Pull updates from COLMAP (#204)

* Remove std flags

* Turn Point3D into simple data struct

* Camera becomes simple data struct

* Update doc on Camera

CMakeLists.txt

@@ -4,12 +4,6 @@ project(PyCOLMAP)
 set(CMAKE_CUDA_ARCHITECTURES "native")
 find_package(colmap 3.9 REQUIRED)
 
-if(${CERES_VERSION} VERSION_LESS "2.2.0")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
-else()
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
-endif()
-
 add_subdirectory(pybind11)
 
 pybind11_add_module(pycolmap main.cc)

README.md

@@ -273,14 +273,14 @@ The `TwoViewGeometryOptions` control how each model is selected. The output stru
 
 ### Camera argument
 
-All estimators expect a COLMAP camera object, which can be created as follow:
+Some estimators expect a COLMAP camera object, which can be created as follow:
 
 ```python
 camera = pycolmap.Camera(
-    COLMAP_CAMERA_MODEL_NAME,
-    IMAGE_WIDTH, 
-    IMAGE_HEIGHT,
-    EXTRA_CAMERA_PARAMETERS,
+    model=camera_model_name_or_id,
+    width=width,
+    height=height,
+    params=params,
 )
 ```
 

helpers.h

@@ -41,8 +41,8 @@ inline void AddStringToEnumConstructor(py::enum_<T>& enm) {
   py::implicitly_convertible<std::string, T>();
 }
 
-template <typename T>
-inline void make_dataclass(py::class_<T> cls) {
+template <typename T, typename... options>
+inline void make_dataclass(py::class_<T, options...> cls) {
   cls.def(py::init([cls](py::dict dict) {
     auto self = py::object(cls());
     self.attr("mergedict").attr("__call__")(dict);

package/build-wheels-linux.sh

@@ -97,7 +97,7 @@ make install
 cd $CURRDIR
 git clone https://github.com/colmap/colmap.git
 cd colmap
-git checkout 0d9ab40f6037b5ede71f3af3b8d1f5091f68855d
+git checkout c0355417328f3706a30a9265fd52bc7a5aa4cb8c
 mkdir build/
 cd build/
 CXXFLAGS="-fPIC" CFLAGS="-fPIC" cmake .. -DCMAKE_BUILD_TYPE=Release \

package/build-wheels-macos.sh

@@ -56,7 +56,7 @@ brew install \
 cd $CURRDIR
 git clone https://github.com/colmap/colmap.git
 cd colmap
-git checkout 0d9ab40f6037b5ede71f3af3b8d1f5091f68855d
+git checkout c0355417328f3706a30a9265fd52bc7a5aa4cb8c
 mkdir build
 cd build
 cmake .. -DGUI_ENABLED=OFF -DCUDA_ENABLED=OFF -DCGAL_ENABLED=OFF #-DBoost_USE_STATIC_LIBS=ON -DBOOSTROOT=${BOOST_DIR} -DBoost_NO_SYSTEM_PATHS=ON

pipeline/images.cc

@@ -92,19 +92,18 @@ Camera infer_camera_from_image(const py::object image_path_,
       std::invalid_argument,
       (std::string("Cannot read image file: ") + image_path).c_str());
 
-  Camera camera;
-  camera.SetCameraId(kInvalidCameraId);
-  camera.SetModelIdFromName(options.camera_model);
   double focal_length = 0.0;
-  if (bitmap.ExifFocalLength(&focal_length)) {
-    camera.SetPriorFocalLength(true);
-  } else {
+  bool has_prior_focal_length = bitmap.ExifFocalLength(&focal_length);
+  if (!has_prior_focal_length) {
     focal_length = options.default_focal_length_factor *
                    std::max(bitmap.Width(), bitmap.Height());
-    camera.SetPriorFocalLength(false);
   }
-  camera.InitializeWithId(
-      camera.ModelId(), focal_length, bitmap.Width(), bitmap.Height());
+  Camera camera = Camera::CreateFromModelName(kInvalidCameraId,
+                                              options.camera_model,
+                                              focal_length,
+                                              bitmap.Width(),
+                                              bitmap.Height());
+  camera.has_prior_focal_length = has_prior_focal_length;
   THROW_CUSTOM_CHECK_MSG(
       camera.VerifyParams(),
       std::invalid_argument,

reconstruction/camera.cc

@@ -1,6 +1,8 @@
 // Author: Philipp Lindenberger (Phil26AT)
 
