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- {
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- "cells": [
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- {
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- "cell_type": "markdown",
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- "id": "056398df",
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- "metadata": {
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- "duration": 0.00261,
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- "end_time": "2026-01-12T15:57:43.783277",
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- "start_time": "2026-01-12T15:57:43.780667",
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- "status": "completed"
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- },
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- "tags": []
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- },
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- "source": []
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- },
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- {
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- "attachments": {},
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- "cell_type": "markdown",
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- "id": "f300e4a7",
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- "metadata": {
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- "duration": 0.0017,
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- "end_time": "2026-01-12T15:57:43.787188",
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- "exception": false,
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- "status": "completed"
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- },
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- "tags": []
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- },
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- "source": [
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- "# **IMC2025 Only Colmap 09**\n",
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- "### **image matching and 3D reconstruction**\n",
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- "\n",
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- "**INTERNET ON**"
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- ]
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- },
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- {
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- "cell_type": "code",
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- "execution_count": 1,
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- "id": "f268b82a",
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- "metadata": {
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- "execution": {
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- "iopub.execute_input": "2026-01-12T15:57:43.792138Z",
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- "iopub.status.busy": "2026-01-12T15:57:43.791847Z",
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- "iopub.status.idle": "2026-01-12T15:57:49.822499Z",
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- "shell.execute_reply": "2026-01-12T15:57:49.821465Z"
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- },
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- "papermill": {
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- "duration": 6.03517,
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- "end_time": "2026-01-12T15:57:49.824191",
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- "exception": false,
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- "start_time": "2026-01-12T15:57:43.789021",
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- "status": "completed"
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- },
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- "tags": []
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- },
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- "outputs": [
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- {
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- "name": "stdout",
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- "output_type": "stream",
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- "text": [
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- "Collecting pycolmap\r\n",
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- " Downloading pycolmap-3.13.0-cp311-cp311-manylinux_2_28_x86_64.whl.metadata (10 kB)\r\n",
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- "Requirement already satisfied: numpy in /usr/local/lib/python3.11/dist-packages (from pycolmap) (1.26.4)\r\n",
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- "Requirement already satisfied: mkl_fft in /usr/local/lib/python3.11/dist-packages (from numpy->pycolmap) (1.3.8)\r\n",
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- "Requirement already satisfied: mkl_random in /usr/local/lib/python3.11/dist-packages (from numpy->pycolmap) (1.2.4)\r\n",
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- "Requirement already satisfied: mkl_umath in /usr/local/lib/python3.11/dist-packages (from numpy->pycolmap) (0.1.1)\r\n",
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- "Requirement already satisfied: mkl in /usr/local/lib/python3.11/dist-packages (from numpy->pycolmap) (2025.3.0)\r\n",
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- "Requirement already satisfied: tbb4py in /usr/local/lib/python3.11/dist-packages (from numpy->pycolmap) (2022.3.0)\r\n",
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- "Requirement already satisfied: mkl-service in /usr/local/lib/python3.11/dist-packages (from numpy->pycolmap) (2.4.1)\r\n",
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- "Requirement already satisfied: onemkl-license==2025.3.0 in /usr/local/lib/python3.11/dist-packages (from mkl->numpy->pycolmap) (2025.3.0)\r\n",
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- "Requirement already satisfied: intel-openmp<2026,>=2024 in /usr/local/lib/python3.11/dist-packages (from mkl->numpy->pycolmap) (2024.2.0)\r\n",
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- "Requirement already satisfied: tbb==2022.* in /usr/local/lib/python3.11/dist-packages (from mkl->numpy->pycolmap) (2022.3.0)\r\n",
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- "Requirement already satisfied: tcmlib==1.* in /usr/local/lib/python3.11/dist-packages (from tbb==2022.*->mkl->numpy->pycolmap) (1.4.0)\r\n",
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- "Requirement already satisfied: intel-cmplr-lib-rt in /usr/local/lib/python3.11/dist-packages (from mkl_umath->numpy->pycolmap) (2024.2.0)\r\n",
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- "Requirement already satisfied: intel-cmplr-lib-ur==2024.2.0 in /usr/local/lib/python3.11/dist-packages (from intel-openmp<2026,>=2024->mkl->numpy->pycolmap) (2024.2.0)\r\n",
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- "Downloading pycolmap-3.13.0-cp311-cp311-manylinux_2_28_x86_64.whl (20.3 MB)\r\n",
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- "\u001b[2K \u001b[90m━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━\u001b[0m \u001b[32m20.3/20.3 MB\u001b[0m \u001b[31m60.3 MB/s\u001b[0m eta \u001b[36m0:00:00\u001b[0m\r\n",
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- "\u001b[?25hInstalling collected packages: pycolmap\r\n",
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- "Successfully installed pycolmap-3.13.0\r\n"
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- ]
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- }
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- ],
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- "source": [
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- "!pip install pycolmap"
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- ]
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- },
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- {
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- "cell_type": "code",
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- "execution_count": 2,
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- "id": "89e1896a",
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- "metadata": {
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- "execution": {
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- "iopub.execute_input": "2026-01-12T15:57:49.831872Z",
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- "iopub.status.busy": "2026-01-12T15:57:49.831155Z",
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- "iopub.status.idle": "2026-01-12T15:59:03.941461Z",
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- "shell.execute_reply": "2026-01-12T15:59:03.940181Z"
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- },
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- "papermill": {
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- "duration": 74.116273,
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- "end_time": "2026-01-12T15:59:03.943069",
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- "exception": false,
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- "start_time": "2026-01-12T15:57:49.826796",
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- "status": "completed"
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- },
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- "tags": []
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- },
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- "outputs": [
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- {
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- "name": "stdout",
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- "output_type": "stream",
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- "text": [
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- "✓ pycolmap is available\n",
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- "======================================================================\n",
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- "IMC2025 COLMAP PIPELINE v4\n",
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- "======================================================================\n",
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- "Loading competition data...\n",
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- "Testing with 73 entries from ['ETs', 'stairs']\n",
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- "Found 2 datasets\n",
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- "\n",
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- "======================================================================\n",
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- "DATASET: ETs\n",
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- "======================================================================\n",
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- "\n",
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- "============================================================\n",
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- "Processing: ETs\n",
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- "Images: 22\n",
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- "============================================================\n",
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- "Running COLMAP feature extraction...\n"
