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Release the GIL whenever possible to allow multithreading from python #123

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Merged
merged 3 commits into from
Dec 19, 2024
Merged

Release the GIL whenever possible to allow multithreading from python #123

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22a634e
Release the GIL whenever possible to allow multithreading from python
theartful Dec 3, 2024
645ba68
Release the GIL from pybind function bindings definitions when possible
theartful Dec 14, 2024
22f1a48
Merge branch 'master' into release_gil
theartful Dec 19, 2024
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133 changes: 103 additions & 30 deletions pybind/pyposelib.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -254,7 +254,9 @@ std::pair<CameraPose, py::dict> estimate_absolute_pose_wrapper(const std::vector
CameraPose pose;
std::vector<char> inlier_mask;

py::gil_scoped_release release;
RansacStats stats = estimate_absolute_pose(points2D, points3D, camera, ransac_opt, bundle_opt, &pose, &inlier_mask);
py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
Expand Down Expand Up @@ -292,7 +294,10 @@ std::pair<CameraPose, py::dict> refine_absolute_pose_wrapper(const std::vector<E
bundle_opt.loss_scale *= scale;

CameraPose refined_pose = initial_pose;

py::gil_scoped_release release;
BundleStats stats = bundle_adjust(points2D_scaled, points3D, norm_camera, &refined_pose, bundle_opt);
py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
Expand Down Expand Up @@ -321,6 +326,8 @@ std::pair<CameraPose, py::dict> estimate_absolute_pose_pnpl_wrapper(
bundle_opt.loss_scale = 0.5 * ransac_opt.max_reproj_error;
update_bundle_options(bundle_opt_dict, bundle_opt);

py::gil_scoped_release release;

std::vector<Line2D> lines2D;
std::vector<Line3D> lines3D;
lines2D.reserve(lines2D_1.size());
Expand All @@ -337,6 +344,8 @@ std::pair<CameraPose, py::dict> estimate_absolute_pose_pnpl_wrapper(
RansacStats stats = estimate_absolute_pose_pnpl(points2D, points3D, lines2D, lines3D, camera, ransac_opt,
bundle_opt, &pose, &inlier_points_mask, &inlier_lines_mask);

py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
output_dict["inliers"] = convert_inlier_vector(inlier_points_mask);
Expand Down Expand Up @@ -373,6 +382,8 @@ std::pair<CameraPose, py::dict> refine_absolute_pose_pnpl_wrapper(
line_bundle_opt.loss_scale /= camera.focal();
}

py::gil_scoped_release release;

// Setup line objects
std::vector<Line2D> lines2D;
std::vector<Line3D> lines3D;
Expand Down Expand Up @@ -400,6 +411,8 @@ std::pair<CameraPose, py::dict> refine_absolute_pose_pnpl_wrapper(
BundleStats stats =
bundle_adjust(points2D_calib, points3D, lines2D_calib, lines3D, &refined_pose, bundle_opt, line_bundle_opt);

py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
return std::make_pair(refined_pose, output_dict);
Expand Down Expand Up @@ -432,8 +445,10 @@ std::pair<CameraPose, py::dict> estimate_generalized_absolute_pose_wrapper(
CameraPose pose;
std::vector<std::vector<char>> inlier_mask;

py::gil_scoped_release release;
RansacStats stats = estimate_generalized_absolute_pose(points2D, points3D, camera_ext, cameras, ransac_opt,
bundle_opt, &pose, &inlier_mask);
py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
Expand Down Expand Up @@ -465,7 +480,10 @@ refine_generalized_absolute_pose_wrapper(const std::vector<std::vector<Eigen::Ve
update_bundle_options(bundle_opt_dict, bundle_opt);

