Ubuntu 24.04

opensfm/actions/export_geocoords.py

@@ -7,6 +7,7 @@
 from opensfm import io
 from opensfm.dataset import DataSet, UndistortedDataSet
 from opensfm.geo import TopocentricConverter
+from opensfm.reconstruction import bundle_shot_poses
 from typing import List, Sequence
 
 logger: logging.Logger = logging.getLogger(__name__)
@@ -20,7 +21,8 @@ def run_dataset(
     reconstruction: bool,
     dense : bool,
     output: str,
-    offset = (0, 0)
+    offset = (0, 0),
+    mode = "affine"
 ) -> None:
     """Export reconstructions in geographic coordinates
 
@@ -32,7 +34,7 @@ def run_dataset(
         dense : export dense point cloud (depthmaps/merged.ply)
         output : path of the output file relative to the dataset
         offset : offset to substract from the translation (optional)
-
+        mode : Method of georeferencing (optional)
     """
 
     if not (transformation or image_positions or reconstruction or dense):
@@ -57,8 +59,15 @@ def run_dataset(
 
     if reconstruction:
         reconstructions = data.load_reconstruction()
-        for r in reconstructions:
-            _transform_reconstruction(r, t)
+        if mode == "affine":
+            for r in reconstructions:
+                _transform_reconstruction(r, t)
+        elif mode == "projected":
+            for r in reconstructions:
+                _transform_reconstruction_projected(r, t, offset[0], offset[1], reference, projection, data)
+        else:
+            raise Exception(f"Invalid mode: {mode}")
+
         output = output or "reconstruction.geocoords.json"
         data.save_reconstruction(reconstructions, output)
 
@@ -133,6 +142,40 @@ def _transform_reconstruction(
     for point in reconstruction.points.values():
         point.coordinates = list(np.dot(A, point.coordinates) + b)
 
+def _transform_points_projected(pts, offset_x, offset_y, reference, projection):
+    lat, lon, alt = reference.to_lla(pts[:,0], pts[:,1], pts[:,2])
+    easting, northing = projection(lon, lat)
+    return easting - offset_x, northing - offset_y, alt
+
+def _transform_reconstruction_projected(
+    reconstruction: types.Reconstruction, transformation: np.ndarray, offset_x, offset_y, reference, projection, data
+) -> None:
+    """Apply a transformation to a reconstruction in-place by projection."""
+
+    # Points
+    pts =  np.array([p.coordinates for p in reconstruction.points.values()])
+    easting, northing, alt = _transform_points_projected(pts, offset_x, offset_y, reference, projection)
+
+    for i, point in enumerate(reconstruction.points.values()):
+        point.coordinates = [easting[i], northing[i], alt[i]]
+
+    # Cameras
+    A, b = transformation[:3, :3], transformation[:3, 3]
+    A1 = np.linalg.inv(A)
+
+    pts = np.array([shot.pose.get_origin() for shot in reconstruction.shots.values()])
+    easting, northing, alt = _transform_points_projected(pts, offset_x, offset_y, reference, projection)
+
+    for i, shot in enumerate(reconstruction.shots.values()):
+        R = shot.pose.get_rotation_matrix()
+        shot.pose.set_rotation_matrix(np.dot(R, A1))
+        shot.pose.set_origin([easting[i], northing[i], alt[i]])
+
+    logger.info("Bundle shot poses")
+    camera_priors = data.load_camera_models()
+    rig_camera_priors = data.load_rig_cameras()
+    bundle_shot_poses(reconstruction, set(reconstruction.shots.keys()), camera_priors, rig_camera_priors, data.config)
+
 
 def _transform_dense_point_cloud(
     udata: UndistortedDataSet, transformation: np.ndarray, output_path: str

opensfm/commands/export_geocoords.py

@@ -18,7 +18,8 @@ def run_impl(self, dataset: DataSet, args: argparse.Namespace) -> None:
             args.reconstruction,
             args.dense,
             args.output,
-            (args.offset_x, args.offset_y)
+            (args.offset_x, args.offset_y),
+            args.mode
         )
 
