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Upgrade open3d dependency to 0.19.0 and fix colmap visualizer. #148

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B1ueber2y merged 2 commits into from
Nov 11, 2025
Merged

Upgrade open3d dependency to 0.19.0 and fix colmap visualizer. #148

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Upgrade open3d dependency to 0.19.0 and fix colmap visualizer.
B1ueber2y Nov 11, 2025
3f4bc0e
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B1ueber2y Nov 11, 2025
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4 changes: 2 additions & 2 deletions requirements.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,8 @@ einops
ninja
yacs
pytest
numpy<=1.26.4 # Tag numpy 1.26.4 for Open3D issue (https://github.com/numpy/numpy/issues/26853)
open3d==0.18.0
numpy
open3d==0.19.0
pycolmap==3.13.0
ruff==0.6.7
clang-format==19.1.0
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36 changes: 27 additions & 9 deletions visualize_colmap_model.py
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Expand Up @@ -21,35 +21,53 @@ def parse_args():
help="whether to use computed robust ranges",
)
arg_parser.add_argument(
"--scale",
"--point_size",
type=float,
default=1.0,
help="scaling both the lines and the camera geometry",
default=2.0,
help="Point size",
)
arg_parser.add_argument(
"--cam_scale",
type=float,
default=1.0,
help="scale of the camera geometry",
)
arg_parser.add_argument(
"--reproj_error_thresh",
type=float,
default=2.0,
help="reprojection error threshold",
)
args = arg_parser.parse_args()
return args


def vis_colmap_reconstruction(recon: pycolmap.Reconstruction, ranges=None):
def vis_colmap_reconstruction(
args, recon: pycolmap.Reconstruction, ranges=None
):
vis = o3d.visualization.Visualizer()
vis.create_window(height=1080, width=1920)
points = np.array([point.xyz for _, point in recon.points3D.items()])
pcd = limapvis.open3d_get_points(points, ranges=ranges)
pts = np.array([p.xyz for p in recon.points3D.values()], dtype=np.float32)
if args.reproj_error_thresh > 0.0:
errs = np.array(
[p.error for p in recon.points3D.values()], dtype=np.float32
)
mask = errs <= args.reproj_error_thresh # e.g. keep colored, low-error
pts = pts[mask]
print(f"Number of valid points for visualization: {pts.shape[0]}")
pcd = limapvis.open3d_get_points(pts, ranges=ranges)
vis.add_geometry(pcd)
imagecols = pointsfm.convert_colmap_to_imagecols(recon)
camera_set = limapvis.open3d_get_cameras(
imagecols,
ranges=ranges,
scale_cam_geometry=args.scale * args.cam_scale,
scale=args.scale,
scale_cam_geometry=args.cam_scale,
)
vis.add_geometry(camera_set)

opt = vis.get_render_option()
opt.point_size = args.point_size

vis.run()
vis.destroy_window()

Expand All @@ -60,7 +78,7 @@ def main(args):
if args.use_robust_ranges:
points = np.array([point.xyz for _, point in recon.points3D.items()])
ranges = limapvis.compute_robust_range_points(points)
vis_colmap_reconstruction(recon, ranges=ranges)
vis_colmap_reconstruction(args, recon, ranges=ranges)


if __name__ == "__main__":
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