···

       
5
       
 
       
REM --- Modified to use CUDA for GPU acceleration ---

     

       
6
       
 
       


     

       
7
       
 
       
REM Prerequisites:

     

       
8
       
-
       
REM 1. ffmpeg.exe and colmap.exe must be in the system PATH or the same directory as this script.

     

       
9
       
 
       
REM 2. The COLMAP build MUST support CUDA.

     

       
10
       
 
       
REM 3. Appropriate NVIDIA drivers and CUDA toolkit (compatible with your COLMAP build) must be installed.

     

       
0
       
 
       

     

       
0
       
 
       

     

       
0
       
 
       

     

       
11
       
 
       


     

       
12
       
 
       
REM Define paths (using backslashes for Windows compatibility)

     

       
13
       
 
       
set INPUT_VIDEO=data\input.mov

     
···

       
42
       
 
       


     

       
43
       
 
       
REM Step 2: Run COLMAP feature extraction (Using CUDA GPU)

     

       
44
       
 
       
echo Running COLMAP feature extraction (CUDA)...

     

       
45
       
-
       
colmap feature_extractor ^

     

       
46
       
 
       
  --database_path "%COLMAP_DB%" ^

     

       
47
       
 
       
  --image_path "%FRAMES_DIR%" ^

     

       
48
       
 
       
  --ImageReader.camera_model SIMPLE_RADIAL ^

     
···

       
54
       
 
       


     

       
55
       
 
       
REM Step 3: Run COLMAP feature matching (Using CUDA GPU)

     

       
56
       
 
       
echo Running COLMAP feature matching (CUDA)...

     

       
57
       
-
       
colmap exhaustive_matcher ^

     

       
58
       
 
       
  --database_path "%COLMAP_DB%" ^

     

       
59
       
 
       
  --SiftMatching.use_gpu 1

     

       
60
       
 
       
if errorlevel 1 (

     
···

       
65
       
 
       
REM Step 4: Run COLMAP sparse reconstruction

     

       
66
       
 
       
REM Note: The 'mapper' step primarily uses CPU.

     

       
67
       
 
       
echo Running COLMAP sparse reconstruction...

     

       
68
       
-
       
colmap mapper ^

     

       
69
       
 
       
  --database_path "%COLMAP_DB%" ^

     

       
70
       
 
       
  --image_path "%FRAMES_DIR%" ^

     

       
71
       
 
       
  --output_path "%SPARSE_DIR%"

     
···

       
86
       
 
       


     

       
87
       
 
       
REM Step 5: Run COLMAP dense reconstruction

     

       
88
       
 
       
echo Running COLMAP image undistorter...

     

       
89
       
-
       
colmap image_undistorter ^

     

       
90
       
 
       
  --image_path "%FRAMES_DIR%" ^

     

       
91
       
 
       
  --input_path "%SPARSE_DIR%\0" ^

     

       
92
       
 
       
  --output_path "%DENSE_DIR%"

     
···

       
97
       
 
       


     

       
98
       
 
       
echo Running COLMAP patch matching (Using CUDA GPU)...

     

       
99
       
 
       
REM Use --PatchMatchStereo.gpu_index 0 to select the first CUDA device. Change if needed.

     

       
100
       
-
       
colmap patch_match_stereo ^

     

       
101
       
 
       
  --workspace_path "%DENSE_DIR%" ^

     

       
102
       
 
       
  --PatchMatchStereo.gpu_index 0

     

       
103
       
 
       
if errorlevel 1 (

     
···

       
107
       
 
       


     

       
108
       
 
       
echo Running COLMAP stereo fusion...

     

       
109
       
 
       
REM Note: Stereo fusion is primarily CPU-bound.

     

       
110
       
-
       
colmap stereo_fusion ^

     

       
111
       
 
       
  --workspace_path "%DENSE_DIR%" ^

     

       
112
       
 
       
  --output_path "%DENSE_DIR%\fused.ply"

     

       
113
       
 
       
if errorlevel 1 (

     
···

       
117
       
 
       


     

       
118
       
 
       
REM Output camera pose information

     

       
119
       
 
       
echo Extracting camera pose information...

     

       
120
       
-
       
colmap model_converter ^

     

       
121
       
 
       
  --input_path "%SPARSE_DIR%\0" ^

     

       
122
       
 
       
  --output_path "%SPARSE_DIR%\txt" ^

     

       
123
       
 
       
  --output_type TXT

     

···

       
5
       
 
       
REM --- Modified to use CUDA for GPU acceleration ---

     

       
6
       
 
       


     

       
7
       
 
       
REM Prerequisites:

     

       
8
       
+
       
REM 1. ffmpeg.exe must be in the system PATH or the same directory as this script.

