mapillary · jpilet · Mar 6, 2024 · Mar 6, 2024 · Mar 22, 2024 · Apr 18, 2024
diff --git a/Dockerfile b/Dockerfile
@@ -1,4 +1,4 @@
-FROM ubuntu:20.04
+FROM ubuntu:22.04
 
 ARG DEBIAN_FRONTEND=noninteractive
 

diff --git a/Dockerfile.ceres2 b/Dockerfile.ceres2
@@ -1,4 +1,4 @@
-FROM ubuntu:20.04
+FROM ubuntu:22.04
 
 ARG DEBIAN_FRONTEND=noninteractive
 
@@ -27,12 +27,12 @@ RUN apt-get update \
 # Install Ceres 2
 RUN \
     mkdir -p /source && cd /source && \
-    curl -L http://ceres-solver.org/ceres-solver-2.0.0.tar.gz | tar xz && \
-    cd /source/ceres-solver-2.0.0 && \
+    curl -L http://ceres-solver.org/ceres-solver-2.1.0.tar.gz | tar xz && \
+    cd /source/ceres-solver-2.1.0 && \
     mkdir -p build && cd build && \
     cmake .. -DCMAKE_C_FLAGS=-fPIC -DCMAKE_CXX_FLAGS=-fPIC -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF && \
     make -j4 install && \
-    cd / && rm -rf /source/ceres-solver-2.0.0
+    cd / && rm -rf /source/ceres-solver-2.1.0
 
 
 COPY . /source/OpenSfM

diff --git a/opensfm/src/CMakeLists.txt b/opensfm/src/CMakeLists.txt
@@ -30,8 +30,8 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # Enable all warnings
 if (NOT WIN32)
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
+    #set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
+    #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
 endif()
 
 # For compiling VLFeat
@@ -85,6 +85,7 @@ add_subdirectory(third_party/akaze)
 add_subdirectory(third_party/vlfeat)
 
 include_directories(third_party/vlfeat)
+include_directories(third_party/pybind11/include)
 
 ####### Debugging #######
 if (CMAKE_BUILD_TYPE MATCHES DEBUG)

diff --git a/opensfm/src/bundle/CMakeLists.txt b/opensfm/src/bundle/CMakeLists.txt
@@ -16,8 +16,9 @@ set(BUNDLE_FILES
 )
 add_library(bundle ${BUNDLE_FILES})
 target_link_libraries(bundle
-  PRIVATE
+  PUBLIC
     ${CERES_LIBRARIES}
+  PRIVATE
     ${LAPACK_LIBRARIES}
     ${SUITESPARSE_LIBRARIES}
     foundation
@@ -55,7 +56,7 @@ target_link_libraries(pybundle PRIVATE
   bundle
   geometry
   foundation
-  pybind11)
+  pybind11::headers)
 set_target_properties(pybundle PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${opensfm_SOURCE_DIR}/.."
 )
diff --git a/opensfm/src/dense/CMakeLists.txt b/opensfm/src/dense/CMakeLists.txt
@@ -23,7 +23,7 @@ endif()
 
 pybind11_add_module(pydense python/pybind.cc)
 target_include_directories(pydense PRIVATE ${GLOG_INCLUDE_DIR})
-target_link_libraries(pydense PRIVATE dense foundation pybind11)
+target_link_libraries(pydense PRIVATE dense foundation pybind11::headers)
 set_target_properties(pydense PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${opensfm_SOURCE_DIR}/.."
 )
diff --git a/opensfm/src/features/CMakeLists.txt b/opensfm/src/features/CMakeLists.txt
@@ -22,7 +22,7 @@ target_link_libraries(pyfeatures
   PRIVATE
     features
     foundation
-    pybind11
+    pybind11::headers
     akaze
 )
 set_target_properties(pyfeatures PROPERTIES

diff --git a/opensfm/src/foundation/CMakeLists.txt b/opensfm/src/foundation/CMakeLists.txt
@@ -12,7 +12,7 @@ set(FOUNDATION_FILES
 add_library(foundation ${FOUNDATION_FILES})
 target_link_libraries(foundation
   PUBLIC
-    pybind11
+    pybind11::headers
     ${OpenCV_LIBS}
     ${OpenMP_libomp_LIBRARY}
     Eigen3::Eigen

diff --git a/opensfm/src/geo/CMakeLists.txt b/opensfm/src/geo/CMakeLists.txt
@@ -29,7 +29,7 @@ target_link_libraries(pygeo
   PRIVATE
     geo
     foundation
-    pybind11
+    pybind11::headers
 )
 set_target_properties(pygeo PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${opensfm_SOURCE_DIR}/.."

diff --git a/opensfm/src/geometry/CMakeLists.txt b/opensfm/src/geometry/CMakeLists.txt
@@ -20,9 +20,10 @@ set(GEOMETRY_FILES
     )
 add_library(geometry ${GEOMETRY_FILES})
 target_link_libraries(geometry
+    PUBLIC
+    ${CERES_LIBRARIES}
     PRIVATE
     foundation
-    ${CERES_LIBRARIES}
     )
 target_include_directories(geometry PUBLIC ${CMAKE_SOURCE_DIR})
 
@@ -48,7 +49,7 @@ target_link_libraries(pygeometry
   PRIVATE
     geometry
     foundation
-    pybind11
+    pybind11::headers
 )
 set_target_properties(pygeometry PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${opensfm_SOURCE_DIR}/.."

diff --git a/opensfm/src/map/CMakeLists.txt b/opensfm/src/map/CMakeLists.txt
@@ -20,8 +20,9 @@ set(MAP_FILES
 add_library(map ${MAP_FILES})
 target_link_libraries(map
   PUBLIC
-    pybind11
+    pybind11::headers
     Eigen3::Eigen
+    Ceres::ceres
   PRIVATE
     geo
     geometry
@@ -41,7 +42,7 @@ target_link_libraries(pymap
     geometry
     foundation
     bundle
-    pybind11
+    pybind11::headers
 )
 
 if (OPENSFM_BUILD_TESTS)

diff --git a/opensfm/src/map/pybind_utils.h b/opensfm/src/map/pybind_utils.h
@@ -52,39 +52,6 @@ struct sfm_iterator_state {
 };
 PYBIND11_NAMESPACE_END_(detail)
 
-/// Makes an python iterator over the keys (`.first`) of a iterator over pairs
-/// from a first and past-the-end InputIterator.
-template <return_value_policy Policy = return_value_policy::reference_internal,
-          typename Iterator, typename Sentinel,
-          typename KeyType = decltype((*std::declval<Iterator>()).second),
-          typename... Extra>
-iterator make_value_iterator(Iterator first, Sentinel last, Extra &&... extra) {
-  typedef detail::sfm_iterator_state<Iterator, Sentinel, detail::RefIterator,
-                                     Policy>
-      state;
-
-  if (!detail::get_type_info(typeid(state), false)) {
-    class_<state>(handle(), "iterator", pybind11::module_local())
-        .def("__iter__", [](state &s) -> state & { return s; })
-        .def("__next__",
-             [](state &s) -> KeyType {
-               if (!s.first_or_done) {
-                 ++s.it;
-               } else {
-                 s.first_or_done = false;
-               }
-               if (s.it == s.end) {
-                 s.first_or_done = true;
-                 throw stop_iteration();
-               }
-               return (*s.it).second;
-             },
-             std::forward<Extra>(extra)..., Policy);
-  }
-
-  return cast(state{first, last, true});
-}
-
 template <return_value_policy Policy = return_value_policy::reference_internal,
           typename Iterator, typename Sentinel,
           typename KeyType = decltype(&((*std::declval<Iterator>()).second)),
@@ -150,61 +117,4 @@ iterator make_ref_iterator(Iterator first, Sentinel last, Extra &&... extra) {
   return cast(state{first, last, true});
 }
 
-/// Makes a python iterator from a first and past-the-end C++ InputIterator.
-template <return_value_policy Policy = return_value_policy::reference_internal,
-          typename Iterator, typename Sentinel,
-          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;
-
-  if (!detail::get_type_info(typeid(state), false)) {
-    class_<state>(handle(), "iterator", pybind11::module_local())
-        .def("__iter__", [](state &s) -> state & { return s; })
-        .def("__next__",
-             [](state &s) -> ValueType {
-               if (!s.first_or_done) {
-                 ++s.it;
-               } else {
-                 s.first_or_done = false;
-               }
-               if (s.it == s.end) {
-                 s.first_or_done = true;
-                 throw stop_iteration();
-               }
-               return s.it;
-             },
-             std::forward<Extra>(extra)..., Policy);
-  }
-
-  return cast(state{first, last, true});
-}
-
-/// Makes an iterator over the keys (`.first`) of a stl map-like container
-/// supporting `std::begin()`/`std::end()`
-template <return_value_policy Policy = return_value_policy::reference_internal,
-          typename Type, typename... Extra>
-iterator make_value_iterator(Type &value, Extra &&... extra) {
-  return make_value_iterator<Policy>(std::begin(value), std::end(value),
-                                     extra...);
-}
-template <return_value_policy Policy = return_value_policy::reference_internal,
-          typename Type, typename... Extra>
-iterator make_unique_ptr_value_iterator(Type &value, Extra &&... extra) {
-  return make_unique_ptr_value_iterator<Policy>(std::begin(value),
-                                                std::end(value), extra...);
-}
-template <return_value_policy Policy = return_value_policy::reference_internal,
-          typename Type, typename... Extra>
-iterator make_unique_ptr_iterator(Type &value, Extra &&... extra) {
-  return make_unique_ptr_iterator<Policy>(std::begin(value), std::end(value),
-                                          extra...);
-}
-
-template <return_value_policy Policy = return_value_policy::reference_internal,
-          typename Type, typename... Extra>
-iterator make_ref_value_iterator(Type &value, Extra &&... extra) {
-  return make_ref_value_iterator<Policy>(std::begin(value), std::end(value),
-                                         extra...);
-}
 PYBIND11_NAMESPACE_END_(PYBIND11_NAMESPACE)
diff --git a/opensfm/src/robust/CMakeLists.txt b/opensfm/src/robust/CMakeLists.txt
@@ -17,6 +17,8 @@ set(ROBUST_FILES
 )
 add_library(robust ${ROBUST_FILES})
 target_link_libraries(robust
+  PUBLIC
+    ${CERES_LIBRARIES}
   PRIVATE
     foundation
     geometry
@@ -29,7 +31,7 @@ target_link_libraries(pyrobust
   PRIVATE
     robust
     foundation
-    pybind11
+    pybind11::headers
 )
 set_target_properties(pyrobust PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${opensfm_SOURCE_DIR}/.."

diff --git a/opensfm/src/sfm/CMakeLists.txt b/opensfm/src/sfm/CMakeLists.txt
@@ -10,6 +10,7 @@ add_library(sfm ${SFM_FILES})
 target_link_libraries(sfm
   PUBLIC
     Eigen3::Eigen
+    ${CERES_LIBRARIES}
   PRIVATE
     foundation
     map
@@ -35,7 +36,7 @@ target_include_directories(pysfm PRIVATE ${GLOG_INCLUDE_DIR})
 target_link_libraries(pysfm
   PRIVATE
     foundation
-    pybind11
+    pybind11::headers
     sfm
 )
 set_target_properties(pysfm PROPERTIES