CameraPose refined_pose = initial_pose;

py::gil_scoped_release release;
BundleStats stats = generalized_bundle_adjust(points2D, points3D, camera_ext, cameras, &refined_pose, bundle_opt);
py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
Expand Down Expand Up @@ -503,8 +521,10 @@ std::pair<CameraPose, py::dict> estimate_relative_pose_wrapper(const std::vector
CameraPose pose;
std::vector<char> inlier_mask;

py::gil_scoped_release release;
RansacStats stats =
estimate_relative_pose(points2D_1, points2D_2, camera1, camera2, ransac_opt, bundle_opt, &pose, &inlier_mask);
py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
Expand Down Expand Up @@ -540,8 +560,11 @@ estimate_shared_focal_relative_pose_wrapper(const std::vector<Eigen::Vector2d> p
std::vector<char> inlier_mask;

std::vector<Image> output;

py::gil_scoped_release release;
RansacStats stats = estimate_shared_focal_relative_pose(points2D_1, points2D_2, pp, ransac_opt, bundle_opt,
&image_pair, &inlier_mask);
py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
Expand All @@ -557,6 +580,8 @@ std::pair<CameraPose, py::dict> refine_relative_pose_wrapper(const std::vector<E
BundleOptions bundle_opt;
update_bundle_options(bundle_opt_dict, bundle_opt);

py::gil_scoped_release release;

// Normalize image points
std::vector<Eigen::Vector2d> x1_calib = points2D_1;
std::vector<Eigen::Vector2d> x2_calib = points2D_2;
Expand All @@ -570,6 +595,8 @@ std::pair<CameraPose, py::dict> refine_relative_pose_wrapper(const std::vector<E
CameraPose refined_pose = initial_pose;
BundleStats stats = refine_relpose(x1_calib, x2_calib, &refined_pose, bundle_opt);

py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
return std::make_pair(refined_pose, output_dict);
Expand Down Expand Up @@ -600,7 +627,9 @@ std::pair<Eigen::Matrix3d, py::dict> estimate_fundamental_wrapper(const std::vec
Eigen::Matrix3d F;
std::vector<char> inlier_mask;

py::gil_scoped_release release;
RansacStats stats = estimate_fundamental(points2D_1, points2D_2, ransac_opt, bundle_opt, &F, &inlier_mask);
py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
Expand All @@ -616,6 +645,8 @@ std::pair<Eigen::Matrix3d, py::dict> refine_fundamental_wrapper(const std::vecto
BundleOptions bundle_opt;
update_bundle_options(bundle_opt_dict, bundle_opt);

py::gil_scoped_release release;

// Normalize image points
std::vector<Eigen::Vector2d> x1_norm = points2D_1;
std::vector<Eigen::Vector2d> x2_norm = points2D_2;
Expand All @@ -631,6 +662,8 @@ std::pair<Eigen::Matrix3d, py::dict> refine_fundamental_wrapper(const std::vecto
refined_F = T2.transpose() * refined_F * T1;
refined_F /= refined_F.norm();

py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
return std::make_pair(refined_F, output_dict);
Expand All @@ -651,7 +684,9 @@ std::pair<Eigen::Matrix3d, py::dict> estimate_homography_wrapper(const std::vect
Eigen::Matrix3d H;
std::vector<char> inlier_mask;

py::gil_scoped_release release;
RansacStats stats = estimate_homography(points2D_1, points2D_2, ransac_opt, bundle_opt, &H, &inlier_mask);
py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
Expand All @@ -667,6 +702,8 @@ std::pair<Eigen::Matrix3d, py::dict> refine_homography_wrapper(const std::vector
BundleOptions bundle_opt;
update_bundle_options(bundle_opt_dict, bundle_opt);

py::gil_scoped_release release;

// Normalize image points
std::vector<Eigen::Vector2d> x1_norm = points2D_1;
std::vector<Eigen::Vector2d> x2_norm = points2D_2;
Expand All @@ -682,6 +719,8 @@ std::pair<Eigen::Matrix3d, py::dict> refine_homography_wrapper(const std::vector
refined_H = T2.inverse() * refined_H * T1;
refined_H /= refined_H.norm();

py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
return std::make_pair(refined_H, output_dict);
Expand All @@ -702,8 +741,10 @@ std::pair<CameraPose, py::dict> estimate_generalized_relative_pose_wrapper(
CameraPose pose;
std::vector<std::vector<char>> inlier_mask;

py::gil_scoped_release release;
RansacStats stats = estimate_generalized_relative_pose(matches, camera1_ext, cameras1, camera2_ext, cameras2,
ransac_opt, bundle_opt, &pose, &inlier_mask);
py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
Expand Down Expand Up @@ -733,6 +774,11 @@ std::pair<CameraPose, py::dict> refine_generalized_relative_pose_wrapper(
const std::vector<CameraPose> &camera1_ext, const std::vector<Camera> &cameras1,
const std::vector<CameraPose> &camera2_ext, const std::vector<Camera> &cameras2, const py::dict &bundle_opt_dict) {

