pyarchinit-photogrammetry-core 0.2.1__tar.gz

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pyarchinit_photogrammetry_core-0.2.1/Cargo.toml

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+[package]
+name = "ppg_core"
+version = "0.2.1"
+edition = "2021"
+license = "GPL-2.0-or-later"
+description = "Native kernels of pyarchinit-photogrammetry"
+repository = "https://github.com/enzococca/pyarchinit-photogrammetry"
+publish = false
+readme = "README.md"
+
+[lib]
+name = "ppg_core"
+crate-type = ["cdylib"]
+
+[dependencies]
+pyo3 = { version = "0.22", features = ["extension-module", "abi3-py310"] }
+numpy = "0.22"
+rayon = "1.10"
+
+[profile.release]
+lto = "thin"
+codegen-units = 1
+# Rust strips debug info by default; the stripped library is refused by macOS 26/27
+# ("mis-aligned LINKEDIT string pool"), so it is kept
+strip = false

pyarchinit_photogrammetry_core-0.2.1/PKG-INFO

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+Metadata-Version: 2.4
+Name: pyarchinit-photogrammetry-core
+Version: 0.2.1
+Classifier: License :: OSI Approved :: GNU General Public License v2 or later (GPLv2+)
+Classifier: Programming Language :: Rust
+Classifier: Programming Language :: Python :: 3
+Classifier: Topic :: Scientific/Engineering :: GIS
+Requires-Dist: numpy>=1.24
+Summary: Native kernels (Rust) of pyarchinit-photogrammetry: depth maps (PatchMatch MVS), orthomosaic, confidence
+Author-email: Enzo Cocca <enzo.ccc@gmail.com>
+License: GPL-2.0-or-later
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown; charset=UTF-8; variant=GFM
+Project-URL: Homepage, https://github.com/enzococca/pyarchinit-photogrammetry
+
+# pyarchinit-photogrammetry-core
+
+Native kernels of [pyarchinit-photogrammetry](https://github.com/enzococca/pyarchinit-photogrammetry),
+written in Rust (PyO3 + rayon) and imported as `ppg_core`. The package is optional:
+pyarchinit-photogrammetry keeps the numpy version of every kernel, uses it when `ppg_core` is
+missing or when `PPG_NATIVE=0`, and its tests compare the two.
+
+Kernels: fusion of the depth maps of one photo, depth z-buffer and normals, projection of points
+with the COLMAP camera models, scoring of the photos of an orthomosaic tile, agreement of points
+with a depth map (confidence), PatchMatch multi-view stereo of one photo (`patchmatch_depth`: a
+plane per pixel, normalised cross correlation with the best of its neighbouring photos,
+red-black propagation and random refinement, from random planes or from a depth map).
+
+Build and install in the environment of pyarchinit-photogrammetry (a Rust toolchain is needed):
+
+```bash
+pip install ./native        # or: uv pip install ./native
+```
+
+License: GPL-2.0-or-later.
+

pyarchinit_photogrammetry_core-0.2.1/README.md

@@ -0,0 +1,20 @@
+# pyarchinit-photogrammetry-core
+
+Native kernels of [pyarchinit-photogrammetry](https://github.com/enzococca/pyarchinit-photogrammetry),
+written in Rust (PyO3 + rayon) and imported as `ppg_core`. The package is optional:
+pyarchinit-photogrammetry keeps the numpy version of every kernel, uses it when `ppg_core` is
+missing or when `PPG_NATIVE=0`, and its tests compare the two.
+
+Kernels: fusion of the depth maps of one photo, depth z-buffer and normals, projection of points
+with the COLMAP camera models, scoring of the photos of an orthomosaic tile, agreement of points
+with a depth map (confidence), PatchMatch multi-view stereo of one photo (`patchmatch_depth`: a
+plane per pixel, normalised cross correlation with the best of its neighbouring photos,
+red-black propagation and random refinement, from random planes or from a depth map).
+
+Build and install in the environment of pyarchinit-photogrammetry (a Rust toolchain is needed):
+
+```bash
+pip install ./native        # or: uv pip install ./native
+```
+
+License: GPL-2.0-or-later.

pyarchinit_photogrammetry_core-0.2.1/pyproject.toml

@@ -0,0 +1,26 @@
+[build-system]
+requires = ["maturin>=1.5,<2"]
+build-backend = "maturin"
+
+[project]
+name = "pyarchinit-photogrammetry-core"
+version = "0.2.1"
+description = "Native kernels (Rust) of pyarchinit-photogrammetry: depth maps (PatchMatch MVS), orthomosaic, confidence"
+readme = "README.md"
+license = { text = "GPL-2.0-or-later" }
+authors = [{ name = "Enzo Cocca", email = "enzo.ccc@gmail.com" }]
+requires-python = ">=3.10"
+dependencies = ["numpy>=1.24"]
+classifiers = [
+    "License :: OSI Approved :: GNU General Public License v2 or later (GPLv2+)",
+    "Programming Language :: Rust",
+    "Programming Language :: Python :: 3",
+    "Topic :: Scientific/Engineering :: GIS",
+]
+
+[project.urls]
+Homepage = "https://github.com/enzococca/pyarchinit-photogrammetry"
+
+[tool.maturin]
+module-name = "ppg_core"
+features = ["pyo3/extension-module"]

pyarchinit_photogrammetry_core-0.2.1/src/camera.rs

@@ -0,0 +1,145 @@
+//! COLMAP camera models: the pixel of a point given in the camera frame, computed as COLMAP's
+//! `ImgFromCam` does (normalised coordinates, lens distortion, focal length and principal point).
+
+#[derive(Clone, Copy, Debug, PartialEq)]
+enum Model {
+    SimplePinhole,
+    Pinhole,
+    SimpleRadial,
+    Radial,
+    OpenCv,
+    FullOpenCv,
+}
+
+#[derive(Clone, Debug)]
+pub struct Camera {
+    model: Model,
+    p: [f64; 12],
+    pub fx: f64,
+    pub fy: f64,
+    pub cx: f64,
+    pub cy: f64,
+    pub width: f64,
+    pub height: f64,
+}
+
+/// Names of the models the kernels know (the others stay with the Python code).
+pub const MODELS: [&str; 6] = ["SIMPLE_PINHOLE", "PINHOLE", "SIMPLE_RADIAL", "RADIAL", "OPENCV", "FULL_OPENCV"];
+
+impl Camera {
+    pub fn new(model: &str, params: &[f64], width: f64, height: f64) -> Result<Self, String> {
+        let (model, count) = match model {
+            "SIMPLE_PINHOLE" => (Model::SimplePinhole, 3),
+            "PINHOLE" => (Model::Pinhole, 4),
+            "SIMPLE_RADIAL" => (Model::SimpleRadial, 4),
+            "RADIAL" => (Model::Radial, 5),
+            "OPENCV" => (Model::OpenCv, 8),
+            "FULL_OPENCV" => (Model::FullOpenCv, 12),
+            other => return Err(format!("camera model {other} is not supported by the native kernels")),
+        };
+        if params.len() < count {
+            return Err(format!("{count} parameters expected, {} given", params.len()));
+        }
+        let mut p = [0.0; 12];
+        p[..count].copy_from_slice(&params[..count]);
+        let (fx, fy, cx, cy) = match model {
+            Model::SimplePinhole | Model::SimpleRadial | Model::Radial => (p[0], p[0], p[1], p[2]),
+            _ => (p[0], p[1], p[2], p[3]),
+        };
+        Ok(Camera { model, p, fx, fy, cx, cy, width, height })
+    }
+
+    /// Mean focal length in pixels (`Sensor.focal_px`).
+    pub fn focal(&self) -> f64 {
+        (self.fx + self.fy) / 2.0
+    }
+
+    /// Pixel of the normalised point `(u, v) = (x / z, y / z)`.
+    #[inline]
+    pub fn pixel(&self, u: f64, v: f64) -> (f64, f64) {
+        let p = &self.p;
+        match self.model {
+            Model::SimplePinhole => (p[0] * u + p[1], p[0] * v + p[2]),
+            Model::Pinhole => (p[0] * u + p[2], p[1] * v + p[3]),
+            Model::SimpleRadial => {
+                let k = p[3];
