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Remove COLMAP factors and dependency (#32)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,24 +1,25 @@ | ||
| cmake_minimum_required(VERSION 3.10) | ||
| project(${SKBUILD_PROJECT_NAME} VERSION ${SKBUILD_PROJECT_VERSION}) | ||
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| if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES) | ||
| set(CMAKE_CUDA_ARCHITECTURES "native") | ||
| endif() | ||
| find_package(COLMAP REQUIRED) | ||
| if(${COLMAP_VERSION} VERSION_LESS "3.9.0") | ||
| message( SEND_ERROR "COLMAP version >= 3.9.0 required, found ${COLMAP_VERSION}." ) | ||
| find_package(Ceres REQUIRED) | ||
| if(NOT TARGET Ceres::ceres) | ||
| # Older Ceres versions don't come with an imported interface target. | ||
| add_library(Ceres::ceres INTERFACE IMPORTED) | ||
| target_include_directories( | ||
| Ceres::ceres INTERFACE ${CERES_INCLUDE_DIRS}) | ||
| target_link_libraries( | ||
| Ceres::ceres INTERFACE ${CERES_LIBRARIES}) | ||
| endif() | ||
| if(${CERES_VERSION} VERSION_LESS "2.1.0") | ||
| message( SEND_ERROR "Ceres version >= 2.1 required, found ${CERES_VERSION}." ) | ||
| endif() | ||
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| find_package(Python REQUIRED COMPONENTS Interpreter Development.Module) | ||
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| find_package(pybind11 2.11.1 REQUIRED) | ||
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| pybind11_add_module(pyceres _pyceres/bindings.cc) | ||
| target_include_directories(pyceres PRIVATE ${PROJECT_SOURCE_DIR}) | ||
| target_link_libraries(pyceres PRIVATE colmap::colmap glog::glog Ceres::ceres) | ||
| target_link_libraries(pyceres PRIVATE glog::glog Ceres::ceres) | ||
| target_compile_definitions(pyceres PRIVATE VERSION_INFO="${PROJECT_VERSION}") | ||
| install(TARGETS pyceres LIBRARY DESTINATION .) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,85 +1,24 @@ | ||
| #pragma once | ||
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| #include "_pyceres/factors/bundle.h" | ||
| #include "_pyceres/factors/common.h" | ||
| #include "_pyceres/factors/pose_graph.h" | ||
| #include "_pyceres/helpers.h" | ||
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| #include <ceres/ceres.h> | ||
| #include <ceres/normal_prior.h> | ||
| #include <pybind11/eigen.h> | ||
| #include <pybind11/pybind11.h> | ||
| #include <pybind11/stl.h> | ||
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| namespace py = pybind11; | ||
| using namespace colmap; | ||
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| void bind_factors(py::module& m) { | ||
| m.def("ReprojErrorCost", | ||
| &CreateCostFunction<ReprojErrorCostFunction, const Eigen::Vector2d&>, | ||
| py::arg("camera_model_id"), | ||
| py::arg("point2D")); | ||
| m.def("ReprojErrorCost", | ||
| &CreateCostFunction<ReprojErrorCostFunctionWithNoise, | ||
| const Eigen::Vector2d&, | ||
| const double>, | ||
| py::arg("camera_model_id"), | ||
| py::arg("point2D"), | ||
| py::arg("stddev")); | ||
| m.def("ReprojErrorCost", | ||
| &CreateCostFunction<ReprojErrorConstantPoseCostFunction, | ||
| const Rigid3d&, | ||
| const Eigen::Vector2d&>, | ||
| py::arg("camera_model_id"), | ||
| py::arg("cam_from_world"), | ||
| py::arg("point2D")); | ||
| m.def("ReprojErrorCost", | ||
| &CreateCostFunction<ReprojErrorConstantPoseCostFunctionWithNoise, | ||
| const Rigid3d&, | ||
| const Eigen::Vector2d&, | ||
| const double>, | ||
| py::arg("camera_model_id"), | ||
| py::arg("cam_from_world"), | ||
| py::arg("point2D"), | ||
| py::arg("stddev")); | ||
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| m.def("RigReprojErrorCost", | ||
| &CreateCostFunction<RigReprojErrorCostFunction, const Eigen::Vector2d&>, | ||
| py::arg("camera_model_id"), | ||
| py::arg("point2D")); | ||
| m.def("RigReprojErrorCost", | ||
| &CreateCostFunction<RigReprojErrorCostFunctionWithNoise, | ||
| const Eigen::Vector2d&, | ||
| const double>, | ||
| py::arg("camera_model_id"), | ||
| py::arg("point2D"), | ||
| py::arg("stddev")); | ||
| m.def("RigReprojErrorCost", | ||
| &CreateCostFunction<RigReprojErrorConstantRigCostFunction, | ||
| const Rigid3d&, | ||
| const Eigen::Vector2d&>, | ||
| py::arg("camera_model_id"), | ||
| py::arg("cam_from_rig"), | ||
| py::arg("point2D")); | ||
| m.def("RigReprojErrorCost", | ||
| &CreateCostFunction<RigReprojErrorConstantRigCostFunctionWithNoise, | ||
| const Rigid3d&, | ||
| const Eigen::Vector2d&, | ||
| const double>, | ||
| py::arg("camera_model_id"), | ||
| py::arg("cam_from_rig"), | ||
| py::arg("point2D"), | ||
| py::arg("stddev")); | ||
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| m.def("PoseGraphRelativeCost", | ||
| &PoseGraphRelativeCost::Create, | ||
| py::arg("j_from_i"), | ||
| py::arg("covariance")); | ||
| m.def("PoseGraphAbsoluteCost", | ||
| &PoseGraphAbsoluteCost::Create, | ||
| py::arg("cam_from_world"), | ||
| py::arg("covariance")); | ||
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| m.def("NormalPrior", | ||
| &CreateNormalPrior, | ||
| py::arg("mean"), | ||
| py::arg("covariance")); | ||
| m.def( | ||
| "NormalPrior", | ||
| [](const Eigen::VectorXd& mean, | ||
| const Eigen::Matrix<double, -1, -1>& covariance) { | ||
| THROW_CHECK_EQ(covariance.cols(), mean.size()); | ||
| THROW_CHECK_EQ(covariance.cols(), covariance.rows()); | ||
| return new ceres::NormalPrior(covariance.inverse().llt().matrixL(), | ||
| mean); | ||
| }, | ||
| py::arg("mean"), | ||
| py::arg("covariance")); | ||
| } |
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