Update to Colmap 3.9.1 and add Dockerfile (#26)

Author: pablospe

Dockerfile

@@ -0,0 +1,62 @@
+ARG UBUNTU_VERSION=22.04
+ARG NVIDIA_CUDA_VERSION=12.3.1
+FROM nvidia/cuda:${NVIDIA_CUDA_VERSION}-devel-ubuntu${UBUNTU_VERSION} as builder
+
+ARG COLMAP_VERSION=3.9.1
+ARG CUDA_ARCHITECTURES=70
+ENV CUDA_ARCHITECTURES=${CUDA_ARCHITECTURES}
+ENV QT_XCB_GL_INTEGRATION=xcb_egl
+
+# Prevent stop building ubuntu at time zone selection.
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Prepare and empty machine for building.
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends --no-install-suggests \
+        git \
+        cmake \
+        ninja-build \
+        build-essential \
+        libboost-program-options-dev \
+        libboost-filesystem-dev \
+        libboost-graph-dev \
+        libboost-system-dev \
+        libeigen3-dev \
+        libflann-dev \
+        libfreeimage-dev \
+        libmetis-dev \
+        libgoogle-glog-dev \
+        libgtest-dev \
+        libsqlite3-dev \
+        libglew-dev \
+        qtbase5-dev \
+        libqt5opengl5-dev \
+        libcgal-dev \
+        python-is-python3 \
+        python3-minimal \
+        python3-pip \
+        python3-dev \
+        python3-setuptools
+
+# Install Ceres.
+RUN apt-get install -y --no-install-recommends --no-install-suggests wget && \
+    wget "http://ceres-solver.org/ceres-solver-2.1.0.tar.gz" && \
+    tar zxf ceres-solver-2.1.0.tar.gz && \
+    mkdir ceres-build && \
+    cd ceres-build && \
+    cmake ../ceres-solver-2.1.0 -GNinja && \
+    ninja install
+
+# Install Colmap.
+RUN wget "https://github.com/colmap/colmap/archive/refs/tags/${COLMAP_VERSION}.tar.gz" -O colmap-${COLMAP_VERSION}.tar.gz && \
+    tar zxvf colmap-${COLMAP_VERSION}.tar.gz && \
+    mkdir colmap-build && \
+    cd colmap-build && \
+    cmake ../colmap-${COLMAP_VERSION} -GNinja -DCMAKE_CUDA_ARCHITECTURES=${CUDA_ARCHITECTURES} && \
+    ninja install
+
+
+# Build pyceres.
+COPY . /pyceres
+WORKDIR /pyceres
+RUN pip install . -vv

README.md

@@ -11,14 +11,27 @@ git clone --recursive git@github.com:cvg/pyceres.git
 cd pyceres
 ```
 
-2. Install [COLMAP 3.8](https://colmap.github.io/) - _make sure to use tag 3.8_.
+2. Install [COLMAP 3.9.1](https://colmap.github.io/)
 
 3. Build the package:
 
