Colmap根据相机内外参数重建稀疏模型

官方文档：https://colmap.github.io/faq.html#reconstruct-sparse-dense-model-from-known-camera-poses
参考博客：http://www.mamicode.com/info-detail-2838274.html

1.创建稀疏模型工作文件夹

       已知相机的位姿，手动创建文件cameras.txt，points3D.txt以及images.txt文件价路径：

+── .../created/sparse
│   +── cameras.txt
│   +── images.txt
│   +── points3D.txt

       其中相机内参存放在cameras.txt中，外参(camera extrinsics)存放在 images.txt，points3D.txt为空文件。
cameras.txt示例：

# Camera list with one line of data per camera:
# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]
# Number of cameras: 1
1 OPENCV 1280 720 913.603 915.366 651.568 366.541 0.0961 -0.1858 0 0

       只使用一台相机，若有多台相机在下一行分别填写相机参数即可。使用OPENCV相机模型。
images.txt示例：

# Image list with two lines of data per image:
# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME
# POINTS2D[] as (X, Y, POINT3D_ID)
# Number of images: 2, mean observations per image: 2
1 0.477458 0.543198 -0.521067 0.453276 0.0447519 0.146365 -0.115584 1 image0001.jpg
# Make sure every other line is left empty      
2 0.477646 0.543413 -0.520842 0.453078 0.0401251 0.155332 -0.182149 1 image0002.jpg
         
3 0.477833 0.543629 -0.520617 0.452881 0.0353862 0.1643 -0.24872 1 image0003.jpg
         
4 0.478038 0.543864 -0.520372 0.452665 0.0247215 0.202905 -0.535662 1 image0004.jpg

       数据存放的顺序即为IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME的顺序，IMAGE_ID为对应