Adapt to the new pycolmap inteface

cvg · Dec 12, 2024 · 9f5155b · 9f5155b
1 parent abb2520
commit 9f5155b
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/hloc/localize_sfm.py b/hloc/localize_sfm.py
@@ -58,7 +58,7 @@ def __init__(self, reconstruction, config=None):
     def localize(self, points2D_all, points2D_idxs, points3D_id, query_camera):
         points2D = points2D_all[points2D_idxs]
         points3D = [self.reconstruction.points3D[j].xyz for j in points3D_id]
-        ret = pycolmap.absolute_pose_estimation(
+        ret = pycolmap.estimate_and_refine_absolute_pose(
             points2D,
             points3D,
             query_camera,

diff --git a/hloc/utils/geometry.py b/hloc/utils/geometry.py
@@ -7,7 +7,7 @@ def to_homogeneous(p):
 
 
 def compute_epipolar_errors(j_from_i: pycolmap.Rigid3d, p2d_i, p2d_j):
-    j_E_i = j_from_i.essential_matrix()
+    j_E_i = pycolmap.essential_matrix_from_pose(j_from_i)
     l2d_j = to_homogeneous(p2d_i) @ j_E_i.T
     l2d_i = to_homogeneous(p2d_j) @ j_E_i
     dist = np.abs(np.sum(to_homogeneous(p2d_i) * l2d_i, axis=1))