add core dependencies installation script + downgrade the pycolmap an…

…d numpy for compatibility

README.md

@@ -68,9 +68,17 @@ T_w_i = sessions.trajectories[keys[0]]  # first pose, from sensor/rig to world
 
 :one: Install the core dependencies:
 
-- Python >= 3.9
-- [hloc v1.4](https://github.com/cvg/Hierarchical-Localization) and its dependencies, including [COLMAP 3.8](https://colmap.github.io/install.html) built from source.
-- [pyceres](https://github.com/cvg/pyceres) built from source at tag v1.0.
+- Python >= 3.9, we recommend to use the virtual environment of your choice.
+- Install in order: 
+  * [Ceres 2.1](https://ceres-solver.googlesource.com/ceres-solver/+/refs/tags/2.1.0)
+  * [COLMAP 3.8](https://colmap.github.io/install.html) built from source. Follow the instructions on the page, but **DO NOT install libceres-dev!!!** We just installed a correct version in the previous step.
+  * [hloc 1.4](https://github.com/cvg/Hierarchical-Localization) and its dependencies
+  * [pyceres](https://github.com/cvg/pyceres) built from source at tag v1.0.
+
+  or use the provided script:
+  ```bash
+  ./install_core_dependencies.sh
+  ```
 
 :two: Install the LaMAR libraries and pull the remaining pip dependencies:
 ```bash

install_core_dependencies.sh

@@ -0,0 +1,101 @@
+# Create a directory for all the dependencies
+mkdir external
+cd external
+
+#######################
+## Installing Ceres-Solver with tag 2.1.0
+## Check webpage https://ceres-solver.googlesource.com/ceres-solver/+/refs/tags/2.1.0 for more details
+git clone --no-checkout https://ceres-solver.googlesource.com/ceres-solver ceres_v2.1.0
+cd  ceres_v2.1.0
+git checkout f68321e7de8929fbcdb95dd42877531e64f72f66
+
+# Installing system-wide dependencies for Ceres
+# Commands from http://ceres-solver.org/installation.html
+echo "Installing system-wide dependencies cmake  build-essential libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev"
+sudo apt-get install cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev  build-essential
+
+mkdir build
+cd build
+cmake ..
+make -j4
+sudo make install
+cd .. # exit build folder
+cd .. # Exiting ceres_v2.1.0
+
+
+#######################
+## Installing COLMAP version 3.8
+git clone https://github.com/colmap/colmap colmap_v3.8
+cd colmap_v3.8
+git checkout 3.8
+git submodule update --init --recursive
+
+# # Installation instructions from https://colmap.github.io/install.html#build-from-source
+echo "Installing system-wide dependencies 
+    ninja-build \
+    libboost-program-options-dev \
+    libboost-filesystem-dev \
+    libboost-graph-dev \
+    libboost-system-dev \
+    libeigen3-dev \
+    libflann-dev \
+    libfreeimage-dev \
+    libmetis-dev \
+    libgoogle-glog-dev \
+    libgtest-dev \
+    libgmock-dev \
+    libsqlite3-dev \
+    libglew-dev \
+    qtbase5-dev \
+    libqt5opengl5-dev \
+    libcgal-dev \ "
+sudo apt-get install \
+    ninja-build \
+    libboost-program-options-dev \
+    libboost-filesystem-dev \
+    libboost-graph-dev \
+    libboost-system-dev \
+    libeigen3-dev \
+    libflann-dev \
+    libfreeimage-dev \
+    libmetis-dev \
+    libgoogle-glog-dev \
+    libgtest-dev \
+    libgmock-dev \
+    libsqlite3-dev \
+    libglew-dev \
+    qtbase5-dev \
+    libqt5opengl5-dev \
+    libcgal-dev \
+
+mkdir build
+cd build
+cmake .. -GNinja  -DCMAKE_CUDA_ARCHITECTURES=all
+ninja
+sudo ninja install
+
+cd .. # exit build folder
+cd .. # exit colmap_v3.8
+
+#######################
+## Installing HLOC version 1.4
+git clone --recursive https://github.com/cvg/Hierarchical-Localization/ hloc_v1.4
+cd hloc_v1.4
+git checkout v1.4
+git submodule update --init --recursive
+
+# installing
+echo "Installing hloc...."
+python -m pip install -e .
+
+cd .. # exit hloc_v1.4 folder
+
+### Installing pyceres version 1.0
+git clone https://github.com/cvg/pyceres.git pyceres_v1.0
+cd pyceres_v1.0
+git checkout v1.0
+git submodule update --init --recursive
+
+# installing pyceres
+python -m pip install .
+cd .. # exit pyceres 

pyproject.toml

@@ -16,7 +16,8 @@ dependencies = [
     "numpy==1.26.3",
     "torch>=1.1",
     "tqdm>=4.36.0",
-    "pycolmap==0.6.0",
+    "pycolmap==0.4.0",
+    "scikit-learn==1.5.2", # is needed for hloc
     "pyceres @ git+https://github.com/cvg/[email protected]",
 ]
 urls = {Repository = "https://github.com/microsoft/lamar-benchmark"}
@@ -34,7 +35,7 @@ scantools = [
     "pyzbar-upright==0.1.8",
     "rawpy==0.19.1",
     "scipy==1.11.4",
-    "numpy==1.26.4",
+    "numpy==1.26.3",
     "pillow==10.3.0",
 ]
 dev = [