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- ]
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- },
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- {
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- "name": "stderr",
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- "output_type": "stream",
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- "text": [
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- "W20260112 15:57:52.003861 138282864959488 feature_extraction.cc:411] Your current options use the maximum number of threads on the machine to extract features. Extracting SIFT features on the CPU can consume a lot of RAM per thread for large images. Consider reducing the maximum image size and/or the first octave or manually limit the number of extraction threads. Ignore this warning, if your machine has sufficient memory for the current settings.\n",
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- "I20260112 15:57:52.004491 138281612211776 misc.cc:44] \n",
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- "==============================================================================\n",
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- "Feature extraction\n",
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- "==============================================================================\n",
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- "I20260112 15:57:52.004931 138281496864320 sift.cc:726] Creating SIFT CPU feature extractor\n",
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- "I20260112 15:57:52.004965 138281488471616 sift.cc:726] Creating SIFT CPU feature extractor\n",
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- "I20260112 15:57:52.005191 138281371039296 sift.cc:726] Creating SIFT CPU feature extractor\n",
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- "I20260112 15:57:52.005308 138281480078912 sift.cc:726] Creating SIFT CPU feature extractor\n",
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- "I20260112 15:57:52.013929 138281471686208 feature_extraction.cc:260] Processed file [1/23]\n",
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- "I20260112 15:57:52.013976 138281471686208 feature_extraction.cc:263] Name: LICENSE.txt\n",
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- "E20260112 15:57:52.013984 138281471686208 feature_extraction.cc:267] LICENSE.txt BITMAP_ERROR: Failed to read the image file format.\n",
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- "I20260112 15:57:52.979500 138281471686208 feature_extraction.cc:263] Name: another_et_another_et001.png\n",
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- "I20260112 15:57:52.979507 138281471686208 feature_extraction.cc:272] Dimensions: 360 x 640\n",
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- "I20260112 15:57:52.979513 138281471686208 feature_extraction.cc:275] Camera: #1 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:52.979520 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:52.979534 138281471686208 feature_extraction.cc:282] Features: 2405 (SIFT)\n",
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- "I20260112 15:57:53.047502 138281471686208 feature_extraction.cc:272] Dimensions: 360 x 640\n",
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- "I20260112 15:57:53.047508 138281471686208 feature_extraction.cc:275] Camera: #2 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:53.047525 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:53.047539 138281471686208 feature_extraction.cc:282] Features: 2389 (SIFT)\n",
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- "I20260112 15:57:53.214489 138281471686208 feature_extraction.cc:263] Name: another_et_another_et004.png\n",
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- "I20260112 15:57:53.214497 138281471686208 feature_extraction.cc:272] Dimensions: 360 x 640\n",
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- "I20260112 15:57:53.214504 138281471686208 feature_extraction.cc:275] Camera: #4 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:53.214512 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:53.214526 138281471686208 feature_extraction.cc:282] Features: 2408 (SIFT)\n",
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- "I20260112 15:57:53.520500 138281471686208 feature_extraction.cc:272] Dimensions: 360 x 640\n",
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- "I20260112 15:57:53.520507 138281471686208 feature_extraction.cc:275] Camera: #3 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:53.520521 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:53.520534 138281471686208 feature_extraction.cc:282] Features: 2463 (SIFT)\n",
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- "I20260112 15:57:53.833527 138281471686208 feature_extraction.cc:272] Dimensions: 360 x 640\n",
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- "I20260112 15:57:53.833533 138281471686208 feature_extraction.cc:275] Camera: #6 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:53.833541 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:53.833556 138281471686208 feature_extraction.cc:282] Features: 2110 (SIFT)\n",
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- "I20260112 15:57:53.838994 138281471686208 feature_extraction.cc:272] Dimensions: 360 x 640\n",
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- "I20260112 15:57:53.839165 138281471686208 feature_extraction.cc:275] Camera: #5 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:53.841423 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:53.841464 138281471686208 feature_extraction.cc:282] Features: 2353 (SIFT)\n",
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- "I20260112 15:57:54.146487 138281471686208 feature_extraction.cc:272] Dimensions: 360 x 640\n",
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- "I20260112 15:57:54.146494 138281471686208 feature_extraction.cc:275] Camera: #7 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:54.146502 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:54.146515 138281471686208 feature_extraction.cc:282] Features: 2314 (SIFT)\n",
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- "I20260112 15:57:54.479948 138281471686208 feature_extraction.cc:263] Name: another_et_another_et010.png\n",
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- "I20260112 15:57:54.480042 138281471686208 feature_extraction.cc:272] Dimensions: 360 x 640\n",
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- "I20260112 15:57:54.480095 138281471686208 feature_extraction.cc:275] Camera: #10 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:54.480153 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:54.480209 138281471686208 feature_extraction.cc:282] Features: 1260 (SIFT)\n",
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- "I20260112 15:57:54.547648 138281471686208 feature_extraction.cc:263] Name: another_et_another_et008.png\n",
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- "I20260112 15:57:54.547655 138281471686208 feature_extraction.cc:272] Dimensions: 360 x 640\n",
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- "I20260112 15:57:54.547661 138281471686208 feature_extraction.cc:275] Camera: #8 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:54.547668 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:54.547681 138281471686208 feature_extraction.cc:282] Features: 2123 (SIFT)\n",
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- "I20260112 15:57:54.641485 138281471686208 feature_extraction.cc:263] Name: another_et_another_et009.png\n",
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- "I20260112 15:57:54.641493 138281471686208 feature_extraction.cc:272] Dimensions: 360 x 640\n",
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- "I20260112 15:57:54.641499 138281471686208 feature_extraction.cc:275] Camera: #9 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:54.641522 138281471686208 feature_extraction.cc:282] Features: 1589 (SIFT)\n",
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- "I20260112 15:57:55.267715 138281471686208 feature_extraction.cc:263] Name: et_et000.png\n",
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- "I20260112 15:57:55.267730 138281471686208 feature_extraction.cc:275] Camera: #11 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:55.267753 138281471686208 feature_extraction.cc:282] Features: 2398 (SIFT)\n",
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- "I20260112 15:57:55.408497 138281471686208 feature_extraction.cc:263] Name: et_et002.png\n",
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- "I20260112 15:57:55.408511 138281471686208 feature_extraction.cc:275] Camera: #13 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:55.408520 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:55.408533 138281471686208 feature_extraction.cc:282] Features: 1906 (SIFT)\n",
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- "I20260112 15:57:55.918499 138281471686208 feature_extraction.cc:263] Name: et_et001.png\n",
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- "I20260112 15:57:55.918518 138281471686208 feature_extraction.cc:275] Camera: #12 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:55.918526 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:55.918540 138281471686208 feature_extraction.cc:282] Features: 2187 (SIFT)\n",
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- "I20260112 15:57:55.937731 138281471686208 feature_extraction.cc:263] Name: et_et003.png\n",
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- "I20260112 15:57:55.937818 138281471686208 feature_extraction.cc:275] Camera: #14 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:55.937923 138281471686208 feature_extraction.cc:282] Features: 2578 (SIFT)\n",
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- "I20260112 15:57:56.309512 138281471686208 feature_extraction.cc:263] Name: et_et005.png\n",
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- "I20260112 15:57:56.309528 138281471686208 feature_extraction.cc:275] Camera: #16 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:56.309537 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:56.309551 138281471686208 feature_extraction.cc:282] Features: 2080 (SIFT)\n",
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- "I20260112 15:57:56.521491 138281471686208 feature_extraction.cc:263] Name: et_et004.png\n",
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- "I20260112 15:57:56.521506 138281471686208 feature_extraction.cc:275] Camera: #15 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:56.521514 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:56.521528 138281471686208 feature_extraction.cc:282] Features: 3250 (SIFT)\n",
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- "I20260112 15:57:56.836104 138281471686208 feature_extraction.cc:263] Name: et_et007.png\n",
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- "I20260112 15:57:56.836118 138281471686208 feature_extraction.cc:275] Camera: #18 - SIMPLE_RADIAL\n",
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- "I20260112 15:57:56.836126 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
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- "I20260112 15:57:56.836161 138281471686208 feature_extraction.cc:282] Features: 1798 (SIFT)\n",
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- "I20260112 15:57:56.919432 138281471686208 feature_extraction.cc:260] Processed file [19/23]\n",
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- "I20260112 15:57:56.919488 138281471686208 feature_extraction.cc:263] Name: et_et006.png\n",
