{"id":20040,"date":"2025-04-19T02:42:20","date_gmt":"2025-04-18T18:42:20","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/20040.html"},"modified":"2025-04-19T02:42:20","modified_gmt":"2025-04-18T18:42:20","slug":"%e5%88%a9%e7%94%a8%e6%9c%8d%e5%8a%a1%e5%99%a8%e7%bb%93%e5%90%88colmap%e6%96%b9%e6%a1%88%e5%ae%9e%e7%8e%b0%e8%87%aa%e5%8a%a8%e5%8c%96%e5%bf%ab%e9%80%9f%e4%b8%89%e7%bb%b4%e9%87%8d%e5%bb%ba","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/20040.html","title":{"rendered":"\u5229\u7528\u670d\u52a1\u5668\u7ed3\u5408COLMAP\u65b9\u6848\u5b9e\u73b0\u81ea\u52a8\u5316\u5feb\u901f\u4e09\u7ef4\u91cd\u5efa"},"content":{"rendered":"<h3>\u603b\u4f53\u6280\u672f\u601d\u8def<\/h3>\n<p>\u81ea\u52a8\u5316\u4e09\u7ef4\u91cd\u5efa\u662f\u6307\u901a\u8fc7\u8ba1\u7b97\u673a\u89c6\u89c9\u3001\u6444\u5f71\u6d4b\u91cf\u5b66\u548c\u8ba1\u7b97\u51e0\u4f55\u7b49\u6280\u672f&#xff0c;\u81ea\u52a8\u5730\u4ece\u4e00\u7ec4\u65e0\u4eba\u673a\u503e\u659c\u6444\u5f71\u6d4b\u91cf\u56fe\u50cf\u4e2d\u521b\u5efa\u51fa\u7cbe\u786e\u7684\u4e09\u7ef4\u6a21\u578b\u7684\u8fc7\u7a0b\u3002\u5177\u4f53\u5305\u62ec\u6570\u636e\u91c7\u96c6\u4e0e\u9884\u5904\u7406\u3001COLMAP\u7a00\u758f\u91cd\u5efa\u3001COLMAP\u5bc6\u96c6\u91cd\u5efa\u3001\u5730\u7406\u914d\u51c6\u4e0e\u683c\u5f0f\u8f6c\u6362\u3001COLMAP\u6cca\u677e\u683c\u7f51\u91cd\u5efa\u3001\u7eb9\u7406\u8d34\u56fe\u548c3dtiles\u5207\u7247\u51e0\u4e2a\u6b65\u9aa4\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184207-68029cffef13a.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<ul>\n<li>\u6570\u636e\u91c7\u96c6\u4e0e\u9884\u5904\u7406&#xff1a;\u4f7f\u7528\u65e0\u4eba\u673a\u8fdb\u884c\u591a\u89d2\u5ea6\u62cd\u6444&#xff0c;\u83b7\u53d6\u9ad8\u5206\u8fa8\u7387\u7684\u56fe\u50cf\u6570\u636e&#xff0c;\u5e76\u901a\u8fc7\u7279\u5f81\u63d0\u53d6\u548c\u5339\u914d\u51c6\u5907\u7528\u4e8e\u4e09\u7ef4\u91cd\u5efa\u7684\u6570\u636e\u96c6 COLMAP<\/li>\n<li>\u7a00\u758f\u91cd\u5efa&#xff1a;\u57fa\u4e8e\u4e0a\u4e00\u9636\u6bb5\u751f\u6210\u7684\u7279\u5f81\u70b9\u5339\u914d\u7ed3\u679c&#xff0c;\u521d\u6b65\u6062\u590d\u573a\u666f\u7684\u4e09\u7ef4\u7ed3\u6784&#xff0c;\u5305\u62ec\u4f30\u8ba1\u6bcf\u4e2a\u76f8\u673a\u7684\u4f4d\u7f6e\u548c\u65b9\u5411\u3001\u751f\u6210\u7a00\u758f\u70b9\u4e91&#xff0c;\u4ee5\u53ca\u8bb0\u5f55\u56fe\u50cf\u4e0e\u76f8\u673a\u95f4\u7684\u5173\u8054\u4fe1\u606f\u3002<\/li>\n<li>COLMAP \u5bc6\u96c6\u91cd\u5efa: \u5229\u7528\u7a00\u758f\u91cd\u5efa\u7684\u7ed3\u679c\u8fdb\u4e00\u6b65\u7ec6\u5316&#xff0c;\u751f\u6210\u66f4\u8be6\u7ec6\u7684\u7a20\u5bc6\u70b9\u4e91\u3002<\/li>\n<li>\u5730\u7406\u914d\u51c6\u4e0e\u683c\u5f0f\u8f6c\u6362&#xff1a;\u4e3a\u4e86\u4f7f\u751f\u6210\u7684\u4e09\u7ef4\u6a21\u578b\u80fd\u591f\u5728\u771f\u5b9e\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u51c6\u786e\u8868\u793a&#xff0c;\u9700\u8981\u5bf9\u5176\u8fdb\u884c\u5730\u7406\u914d\u51c6\u3002\u8fd9\u4e00\u6b65\u9aa4\u786e\u4fdd\u4e86\u6a21\u578b\u7684\u4f4d\u7f6e\u3001\u5927\u5c0f\u548c\u65b9\u5411\u90fd\u7b26\u5408\u5b9e\u9645\u60c5\u51b5\u3002\u5b8c\u6210\u5730\u7406\u914d\u51c6\u540e&#xff0c;\u5c06\u70b9\u4e91\u6a21\u578b\u8f6c\u6362\u4e3a\u5176\u4ed6\u901a\u7528\u683c\u5f0f&#xff08;.las&#xff09;&#xff0c;\u4fbf\u4e8e\u8de8\u5e73\u53f0\u5171\u4eab\u548c\u4f7f\u7528\u3002<\/li>\n<li>COLMAP\u6cca\u677e\u683c\u7f51\u91cd\u5efa&#xff1a;\u5229\u7528COLMAP\u5bf9\u5730\u7406\u914d\u51c6\u540e\u7684\u70b9\u4e91\u6587\u4ef6\u8fdb\u884c\u6cca\u677e\u683c\u7f51\u91cd\u5efa\u5904\u7406&#xff0c;\u901a\u8fc7\u8ba1\u7b97\u6cca\u677e\u65b9\u7a0b\u7684\u65b9\u6cd5\u5c06\u4e09\u7ef4\u70b9\u4e91\u6a21\u578b\u91cd\u5efa\u4e3a\u5177\u6709\u4e09\u89d2\u683c\u7f51\u8868\u9762\u7684mesh\u6a21\u578b<\/li>\n<li>\u7eb9\u7406\u8d34\u56fe&#xff1a;\u5229\u7528MeshLab\u5bf9\u4e09\u7ef4\u683c\u7f51\u7684mesh\u6a21\u578b\u7684\u8868\u9762\u8fdb\u884c\u5904\u7406&#xff0c;\u5c55\u5f00\u6210\u4e8c\u7ef4\u5e73\u9762&#xff0c;\u521b\u5efaUV\u5750\u6807&#xff0c;\u5e76\u5c06\u7eb9\u7406\u56fe\u50cf\u5e94\u7528\u5230\u76f8\u5e94\u7684UV\u5750\u6807\u4e0a&#xff0c;\u4ee5\u5b9e\u73b0\u9884\u671f\u7684\u89c6\u89c9\u6548\u679c&#xff0c;\u7ed3\u679c\u5bfc\u51fa\u4e3a.obj\u683c\u5f0f\u6587\u4ef6\u548c.png\u683c\u5f0f\u7684\u7eb9\u7406\u8d34\u56fe<\/li>\n<li>3dtiles\u5207\u7247&#xff1a;\u4f7f\u7528cesiumLab\u6216\u8005obj2tiles\u5de5\u5177\u5206\u522b\u5bf9\u6cca\u677e\u5bc6\u96c6\u70b9\u4e91.las\u6587\u4ef6\u548c\u5e26\u6709\u7eb9\u7406\u8d34\u56fe\u7684\u4e09\u7ef4\u683c\u7f51\u5efa\u6a21.obj\u6587\u4ef6\u8fdb\u884c3dtiles\u5207\u7247\u5904\u7406&#xff0c;\u6700\u7ec8\u5f97\u5230.pnts\u96c6\u5408\u7684\u70b9\u4e913dtiles\u5207\u7247\u548c.b3dm\u96c6\u5408\u7684\u4e09\u7ef4\u91cd\u5efa\u6a21\u578b\u76843dtiles\u5207\u7247\u6a21\u578b<\/li>\n<\/ul>\n<h3>\u5de5\u5177\u90e8\u7f72\u3001\u6570\u636e\u91c7\u96c6\u4e0e\u9884\u5904\u7406<\/h3>\n<h4>&#xff08;1&#xff09;\u65e0\u4eba\u673a\u503e\u659c\u6444\u5f71\u6570\u636e\u96c6\u7684\u91c7\u96c6\u548c\u9884\u5904\u7406<\/h4>\n<ul>\n<li>\u5f71\u50cf\u6570\u636e\u96c6\u7684\u91c7\u96c6&#xff1a;<\/li>\n<\/ul>\n<p>\u2460\u6700\u597d\u4f7f\u7528\u5927\u7586\u65e0\u4eba\u673a\u8fdb\u884c\u62cd\u6444&#xff0c;\u81f3\u5c11\u5e94\u4ece\u4e09\u4e2a\u72ec\u7279&#xff08;\u4f46\u5e76\u975e\u622a\u7136\u4e0d\u540c&#xff09;\u7684\u89c6\u89d2\u62cd\u6444\u88ab\u6444\u4f53\u7684\u6bcf\u4e2a\u90e8\u5206\u3002\u8fde\u7eed\u5f71\u50cf\u7684\u91cd\u53e0\u533a\u57df\u901a\u5e38\u5e94\u8d85\u8fc7 2\/3\u3002\u540c\u4e00\u7269\u4f53\u90e8\u5206\u7684\u4e0d\u540c\u89c6\u89d2\u4e4b\u95f4\u5e94\u4fdd\u6301 15 \u5ea6\u4ee5\u4e0b\u7684\u5939\u89d2\u3002<\/p>\n<p>\u2461\u5bf9\u4e8e\u7269\u4ef6\u5efa\u6a21&#xff0c;\u5728\u7269\u4f53\u5468\u56f4\u62cd\u6444\u5927\u7ea6 30-50 \u5e45\u95f4\u9694\u5747\u5300\u7684\u5f71\u50cf<\/p>\n<p>\u2462\u5bf9\u4e8e\u573a\u666f\u5efa\u6a21&#xff0c;\u5efa\u8bae\u7eb5\u5411\u91cd\u53e0\u7387\u548c\u6a2a\u5411\u91cd\u53e0\u7387\u5206\u522b\u4e0d\u4f4e\u4e8e 80% \u548c 50%\u3002<\/p>\n<p>\u2463\u65e0\u4eba\u673a\u62cd\u6444\u7684\u7167\u7247\u5fc5\u987b\u9644\u5e26\u62cd\u6444GPS\u7684EXIF\u4fe1\u606f&#xff0c;\u53ea\u6709\u5177\u6709\u8be5\u4fe1\u606f\u7684\u5f71\u50cf\u96c6\u624d\u53ef\u4ee5\u624d\u540e\u7eed\u7684\u5730\u7406\u914d\u51c6\u73af\u5883\u4e3a\u4e09\u7ef4\u6a21\u578b\u9644\u4e0a\u5730\u7406\u4f4d\u7f6e\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184212-68029d04575d9.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184212-68029d04c9481.