Observation
I compared COLMAP 4.0.4 against COLMAP 3.12.6 on the same dataset and noticed that feature extraction and sequential matching are slightly slower in COLMAP 4.0.4.
The mapper/global mapper runtime is roughly the same, so the difference seems to come mainly from feature extraction and sequential matching.
Environment
- OS: Ubuntu Linux
- COLMAP 4.0.4: commit
9c23f694
- COLMAP 3.12.6: commit
4d5b60e1
- CUDA: enabled
Runtime Comparison
| Step |
COLMAP 4.0.4 |
COLMAP 3.12.6 + GLOMAP commit 14e9104 |
| Feature extraction |
42.3 s |
33.5 s |
| Sequential matcher + loop detection |
157.8 s |
112.8 s |
| global mapper vs. glomap mapper |
801.6 s |
814.4 s |
COLMAP 4.0.4 Commands
colmap feature_extractor \
--database_path database.db \
--image_path images \
--ImageReader.camera_model THIN_PRISM_FISHEYE \
--FeatureExtraction.use_gpu 1 \
--FeatureExtraction.gpu_index -1 \
--ImageReader.single_camera_per_folder 1 \
--FeatureExtraction.max_image_size 3200 \
--SiftExtraction.max_num_features 8192 \
--SiftExtraction.peak_threshold 0.00667 \
--SiftExtraction.estimate_affine_shape 0 \
--SiftExtraction.domain_size_pooling 0 \
--ImageReader.mask_path masks
Observation
I compared COLMAP 4.0.4 against COLMAP 3.12.6 on the same dataset and noticed that feature extraction and sequential matching are slightly slower in COLMAP 4.0.4.
The mapper/global mapper runtime is roughly the same, so the difference seems to come mainly from feature extraction and sequential matching.
Environment
9c23f6944d5b60e1Runtime Comparison
14e9104COLMAP 4.0.4 Commands