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rig_from_world and sensor_from_rig in pycolmap should return reference rather than copy. #3645

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B1ueber2y merged 5 commits into from
Sep 26, 2025
Merged

rig_from_world and sensor_from_rig in pycolmap should return reference rather than copy. #3645

B1ueber2y merged 5 commits into from
Sep 26, 2025

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@B1ueber2y B1ueber2y commented Sep 26, 2025 •
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This is a crucial fix. Without this the python side problem construction with pyceres will never work. Broken since the rig abstraction in colmap 3.12.

Equivalent reference in image.cam_from_world from COLMAP 3.11: https://github.com/colmap/colmap/blob/release/3.11/src/pycolmap/scene/image.cc#L81-L87

To reproduce:

import pycolmap

recon = pycolmap.Reconstruction("example/sfm/0")
rig_from_world_1 = recon.frames[1].rig_from_world
rig_from_world_2 = recon.frames[1].rig_from_world
print(id(rig_from_world_1))
print(id(rig_from_world_2))
assert(id(rig_from_world_1) == id(rig_from_world_2))

The assertion fails without this fix.

@B1ueber2y B1ueber2y changed the title frame.rig_from_world in pycolmap should pass by reference rather than copy frame.rig_from_world in pycolmap should return reference rather than copy Sep 26, 2025
@B1ueber2y B1ueber2y changed the title frame.rig_from_world in pycolmap should return reference rather than copy rig_from_world and sensor_from_rig in pycolmap should return reference rather than copy Sep 26, 2025
@B1ueber2y B1ueber2y changed the title rig_from_world and sensor_from_rig in pycolmap should return reference rather than copy rig_from_world and sensor_from_rig in pycolmap should return reference rather than copy. Sep 26, 2025
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B1ueber2y commented Sep 26, 2025

Same applies to rig.sensor_from_rig(sensor_id).

@B1ueber2y B1ueber2y merged commit 20b2777 into colmap:main Sep 26, 2025
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@B1ueber2y B1ueber2y deleted the fix/pycolmap_rig_from_world branch September 26, 2025 13:26
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robinlindh commented Sep 27, 2025

Ahhhh yes, I've been debugging exactly this for 2 days now after I finally managed to get our custom SfM pipeline upgraded from colmap 3.10 to 3.12.6. Was a pretty big step to get everything running again after all python changes but then I ended up getting just VERY few 3D points after my pipeline ran through.
I am indeed passing in the rig_from_world into a pyceres problem (based loosely off of the custom bundle adjuster python example). The bug you mention here would explain exactly the results I see. I will let you know how it works with the fix. Thank you a lot in advance <3 and fingers crossed!

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robinlindh commented Sep 27, 2025

This fixed my issue indeed. Awesome, thank you very much!

@BrewTestBot BrewTestBot mentioned this pull request Nov 7, 2025
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@ahojnnes ahojnnes ahojnnes approved these changes

@sarlinpe sarlinpe Awaiting requested review from sarlinpe

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@B1ueber2y @robinlindh @ahojnnes