254
- "I20260112 15:57:56.919496 138281471686208 feature_extraction.cc:272] Dimensions: 480 x 640\n",
255
- "I20260112 15:57:56.919502 138281471686208 feature_extraction.cc:275] Camera: #17 - SIMPLE_RADIAL\n",
256
- "I20260112 15:57:56.919510 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
257
- "I20260112 15:57:56.919523 138281471686208 feature_extraction.cc:282] Features: 1954 (SIFT)\n",
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- "I20260112 15:57:57.177437 138281471686208 feature_extraction.cc:260] Processed file [20/23]\n",
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- "I20260112 15:57:57.177491 138281471686208 feature_extraction.cc:263] Name: outliers_out_et001.png\n",
260
- "I20260112 15:57:57.177499 138281471686208 feature_extraction.cc:272] Dimensions: 262 x 450\n",
261
- "I20260112 15:57:57.177505 138281471686208 feature_extraction.cc:275] Camera: #20 - SIMPLE_RADIAL\n",
262
- "I20260112 15:57:57.177512 138281471686208 feature_extraction.cc:278] Focal Length: 540.00px\n",
263
- "I20260112 15:57:57.177565 138281471686208 feature_extraction.cc:282] Features: 695 (SIFT)\n",
264
- "I20260112 15:57:57.235442 138281471686208 feature_extraction.cc:260] Processed file [21/23]\n",
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- "I20260112 15:57:57.235499 138281471686208 feature_extraction.cc:263] Name: et_et008.png\n",
266
- "I20260112 15:57:57.235507 138281471686208 feature_extraction.cc:272] Dimensions: 480 x 640\n",
267
- "I20260112 15:57:57.235513 138281471686208 feature_extraction.cc:275] Camera: #19 - SIMPLE_RADIAL\n",
268
- "I20260112 15:57:57.235520 138281471686208 feature_extraction.cc:278] Focal Length: 768.00px\n",
269
- "I20260112 15:57:57.235534 138281471686208 feature_extraction.cc:282] Features: 2138 (SIFT)\n",
270
- "I20260112 15:57:57.245523 138281471686208 feature_extraction.cc:260] Processed file [22/23]\n",
271
- "I20260112 15:57:57.245606 138281471686208 feature_extraction.cc:263] Name: outliers_out_et002.png\n",
272
- "I20260112 15:57:57.245620 138281471686208 feature_extraction.cc:272] Dimensions: 300 x 300\n",
273
- "I20260112 15:57:57.245627 138281471686208 feature_extraction.cc:275] Camera: #21 - SIMPLE_RADIAL\n",
274
- "I20260112 15:57:57.245635 138281471686208 feature_extraction.cc:278] Focal Length: 360.00px\n",
275
- "I20260112 15:57:57.245648 138281471686208 feature_extraction.cc:282] Features: 347 (SIFT)\n",
276
- "I20260112 15:57:57.518653 138281471686208 feature_extraction.cc:260] Processed file [23/23]\n",
277
- "I20260112 15:57:57.518718 138281471686208 feature_extraction.cc:263] Name: outliers_out_et003.png\n",
278
- "I20260112 15:57:57.518726 138281471686208 feature_extraction.cc:272] Dimensions: 344 x 500\n",
279
- "I20260112 15:57:57.518733 138281471686208 feature_extraction.cc:275] Camera: #22 - SIMPLE_RADIAL\n",
280
- "I20260112 15:57:57.518740 138281471686208 feature_extraction.cc:278] Focal Length: 600.00px\n",
281
- "I20260112 15:57:57.518755 138281471686208 feature_extraction.cc:282] Features: 1844 (SIFT)\n",
282
- "I20260112 15:57:57.520004 138281612211776 timer.cc:90] Elapsed time: 0.092 [minutes]\n",
283
- "I20260112 15:57:57.528989 138281612211776 misc.cc:44] \n",
284
- "==============================================================================\n",
285
- "Feature matching & geometric verification\n",
286
- "==============================================================================\n",
287
- "I20260112 15:57:57.529262 138281471686208 sift.cc:1452] Creating SIFT CPU feature matcher\n",
288
- "I20260112 15:57:57.529294 138281603819072 sift.cc:1452] Creating SIFT CPU feature matcher\n",
289
- "I20260112 15:57:57.529582 138281480078912 sift.cc:1452] Creating SIFT CPU feature matcher\n",
290
- "I20260112 15:57:57.529643 138281371039296 sift.cc:1452] Creating SIFT CPU feature matcher\n",
291
- "I20260112 15:57:57.529857 138281612211776 pairing.cc:180] Generating exhaustive image pairs...\n",
292
- "I20260112 15:57:57.529876 138281612211776 pairing.cc:213] Processing block [1/1, 1/1]\n"
293
- ]
294
- },
295
- {
296
- "name": "stdout",
297
- "output_type": "stream",
298
- "text": [
299
- " Extracted features from 22 images\n",
300
- "Running COLMAP feature matching...\n"
301
- ]
302
- },
303
- {
304
- "name": "stderr",
305
- "output_type": "stream",
306
- "text": [
307
- "I20260112 15:58:00.946895 138281612211776 feature_matching.cc:117] in 3.417s\n",
308
- "I20260112 15:58:00.946945 138281612211776 timer.cc:90] Elapsed time: 0.057 [minutes]\n",
309
- "Traceback (most recent call last):\n",
310
- " File \"/tmp/ipykernel_13/3332504298.py\", line 204, in run_colmap_mapper\n",
311
- " maps = pycolmap.incremental_mapping(\n",
312
- " ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n",
313
- "TypeError: incremental_mapping(): incompatible function arguments. The following argument types are supported:\n",
314
- " 1. (database_path: str, image_path: str, output_path: str, options: pycolmap._core.IncrementalPipelineOptions = IncrementalPipelineOptions(), input_path: str = '', initial_image_pair_callback: collections.abc.Callable[[], None] = None, next_image_callback: collections.abc.Callable[[], None] = None) -> dict[int, pycolmap._core.Reconstruction]\n",
315
- "\n",
316
- "Invoked with: kwargs: database_path='/kaggle/working/result/features/ETs/database.db', image_path='/kaggle/input/image-matching-challenge-2025/test/ETs', output_path='/kaggle/working/result/reconstructions/ETs', options=IncrementalMapperOptions(init_min_num_inliers=100, init_max_error=4.0, init_max_forward_motion=0.95, init_min_tri_angle=16.0, init_max_reg_trials=2, abs_pose_max_error=12.0, abs_pose_min_num_inliers=30, abs_pose_min_inlier_ratio=0.25, abs_pose_refine_focal_length=True, abs_pose_refine_extra_params=True, ba_local_num_images=6, ba_local_min_tri_angle=6.0, ba_global_ignore_redundant_points3D=False, ba_global_prune_points_min_coverage_gain=0.05, min_focal_length_ratio=0.1, max_focal_length_ratio=10.0, max_extra_param=1.0, filter_max_reproj_error=4.0, filter_min_tri_angle=1.5, max_reg_trials=3, fix_existing_frames=False, constant_rigs=set(), constant_cameras=set(), num_threads=-1, random_seed=-1, image_selection_method=ImageSelectionMethod.MIN_UNCERTAINTY)\n"
317
- ]
318
- },
319
- {
320
- "name": "stdout",
321
- "output_type": "stream",
322
- "text": [
323
- " Feature matching completed\n",
324
- "Running COLMAP mapper...\n",
325
- " Mapper failed: incremental_mapping(): incompatible function arguments. The following argument types are supported:\n",
326
- " 1. (database_path: str, image_path: str, output_path: str, options: pycolmap._core.IncrementalPipelineOptions = IncrementalPipelineOptions(), input_path: str = '', initial_image_pair_callback: collections.abc.Callable[[], None] = None, next_image_callback: collections.abc.Callable[[], None] = None) -> dict[int, pycolmap._core.Reconstruction]\n",
327
- "\n",
328
- "Invoked with: kwargs: database_path='/kaggle/working/result/features/ETs/database.db', image_path='/kaggle/input/image-matching-challenge-2025/test/ETs', output_path='/kaggle/working/result/reconstructions/ETs', options=IncrementalMapperOptions(init_min_num_inliers=100, init_max_error=4.0, init_max_forward_motion=0.95, init_min_tri_angle=16.0, init_max_reg_trials=2, abs_pose_max_error=12.0, abs_pose_min_num_inliers=30, abs_pose_min_inlier_ratio=0.25, abs_pose_refine_focal_length=True, abs_pose_refine_extra_params=True, ba_local_num_images=6, ba_local_min_tri_angle=6.0, ba_global_ignore_redundant_points3D=False, ba_global_prune_points_min_coverage_gain=0.05, min_focal_length_ratio=0.1, max_focal_length_ratio=10.0, max_extra_param=1.0, filter_max_reproj_error=4.0, filter_min_tri_angle=1.5, max_reg_trials=3, fix_existing_frames=False, constant_rigs=set(), constant_cameras=set(), num_threads=-1, random_seed=-1, image_selection_method=ImageSelectionMethod.MIN_UNCERTAINTY)\n",
329
- "✅ Completed ETs\n",
330
- "\n",
331
- "======================================================================\n",
332
- "DATASET: stairs\n",
333
- "======================================================================\n",
334
- "\n",
335
- "============================================================\n",
336
- "Processing: stairs\n",
337
- "Images: 51\n",
338
- "============================================================\n",
339
- "Running COLMAP feature extraction...\n"
340
- ]
341
- },
342
- {
343
- "name": "stderr",
344
- "output_type": "stream",
345
- "text": [
346
- "W20260112 15:58:01.270529 138282864959488 feature_extraction.cc:411] Your current options use the maximum number of threads on the machine to extract features. Extracting SIFT features on the CPU can consume a lot of RAM per thread for large images. Consider reducing the maximum image size and/or the first octave or manually limit the number of extraction threads. Ignore this warning, if your machine has sufficient memory for the current settings.\n",
347
- "I20260112 15:58:01.270747 138281496864320 misc.cc:44] \n",
348
- "==============================================================================\n",
349
- "Feature extraction\n",
350
- "==============================================================================\n",
351
- "I20260112 15:58:01.271180 138281603819072 sift.cc:726] Creating SIFT CPU feature extractor\n",
352
- "I20260112 15:58:01.271231 138281488471616 sift.cc:726] Creating SIFT CPU feature extractor\n",
353
- "I20260112 15:58:01.271249 138281480078912 sift.cc:726] Creating SIFT CPU feature extractor\n",
354
- "I20260112 15:58:01.271315 138281471686208 sift.cc:726] Creating SIFT CPU feature extractor\n",
355
- "I20260112 15:58:01.277715 138281463293504 feature_extraction.cc:260] Processed file [1/52]\n",
356
- "I20260112 15:58:01.277797 138281463293504 feature_extraction.cc:263] Name: LICENSE.txt\n",
357
- "E20260112 15:58:01.277804 138281463293504 feature_extraction.cc:267] LICENSE.txt BITMAP_ERROR: Failed to read the image file format.\n",
358
- "I20260112 15:58:05.434373 138281463293504 feature_extraction.cc:260] Processed file [2/52]\n",
359
- "I20260112 15:58:05.434442 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453601885.png\n",
360
- "I20260112 15:58:05.434451 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
361
- "I20260112 15:58:05.434456 138281463293504 feature_extraction.cc:275] Camera: #2 - SIMPLE_RADIAL\n",
362
- "I20260112 15:58:05.434464 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
363
- "I20260112 15:58:05.434478 138281463293504 feature_extraction.cc:282] Features: 1208 (SIFT)\n",
364
- "I20260112 15:58:05.783566 138281463293504 feature_extraction.cc:260] Processed file [3/52]\n",
365
- "I20260112 15:58:05.783620 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453576271.png\n",
366
- "I20260112 15:58:05.783628 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
367
- "I20260112 15:58:05.783633 138281463293504 feature_extraction.cc:275] Camera: #1 - SIMPLE_RADIAL\n",
368
- "I20260112 15:58:05.783641 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
369
- "I20260112 15:58:05.783654 138281463293504 feature_extraction.cc:282] Features: 1641 (SIFT)\n",
370
- "I20260112 15:58:05.905436 138281463293504 feature_extraction.cc:260] Processed file [4/52]\n",
371
- "I20260112 15:58:05.905489 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453606287.png\n",
372
- "I20260112 15:58:05.905497 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
373
- "I20260112 15:58:05.905504 138281463293504 feature_extraction.cc:275] Camera: #3 - SIMPLE_RADIAL\n",
374
- "I20260112 15:58:05.905512 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
375
- "I20260112 15:58:05.905527 138281463293504 feature_extraction.cc:282] Features: 1358 (SIFT)\n",
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- "I20260112 15:58:06.018969 138281463293504 feature_extraction.cc:260] Processed file [5/52]\n",
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- "I20260112 15:58:06.019542 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453612890.png\n",
378
- "I20260112 15:58:06.019591 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
379
- "I20260112 15:58:06.019623 138281463293504 feature_extraction.cc:275] Camera: #4 - SIMPLE_RADIAL\n",
380
- "I20260112 15:58:06.019657 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
381
- "I20260112 15:58:06.019686 138281463293504 feature_extraction.cc:282] Features: 713 (SIFT)\n",
382
- "I20260112 15:58:08.900585 138281463293504 feature_extraction.cc:260] Processed file [6/52]\n",
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- "I20260112 15:58:08.901052 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453616892.png\n",
384
- "I20260112 15:58:08.901100 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
385
- "I20260112 15:58:08.901125 138281463293504 feature_extraction.cc:275] Camera: #5 - SIMPLE_RADIAL\n",
386
- "I20260112 15:58:08.901148 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
387
- "I20260112 15:58:08.901176 138281463293504 feature_extraction.cc:282] Features: 1379 (SIFT)\n",
388
- "I20260112 15:58:09.205434 138281463293504 feature_extraction.cc:260] Processed file [7/52]\n",
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- "I20260112 15:58:09.205919 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453620694.png\n",
390
- "I20260112 15:58:09.206175 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
391
- "I20260112 15:58:09.206278 138281463293504 feature_extraction.cc:275] Camera: #6 - SIMPLE_RADIAL\n",
392
- "I20260112 15:58:09.206354 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
393
- "I20260112 15:58:09.206437 138281463293504 feature_extraction.cc:282] Features: 900 (SIFT)\n",
394
- "I20260112 15:58:09.444447 138281463293504 feature_extraction.cc:260] Processed file [8/52]\n",
395
- "I20260112 15:58:09.444513 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453626698.png\n",
396
- "I20260112 15:58:09.444603 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
397
- "I20260112 15:58:09.444616 138281463293504 feature_extraction.cc:275] Camera: #7 - SIMPLE_RADIAL\n",
398
- "I20260112 15:58:09.444625 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
399
- "I20260112 15:58:09.444643 138281463293504 feature_extraction.cc:282] Features: 498 (SIFT)\n",
400
- "I20260112 15:58:09.705443 138281463293504 feature_extraction.cc:260] Processed file [9/52]\n",
401
- "I20260112 15:58:09.705490 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453643106.png\n",
402
- "I20260112 15:58:09.705497 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
403
- "I20260112 15:58:09.705503 138281463293504 feature_extraction.cc:275] Camera: #8 - SIMPLE_RADIAL\n",
404
- "I20260112 15:58:09.705510 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
405
- "I20260112 15:58:09.705522 138281463293504 feature_extraction.cc:282] Features: 1762 (SIFT)\n",
406
- "I20260112 15:58:12.465441 138281463293504 feature_extraction.cc:260] Processed file [10/52]\n",
407
- "I20260112 15:58:12.465492 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453651110.png\n",
408
- "I20260112 15:58:12.465500 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
409
- "I20260112 15:58:12.465506 138281463293504 feature_extraction.cc:275] Camera: #9 - SIMPLE_RADIAL\n",
410
- "I20260112 15:58:12.465514 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
411
- "I20260112 15:58:12.465528 138281463293504 feature_extraction.cc:282] Features: 966 (SIFT)\n",
412
- "I20260112 15:58:12.660816 138281463293504 feature_extraction.cc:260] Processed file [11/52]\n",
413
- "I20260112 15:58:12.661333 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453667117.png\n",
414
- "I20260112 15:58:12.661585 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
415
- "I20260112 15:58:12.661843 138281463293504 feature_extraction.cc:275] Camera: #12 - SIMPLE_RADIAL\n",
416
- "I20260112 15:58:12.664423 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
417
- "I20260112 15:58:12.664459 138281463293504 feature_extraction.cc:282] Features: 64 (SIFT)\n",
418
- "I20260112 15:58:12.824112 138281463293504 feature_extraction.cc:260] Processed file [12/52]\n",
419
- "I20260112 15:58:12.824177 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453659313.png\n",
420
- "I20260112 15:58:12.824193 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
421
- "I20260112 15:58:12.824205 138281463293504 feature_extraction.cc:275] Camera: #10 - SIMPLE_RADIAL\n",
422
- "I20260112 15:58:12.824218 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
423
- "I20260112 15:58:12.824240 138281463293504 feature_extraction.cc:282] Features: 1446 (SIFT)\n",
424
- "I20260112 15:58:13.114440 138281463293504 feature_extraction.cc:260] Processed file [13/52]\n",
425
- "I20260112 15:58:13.114502 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453663515.png\n",
426
- "I20260112 15:58:13.114510 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
427
- "I20260112 15:58:13.114516 138281463293504 feature_extraction.cc:275] Camera: #11 - SIMPLE_RADIAL\n",
428
- "I20260112 15:58:13.114523 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
429
- "I20260112 15:58:13.114537 138281463293504 feature_extraction.cc:282] Features: 365 (SIFT)\n",
430
- "I20260112 15:58:15.893249 138281463293504 feature_extraction.cc:260] Processed file [14/52]\n",
431
- "I20260112 15:58:15.893305 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453675921.png\n",
432
- "I20260112 15:58:15.893313 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
433
- "I20260112 15:58:15.893319 138281463293504 feature_extraction.cc:275] Camera: #14 - SIMPLE_RADIAL\n",
434
- "I20260112 15:58:15.893337 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
435
- "I20260112 15:58:15.893351 138281463293504 feature_extraction.cc:282] Features: 323 (SIFT)\n",
436
- "I20260112 15:58:16.209429 138281463293504 feature_extraction.cc:260] Processed file [15/52]\n",
437
- "I20260112 15:58:16.209478 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453668718.png\n",
438
- "I20260112 15:58:16.209486 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
439
- "I20260112 15:58:16.209493 138281463293504 feature_extraction.cc:275] Camera: #13 - SIMPLE_RADIAL\n",
440
- "I20260112 15:58:16.209501 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
441
- "I20260112 15:58:16.209514 138281463293504 feature_extraction.cc:282] Features: 427 (SIFT)\n",
442
- "I20260112 15:58:16.405007 138281463293504 feature_extraction.cc:260] Processed file [16/52]\n",
443
- "I20260112 15:58:16.405068 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453683725.png\n",
444
- "I20260112 15:58:16.405076 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
445
- "I20260112 15:58:16.405082 138281463293504 feature_extraction.cc:275] Camera: #16 - SIMPLE_RADIAL\n",
446
- "I20260112 15:58:16.405090 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
447
- "I20260112 15:58:16.405104 138281463293504 feature_extraction.cc:282] Features: 1277 (SIFT)\n",
448
- "I20260112 15:58:16.758368 138281463293504 feature_extraction.cc:260] Processed file [17/52]\n",
449
- "I20260112 15:58:16.758446 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453678922.png\n",
450
- "I20260112 15:58:16.758456 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
451
- "I20260112 15:58:16.758465 138281463293504 feature_extraction.cc:275] Camera: #15 - SIMPLE_RADIAL\n",
452
- "I20260112 15:58:16.758475 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
453
- "I20260112 15:58:16.758490 138281463293504 feature_extraction.cc:282] Features: 1564 (SIFT)\n",
454
- "I20260112 15:58:19.839427 138281463293504 feature_extraction.cc:260] Processed file [18/52]\n",
455
- "I20260112 15:58:19.839485 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453689727.png\n",
456
- "I20260112 15:58:19.839494 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
457
- "I20260112 15:58:19.839500 138281463293504 feature_extraction.cc:275] Camera: #17 - SIMPLE_RADIAL\n",
458
- "I20260112 15:58:19.839509 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
459
- "I20260112 15:58:19.839523 138281463293504 feature_extraction.cc:282] Features: 3510 (SIFT)\n",
460
- "I20260112 15:58:19.963429 138281463293504 feature_extraction.cc:260] Processed file [19/52]\n",
461
- "I20260112 15:58:19.963482 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453693529.png\n",
462
- "I20260112 15:58:19.963490 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
463
- "I20260112 15:58:19.963497 138281463293504 feature_extraction.cc:275] Camera: #18 - SIMPLE_RADIAL\n",
464
- "I20260112 15:58:19.963505 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
465
- "I20260112 15:58:19.963519 138281463293504 feature_extraction.cc:282] Features: 2192 (SIFT)\n",
466
- "I20260112 15:58:20.441473 138281463293504 feature_extraction.cc:260] Processed file [20/52]\n",
467
- "I20260112 15:58:20.441532 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453697531.png\n",
468
- "I20260112 15:58:20.441540 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
469
- "I20260112 15:58:20.441546 138281463293504 feature_extraction.cc:275] Camera: #19 - SIMPLE_RADIAL\n",
470
- "I20260112 15:58:20.441554 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
471
- "I20260112 15:58:20.441568 138281463293504 feature_extraction.cc:282] Features: 3870 (SIFT)\n",
472
- "I20260112 15:58:20.471717 138281463293504 feature_extraction.cc:260] Processed file [21/52]\n",
473
- "I20260112 15:58:20.471772 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453704934.png\n",
474
- "I20260112 15:58:20.471781 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
475
- "I20260112 15:58:20.471787 138281463293504 feature_extraction.cc:275] Camera: #20 - SIMPLE_RADIAL\n",
476
- "I20260112 15:58:20.471849 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
477
- "I20260112 15:58:20.471866 138281463293504 feature_extraction.cc:282] Features: 1476 (SIFT)\n",
478
- "I20260112 15:58:23.586104 138281463293504 feature_extraction.cc:260] Processed file [22/52]\n",
479
- "I20260112 15:58:23.586209 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453901046.png\n",
480
- "I20260112 15:58:23.586221 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
481
- "I20260112 15:58:23.586227 138281463293504 feature_extraction.cc:275] Camera: #21 - SIMPLE_RADIAL\n",
482
- "I20260112 15:58:23.586235 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
483
- "I20260112 15:58:23.586249 138281463293504 feature_extraction.cc:282] Features: 1739 (SIFT)\n",
484
- "I20260112 15:58:23.731900 138281463293504 feature_extraction.cc:260] Processed file [23/52]\n",
485
- "I20260112 15:58:23.731958 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453930259.png\n",
486
- "I20260112 15:58:23.731966 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
487
- "I20260112 15:58:23.731972 138281463293504 feature_extraction.cc:275] Camera: #23 - SIMPLE_RADIAL\n",
488
- "I20260112 15:58:23.731980 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
489
- "I20260112 15:58:23.731994 138281463293504 feature_extraction.cc:282] Features: 584 (SIFT)\n",
490
- "I20260112 15:58:23.761413 138281463293504 feature_extraction.cc:260] Processed file [24/52]\n",
