Merge branch 'cvg:master' into master

.flake8

@@ -0,0 +1,4 @@
+[flake8]
+max-line-length = 88
+extend-ignore = E203
+exclude = .git,__pycache__,build,.venv/

.github/workflows/code-quality.yml

@@ -0,0 +1,24 @@
+name: Format and Lint Checks
+on:
+  push:
+    branches:
+      - master
+    paths:
+      - '*.py'
+  pull_request:
+    types: [ assigned, opened, synchronize, reopened ]
+jobs:
+  check:
+    name: Format and Lint Checks
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v4
+        with:
+          python-version: '3.10'
+          cache: 'pip'
+      - run: python -m pip install --upgrade pip
+      - run: python -m pip install black==23.12.1 flake8 isort
+      - run: python -m flake8 hloc
+      - run: python -m isort hloc *.ipynb --check-only --diff
+      - run: python -m black hloc *.ipynb --check --diff

.gitignore

@@ -1,7 +1,10 @@
+build
+.venv
 __pycache__
 *.pyc
 *.egg-info
 .ipynb_checkpoints
 outputs/
 datasets/*
 !datasets/sacre_coeur/
+datasets/sacre_coeur/query

.isort.cfg

@@ -0,0 +1,2 @@
+[settings]
+profile=black

README.md

@@ -95,7 +95,7 @@ We show in [`pipeline_SfM.ipynb`](https://nbviewer.jupyter.org/github/cvg/Hierar
 
 - Supported local feature extractors: [SuperPoint](https://arxiv.org/abs/1712.07629), [DISK](https://arxiv.org/abs/2006.13566), [D2-Net](https://arxiv.org/abs/1905.03561), [SIFT](https://www.cs.ubc.ca/~lowe/papers/ijcv04.pdf), and [R2D2](https://arxiv.org/abs/1906.06195).
 - Supported feature matchers: [SuperGlue](https://arxiv.org/abs/1911.11763), its faster follow-up [LightGlue](https://github.com/cvg/LightGlue), and nearest neighbor search with ratio test, distance test, and/or mutual check. hloc also supports dense matching with [LoFTR](https://github.com/zju3dv/LoFTR).
-- Supported image retrieval: [NetVLAD](https://arxiv.org/abs/1511.07247), [AP-GeM/DIR](https://github.com/naver/deep-image-retrieval), [OpenIBL](https://github.com/yxgeee/OpenIBL), and [CosPlace](https://github.com/gmberton/CosPlace).
+- Supported image retrieval: [NetVLAD](https://arxiv.org/abs/1511.07247), [AP-GeM/DIR](https://github.com/naver/deep-image-retrieval), [OpenIBL](https://github.com/yxgeee/OpenIBL), [CosPlace](https://github.com/gmberton/CosPlace) and  [EigenPlaces](https://github.com/gmberton/EigenPlaces).
 
 Using NetVLAD for retrieval, we obtain the following best results:
 

