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Add a padding removal option in demo_colmap.py #201

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Add a padding removal option in demo_colmap.py #201

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18 changes: 18 additions & 0 deletions demo_colmap.py
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,8 @@ def parse_args():
parser.add_argument(
"--conf_thres_value", type=float, default=5.0, help="Confidence threshold value for depth filtering (wo BA)"
)
parser.add_argument("--remove_padding", action="store_true", default=False, help="Remove padding in points")

return parser.parse_args()


Expand Down Expand Up @@ -209,7 +211,23 @@ def demo_fn(args):
# (S, H, W, 3), with x, y coordinates and frame indices
points_xyf = create_pixel_coordinate_grid(num_frames, height, width)

width_start = original_coords[:, 0] * vggt_fixed_resolution / img_load_resolution
height_start = original_coords[:, 1] * vggt_fixed_resolution / img_load_resolution
width_end = original_coords[:, 2] * vggt_fixed_resolution / img_load_resolution
height_end = original_coords[:, 3] * vggt_fixed_resolution / img_load_resolution

# create a padding mask for each image
padding_mask = np.ones((num_frames, height, width), dtype=bool)
if args.remove_padding:
for i in range(num_frames):
padding_mask[i, int(height_start[i] + 0.5):int(height_end[i] + 0.5),
int(width_start[i] + 0.5):int(width_end[i] + 0.5)] = False
# inverse the mask to select valid points
padding_mask = np.logical_not(padding_mask)

conf_mask = depth_conf >= conf_thres_value
conf_mask = np.logical_and(conf_mask, padding_mask)

# at most writing 100000 3d points to colmap reconstruction object
conf_mask = randomly_limit_trues(conf_mask, max_points_for_colmap)

Expand Down