BundleOptions bundle_opt;
update_bundle_options(bundle_opt_dict, bundle_opt);

py::gil_scoped_release release;

// Compute normalized matches
std::vector<PairwiseMatches> calib_matches = matches;
for (PairwiseMatches &m : calib_matches) {
Expand All @@ -751,13 +797,13 @@ std::pair<CameraPose, py::dict> refine_generalized_relative_pose_wrapper(
}
scaling_factor /= cameras1.size() + cameras2.size();

BundleOptions bundle_opt;
update_bundle_options(bundle_opt_dict, bundle_opt);
bundle_opt.loss_scale *= scaling_factor;

CameraPose refined_pose = initial_pose;
BundleStats stats = refine_generalized_relpose(calib_matches, camera1_ext, camera2_ext, &refined_pose, bundle_opt);

py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
return std::make_pair(refined_pose, output_dict);
Expand Down Expand Up @@ -800,8 +846,10 @@ estimate_hybrid_pose_wrapper(const std::vector<Eigen::Vector2d> points2D, const
std::vector<char> inliers_mask_2d3d;
std::vector<std::vector<char>> inliers_mask_2d2d;

py::gil_scoped_release release;
RansacStats stats = estimate_hybrid_pose(points2D, points3D, matches_2D_2D, camera, map_ext, map_cameras,
ransac_opt, bundle_opt, &pose, &inliers_mask_2d3d, &inliers_mask_2d2d);
py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
Expand Down Expand Up @@ -841,8 +889,10 @@ std::pair<CameraPose, py::dict> estimate_1D_radial_absolute_pose_wrapper(const s
CameraPose pose;
std::vector<char> inlier_mask;

py::gil_scoped_release release;
RansacStats stats =
estimate_1D_radial_absolute_pose(points2D, points3D, ransac_opt, bundle_opt, &pose, &inlier_mask);
py::gil_scoped_acquire acquire;

py::dict output_dict;
write_to_dict(stats, output_dict);
Expand All @@ -866,6 +916,7 @@ std::tuple<Camera, Camera, int> focals_from_fundamental_iterative_wrapper(const
Camera camera1 = camera_from_dict(camera1_dict);
Camera camera2 = camera_from_dict(camera2_dict);

py::gil_scoped_release release;
return focals_from_fundamental_iterative(F, camera1, camera2, max_iters, weights);
}

Expand Down Expand Up @@ -954,37 +1005,59 @@ PYBIND11_MODULE(poselib, m) {
m.doc() = "This library provides a collection of minimal solvers for camera pose estimation.";