demo.ipynb

@@ -18,11 +18,18 @@
     "%load_ext autoreload\n",
     "%autoreload 2\n",
     "import tqdm, tqdm.notebook\n",
+    "\n",
     "tqdm.tqdm = tqdm.notebook.tqdm  # notebook-friendly progress bars\n",
     "from pathlib import Path\n",
     "import numpy as np\n",
     "\n",
-    "from hloc import extract_features, match_features, reconstruction, visualization, pairs_from_exhaustive\n",
+    "from hloc import (\n",
+    "    extract_features,\n",
+    "    match_features,\n",
+    "    reconstruction,\n",
+    "    visualization,\n",
+    "    pairs_from_exhaustive,\n",
+    ")\n",
     "from hloc.visualization import plot_images, read_image\n",
     "from hloc.utils import viz_3d"
    ]
@@ -43,17 +50,17 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "images = Path('datasets/sacre_coeur')\n",
-    "outputs = Path('outputs/demo/')\n",
+    "images = Path(\"datasets/sacre_coeur\")\n",
+    "outputs = Path(\"outputs/demo/\")\n",
     "!rm -rf $outputs\n",
-    "sfm_pairs = outputs / 'pairs-sfm.txt'\n",
-    "loc_pairs = outputs / 'pairs-loc.txt'\n",
-    "sfm_dir = outputs / 'sfm'\n",
-    "features = outputs / 'features.h5'\n",
-    "matches = outputs / 'matches.h5'\n",
+    "sfm_pairs = outputs / \"pairs-sfm.txt\"\n",
+    "loc_pairs = outputs / \"pairs-loc.txt\"\n",
+    "sfm_dir = outputs / \"sfm\"\n",
+    "features = outputs / \"features.h5\"\n",
+    "matches = outputs / \"matches.h5\"\n",
     "\n",
-    "feature_conf = extract_features.confs['disk']\n",
-    "matcher_conf = match_features.confs['disk+lightglue']"
+    "feature_conf = extract_features.confs[\"disk\"]\n",
+    "matcher_conf = match_features.confs[\"disk+lightglue\"]"
    ]
   },
   {
@@ -90,7 +97,7 @@
     }
    ],
    "source": [
-    "references = [p.relative_to(images).as_posix() for p in (images / 'mapping/').iterdir()]\n",
+    "references = [p.relative_to(images).as_posix() for p in (images / \"mapping/\").iterdir()]\n",
     "print(len(references), \"mapping images\")\n",
     "plot_images([read_image(images / r) for r in references], dpi=25)"
    ]
@@ -142,7 +149,9 @@
     }
    ],
    "source": [
-    "extract_features.main(feature_conf, images, image_list=references, feature_path=features)\n",
+    "extract_features.main(\n",
+    "    feature_conf, images, image_list=references, feature_path=features\n",
+    ")\n",
     "pairs_from_exhaustive.main(sfm_pairs, image_list=references)\n",
     "match_features.main(matcher_conf, sfm_pairs, features=features, matches=matches);"
    ]
@@ -162,9 +171,13 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "model = reconstruction.main(sfm_dir, images, sfm_pairs, features, matches, image_list=references)\n",
+    "model = reconstruction.main(\n",
+    "    sfm_dir, images, sfm_pairs, features, matches, image_list=references\n",
+    ")\n",
     "fig = viz_3d.init_figure()\n",
-    "viz_3d.plot_reconstruction(fig, model, color='rgba(255,0,0,0.5)', name=\"mapping\", points_rgb=True)\n",
+    "viz_3d.plot_reconstruction(\n",
+    "    fig, model, color=\"rgba(255,0,0,0.5)\", name=\"mapping\", points_rgb=True\n",
+    ")\n",
     "fig.show()"
    ]
   },
@@ -204,7 +217,7 @@
     }
    ],
    "source": [
-    "visualization.visualize_sfm_2d(model, images, color_by='visibility', n=2)"
+    "visualization.visualize_sfm_2d(model, images, color_by=\"visibility\", n=2)"
    ]
   },
   {
@@ -238,7 +251,7 @@
     "# try other queries by uncommenting their url\n",
     "# url = \"https://upload.wikimedia.org/wikipedia/commons/5/59/Basilique_du_Sacr%C3%A9-C%C5%93ur_%285430392880%29.jpg\"\n",
     "# url = \"https://upload.wikimedia.org/wikipedia/commons/8/8e/Sacr%C3%A9_C%C5%93ur_at_night%21_%285865355326%29.jpg\"\n",
-    "query = 'query/night.jpg'\n",
+    "query = \"query/night.jpg\"\n",
     "!mkdir -p $images/query && wget $url -O $images/$query -q\n",
     "plot_images([read_image(images / query)], dpi=75)"
    ]
@@ -290,9 +303,13 @@
     }
    ],
    "source": [
-    "extract_features.main(feature_conf, images, image_list=[query], feature_path=features, overwrite=True)\n",
+    "extract_features.main(\n",
+    "    feature_conf, images, image_list=[query], feature_path=features, overwrite=True\n",
+    ")\n",
     "pairs_from_exhaustive.main(loc_pairs, image_list=[query], ref_list=references)\n",
-    "match_features.main(matcher_conf, loc_pairs, features=features, matches=matches, overwrite=True);"
+    "match_features.main(\n",
+    "    matcher_conf, loc_pairs, features=features, matches=matches, overwrite=True\n",
+    ");"
    ]
   },
   {
@@ -344,8 +361,8 @@
     "camera = pycolmap.infer_camera_from_image(images / query)\n",
     "ref_ids = [model.find_image_with_name(r).image_id for r in references]\n",
     "conf = {\n",
-    "    'estimation': {'ransac': {'max_error': 12}},\n",
-    "    'refinement': {'refine_focal_length': True, 'refine_extra_params': True},\n",
+    "    \"estimation\": {\"ransac\": {\"max_error\": 12}},\n",
+    "    \"refinement\": {\"refine_focal_length\": True, \"refine_extra_params\": True},\n",
     "}\n",
     "localizer = QueryLocalizer(model, conf)\n",
     "ret, log = pose_from_cluster(localizer, query, camera, ref_ids, features, matches)\n",
@@ -365,14 +382,18 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "71ab5306",
+   "id": "603c5533-f7b5-4e2c-ae62-de047abce7cc",
    "metadata": {},
    "outputs": [],
    "source": [
-    "pose = pycolmap.Image(tvec=ret['tvec'], qvec=ret['qvec'])\n",
-    "viz_3d.plot_camera_colmap(fig, pose, camera, color='rgba(0,255,0,0.5)', name=query, fill=True)\n",
+    "pose = pycolmap.Image(cam_from_world=ret[\"cam_from_world\"])\n",
+    "viz_3d.plot_camera_colmap(\n",
+    "    fig, pose, camera, color=\"rgba(0,255,0,0.5)\", name=query, fill=True\n",
+    ")\n",
     "# visualize 2D-3D correspodences\n",
-    "inl_3d = np.array([model.points3D[pid].xyz for pid in np.array(log['points3D_ids'])[ret['inliers']]])\n",
+    "inl_3d = np.array(\n",
+    "    [model.points3D[pid].xyz for pid in np.array(log[\"points3D_ids\"])[ret[\"inliers\"]]]\n",
+    ")\n",
     "viz_3d.plot_points(fig, inl_3d, color=\"lime\", ps=1, name=query)\n",
     "fig.show()"
    ]

