eseefrie/csu101-colmap
CSU 101 NeRF Training — Undergrad Guide This document explains what has already been done, what you need to do, and how to do it. Background: What is COLMAP and what has already been done? COLMAP is a photogrammetry tool. Given a set of images or video frames of a building, it figures out where the camera was located and which direction it was pointing for every single frame. This process — called Structure from Motion (SfM) — produces a 3D point cloud and a… See the full description on the dataset page: https://huggingface.co/datasets/eseefrie/csu101-colmap.
039
1{2 "w": 1920,3 "h": 1080,4 "fl_x": 998.2069678690868,5 "fl_y": 1013.4676603893389,6 "cx": 960.0,7 "cy": 540.0,8 "k1": 0.000582604760599635,9 "k2": 0.00047992982698711673,10 "p1": 0.00022166877213558318,11 "p2": -0.0006975541943167126,12 "camera_model": "OPENCV",13 "frames": [14 {15 "file_path": "images/frame_00001.png",16 "transform_matrix": [17 [18 0.9986580497350487,19 0.02074989691972546,20 0.047450410716977885,21 -3.56545546464317922 ],23 [24 0.04785609079482002,25 -0.01951190794114686,26 -0.9986636470916194,27 -2.26352723233239428 ],29 [30 -0.0197963196889489,31 0.9995942813093305,32 -0.020478732882089068,33 0.835627524588372934 ],35 [36 0.0,37 0.0,38 0.0,39 1.040 ]41 ],42 "colmap_im_id": 143 },44 {45 "file_path": "images/frame_00002.png",46 "transform_matrix": [47 [48 0.9987320113520453,49 0.020628962202080367,50 0.04592184032857793,51 -3.56766658693903452 ],53 [54 0.04632785180701018,55 -0.01965466904222338,56 -0.9987329093064814,57 -2.26283215500520358 ],59 [60 -0.01970024486258914,61 0.9995939875285894,62 -0.020585442648828924,63 0.833882724453481964 ],65 [66 0.0,67 0.0,68 0.0,69 1.070 ]71 ],72 "colmap_im_id": 273 },74 {75 "file_path": "images/frame_00003.png",76 "transform_matrix": [77 [78 0.9987793979021927,79 0.019982365936556362,80 0.04517100151325809,81 -3.567045184284396482 ],83 [84 0.04554676360571197,85 -0.01876701367664658,86 -0.9987859087525746,87 -2.262313645600937488 ],89 [90 -0.019110380717782798,91 0.9996241815048482,92 -0.019654238717978455,93 0.83278229957535894 ],95 [96 0.0,97 0.0,98 0.0,99 1.0100 ]101 ],102 "colmap_im_id": 3103 },104 {105 "file_path": "images/frame_00004.png",106 "transform_matrix": [107 [108 0.9989181419327523,109 0.01795174759833959,110 0.04289849036718031,111 -3.565731082470774112 ],113 [114 0.04319493745200475,115 -0.01646500862166442,116 -0.9989309790318877,117 -2.259614652136562118 ],119 [120 -0.017226232789990692,121 0.9997032751017944,122 -0.017222620433924227,123 0.8328419869993742124 ],125 [126 0.0,127 0.0,128 0.0,129 1.0130 ]131 ],132 "colmap_im_id": 4133 },134 {135 "file_path": "images/frame_00005.png",136 "transform_matrix": [137 [138 0.999329300233506,139 0.0134822969642162,140 0.03404669386856643,141 -3.563586967115322142 ],143 [144 0.03411639898688648,145 -0.004974259900665948,146 -0.9994054873066328,147 -2.25910143258482148 ],149 [150 -0.013304924463474569,151 0.999896736871868,152 -0.005430891088202979,153 0.8334616263443936154 ],155 [156 0.0,157 0.0,158 0.0,159 1.0160 ]161 ],162 "colmap_im_id": 5163 },164 {165 "file_path": "images/frame_00006.png",166 "transform_matrix": [167 [168 0.9995778421464946,169 0.010947991605329296,170 0.026912431506037768,171 -3.5623172945460118172 ],173 [174 0.02696691173139815,175 -0.004859442840925736,176 -0.9996245152490741,177 -2.2608936706472886178 ],179 [180 -0.010813101378814312,181 0.999928261074306,182 -0.0051526249122237815,183 0.8324907040120766184 ],185 [186 0.0,187 0.0,188 0.0,189 1.0190 ]191 ],192 "colmap_im_id": 6193 },194 {195 "file_path": "images/frame_00007.png",196 "transform_matrix": [197 [198 0.9998330923459257,199 0.007448065817370075,200 0.016682738551091668,201 -3.561726593612919202 ],203 [204 0.016714990509868913,205 -0.004289200115062822,206 -0.9998510948409407,207 -2.2604467718809915208 ],209 [210 -0.00737540115783195,211 0.9999630638568373,212 -0.004412978564187981,213 0.8315118353427665214 ],215 [216 0.0,217 0.0,218 0.0,219 1.0220 ]221 ],222 "colmap_im_id": 7223 },224 {225 "file_path": "images/frame_00008.png",226 "transform_matrix": [227 [228 0.9999430490687867,229 0.00456585442326212,230 0.009646325331627216,231 -3.5636390631662445232 ],233 [234 0.009654424419719303,235 -0.0017551338065056122,236 -0.9999518546382347,237 -2.264059051599167238 ],239 [240 -0.0045487040068510525,241 0.999988036167787,242 -0.001799114546441753,243 0.8321362947966339244 ],245 [246 0.0,247 0.0,248 0.0,249 1.0250 ]251 ],252 "colmap_im_id": 8253 },254 {255 "file_path": "images/frame_00009.png",256 "transform_matrix": [257 [258 0.99998366035186,259 0.0031168410755870427,260 0.004792111330694026,261 -3.5620578375278047262 ],263 [264 0.004797467721063468,265 -0.001713331617765507,266 -0.9999870243149321,267 -2.2663441288247888268 ],269 [270 -0.003108590156580109,271 0.9999936748782351,272 -0.0017282565669815388,273 0.8299311811400821274 ],275 [276 0.0,277 0.0,278 0.0,279 1.0280 ]281 ],282 "colmap_im_id": 9283 },284 {285 "file_path": "images/frame_00010.png",286 "transform_matrix": [287 [288 0.9999948828894301,289 0.0023457601754975363,290 0.0021752250813248004,291 -3.559564949824833292 ],293 [294 0.0021833673399981554,295 -0.0034740967247318968,296 -0.9999915817440695,297 -2.268562079594504298 ],299 [300 -0.0023381834859574424,301 0.9999912139919761,302 -0.0034792006035494747,303 0.8289665123672475304 ],305 [306 0.0,307 0.0,308 0.0,309 1.0310 ]311 ],312 "colmap_im_id": 10313 },314 {315 "file_path": "images/frame_00011.png",316 "transform_matrix": [317 [318 0.9999987959359022,319 0.001506963619053147,320 0.00037038816975575424,321 -3.560035057901123322 ],323 [324 0.0003759972427449312,325 -0.0037235232694321995,326 -0.9999929969757465,327 -2.2682009731079664328 ],329 [330 -0.0015055739167815657,331 0.9999919321850115,332 -0.003724085400237195,333 0.8282578071770469334 ],335 [336 0.0,337 0.0,338 0.0,339 1.0340 ]341 ],342 "colmap_im_id": 11343 },344 {345 "file_path": "images/frame_00012.png",346 "transform_matrix": [347 [348 0.9999999692067172,349 0.00022706868855313956,350 -0.00010013178992980446,351 -3.559144188022411352 ],353 [354 -9.964770043330461e-05,355 -0.0021309178773150314,356 -0.9999977246270794,357 -2.2672784271242423358 ],359 [360 -0.00022728154450844348,361 0.9999977038117691,362 -0.0021308951848244195,363 0.8295147927585628364 ],365 [366 0.0,367 0.0,368 0.0,369 1.0370 ]371 ],372 "colmap_im_id": 12373 },374 {375 "file_path": "images/frame_00013.png",376 "transform_matrix": [377 [378 