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78d2329 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 | """Benchmark COLMAP binary parsing vs .npz cache loading.
Usage:
python src/scripts/benchmark_colmap_loading.py --root <path/to/scenes> [--scenes N] [--repeats R] [--normalize]
For each sampled scene the script measures:
- Parser (raw .bin) : full SceneManager + pose processing time
- npz (cached) : np.load() time after the cache has been written
Results are printed as a table and summary statistics.
"""
import argparse
import sys
import time
import os
import tempfile
from pathlib import Path
import numpy as np
PROJECT_ROOT = Path(__file__).resolve().parent.parent
sys.path.insert(0, str(PROJECT_ROOT))
from optgs.dataset.colmap.utils import Parser
# ── helpers ──────────────────────────────────────────────────────────────────
def npz_path(scene_dir: Path, normalize: bool) -> Path:
suffix = "_norm" if normalize else ""
return scene_dir / f"colmap_points_cache{suffix}.npz"
def find_scene_dirs(root: Path) -> list[Path]:
scenes = []
for child in sorted(root.iterdir()):
if not child.is_dir():
continue
sparse = child / "sparse" / "0"
if not sparse.exists():
sparse = child / "sparse"
if sparse.exists():
scenes.append(child)
return scenes
def time_bin(scene_dir: Path, normalize: bool) -> float:
"""Time a full Parser (raw COLMAP binary) parse."""
t0 = time.perf_counter()
parser = Parser(
data_dir=str(scene_dir),
factor=1,
normalize=normalize,
load_images=False,
dl3dv_settings=False,
verbose=False,
)
_ = parser.points, parser.points_rgb, parser.camtoworlds
return time.perf_counter() - t0
def ensure_npz(scene_dir: Path, normalize: bool) -> Path:
"""Write the .npz cache if it doesn't exist (or is corrupt), return its path."""
p = npz_path(scene_dir, normalize)
# Delete corrupt/empty files before attempting to create.
if p.exists():
try:
data = np.load(p)
_ = data["points"], data["points_rgb"], data["camtoworlds"]
return p # healthy, nothing to do
except Exception:
print(f" WARNING: corrupt cache found at {p}, deleting and re-creating…")
p.unlink(missing_ok=True)
print(f" Creating .npz cache for {scene_dir.name}…", end="", flush=True)
parser = Parser(
data_dir=str(scene_dir),
factor=1,
normalize=normalize,
load_images=False,
dl3dv_settings=False,
verbose=False,
)
# NOTE: np.savez_compressed auto-appends ".npz" if the path doesn't end
# with it — so the temp file must already carry the .npz suffix, otherwise
# savez writes to "<tmp>.npz" while tmp_path points to the empty "<tmp>".
tmp_fd, tmp_path = tempfile.mkstemp(dir=scene_dir, suffix=".npz")
os.close(tmp_fd)
try:
np.savez_compressed(
tmp_path,
points=parser.points,
points_rgb=parser.points_rgb,
camtoworlds=parser.camtoworlds,
)
# Verify it's readable before promoting to the final path.
data = np.load(tmp_path, allow_pickle=False)
_ = data["points"], data["points_rgb"], data["camtoworlds"]
os.replace(tmp_path, p)
print(" done.")
except Exception:
print(f" ERROR creating .npz cache for {scene_dir.name}.", file=sys.stderr)
if os.path.exists(tmp_path):
os.unlink(tmp_path)
raise
return p
def time_npz(scene_dir: Path, normalize: bool) -> float:
"""Time loading from the .npz cache."""
p = npz_path(scene_dir, normalize)
t0 = time.perf_counter()
data = np.load(p)
_ = data["points"], data["points_rgb"], data["camtoworlds"]
return time.perf_counter() - t0
# ── main ─────────────────────────────────────────────────────────────────────
def main():
parser = argparse.ArgumentParser(
description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter
)
parser.add_argument("--root", required=True, type=Path,
help="Root directory containing one sub-dir per scene.")
parser.add_argument("--scenes", type=int, default=10,
help="Number of scenes to benchmark (default: 10).")
parser.add_argument("--repeats", type=int, default=3,
help="Repeat each timing N times and take the median (default: 3).")
parser.add_argument("--normalize", action="store_true",
help="Use normalize=True (matches normalize_world_space: true in config).")
parser.add_argument("--seed", type=int, default=42)
args = parser.parse_args()
root: Path = args.root.resolve()
if not root.exists():
print(f"Root directory does not exist: {root}", file=sys.stderr)
sys.exit(1)
all_scenes = find_scene_dirs(root)
if not all_scenes:
print(f"No COLMAP scenes found under {root}", file=sys.stderr)
sys.exit(1)
rng = np.random.default_rng(args.seed)
n = min(args.scenes, len(all_scenes))
scenes = [all_scenes[i] for i in rng.choice(len(all_scenes), size=n, replace=False)]
print(f"Benchmarking {n} scenes (repeats={args.repeats}, normalize={args.normalize})\n")
# Pre-create all .npz caches so the write cost doesn't pollute the timing.
print("Pre-creating .npz caches (if missing)…")
good_scenes = []
for s in scenes:
try:
ensure_npz(s, args.normalize)
good_scenes.append(s)
except Exception as e:
print(f" SKIP {s.name}: {e}", file=sys.stderr)
print(f"Done. {len(good_scenes)}/{len(scenes)} scenes OK.\n")
if not good_scenes:
print("No valid scenes to benchmark.", file=sys.stderr)
sys.exit(1)
col_w = max(len(s.name) for s in good_scenes)
header = f"{'Scene':<{col_w}} {'bin (s)':>10} {'npz (s)':>10} {'speedup':>10}"
print(header)
print("-" * len(header))
bin_times, npz_times, speedups = [], [], []
for scene in good_scenes:
print(f" timing {scene.name}…", end="", flush=True)
try:
b = np.median([time_bin(scene, args.normalize) for _ in range(args.repeats)])
z = np.median([time_npz(scene, args.normalize) for _ in range(args.repeats)])
except Exception as e:
print(f"\r SKIP {scene.name}: {e}", file=sys.stderr)
continue
sp = b / z if z > 0 else float("inf")
bin_times.append(b)
npz_times.append(z)
speedups.append(sp)
print(f"\r{scene.name:<{col_w}} {b:>10.3f} {z:>10.4f} {sp:>9.1f}x")
print("-" * len(header))
if not bin_times:
print("No scenes were successfully benchmarked.")
sys.exit(1)
print(f"{'MEAN':<{col_w}} {np.mean(bin_times):>10.3f} {np.mean(npz_times):>10.4f} {np.mean(speedups):>9.1f}x")
print(f"{'MEDIAN':<{col_w}} {np.median(bin_times):>10.3f} {np.median(npz_times):>10.4f} {np.median(speedups):>9.1f}x")
print(f"{'MAX':<{col_w}} {np.max(bin_times):>10.3f} {np.max(npz_times):>10.4f} {np.max(speedups):>9.1f}x")
if __name__ == "__main__":
main()
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