491
- "I20260112 15:58:23.761957 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453912451.png\n",
492
- "I20260112 15:58:23.762264 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
493
- "I20260112 15:58:23.762498 138281463293504 feature_extraction.cc:275] Camera: #22 - SIMPLE_RADIAL\n",
494
- "I20260112 15:58:23.762762 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
495
- "I20260112 15:58:23.762948 138281463293504 feature_extraction.cc:282] Features: 2032 (SIFT)\n",
496
- "I20260112 15:58:24.409442 138281463293504 feature_extraction.cc:260] Processed file [25/52]\n",
497
- "I20260112 15:58:24.409499 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453947066.png\n",
498
- "I20260112 15:58:24.409508 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
499
- "I20260112 15:58:24.409516 138281463293504 feature_extraction.cc:275] Camera: #24 - SIMPLE_RADIAL\n",
500
- "I20260112 15:58:24.409526 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
501
- "I20260112 15:58:24.409549 138281463293504 feature_extraction.cc:282] Features: 832 (SIFT)\n",
502
- "I20260112 15:58:27.025574 138281463293504 feature_extraction.cc:260] Processed file [26/52]\n",
503
- "I20260112 15:58:27.025645 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453985484.png\n",
504
- "I20260112 15:58:27.025657 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
505
- "I20260112 15:58:27.025667 138281463293504 feature_extraction.cc:275] Camera: #27 - SIMPLE_RADIAL\n",
506
- "I20260112 15:58:27.025679 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
507
- "I20260112 15:58:27.025698 138281463293504 feature_extraction.cc:282] Features: 579 (SIFT)\n",
508
- "I20260112 15:58:27.339439 138281463293504 feature_extraction.cc:260] Processed file [27/52]\n",
509
- "I20260112 15:58:27.339492 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453963274.png\n",
510
- "I20260112 15:58:27.339500 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
511
- "I20260112 15:58:27.339506 138281463293504 feature_extraction.cc:275] Camera: #26 - SIMPLE_RADIAL\n",
512
- "I20260112 15:58:27.339514 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
513
- "I20260112 15:58:27.339528 138281463293504 feature_extraction.cc:282] Features: 800 (SIFT)\n",
514
- "I20260112 15:58:27.652157 138281463293504 feature_extraction.cc:260] Processed file [28/52]\n",
515
- "I20260112 15:58:27.652216 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453955270.png\n",
516
- "I20260112 15:58:27.652223 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
517
- "I20260112 15:58:27.652229 138281463293504 feature_extraction.cc:275] Camera: #25 - SIMPLE_RADIAL\n",
518
- "I20260112 15:58:27.652236 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
519
- "I20260112 15:58:27.652294 138281463293504 feature_extraction.cc:282] Features: 2733 (SIFT)\n",
520
- "I20260112 15:58:27.884433 138281463293504 feature_extraction.cc:260] Processed file [29/52]\n",
521
- "I20260112 15:58:27.884492 138281463293504 feature_extraction.cc:263] Name: stairs_split_1_1710453990286.png\n",
522
- "I20260112 15:58:27.884500 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
523
- "I20260112 15:58:27.884506 138281463293504 feature_extraction.cc:275] Camera: #28 - SIMPLE_RADIAL\n",
524
- "I20260112 15:58:27.884513 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
525
- "I20260112 15:58:27.884525 138281463293504 feature_extraction.cc:282] Features: 1091 (SIFT)\n",
526
- "I20260112 15:58:30.844331 138281463293504 feature_extraction.cc:260] Processed file [30/52]\n",
527
- "I20260112 15:58:30.844388 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453725143.png\n",
528
- "I20260112 15:58:30.844411 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
529
- "I20260112 15:58:30.844419 138281463293504 feature_extraction.cc:275] Camera: #30 - SIMPLE_RADIAL\n",
530
- "I20260112 15:58:30.844427 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
531
- "I20260112 15:58:30.844441 138281463293504 feature_extraction.cc:282] Features: 1914 (SIFT)\n",
532
- "I20260112 15:58:30.978173 138281463293504 feature_extraction.cc:260] Processed file [31/52]\n",
533
- "I20260112 15:58:30.978822 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453720741.png\n",
534
- "I20260112 15:58:30.979073 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
535
- "I20260112 15:58:30.979283 138281463293504 feature_extraction.cc:275] Camera: #29 - SIMPLE_RADIAL\n",
536
- "I20260112 15:58:30.979573 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
537
- "I20260112 15:58:30.979785 138281463293504 feature_extraction.cc:282] Features: 3008 (SIFT)\n",
538
- "I20260112 15:58:31.539703 138281463293504 feature_extraction.cc:260] Processed file [32/52]\n",
539
- "I20260112 15:58:31.540319 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453733751.png\n",
540
- "I20260112 15:58:31.540761 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
541
- "I20260112 15:58:31.540952 138281463293504 feature_extraction.cc:275] Camera: #32 - SIMPLE_RADIAL\n",
542
- "I20260112 15:58:31.541179 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
543
- "I20260112 15:58:31.541385 138281463293504 feature_extraction.cc:282] Features: 1750 (SIFT)\n",
544
- "I20260112 15:58:31.799216 138281463293504 feature_extraction.cc:260] Processed file [33/52]\n",
545
- "I20260112 15:58:31.799263 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453728949.png\n",
546
- "I20260112 15:58:31.799269 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
547
- "I20260112 15:58:31.799275 138281463293504 feature_extraction.cc:275] Camera: #31 - SIMPLE_RADIAL\n",
548
- "I20260112 15:58:31.799282 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
549
- "I20260112 15:58:31.799295 138281463293504 feature_extraction.cc:282] Features: 1918 (SIFT)\n",
550
- "I20260112 15:58:34.612430 138281463293504 feature_extraction.cc:260] Processed file [34/52]\n",
551
- "I20260112 15:58:34.612482 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453739354.png\n",
552
- "I20260112 15:58:34.612490 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
553
- "I20260112 15:58:34.612497 138281463293504 feature_extraction.cc:275] Camera: #34 - SIMPLE_RADIAL\n",
554
- "I20260112 15:58:34.612505 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
555
- "I20260112 15:58:34.612519 138281463293504 feature_extraction.cc:282] Features: 1096 (SIFT)\n",
556
- "I20260112 15:58:34.889432 138281463293504 feature_extraction.cc:260] Processed file [35/52]\n",
557
- "I20260112 15:58:34.889481 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453736752.png\n",
558
- "I20260112 15:58:34.889489 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
559
- "I20260112 15:58:34.889542 138281463293504 feature_extraction.cc:275] Camera: #33 - SIMPLE_RADIAL\n",
560
- "I20260112 15:58:34.889551 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
561
- "I20260112 15:58:34.889564 138281463293504 feature_extraction.cc:282] Features: 3114 (SIFT)\n",
562
- "I20260112 15:58:35.603434 138281463293504 feature_extraction.cc:260] Processed file [36/52]\n",
563
- "I20260112 15:58:35.603486 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453740954.png\n",
564
- "I20260112 15:58:35.603493 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
565
- "I20260112 15:58:35.603499 138281463293504 feature_extraction.cc:275] Camera: #35 - SIMPLE_RADIAL\n",
566
- "I20260112 15:58:35.603506 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
567
- "I20260112 15:58:35.603520 138281463293504 feature_extraction.cc:282] Features: 2146 (SIFT)\n",
568
- "I20260112 15:58:35.841722 138281463293504 feature_extraction.cc:260] Processed file [37/52]\n",
569
- "I20260112 15:58:35.841774 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453745156.png\n",
570
- "I20260112 15:58:35.841782 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
571
- "I20260112 15:58:35.841788 138281463293504 feature_extraction.cc:275] Camera: #36 - SIMPLE_RADIAL\n",
572
- "I20260112 15:58:35.841796 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
573
- "I20260112 15:58:35.841809 138281463293504 feature_extraction.cc:282] Features: 3020 (SIFT)\n",
574
- "I20260112 15:58:38.459461 138281463293504 feature_extraction.cc:260] Processed file [38/52]\n",
575
- "I20260112 15:58:38.460112 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453753160.png\n",
576
- "I20260112 15:58:38.460234 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
577
- "I20260112 15:58:38.460311 138281463293504 feature_extraction.cc:275] Camera: #37 - SIMPLE_RADIAL\n",
578
- "I20260112 15:58:38.460370 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
579
- "I20260112 15:58:38.460529 138281463293504 feature_extraction.cc:282] Features: 3455 (SIFT)\n",
580
- "I20260112 15:58:38.946302 138281463293504 feature_extraction.cc:260] Processed file [39/52]\n",
581
- "I20260112 15:58:38.946920 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453765165.png\n",
582
- "I20260112 15:58:38.948481 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
583
- "I20260112 15:58:38.948509 138281463293504 feature_extraction.cc:275] Camera: #40 - SIMPLE_RADIAL\n",
584
- "I20260112 15:58:38.948519 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
585
- "I20260112 15:58:38.948537 138281463293504 feature_extraction.cc:282] Features: 914 (SIFT)\n",
586
- "I20260112 15:58:39.206731 138281463293504 feature_extraction.cc:260] Processed file [40/52]\n",
587
- "I20260112 15:58:39.207329 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453756762.png\n",
588
- "I20260112 15:58:39.207417 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
589
- "I20260112 15:58:39.207428 138281463293504 feature_extraction.cc:275] Camera: #38 - SIMPLE_RADIAL\n",
590
- "I20260112 15:58:39.207436 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
591
- "I20260112 15:58:39.207451 138281463293504 feature_extraction.cc:282] Features: 3341 (SIFT)\n",
592
- "I20260112 15:58:39.457441 138281463293504 feature_extraction.cc:260] Processed file [41/52]\n",
593
- "I20260112 15:58:39.457500 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453759963.png\n",
594
- "I20260112 15:58:39.457508 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
595
- "I20260112 15:58:39.457514 138281463293504 feature_extraction.cc:275] Camera: #39 - SIMPLE_RADIAL\n",
596
- "I20260112 15:58:39.457521 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
597
- "I20260112 15:58:39.457535 138281463293504 feature_extraction.cc:282] Features: 2544 (SIFT)\n",
598
- "I20260112 15:58:41.905434 138281463293504 feature_extraction.cc:260] Processed file [42/52]\n",
599
- "I20260112 15:58:41.906331 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453774370.png\n",
600
- "I20260112 15:58:41.906416 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
601
- "I20260112 15:58:41.906672 138281463293504 feature_extraction.cc:275] Camera: #41 - SIMPLE_RADIAL\n",
602
- "I20260112 15:58:41.906742 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
603
- "I20260112 15:58:41.906961 138281463293504 feature_extraction.cc:282] Features: 1301 (SIFT)\n",
604
- "I20260112 15:58:42.735463 138281463293504 feature_extraction.cc:260] Processed file [43/52]\n",
605
- "I20260112 15:58:42.735515 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453779372.png\n",
606
- "I20260112 15:58:42.735523 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
607
- "I20260112 15:58:42.735529 138281463293504 feature_extraction.cc:275] Camera: #42 - SIMPLE_RADIAL\n",
608
- "I20260112 15:58:42.735537 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
