Add core dependencies installation script

Dockerfile

@@ -30,15 +30,15 @@ RUN apt-get update && \
         python3-setuptools
 
 # Build raybender.
-COPY docker/scripts/build_raybender.sh /tmp/
+COPY scripts/build_raybender.sh /tmp/
 RUN bash /tmp/build_raybender.sh && rm /tmp/build_raybender.sh
 
 # Build pcdmeshing.
-COPY docker/scripts/build_pcdmeshing.sh /tmp/
+COPY scripts/build_pcdmeshing.sh /tmp/
 RUN bash /tmp/build_pcdmeshing.sh && rm /tmp/build_pcdmeshing.sh
 
 # Build hloc.
-COPY docker/scripts/build_hloc.sh /tmp/
+COPY scripts/build_hloc.sh /tmp/
 RUN bash /tmp/build_hloc.sh && rm /tmp/build_hloc.sh
 
 #
@@ -82,7 +82,7 @@ RUN python3 -m pip install --no-deps \
         rawpy==0.19.1 \
         scipy==1.11.4 \
         numpy==1.26.4 \
-        pillow==10.3.0 
+        pillow==10.3.0
 
 RUN cd lamar && python3 -m pip install -e .[scantools] --no-deps
 WORKDIR /lamar
@@ -123,7 +123,7 @@ RUN apt-get install -y --no-install-recommends --no-install-suggests wget && \
 RUN cp -r /ceres_installed/* /usr/local/
 
 # Build pyceres.
-RUN git clone --depth 1 --recursive https://github.com/cvg/pyceres
+RUN git clone --depth 1 -b v2.3 --recursive https://github.com/cvg/pyceres
 RUN python3 -m pip install --upgrade pip
 RUN cd pyceres && \
     pip wheel . --no-deps -w dist-wheel -vv && \
@@ -168,13 +168,14 @@ RUN rm -rfv /tmp/*
 # Note: The dependencies listed in pyproject.toml also include pyceres, already
 # installed in previous Docker stages. Attempting to compile it in this stage
 # will lead to failure due to missing necessary development dependencies.
-# Therefore, we replicate the dependencies here, excluding pyceres
+# Therefore, we replicate the dependencies here, excluding pyceres.
 RUN python3 -m pip install --no-deps \
         h5py==3.10.0 \
         numpy==1.26.3 \
         torch>=1.1 \
         tqdm>=4.36.0 \
-        pycolmap==0.6.0
+        pycolmap==0.4.0 \
+        scikit-learn==1.5.2
 
 RUN cd /lamar && python3 -m pip install -e .  --no-deps
 WORKDIR /lamar

README.md

@@ -66,24 +66,29 @@ T_w_i = sessions.trajectories[keys[0]]  # first pose, from sensor/rig to world
 
 ## Installation
 
-:one: Install the core dependencies:
-
-- Python >= 3.9
-- [hloc v1.4](https://github.com/cvg/Hierarchical-Localization) and its dependencies, including [COLMAP 3.8](https://colmap.github.io/install.html) built from source.
-- [pyceres](https://github.com/cvg/pyceres) built from source at tag v1.0.
-
-:two: Install the LaMAR libraries and pull the remaining pip dependencies:
+:one: Install the **core dependencies** using the provided script:
+  ```bash
+  scripts/install_core_dependencies.sh
+  ```
+Alternatively, you can install them manually in the following order:
+  * Python 3.9 / 3.10 (we recommend using a `venv` virtual environment).
+  * [Ceres Solver 2.1](https://ceres-solver.googlesource.com/ceres-solver/+/refs/tags/2.1.0)
+  * [Colmap 3.8](https://colmap.github.io/install.html) built from source. Note: **Do not install libceres-dev** as it was installed in the previous step.
+  * [hloc 1.4](https://github.com/cvg/Hierarchical-Localization) and its dependencies
+  * [pyceres v1.0](https://github.com/cvg/pyceres) built from source.
+
+:two: Install LaMAR libraries as editable packages:
 ```bash
 python -m pip install -e .
 ```
 
-:three: Optional: the processing pipeline additionally relies on heavier dependencies not required for benchmarking:
+:three: **Optional**: the processing pipeline additionally relies on heavier dependencies not required for benchmarking:
 
 - Pip dependencies: `python -m pip install -e .[scantools]`
 - [raybender](https://github.com/cvg/raybender) for raytracing
 - [pcdmeshing](https://github.com/cvg/pcdmeshing) for pointcloud meshing
 