     

       
9
       
 
       
REM 2. The COLMAP build MUST support CUDA.

     

       
10
       
 
       
REM 3. Appropriate NVIDIA drivers and CUDA toolkit (compatible with your COLMAP build) must be installed.

     

       
11
       
+
       


     

       
12
       
+
       
REM Set COLMAP path (modify this path to match your COLMAP location)

     

       
13
       
+
       
set COLMAP_PATH=C:\Users\kiera\Downloads\colmap-x64-windows-cuda\colmap.bat

     

       
14
       
 
       


     

       
15
       
 
       
REM Define paths (using backslashes for Windows compatibility)

     

       
16
       
 
       
set INPUT_VIDEO=data\input.mov

     
···

       
45
       
 
       


     

       
46
       
 
       
REM Step 2: Run COLMAP feature extraction (Using CUDA GPU)

     

       
47
       
 
       
echo Running COLMAP feature extraction (CUDA)...

     

       
48
       
+
       
"%COLMAP_PATH%" feature_extractor ^

     

       
49
       
 
       
  --database_path "%COLMAP_DB%" ^

     

       
50
       
 
       
  --image_path "%FRAMES_DIR%" ^

     

       
51
       
 
       
  --ImageReader.camera_model SIMPLE_RADIAL ^

     
···

       
57
       
 
       


     

       
58
       
 
       
REM Step 3: Run COLMAP feature matching (Using CUDA GPU)

     

       
59
       
 
       
echo Running COLMAP feature matching (CUDA)...

     

       
60
       
+
       
"%COLMAP_PATH%" exhaustive_matcher ^

     

       
61
       
 
       
  --database_path "%COLMAP_DB%" ^

     

       
62
       
 
       
  --SiftMatching.use_gpu 1

     

       
63
       
 
       
if errorlevel 1 (

     
···

       
68
       
 
       
REM Step 4: Run COLMAP sparse reconstruction

     

       
69
       
 
       
REM Note: The 'mapper' step primarily uses CPU.

     

       
70
       
 
       
echo Running COLMAP sparse reconstruction...

     

       
71
       
+
       
"%COLMAP_PATH%" mapper ^

     

       
72
       
 
       
  --database_path "%COLMAP_DB%" ^

     

       
73
       
 
       
  --image_path "%FRAMES_DIR%" ^

     

       
74
       
 
       
  --output_path "%SPARSE_DIR%"

     
···

       
89
       
 
       


     

       
90
       
 
       
REM Step 5: Run COLMAP dense reconstruction

     

       
91
       
 
       
echo Running COLMAP image undistorter...

     

       
92
       
+
       
"%COLMAP_PATH%" image_undistorter ^

     

       
93
       
 
       
  --image_path "%FRAMES_DIR%" ^

     

       
94
       
 
       
  --input_path "%SPARSE_DIR%\0" ^

     

       
95
       
 
       
  --output_path "%DENSE_DIR%"

     
···

       
100
       
 
       


     

       
101
       
 
       
echo Running COLMAP patch matching (Using CUDA GPU)...

     

       
102
       
 
       
REM Use --PatchMatchStereo.gpu_index 0 to select the first CUDA device. Change if needed.

     

       
103
       
+
       
"%COLMAP_PATH%" patch_match_stereo ^

     

       
104
       
 
       
  --workspace_path "%DENSE_DIR%" ^

     

       
105
       
 
       
  --PatchMatchStereo.gpu_index 0

     

       
106
       
 
       
if errorlevel 1 (

     
···

       
110
       
 
       


     

       
111
       
 
       
echo Running COLMAP stereo fusion...

     

       
112
       
 
       
REM Note: Stereo fusion is primarily CPU-bound.

     

       
113
       
+
       
"%COLMAP_PATH%" stereo_fusion ^

     

       
114
       
 
       
  --workspace_path "%DENSE_DIR%" ^

     

       
115
       
 
       
  --output_path "%DENSE_DIR%\fused.ply"

     

       
116
       
 
       
if errorlevel 1 (

     
···

       
120
       
 
       


     

       
121
       
 
       
REM Output camera pose information

     

       
122
       
 
       
echo Extracting camera pose information...

     

       
123
       
+
       
"%COLMAP_PATH%" model_converter ^

     

       
124
       
 
       
  --input_path "%SPARSE_DIR%\0" ^

     

       
125
       
 
       
  --output_path "%SPARSE_DIR%\txt" ^

     

       
126
       
 
       
  --output_type TXT