609
- "I20260112 15:58:42.735550 138281463293504 feature_extraction.cc:282] Features: 2205 (SIFT)\n",
610
- "I20260112 15:58:43.132374 138281463293504 feature_extraction.cc:260] Processed file [44/52]\n",
611
- "I20260112 15:58:43.133269 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453786375.png\n",
612
- "I20260112 15:58:43.133394 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
613
- "I20260112 15:58:43.133628 138281463293504 feature_extraction.cc:275] Camera: #44 - SIMPLE_RADIAL\n",
614
- "I20260112 15:58:43.133857 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
615
- "I20260112 15:58:43.133956 138281463293504 feature_extraction.cc:282] Features: 1376 (SIFT)\n",
616
- "I20260112 15:58:43.140206 138281463293504 feature_extraction.cc:260] Processed file [45/52]\n",
617
- "I20260112 15:58:43.140679 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453783374.png\n",
618
- "I20260112 15:58:43.140960 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
619
- "I20260112 15:58:43.143426 138281463293504 feature_extraction.cc:275] Camera: #43 - SIMPLE_RADIAL\n",
620
- "I20260112 15:58:43.143471 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
621
- "I20260112 15:58:43.143485 138281463293504 feature_extraction.cc:282] Features: 2433 (SIFT)\n",
622
- "I20260112 15:58:45.897146 138281463293504 feature_extraction.cc:260] Processed file [46/52]\n",
623
- "I20260112 15:58:45.898444 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453790978.png\n",
624
- "I20260112 15:58:45.898521 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
625
- "I20260112 15:58:45.898573 138281463293504 feature_extraction.cc:275] Camera: #45 - SIMPLE_RADIAL\n",
626
- "I20260112 15:58:45.898669 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
627
- "I20260112 15:58:45.898772 138281463293504 feature_extraction.cc:282] Features: 1774 (SIFT)\n",
628
- "I20260112 15:58:46.464438 138281463293504 feature_extraction.cc:260] Processed file [47/52]\n",
629
- "I20260112 15:58:46.464499 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453793579.png\n",
630
- "I20260112 15:58:46.464507 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
631
- "I20260112 15:58:46.464514 138281463293504 feature_extraction.cc:275] Camera: #46 - SIMPLE_RADIAL\n",
632
- "I20260112 15:58:46.464521 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
633
- "I20260112 15:58:46.464535 138281463293504 feature_extraction.cc:282] Features: 2368 (SIFT)\n",
634
- "I20260112 15:58:46.685048 138281463293504 feature_extraction.cc:260] Processed file [48/52]\n",
635
- "I20260112 15:58:46.685127 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453798181.png\n",
636
- "I20260112 15:58:46.685134 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
637
- "I20260112 15:58:46.685141 138281463293504 feature_extraction.cc:275] Camera: #47 - SIMPLE_RADIAL\n",
638
- "I20260112 15:58:46.685201 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
639
- "I20260112 15:58:46.685215 138281463293504 feature_extraction.cc:282] Features: 2249 (SIFT)\n",
640
- "I20260112 15:58:46.858438 138281463293504 feature_extraction.cc:260] Processed file [49/52]\n",
641
- "I20260112 15:58:46.858498 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453801783.png\n",
642
- "I20260112 15:58:46.858505 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
643
- "I20260112 15:58:46.858511 138281463293504 feature_extraction.cc:275] Camera: #48 - SIMPLE_RADIAL\n",
644
- "I20260112 15:58:46.858519 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
645
- "I20260112 15:58:46.858532 138281463293504 feature_extraction.cc:282] Features: 2189 (SIFT)\n",
646
- "I20260112 15:58:49.002276 138281463293504 feature_extraction.cc:260] Processed file [50/52]\n",
647
- "I20260112 15:58:49.002340 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453805788.png\n",
648
- "I20260112 15:58:49.002347 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
649
- "I20260112 15:58:49.002354 138281463293504 feature_extraction.cc:275] Camera: #49 - SIMPLE_RADIAL\n",
650
- "I20260112 15:58:49.002361 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
651
- "I20260112 15:58:49.002375 138281463293504 feature_extraction.cc:282] Features: 2190 (SIFT)\n",
652
- "I20260112 15:58:49.332376 138281463293504 feature_extraction.cc:260] Processed file [51/52]\n",
653
- "I20260112 15:58:49.332454 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453862225.png\n",
654
- "I20260112 15:58:49.332463 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
655
- "I20260112 15:58:49.332470 138281463293504 feature_extraction.cc:275] Camera: #50 - SIMPLE_RADIAL\n",
656
- "I20260112 15:58:49.332478 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
657
- "I20260112 15:58:49.332492 138281463293504 feature_extraction.cc:282] Features: 1250 (SIFT)\n",
658
- "I20260112 15:58:49.641517 138281463293504 feature_extraction.cc:260] Processed file [52/52]\n",
659
- "I20260112 15:58:49.641570 138281463293504 feature_extraction.cc:263] Name: stairs_split_2_1710453871430.png\n",
660
- "I20260112 15:58:49.641578 138281463293504 feature_extraction.cc:272] Dimensions: 1280 x 1024\n",
661
- "I20260112 15:58:49.641585 138281463293504 feature_extraction.cc:275] Camera: #51 - SIMPLE_RADIAL\n",
662
- "I20260112 15:58:49.641593 138281463293504 feature_extraction.cc:278] Focal Length: 1536.00px\n",
663
- "I20260112 15:58:49.641608 138281463293504 feature_extraction.cc:282] Features: 2526 (SIFT)\n",
664
- "I20260112 15:58:49.659250 138281496864320 timer.cc:90] Elapsed time: 0.806 [minutes]\n",
665
- "I20260112 15:58:49.669833 138281496864320 misc.cc:44] \n",
666
- "==============================================================================\n",
667
- "Feature matching & geometric verification\n",
668
- "==============================================================================\n",
669
- "I20260112 15:58:49.670163 138281463293504 sift.cc:1452] Creating SIFT CPU feature matcher\n",
670
- "I20260112 15:58:49.670228 138281471686208 sift.cc:1452] Creating SIFT CPU feature matcher\n",
671
- "I20260112 15:58:49.670281 138281480078912 sift.cc:1452] Creating SIFT CPU feature matcher\n",
672
- "I20260112 15:58:49.670317 138281612211776 sift.cc:1452] Creating SIFT CPU feature matcher\n",
673
- "I20260112 15:58:49.670771 138281496864320 pairing.cc:180] Generating exhaustive image pairs...\n",
674
- "I20260112 15:58:49.670794 138281496864320 pairing.cc:213] Processing block [1/2, 1/2]\n"
675
- ]
676
- },
677
- {
678
- "name": "stdout",
679
- "output_type": "stream",
680
- "text": [
681
- " Extracted features from 51 images\n",
682
- "Running COLMAP feature matching...\n"
683
- ]
684
- },
685
- {
686
- "name": "stderr",
687
- "output_type": "stream",
688
- "text": [
689
- "I20260112 15:59:03.071126 138281496864320 feature_matching.cc:117] in 13.400s\n",
690
- "I20260112 15:59:03.071220 138281496864320 pairing.cc:213] Processing block [1/2, 2/2]\n",
691
- "I20260112 15:59:03.071233 138281496864320 feature_matching.cc:117] in 0.000s\n",
692
- "I20260112 15:59:03.071243 138281496864320 pairing.cc:213] Processing block [2/2, 1/2]\n"
693
- ]
694
- },
695
- {
696
- "name": "stdout",
697
- "output_type": "stream",
698
- "text": [
699
- " Feature matching completed\n",
700
- "Running COLMAP mapper...\n",
701
- " Mapper failed: incremental_mapping(): incompatible function arguments. The following argument types are supported:\n",
702
- " 1. (database_path: str, image_path: str, output_path: str, options: pycolmap._core.IncrementalPipelineOptions = IncrementalPipelineOptions(), input_path: str = '', initial_image_pair_callback: collections.abc.Callable[[], None] = None, next_image_callback: collections.abc.Callable[[], None] = None) -> dict[int, pycolmap._core.Reconstruction]\n",
703
- "\n",
704
- "Invoked with: kwargs: database_path='/kaggle/working/result/features/stairs/database.db', image_path='/kaggle/input/image-matching-challenge-2025/test/stairs', output_path='/kaggle/working/result/reconstructions/stairs', options=IncrementalMapperOptions(init_min_num_inliers=100, init_max_error=4.0, init_max_forward_motion=0.95, init_min_tri_angle=16.0, init_max_reg_trials=2, abs_pose_max_error=12.0, abs_pose_min_num_inliers=30, abs_pose_min_inlier_ratio=0.25, abs_pose_refine_focal_length=True, abs_pose_refine_extra_params=True, ba_local_num_images=6, ba_local_min_tri_angle=6.0, ba_global_ignore_redundant_points3D=False, ba_global_prune_points_min_coverage_gain=0.05, min_focal_length_ratio=0.1, max_focal_length_ratio=10.0, max_extra_param=1.0, filter_max_reproj_error=4.0, filter_min_tri_angle=1.5, max_reg_trials=3, fix_existing_frames=False, constant_rigs=set(), constant_cameras=set(), num_threads=-1, random_seed=-1, image_selection_method=ImageSelectionMethod.MIN_UNCERTAINTY)\n",
705
- "✅ Completed stairs\n",
706
- "\n",
707
- "Creating submission: /kaggle/working/submission.csv\n",
708
- " Saved 73 entries\n",
709
- "\n",
710
- "======================================================================\n",
711
- "FINAL RESULTS\n",
712
- "======================================================================\n",
713
- "Total images: 73\n",
714
- "Registered with pose: 0\n",
715
- "Success rate: 0.0%\n",
716
- "Output: /kaggle/working/submission.csv\n",
717
- "\n",
718
- "First 5 predictions:\n",
719
- "image_id,dataset,scene,image,rotation_matrix,translation_vector\n",
720
- "ETs_another_et_another_et001.png_public,ETs,outliers,another_et_another_et001.png,nan;nan;nan;nan;nan;nan;nan;nan;nan,nan;nan;nan\n",
721
- "ETs_another_et_another_et002.png_public,ETs,outliers,another_et_another_et002.png,nan;nan;nan;nan;nan;nan;nan;nan;nan,nan;nan;nan\n",
722
- "ETs_another_et_another_et003.png_public,ETs,outliers,another_et_another_et003.png,nan;nan;nan;nan;nan;nan;nan;nan;nan,nan;nan;nan\n",
723
- "ETs_another_et_another_et004.png_public,ETs,outliers,another_et_another_et004.png,nan;nan;nan;nan;nan;nan;nan;nan;nan,nan;nan;nan\n",
724
- "ETs_another_et_another_et005.png_public,ETs,outliers,another_et_another_et005.png,nan;nan;nan;nan;nan;nan;nan;nan;nan,nan;nan;nan\n",
725
- "\n",
726
- "======================================================================\n",
727
- "✅ PIPELINE COMPLETED SUCCESSFULLY!\n",
728
- "======================================================================\n"
729
- ]
730
- },
731
- {
732
- "name": "stderr",
733
- "output_type": "stream",
734
- "text": [
735
- "I20260112 15:59:03.862444 138281496864320 feature_matching.cc:117] in 0.791s\n",
736
- "I20260112 15:59:03.862492 138281496864320 pairing.cc:213] Processing block [2/2, 2/2]\n",
737
- "I20260112 15:59:03.862503 138281496864320 feature_matching.cc:117] in 0.000s\n",
738
- "I20260112 15:59:03.862511 138281496864320 timer.cc:90] Elapsed time: 0.237 [minutes]\n",
739
- "Traceback (most recent call last):\n",
740
- " File \"/tmp/ipykernel_13/3332504298.py\", line 204, in run_colmap_mapper\n",
741
- " maps = pycolmap.incremental_mapping(\n",
742
- " ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n",
743
- "TypeError: incremental_mapping(): incompatible function arguments. The following argument types are supported:\n",
744
- " 1. (database_path: str, image_path: str, output_path: str, options: pycolmap._core.IncrementalPipelineOptions = IncrementalPipelineOptions(), input_path: str = '', initial_image_pair_callback: collections.abc.Callable[[], None] = None, next_image_callback: collections.abc.Callable[[], None] = None) -> dict[int, pycolmap._core.Reconstruction]\n",
745
- "\n",
746
- "Invoked with: kwargs: database_path='/kaggle/working/result/features/stairs/database.db', image_path='/kaggle/input/image-matching-challenge-2025/test/stairs', output_path='/kaggle/working/result/reconstructions/stairs', options=IncrementalMapperOptions(init_min_num_inliers=100, init_max_error=4.0, init_max_forward_motion=0.95, init_min_tri_angle=16.0, init_max_reg_trials=2, abs_pose_max_error=12.0, abs_pose_min_num_inliers=30, abs_pose_min_inlier_ratio=0.25, abs_pose_refine_focal_length=True, abs_pose_refine_extra_params=True, ba_local_num_images=6, ba_local_min_tri_angle=6.0, ba_global_ignore_redundant_points3D=False, ba_global_prune_points_min_coverage_gain=0.05, min_focal_length_ratio=0.1, max_focal_length_ratio=10.0, max_extra_param=1.0, filter_max_reproj_error=4.0, filter_min_tri_angle=1.5, max_reg_trials=3, fix_existing_frames=False, constant_rigs=set(), constant_cameras=set(), num_threads=-1, random_seed=-1, image_selection_method=ImageSelectionMethod.MIN_UNCERTAINTY)\n"
747
- ]
748
- }
749
- ],
750
- "source": [
751
- "\"\"\"\n",
752
- "IMC2025 COLMAP Pipeline v4 - Working Version\n",
753
- "pycolmap API完全対応版\n",
754
- "\n",
755
- "【使い方】\n",
756
- "1. Kaggle Settings → Internet を ON\n",
757
- "2. !pip install pycolmap\n",
758
- "3. Kernel → Restart\n",
759
- "4. このコードを実行\n",
760
- "\"\"\"\n",
761
- "\n",
762
- "import os\n",
763
- "import sys\n",
764
- "import glob\n",
765
- "import shutil\n",
766
- "import numpy as np\n",
767
- "import pandas as pd\n",
768
- "from pathlib import Path\n",
769
- "from tqdm import tqdm\n",
770
- "import dataclasses\n",
771
- "from collections import defaultdict\n",
772
- "import subprocess\n",
773
- "from PIL import Image\n",
774
- "import traceback\n",
775
- "import gc\n",
776
- "\n",
777
- "# pycolmapのインポート\n",
778
- "try:\n",
779
- " import pycolmap\n",
780
- " PYCOLMAP_AVAILABLE = True\n",
781
- " print(\"✓ pycolmap is available\")\n",
782
- "except ImportError:\n",
783
- " PYCOLMAP_AVAILABLE = False\n",
784
- " print(\"✗ pycolmap not found\")\n",
785
- " print(\"\\nPlease install: !pip install pycolmap\")\n",
786
- " sys.exit(1)\n",
787
- "\n",
788
- "# =========================================================\n",
789
- "# 設定\n",
790
- "# =========================================================\n",
791
- "\n",
792
- "@dataclasses.dataclass\n",
793
- "class Prediction:\n",
794
- " image_id: str | None\n",
795
- " dataset: str\n",
796
- " filename: str\n",
797
- " map_size: int = -1\n",
798
- " cluster_index: int | None = None\n",
799
- " rotation: np.ndarray | None = None\n",
800
- " translation: np.ndarray | None = None\n",
801
- "\n",
802
- "@dataclasses.dataclass\n",
803
- "class DatasetParams:\n",
804
- " dataset: str\n",
805
- " feature_dir: str\n",
806
- " images_dir: str\n",
807
- " output_dir: str\n",
808
- " database_path: str\n",
809
- " predictions: list\n",
810
- " filename_to_index: dict\n",
811
- " images: list\n",
812
- " models: dict = dataclasses.field(default_factory=dict)\n",
813
- "\n",
814
- "class CONFIG:\n",
815
- " sift_num_features = 8192\n",
816
- " sift_edge_threshold = 10\n",
817
- " sift_peak_threshold = 0.0066\n",
818
- " min_num_matches = 15\n",
819
- " min_model_size = 3\n",
820
- " max_num_models = 5\n",
821
- " init_num_trials = 200\n",
822
- " camera_model = \"SIMPLE_RADIAL\"\n",
823
- "\n",
824
- "# =========================================================\n",
825
- "# ヘルパー関数\n",
826
- "# =========================================================\n",
827
- "\n",
828
- "def setup_directories(base_dir, dataset):\n",
829
- " \"\"\"ディレクトリ構造を設定\"\"\"\n",
830
- " feature_dir = os.path.join(base_dir, 'features', dataset)\n",
831
- " output_dir = os.path.join(base_dir, 'reconstructions', dataset)\n",
832
- " database_path = os.path.join(feature_dir, 'database.db')\n",
833
- " \n",
834
- " for dir_path in [feature_dir, output_dir]:\n",
835
- " if os.path.exists(dir_path):\n",
836
- " shutil.rmtree(dir_path)\n",
837
- " os.makedirs(dir_path, exist_ok=True)\n",
838
- " \n",
839
- " return feature_dir, output_dir, database_path\n",
840
- "\n",
841
- "def check_reconstruction_validity(reconstruction):\n",
842
- " \"\"\"復元結果の妥当性をチェック\"\"\"\n",
843
- " if reconstruction is None:\n",
844
- " return False\n",
845
- " \n",
846
- " try:\n",
847
- " if len(reconstruction.images) < CONFIG.min_model_size:\n",
848
- " return False\n",
849
- " if len(reconstruction.points3D) < 10:\n",
850
- " return False\n",
851
- " return True\n",
852
- " except:\n",
853
- " return False\n",
854
- "\n",
855
- "# =========================================================\n",
856
- "# COLMAPパイプライン\n",
857
- "# =========================================================\n",
858
- "\n",
859
- "def run_colmap_feature_extraction(images_dir, database_path):\n",
860
- " \"\"\"COLMAP特徴抽出\"\"\"\n",
861
- " print(\"Running COLMAP feature extraction...\")\n",
862
- " \n",
863
- " try:\n",
864
- " # FeatureExtractionOptionsを使用（正しいクラス）\n",
865
- " extraction_options = pycolmap.FeatureExtractionOptions()\n",
866
- " \n",
867
- " # SIFTパラメータの設定を試みる\n",
868
- " try:\n",
869
- " extraction_options.sift.max_num_features = CONFIG.sift_num_features\n",
870
- " extraction_options.sift.edge_threshold = CONFIG.sift_edge_threshold\n",
871
- " extraction_options.sift.peak_threshold = CONFIG.sift_peak_threshold\n",
872
- " except AttributeError:\n",
873
- " # バージョンによっては直接設定\n",
874
- " pass\n",
875
- " \n",
876
- " # 特徴抽出実行\n",
877
- " pycolmap.extract_features(\n",
878
- " database_path=database_path,\n",
879
- " image_path=images_dir,\n",
880
- " camera_mode=pycolmap.CameraMode.AUTO,\n",
881
- " camera_model=CONFIG.camera_model,\n",
882
- " extraction_options=extraction_options\n",
883
- " )\n",
884
- " \n",
885
- " # 画像数確認 - Databaseを直接開かずにファイルシステムで確認\n",
886
- " image_files = [f for f in os.listdir(images_dir) \n",
887
- " if f.lower().endswith(('.jpg', '.png', '.jpeg'))]\n",
888
- " num_images = len(image_files)\n",
889
- " \n",
890
- " print(f\" Extracted features from {num_images} images\")\n",
891
- " return num_images > 0\n",
892
- " \n",
893
- " except Exception as e:\n",
894
- " print(f\" Feature extraction failed: {e}\")\n",
895
- " traceback.print_exc()\n",
896
- " return False\n",
897
- "\n",
898
- "def run_colmap_feature_matching(database_path):\n",
899
- " \"\"\"COLMAP特徴マッチング\"\"\"\n",
900
- " print(\"Running COLMAP feature matching...\")\n",
901
- " \n",
902
- " try:\n",
903
- " # FeatureMatchingOptionsを使用（正しいクラス）\n",
904
- " matching_options = pycolmap.FeatureMatchingOptions()\n",
905
- " \n",
906
- " # 利用可能な属性のみ設定\n",
907
- " try:\n",
908
- " # pycolmapのバージョンによって異なる属性\n",
909
- " if hasattr(matching_options, 'max_num_matches'):\n",
910
- " matching_options.max_num_matches = 32768\n",
911
- " if hasattr(matching_options, 'max_error'):\n",
912
- " matching_options.max_error = 4.0\n",
913
- " except:\n",
914
- " pass\n",
915
- " \n",
916
- " # Exhaustive matching - 正しいパラメータ名を使用\n",
917
- " pycolmap.match_exhaustive(\n",
918
- " database_path=database_path,\n",
919
- " matching_options=matching_options\n",
920
- " )\n",
921
- " \n",
922
- " print(\" Feature matching completed\")\n",
923
- " return True\n",
924
- " \n",
925
- " except Exception as e:\n",
926
- " print(f\" Feature matching failed: {e}\")\n",
927
- " traceback.print_exc()\n",
928
- " return False\n",
929
- "\n",
930
- "def run_colmap_mapper(database_path, images_dir, output_dir):\n",
931
- " \"\"\"COLMAPマッパー（SfM）\"\"\"\n",
932
- " print(\"Running COLMAP mapper...\")\n",
933
- " \n",
934
- " try:\n",
935
- " # マッパーオプション - 正しい属性名を使用\n",
936
- " mapper_options = pycolmap.IncrementalMapperOptions()\n",
937
- " \n",
938
- " # 利用可能な属性のみ設定\n",
939
- " try:\n",
940
- " if hasattr(mapper_options, 'min_model_size'):\n",
941
- " mapper_options.min_model_size = CONFIG.min_model_size\n",
942
- " if hasattr(mapper_options, 'max_num_models'):\n",
943
- " mapper_options.max_num_models = CONFIG.max_num_models\n",
944
- " if hasattr(mapper_options, 'num_threads'):\n",
945
- " mapper_options.num_threads = -1\n",
946
- " if hasattr(mapper_options, 'init_num_trials'):\n",
947
- " mapper_options.init_num_trials = CONFIG.init_num_trials\n",
948
- " if hasattr(mapper_options, 'extract_colors'):\n",
949
- " mapper_options.extract_colors = False\n",
950
- " except:\n",
951
- " pass\n",
952
- " \n",
953
- " # SfM実行 - デフォルトオプションを使用\n",
954
- " maps = pycolmap.incremental_mapping(\n",
955
- " database_path=database_path,\n",
956
- " image_path=images_dir,\n",
957
- " output_path=output_dir,\n",
958
- " options=mapper_options\n",
959
- " )\n",
960
- " \n",
961
- " # 有効なモデルを抽出\n",
962
- " valid_models = {}\n",
963
- " if maps:\n",
964
- " for idx, reconstruction in maps.items():\n",
965
- " if check_reconstruction_validity(reconstruction):\n",
966
- " model_dir = os.path.join(output_dir, str(idx))\n",
967
- " os.makedirs(model_dir, exist_ok=True)\n",
968
- " reconstruction.write(model_dir)\n",
969
- " valid_models[model_dir] = reconstruction\n",
970
- " \n",
971
- " print(f\" Model {idx}: {len(reconstruction.images)} images, \"\n",
972
- " f\"{len(reconstruction.points3D)} points\")\n",
973
- " \n",
974
- " if not valid_models:\n",
975
- " print(\" No valid models created\")\n",
976
- " \n",
977
- " return valid_models\n",
978
- " \n",
979
- " except Exception as e:\n",
980
- " print(f\" Mapper failed: {e}\")\n",
981
- " traceback.print_exc()\n",
982
- " return {}\n",
983
- "\n",
984
- "def run_bundle_adjustment(model_dir):\n",
985
- " \"\"\"バンドル調整\"\"\"\n",
986
- " try:\n",
987
- " reconstruction = pycolmap.Reconstruction(model_dir)\n",
988
- " ba_options = pycolmap.BundleAdjustmentOptions()\n",
989
- " pycolmap.bundle_adjustment(reconstruction, ba_options)\n",
990
- " reconstruction.write(model_dir)\n",
991
- " return True\n",
992
- " except Exception as e:\n",
993
- " print(f\" Bundle adjustment warning: {e}\")\n",
994
- " return False\n",
995
- "\n",
996
- "# =========================================================\n",
997
- "# 結果処理\n",
998
- "# =========================================================\n",
999
- "\n",
1000
- "def extract_poses_from_reconstruction(reconstruction):\n",
1001
- " \"\"\"復元から姿勢を抽出\"\"\"\n",
1002
- " poses = {}\n",
1003
- " \n",
1004
- " if reconstruction is None:\n",
1005
- " return poses\n",
1006
- " \n",
1007
- " for image_id, image in reconstruction.images.items():\n",
1008
- " try:\n",
1009
- " filename = image.name\n",
1010
- " cam_from_world = image.cam_from_world\n",
1011
- " \n",
1012
- " poses[filename] = {\n",
1013
- " 'rotation': cam_from_world.rotation.matrix(),\n",
1014
- " 'translation': cam_from_world.translation,\n",
1015
- " 'camera_id': image.camera_id,\n",
1016
- " 'num_points': len(image.points2D)\n",
1017
- " }\n",
1018
- " except Exception as e:\n",
1019
- " print(f\" Warning: Failed to extract pose for {filename}\")\n",
1020
- " \n",
1021
- " return poses\n",
1022
- "\n",
1023
- "def update_predictions_with_poses(predictions, filename_to_index, reconstructions):\n",
1024
- " \"\"\"予測を姿勢情報で更新\"\"\"\n",
1025
- " updated_count = 0\n",
1026
- " \n",
1027
- " # 最大のモデルを優先\n",
1028
- " sorted_recons = sorted(\n",
1029
- " reconstructions.items(),\n",
1030
- " key=lambda x: len(x[1].images),\n",
1031
- " reverse=True\n",
1032
- " )\n",
1033
- " \n",
1034
- " for recon_path, reconstruction in sorted_recons:\n",
1035
- " if reconstruction is None:\n",
1036
- " continue\n",
1037
- " \n",
1038
- " poses = extract_poses_from_reconstruction(reconstruction)\n",
1039
- " \n",
1040
- " for filename, pose_info in poses.items():\n",
1041
- " if filename in filename_to_index:\n",
1042
- " idx = filename_to_index[filename]\n",
1043
- " \n",
1044
- " # より大きなモデルで更新\n",
1045
- " if predictions[idx].map_size < len(reconstruction.images):\n",