+                let u2 = u * u;
+                let v2 = v * v;
+                let r2 = u2 + v2;
+                let radial = k * r2;
+                let (du, dv) = (u * radial, v * radial);
+                (p[0] * (u + du) + p[1], p[0] * (v + dv) + p[2])
+            }
+            Model::Radial => {
+                let (k1, k2) = (p[3], p[4]);
+                let u2 = u * u;
+                let v2 = v * v;
+                let r2 = u2 + v2;
+                let radial = k1 * r2 + k2 * r2 * r2;
+                let (du, dv) = (u * radial, v * radial);
+                (p[0] * (u + du) + p[1], p[0] * (v + dv) + p[2])
+            }
+            Model::OpenCv => {
+                let (k1, k2, p1, p2) = (p[4], p[5], p[6], p[7]);
+                let u2 = u * u;
+                let uv = u * v;
+                let v2 = v * v;
+                let r2 = u2 + v2;
+                let radial = k1 * r2 + k2 * r2 * r2;
+                let du = u * radial + 2.0 * p1 * uv + p2 * (r2 + 2.0 * u2);
+                let dv = v * radial + 2.0 * p2 * uv + p1 * (r2 + 2.0 * v2);
+                (p[0] * (u + du) + p[2], p[1] * (v + dv) + p[3])
+            }
+            Model::FullOpenCv => {
+                let (k1, k2, p1, p2, k3, k4, k5, k6) = (p[4], p[5], p[6], p[7], p[8], p[9], p[10], p[11]);
+                let u2 = u * u;
+                let uv = u * v;
+                let v2 = v * v;
+                let r2 = u2 + v2;
+                let r4 = r2 * r2;
+                let r6 = r4 * r2;
+                let radial = (1.0 + k1 * r2 + k2 * r4 + k3 * r6) / (1.0 + k4 * r2 + k5 * r4 + k6 * r6);
+                let du = u * radial + 2.0 * p1 * uv + p2 * (r2 + 2.0 * u2) - u;
+                let dv = v * radial + 2.0 * p2 * uv + p1 * (r2 + 2.0 * v2) - v;
+                (p[0] * (u + du) + p[2], p[1] * (v + dv) + p[3])
+            }
+        }
+    }
+}
+
+/// Rows of a `cam_from_world` matrix (3x4).
+pub type Pose = [[f64; 4]; 3];
+
+#[inline]
+pub fn transform(m: &Pose, x: f64, y: f64, z: f64) -> (f64, f64, f64) {
+    (
+        m[0][0] * x + m[0][1] * y + m[0][2] * z + m[0][3],
+        m[1][0] * x + m[1][1] * y + m[1][2] * z + m[1][3],
+        m[2][0] * x + m[2][1] * y + m[2][2] * z + m[2][3],
+    )
+}
+
+/// What `engine.visibility.project_valid` computes for one point: pixel (NaN when the point is
+/// behind the camera or far outside the field of view), depth and whether the pixel is inside the
+/// photo by more than `margin`.
+#[inline]
+pub fn project_valid(cam: &Camera, m: &Pose, x: f64, y: f64, z: f64, margin: f64) -> (f64, f64, f64, bool) {
+    let (pcx, pcy, depth) = transform(m, x, y, z);
+    if !(depth > 1e-9) {
+        return (f64::NAN, f64::NAN, depth, false);
+    }
+    // far outside the field of view: left out before the lens distortion (as the Python code)
+    let lu = cam.fx * pcx / depth + cam.cx;
+    let lv = cam.fy * pcy / depth + cam.cy;
+    if !(lu > -0.25 * cam.width && lu < 1.25 * cam.width && lv > -0.25 * cam.height && lv < 1.25 * cam.height) {
+        return (f64::NAN, f64::NAN, depth, false);
+    }
+    let (pu, pv) = cam.pixel(pcx / depth, pcy / depth);
+    let ok = pu.is_finite()
+        && pv.is_finite()
+        && pu >= margin
+        && pu < cam.width - margin
+        && pv >= margin
+        && pv < cam.height - margin;
+    (pu, pv, depth, ok)
+}