-#include "colmap/scene/image.h"
+#include "colmap/scene/camera.h"
+
+#include "colmap/sensor/models.h"
 #include "colmap/util/misc.h"
 #include "colmap/util/types.h"
 
@@ -16,109 +18,65 @@ using namespace pybind11::literals;
 
 #include "log_exceptions.h"
 
-PYBIND11_MAKE_OPAQUE(std::unordered_map<camera_t, Camera>);
+using CameraMap = std::unordered_map<camera_t, Camera>;
+PYBIND11_MAKE_OPAQUE(CameraMap);
 
+// TODO: cleanup
 std::string PrintCamera(const Camera& camera) {
   std::stringstream ss;
   ss << "<Camera 'camera_id="
-     << (camera.CameraId() != kInvalidCameraId
-             ? std::to_string(camera.CameraId())
-             : "Invalid")
-     << ", model=" << camera.ModelName() << ", width=" << camera.Width()
-     << ", height=" << camera.Height() << ", num_params=" << camera.NumParams()
+     << (camera.camera_id != kInvalidCameraId ? std::to_string(camera.camera_id)
+                                              : "Invalid")
+     << ", model=" << camera.ModelName() << ", width=" << camera.width
+     << ", height=" << camera.height << ", num_params=" << camera.params.size()
      << "'>";
   return ss.str();
 }
 
 void init_camera(py::module& m) {
-  using CameraMap = std::unordered_map<camera_t, Camera>;
+  auto PyCameraModelId = py::enum_<CameraModelId>(m, "CameraModelId")
+                             .value("INVALID", CameraModelId::kInvalid);
+#define CAMERA_MODEL_CASE(CameraModel) \
+  PyCameraModelId.value(CameraModel::model_name.c_str(), CameraModel::model_id);
 
-  py::bind_map<CameraMap>(m, "MapCameraIdCamera")
-      .def("__repr__", [](const CameraMap& self) {
-        std::string repr = "{";
-        bool is_first = true;
-        for (auto& pair : self) {
-          if (!is_first) {
-            repr += ", ";
-          }
-          is_first = false;
-          repr += std::to_string(pair.first) + ": " + PrintCamera(pair.second);
-        }
-        repr += "}";
-        return repr;
-      });
+  CAMERA_MODEL_CASES
 