 ```sh
 pip install -e .
 ```
 
+### Docker image
+
+Alternatively, you can build the Docker image:
+
+```sh
+export COLMAP_VERSION=3.9.1
+export CUDA_ARCHITECTURES=70
+docker build -t pyceres \
+    --build-arg COLMAP_VERSION=${COLMAP_VERSION}  \
+    --build-arg CUDA_ARCHITECTURES=${CUDA_ARCHITECTURES}  \
+    -f Dockerfile .
+```
+
 ## Factor graph optimization
 
 For now we support the following cost functions, defined in `_pyceres/factors/`:

_pyceres/factors/bundle.cc

@@ -1,5 +1,5 @@
-#include <colmap/camera/models.h>
-#include <colmap/geometry/projection.h>
+#include <colmap/scene/projection.h>
+#include <colmap/sensor/models.h>
 #include <colmap/util/types.h>
 
 #include <ceres/ceres.h>
@@ -15,12 +15,9 @@ inline void WorldToPixel(const T* camera_params, const T* qvec, const T* tvec,
   projection[1] += tvec[1];
   projection[2] += tvec[2];
 
-  // Project to image plane.
-  projection[0] /= projection[2];  // u
-  projection[1] /= projection[2];  // v
-
   // Distort and transform to pixel space.
-  CameraModel::WorldToImage(camera_params, projection[0], projection[1], &xy[0], &xy[1]);
+  CameraModel::ImgFromCam(camera_params, projection[0], projection[1], projection[2],
+                          &xy[0], &xy[1]);
 }
 
 template <typename T>
@@ -43,7 +40,7 @@ class BundleAdjustmentCost {
   static ceres::CostFunction* Create(const Eigen::Vector2d& point2D,
                                      const double stddev) {
     return (new ceres::AutoDiffCostFunction<BundleAdjustmentCost<CameraModel>, 2, 4, 3, 3,
-                                            CameraModel::kNumParams>(
+                                            CameraModel::num_params>(
         new BundleAdjustmentCost(point2D, stddev)));
   }
 
@@ -78,7 +75,7 @@ class BundleAdjustmentConstantPoseCost : public BundleAdjustmentCost<CameraModel
                                      const Eigen::Vector4d qvec,
                                      const Eigen::Vector3d tvec) {
     return (new ceres::AutoDiffCostFunction<BundleAdjustmentConstantPoseCost<CameraModel>,
-                                            2, 3, CameraModel::kNumParams>(
+                                            2, 3, CameraModel::num_params>(
         new BundleAdjustmentConstantPoseCost(point2D, stddev, qvec, tvec)));
   }
 
@@ -111,7 +108,7 @@ class BundleAdjustmentConstantRigCost : public BundleAdjustmentCost<CameraModel>
                                      const Eigen::Vector4d rel_qvec,
                                      const Eigen::Vector3d rel_tvec) {
     return (new ceres::AutoDiffCostFunction<BundleAdjustmentConstantRigCost<CameraModel>,
-                                            2, 4, 3, 3, CameraModel::kNumParams>(
+                                            2, 4, 3, 3, CameraModel::num_params>(
         new BundleAdjustmentConstantRigCost(point2D, stddev, rel_qvec, rel_tvec)));
   }
 
@@ -144,7 +141,7 @@ class BundleAdjustmentRigCost : public BundleAdjustmentCost<CameraModel> {
   static ceres::CostFunction* Create(const Eigen::Vector2d& point2D,
                                      const double stddev) {
     return (new ceres::AutoDiffCostFunction<BundleAdjustmentRigCost<CameraModel>, 2, 4, 3,
-                                            4, 3, 3, CameraModel::kNumParams>(
+                                            4, 3, 3, CameraModel::num_params>(
         new BundleAdjustmentRigCost(point2D, stddev)));
   }
 
@@ -159,12 +156,12 @@ class BundleAdjustmentRigCost : public BundleAdjustmentCost<CameraModel> {
   }
 };
 
-ceres::CostFunction* CreateBundleAdjustmentCost(int camera_model_id,
-                                                const Eigen::Vector2d& point2D,
-                                                const double stddev) {
+ceres::CostFunction* CreateBundleAdjustmentCost(
+    const colmap::CameraModelId camera_model_id, const Eigen::Vector2d& point2D,
+    const double stddev) {
   switch (camera_model_id) {
 #define CAMERA_MODEL_CASE(CameraModel)                                         \
-  case colmap::CameraModel::kModelId:                                          \
+  case colmap::CameraModel::model_id:                                          \
     return BundleAdjustmentCost<colmap::CameraModel>::Create(point2D, stddev); \
     break;
     CAMERA_MODEL_SWITCH_CASES
@@ -173,11 +170,11 @@ ceres::CostFunction* CreateBundleAdjustmentCost(int camera_model_id,
 }
 
 ceres::CostFunction* CreateBundleAdjustmentConstantPoseCost(
-    int camera_model_id, const Eigen::Vector2d& point2D, const Eigen::Vector4d& qvec,
-    const Eigen::Vector3d& tvec, const double stddev) {
+    const colmap::CameraModelId camera_model_id, const Eigen::Vector2d& point2D,
+    const Eigen::Vector4d& qvec, const Eigen::Vector3d& tvec, const double stddev) {
   switch (camera_model_id) {
 #define CAMERA_MODEL_CASE(CameraModel)                                    \
-  case colmap::CameraModel::kModelId:                                     \
+  case colmap::CameraModel::model_id:                                     \
     return BundleAdjustmentConstantPoseCost<colmap::CameraModel>::Create( \
         point2D, stddev, qvec, tvec);                                     \
     break;
@@ -187,11 +184,12 @@ ceres::CostFunction* CreateBundleAdjustmentConstantPoseCost(
 }
 
 ceres::CostFunction* CreateBundleAdjustmentConstantRigCost(
-    int camera_model_id, const Eigen::Vector2d& point2D, const Eigen::Vector4d& rel_qvec,
-    const Eigen::Vector3d& rel_tvec, const double stddev) {
+    const colmap::CameraModelId camera_model_id, const Eigen::Vector2d& point2D,
+    const Eigen::Vector4d& rel_qvec, const Eigen::Vector3d& rel_tvec,
+    const double stddev) {
   switch (camera_model_id) {
 #define CAMERA_MODEL_CASE(CameraModel)                                   \
-  case colmap::CameraModel::kModelId:                                    \
+  case colmap::CameraModel::model_id:                                    \
     return BundleAdjustmentConstantRigCost<colmap::CameraModel>::Create( \
         point2D, stddev, rel_qvec, rel_tvec);                            \
     break;
@@ -200,12 +198,12 @@ ceres::CostFunction* CreateBundleAdjustmentConstantRigCost(
   }
 }
 
-ceres::CostFunction* CreateBundleAdjustmentRigCost(int camera_model_id,
-                                                   const Eigen::Vector2d& point2D,
-                                                   const double stddev) {
+ceres::CostFunction* CreateBundleAdjustmentRigCost(
+    const colmap::CameraModelId camera_model_id, const Eigen::Vector2d& point2D,
+    const double stddev) {
   switch (camera_model_id) {
 #define CAMERA_MODEL_CASE(CameraModel)                                            \
-  case colmap::CameraModel::kModelId:                                             \
+  case colmap::CameraModel::model_id:                                             \
     return BundleAdjustmentRigCost<colmap::CameraModel>::Create(point2D, stddev); \
     break;
     CAMERA_MODEL_SWITCH_CASES

setup.py

@@ -39,6 +39,7 @@ def build_extension(self, ext):
             '-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=' + extdir,
             '-DPYTHON_EXECUTABLE=' + sys.executable,
             '-DVERSION_INFO={}'.format(self.distribution.get_version()),
+            '-DCMAKE_CUDA_ARCHITECTURES={}'.format(os.environ.get('CUDA_ARCHITECTURES', 'native')),
         ]
         eigen_dir = os.environ.get('EIGEN3_INCLUDE_DIRS')
         if eigen_dir is not None: