Merge branch 'features/colmap_head' into features/ci_test

.github/workflows/format.yml

@@ -37,8 +37,7 @@ jobs:
             exit 0
           fi
           set +x -euo pipefail
-          sudo apt-get update && sudo apt-get install -y clang-format-14
-          python -m pip install ruff==0.6.7
+          python -m pip install ruff==0.6.7 clang-format==19.1.0
           ./scripts/format/clang_format.sh
           ./scripts/format/python.sh
           git diff --name-only

CMakeLists.txt

@@ -25,6 +25,7 @@ option(OPENMP_ENABLED "Whether to enable OpenMP parallelization" ON)
 option(INTERPOLATION_ENABLED "Whether to enable interpolation-based pixel-perfect optimization" OFF)
 option(FETCH_POSELIB "Whether to use PoseLib with FetchContent or with self-installed software" ON)
 option(FETCH_COLMAP "Whether to use COLMAP with FetchContent or with self-installed software" ON)
+option(CUDA_ENABLED "Whether to use CUDA (only for the third-party COLMAP)" OFF)
 
 include(cmake/FindDependencies.cmake)
 include(cmake/InitVariables.cmake)

cfgs/fitnmerge/default.yaml

@@ -55,7 +55,7 @@ fitting:
     var2d: -1.0 # depends on the detector
     ransac_th: 0.75
     min_percentage_inliers: 0.9
-    n_jobs: 4
+    n_jobs: 1
 
 ##############################
 # merging config

limap/base/bindings.cc

@@ -734,6 +734,9 @@ void bind_camera(py::module &m) {
       .def(py::init<const std::string &, int, std::pair<int, int>>(),
            py::arg("model_name"), py::arg("cam_id") = -1,
            py::arg("hw") = std::make_pair<int, int>(-1, -1)) // empty camera
+      .def("__copy__", [](const Camera &self) { return Camera(self); })
+      .def("__deepcopy__",
+           [](const Camera &self, const py::dict &) { return Camera(self); })
       .def(py::pickle(
           [](const Camera &input) { // dump
             return input.as_dict();
@@ -746,6 +749,7 @@ void bind_camera(py::module &m) {
       .def_readwrite("model", &Camera::model_id, "Camera model.")
       .def_readwrite("width", &Camera::width, "Width of camera sensor.")
       .def_readwrite("height", &Camera::height, "Height of camera sensor.")
+      .def_readwrite("params", &Camera::params, "Camera parameters.")
       .def("as_dict", &Camera::as_dict, R"(
             Returns:
                 dict: Python dict representation of this :class:`~limap.base.Camera`
@@ -1052,6 +1056,12 @@ void bind_camera(py::module &m) {
       .def(py::init<const std::vector<CameraView> &>(), py::arg("camviews"))
       .def(py::init<py::dict>(), py::arg("dict"))
       .def(py::init<const ImageCollection &>(), py::arg("imagecols"))
+      .def("__copy__",
+           [](const ImageCollection &self) { return ImageCollection(self); })
+      .def("__deepcopy__",
+           [](const ImageCollection &self, const py::dict &) {
+             return ImageCollection(self);
+           })
       .def(py::pickle(
           [](const ImageCollection &input) { // dump
             return input.as_dict();

limap/base/camera.cc

@@ -185,6 +185,18 @@ Camera::Camera(const Camera &cam) {
   initialized = cam.initialized;
 }
 
+Camera &Camera::operator=(const Camera &cam) {
+  if (this != &cam) {
+    camera_id = cam.camera_id;
+    model_id = cam.model_id;
+    params = cam.params;
+    height = cam.height;
+    width = cam.width;
+    initialized = cam.initialized;
+  }
+  return *this;
+}
+
 bool Camera::operator==(const Camera &cam) {
   if (camera_id != cam.camera_id)
     return false;

limap/base/camera.h

@@ -56,6 +56,7 @@ class Camera : public colmap::Camera {
          std::pair<int, int> hw = std::make_pair<int, int>(-1, -1));
   Camera(py::dict dict);
   Camera(const Camera &cam);
+  Camera &operator=(const Camera &cam);
   Camera(int model, int cam_id = -1,
          std::pair<int, int> hw = std::make_pair<int, int>(-1,
                                                            -1)); // empty camera