hloc/__init__.py

@@ -1,11 +1,12 @@
 import logging
+
 from packaging import version
 
-__version__ = '1.5'
+__version__ = "1.5"
 
 formatter = logging.Formatter(
-    fmt='[%(asctime)s %(name)s %(levelname)s] %(message)s',
-    datefmt='%Y/%m/%d %H:%M:%S')
+    fmt="[%(asctime)s %(name)s %(levelname)s] %(message)s", datefmt="%Y/%m/%d %H:%M:%S"
+)
 handler = logging.StreamHandler()
 handler.setFormatter(formatter)
 handler.setLevel(logging.INFO)
@@ -18,16 +19,18 @@
 try:
     import pycolmap
 except ImportError:
-    logger.warning('pycolmap is not installed, some features may not work.')
+    logger.warning("pycolmap is not installed, some features may not work.")
 else:
-    min_version = version.parse('0.3.0')
-    max_version = version.parse('0.4.0')
+    min_version = version.parse("0.6.0")
     found_version = pycolmap.__version__
-    if found_version != 'dev':
+    if found_version != "dev":
         version = version.parse(found_version)
-        if version < min_version or version > max_version:
-            s = f'pycolmap>={min_version},<={max_version}'
+        if version < min_version:
+            s = f"pycolmap>={min_version}"
             logger.warning(
-                'hloc now requires %s but found pycolmap==%s, '
+                "hloc requires %s but found pycolmap==%s, "
                 'please upgrade with `pip install --upgrade "%s"`',
-                s, found_version, s)
+                s,
+                found_version,
+                s,
+            )