The frame pair file is a binary file that stores the matching results and epipolar geometry information of several image pairs.

map files

Map data consists of three binary files, which are the same as the format in colmap. You can run colmap gui to observe the map data.