limap/base/infinite_line.h

@@ -68,7 +68,7 @@ class MinimalInfiniteLine3d {
 public:
   MinimalInfiniteLine3d() {}
   MinimalInfiniteLine3d(const Line3d &line)
-      : MinimalInfiniteLine3d(InfiniteLine3d(line)){};
+      : MinimalInfiniteLine3d(InfiniteLine3d(line)) {};
   MinimalInfiniteLine3d(const InfiniteLine3d &inf_line);
   MinimalInfiniteLine3d(const std::vector<double> &values);
   InfiniteLine3d GetInfiniteLine() const;

limap/base/unit_test.py

@@ -1,7 +1,6 @@
-import logging
-
 import _limap._base as _base
 import numpy as np
+from pycolmap import logging
 
 
 def unit_test_add_noise(imagecols):

limap/evaluation/refline_evaluator.h

@@ -14,7 +14,7 @@ class RefLineEvaluator {
 public:
   RefLineEvaluator() {}
   RefLineEvaluator(const std::vector<Line3d> &ref_lines)
-      : ref_lines_(ref_lines){};
+      : ref_lines_(ref_lines) {};
 
   double SumLength() const;
   double ComputeRecallRef(const std::vector<Line3d> &lines,

limap/features/extractors.py

@@ -1,6 +1,5 @@
 # [NOTE] modified from the pixel-perfect-sfm project
 
-import logging
 import sys
 import time
 
@@ -9,6 +8,7 @@
 import torch
 import torchvision.transforms.functional as tvf
 from _limap import _features
+from pycolmap import logging
 from torchvision import transforms
 
 from .models.s2dnet import S2DNet

limap/features/models/s2dnet.py

@@ -1,11 +1,11 @@
-import logging
 import os
 from pathlib import Path
 from typing import List
 
 import numpy as np
 import torch
 import torch.nn as nn
+from pycolmap import logging
 from torchvision import models
 
 from .base_model import BaseModel

limap/line2d/DeepLSD/deeplsd.py

@@ -1,9 +1,9 @@
-import logging
 import os
 
 import numpy as np
 import torch
 from deeplsd.models.deeplsd_inference import DeepLSD
+from pycolmap import logging
 
 from ..base_detector import (
     BaseDetector,

limap/line2d/GlueStick/matcher.py

@@ -1,9 +1,9 @@
-import logging
 import os
 
 import numpy as np
 import torch
 from gluestick.models.gluestick import GlueStick
+from pycolmap import logging
 
 from ..base_matcher import (
     BaseMatcher,

limap/line2d/HAWPv3/hawp.py

@@ -1,11 +1,11 @@
-import logging
 import os
 
 import cv2
 import numpy as np
 import torch
 from hawp.fsl.config import cfg as model_config
 from hawp.ssl.models import MODELS
+from pycolmap import logging
 
 from ..base_detector import (
     BaseDetector,

limap/line2d/L2D2/extractor.py

@@ -1,9 +1,9 @@
-import logging
 import os
 
 import cv2
 import numpy as np
 import torch
+from pycolmap import logging
 
 import limap.util.io as limapio
 

limap/line2d/LineTR/line_transformer.py

@@ -1,9 +1,9 @@
-import logging
 from copy import deepcopy
 from pathlib import Path
 
 import torch
 from einops import repeat
+from pycolmap import logging
 from torch import nn
 
 from .line_attention import FeedForward, MultiHeadAttention

limap/line2d/SOLD2/misc/train_utils.py

@@ -2,11 +2,11 @@
 This file contains some useful functions for train / val.
 """
 
-import logging
 import os
 
 import numpy as np
 import torch
+from pycolmap import logging
 
 
 #################

limap/line2d/SOLD2/model/model_util.py

@@ -1,7 +1,6 @@
-import logging
-
 import torch.nn as nn
 import torch.nn.init as init
+from pycolmap import logging
 
 from .nets.backbone import HourglassBackbone, SuperpointBackbone
 from .nets.descriptor_decoder import SuperpointDescriptor

limap/line2d/SOLD2/sold2_wrapper.py

@@ -1,10 +1,10 @@
-import logging
 import os
 import subprocess
 
 import cv2
 import numpy as np
 import torch
+from pycolmap import logging
 from skimage.draw import line
 
 from .experiment import load_config

limap/line2d/SOLD2/train.py

@@ -2,12 +2,11 @@
 This file implements the training process and all the summaries
 """
 