// Minimal solvers
m.def("p3p", &poselib::p3p_wrapper, py::arg("x"), py::arg("X"));
m.def("gp3p", &poselib::gp3p_wrapper, py::arg("p"), py::arg("x"), py::arg("X"));
m.def("gp4ps", &poselib::gp4ps_wrapper, py::arg("p"), py::arg("x"), py::arg("X"), py::arg("filter_solutions"));
m.def("p3p", &poselib::p3p_wrapper, py::arg("x"), py::arg("X"), py::call_guard<py::gil_scoped_release>());
m.def("gp3p", &poselib::gp3p_wrapper, py::arg("p"), py::arg("x"), py::arg("X"),
py::call_guard<py::gil_scoped_release>());
m.def("gp4ps", &poselib::gp4ps_wrapper, py::arg("p"), py::arg("x"), py::arg("X"), py::arg("filter_solutions"),
py::call_guard<py::gil_scoped_release>());
m.def("gp4ps_kukelova", &poselib::gp4ps_kukelova_wrapper, py::arg("p"), py::arg("x"), py::arg("X"),
py::arg("filter_solutions"));
m.def("gp4ps_camposeco", &poselib::gp4ps_camposeco_wrapper, py::arg("p"), py::arg("x"), py::arg("X"));
m.def("p4pf", &poselib::p4pf_wrapper, py::arg("x"), py::arg("X"), py::arg("filter_solutions"));
m.def("p2p2pl", &poselib::p2p2pl_wrapper, py::arg("xp"), py::arg("Xp"), py::arg("x"), py::arg("X"), py::arg("V"));
m.def("p6lp", &poselib::p6lp_wrapper, py::arg("l"), py::arg("X"));
m.def("p5lp_radial", &poselib::p5lp_radial_wrapper, py::arg("l"), py::arg("X"));
m.def("p2p1ll", &poselib::p2p1ll_wrapper, py::arg("xp"), py::arg("Xp"), py::arg("l"), py::arg("X"), py::arg("V"));
m.def("p1p2ll", &poselib::p1p2ll_wrapper, py::arg("xp"), py::arg("Xp"), py::arg("l"), py::arg("X"), py::arg("V"));
m.def("p3ll", &poselib::p3ll_wrapper, py::arg("l"), py::arg("X"), py::arg("V"));
m.def("up2p", &poselib::up2p_wrapper, py::arg("x"), py::arg("X"));
m.def("ugp2p", &poselib::ugp2p_wrapper, py::arg("p"), py::arg("x"), py::arg("X"));
m.def("ugp3ps", &poselib::ugp3ps_wrapper, py::arg("p"), py::arg("x"), py::arg("X"), py::arg("filter_solutions"));
m.def("up1p2pl", &poselib::up1p2pl_wrapper, py::arg("xp"), py::arg("Xp"), py::arg("x"), py::arg("X"), py::arg("V"));
m.def("up4pl", &poselib::up4pl_wrapper, py::arg("x"), py::arg("X"), py::arg("V"));
m.def("ugp4pl", &poselib::ugp4pl_wrapper, py::arg("p"), py::arg("x"), py::arg("X"), py::arg("V"));
m.def("essential_matrix_5pt", &poselib::essential_matrix_relpose_5pt_wrapper, py::arg("x1"), py::arg("x2"));
m.def("shared_focal_relpose_6pt", &poselib::shared_focal_relpose_6pt_wrapper, py::arg("x1"), py::arg("x2"));
m.def("relpose_5pt", &poselib::relpose_5pt_wrapper, py::arg("x1"), py::arg("x2"));
m.def("relpose_8pt", &poselib::relpose_8pt_wrapper, py::arg("x1"), py::arg("x2"));
m.def("essential_matrix_8pt", &poselib::essential_matrix_8pt_wrapper, py::arg("x1"), py::arg("x2"));
m.def("relpose_upright_3pt", &poselib::relpose_upright_3pt_wrapper, py::arg("x1"), py::arg("x2"));
py::arg("filter_solutions"), py::call_guard<py::gil_scoped_release>());
m.def("gp4ps_camposeco", &poselib::gp4ps_camposeco_wrapper, py::arg("p"), py::arg("x"), py::arg("X"),
py::call_guard<py::gil_scoped_release>());
m.def("p4pf", &poselib::p4pf_wrapper, py::arg("x"), py::arg("X"), py::arg("filter_solutions"),
py::call_guard<py::gil_scoped_release>());
m.def("p2p2pl", &poselib::p2p2pl_wrapper, py::arg("xp"), py::arg("Xp"), py::arg("x"), py::arg("X"), py::arg("V"),
py::call_guard<py::gil_scoped_release>());
m.def("p6lp", &poselib::p6lp_wrapper, py::arg("l"), py::arg("X"), py::call_guard<py::gil_scoped_release>());