     def add_arguments_impl(self, parser: argparse.ArgumentParser) -> None:
@@ -56,4 +57,10 @@ def add_arguments_impl(self, parser: argparse.ArgumentParser) -> None:
         parser.add_argument(
             "--offset-y", type=float, help="Value to add to the final translation Y axis", default=0.0
         )
-
+        parser.add_argument(
+            "--mode",
+            help="Georeferencing method",
+            type=str,
+            choices=["affine", "projected"],
+            default="affine",
+        )

opensfm/dataset.py

@@ -355,6 +355,8 @@ class MatchingUnpickler(pickle.Unpickler):
             modules_map = {
                 "numpy.core.multiarray._reconstruct": np.core.multiarray,
                 "numpy.core.multiarray.scalar": np.core.multiarray,
+                "numpy._core.multiarray._reconstruct": np.core.multiarray,
+                "numpy._core.multiarray.scalar": np.core.multiarray,
                 "numpy.ndarray": np,
                 "numpy.dtype": np,
             }

opensfm/src/CMakeLists.txt

@@ -31,7 +31,7 @@ set(CMAKE_CXX_VISIBILITY_INLINES ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 # C++14
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # Enable all warnings

opensfm/src/bundle/CMakeLists.txt

@@ -54,8 +54,7 @@ pybind11_add_module(pybundle python/pybind.cc)
 target_link_libraries(pybundle PRIVATE
   bundle
   geometry
-  foundation
-  pybind11)
+  foundation)
 set_target_properties(pybundle PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${opensfm_SOURCE_DIR}/.."
 )

opensfm/src/bundle/src/bundle_adjuster.cc

@@ -570,8 +570,13 @@ void BundleAdjuster::Run() {
       problem.SetParameterBlockConstant(data.data());
     }else if (i.second.GetValue().GetProjectionType() == geometry::ProjectionType::BROWN){
         // Keep aspect ratio constant (BROWN only)
+#if CERES_VERSION_MAJOR == 2 && CERES_VERSION_MINOR >= 2
+        ceres::SubsetManifold *subset_parameterization = new ceres::SubsetManifold(data.size(), { 6 });
+        problem.SetManifold(data.data(), subset_parameterization);
+#else
         ceres::SubsetParameterization *subset_parameterization = new ceres::SubsetParameterization(data.size(), { 6 });
         problem.SetParameterization(data.data(), subset_parameterization);
+#endif
     }
 
     // Add a barrier for constraining transition of dual to stay in [0, 1]

opensfm/src/dense/CMakeLists.txt

@@ -23,7 +23,7 @@ endif()
 
 pybind11_add_module(pydense python/pybind.cc)
 target_include_directories(pydense PRIVATE ${GLOG_INCLUDE_DIR})
-target_link_libraries(pydense PRIVATE dense foundation pybind11)
+target_link_libraries(pydense PRIVATE dense foundation)
 set_target_properties(pydense PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${opensfm_SOURCE_DIR}/.."
 )

opensfm/src/features/CMakeLists.txt

@@ -23,7 +23,6 @@ target_link_libraries(pyfeatures
   PRIVATE
     features
     foundation
-    pybind11
     akaze
 )
 set_target_properties(pyfeatures PROPERTIES

opensfm/src/foundation/CMakeLists.txt

@@ -12,13 +12,13 @@ set(FOUNDATION_FILES
 add_library(foundation ${FOUNDATION_FILES})
 target_link_libraries(foundation
   PUBLIC
-    pybind11
     ${OpenCV_LIBS}
     ${OpenMP_libomp_LIBRARY}
     Eigen3::Eigen
 )
 target_include_directories(foundation
   PUBLIC
+    ${PYBIND11_INCLUDE_DIR}
     ${PYTHON_INCLUDE_DIRS}
     ${CMAKE_SOURCE_DIR}
     ${OpenMP_CXX_INCLUDE_DIR}

opensfm/src/geo/CMakeLists.txt

@@ -29,7 +29,6 @@ target_link_libraries(pygeo
   PRIVATE
     geo
     foundation
-    pybind11
 )
 set_target_properties(pygeo PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${opensfm_SOURCE_DIR}/.."

opensfm/src/geometry/CMakeLists.txt

@@ -48,7 +48,6 @@ target_link_libraries(pygeometry
   PRIVATE
     geometry
     foundation
-    pybind11
 )
 set_target_properties(pygeometry PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${opensfm_SOURCE_DIR}/.."