-import logging
-
 import cv2
 import numpy as np
 import torch
 import torch.utils.data.dataloader as torch_loader
+from pycolmap import logging
 from torch.nn.functional import pixel_shuffle, softmax
 
 # from model.lr_scheduler import get_lr_scheduler

limap/line2d/TP_LSD/tp_lsd.py

@@ -1,9 +1,9 @@
-import logging
 import os
 
 import cv2
 import numpy as np
 import torch
+from pycolmap import logging
 from tp_lsd.modeling.TP_Net import Res320
 from tp_lsd.utils.reconstruct import TPS_line
 from tp_lsd.utils.utils import load_model

limap/merging/merging.py

@@ -1,7 +1,6 @@
-import logging
-
 from _limap import _base
 from _limap import _merging as _mrg
+from pycolmap import logging
 
 
 def merging(linker, all_2d_segs, imagecols, seg3d_list, neighbors, var2d=5.0):
@@ -37,8 +36,8 @@ def remerge(linker3d, linetracks, num_outliers=2):
             break
         num_tracks = num_tracks_new
     logging.info(
-        f"[LOG] tracks after iterative remerging: \
-          {len(new_linetracks)} / {len(linetracks)}"
+        f"[LOG] tracks after iterative remerging:"
+        f" {len(new_linetracks)} / {len(linetracks)}"
     )
     return new_linetracks
 

limap/optimize/line_refinement/line_refinement.py

@@ -1,7 +1,7 @@
-import logging
 import os
 
 import numpy as np
+from pycolmap import logging
 from tqdm import tqdm
 
 import limap.base as base

limap/point2d/superglue/superglue.py

@@ -40,13 +40,13 @@
 # --------------------------------------------------------------------*/
 # %BANNER_END%
 
-import logging
 import os
 from copy import deepcopy
 from pathlib import Path
 from typing import List, Tuple
 
 import torch
+from pycolmap import logging
 from torch import nn
 
 

limap/point2d/superpoint/main.py

@@ -1,5 +1,4 @@
 import collections.abc as collections
-import logging
 import pprint
 from pathlib import Path
 from typing import Dict, List, Optional, Union
@@ -9,6 +8,7 @@
 import torch
 from hloc import extract_features
 from hloc.utils.io import list_h5_names
+from pycolmap import logging
 from tqdm import tqdm
 
 from .superpoint import SuperPoint

limap/point2d/superpoint/superpoint.py

@@ -40,11 +40,11 @@
 # --------------------------------------------------------------------*/
 # %BANNER_END%
 
-import logging
 import os
 from pathlib import Path
 
 import torch
+from pycolmap import logging
 from torch import nn
 
 

limap/pointsfm/bundler_reader.py

@@ -1,9 +1,9 @@
-import logging
 import os
 
 import imagesize
 import numpy as np
 from _limap import _base, _pointsfm
+from pycolmap import logging
 from tqdm import tqdm
 
 

limap/pointsfm/colmap_reader.py

@@ -1,8 +1,8 @@
-import logging
 import os
 import sys
 
 from _limap import _base
+from pycolmap import logging
 
 sys.path.append(os.path.dirname(os.path.abspath(__file__)))
 from hloc.utils.read_write_model import (

limap/pointsfm/colmap_sfm.py

@@ -1,12 +1,12 @@
 import copy
-import logging
 import os
 import shutil
 import subprocess
 import sys
 from pathlib import Path
 
 import cv2
+from pycolmap import logging
 
 sys.path.append(os.path.dirname(os.path.abspath(__file__)))
 import hloc.utils.database as database

limap/pointsfm/functions.py

@@ -1,6 +1,5 @@
-import logging
-
 from _limap import _pointsfm
+from pycolmap import logging
 
 
 def filter_by_cam_id(cam_id, prev_imagecols, prev_neighbors):