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<ul>\n<li>\u5f71\u50cf\u6570\u636e\u96c6\u7684\u9884\u5904\u7406<\/li>\n<\/ul>\n<p>COLMAP \u63d0\u4f9b\u4e86\u5185\u7f6e\u7684\u7578\u53d8\u6821\u6b63&#xff08;undistortion&#xff09;\u5904\u7406\u529f\u80fd&#xff0c;\u8fd9\u5bf9\u4e8e\u51c6\u5907\u7528\u4e8e\u591a\u89c6\u56fe\u7acb\u4f53\u5339\u914d&#xff08;MVS&#xff09;\u7684\u6570\u636e\u96c6\u5c24\u4e3a\u91cd\u8981\u3002\u901a\u8fc7\u7578\u53d8\u6821\u6b63&#xff0c;\u53ef\u4ee5\u751f\u6210\u65e0\u7578\u53d8\u7684\u56fe\u50cf&#xff0c;\u8fd9\u4e9b\u56fe\u50cf\u66f4\u9002\u5408\u8fdb\u884c\u540e\u7eed\u7684\u5bc6\u96c6\u91cd\u5efa\u7b49\u64cd\u4f5c<\/p>\n<h4>&#xff08;2&#xff09;COLMAP\u5728\u670d\u52a1\u5668\u4e0a\u7684\u90e8\u7f72<\/h4>\n<p>COLMAP \u662f\u4e00\u4e2a\u901a\u7528\u7684Structure-from-Motion (SfM) \u548c Multi-View Stereo (MVS) \u7ba1\u9053&#xff0c;\u63d0\u4f9b\u4e86\u56fe\u5f62\u754c\u9762\u548c\u547d\u4ee4\u884c\u63a5\u53e3&#xff0c;\u652f\u6301\u6709\u5e8f\u6216\u65e0\u5e8f\u56fe\u50cf\u96c6\u5408\u7684\u91cd\u5efa\u3002<\/p>\n<p>\u53c2\u8003\u94fe\u63a5&#xff1a;https:\/\/blog.csdn.net\/xm_1139164554\/article\/details\/134581359<\/p>\n<p>\u6ce8\u610f&#xff1a;\u6211\u7684\u670d\u52a1\u5668\u4e3acentos\u64cd\u4f5c\u7cfb\u7edf&#xff0c;\u56e0\u6b64\u53ea\u80fd\u901a\u8fc7\u6e90\u7801\u5b89\u88c5\u7684\u65b9\u5f0f\u5bf9colmap\u8fdb\u884c\u5b89\u88c5\u90e8\u7f72<\/p>\n<p>\u53c2\u8003\u8fd9\u4e2a\u94fe\u63a5 Colmap\u5728centos7\u4e0b\u7684\u7f16\u8bd1<\/p>\n<p>\u4e3b\u8981\u6b65\u9aa4\u4e3a&#xff1a;<\/p>\n<ul>\n<li>1\u3001\u5b89\u88c5GPU\u9a71\u52a8CUDA \u548c CUDNN<\/li>\n<li>2\u3001\u7f16\u8bd1\u73af\u5883\u51c6\u5907<\/li>\n<\/ul>\n<p>GCC\u5347\u7ea7 \u9700\u8981\u5c06GCC\u5347\u7ea7\u52305.4\u7248\u672c&#xff0c;\u4ee5\u6ee1\u8db3COLMAP\u7684\u7f16\u8bd1\u9700\u6c42\u3002\u8fd9\u5305\u62ec\u4e0b\u8f7d\u3001\u89e3\u538b\u6e90\u7801&#xff0c;\u914d\u7f6e\u7f16\u8bd1\u9009\u9879&#xff0c;\u5e76\u6267\u884cmake\u4e0emake install\u8fdb\u884c\u7f16\u8bd1\u5b89\u88c5\u3002 \u57fa\u7840\u5305\u5b89\u88c5 \u4f7f\u7528yum\u547d\u4ee4\u5b89\u88c5\u4e00\u7cfb\u5217\u57fa\u7840\u5e93&#xff0c;\u5982cmake\u3001build-essential\u7b49&#xff0c;\u4e3a\u540e\u7eed\u8f6f\u4ef6\u5305\u7684\u7f16\u8bd1\u63d0\u4f9b\u5fc5\u8981\u7684\u5f00\u53d1\u5de5\u5177\u548c\u5e93\u6587\u4ef6\u3002 \u7b2c\u4e09\u65b9\u5e93\u5b89\u88c5 \u5305\u62ecBoost\u3001gflags\u3001glog\u3001FreeImage\u548cCeres Solver\u5728\u5185\u7684\u591a\u4e2a\u7b2c\u4e09\u65b9\u5e93\u9700\u8981\u5355\u72ec\u4e0b\u8f7d\u3001\u7f16\u8bd1\u5e76\u5b89\u88c5\u3002\u6bcf\u4e2a\u5e93\u90fd\u6709\u7279\u5b9a\u7684\u5b89\u88c5\u6b65\u9aa4\u548c\u6ce8\u610f\u4e8b\u9879&#xff0c;\u6bd4\u5982\u4f7f\u7528.\/bootstrap.sh\u521d\u59cb\u5316Boost\u7684\u7f16\u8bd1\u8fc7\u7a0b&#xff0c;\u5bf9\u4e8egflags\u5219\u901a\u8fc7cmake\u6765\u6784\u5efa\u52a8\u6001\u94fe\u63a5\u5e93\u7b49\u3002<\/p>\n<ul>\n<li>3\u3001COLMAP\u7684\u7f16\u8bd1\u4e0e\u5b89\u88c5<\/li>\n<\/ul>\n<p>\u6700\u540e\u4e00\u6b65\u662f\u4eceGitHub\u4e0b\u8f7dCOLMAP\u6e90\u7801&#xff0c;\u5e76\u521b\u5efa\u6784\u5efa\u76ee\u5f55\u3002\u901a\u8fc7cmake \u2026\u751f\u6210Makefile\u6587\u4ef6&#xff0c;\u7136\u540e\u8fd0\u884cmake\u8fdb\u884c\u7f16\u8bd1&#xff0c;\u6700\u7ec8\u5b8c\u6210COLMAP\u7684\u5b89\u88c5\u3002<\/p>\n<p><span class=\"token function\">mkdir<\/span> build<br \/>\n<span class=\"token builtin class-name\">cd<\/span> build<br \/>\ncmake <span class=\"token punctuation\">..<\/span><br \/>\n<span class=\"token comment\"># For CentOS users, use following command.<\/span><br \/>\n<span class=\"token comment\"># CentOS ships BOOST lib only with shared lib.<\/span><br \/>\n<span class=\"token comment\"># cmake .. -DBOOST_STATIC&#061;OFF<\/span><br \/>\n<span class=\"token function\">make<\/span> <span class=\"token parameter variable\">-j16<\/span><br \/>\n<span class=\"token function\">make<\/span> intall <\/p>\n<p>\u8fd9\u4e9b\u547d\u4ee4\u884c\u7528\u4e8e\u7f16\u8bd1\u4e00\u4e2a\u8f6f\u4ef6\u9879\u76ee&#xff0c;\u901a\u5e38\u662f\u4ece\u6e90\u4ee3\u7801\u5f00\u59cb\u6784\u5efa\u8f6f\u4ef6\u3002\u4e0b\u9762\u662f\u5bf9\u6bcf\u4e2a\u547d\u4ee4\u7684\u89e3\u91ca&#xff1a;<\/p>\n<li>\n<p>mkdir build<\/p>\n<ul>\n<li>\u8fd9\u4e2a\u547d\u4ee4\u521b\u5efa\u4e86\u4e00\u4e2a\u540d\u4e3a build \u7684\u65b0\u76ee\u5f55\u3002\u5728\u8f6f\u4ef6\u5f00\u53d1\u4e2d&#xff0c;\u901a\u5e38\u4f1a\u4f7f\u7528\u4e00\u4e2a\u72ec\u7acb\u7684\u76ee\u5f55\u6765\u5b58\u653e\u7f16\u8bd1\u8fc7\u7a0b\u4e2d\u751f\u6210\u7684\u6587\u4ef6&#xff08;\u5982\u76ee\u6807\u6587\u4ef6\u3001\u53ef\u6267\u884c\u6587\u4ef6\u7b49&#xff09;&#xff0c;\u4ee5\u4fdd\u6301\u6e90\u4ee3\u7801\u76ee\u5f55\u7684\u6e05\u6d01\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>cd build<\/p>\n<ul>\n<li>\u6539\u53d8\u5f53\u524d\u5de5\u4f5c\u76ee\u5f55\u5230\u521a\u521a\u521b\u5efa\u7684 build \u76ee\u5f55\u3002\u8fd9\u6837\u505a\u7684\u76ee\u7684\u662f\u5728\u8fd9\u4e2a\u76ee\u5f55\u4e0b\u8fdb\u884c\u6240\u6709\u7684\u7f16\u8bd1\u6d3b\u52a8&#xff0c;\u800c\u4e0d\u662f\u76f4\u63a5\u5728\u6e90\u7801\u76ee\u5f55\u4e2d\u64cd\u4f5c\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>cmake ..<\/p>\n<ul>\n<li>CMake \u662f\u4e00\u4e2a\u8de8\u5e73\u53f0\u7684\u6784\u5efa\u7cfb\u7edf\u751f\u6210\u5668\u3002\u8fd9\u4e2a\u547d\u4ee4\u544a\u8bc9 CMake \u4ece\u4e0a\u4e00\u7ea7\u76ee\u5f55&#xff08;\u5373\u5305\u542b CMakeLists.txt \u6587\u4ef6\u7684\u76ee\u5f55&#xff09;\u8bfb\u53d6\u914d\u7f6e&#xff0c;\u5e76\u6839\u636e\u8fd9\u4e9b\u914d\u7f6e\u4e3a\u5f53\u524d\u76ee\u5f55\u751f\u6210\u672c\u5730\u6784\u5efa\u6587\u4ef6&#xff08;\u4f8b\u5982&#xff0c;\u5728 Unix \u7cfb\u7edf\u4e0a\u53ef\u80fd\u662f Makefile&#xff09;\u3002.. \u8868\u793a CMake \u5e94\u8be5\u5728\u7236\u76ee\u5f55\u4e2d\u5bfb\u627e CMakeLists.txt \u6587\u4ef6\u3002<\/li>\n<li>\u5bf9\u4e8e CentOS \u7528\u6237&#xff0c;\u6ce8\u91ca\u4e2d\u7684\u5efa\u8bae\u662f\u5982\u679c\u9047\u5230\u95ee\u9898\u53ef\u4ee5\u6dfb\u52a0 -DBOOST_STATIC&#061;OFF \u53c2\u6570&#xff0c;\u8fd9\u662f\u56e0\u4e3a CentOS \u9ed8\u8ba4\u63d0\u4f9b\u7684 Boost \u5e93\u53ea\u6709\u5171\u4eab\u5e93\u7248\u672c&#xff0c;\u800c\u6ca1\u6709\u9759\u6001\u5e93\u7248\u672c\u3002\u901a\u8fc7\u8bbe\u7f6e -DBOOST_STATIC&#061;OFF&#xff0c;\u53ef\u4ee5\u8ba9 CMake \u914d\u7f6e\u9879\u76ee\u65f6\u53ea\u94fe\u63a5\u5171\u4eab\u5e93\u7248\u672c\u7684 Boost\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>make -j16<\/p>\n<ul>\n<li>\u8fd9\u91cc\u7684 -j16 \u544a\u8bc9 make \u5de5\u5177\u5e76\u884c\u8fd0\u884c\u6700\u591a 16 \u4e2a\u4efb\u52a1&#xff08;jobs&#xff09;\u3002\u8fd9\u6709\u52a9\u4e8e\u52a0\u5feb\u7f16\u8bd1\u8fc7\u7a0b&#xff0c;\u5c24\u5176\u662f\u5728\u591a\u6838\u5904\u7406\u5668\u4e0a\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>make install<\/p>\n<ul>\n<li>\u8fd9\u4e2a\u547d\u4ee4\u6267\u884c\u5b89\u88c5\u6b65\u9aa4\u3002\u5b83\u5c06\u6839\u636e Makefile \u4e2d\u5b9a\u4e49\u7684\u89c4\u5219&#xff0c;\u590d\u5236\u4e8c\u8fdb\u5236\u6587\u4ef6\u3001\u5e93\u6587\u4ef6\u3001\u914d\u7f6e\u6587\u4ef6\u7b49\u5fc5\u8981\u7684\u7ec4\u4ef6\u5230\u7cfb\u7edf\u7684\u76f8\u5e94\u4f4d\u7f6e&#xff08;\u6bd4\u5982 \/usr\/local\/bin \u6216\u8005 \/usr\/local\/lib&#xff09;&#xff0c;\u4ee5\u4fbf\u53ef\u4ee5\u5728\u7cfb\u7edf\u8303\u56f4\u5185\u4f7f\u7528\u8be5\u8f6f\u4ef6\u3002\u901a\u5e38\u9700\u8981\u9002\u5f53\u7684\u6743\u9650&#xff08;\u5982 root \u6743\u9650&#xff09;\u624d\u80fd\u6210\u529f\u6267\u884c\u6b64\u547d\u4ee4&#xff0c;\u56e0\u6b64\u4f60\u53ef\u80fd\u9700\u8981\u7528 sudo make install \u6765\u8fd0\u884c\u5b83\u3002<\/li>\n<\/ul>\n<\/li>\n<h3>COLMAP\u5b9e\u73b0\u4e09\u7ef4\u91cd\u5efa<\/h3>\n<p>COLMAP \u8fdb\u884c\u4e09\u7ef4\u91cd\u5efa\u7684\u8be6\u7ec6\u6d41\u7a0b&#xff0c;\u5305\u62ec GUI \u548c\u547d\u4ee4\u884c\u4e24\u79cd\u65b9\u5f0f<\/p>\n<h4>(1)\u4f7f\u7528 GUI \u8fdb\u884c\u4e09\u7ef4\u91cd\u5efa<\/h4>\n<p>\u6ce8\u610f&#xff1a;\u4e00\u822c\u670d\u52a1\u5668\u6ca1\u6709gui\u754c\u9762\u7684&#xff0c;\u4f46\u4e09\u7ef4\u5efa\u6a21\u6700\u597d\u4f7f\u7528gui\u754c\u9762\u53ef\u4ee5\u8fdb\u884c\u66f4\u597d\u7684\u7ed3\u679c\u67e5\u770b \u4e00\u822c\u4f7f\u7528CentOS 7 \u5b89\u88c5GNOME\u7684\u65b9\u6cd5\u6765\u521b\u9020GUI\u754c\u9762\u73af\u5883 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184213-68029d0504c9b.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u7136\u540e\u4f7f\u7528VNC\u5de5\u5177\u8fdb\u884c\u684c\u9762gui\u73af\u5883\u7684\u94fe\u63a5 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184213-68029d05297ec.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u6700\u7ec8\u670d\u52a1\u5668\u81ea\u5e26\u7684\u7ed3\u679c\u754c\u9762\u5982\u4e0b\u6240\u793a&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184213-68029d058df43.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<li>\n<p>\u51c6\u5907\u5de5\u7a0b\u76ee\u5f55<\/p>\n<ul>\n<li>\u521b\u5efa\u4e00\u4e2a\u65b0\u7684\u9879\u76ee\u6587\u4ef6\u5939&#xff0c;\u5e76\u5728\u5176\u4e2d\u521b\u5efa images \u6587\u4ef6\u5939\u6765\u5b58\u653e\u8981\u8fdb\u884c\u91cd\u5efa\u7684\u56fe\u7247\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u542f\u52a8 COLMAP \u5e76\u52a0\u8f7d\u56fe\u50cf<\/p>\n<ul>\n<li>\u6253\u5f00 COLMAP \u7684\u56fe\u5f62\u754c\u9762\u3002<\/li>\n<li>\u901a\u8fc7\u83dc\u5355\u9009\u62e9 File -&gt; New Project&#xff0c;\u7136\u540e\u6307\u5b9a\u6570\u636e\u5e93\u6587\u4ef6\u8def\u5f84\u548c\u56fe\u7247\u6587\u4ef6\u5939\u8def\u5f84\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u7279\u5f81\u63d0\u53d6<\/p>\n<ul>\n<li>\u5728 Processing \u83dc\u5355\u4e0b\u9009\u62e9 Feature Extraction \u6765\u5f00\u59cb\u7279\u5f81\u70b9\u68c0\u6d4b\u3002\u6b64\u6b65\u9aa4\u4f1a\u5728\u6bcf\u5f20\u56fe\u7247\u4e2d\u627e\u5230\u5173\u952e\u70b9\u5e76\u751f\u6210\u63cf\u8ff0\u5b50\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u7279\u5f81\u5339\u914d<\/p>\n<ul>\n<li>\u63a5\u7740\u9009\u62e9 Feature Matching \u6765\u5c06\u4e0d\u540c\u56fe\u7247\u4e2d\u7684\u7279\u5f81\u70b9\u8fdb\u884c\u5339\u914d\u3002\u8fd9\u4e00\u6b65\u4f1a\u751f\u6210\u5339\u914d\u77e9\u9635&#xff0c;\u5373\u4e0d\u540c\u89c6\u56fe\u4e4b\u95f4\u540c\u540d\u7279\u5f81\u7684\u6570\u91cf\u4f5c\u4e3a\u6743\u91cd\u7684\u56fe\u7ed3\u6784\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u7a00\u758f\u91cd\u5efa<\/p>\n<ul>\n<li>\u5728 Reconstruction \u83dc\u5355\u4e0b\u70b9\u51fb Start Reconstruction \u5f00\u59cb\u589e\u91cf\u5f0f\u5efa\u6a21\u8fc7\u7a0b\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u5305\u62ec\u76f8\u673a\u59ff\u6001\u4f30\u8ba1\u3001\u4e09\u89d2\u5316\u4ee5\u53ca\u5168\u5c40\u4f18\u5316\u7b49\u6b65\u9aa4&#xff0c;\u6700\u7ec8\u751f\u6210\u7a00\u758f\u70b9\u4e91\u6a21\u578b\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u7a20\u5bc6\u91cd\u5efa<\/p>\n<ul>\n<li>\u7a00\u758f\u91cd\u5efa\u5b8c\u6210\u540e&#xff0c;\u53ef\u4ee5\u8fdb\u4e00\u6b65\u8fdb\u884c\u7a20\u5bc6\u91cd\u5efa\u3002\u5728 Reconstruction \u83dc\u5355\u4e0b\u9009\u62e9 Dense Reconstruction&#xff0c;\u5e76\u9009\u62e9\u4fdd\u5b58\u6570\u636e\u7684\u6587\u4ef6\u5939\u3002<\/li>\n<\/ul>\n<\/li>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184214-68029d060160b.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> 7. \u7ed3\u679c\u67e5\u770b\u4e0e\u5bfc\u51fa<\/p>\n<ul>\n<li>\u91cd\u5efa\u5b8c\u6210\u540e&#xff0c;\u53ef\u4ee5\u5728 COLMAP \u4e2d\u67e5\u770b\u7ed3\u679c&#xff0c;\u5e76\u901a\u8fc7 Export \u529f\u80fd\u5c06\u6a21\u578b\u5bfc\u51fa\u4e3a\u5e38\u89c1\u683c\u5f0f\u5982 .ply \u6216 .obj\u3002<\/li>\n<\/ul>\n<h4>(2)\u4f7f\u7528\u547d\u4ee4\u884c\u8fdb\u884c\u4e09\u7ef4\u91cd\u5efa<\/h4>\n<li>\n<p>\u51c6\u5907\u5de5\u7a0b\u76ee\u5f55<\/p>\n<ul>\n<li>\u540c\u6837\u9700\u8981\u521b\u5efa\u4e00\u4e2a\u5305\u542b images \u6587\u4ef6\u5939\u7684\u9879\u76ee\u6587\u4ef6\u5939\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u7279\u5f81\u63d0\u53d6<\/p>\n<ul>\n<li>\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u6267\u884c\u7279\u5f81\u63d0\u53d6&#xff1a;colmap feature_extractor <span class=\"token parameter variable\">&#8211;database_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/database.db <span class=\"token parameter variable\">&#8211;image_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/images\n <\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u7279\u5f81\u5339\u914d<\/p>\n<ul>\n<li>\u6839\u636e\u56fe\u50cf\u6570\u91cf\u9009\u62e9\u5408\u9002\u7684\u5339\u914d\u7b56\u7565&#xff0c;\u4f8b\u5982\u7a77\u5c3d\u5339\u914d&#xff08;\u9002\u7528\u4e8e\u5c11\u91cf\u56fe\u50cf&#xff09;\u3001\u5e8f\u5217\u5339\u914d\u6216\u7a7a\u95f4\u5339\u914d\u7b49\u3002\u8fd9\u91cc\u4ee5\u7a77\u5c3d\u5339\u914d\u4e3a\u4f8b&#xff1a;colmap exhaustive_matcher <span class=\"token parameter variable\">&#8211;database_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/database.db\n <\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u7a00\u758f\u91cd\u5efa<\/p>\n<ul>\n<li>\u6267\u884c\u7a00\u758f\u91cd\u5efa&#xff1a;<span class=\"token function\">mkdir<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/sparse<br \/>\ncolmap mapper <span class=\"token parameter variable\">&#8211;database_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/database.db <span class=\"token parameter variable\">&#8211;image_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/images <span class=\"token parameter variable\">&#8211;output_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/sparse\n <\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u7a20\u5bc6\u91cd\u5efa<\/p>\n<ul>\n<li>\u5bf9\u539f\u59cb\u56fe\u50cf\u53bb\u7578\u53d8&#xff1a;<span class=\"token function\">mkdir<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/dense<br \/>\ncolmap image_undistorter <span class=\"token parameter variable\">&#8211;image_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/images <span class=\"token parameter variable\">&#8211;input_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/sparse\/0 <span class=\"token parameter