This COLMAP version has been modified for work with colonoscopy images. Now COLMAP only estimate calibrated geometries and discart those that don't have a minimun inliers number. This implicated estimate the Esential matrix using RANSAC and the undistortionated key points coordinates. To make posible an implementation of Guided Matching, the Fundamental matrix is calculated using the intrinsic matrix K.
Modified Files:
- colmap/src/estimators/two_view_geometry.cc
- colmap/src/estimators/two_view_geometry.h
- colmap/src/feature/matching.cc
- colmap/src/feature/sif.cc
- colmap/sfm/incremental_mapper.cc