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colmap_dataparser: colmap's k4 parameter is valid for fisheye model #3612

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colmap_dataparser: colmap's k4 parameter is valid for fisheye model #3612

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colmap_dataparser: colmap's k4 parameter is valid for fisheye model
f-dy Mar 14, 2025
dc63b98
Update colmap_dataparser.py
f-dy Mar 14, 2025
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12 changes: 7 additions & 5 deletions nerfstudio/data/dataparsers/colmap_dataparser.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@
from rich.prompt import Confirm

from nerfstudio.cameras import camera_utils
from nerfstudio.cameras.cameras import CAMERA_MODEL_TO_TYPE, Cameras
from nerfstudio.cameras.cameras import CAMERA_MODEL_TO_TYPE, Cameras, CameraType
from nerfstudio.data.dataparsers.base_dataparser import DataParser, DataParserConfig, DataparserOutputs
from nerfstudio.data.scene_box import SceneBox
from nerfstudio.data.utils import colmap_parsing_utils as colmap_utils
Expand Down Expand Up @@ -276,12 +276,14 @@ def _generate_dataparser_outputs(self, split: str = "train", **kwargs):
cy.append(float(frame["cy"]))
height.append(int(frame["h"]))
width.append(int(frame["w"]))
if any([k in frame and float(frame[k]) != 0.0 for k in ["k4", "k5", "k6"]]):
if camera_type == CameraType.PERSPECTIVE and "k4" in frame and float(frame["k4"]) != 0.0:
raise ValueError(
"K4/K5/K6 is non-zero! Note that Nerfstudio camera model's K4 has different meaning than colmap "
"OPENCV camera model K4. Nerfstudio's K4 is the 4-th order of radial distortion coefficient, while "
"colmap/OPENCV's K4 is 4-th coefficient in fractional radial distortion model."
"K4 is non-zero! Note that Nerfstudio's perspective distortion parameter K4 has different meaning "
"than colmap's OPENCV parameter K4. Nerfstudio's K4 is the 4-th order of radial distortion "
"coefficient, while colmap/OPENCV's K4 is 4-th coefficient in fractional radial distortion model."
)
if any([k in frame and float(frame[k]) != 0.0 for k in ["k5", "k6"]]):
raise ValueError("Non-zero K5 or K6 distortion parameter is unsupported by Nerfstudio .")
distort.append(
camera_utils.get_distortion_params(
k1=float(frame["k1"]) if "k1" in frame else 0.0,
Expand Down
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