variable\">&#8211;output_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/dense <span class=\"token parameter variable\">&#8211;output_type<\/span> COLMAP <span class=\"token parameter variable\">&#8211;max_image_size<\/span> <span class=\"token number\">2000<\/span>\n <\/li>\n<li>\u6267\u884c\u7a20\u5bc6\u91cd\u5efa&#xff1a;colmap patch_match_stereo <span class=\"token parameter variable\">&#8211;workspace_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/dense <span class=\"token parameter variable\">&#8211;workspace_format<\/span> COLMAP <span class=\"token parameter variable\">&#8211;PatchMatchStereo.geom_consistency<\/span> <span class=\"token boolean\">true<\/span>\n <\/li>\n<li>\u878d\u5408\u6df1\u5ea6\u4fe1\u606f\u5f62\u6210\u7a20\u5bc6\u70b9\u4e91&#xff1a;colmap stereo_fusion <span class=\"token parameter variable\">&#8211;workspace_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/dense <span class=\"token parameter variable\">&#8211;workspace_format<\/span> COLMAP <span class=\"token parameter variable\">&#8211;input_type<\/span> geometric <span class=\"token parameter variable\">&#8211;output_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/dense\/fused.ply\n <\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u8868\u9762\u91cd\u5efa<\/p>\n<ul>\n<li>\u53ef\u9009\u5730&#xff0c;\u53ef\u4ee5\u4f7f\u7528\u6cca\u677e\u66f2\u9762\u91cd\u5efa\u6216\u72c4\u6d1b\u5c3c\u4e09\u89d2\u7f51\u91cd\u5efa\u65b9\u6cd5\u751f\u6210\u8868\u9762\u7f51\u683c&#xff1a;colmap poisson_mesher <span class=\"token parameter variable\">&#8211;input_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/dense\/fused.ply <span class=\"token parameter variable\">&#8211;output_path<\/span> <span class=\"token variable\">$DATASET_PATH<\/span>\/dense\/meshed-poisson.ply\n <\/li>\n<\/ul>\n<\/li>\n<p>\u65e0\u8bba\u662f\u901a\u8fc7 GUI \u8fd8\u662f\u547d\u4ee4\u884c&#xff0c;COLMAP \u90fd\u63d0\u4f9b\u4e86\u4e00\u5957\u5b8c\u6574\u7684\u6d41\u7a0b\u6765\u8fdb\u884c\u4e09\u7ef4\u91cd\u5efa&#xff0c;\u4ece\u7279\u5f81\u63d0\u53d6\u5230\u7a20\u5bc6\u91cd\u5efa\u518d\u5230\u8868\u9762\u91cd\u5efa&#xff0c;\u6bcf\u4e2a\u9636\u6bb5\u90fd\u6709\u76f8\u5e94\u7684\u53c2\u6570\u8c03\u6574\u7a7a\u95f4&#xff0c;\u53ef\u4ee5\u6839\u636e\u5177\u4f53\u9700\u6c42\u8fdb\u884c\u4f18\u5316\u3002<\/p>\n<h3>\u5730\u7406\u914d\u51c6\u4e0e\u683c\u5f0f\u8f6c\u6362<\/h3>\n<h4>\u5730\u7406\u914d\u51c6<\/h4>\n<p>\u53c2\u8003\u94fe\u63a5&#xff1a;colmap\u7b14\u8bb0&#xff1a;\u5c06\u6a21\u578b\u548c\u5f71\u50cf\u4f4d\u59ff\u8f6c\u6362\u5230GPS\u5750\u6807\u7cfb\u4e0b<\/p>\n<p>\u9ed8\u8ba4\u60c5\u51b5\u4e0b&#xff0c;COLMAP \u751f\u6210\u7684\u6a21\u578b\u662f\u57fa\u4e8e\u5c40\u90e8\u5750\u6807\u7cfb\u7684&#xff0c;\u8fd9\u610f\u5473\u7740\u5b83\u4eec\u6ca1\u6709\u5730\u7406\u53c2\u8003\u4fe1\u606f\u3002\u4e3a\u4e86\u5c06\u8fd9\u4e9b\u6a21\u578b\u8f6c\u6362\u5230\u57fa\u4e8e GPS \u7684\u5168\u7403\u5750\u6807\u7cfb\u4e0b&#xff0c;\u53ef\u4ee5\u4f7f\u7528 COLMAP \u63d0\u4f9b\u7684 model_aligner \u5de5\u5177<\/p>\n<ul>\n<li>\u6b65\u9aa4\u4e00&#xff1a;\u51c6\u5907\u6570\u636e<\/li>\n<\/ul>\n<p>\u786e\u4fdd\u4f60\u7684\u56fe\u50cf\u6587\u4ef6\u5305\u542b EXIF \u6570\u636e&#xff0c;\u7279\u522b\u662f GPS \u4f4d\u7f6e\u4fe1\u606f\u3002COLMAP \u53ef\u4ee5\u81ea\u52a8\u8bfb\u53d6\u8fd9\u4e9b\u4fe1\u606f&#xff0c;\u4f46\u5982\u679c\u4f60\u7684\u6570\u636e\u4e0d\u5305\u542b\u8fd9\u4e9b\u4fe1\u606f&#xff0c;\u4f60\u9700\u8981\u624b\u52a8\u63d0\u4f9b\u4e00\u4e2a\u5305\u542b\u56fe\u50cf\u540d\u79f0\u53ca\u5176\u5bf9\u5e94 GPS \u5750\u6807\u7684\u5217\u8868\u6587\u4ef6\u3002<\/p>\n<ul>\n<li>\u6b65\u9aa4\u4e8c&#xff1a;\u8fd0\u884c COLMAP \u7a00\u758f\u91cd\u5efa<\/li>\n<\/ul>\n<p>\u9996\u5148&#xff0c;\u4f60\u9700\u8981\u5b8c\u6210 COLMAP \u7684\u7a00\u758f\u91cd\u5efa\u8fc7\u7a0b&#xff0c;\u8fd9\u4f1a\u751f\u6210\u4e00\u4e2a\u4f4d\u4e8e\u5c40\u90e8\u5750\u6807\u7cfb\u4e2d\u7684\u4e09\u7ef4\u6a21\u578b\u4ee5\u53ca\u76f8\u673a\u7684\u59ff\u6001\u4fe1\u606f\u3002<\/p>\n<ul>\n<li>\u6b65\u9aa4\u4e09&#xff1a;\u4f7f\u7528 model_aligner \u5bf9\u9f50\u6a21\u578b<\/li>\n<\/ul>\n<p>\u63a5\u4e0b\u6765&#xff0c;\u5229\u7528 model_aligner \u5de5\u5177\u6765\u5bf9\u9f50\u6a21\u578b\u3002\u8fd9\u4e2a\u5de5\u5177\u53ef\u4ee5\u63a5\u53d7\u4e0d\u540c\u7684\u53c2\u6570\u8bbe\u7f6e&#xff0c;\u4f46\u57fa\u672c\u547d\u4ee4\u5982\u4e0b\u6240\u793a&#xff1a;<\/p>\n<p>colmap model_aligner <span class=\"token parameter variable\">&#8211;input_path<\/span> \/data\/colmap_project\/test_uav\/dense\/poission <span class=\"token parameter variable\">&#8211;output_path<\/span> \/data\/colmap_project\/test_uav\/dense\/poission\/gps <span class=\"token parameter variable\">&#8211;database_path<\/span> \/data\/colmap_project\/test_uav\/database.db <span class=\"token parameter variable\">&#8211;ref_is_gps<\/span> <span class=\"token number\">1<\/span> <span class=\"token parameter variable\">&#8211;alignment_type<\/span> ecef <span class=\"token parameter variable\">&#8211;alignment_max_error<\/span> <span class=\"token number\">3.0<\/span><\/p>\n<p>\u53c2\u6570\u89e3\u91ca \u2013input_path: \u6307\u5b9a\u4e86\u8f93\u5165\u6a21\u578b\u7684\u8def\u5f84&#xff0c;\u8fd9\u91cc\u662f \/data\/colmap_project\/test_uav\/dense\/poission\u3002\u8fd9\u4e2a\u76ee\u5f55\u901a\u5e38\u5305\u542b\u7531 COLMAP \u751f\u6210\u7684\u7a00\u758f\u6216\u7a20\u5bc6\u91cd\u5efa\u7ed3\u679c&#xff0c;\u5305\u62ec\u76f8\u673a\u59ff\u6001&#xff08;images.txt&#xff09;\u3001\u76f8\u673a\u53c2\u6570&#xff08;cameras.txt&#xff09;\u548c\u70b9\u4e91\u6570\u636e&#xff08;points3D.txt&#xff09;\u7b49\u6587\u4ef6\u3002 \u2013output_path: \u6307\u5b9a\u4e86\u8f93\u51fa\u8def\u5f84&#xff0c;\u5373\u5bf9\u9f50\u540e\u7684\u6a21\u578b\u5c06\u4f1a\u88ab\u4fdd\u5b58\u5728\u8fd9\u4e2a\u4f4d\u7f6e&#xff1a;\/data\/colmap_project\/test_uav\/dense\/poission\/gps\u3002\u8fd9\u91cc\u4f1a\u751f\u6210\u65b0\u7684\u76f8\u673a\u59ff\u6001\u3001\u76f8\u673a\u53c2\u6570\u548c\u70b9\u4e91\u6570\u636e\u6587\u4ef6&#xff0c;\u5b83\u4eec\u5df2\u7ecf\u88ab\u8f6c\u6362\u5230\u4e86\u6307\u5b9a\u7684\u5750\u6807\u7cfb\u4e2d\u3002 \u2013database_path: \u63d0\u4f9b\u4e86\u5305\u542b\u56fe\u50cf\u5143\u6570\u636e\u7684\u6570\u636e\u5e93\u6587\u4ef6\u8def\u5f84&#xff0c;\u8fd9\u91cc\u662f \/data\/colmap_project\/test_uav\/database.db\u3002\u8fd9\u4e2a\u6570\u636e\u5e93\u5305\u542b\u4e86\u7279\u5f81\u5339\u914d\u4fe1\u606f\u548c\u5176\u4ed6\u4e0e\u56fe\u50cf\u76f8\u5173\u7684\u4fe1\u606f&#xff0c;\u5bf9\u4e8e\u67d0\u4e9b\u7c7b\u578b\u7684\u5bf9\u9f50\u64cd\u4f5c\u53ef\u80fd\u662f\u5fc5\u9700\u7684\u3002 \u2013ref_is_gps: \u8bbe\u7f6e\u4e3a 1 \u8868\u793a\u6240\u63d0\u4f9b\u7684\u53c2\u8003\u5750\u6807\u662f GPS \u5750\u6807\u3002\u8fd9\u610f\u5473\u7740\u5728\u8fdb\u884c\u5bf9\u9f50\u65f6&#xff0c;model_aligner \u5c06\u5c1d\u8bd5\u4f7f\u7528\u8fd9\u4e9b GPS \u6570\u636e\u4f5c\u4e3a\u53c2\u8003\u6765\u8c03\u6574\u6a21\u578b\u7684\u4f4d\u7f6e\u548c\u65b9\u5411\u3002 \u2013alignment_type: \u5b9a\u4e49\u4e86\u8981\u4f7f\u7528\u7684\u5750\u6807\u8f6c\u6362\u7c7b\u578b&#xff0c;\u5728\u8fd9\u4e2a\u4f8b\u5b50\u4e2d\u8bbe\u7f6e\u4e3a ecef&#xff0c;\u5373\u5730\u7403\u4e2d\u5fc3\u5730\u56fa\u5750\u6807\u7cfb&#xff08;Earth-Centered, Earth-Fixed&#xff09;\u3002\u8fd9\u662f\u4e00\u79cd\u5168\u7403\u5750\u6807\u7cfb\u7edf&#xff0c;\u9002\u7528\u4e8e\u9700\u8981\u7cbe\u786e\u5730\u7406\u4f4d\u7f6e\u7684\u5e94\u7528\u573a\u666f\u3002 \u2013alignment_max_error: \u8bbe\u7f6e\u4e86\u7528\u4e8e\u9c81\u68d2\u5bf9\u9f50\u7684\u6700\u5927\u8bef\u5dee\u9608\u503c&#xff0c;\u5355\u4f4d\u4e3a\u7c73\u3002\u5728\u8fd9\u4e2a\u4f8b\u5b50\u4e2d\u8bbe\u7f6e\u4e3a 3.0 \u7c73\u3002\u8fd9\u4e2a\u53c2\u6570\u63a7\u5236\u4e86 RANSAC \u7b97\u6cd5\u5728\u5bfb\u627e\u6700\u4f73\u53d8\u6362\u65f6\u5141\u8bb8\u7684\u6700\u5927\u504f\u5dee\u503c&#xff0c;\u6709\u52a9\u4e8e\u8fc7\u6ee4\u6389\u53ef\u80fd\u5b58\u5728\u7684\u5f02\u5e38\u503c\u6216\u4e0d\u51c6\u786e\u7684\u6570\u636e\u70b9\u3002<\/p>\n<p>\u6ce8\u610f&#xff1a;model_aligner\u5904\u7406\u7684\u70b9\u4e91\u6587\u4ef6\u5fc5\u987b\u62e5\u6709\u5b8c\u6574\u76f8\u673a\u4fe1\u606fimages.txt\u548ccamera.txt\u6587\u4ef6&#xff0c;\u4e5f\u5c31\u662f\u8fd9\u4e24\u4e2a\u6587\u4ef6\u4e0d\u80fd\u4e3a\u7a7a&#xff0c;\u4f46poission\u91cd\u5efa\u5f97\u5230\u7684\u70b9\u4e91\u6ca1\u6709images.txt\u548ccamera.txt\u6587\u4ef6\u4fe1\u606f<\/p>\n<p>\u89e3\u51b3\u529e\u6cd5&#xff1a;\u5c06\u7a00\u758f\u91cd\u5efa\u5f97\u5230\u7684\u70b9\u4e91\u6587\u4ef6\u7531.bin\u683c\u5f0f\u8f6c\u5316\u4e3a.txt\u683c\u5f0f&#xff0c;\u7136\u540e\u5c06\u7a00\u758f\u70b9\u4e91\u5f97\u5230images.txt\u548ccamera.txt\u6587\u4ef6\u4ee3\u66ffpoission\u91cd\u5efa\u5bfc\u51fa\u70b9\u4e91\u7684images.txt\u548ccamera.txt\u6587\u4ef6&#xff0c;\u518d\u5bf9poission\u91cd\u5efa\u5bfc\u51fa\u7684\u70b9\u4e91\u8fdb\u884cmodel_aligner \u5bf9\u9f50\u64cd\u4f5c<\/p>\n<p>\u6700\u7ec8\u5f97\u5230gps\u5b9e\u9645\u5730\u7406\u5750\u6807\u4e0b\u7684\u6cca\u677e\u91cd\u5efa\u6a21\u578b <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184214-68029d066436d.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h4>\u53c2\u8003\u4fe1\u606f&#xff1a;colmap\u751f\u6210\u7684\u4e09\u4e2atxt\u6587\u4ef6:camera.txt image.txt\u548cpoint3D.txt<\/h4>\n<h5>cameras.txt<\/h5>\n<p>\u8fd9\u4e2a\u6587\u4ef6\u5305\u542b\u4e86\u6570\u636e\u96c6\u4e2d\u6240\u6709\u91cd\u5efa\u76f8\u673a\u7684\u5185\u5728\u53c2\u6570&#xff08;\u5373\u76f8\u673a\u5185\u53c2&#xff09;&#xff0c;\u6bcf\u4e2a\u76f8\u673a\u5360\u4e00\u884c\u3002\u6bcf\u4e00\u884c\u7684\u6570\u636e\u7ed3\u6784\u5982\u4e0b&#xff1a;<\/p>\n<p># Camera list with one line of data per camera:<br \/>\n# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]<br \/>\n# \u76f8\u673aID, \u76f8\u673a\u6a21\u578b, \u5bbd\u5ea6, \u9ad8\u5ea6, \u53c2\u6570\u6570\u7ec4<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>1 SIMPLE_PINHOLE 3072 2304 2559.81 1536 1152<\/p>\n<p>\u8fd9\u91cc\u7684\u53c2\u6570\u6839\u636e\u4e0d\u540c\u7684\u76f8\u673a\u6a21\u578b\u800c\u6709\u6240\u4e0d\u540c&#xff0c;\u6bd4\u5982 SIMPLE_PINHOLE \u6a21\u578b\u9700\u8981\u7126\u8ddd\u548c\u4e3b\u70b9\u5750\u6807\u4f5c\u4e3a\u53c2\u6570\u3002<\/p>\n<h5>images.txt<\/h5>\n<p>\u8be5\u6587\u4ef6\u5305\u542b\u4e86\u6570\u636e\u96c6\u4e2d\u6240\u6709\u91cd\u5efa\u56fe\u50cf\u7684\u59ff\u6001&#xff08;\u4f4d\u59ff&#xff09;\u548c\u5173\u952e\u70b9&#xff0c;\u6bcf\u5f20\u56fe\u50cf\u5360\u4e24\u884c\u3002\u7b2c\u4e00\u884c\u5305\u542b\u56fe\u50cf\u7684\u59ff\u6001\u4fe1\u606f\u548c\u76f8\u673aID\u53ca\u540d\u79f0&#xff0c;\u7b2c\u4e8c\u884c\u5219\u662f\u4e0e\u8be5\u56fe\u50cf\u5173\u8054\u7684\u5173\u952e\u70b9\u53ca\u5176\u5bf9\u5e94\u7684\u4e09\u7ef4\u70b9ID\u3002\u6bcf\u4e00\u884c\u7684\u6570\u636e\u7ed3\u6784\u5982\u4e0b&#xff1a;<\/p>\n<p># Image list with two lines of data per image:<br \/>\n# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME<br \/>\n# POINTS2D[] as (X, Y, POINT3D_ID)<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>1 0.851773 0.0165051 0.503764 -0.142941 -0.737434 1.02973 3.74354 1 P1180141.JPG<br \/>\n2362.39 248.498 58396 1784.7 268.254 59027 1784.7 268.254 -1<\/p>\n<p>\u8fd9\u91cc\u4f7f\u7528\u56db\u5143\u6570 (QW, QX, QY, QZ) \u548c\u5e73\u79fb\u5411\u91cf (TX, TY, TZ) \u6765\u8868\u793a\u56fe\u50cf\u7684\u59ff\u6001&#xff0c;\u800c (X, Y, POINT3D_ID) \u5219\u662f\u56fe\u50cf\u4e0a\u7684\u4e8c\u7ef4\u7279\u5f81\u70b9\u53ca\u5176\u5bf9\u5e94\u4e09\u7ef4\u70b9\u7684ID \u3002<\/p>\n<h5>points3D.txt<\/h5>\n<p>\u8be5\u6587\u4ef6\u5305\u542b\u4e86\u6570\u636e\u96c6\u4e2d\u6240\u6709\u91cd\u5efa\u7684\u4e09\u7ef4\u70b9\u7684\u4fe1\u606f&#xff0c;\u6bcf\u4e2a\u70b9\u5360\u4e00\u884c\u3002\u6bcf\u4e00\u884c\u7684\u6570\u636e\u7ed3\u6784\u5982\u4e0b&#xff1a;<\/p>\n<p># 3D point list with one line of data per point:<br \/>\n# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>63390 1.67241 0.292931 0.609726 115 121 122 1.33927 16 6542 15 7345 6 6714 14 7227 63376<\/p>\n<p>\u8fd9\u91cc\u5305\u542b\u4e86\u4e09\u7ef4\u70b9\u7684\u5750\u6807 (X, Y, Z)\u3001\u989c\u8272\u4fe1\u606f (R, G, B)\u3001\u91cd\u6295\u5f71\u8bef\u5dee ERROR \u4ee5\u53ca\u8be5\u70b9\u51fa\u73b0\u5728\u54ea\u4e9b\u56fe\u50cf\u4e2d\u7684\u8bb0\u5f55 TRACK[]&#xff0c;\u5373\u56fe\u50cfID\u548c\u5728\u56fe\u50cf\u4e2d\u7684\u4e8c\u7ef4\u70b9\u7d22\u5f15 \u3002<\/p>\n<h4>\u683c\u5f0f\u8f6c\u6362<\/h4>\n<p>CloudCompare\u662f\u4e00\u6b3e\u5f00\u6e90\u7684\u4e09\u7ef4\u70b9\u4e91&#xff08;\u548c\u4e09\u89d2\u5f62\u7f51\u683c&#xff09;\u5904\u7406\u8f6f\u4ef6<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184214-68029d06a6ae5.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> CloudCompare\u662f\u4f7f\u7528C&#043;&#043;\u5f00\u53d1\u7684&#xff0c;\u7528\u6237\u754c\u9762\u57fa\u4e8eQt&#xff0c;\u56fe\u5f62\u6e32\u67d3\u4f7f\u7528OpenGL\u3002\u5b83\u53ef\u4ee5\u5728Windows\u3001MacOS\u548cLinux\u64cd\u4f5c\u7cfb\u7edf\u4e0a\u8fd0\u884c&#xff0c;\u5e76\u4e14\u652f\u630132\u4f4d\u548c64\u4f4d\u4f53\u7cfb\u7ed3\u6784\u3002\u7531\u4e8e\u5176\u9ad8\u6548\u7684\u7b97\u6cd5\u5b9e\u73b0\u548c\u826f\u597d\u7684\u67b6\u6784\u8bbe\u8ba1&#xff0c;CloudCompare\u80fd\u591f\u5728\u6807\u51c6\u7b14\u8bb0\u672c\u7535\u8111\u4e0a\u5904\u7406\u5927\u89c4\u6a21\u7684\u70b9\u4e91\u2014\u2014\u901a\u5e38\u8d85\u8fc71000\u4e07\u4e2a\u70b9<\/p>\n<p>\u6ce8\u610f&#xff1a;\u8981\u5c06\u901a\u8fc7\u6cca\u677e\u91cd\u5efa\u5f97\u5230\u7684 .ply \u6587\u4ef6\u8f6c\u6362\u4e3a .las \u6587\u4ef6&#xff0c;\u5176\u4e2d\u5728\u5bfc\u5165.ply\u6587\u4ef6\u65f6\u9009\u62e9yes to all\u9009\u9879&#xff0c;\u8981\u4e0d\u5728\u8f6c\u5316\u7684\u65f6\u5019\u4f1a\u5bfc\u81f4.las\u6587\u4ef6\u7684\u4e09\u7ef4\u5730\u7406\u5750\u6807\u51fa\u9519 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184215-68029d0766bbb.