Youngjoo-Kim / pycolmap

Python bindings for COLMAP estimators

Python bindings for COLMAP estimators

At the moment, we provide bindings for essential and fundamental matrix estimation as well as absolute pose estimation.

Getting started

Clone the repository and its submodules by running:

git clone --recursive [e-mail]:mihaidusmanu/pycolmap.git

COLMAP should be installed as a library before proceeding. Please refer to the official website for installation instructions. PyCOLMAP can be installed using pip:

pip install ./

Usage

The current bindings are compatible with numpy arrays for both 2D and 3D points. The camera parameters should be sent as a Python dictionary with the following template:

{
    'model': COLMAP_CAMERA_MODEL_NAME,
    'width': IMAGE_WIDTH,
    'height': IMAGE_HEIGHT,
    'params': EXTRA_CAMERA_PARAMETERS_LIST
}

For instance, the following snippet runs absolute pose estimation for a pinhole camera given 2D-3D correspondences:

import pycolmap

# points2D - Nx2 array with pixel coordinates
# points3D - Nx3 array with world coordinates
# inlier_threshold - RANSAC inlier threshold in pixels
# answer - dictionary containing the RANSAC output
answer = pycolmap.absolute_pose_estimation(
    points2D, points3D,
    {
        'model': 'SIMPLE_PINHOLE',
        'width': width,
        'height': height,
        'params': [focal_length, cx, cy]
    },
    inlier_threshold
)

TODO

• Add documentation
• Add more detailed examples
• Expose more RANSAC parameters to Python