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<section id="camera-lens">
<span id="id1"></span><h1>camera-lens<a class="headerlink" href="#camera-lens" title="Permalink to this heading"></a></h1>
<p><strong>Options:</strong> <em>auto | perspective | brown | fisheye | fisheye_opencv | spherical | equirectangular | dual</em></p>
<p>Set a camera projection type. Manually setting a value can help improve geometric undistortion. By default the application tries to determine a lens type from the images metadata. . Default: <code class="docutils literal notranslate"><span class="pre">auto</span></code></p>
<div class="line-block">
<div class="line">Parameter Type:</div>
<div class="line-block">
<div class="line"><strong>String</strong></div>
</div>
<div class="line">Parameter Domain:</div>
<div class="line-block">
<div class="line"><code class="docutils literal notranslate"><span class="pre">auto</span></code> : Automatic selection of best camera projection model.</div>
<div class="line"><code class="docutils literal notranslate"><span class="pre">brown</span></code> : Robust rectilinear projection model. Preferred by <code class="docutils literal notranslate"><span class="pre">auto</span></code>.</div>
<div class="line"><code class="docutils literal notranslate"><span class="pre">fisheye</span></code> : Wide-angle / non-rectilinear projection model.</div>
<div class="line"><code class="docutils literal notranslate"><span class="pre">perspective</span></code> : Legacy rectilinear projection model.</div>
<div class="line"><code class="docutils literal notranslate"><span class="pre">spherical</span></code> : 360° camera projection model.</div>
</div>
<div class="line">Parameter Default:</div>
<div class="line-block">
<div class="line"><code class="docutils literal notranslate"><span class="pre">auto</span></code></div>
</div>
</div>
<hr class="docutils" />
<table class="docutils align-default">
<colgroup>
<col style="width: 44%" />
<col style="width: 56%" />
</colgroup>
<thead>
<tr class="row-odd"><th class="head"><p>Resource</p></th>
<th class="head"><p>Impact</p></th>
</tr>
</thead>
<tbody>
<tr class="row-even"><td><p>CPU</p></td>
<td><p>●○○ | Low</p></td>
</tr>
<tr class="row-odd"><td><p>GPU</p></td>
<td><p>○○○ | None</p></td>
</tr>
<tr class="row-even"><td><p>HDD</p></td>
<td><p>●○○ | Low</p></td>
</tr>
<tr class="row-odd"><td><p>RAM</p></td>
<td><p>●○○ | Low</p></td>
</tr>
<tr class="row-even"><td><p>Time</p></td>
<td><p>●○○ | Low</p></td>
</tr>
</tbody>
</table>
<hr class="docutils" />
<section id="what-are-camera-lens-models">
<h2>What Are Camera Lens Models?<a class="headerlink" href="#what-are-camera-lens-models" title="Permalink to this heading"></a></h2>
<p>Camera Lens Models are projection/distortion models that OpenSFM uses to correct for the optics of the camera platforms that record our images. These corrections are essential for proper camera/scene modeling, and therefore, proper reconstruction of the data.</p>
</section>
<section id="when-are-manual-selections-appropriate">
<h2>When are manual selections appropriate?<a class="headerlink" href="#when-are-manual-selections-appropriate" title="Permalink to this heading"></a></h2>
<p>Manually choosing a Camera Lens Model is currently only recommended in the case of Spherical Cameras (GoPro Fusion, GoPro Max, Insta360, Kodak PixPro, etc.) as these are currently not detected automatically by OpenSFM.</p>
</section>
<section id="why-would-one-use-a-particular-camera-lens-model">
<h2>Why would one use a particular Camera Lens Model?<a class="headerlink" href="#why-would-one-use-a-particular-camera-lens-model" title="Permalink to this heading"></a></h2>
<p>In rare cases, OpenSFM may not be able to detect (or retrieve from its Camera database) the correct Camera Lens Model for your particular sensor, in which case you should select the closest appropriate model. When in doubt, try specifying <code class="docutils literal notranslate"><span class="pre">brown</span></code> first.</p>
</section>
<section id="example-images">
<h2>Example Images<a class="headerlink" href="#example-images" title="Permalink to this heading"></a></h2>
<p>The following examples are all data taken with a standard Rectilinear Lens. Manual selection of the various Camera Lens Models is demonstrated to show some differences in how this will affect reconstruction.</p>
<section id="auto-rectilinear-data">
<h3><code class="docutils literal notranslate"><span class="pre">auto</span></code> : Rectilinear Data<a class="headerlink" href="#auto-rectilinear-data" title="Permalink to this heading"></a></h3>