0.9999998749670166,379 -0.00012958389625993965,380 -0.00048298443501353333,381 -3.557774658658045382 ],383 [384 -0.00048297699240228994,385 5.745983937554442e-05,386 -0.9999998817157889,387 -2.269132717917849388 ],389 [390 0.00012961163314026747,391 0.9999999899531902,392 5.73972461506899e-05,393 0.8289524828316707394 ],395 [396 0.0,397 0.0,398 0.0,399 1.0400 ]401 ],402 "colmap_im_id": 13403 },404 {405 "file_path": "images/frame_00014.png",406 "transform_matrix": [407 [408 0.9999998426421929,409 -0.00020163843777431297,410 -0.000523505043090109,411 -3.5580744407521454412 ],413 [414 -0.0005233640651684763,415 0.0006985812952113368,416 -0.999999619037042,417 -2.269306659524331418 ],419 [420 0.00020200407178858884,421 0.9999997356630222,422 0.0006984756549716281,423 0.8289970330800254424 ],425 [426 0.0,427 0.0,428 0.0,429 1.0430 ]431 ],432 "colmap_im_id": 14433 },434 {435 "file_path": "images/frame_00015.png",436 "transform_matrix": [437 [438 0.9999985860181786,439 -0.00043109837598975424,440 0.001625458653311488,441 -3.5584295415410394442 ],443 [444 0.001625605962217952,445 0.00034157602465819217,446 -0.9999986203645859,447 -2.2684847236680192448 ],449 [450 0.00043054256352612335,451 0.9999998487399935,452 0.00034227633776621417,453 0.8288580731327221454 ],455 [456 0.0,457 0.0,458 0.0,459 1.0460 ]461 ],462 "colmap_im_id": 15463 },464 {465 "file_path": "images/frame_00016.png",466 "transform_matrix": [467 [468 0.9999858056337908,469 -0.00019247033525644097,470 0.005324611357509175,471 -3.55870002594509472 ],473 [474 0.005324645752072241,475 0.00017863208763176292,476 -0.99998580801839,477 -2.268206797154006478 ],479 [480 0.00019151645727836285,481 0.9999999655228732,482 0.00017965438841551748,483 0.8288177405432952484 ],485 [486 0.0,487 0.0,488 0.0,489 1.0490 ]491 ],492 "colmap_im_id": 16493 },494 {495 "file_path": "images/frame_00017.png",496 "transform_matrix": [497 [498 0.9999533173747859,499 0.0011460315996419113,500 0.00959425258855328,501 -3.5589385032467304502 ],503 [504 0.009593621756171167,505 0.0005546843227431139,506 -0.999953826307446,507 -2.2667668070278473508 ],509 [510 -0.0011513004646304802,511 0.9999991894681088,512 0.0005436638349351788,513 0.8284226594549543514 ],515 [516 0.0,517 0.0,518 0.0,519 1.0520 ]521 ],522 "colmap_im_id": 17523 },524 {525 "file_path": "images/frame_00018.png",526 "transform_matrix": [527 [528 0.9998753432174099,529 0.004209284125850446,530 0.01521775124697356,531 -3.5541852766178277532 ],533 [534 0.015205791494848356,535 0.002858839229643923,536 -0.9998802983073896,537 -2.267569516314576538 ],539 [540 -0.004252285371667713,541 0.9999870543989092,542 0.0027944773591833563,543 0.8276267101394261544 ],545 [546 0.0,547 0.0,548 0.0,549 1.0550 ]551 ],552 "colmap_im_id": 18553 },554 {555 "file_path": "images/frame_00019.png",556 "transform_matrix": [557 [558 0.9996335092959209,559 0.007210202555798528,560 0.026093295534033546,561 -3.554133805787704562 ],563 [564 0.026031330005034572,565 0.00855836138551001,566 -0.999624491651022,567 -2.267224853193662568 ],569 [570 -0.007430810917460176,571 0.9999373817542274,572 0.008367533663486934,573 0.8277374836577822574 ],575 [576 0.0,577 0.0,578 0.0,579 1.0580 ]581 ],582 "colmap_im_id": 19583 },584 {585 "file_path": "images/frame_00020.png",586 "transform_matrix": [587 [588 0.9991313461885813,589 0.01170523373925129,590 0.039994256668962586,591 -3.551922799848036592 ],593 [594 0.03984379630725713,595 0.012816873124192567,596 -0.9991237158926537,597 -2.2686788788222794598 ],599 [600 -0.012207577942375297,601 0.999849346284943,602 0.012339358749667202,603 0.8283001554943785604 ],605 [606 0.0,607 0.0,608 0.0,609 1.0610 ]611 ],612 "colmap_im_id": 20613 },614 {615 "file_path": "images/frame_00021.png",616 "transform_matrix": [617 [618 0.9981696888040564,619 0.01762274368600827,620 0.057850767132255315,621 -3.5506612146307557622 ],623 [624 0.05760033122962475,625 0.014402077876849297,626 -0.9982358348582097,627 -2.2710734988640677628 ],629 [630 -0.018424825509368917,631 0.9997409759821824,632 0.01336064171897759,633 0.8212001146261328634 ],635 [636 0.0,637 0.0,638 0.0,639 1.0640 ]641 ],642 "colmap_im_id": 21643 },644 {645 "file_path": "images/frame_00022.png",646 "transform_matrix": [647 [648 0.9962936584113965,649 0.025817225833304227,650 0.08205130748201286,651 -3.537945152180716652 ],653 [654 0.08162645751874589,655 0.017102489508779434,656 -0.996516244867861,657 -2.2708524173604103658 ],659 [660 -0.027130566565702615,661 0.9995203728303264,662 0.014931733152910312,663 0.8130796886533032664 ],665 [666 0.0,667 0.0,668 0.0,669 1.0670 ]671 ],672 "colmap_im_id": 22673 },674 {675 "file_path": "images/frame_00023.png",676 "transform_matrix": [677 [678 0.9944284508820385,679 0.033386255171820985,680 0.09998706937375006,681 -3.517041341268579682 ],683 [684 0.09949082239447522,685 0.016212371434184653,686 -0.9949063952311046,687 -2.2757006007381815688 ],689 [690 -0.034837226290565064,691 0.9993110211431084,692 0.012800417426704186,693 0.8090788703666174694 ],695 [696 0.0,697 0.0,698 0.0,699 1.0700 ]701 ],702 "colmap_im_id": 23703 },704 {705 "file_path": "images/frame_00024.png",706 "transform_matrix": [707 [708 0.9928144973838848,709 0.039006174748305644,710 0.11312776898661533,711 -3.481342240202348712 ],713 [714 0.1125993433336285,715 0.01549500478702353,716 -0.9935196488784135,717 -2.2630014404178502718 ],719 [720 -0.04050631636201956,721 0.9991188233429269,722 0.010991595726973676,723 0.7994283008218371724 ],725 [726 0.0,727 0.0,728 0.0,729 1.0730 ]731 ],732 "colmap_im_id": 24733 },734 {735 "file_path": "images/frame_00025.png",736 "transform_matrix": [737 [738 0.9904276086540784,739 0.04537366144957288,740 0.1303625055850922,741 -3.4210190623794743742 ],743 [744 0.12949992914185704,745 0.021469932976724275,746 -0.9913469676809572,747 -2.237135622885981748 ],749 [750 -0.0477799159482062,751 0.9987393417827468,752 0.015388528433474066,753 0.7871397002200851754 ],755 [756 0.0,757 0.0,758 0.0,759 1.0760 ]761 ],762 "colmap_im_id": 25763 },764 {765 "file_path": "images/frame_00026.png",766 "transform_matrix": [767 [768 0.9877468111398934,769 0.051607007321439954,770 0.14728528058939405,771 -3.3389157644418517772 ],773 [774 0.14616240904675307,775 0.024916199670766265,776 -0.9889467797488479,777 -2.2267135360873276778 ],779 [780 -0.05470637316274344,781 0.9983565995120639,782 0.017067892256729153,783 0.7792058689051727784 ],785 [786 0.0,787 0.0,788 0.0,789 1.0790 ]791 ],792 "colmap_im_id": 26793 },794 {795 "file_path": "images/frame_00027.png",796 "transform_matrix": [797 [798 0.9843088086928632,799 0.06012115380659171,800 0.16589640139135212,801 -3.2396157628433704802 ],803 [804 0.16515861563991435,805 0.01707464550740045,806 -0.9861192058573364,807 -2.2225430971257163808 ],809 [810 -0.06211924669169374,811 0.9980450407400262,812 0.006877197444871232,813 0.7622478544443697814 ],815 [816 0.0,817 0.0,818 0.0,819 1.0820 ]821 ],822 "colmap_im_id": 27823 },824 {825 "file_path": "images/frame_00028.png",826 "transform_matrix": [827 [828 0.9813975991619558,829 0.06725953526731568,830 0.17981909596807005,831 -3.146038170931415832 ],833 [834 0.17986728182477482,835 0.005388580946659739,836 -0.983676127658056,837 -2.203296032885576838 ],839 [840 -0.06713056895421268,841 0.9977209620485109,842 -0.006809449381387928,843 0.7498096509233021844 ],845 [846 0.0,847 0.0,848 0.0,849 1.0850 ]851 ],852 "colmap_im_id": 28853 },854 {855 "file_path": "images/frame_00029.png",856 "transform_matrix": [857 [858 0.9785914914955618,859 0.07105969815070584,860 0.193155926834312,861 -3.0541936327412564862 ],863 [864 0.19307009059661015,865 0.008139942996318076,866 -0.9811512021319819,867 -2.1631931012708767868 ],869 [870 -0.0712925864975331,871 0.9974388505701727,872 -0.005753823402268795,873 0.7247262217023547874 ],875 [876 0.0,877 0.0,878 0.0,879 1.0880 ]881 ],882 "colmap_im_id": 29883 },884 {885 "file_path": "images/frame_00030.png",886 "transform_matrix": [887 [888 0.9765098272768596,889 0.07234239165971623,890 0.2029658483604314,891 -2.9489493073981892 ],893 [894 0.20219079249922745,895 0.01795775848844529,896 -0.9791814961173464,897 -2.1198298517826513898 ],899 [900 -0.07448114298432701,901 0.9972181793765208,902 0.0029089621388637427,903 0.7151509950266471904 ],905 [906 0.0,907 0.0,908 0.0,909 1.0910 ]911 ],912 "colmap_im_id": 30913 },914 {915 "file_path": "images/frame_00031.png",916 "transform_matrix": [917 [918 0.9754491574774221,919 0.07288552700463063,920 0.20781395797646712,921 -2.828846936157239922 ],923 [924 0.20661119030722908,925 0.023754215439472873,926 -0.9781347316646544,927 -2.091949303517737928 ],929 [930 -0.07622832292801385,931 0.9970573891216656,932 0.008112063946374565,933 0.6990675207723023934 ],935 [936 0.0,937 0.0,938 0.0,939 1.0940 ]941 ],942 "colmap_im_id": 31943 },944 {945 "file_path": "images/frame_00032.png",946 "transform_matrix": [947 [948 0.97334050318253,949 0.0751150965835235,950 0.216716374853465,951 -2.7253318468236065952 ],953 [954 0.21513742801577318,955 0.02860805077795272,956 -0.9761646718138512,957 -2.0438044351853217958 ],959 [960 -0.07952453666094274,961 0.9967644163471799,962 0.011685305855148228,963 0.68178261838039964 ],965 [966 0.0,967 0.0,968 0.0,969 1.0970 ]971 ],972 "colmap_im_id": 32973 },974 {975 "file_path": "images/frame_00033.png",976 "transform_matrix": [977 [978 0.9706627029892605,979 0.076272346462443,980 0.22802729264431448,981 -2.6165573594983513982 ],983 [984 0.22575823851957805,985 0.037269930996047335,986 -0.9734701690262969,987 -1.9818081984586844988 ],989 [990 -0.08274741546489577,991 0.9963902254682464,992 0.018957421375730418,993 0.6658507810019129994 ],995 [996 0.0,997 0.0,998 0.0,999 1.01000 ]1001 ],1002 "colmap_im_id": 331003 },1004 {1005 "file_path": "images/frame_00034.png",1006 "transform_matrix": [1007 [1008 0.9690355187251176,1009 0.07700617658334448,1010 0.23460650506146905,1011 -2.4988410444254331012 ],1013 [1014 0.23206720333342543,1015 0.04054245301287928,1016 -0.971854476061463,1017 -1.93191858975900481018 ],1019 [1020 -0.0843503206048732,1021 0.9962059818489916,1022 0.02141646894662751,1023 0.63713902116963531024 ],1025 [1026 0.0,1027 0.0,1028 0.0,1029 1.01030 ]1031 ],1032 "colmap_im_id": 341033 },1034 {1035 "file_path": "images/frame_00035.png",1036 "transform_matrix": [1037 [1038 0.9676354799087528,1039 0.0777581634499201,1040 0.24007341801760054,1041 -2.3863924010306491042 ],1043 [1044 0.2372946635364252,1045 0.043333022986534346,1046 -0.9704707578160113,1047 -1.87131081429530921048 ],1049 [1050 -0.08586513075103779,1051 0.9960300784292331,1052 0.023478973260413014,1053 0.61829947457312441054 ],1055 [1056 0.0,1057 0.0,1058 0.0,1059 1.01060 ]1061 ],1062 "colmap_im_id": 351063 },1064 {1065 "file_path": "images/frame_00036.png",1066 "transform_matrix": [1067 [1068 0.9657517725733049,1069 0.07763480536822907,1070 0.24758099839639658,1071 -2.28321127255537751072 ],1073 [1074 0.24424150925906937,1075 0.0500564351923391,1076 -0.9684216222548354,1077 -1.7923784265967831078 ],1079 [1080 -0.08757624635922265,1081 0.9957244550031261,1082 0.02938044898153189,1083 0.58393160303128361084 ],1085 [1086 0.0,1087 0.0,1088 0.0,1089 1.01090 ]1091 ],1092 "colmap_im_id": 361093 },1094 {1095 "file_path": "images/frame_00037.png",1096 "transform_matrix": [1097 [1098 0.9645868429697685,1099 0.07792532373626372,1100 0.25199179806139294,1101 -2.1772112131528491102 ],1103 [1104 0.2484958148467456,1105 0.05186522415021392,1106 -0.9672434174123389,1107 -1.71361562157964831108 ],1109 [1110 -0.08844236752409615,1111 0.9956091815790201,1112 0.030664396003934936,1113 0.56126465892640041114 ],1115 [1116 0.0,1117 0.0,1118 0.0,1119 1.01120 ]1121 ],1122 "colmap_im_id": 371123 },1124 {1125 "file_path": "images/frame_00038.png",1126 "transform_matrix": [1127 [1128 0.9637057544095654,1129 0.07776090701733944,1130 0.2553907990858937,1131 -2.0609630821958361132 ],1133 [1134 0.25162255716071397,1135 0.055079237989787644,1136 -0.9662568842033508,1137 -1.63446757188932961138 ],1139 [1140 -0.08920374233065487,1141 0.9954494054859367,1142 0.033513780328412825,1143 0.53024298323470551144 ],1145 [1146 0.0,1147 0.0,1148 0.0,1149 1.01150 ]1151 ],1152 "colmap_im_id": 381153 },1154 {1155 "file_path": "images/frame_00039.png",1156 "transform_matrix": [1157 [1158 0.9597491916987505,1159 0.07994228790797166,1160 0.2692410066049261,1161 -1.95996010187745641162 ],1163 [1164 0.26503803787770397,1165 0.059407345482654805,1166 -0.9624061542720107,1167 -1.53627564708651751168 ],1169 [1170 -0.09293184336669344,1171 0.9950276367552529,1172 0.035828404677363056,1173 0.494386979802079241174 ],1175 [1176 0.0,1177 0.0,1178 0.0,1179 1.01180 ]1181 ],1182 "colmap_im_id": 391183 },1184 {1185 "file_path": "images/frame_00040.png",1186 "transform_matrix": [1187 [1188 0.9573150160924049,1189 0.08131006187243586,1190 0.2773745370474719,1191 -1.86120269200017851192 ],1193 [1194 0.27303825769661766,1195 0.06054149639320001,1196 -0.9600962644695935,1197 -1.4395991961418511198 ],1199 [1200 -0.09485815620174222,