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u8f6c\u6362\u540e\u5728cesiumlab\u4e2d\u8bbe\u7f6e\u7a7a\u95f4\u53c2\u8003\u4e3aEPSG:4978\u5373\u53ef\u5f97\u5230\u70b9\u4e91\u7684\u4e09\u4f4d\u5207\u7247\u6a21\u578b&#xff0c;\u5e76\u53ef\u4ee5\u52a0\u8f7d\u5728\u5730\u7403\u4e0a <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184215-68029d07977b0.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> EPSG:4978<\/p>\n<p>EPSG:4978 \u662f\u57fa\u4e8eWGS 84\u53c2\u8003\u692d\u7403\u7684\u5730\u5fc3\u5730\u56fa\u76f4\u89d2\u5750\u6807\u7cfb&#xff08;Earth-Centered, Earth-Fixed, ECEF&#xff09;&#xff0c;\u5373colmap\u5730\u7406\u914d\u51c6\u540e\u4e09\u7ef4\u6a21\u578b\u81ea\u5e26\u7684\u5750\u6807\u4fe1\u606f&#xff0c;\u5b83\u662f\u4e00\u79cd\u4e09\u7ef4\u7b1b\u5361\u5c14\u5750\u6807\u7cfb&#xff0c;\u7528\u4e8e\u8868\u793a\u5730\u7403\u8868\u9762\u6216\u5176\u4e0a\u65b9\/\u4e0b\u65b9\u70b9\u7684\u4f4d\u7f6e\u3002\u5728\u8fd9\u79cd\u5750\u6807\u7cfb\u4e2d&#xff0c;\u5730\u7403\u88ab\u89c6\u4e3a\u4e00\u4e2a\u5b8c\u7f8e\u7684\u65cb\u8f6c\u692d\u7403\u4f53&#xff0c;\u5e76\u4e14\u5750\u6807\u7cfb\u7684\u539f\u70b9\u4f4d\u4e8e\u5730\u7403\u7684\u8d28\u91cf\u4e2d\u5fc3&#xff08;\u8d28\u5fc3&#xff09;\u3002<\/p>\n<p>\u5177\u4f53\u6765\u8bf4&#xff0c;EPSG:4978 \u5750\u6807\u7cfb\u5177\u6709\u4ee5\u4e0b\u7279\u5f81&#xff1a;<\/p>\n<ul>\n<li>\u539f\u70b9&#xff1a;\u5730\u7403\u7684\u8d28\u5fc3\u3002<\/li>\n<li>X\u8f74&#xff1a;\u5ef6\u4f38\u901a\u8fc7\u672c\u521d\u5b50\u5348\u7ebf&#xff08;0\u5ea6\u7ecf\u7ebf&#xff09;\u548c\u8d64\u9053&#xff08;0\u5ea6\u7eac\u7ebf&#xff09;\u7684\u4ea4\u70b9\u3002<\/li>\n<li>Y\u8f74&#xff1a;\u4e0eX\u8f74\u5782\u76f4\u4e14\u4f4d\u4e8e\u8d64\u9053\u5e73\u9762\u5185&#xff0c;\u6307\u5411\u4e1c\u7ecf90\u5ea6\u7684\u65b9\u5411\u3002<\/li>\n<li>Z\u8f74&#xff1a;\u5ef6\u4f38\u901a\u8fc7\u5317\u6781&#xff0c;\u5373\u4e0e\u5730\u7403\u7684\u81ea\u8f6c\u8f74\u91cd\u5408\u3002<\/li>\n<\/ul>\n<p>\u4e0eEPSG:4326\u7684\u8f6c\u6362\u5173\u7cfb&#xff1a; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184216-68029d08512df.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>COLMAP\u6cca\u677e\u683c\u7f51\u91cd\u5efa<\/h3>\n<p>\u8fd9\u91cc\u5176\u5b9ecolmap\u5df2\u7ecf\u5bf9\u7a20\u5bc6\u4e09\u7ef4\u70b9\u4e91&#xff08;fused.ply&#xff09;\u6587\u4ef6\u8fdb\u884c\u4e86\u6cca\u677e\u4e09\u7ef4\u683c\u7f51\u7684\u91cd\u5efa\u4e86&#xff0c;\u4f46\u662f\u8fd9\u4e2a\u91cd\u5efa\u7684mesh\u6a21\u578b\u6ca1\u6709\u771f\u5b9e\u7684\u5730\u7406\u4fe1\u606f&#xff0c;\u51c6\u786e\u8bf4\u662f\u6709\u76f8\u673a\u7684\u4f4d\u7f6e\u59ff\u6001\u4fe1\u606f&#xff0c;\u53ea\u662f\u6ca1\u6709\u5730\u7406\u4f4d\u7f6e\u548c\u5927\u5c0f\u7f29\u653e\u4fe1\u606f<\/p>\n<p>&#8211; \u89e3\u51b3\u5730\u7406\u4f4d\u7f6e\u4fe1\u606f\u53ef\u4ee5\u5728obj2tiles\u5de5\u5177\u8fdb\u884c3dtiles\u5207\u7247\u65f6\u81ea\u52a8\u8bbe\u7f6e<\/p>\n<p>\/home\/sy_cmsr\/obj2tiles\/Obj2Tiles \/data\/colmap_project\/obj\/colmap_uav\/texture\/texture.obj \/data\/colmap_project\/obj\/colmap_uav\/texture\/3dtiles <span class=\"token parameter variable\">&#8211;lat<\/span> <span class=\"token number\">30.448310<\/span> <span class=\"token parameter variable\">&#8211;lon<\/span> <span class=\"token number\">114.576916<\/span> <span class=\"token parameter variable\">&#8211;alt<\/span> <span class=\"token number\">17.670332<\/span><\/p>\n<p>&#8211; \u89e3\u51b3\u5927\u5c0f\u7f29\u653e\u4fe1\u606f\u9700\u8981\u501f\u52a9meshlab\u548cCloudcompare\u5de5\u5177\u8054\u5408\u89e3\u51b3<\/p>\n<p>1\u3001\u9996\u5148\u5728Cloudcompare\u4e2d\u4f7f\u7528mesh\u5de5\u5177\u5bf9\u771f\u5b9e\u5730\u7406\u5750\u6807\u4e0b\u6cca\u677e\u91cd\u5efa\u540e\u7684\u4e09\u7ef4\u70b9\u4e91\u8fdb\u884c\u683c\u7f51\u5316\u5904\u7406 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184216-68029d08c86b5.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u5f97\u5230\u4e09\u7ef4mesh\u6a21\u578b\u7684\u7c97\u7cd9\u6a21\u578b&#xff08;\u7c97\u7cd9\u6a21\u578b\u5c31\u591f\u4e86&#xff0c;\u56e0\u4e3a\u7cbe\u7ec6\u6a21\u578bcolmap\u5df2\u7ecf\u5efa\u597d\u4e86&#xff0c;\u6211\u53ea\u9700\u8981\u5f97\u5230\u4e24\u8005\u7684\u5927\u5c0f\u7f29\u653e\u5173\u7cfb\u5373\u53ef&#xff09; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184216-68029d08e8787.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> 2\u3001\u5728Cloudcompare\u4e2d\u4f7f\u7528\u4f7f\u7528\u6d4b\u91cf\u5de5\u5177\u5206\u522b\u91cf\u6d4b\u5730\u7406\u914d\u7f6e\u540e\u7684mesh\u6a21\u578b\u548c\u7cbe\u7ec6\u7684meshed-poission\u6a21\u578b\u591a\u4e2a\u5730\u7406\u5efa\u7b51\u4f53\u7684\u8ddd\u79bb&#xff0c;\u91cf\u6d4b\u591a\u4e2a\u8ddd\u79bb\u540e\u53d6\u5e73\u5747\u503c\u53ef\u4ee5\u5f97\u5230\u5730\u7406\u914d\u7f6e\u540e\u7684mesh\u6a21\u578b\u548c\u7cbe\u7ec6\u7684meshed-poission\u6a21\u578b\u95f4\u7684\u7f29\u653e\u5173\u7cfb\u3002<\/p>\n<p>\u4f8b\u59828.409\/0.658&#061;12.78 \u7f29\u653e\u5173\u7cfb\u5927\u81f4\u572812.78\u4e0a\u4e0b\u7684\u533a\u95f4\u91cc\u9762<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184217-68029d095f2a9.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184218-68029d0a2069c.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> 3\u3001\u5728meshlab\u4e2d\u5bf9\u7cbe\u7ec6\u7684meshed-poission\u6a21\u578b\u8fdb\u884c\u7f29\u653e\u51fa\u6765&#xff0c;\u4e3b\u8981\u662f\u4f7f\u7528transform:Scale,Normalize\u5de5\u5177\u5904\u7406&#xff0c;&#xff0c;\u5373\u53ef\u5f97\u5230\u6b63\u5e38\u7f29\u653e\u5927\u5c0f\u4e0b\u7684mesh\u4e09\u7ef4\u683c\u7f51\u6a21\u578b <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184218-68029d0ade8d6.png\" alt=\"\" \/><\/p>\n<p>\u4e09\u7ef4mesh\u683c\u7f51\u6a21\u578b meshed-poisson-transform.ply\u6587\u4ef6<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184219-68029d0b0ed73.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>meshlab\u7eb9\u7406\u8d34\u56fe<\/h3>\n<p>.obj\u4e09\u7ef4\u7eb9\u7406\u8d34\u56fe\u6587\u4ef6\u9700\u8981\u7684\u6587\u4ef6\u7ed3\u6784&#xff1a;<\/p>\n<ul>\n<li>\u83b7\u53d6\u6a21\u578b\u6587\u4ef6&#xff1a;\u786e\u4fdd\u4f60\u6709\u4e00\u4e2a\u5305\u542b\u7eb9\u7406\u5750\u6807\u4fe1\u606f\u7684\u6a21\u578b\u6587\u4ef6&#xff08;\u4f8b\u5982.obj&#xff09;\u3002\u8fd9\u4e2a\u6587\u4ef6\u5e94\u8be5\u5df2\u7ecf\u5305\u542b\u4e86\u9876\u70b9&#xff08;v&#xff09;\u3001\u7eb9\u7406\u5750\u6807&#xff08;vt&#xff09;\u3001\u6cd5\u7ebf&#xff08;vn&#xff09;\u4ee5\u53ca\u9762\u7247&#xff08;f&#xff09;\u7684\u4fe1\u606f&#xff0c;\u5e76\u4e14\u8fd9\u4e9b\u4fe1\u606f\u6b63\u786e\u5730\u5f15\u7528\u4e86\u6750\u8d28\u6587\u4ef6\u3002<\/li>\n<li>\u6750\u8d28\u6587\u4ef6&#xff1a;\u5982\u679c\u4f60\u7684\u6a21\u578b\u4f7f\u7528\u4e86\u6750\u8d28&#xff0c;\u4f60\u9700\u8981\u4e00\u4e2a\u5bf9\u5e94\u7684.mtl\u6587\u4ef6\u3002\u8be5\u6587\u4ef6\u5b9a\u4e49\u4e86\u6750\u8d28\u5c5e\u6027&#xff0c;\u5305\u62ec\u989c\u8272\u3001\u900f\u660e\u5ea6\u7b49&#xff0c;\u5e76\u6307\u5b9a\u4e86\u7528\u4e8e\u6e32\u67d3\u7684\u7eb9\u7406\u56fe\u50cf\u6587\u4ef6\u540d\u3002<\/li>\n<li>\u7eb9\u7406\u56fe\u50cf&#xff1a;\u51c6\u5907\u597d\u4f60\u7684\u7eb9\u7406\u56fe\u50cf\u6587\u4ef6&#xff08;\u901a\u5e38\u662f.png\u6216.jpg\u683c\u5f0f&#xff09;&#xff0c;\u5e76\u786e\u4fdd\u5176\u8def\u5f84\u4e0e.mtl\u6587\u4ef6\u4e2d\u7684\u6307\u5b9a\u76f8\u5339\u914d\u3002<\/li>\n<\/ul>\n<p>1\u3001\u53c2\u6570\u5316&#xff08;Parameterization&#xff09; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184219-68029d0b85d7a.