Bugfix for upgrading COLMAP + Adapt to the new pycolmap interface for…

… localization (#107)
cvg · Dec 13, 2024 · dfc4fc5 · dfc4fc5
1 parent 9048e7e
commit dfc4fc5
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Showing 6 changed files with 13 additions and 12 deletions.
diff --git a/limap/base/bindings.cc b/limap/base/bindings.cc
@@ -687,7 +687,8 @@ void bind_line_linker(py::module &m) {
 
 void bind_camera(py::module &m) {
   // TODO: use pycolmap
-  py::enum_<colmap::CameraModelId> PyCameraModelId(m, "CameraModelId");
+  py::enum_<colmap::CameraModelId> PyCameraModelId(m, "CameraModelId",
+                                                   py::module_local());
   PyCameraModelId.value("INVALID", colmap::CameraModelId::kInvalid);
   PyCameraModelId.value("SIMPLE_PINHOLE",
                         colmap::CameraModelId::kSimplePinhole);

diff --git a/limap/estimators/absolute_pose/__init__.py b/limap/estimators/absolute_pose/__init__.py
@@ -37,10 +37,10 @@ def pl_estimate_absolute_pose(
         campose (:class:`limap.base.CameraPose`, optional): \
             Initial camera pose, only useful for pose refinement \
             (when ``cfg["ransac"]["method"]`` is :py:obj:`None`)
-        inliers_line (list[int], optional): \
-            Indices of line inliers, only useful for pose refinement
-        inliers_point (list[int], optional): \
-            Indices of point inliers, only useful for pose refinement
+        inliers_line (:class:`np.array`, optional): \
+            Boolean mask of line inliers, only useful for pose refinement
+        inliers_point (:class:`np.array`, optional): \
+            Boolean mask of point inliers, only useful for pose refinement
         jointloc_cfg (dict, optional): Config for joint optimization, \
             fields refer to :class:`limap.optimize.LineLocConfig`, \
             pass :py:obj:`None` for default

diff --git a/limap/estimators/absolute_pose/joint_pose_estimator.cc b/limap/estimators/absolute_pose/joint_pose_estimator.cc
@@ -69,7 +69,7 @@ JointPoseEstimator::JointPoseEstimator(
   l2ds_ = &l2ds;
   p3ds_ = &p3ds;
   p2ds_ = &p2ds;
-  cam_ = Camera(cam.K());
+  cam_ = Camera("PINHOLE", cam.K());
   num_data_ = p3ds.size() + l3d_ids.size();
 
   if (loc_config_.cost_function == E3DLineLineDist2 ||

diff --git a/limap/optimize/hybrid_localization/hybrid_localization.h b/limap/optimize/hybrid_localization/hybrid_localization.h
@@ -46,7 +46,7 @@ class LineLocEngine {
     CHECK_EQ(l3ds.size(), l2ds.size());
     this->l3ds = l3ds;
     this->l2ds = l2ds;
-    this->cam = Camera(K);
+    this->cam = Camera("PINHOLE", K);
     this->campose = CameraPose(R, T);
   }
   void Initialize(const std::vector<Line3d> &l3ds,
@@ -60,7 +60,7 @@ class LineLocEngine {
     K(1, 1) = kvec(1);
     K(0, 2) = kvec(2);
     K(1, 2) = kvec(3);
-    this->cam = Camera(K);
+    this->cam = Camera("PINHOLE", K);
     this->campose = CameraPose(qvec, tvec);
   }
   void SetUp();
@@ -103,7 +103,7 @@ class JointLocEngine : public LineLocEngine {
     this->p2ds = p2ds;
     this->l3ds = l3ds;
     this->l2ds = l2ds;
-    this->cam = Camera(K);
+    this->cam = Camera("PINHOLE", K);
     this->campose = CameraPose(R, T);
   }
   void Initialize(const std::vector<Line3d> &l3ds,
@@ -121,7 +121,7 @@ class JointLocEngine : public LineLocEngine {
     K(1, 1) = kvec(1);
     K(0, 2) = kvec(2);
     K(1, 2) = kvec(3);
-    this->cam = Camera(K);
+    this->cam = Camera("PINHOLE", K);
     this->campose = CameraPose(qvec, tvec);
   }
 };

diff --git a/limap/runners/hybrid_localization.py b/limap/runners/hybrid_localization.py
@@ -81,7 +81,7 @@ def get_hloc_keypoints_from_log(
         p2ds = logs["loc"][query_img_name]["keypoints_query"]
         p3d_ids = logs["loc"][query_img_name]["points3D_ids"]
         p3ds = [ref_sfm.points3D[j].xyz for j in p3d_ids]
-    inliers = logs["loc"][query_img_name]["PnP_ret"]["inliers"]
+    inliers = logs["loc"][query_img_name]["PnP_ret"]["inlier_mask"]
 
     p2ds, p3ds = np.array(p2ds), np.array(p3ds)
     if resize_scales is not None and query_img_name in resize_scales:

diff --git a/requirements.txt b/requirements.txt
@@ -28,4 +28,4 @@ clang-format==19.1.0
 pytlsd@git+https://github.com/iago-suarez/pytlsd.git@37ac583
 deeplsd@git+https://github.com/cvg/DeepLSD.git@88c589d
 gluestick@git+https://github.com/cvg/GlueStick.git@0f28efd
--e git+https://github.com/cvg/Hierarchical-Localization.git@abb2520#egg=hloc
+-e git+https://github.com/B1ueber2y/Hierarchical-Localization.git@1d14d71#egg=hloc