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speed-up Colmap export #116

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speed-up Colmap export #116

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15 changes: 12 additions & 3 deletions src/depth_anything_3/utils/export/colmap.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,11 @@ def export_to_colmap(
point3d_id = reconstruction.add_point3D(points[vidx], pycolmap.Track(), colors[vidx])
point3d_ids.append(point3d_id)

# group points by fidx to speed-up lookup
points_by_frame = [[] for _ in range(num_frames)]
for vidx, point in enumerate(points_xyf):
points_by_frame[int(point[2])].append(vidx)

for fidx in range(num_frames):
orig_w, orig_h = Image.open(image_paths[fidx]).size

Expand All @@ -65,7 +70,9 @@ def export_to_colmap(
intrinsic[:1] *= orig_w / w
intrinsic[1:2] *= orig_h / h
elif process_res_method == "crop":
raise NotImplementedError("COLMAP export for crop method is not implemented")
raise NotImplementedError(
"COLMAP export for crop method is not implemented"
)
else:
raise ValueError(f"Unknown process_res_method: {process_res_method}")

Expand All @@ -74,7 +81,9 @@ def export_to_colmap(
)

extrinsic = prediction.extrinsics[fidx]
cam_from_world = pycolmap.Rigid3d(pycolmap.Rotation3d(extrinsic[:3, :3]), extrinsic[:3, 3])
cam_from_world = pycolmap.Rigid3d(
pycolmap.Rotation3d(extrinsic[:3, :3]), extrinsic[:3, 3]
)

# set and add camera
camera = pycolmap.Camera()
Expand Down Expand Up @@ -106,7 +115,7 @@ def export_to_colmap(

# set point2d and update track
point2d_list = []
points_in_frame = points_xyf[:, 2].astype(np.int32) == fidx
points_in_frame = points_by_frame[fidx]
for vidx in np.where(points_in_frame)[0]:
point2d = points_xyf[vidx][:2]
point2d[0] *= orig_w / w
Expand Down