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/> \u8fd9\u4e00\u6b65\u662f\u4e3a\u4e86\u521b\u5efaUV\u5750\u6807&#xff0c;\u5c06\u4e09\u7ef4\u5e73\u9762\u8f6c\u4e3a\u4e8c\u7ef4\u5e73\u9762&#xff0c; \u4f7f\u5176\u53ef\u4ee5\u5c06mesh\u6587\u4ef6\u7684\u989c\u8272\u9644\u7740\u5728UV\u5750\u6807\u4e0a\u5f62\u6210\u7eb9\u7406\u56fe\u7247<\/p>\n<p>2\u3001\u7eb9\u7406\u6295\u5f71<\/p>\n<p>\u8fd9\u91cc\u53ef\u4ee5\u8bbe\u7f6e\u7eb9\u7406\u6295\u5f71\u56fe\u7247\u7684\u50cf\u7d20\u5927\u5c0f<\/p>\n<p>![<img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250418184219-68029d0ba4e81.png\" alt=\"](https:\/\/i-blog.csdnimg.cn\/direct\/ee70ab65f0064bfab480122a8e9e5642.png)\" \/><\/p>\n<p>3\u3001\u5bfc\u51fa\u4e3a.obj\u6587\u4ef6<\/p>\n<p><img decoding=\"async\" src=\"2025-04-19nsrgggd5mjn.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>3dtiles\u5207\u7247\u5904\u7406<\/h3>\n<p>\u6ce8\u610f\u5229\u7528obj2tiles\u5de5\u5177\u8fdb\u884c\u5904\u7406<\/p>\n<p>\u6e90\u7801\u94fe\u63a5&#xff1a;Obj2Tiles<\/p>\n<p>\u547d\u4ee4\u884c\u53c2\u6570&#xff1a;<\/p>\n<p>  Input <span class=\"token punctuation\">(<\/span>pos. <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span>         Required. Input OBJ file.<br \/>\n  Output <span class=\"token punctuation\">(<\/span>pos. <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span>        Required. Output folder.<\/p>\n<p>  -s, <span class=\"token parameter variable\">&#8211;stage<\/span>            <span class=\"token punctuation\">(<\/span>Default: Tiling<span class=\"token punctuation\">)<\/span> Stage to stop at <span class=\"token punctuation\">(<\/span>Decimation, Splitting, Tiling<span class=\"token punctuation\">)<\/span><\/p>\n<p>  -l, <span class=\"token parameter variable\">&#8211;lods<\/span>             <span class=\"token punctuation\">(<\/span>Default: <span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span> How many levels of details<\/p>\n<p>  -d, <span class=\"token parameter variable\">&#8211;divisions<\/span>        <span class=\"token punctuation\">(<\/span>Default: <span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span> How many tiles divisions<br \/>\n  -z, <span class=\"token parameter variable\">&#8211;zsplit<\/span>           <span class=\"token punctuation\">(<\/span>Default: <span class=\"token boolean\">false<\/span><span class=\"token punctuation\">)<\/span> Splits along z-axis too<br \/>\n  -k, <span class=\"token parameter variable\">&#8211;keeptextures<\/span>     <span class=\"token punctuation\">(<\/span>Default: <span class=\"token boolean\">false<\/span><span class=\"token punctuation\">)<\/span> Keeps original textures<\/p>\n<p>  <span class=\"token parameter variable\">&#8211;lat<\/span>                  Latitude of the mesh<br \/>\n  <span class=\"token parameter variable\">&#8211;lon<\/span>                  Longitude of the mesh<br \/>\n  <span class=\"token parameter variable\">&#8211;alt<\/span>                  <span class=\"token punctuation\">(<\/span>Default: <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span> Altitude of the mesh <span class=\"token punctuation\">(<\/span>meters<span class=\"token punctuation\">)<\/span><br \/>\n  -e, <span class=\"token parameter variable\">&#8211;error<\/span>            <span class=\"token punctuation\">(<\/span>Default: <span class=\"token number\">100<\/span><span class=\"token punctuation\">)<\/span>, baseError value <span class=\"token keyword\">for<\/span> root <span class=\"token function\">node<\/span><br \/>\n  <span class=\"token parameter variable\">&#8211;scale<\/span>                <span class=\"token punctuation\">(<\/span>Default: <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span>, scale <span class=\"token keyword\">for<\/span> data <span class=\"token keyword\">if<\/span> using <span class=\"token function\">units<\/span> other than meters <span class=\"token punctuation\">(<\/span> <span class=\"token number\">1200.0<\/span>\/3937.0 <span class=\"token keyword\">for<\/span> survey ft<span class=\"token punctuation\">)<\/span>  <\/p>\n<p>  &#8211;y-up-to-z-up         <span class=\"token punctuation\">(<\/span>Default: <span class=\"token boolean\">false<\/span><span class=\"token punctuation\">)<\/span> Converts Y-up to Z-up<\/p>\n<p>  &#8211;use-system-temp      <span class=\"token punctuation\">(<\/span>Default: <span class=\"token boolean\">false<\/span><span class=\"token punctuation\">)<\/span> Uses the system temp folder<br \/>\n  &#8211;keep-intermediate    <span class=\"token punctuation\">(<\/span>Default: <span class=\"token boolean\">false<\/span><span class=\"token punctuation\">)<\/span> Keeps the intermediate files <span class=\"token punctuation\">(<\/span>do not cleanup<span class=\"token punctuation\">)<\/span><\/p>\n<p>  <span class=\"token parameter variable\">&#8211;help<\/span>                 Display this <span class=\"token builtin class-name\">help<\/span> screen.<br \/>\n  <span class=\"token parameter variable\">&#8211;version<\/span>              Display version information.<\/p>\n<p>\u4e3a\u4e86\u589e\u52a0 Levels of Detail (LOD) \u7684\u5c42\u7ea7\u6570\u91cf&#xff0c;\u4f60\u53ef\u4ee5\u4f7f\u7528 -l \u6216 &#8211;lods \u53c2\u6570\u6765\u6307\u5b9a\u4f60\u5e0c\u671b\u751f\u6210\u7684 LOD \u5c42\u7ea7\u6570\u91cf\u3002\u9ed8\u8ba4\u60c5\u51b5\u4e0b&#xff0c;\u8fd9\u4e2a\u503c\u662f 3\u3002\u4e0b\u9762\u662f\u5bf9\u547d\u4ee4\u4e2d\u5404\u4e2a\u53c2\u6570\u542b\u4e49\u7684\u8bf4\u660e&#xff0c;\u4ee5\u53ca\u5982\u4f55\u8bbe\u7f6e\u66f4\u591a\u7684 LOD \u5c42\u7ea7\u3002<\/p>\n<p><img decoding=\"async\" src=\"2025-04-19k2j0b1c3us5.