PyCOLMAP
PyCOLMAP exposes to Python most capabilities of COLMAP.
Installation
Pre-built wheels for Linux, macOS, and Windows can be installed using pip:
pip install pycolmap
The wheels are automatically built and pushed to PyPI at each release. They are currently not built with CUDA support, which requires building from source. To build PyCOLMAP from source, follow these steps:
Install COLMAP from source following Installation.
Build PyCOLMAP:
On Linux and macOS:
python -m pip install ./pycolmap/
On Windows, after installing COLMAP via VCPKG, run in powershell:
python -m pip install ./pycolmap/ ` --cmake.define.CMAKE_TOOLCHAIN_FILE="$VCPKG_INSTALLATION_ROOT/scripts/buildsystems/vcpkg.cmake" ` --cmake.define.VCPKG_TARGET_TRIPLET="x64-windows"
Some features, such as cost functions, require that PyCeres is installed in the same as PyCOLMAP, so either from PyPI or from source.
Usage
- API
AbsolutePoseEstimationOptions
AbsolutePoseRefinementOptions
BundleAdjuster
BundleAdjustmentConfig
BundleAdjustmentCovarianceEstimator
BundleAdjustmentCovarianceEstimatorBase
BundleAdjustmentCovarianceEstimatorCeresBackend
BundleAdjustmentOptions
Camera
CameraMode
CameraModelId
CopyType
Correspondence
CorrespondenceGraph
Database
DatabaseCache
DatabaseTransaction
DelaunayMeshingOptions
Device
EstimateTriangulationOptions
ExhaustiveMatchingOptions
ExhaustivePairGenerator
Image
ImageAlignmentError
ImagePairStat
ImagePairsMatchingOptions
ImageReaderOptions
ImageSelectionMethod
ImportedPairGenerator
IncrementalMapper
IncrementalMapperCallback
IncrementalMapperOptions
IncrementalMapperStatus
IncrementalPipeline
IncrementalPipelineOptions
IncrementalTriangulator
IncrementalTriangulatorOptions
ItemsView
KeysView
ListPoint2D
LocalBundleAdjustmentReport
LossFunctionType
MapCameraIdToCamera
MapImageIdToImage
MapPoint3DIdToPoint3D
Normalization
ObservationManager
PairGenerator
PatchMatchOptions
Point2D
Point3D
PoissonMeshingOptions
PosePrior
PosePriorCoordinateSystem
RANSACOptions
Reconstruction
ReconstructionManager
Rigid3d
Rotation3d
SequentialMatchingOptions
SequentialPairGenerator
Sift
SiftExtractionOptions
SiftMatchingOptions
Sim3d
SpatialMatchingOptions
SpatialPairGenerator
StereoFusionOptions
Timer
Track
TrackElement
TriangulationResidualType
TwoViewGeometry
TwoViewGeometryConfiguration
TwoViewGeometryOptions
UndistortCameraOptions
ValuesView
VocabTreeMatchingOptions
VocabTreePairGenerator
absolute_pose_estimation()
align_reconstructions_via_points()
align_reconstructions_via_proj_centers()
align_reconstructions_via_reprojections()
align_reconstrution_to_locations()
bundle_adjustment()
compare_reconstructions()
essential_matrix_estimation()
estimate_calibrated_two_view_geometry()
estimate_pose_covariance_from_ba()
estimate_pose_covariance_from_ba_ceres_backend()
estimate_triangulation()
estimate_two_view_geometry()
estimate_two_view_geometry_pose()
extract_features()
fundamental_matrix_estimation()
homography_decomposition()
homography_matrix_estimation()
import_images()
incremental_mapping()
infer_camera_from_image()
logging
match_exhaustive()
match_sequential()
match_spatial()
match_vocabtree()
ostream
patch_match_stereo()
poisson_meshing()
pose_refinement()
rig_absolute_pose_estimation()
set_random_seed()
squared_sampson_error()
stereo_fusion()
triangulate_points()
undistort_images()
verify_matches()
- Cost Functions