m.def("p5lp_radial", &poselib::p5lp_radial_wrapper, py::arg("l"), py::arg("X"),
py::call_guard<py::gil_scoped_release>());
m.def("p2p1ll", &poselib::p2p1ll_wrapper, py::arg("xp"), py::arg("Xp"), py::arg("l"), py::arg("X"), py::arg("V"),
py::call_guard<py::gil_scoped_release>());
m.def("p1p2ll", &poselib::p1p2ll_wrapper, py::arg("xp"), py::arg("Xp"), py::arg("l"), py::arg("X"), py::arg("V"),
py::call_guard<py::gil_scoped_release>());
m.def("p3ll", &poselib::p3ll_wrapper, py::arg("l"), py::arg("X"), py::arg("V"),
py::call_guard<py::gil_scoped_release>());
m.def("up2p", &poselib::up2p_wrapper, py::arg("x"), py::arg("X"), py::call_guard<py::gil_scoped_release>());
m.def("ugp2p", &poselib::ugp2p_wrapper, py::arg("p"), py::arg("x"), py::arg("X"),
py::call_guard<py::gil_scoped_release>());
m.def("ugp3ps", &poselib::ugp3ps_wrapper, py::arg("p"), py::arg("x"), py::arg("X"), py::arg("filter_solutions"),
py::call_guard<py::gil_scoped_release>());
m.def("up1p2pl", &poselib::up1p2pl_wrapper, py::arg("xp"), py::arg("Xp"), py::arg("x"), py::arg("X"), py::arg("V"),
py::call_guard<py::gil_scoped_release>());
m.def("up4pl", &poselib::up4pl_wrapper, py::arg("x"), py::arg("X"), py::arg("V"),
py::call_guard<py::gil_scoped_release>());
m.def("ugp4pl", &poselib::ugp4pl_wrapper, py::arg("p"), py::arg("x"), py::arg("X"), py::arg("V"),
py::call_guard<py::gil_scoped_release>());
m.def("essential_matrix_5pt", &poselib::essential_matrix_relpose_5pt_wrapper, py::arg("x1"), py::arg("x2"),
py::call_guard<py::gil_scoped_release>());
m.def("shared_focal_relpose_6pt", &poselib::shared_focal_relpose_6pt_wrapper, py::arg("x1"), py::arg("x2"),
py::call_guard<py::gil_scoped_release>());
m.def("relpose_5pt", &poselib::relpose_5pt_wrapper, py::arg("x1"), py::arg("x2"),
py::call_guard<py::gil_scoped_release>());
m.def("relpose_8pt", &poselib::relpose_8pt_wrapper, py::arg("x1"), py::arg("x2"),
py::call_guard<py::gil_scoped_release>());
m.def("essential_matrix_8pt", &poselib::essential_matrix_8pt_wrapper, py::arg("x1"), py::arg("x2"),
py::call_guard<py::gil_scoped_release>());
m.def("relpose_upright_3pt", &poselib::relpose_upright_3pt_wrapper, py::arg("x1"), py::arg("x2"),
py::call_guard<py::gil_scoped_release>());
m.def("gen_relpose_upright_4pt", &poselib::gen_relpose_upright_4pt_wrapper, py::arg("p1"), py::arg("x1"),
py::arg("p2"), py::arg("x2"));
py::arg("p2"), py::arg("x2"), py::call_guard<py::gil_scoped_release>());
m.def("gen_relpose_6pt", &poselib::gen_relpose_6pt_wrapper, py::arg("p1"), py::arg("x1"), py::arg("p2"),
py::arg("x2"));
m.def("relpose_upright_planar_2pt", &poselib::relpose_upright_planar_2pt_wrapper, py::arg("x1"), py::arg("x2"));
m.def("relpose_upright_planar_3pt", &poselib::relpose_upright_planar_3pt_wrapper, py::arg("x1"), py::arg("x2"));
py::arg("x2"), py::call_guard<py::gil_scoped_release>());
m.def("relpose_upright_planar_2pt", &poselib::relpose_upright_planar_2pt_wrapper, py::arg("x1"), py::arg("x2"),
py::call_guard<py::gil_scoped_release>());
m.def("relpose_upright_planar_3pt", &poselib::relpose_upright_planar_3pt_wrapper, py::arg("x1"), py::arg("x2"),
py::call_guard<py::gil_scoped_release>());

// Robust estimators
m.def("estimate_absolute_pose",
Expand Down
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