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u53c2\u6570\u89e3\u91ca<\/p>\n<ul>\n<li>\n<p>Input (pos. 0): \u5fc5\u987b\u63d0\u4f9b\u7684\u8f93\u5165 OBJ \u6587\u4ef6\u8def\u5f84\u3002<\/p>\n<\/li>\n<li>\n<p>Output (pos. 1): \u8f93\u51fa\u6587\u4ef6\u5939\u8def\u5f84&#xff0c;\u7528\u4e8e\u5b58\u653e\u8f6c\u6362\u540e\u7684 3D Tiles \u6570\u636e\u3002<\/p>\n<\/li>\n<li>\n<p>-s, &#8211;stage: \u8bbe\u7f6e\u5904\u7406\u8fc7\u7a0b\u505c\u6b62\u7684\u9636\u6bb5\u3002\u53ef\u9009\u9879\u5305\u62ec Decimation&#xff08;\u7b80\u5316&#xff09;\u3001Splitting&#xff08;\u5206\u5272&#xff09;\u548c Tiling&#xff08;\u74e6\u7247\u5316&#xff09;\u3002\u9ed8\u8ba4\u662f Tiling\u3002<\/p>\n<\/li>\n<li>\n<p>-l, &#8211;lods: \u8bbe\u7f6e\u7ec6\u8282\u5c42\u6b21&#xff08;LOD&#xff09;\u7684\u6570\u91cf\u3002\u5982\u679c\u4f60\u60f3\u589e\u52a0 LOD \u5c42\u7ea7&#xff0c;\u53ef\u4ee5\u901a\u8fc7\u6b64\u53c2\u6570\u8c03\u6574\u3002\u4f8b\u5982&#xff0c;\u82e5\u8981\u8bbe\u7f6e\u4e3a5\u7ea7LOD&#xff0c;\u5219\u4f7f\u7528 -l 5\u3002<\/p>\n<\/li>\n<li>\n<p>-d, &#8211;divisions: \u8bbe\u7f6e\u6bcf\u4e2a LOD \u5c42\u7ea7\u4e2d\u7684\u5206\u5272\u6570\u3002\u66f4\u9ad8\u7684\u6570\u503c\u610f\u5473\u7740\u66f4\u7ec6\u7684\u5206\u5272&#xff0c;\u4f46\u4e5f\u4f1a\u6d88\u8017\u66f4\u591a\u5185\u5b58\u548c\u5904\u7406\u65f6\u95f4\u3002\u9ed8\u8ba4\u503c\u4e3a2\u3002<\/p>\n<\/li>\n<li>\n<p>-z, &#8211;zsplit: \u662f\u5426\u6cbfZ\u8f74\u8fdb\u884c\u5206\u5272\u3002\u9ed8\u8ba4\u662f false\u3002\u5982\u679c\u6a21\u578b\u9700\u8981\u5728\u9ad8\u5ea6\u65b9\u5411\u4e0a\u6709\u66f4\u7ec6\u81f4\u7684\u5212\u5206&#xff0c;\u53ef\u4ee5\u8bbe\u4e3a true\u3002<\/p>\n<\/li>\n<li>\n<p>-k, &#8211;keeptextures: \u662f\u5426\u4fdd\u7559\u539f\u59cb\u7eb9\u7406\u3002\u9ed8\u8ba4\u662f false\u3002\u5982\u679c\u4f60\u60f3\u8981\u4fdd\u6301\u539f\u59cb\u6750\u8d28\u548c\u7eb9\u7406&#xff0c;\u53ef\u4ee5\u8bbe\u4e3a true\u3002<\/p>\n<\/li>\n<li>\n<p>\u2013lat: \u6a21\u578b\u653e\u7f6e\u7684\u7eac\u5ea6\u5750\u6807\u3002<\/p>\n<\/li>\n<li>\n<p>\u2013lon: \u6a21\u578b\u653e\u7f6e\u7684\u7ecf\u5ea6\u5750\u6807\u3002<\/p>\n<\/li>\n<li>\n<p>\u2013alt: \u6a21\u578b\u653e\u7f6e\u7684\u6d77\u62d4\u9ad8\u5ea6&#xff0c;\u9ed8\u8ba4\u662f0\u7c73\u3002<\/p>\n<\/li>\n<li>\n<p>-e, &#8211;error: \u6839\u8282\u70b9\u7684\u57fa\u7840\u8bef\u5dee\u503c(baseError)&#xff0c;\u5f71\u54cdLOD\u5206\u8fa8\u7387\u3002\u8f83\u4f4e\u7684\u8bef\u5dee\u503c\u4f1a\u4f7f\u5f97\u6a21\u578b\u5728\u66f4\u5927\u7684\u8ddd\u79bb\u4e0a\u4fdd\u6301\u66f4\u9ad8\u7684\u5206\u8fa8\u7387\u3002\u9ed8\u8ba4\u503c\u4e3a100\u3002<\/p>\n<\/li>\n<li>\n<p>\u2013scale: \u5982\u679c\u4f7f\u7528\u7684\u5355\u4f4d\u4e0d\u662f\u7c73&#xff0c;\u53ef\u901a\u8fc7\u6b64\u53c2\u6570\u8c03\u6574\u6bd4\u4f8b\u3002\u4f8b\u5982&#xff0c;\u5bf9\u4e8e\u6d4b\u91cf\u82f1\u5c3a&#xff0c;\u53ef\u4ee5\u4f7f\u7528 1200.0\/3937.0\u3002<\/p>\n<\/li>\n<li>\n<p>\u2013y-up-to-z-up: \u662f\u5426\u5c06Y\u5411\u4e0a\u5750\u6807\u7cfb\u8f6c\u6362\u4e3aZ\u5411\u4e0a\u5750\u6807\u7cfb\u3002\u9ed8\u8ba4\u662f false\u3002<\/p>\n<\/li>\n<li>\n<p>\u2013use-system-temp: \u662f\u5426\u4f7f\u7528\u7cfb\u7edf\u7684\u4e34\u65f6\u6587\u4ef6\u5939\u5b58\u50a8\u4e2d\u95f4\u6570\u636e\u3002\u9ed8\u8ba4\u662f false\u3002<\/p>\n<\/li>\n<li>\n<p>\u2013keep-intermediate: \u662f\u5426\u4fdd\u7559\u5904\u7406\u8fc7\u7a0b\u4e2d\u4ea7\u751f\u7684\u4e2d\u95f4\u6587\u4ef6\u800c\u4e0d\u6e05\u7406\u3002\u9ed8\u8ba4\u662f false\u3002\u8fd9\u6709\u52a9\u4e8e\u8c03\u8bd5&#xff0c;\u4f46\u4f1a\u5360\u7528\u66f4\u591a\u78c1\u76d8\u7a7a\u95f4\u3002<\/p>\n<\/li>\n<\/ul>\n<h4>\u8c03\u6574\u5176\u4ed6\u53c2\u6570\u4ee5\u4f18\u5316\u6027\u80fd<\/h4>\n<ul>\n<li>\u5982\u679c\u53d1\u73b0\u5185\u5b58\u4e0d\u8db3\u6216\u5904\u7406\u901f\u5ea6\u6162&#xff0c;\u53ef\u4ee5\u8003\u8651\u51cf\u5c11 -l\u548c-d \u53c2\u6570\u7684\u503c&#xff08;\u4f8b\u5982\u4ece\u9ed8\u8ba4\u76842\u964d\u4f4e\u52301&#xff09;&#xff0c;\u8fd9\u5c06\u51cf\u5c11LOD\u7684\u5c42\u7ea7\u548c\u6bcf\u4e2aLOD\u5c42\u7ea7\u7684\u7ec6\u5206\u6570\u91cf&#xff0c;\u4ece\u800c\u964d\u4f4e\u5185\u5b58\u4f7f\u7528\u548c\u8ba1\u7b97\u590d\u6742\u5ea6\u3002<\/li>\n<li>\u540c\u65f6&#xff0c;\u9002\u5f53\u8c03\u6574 -e \u53c2\u6570\u7684\u57fa\u7840\u8bef\u5dee\u503c\u4e5f\u53ef\u4ee5\u5e2e\u52a9\u5e73\u8861LOD\u4e4b\u95f4\u7684\u5e73\u6ed1\u8fc7\u6e21\u4e0e\u6027\u80fd\u4e4b\u95f4\u7684\u5173\u7cfb\u3002<\/li>\n<\/ul>\n<p>\u901a\u8fc7\u8fd9\u4e9b\u53c2\u6570\u7684\u8c03\u6574&#xff0c;\u4f60\u53ef\u4ee5\u6839\u636e\u81ea\u5df1\u7684\u9700\u6c42\u4f18\u5316\u8f93\u51fa\u76843D Tiles\u6570\u636e\u96c6&#xff0c;\u65e0\u8bba\u662f\u4e3a\u4e86\u66f4\u597d\u7684\u89c6\u89c9\u6548\u679c\u8fd8\u662f\u4e3a\u4e86\u9002\u5e94\u786c\u4ef6\u8d44\u6e90\u9650\u5236\u3002\u5982\u679c\u6709\u7279\u5b9a\u7684\u9700\u6c42\u6216\u9047\u5230\u95ee\u9898&#xff0c;\u8bf7\u63d0\u4f9b\u66f4\u591a\u4fe1\u606f\u4ee5\u4fbf\u8fdb\u4e00\u6b65\u5e2e\u52a9\u3002<\/p>\n<p>\u6700\u7ec8\u5728cesiumlab\u4e2d\u52a0\u8f7d3dtiles\u5207\u7247\u6a21\u578b\u7684\u6548\u679c<\/p>\n<p><img decoding=\"async\" src=\"2025-04-19lttkiiebrrp.png\" alt=\"\" \/><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb1.3k\u6b21\uff0c\u70b9\u8d5e24\u6b21\uff0c\u6536\u85cf26\u6b21\u3002\uff0c\u5373colmap\u5730\u7406\u914d\u51c6\u540e\u4e09\u7ef4\u6a21\u578b\u81ea\u5e26\u7684\u5750\u6807\u4fe1\u606f\uff0c\u5b83\u662f\u4e00\u79cd\u4e09\u7ef4\u7b1b\u5361\u5c14\u5750\u6807\u7cfb\uff0c\u7528\u4e8e\u8868\u793a\u5730\u7403\u8868\u9762\u6216\u5176\u4e0a\u65b9\/\u4e0b\u65b9\u70b9\u7684\u4f4d\u7f6e\u3002\u8fd9\u91cc\u5176\u5b9ecolmap\u5df2\u7ecf\u5bf9\u7a20\u5bc6\u4e09\u7ef4\u70b9\u4e91\uff08fused.ply\uff09\u6587\u4ef6\u8fdb\u884c\u4e86\u6cca\u677e\u4e09\u7ef4\u683c\u7f51\u7684\u91cd\u5efa\u4e86\uff0c\u4f46\u662f\u8fd9\u4e2a\u91cd\u5efa\u7684mesh\u6a21\u578b\u6ca1\u6709\u771f\u5b9e\u7684\u5730\u7406\u4fe1\u606f\uff0c\u51c6\u786e\u8bf4\u662f\u6709\u76f8\u673a\u7684\u4f4d\u7f6e\u59ff\u6001\u4fe1\u606f\uff0c\u53ea\u662f\u6ca1\u6709\u5730\u7406\u4f4d\u7f6e\u548c\u5927\u5c0f\u7f29\u653e\u4fe1\u606f\u3002\u65e0\u8bba\u662f\u901a\u8fc7 GUI \u8fd8\u662f\u547d\u4ee4\u884c\uff0cCOLMAP \u90fd\u63d0\u4f9b\u4e86\u4e00\u5957\u5b8c\u6574\u7684\u6d41\u7a0b\u6765\u8fdb\u884c\u4e09\u7ef4\u91cd\u5efa\uff0c\u4ece\u7279\u5f81\u63d0\u53d6\u5230\u7a20\u5bc6\u91cd\u5efa\u518d\u5230\u8868\u9762\u91cd\u5efa\uff0c\u6bcf\u4e2a\u9636\u6bb5\u90fd\u6709\u76f8\u5e94\u7684\u53c2\u6570\u8c03\u6574\u7a7a\u95f4\uff0c\u53ef\u4ee5\u6839\u636e\u5177\u4f53\u9700\u6c42\u8fdb\u884c\u4f18\u5316\u3002_colmap<\/p>\n","protected":false},"author":2,"featured_media":20020,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[43,395,44],"topic":[],"class_list":["post-20040","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-43","tag-395","tag-44"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u5229\u7528\u670d\u52a1\u5668\u7ed3\u5408COLMAP\u65b9\u6848\u5b9e\u73b0\u81ea\u52a8\u5316\u5feb\u901f\u4e09\u7ef4\u91cd\u5efa - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/20040.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u5229\u7528\u670d\u52a1\u5668\u7ed3\u5408COLMAP\u65b9\u6848\u5b9e\u73b0\u81ea\u52a8\u5316\u5feb\u901f\u4e09\u7ef4\u91cd\u5efa - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" 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