-  py::class_<Camera, std::shared_ptr<Camera>>(m, "Camera")
-      .def(py::init<>())
-      .def(py::init([](const std::string& name,
-                       size_t width,
-                       size_t height,
-                       const std::vector<double>& params,
-                       camera_t camera_id) {
-             std::unique_ptr<Camera> camera =
-                 std::unique_ptr<Camera>(new Camera());
-             THROW_CHECK(ExistsCameraModelWithName(name));
-             camera->SetModelIdFromName(name);
-             camera->SetWidth(width);
-             camera->SetHeight(height);
-             camera->SetParams(params);
-             camera->SetCameraId(camera_id);
-             return camera;
-           }),
-           "model"_a,
-           "width"_a,
-           "height"_a,
-           "params"_a,
-           "id"_a = kInvalidCameraId)
-      .def(py::init([](py::dict camera_dict) {
-             std::unique_ptr<Camera> camera =
-                 std::unique_ptr<Camera>(new Camera());
-             std::string name = camera_dict["model"].cast<std::string>();
-             THROW_CHECK(ExistsCameraModelWithName(name));
-             camera->SetModelIdFromName(name);
-             camera->SetWidth(camera_dict["width"].cast<size_t>());
-             camera->SetHeight(camera_dict["height"].cast<size_t>());
-             camera->SetParams(
-                 camera_dict["params"].cast<std::vector<double>>());
-             return camera;
-           }),
-           "camera_dict"_a)
-      .def_property("camera_id",
-                    &Camera::CameraId,
-                    &Camera::SetCameraId,
-                    "Unique identifier of the camera.")
-      .def_property(
-          "model_id",
-          &Camera::ModelId,
-          [](Camera& self, int model_id) {
-            THROW_CHECK(ExistsCameraModelWithId(model_id));
-            self.SetModelId(model_id);
-          },
-          "Camera model ID.")
+#undef CAMERA_MODEL_CASE
+  PyCameraModelId.export_values();
+  AddStringToEnumConstructor(PyCameraModelId);
+  py::implicitly_convertible<int, CameraModelId>();
+
+  py::bind_map<CameraMap>(m, "MapCameraIdCamera");
+
+  py::class_<Camera, std::shared_ptr<Camera>> PyCamera(m, "Camera");
+  PyCamera.def(py::init<>())
+      .def_static("create",
+                  &Camera::CreateFromModelId,
+                  "camera_id"_a,
+                  "model"_a,
+                  "focal_length"_a,
+                  "width"_a,
+                  "height"_a)
+      .def_readwrite(
+          "camera_id", &Camera::camera_id, "Unique identifier of the camera.")
+      .def_readwrite("model_id", &Camera::model_id, "Camera model ID.")
       .def_property(
           "model_name",
           &Camera::ModelName,
           [](Camera& self, std::string model_name) {
-            THROW_CHECK(ExistsCameraModelWithName(model_name));
-            self.SetModelIdFromName(model_name);
+            self.model_id = CameraModelNameToId(model_name);
           },
           "Camera model name (connected to model_id).")
-      .def_property(
-          "width", &Camera::Width, &Camera::SetWidth, "Width of camera sensor.")
-      .def_property("height",
-                    &Camera::Height,
-                    &Camera::SetHeight,
-                    "Height of camera sensor.")
+      .def_readwrite("width", &Camera::width, "Width of camera sensor.")
+      .def_readwrite("height", &Camera::height, "Height of camera sensor.")
       .def("mean_focal_length", &Camera::MeanFocalLength)
       .def_property(
           "focal_length", &Camera::FocalLength, &Camera::SetFocalLength)
       .def_property(
           "focal_length_x", &Camera::FocalLengthX, &Camera::SetFocalLengthX)
       .def_property(
           "focal_length_y", &Camera::FocalLengthY, &Camera::SetFocalLengthY)
-      .def_property("has_prior_focal_length",
-                    &Camera::HasPriorFocalLength,
-                    &Camera::SetPriorFocalLength)
+      .def_readwrite("has_prior_focal_length", &Camera::has_prior_focal_length)
       .def_property("principal_point_x",
                     &Camera::PrincipalPointX,
                     &Camera::SetPrincipalPointX)
@@ -137,18 +95,20 @@ void init_camera(py::module& m) {
       .def("calibration_matrix",
            &Camera::CalibrationMatrix,
            "Compute calibration matrix from params.")
-      .def(
-          "params_info",
-          &Camera::ParamsInfo,
-          "Get human-readable information about the parameter vector ordering.")
-      .def("num_params", &Camera::NumParams, "Number of raw camera parameters.")
+      .def("params_info",
+           &Camera::ParamsInfo,
+           "Get human-readable information about the parameter vector "
+           "ordering.")
       .def_property(
           "params",
           [](Camera& self) {
-            return Eigen::Map<Eigen::VectorXd>(self.ParamsData(),
