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colmap / pycolmap

Python bindings for COLMAP
BSD 3-Clause "New" or "Revised" License
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camera.img_from_cam not working #253

Closed iMeleon closed 5 months ago

iMeleon commented 5 months ago

uv = camera.img_from_cam(image.cam_from_world * point3D.xyz)example from docs is not working

why function img_from_cam accept 2d point? maybe it should accept 3d point? image.cam_from_world * point3D.xyz produces 3d point in camera space, yes?

camera.img_from_cam(np.array([1,2,3]))

TypeError: img_from_cam(): incompatible function arguments. The following argument types are supported:
    1. (self: pycolmap.Camera, arg0: numpy.ndarray[numpy.float64[2, 1]]) -> numpy.ndarray[numpy.float64[2, 1]]
    2. (self: pycolmap.Camera, arg0: numpy.ndarray[numpy.float64[m, 2]]) -> numpy.ndarray[numpy.float64[m, 2]]
    3. (self: pycolmap.Camera, arg0: List[colmap::Point2D]) -> numpy.ndarray[numpy.float64[m, 2]]
sarlinpe commented 5 months ago

The documentation is incorrect, it should be:

p = image.cam_from_world * point3D.xyz
uv = camera.img_from_cam(p[:2] / p[-1])

We should overload img_from_cam to accept a 3D vector as well.