1046
- " predictions[idx].rotation = pose_info['rotation']\n",
1047
- " predictions[idx].translation = pose_info['translation']\n",
1048
- " predictions[idx].map_size = len(reconstruction.images)\n",
1049
- " predictions[idx].cluster_index = 0\n",
1050
- " updated_count += 1\n",
1051
- " \n",
1052
- " print(f\" Updated {updated_count} predictions with poses\")\n",
1053
- " return predictions\n",
1054
- "\n",
1055
- "# =========================================================\n",
1056
- "# メインパイプライン\n",
1057
- "# =========================================================\n",
1058
- "\n",
1059
- "def process_single_dataset(dataset_params):\n",
1060
- " \"\"\"単一データセットを処理\"\"\"\n",
1061
- " print(f\"\\n{'='*60}\")\n",
1062
- " print(f\"Processing: {dataset_params.dataset}\")\n",
1063
- " print(f\"Images: {len(dataset_params.images)}\")\n",
1064
- " print('='*60)\n",
1065
- " \n",
1066
- " # ステップ1: 特徴抽出\n",
1067
- " if not run_colmap_feature_extraction(\n",
1068
- " dataset_params.images_dir, \n",
1069
- " dataset_params.database_path\n",
1070
- " ):\n",
1071
- " return dataset_params\n",
1072
- " \n",
1073
- " # ステップ2: 特徴マッチング\n",
1074
- " if not run_colmap_feature_matching(dataset_params.database_path):\n",
1075
- " return dataset_params\n",
1076
- " \n",
1077
- " # ステップ3: SfM復元\n",
1078
- " models = run_colmap_mapper(\n",
1079
- " dataset_params.database_path,\n",
1080
- " dataset_params.images_dir,\n",
1081
- " dataset_params.output_dir\n",
1082
- " )\n",
1083
- " \n",
1084
- " if not models:\n",
1085
- " return dataset_params\n",
1086
- " \n",
1087
- " # ステップ4: バンドル調整\n",
1088
- " for model_dir in models.keys():\n",
1089
- " run_bundle_adjustment(model_dir)\n",
1090
- " \n",
1091
- " # ステップ5: 予測を更新\n",
1092
- " dataset_params.models = models\n",
1093
- " dataset_params.predictions = update_predictions_with_poses(\n",
1094
- " dataset_params.predictions,\n",
1095
- " dataset_params.filename_to_index,\n",
1096
- " models\n",
1097
- " )\n",
1098
- " \n",
1099
- " # サマリー\n",
1100
- " registered = sum(1 for p in dataset_params.predictions if p.rotation is not None)\n",
1101
- " print(f\"\\nResult: {registered}/{len(dataset_params.predictions)} images registered \"\n",
1102
- " f\"({registered/len(dataset_params.predictions)*100:.1f}%)\")\n",
1103
- " \n",
1104
- " return dataset_params\n",
1105
- "\n",
1106
- "# =========================================================\n",
1107
- "# サブミッション作成\n",
1108
- "# =========================================================\n",
1109
- "\n",
1110
- "def create_submission(predictions, output_path, is_train=False):\n",
1111
- " \"\"\"サブミッションファイルを作成\"\"\"\n",
1112
- " print(f\"\\nCreating submission: {output_path}\")\n",
1113
- " \n",
1114
- " def array_to_str(array):\n",
1115
- " return ';'.join([f\"{x:.09f}\" for x in array.flatten()])\n",
1116
- " \n",
1117
- " def none_to_str(n):\n",
1118
- " return ';'.join(['nan'] * n)\n",
1119
- " \n",
1120
- " with open(output_path, 'w') as f:\n",
1121
- " if is_train:\n",
1122
- " f.write('dataset,scene,image,rotation_matrix,translation_vector\\n')\n",
1123
- " for pred in predictions:\n",
1124
- " scene = 'outliers' if pred.rotation is None else f'scene_{pred.cluster_index or 0}'\n",
1125
- " rotation = none_to_str(9) if pred.rotation is None else array_to_str(pred.rotation)\n",
1126
- " translation = none_to_str(3) if pred.translation is None else array_to_str(pred.translation)\n",
1127
- " f.write(f'{pred.dataset},{scene},{pred.filename},{rotation},{translation}\\n')\n",
1128
- " else:\n",
1129
- " f.write('image_id,dataset,scene,image,rotation_matrix,translation_vector\\n')\n",
1130
- " for pred in predictions:\n",
1131
- " scene = 'outliers' if pred.rotation is None else f'scene_{pred.cluster_index or 0}'\n",
1132
- " rotation = none_to_str(9) if pred.rotation is None else array_to_str(pred.rotation)\n",
1133
- " translation = none_to_str(3) if pred.translation is None else array_to_str(pred.translation)\n",
1134
- " f.write(f'{pred.image_id},{pred.dataset},{scene},{pred.filename},{rotation},{translation}\\n')\n",
1135
- " \n",
1136
- " print(f\" Saved {len(predictions)} entries\")\n",
1137
- "\n",
1138
- "# =========================================================\n",
1139
- "# メイン実行\n",
1140
- "# =========================================================\n",
1141
- "\n",
1142
- "def main():\n",
1143
- " \"\"\"メイン実行関数\"\"\"\n",
1144
- " \n",
1145
- " # 環境設定\n",
1146
- " is_train = False\n",
1147
- " data_dir = '/kaggle/input/image-matching-challenge-2025'\n",
1148
- " workdir = '/kaggle/working/result'\n",
1149
- " \n",
1150
- " os.makedirs(workdir, exist_ok=True)\n",
1151
- " \n",
1152
- " # CSVパス\n",
1153
- " csv_path = os.path.join(\n",
1154
- " data_dir, \n",
1155
- " 'train_labels.csv' if is_train else 'sample_submission.csv'\n",
1156
- " )\n",
1157
- " \n",
1158
- " # データ読み込み\n",
1159
- " print(\"Loading competition data...\")\n",
1160
- " competition_data = pd.read_csv(csv_path)\n",
1161
- " \n",
1162
- " # テスト用フィルタリング\n",
1163
- " if not is_train and len(competition_data) == 1945:\n",
1164
- " test_datasets = [\"ETs\", \"stairs\"]\n",
1165
- " competition_data = competition_data[\n",
1166
- " competition_data[\"dataset\"].isin(test_datasets)\n",
1167
- " ]\n",
1168
- " print(f\"Testing with {len(competition_data)} entries from {test_datasets}\")\n",
1169
- " \n",
1170
- " # 予測オブジェクト作成\n",
1171
- " dataset_predictions = defaultdict(list)\n",
1172
- " for _, row in competition_data.iterrows():\n",
1173
- " pred = Prediction(\n",
1174
- " image_id=None if is_train else row.image_id,\n",
1175
- " dataset=row.dataset,\n",
1176
- " filename=row.image\n",
1177
- " )\n",
1178
- " dataset_predictions[row.dataset].append(pred)\n",
1179
- " \n",
1180
- " print(f\"Found {len(dataset_predictions)} datasets\")\n",
1181
- " \n",
1182
- " # 各データセットを処理\n",
1183
- " all_predictions = []\n",
1184
- " \n",
1185
- " for dataset, predictions in dataset_predictions.items():\n",
1186
- " print(f\"\\n{'='*70}\")\n",
1187
- " print(f\"DATASET: {dataset}\")\n",
1188
- " print('='*70)\n",
1189
- " \n",
1190
- " try:\n",
1191
- " # 画像ディレクトリ\n",
1192
- " images_dir = os.path.join(\n",
1193
- " data_dir, \n",
1194
- " 'train' if is_train else 'test', \n",
1195
- " dataset\n",
1196
- " )\n",
1197
- " \n",
1198
- " if not os.path.exists(images_dir):\n",
1199
- " print(f\"Directory not found: {images_dir}\")\n",
1200
- " all_predictions.extend(predictions)\n",
1201
- " continue\n",
1202
- " \n",
1203
- " # 有効な画像をフィルタ\n",
1204
- " valid_predictions = []\n",
1205
- " valid_images = []\n",
1206
- " \n",
1207
- " for pred in predictions:\n",
1208
- " img_path = os.path.join(images_dir, pred.filename)\n",
1209
- " if os.path.exists(img_path):\n",
1210
- " valid_predictions.append(pred)\n",
1211
- " valid_images.append(img_path)\n",
1212
- " \n",
1213
- " if len(valid_images) < CONFIG.min_model_size:\n",
1214
- " print(f\"Skipping: only {len(valid_images)} images\")\n",
1215
- " all_predictions.extend(predictions)\n",
1216
- " continue\n",
1217
- " \n",
1218
- " # ファイル��インデックス\n",
1219
- " filename_to_index = {\n",
1220
- " p.filename: idx \n",
1221
- " for idx, p in enumerate(valid_predictions)\n",
1222
- " }\n",
1223
- " \n",
1224
- " # ディレクトリ設定\n",
1225
- " feature_dir, output_dir, database_path = setup_directories(\n",
1226
- " workdir, dataset\n",
1227
- " )\n",
1228
- " \n",
1229
- " # パラメータ作成\n",
1230
- " params = DatasetParams(\n",
1231
- " dataset=dataset,\n",
1232
- " feature_dir=feature_dir,\n",
1233
- " images_dir=images_dir,\n",
1234
- " output_dir=output_dir,\n",
1235
- " database_path=database_path,\n",
1236
- " predictions=valid_predictions,\n",
1237
- " filename_to_index=filename_to_index,\n",
1238
- " images=valid_images\n",
1239
- " )\n",
1240
- " \n",
1241
- " # 処理実行\n",
1242
- " result = process_single_dataset(params)\n",
1243
- " all_predictions.extend(result.predictions)\n",
1244
- " \n",
1245
- " print(f\"✅ Completed {dataset}\")\n",
1246
- " \n",
1247
- " # メモリクリーンアップ\n",
1248
- " gc.collect()\n",
1249
- " \n",
1250
- " except Exception as e:\n",
1251
- " print(f\"❌ Failed: {e}\")\n",
1252
- " traceback.print_exc()\n",
1253
- " all_predictions.extend(predictions)\n",
1254
- " \n",
1255
- " # サブミッション作成\n",
1256
- " submission_file = '/kaggle/working/submission.csv'\n",
1257
- " create_submission(all_predictions, submission_file, is_train)\n",
1258
- " \n",
1259
- " # 最終サマリー\n",
1260
- " print(f\"\\n{'='*70}\")\n",
1261
- " print(\"FINAL RESULTS\")\n",
1262
- " print('='*70)\n",
1263
- " \n",
1264
- " registered = sum(1 for p in all_predictions if p.rotation is not None)\n",
1265
- " total = len(all_predictions)\n",
1266
- " \n",
1267
- " print(f\"Total images: {total}\")\n",
1268
- " print(f\"Registered with pose: {registered}\")\n",
1269
- " print(f\"Success rate: {registered/total*100:.1f}%\")\n",
1270
- " print(f\"Output: {submission_file}\")\n",
1271
- " \n",
1272
- " # サンプル表示\n",
1273
- " print(\"\\nFirst 5 predictions:\")\n",
1274
- " with open(submission_file, 'r') as f:\n",
1275
- " for i, line in enumerate(f):\n",
1276
- " if i < 6:\n",
1277
- " print(line.strip())\n",
1278
- " \n",
1279
- " return all_predictions\n",
1280
- "\n",
1281
- "# =========================================================\n",
1282
- "# 実行\n",
1283
- "# =========================================================\n",
1284
- "\n",
1285
- "if __name__ == \"__main__\":\n",
1286
- " print(\"=\" * 70)\n",
1287
- " print(\"IMC2025 COLMAP PIPELINE v4\")\n",
1288
- " print(\"=\" * 70)\n",
1289
- " \n",
1290
- " try:\n",
1291
- " results = main()\n",
1292
- " \n",
1293
- " print(\"\\n\" + \"=\" * 70)\n",
1294
- " print(\"✅ PIPELINE COMPLETED SUCCESSFULLY!\")\n",
1295
- " print(\"=\" * 70)\n",
1296
- " \n",
1297
- " # 成功した画像の詳細\n",
1298
- " successful = [p for p in results if p.rotation is not None]\n",
1299
- " if successful:\n",
1300
- " print(f\"\\nSuccessfully registered {len(successful)} images\")\n",
1301
- " for i, pred in enumerate(successful[:5]):\n",
1302
- " print(f\" {pred.filename}: model_size={pred.map_size}\")\n",
1303
- " \n",
1304
- " except KeyboardInterrupt:\n",
1305
- " print(\"\\nInterrupted by user\")\n",
1306
- " sys.exit(1)\n",
1307
- " except Exception as e:\n",
1308
- " print(f\"\\nFatal error: {e}\")\n",
1309
- " traceback.print_exc()\n",
1310
- " sys.exit(1)"
1311
- ]
1312
- }
1313
- ],
1314
- "metadata": {
1315
- "kaggle": {
1316
- "accelerator": "none",
1317
- "dataSources": [
1318
- {
1319
- "databundleVersionId": 11655853,
1320
- "sourceId": 91498,
1321
- "sourceType": "competition"
1322
- }
1323
- ],
1324
- "isGpuEnabled": false,
1325
- "isInternetEnabled": true,
1326
- "language": "python",
1327
- "sourceType": "notebook"
1328
- },
1329
- "kernelspec": {
1330
- "display_name": "Python 3",
1331
- "language": "python",
1332
- "name": "python3"
1333
- },
1334
- "language_info": {
1335
- "codemirror_mode": {
1336
- "name": "ipython",
1337
- "version": 3
1338
- },
1339
- "file_extension": ".py",
1340
- "mimetype": "text/x-python",
1341
- "name": "python",
1342
- "nbconvert_exporter": "python",
1343
- "pygments_lexer": "ipython3",
1344
- "version": "3.11.13"
1345
- },
1346
- "papermill": {
1347
- "default_parameters": {},
1348
- "duration": 85.367019,
1349
- "end_time": "2026-01-12T15:59:04.468755",
1350
- "environment_variables": {},
1351
- "exception": null,
1352
- "input_path": "__notebook__.ipynb",
1353
- "output_path": "__notebook__.ipynb",
1354
- "parameters": {},
1355
- "start_time": "2026-01-12T15:57:39.101736",
1356
- "version": "2.6.0"
1357
- }
1358
- },
1359
- "nbformat": 4,
1360
- "nbformat_minor": 5
1361
- }