<figure class="align-default" id="id2">
<img alt="Rectilinear data rendered by ``auto`` Camera Lens Model" src="https://user-images.githubusercontent.com/19295950/127077336-ae79a958-a953-4376-86fd-430d0e5457f2.png" />
<figcaption>
<p><span class="caption-text">This Point Cloud shows a proper reconstruction via the <code class="docutils literal notranslate"><span class="pre">auto</span></code> (<code class="docutils literal notranslate"><span class="pre">brown</span></code>) Camera Lens Model, which is appropriate for this sensor.</span><a class="headerlink" href="#id2" title="Permalink to this image"></a></p>
</figcaption>
</figure>
</section>
<section id="brown-rectilinear-data">
<h3><code class="docutils literal notranslate"><span class="pre">brown</span></code> : Rectilinear Data<a class="headerlink" href="#brown-rectilinear-data" title="Permalink to this heading"></a></h3>
<figure class="align-default" id="id3">
<img alt="Rectilinear data rendered by ``brown`` Camera Lens Model" src="https://user-images.githubusercontent.com/19295950/127077753-580a174e-7572-4315-8801-224ce097d9fc.png" />
<figcaption>
<p><span class="caption-text">As in the prior example, this Point Cloud is reconstructed via the <code class="docutils literal notranslate"><span class="pre">brown</span></code> Camera Lens Model.</span><a class="headerlink" href="#id3" title="Permalink to this image"></a></p>
</figcaption>
</figure>
</section>
<section id="fisheye-rectilinear-data">
<h3><code class="docutils literal notranslate"><span class="pre">fisheye</span></code> : Rectilinear Data<a class="headerlink" href="#fisheye-rectilinear-data" title="Permalink to this heading"></a></h3>
<figure class="align-default" id="id4">
<img alt="Rectilinear data rendered by ``fisheye`` Camera Lens Model" src="https://user-images.githubusercontent.com/19295950/127077826-53d459fe-5e4e-4b10-8e70-fbddf775c4f7.png" />
<figcaption>
<p><span class="caption-text">In this Point Cloud reconstruction, severe bowling and other artifacts have been introduced via the use of the wrong Camera Lens Model.</span><a class="headerlink" href="#id4" title="Permalink to this image"></a></p>
</figcaption>
</figure>
</section>
<section id="perspective-rectilinear-data">
<h3><code class="docutils literal notranslate"><span class="pre">perspective</span></code> : Rectilinear Data<a class="headerlink" href="#perspective-rectilinear-data" title="Permalink to this heading"></a></h3>
<figure class="align-default" id="id5">
<img alt="Rectilinear data rendered by ``perspective`` Camera Lens Model" src="https://user-images.githubusercontent.com/19295950/127077485-699f9e61-72a6-45f2-990f-f5748b6ee99f.png" />
<figcaption>
<p><span class="caption-text">This Point Cloud rendered well, very similar to the <code class="docutils literal notranslate"><span class="pre">auto</span></code> and <code class="docutils literal notranslate"><span class="pre">brown</span></code> examples. One may see artifacts in the <code class="docutils literal notranslate"><span class="pre">perspective</span></code> Camera Lens Model in very large collections, or over very flat/homogenus terrain (agricultural fields). In such cases, forcing <code class="docutils literal notranslate"><span class="pre">brown</span></code> may help.</span><a class="headerlink" href="#id5" title="Permalink to this image"></a></p>
</figcaption>
</figure>
</section>
<section id="spherical-rectilinear-data">
<h3><code class="docutils literal notranslate"><span class="pre">spherical</span></code> : Rectilinear Data<a class="headerlink" href="#spherical-rectilinear-data" title="Permalink to this heading"></a></h3>
<figure class="align-default" id="id6">
<img alt="Rectilinear data rendered by ``spherical`` Camera Lens Model" src="https://user-images.githubusercontent.com/19295950/127078960-27e35cbb-a378-4d0d-92e2-42dbfd1edd7c.png" />
<figcaption>
<p><span class="caption-text">This Point Cloud failed to reconstruct properly due to the manual selection of the <code class="docutils literal notranslate"><span class="pre">fisheye</span></code> Camera Lens Model. Similar failures to reconstruct can often indicate the wrong manual selection, or in edge cases, wrong <code class="docutils literal notranslate"><span class="pre">auto</span></code> selection of the Camera Lens Model, and you are advised to try another Model that is more appropriate.</span><a class="headerlink" href="#id6" title="Permalink to this image"></a></p>
</figcaption>
</figure>
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