opensfm/src/map/CMakeLists.txt

@@ -20,7 +20,6 @@ set(MAP_FILES
 add_library(map ${MAP_FILES})
 target_link_libraries(map
   PUBLIC
-    pybind11
     Eigen3::Eigen
   PRIVATE
     geo
@@ -41,7 +40,6 @@ target_link_libraries(pymap
     geometry
     foundation
     bundle
-    pybind11
 )
 
 if (OPENSFM_BUILD_TESTS)

opensfm/src/map/pybind_utils.h

@@ -153,7 +153,7 @@ template <return_value_policy Policy = return_value_policy::reference_internal,
           typename ValueType = decltype(std::declval<Iterator>()),
           typename... Extra>
 iterator make_ptr_iterator(Iterator first, Sentinel last, Extra &&... extra) {
-  typedef detail::iterator_state<Iterator, Sentinel, false, Policy> state;
+  typedef detail::iterator_state<detail::iterator_access<Iterator>, Policy, Iterator, Sentinel, ValueType> state;
 
   if (!detail::get_type_info(typeid(state), false)) {
     class_<state>(handle(), "iterator", pybind11::module_local())

opensfm/src/map/test/tracks_manager_test.cc

@@ -164,19 +164,18 @@ TEST_F(TracksManagerTest, HasIOFileConsistency) {
               ::testing::WhenSorted(::testing::ElementsAre("1", "2", "3")));
   EXPECT_THAT(manager_new.GetTrackIds(),
               ::testing::WhenSorted(::testing::ElementsAre("1")));
-  EXPECT_EQ(track, manager_new.GetTrackObservations("1"));
-}
 
-TEST_F(TracksManagerTest, HasIOStringConsistency) {
-  const auto serialized = manager.AsString();
-  const map::TracksManager manager_new =
-      map::TracksManager::InstanciateFromString(serialized);
+  std::unordered_map<map::ShotId, map::Observation> track_from_file = manager_new.GetTrackObservations("1");
 
-  EXPECT_THAT(manager_new.GetShotIds(),
-              ::testing::WhenSorted(::testing::ElementsAre("1", "2", "3")));
-  EXPECT_THAT(manager_new.GetTrackIds(),
-              ::testing::WhenSorted(::testing::ElementsAre("1")));
-  EXPECT_EQ(track, manager_new.GetTrackObservations("1"));
+  // Test that point, scale, color, and feature ID are correctly recovered from the file.
+  // Segmentation and instance IDs are not saved in the ODM file format. For this reason,
+  // track_from_file will not exactly match track (it is missing these fields).
+  for(auto const& it : track) {
+    EXPECT_EQ(it.second.point, track_from_file[it.first].point);
+    EXPECT_EQ(it.second.scale, track_from_file[it.first].scale);
+    EXPECT_EQ(it.second.color, track_from_file[it.first].color);
+    EXPECT_EQ(it.second.feature_id, track_from_file[it.first].feature_id);
+  }
 }
 
 }  // namespace

opensfm/src/robust/CMakeLists.txt

@@ -29,7 +29,6 @@ target_link_libraries(pyrobust
   PRIVATE
     robust
     foundation
-    pybind11
 )
 set_target_properties(pyrobust PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${opensfm_SOURCE_DIR}/.."

opensfm/src/sfm/CMakeLists.txt

@@ -35,7 +35,6 @@ target_include_directories(pysfm PRIVATE ${GLOG_INCLUDE_DIR})
 target_link_libraries(pysfm
   PRIVATE
     foundation
-    pybind11
     sfm
 )
 set_target_properties(pysfm PROPERTIES

opensfm/stats.py

@@ -723,6 +723,7 @@ def save_matchgraph(
         orientation="horizontal",
         label="Number of matches between images",
         pad=0.0,
+        ax=plt.gca(),
     )
 
     with io_handler.open(os.path.join(output_path, "matchgraph.png"), "wb") as fwb:
@@ -1156,6 +1157,7 @@ def save_residual_grids(
             label="Residual Norm",
             pad=0.08,
             aspect=40,
+            ax=plt.gca(),
         )
 
         plt.xticks(