-                                               self.NumParams());
+            // Return a view (via a numpy array) instead of a copy.
+            return Eigen::Map<Eigen::VectorXd>(self.params.data(),
+                                               self.params.size());
+          },
+          [](Camera& self, const std::vector<double>& params) {
+            self.params = params;
           },
-          &Camera::SetParams,
           "Camera parameters.")
       .def("params_to_string",
            &Camera::ParamsToString,
@@ -158,37 +118,11 @@ void init_camera(py::module& m) {
            "Set camera parameters from comma-separated list.")
       .def("verify_params",
            &Camera::VerifyParams,
-           "Check whether parameters are valid, i.e. the parameter vector has\n"
-           "the correct dimensions that match the specified camera model.")
+           "Check whether parameters are valid, i.e. the parameter vector has"
+           "\nthe correct dimensions that match the specified camera model.")
       .def("has_bogus_params",
            &Camera::HasBogusParams,
            "Check whether camera has bogus parameters.")
-      .def(
-          "initialize_with_id",
-          [](Camera& self,
-             const int model_id,
-             const double focal_length,
-             const size_t width,
-             const size_t height) {
-            THROW_CHECK(ExistsCameraModelWithId(model_id));
-            self.InitializeWithId(model_id, focal_length, width, height);
-          },
-          "Initialize parameters for given camera model ID and focal length, "
-          "and set\n"
-          "the principal point to be the image center.")
-      .def(
-          "initialize_with_name",
-          [](Camera& self,
-             std::string model_name,
-             const double focal_length,
-             const size_t width,
-             const size_t height) {
-            THROW_CHECK(ExistsCameraModelWithName(model_name));
-            self.InitializeWithName(model_name, focal_length, width, height);
-          },
-          "Initialize parameters for given camera model name and focal length, "
-          "and set\n"
-          "the principal point to be the image center.")
       .def("cam_from_img",
            &Camera::CamFromImg,
            "Project point in image plane to world / infinity.")
@@ -256,14 +190,31 @@ void init_camera(py::module& m) {
       .def("summary", [](const Camera& self) {
         std::stringstream ss;
         ss << "Camera:\n\tcamera_id="
-           << (self.CameraId() != kInvalidCameraId
-                   ? std::to_string(self.CameraId())
+           << (self.camera_id != kInvalidCameraId
+                   ? std::to_string(self.camera_id)
                    : "Invalid")
-           << "\n\tmodel = " << self.ModelName()
-           << "\n\twidth = " << self.Width() << "\n\theight = " << self.Height()
-           << "\n\tnum_params = " << self.NumParams()
+           << "\n\tmodel = " << self.ModelName() << "\n\twidth = " << self.width
+           << "\n\theight = " << self.height
+           << "\n\tnum_params = " << self.params.size()
            << "\n\tparams_info = " << self.ParamsInfo()
            << "\n\tparams = " << self.ParamsToString();
         return ss.str();
       });
+  PyCamera.def(py::init([PyCamera](py::dict dict) {
+                 auto self = py::object(PyCamera());
+                 for (auto& it : dict) {
+                   auto key_str = it.first.cast<std::string>();
+                   if ((key_str == "model") || (key_str == "model_name")) {
+                     self.attr("model_id") = it.second;  // Implicit conversion.
+                   } else {
+                     self.attr(it.first) = it.second;
+                   }
+                 }
+                 return self.cast<Camera>();
+               }),
+               "dict"_a);
+  PyCamera.def(py::init([PyCamera](py::kwargs kwargs) {
+    py::dict dict = kwargs.cast<py::dict>();
+    return PyCamera(dict).cast<Camera>();
+  }));
 }

reconstruction/image.cc

@@ -167,7 +167,7 @@ void init_image(py::module& m) {
       .def(
           "set_up",
           [](Image& self, const class Camera& camera) {
-            THROW_CHECK_EQ(self.CameraId(), camera.CameraId());
+            THROW_CHECK_EQ(self.CameraId(), camera.camera_id);
             self.SetUp(camera);
           },
           "Setup the image and necessary internal data structures before being "
@@ -256,7 +256,7 @@ void init_image(py::module& m) {
             std::vector<Eigen::Vector2d> world_points(point3Ds.size());
             for (int idx = 0; idx < point3Ds.size(); ++idx) {
               world_points[idx] =
-                  (self.CamFromWorld() * point3Ds[idx].XYZ()).hnormalized();
+                  (self.CamFromWorld() * point3Ds[idx].xyz).hnormalized();
             }
             return world_points;
           },