-:four: Optional: if you wish to contribute, install the development tools as well:
+:four: **Optional**: if you wish to contribute, install the development tools as well:
 ```bash
 python -m pip install -e .[dev]
 ```

pyproject.toml

@@ -16,7 +16,8 @@ dependencies = [
     "numpy==1.26.3",
     "torch>=1.1",
     "tqdm>=4.36.0",
-    "pycolmap==0.6.0",
+    "pycolmap==0.4.0",
+    "scikit-learn==1.5.2", # is needed for hloc
     "pyceres @ git+https://github.com/cvg/pyceres.git@v1.0",
 ]
 urls = {Repository = "https://github.com/microsoft/lamar-benchmark"}
@@ -34,7 +35,7 @@ scantools = [
     "pyzbar-upright==0.1.8",
     "rawpy==0.19.1",
     "scipy==1.11.4",
-    "numpy==1.26.4",
+    "numpy==1.26.3",
     "pillow==10.3.0",
 ]
 dev = [

scripts/build_hloc.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+
+root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
+source ${root_folder}/scripts/load_env.sh
+
+# Clone hloc.
+git clone --recursive -b v1.4 https://github.com/cvg/Hierarchical-Localization/ hloc --depth=1
+cd hloc
+
+# Build the wheel.
+pip wheel --no-deps -w dist-wheel .
+whl_path=$(find dist-wheel/ -name "*.whl")
+echo $whl_path >dist-wheel/whl_path.txt

docker/scripts/build_pcdmeshing.sh → scripts/build_pcdmeshing.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
-PS4='\033[1;96m$(date +%H:%M:%S)\033[0m '
-set -exo pipefail
+root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
+source ${root_folder}/scripts/load_env.sh
 
 sudo apt-get install -y --no-install-recommends --no-install-suggests \
          libboost-dev libgmp3-dev libmpfrc++-dev

docker/scripts/build_raybender.sh → scripts/build_raybender.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
-PS4='\033[1;96m$(date +%H:%M:%S)\033[0m '
-set -exo pipefail
+root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
+source ${root_folder}/scripts/load_env.sh
 
 # Clone raybender.
 git clone --recursive https://github.com/cvg/raybender.git --depth=1

scripts/install_ceres_solver.sh

@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+
+root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
+source ${root_folder}/scripts/load_env.sh
+
+apt-get install -y --no-install-recommends --no-install-suggests \
+    cmake \
+    libgoogle-glog-dev \
+    libgflags-dev \
+    libatlas-base-dev \
+    libeigen3-dev \
+    libsuitesparse-dev \
+    build-essential
+
+git clone -b 2.1.0 https://github.com/ceres-solver/ceres-solver.git ceres-solver-v2.1.0 --depth=1
+cd ceres-solver-v2.1.0
+cmake -S . -B build
+cmake --build build --target install -- -j$(nproc)

scripts/install_colmap.sh

@@ -0,0 +1,28 @@
+#!/usr/bin/env bash
+
+root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
+source ${root_folder}/scripts/load_env.sh
+
+apt-get install -y --no-install-recommends --no-install-suggests \
+    libboost-program-options-dev \
+    libboost-filesystem-dev \
+    libboost-graph-dev \
+    libboost-system-dev \
+    libeigen3-dev \
+    libflann-dev \
+    libfreeimage-dev \
+    libmetis-dev \
+    libgoogle-glog-dev \
+    libgtest-dev \
+    libgmock-dev \
+    libsqlite3-dev \
+    libglew-dev \
+    qtbase5-dev \
+    libqt5opengl5-dev \
+    libcgal-dev
+
+# Installing COLMAP version 3.8
+git clone --recursive -b 3.8 https://github.com/colmap/colmap colmap_v3.8 --depth=1
+cd colmap_v3.8
+cmake -S . -B build -DCMAKE_CUDA_ARCHITECTURES=all
+cmake --build build --target install -- -j$(nproc)

scripts/install_core_dependencies.sh

@@ -0,0 +1,20 @@
+root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
+source ${root_folder}/scripts/load_env.sh
+
+# Comment this line out if you want to use it inside docker.
+# apt-get update && apt-get install -y --no-install-recommends --no-install-suggests git python3 python3-dev python3-pip python-is-python3 sudo
+
+# Create external folder.
+mkdir ${root_folder}/external && cd ${root_folder}/external
+
+# Ceres Solver.
+sudo ${root_folder}/scripts/install_ceres_solver.sh
+
+# Colmap.
+sudo ${root_folder}/scripts/install_colmap.sh
+
+# HLoc.
+python3 -m pip install git+https://github.com/cvg/Hierarchical-Localization.git@v1.4
+
+# Pyceres.
+python3 -m pip install git+https://github.com/cvg/pyceres.git@v2.3

scripts/load_env.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+# PS4='\033[1;96m$(date +%H:%M:%S)\033[0m '
+
+PS4='\033[0;32m$(date "+%Y%m%d %H:%M:%S.%N") $BASH_SOURCE:$LINENO]\033[0m '
+set -euxo pipefail