From 74621bc179990e126b02c8813268c4bfe2f222ef Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 13:15:15 +0100
Subject: [PATCH 01/27] Support Mac OS in CI.

---
 .github/workflows/build-mac.yml               | 96 +++++++++++++++++++
 .../workflows/{build.yml => build-ubuntu.yml} |  1 -
 2 files changed, 96 insertions(+), 1 deletion(-)
 create mode 100644 .github/workflows/build-mac.yml
 rename .github/workflows/{build.yml => build-ubuntu.yml} (98%)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
new file mode 100644
index 00000000..2152c700
--- /dev/null
+++ b/.github/workflows/build-mac.yml
@@ -0,0 +1,96 @@
+name: limap
+
+on:
+  push:
+    branches:
+      - main
+      - release/*
+  pull_request:
+    types: [ assigned, opened, synchronize, reopened ]
+  release:
+    types: [ published, edited ]
+
+jobs:
+  build:
+    name: ${{ matrix.config.os }} ${{ matrix.config.arch }} with Python ${{ matrix.config.python-version }}
+    runs-on: ${{ matrix.config.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        config: [
+          {os: macos-14, arch: arm64, python-version: "3.9"},
+          {os: macos-14, arch: arm64, python-version: "3.10"},
+          {os: macos-14, arch: arm64, python-version: "3.11"},
+        ]
+    env:
+      COMPILER_CACHE_VERSION: 1
+      COMPILER_CACHE_DIR: ${{ github.workspace }}/compiler-cache
+      CCACHE_DIR: ${{ github.workspace }}/compiler-cache/ccache
+      CCACHE_BASEDIR: ${{ github.workspace }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/cache@v4
+        id: cache-builds
+        with:
+          key: limap-v${{ env.COMPILER_CACHE_VERSION }}-${{ matrix.config.os }}-${{ matrix.config.arch }}-${{ github.run_id }}-${{ github.run_number }}
+          restore-keys: limap-v${{ env.COMPILER_CACHE_VERSION }}-${{ matrix.config.os }}-${{ matrix.config.arch }}
+          path: ${{ env.COMPILER_CACHE_DIR }}
+
+      - name: Setup Mac
+        run: |
+          # Fix `brew link` error.
+          find /usr/local/bin -lname '*/Library/Frameworks/Python.framework/*' -delete
+
+          brew install \
+            cmake \
+            ninja \
+            boost \
+            eigen \
+            flann \
+            freeimage \
+            metis \
+            glog \
+            googletest \
+            ceres-solver \
+            qt5 \
+            glew \
+            cgal \
+            sqlite3 \
+            ccache \
+            hdf5
+
+      - name: Set up Python ${{ matrix.config.python-version  }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.config.python-version  }}
+
+      - name: Install Python dependencies
+        run: |
+          git submodule update --init --recursive
+          python -m pip install --upgrade pip
+          python -m pip install setuptools
+          python -m pip install -r requirements.txt
+
+      - name: Build
+        run:  python -m pip install -v .
+
+      - name: Run Python tests
+        run:  python -c "import limap; print(limap.__version__)"
+
+      - name: Run tests
+        run: |
+          pytest -m ci_workflow tests
+
+
+      - name: Run localization test
+        run: |
+          python runners/tests/localization.py
+
+      - name: Run E2E tests
+        run: |
+          bash scripts/quickstart.sh
+          python runners/hypersim/fitnmerge.py --default_config_file cfgs/fitnmerge/default_cpu.yaml \
+              --output_dir outputs/quickstart_test --visualize 0
+          python runners/hypersim/triangulation.py --default_config_file cfgs/triangulation/default_fast.yaml \
+              --output_dir outputs/quickstart_test --triangulation.use_exhaustive_matcher --skip_exists --visualize 0
+
diff --git a/.github/workflows/build.yml b/.github/workflows/build-ubuntu.yml
similarity index 98%
rename from .github/workflows/build.yml
rename to .github/workflows/build-ubuntu.yml
index 0ffbdf8d..73367164 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build-ubuntu.yml
@@ -37,7 +37,6 @@ jobs:
           path: ${{ env.COMPILER_CACHE_DIR }}
 
       - name: Set env (Linux)
-        if: runner.os == 'Linux'
         run: |
           sudo apt-get update && sudo apt-get install -y \
             git \

From ec3ddbcb3ceb6224e29a0c6bd1b038efaddd39d7 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 15:37:14 +0100
Subject: [PATCH 02/27] configure qt5

---
 .github/workflows/build-mac.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index 2152c700..ea293504 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -72,7 +72,9 @@ jobs:
           python -m pip install -r requirements.txt
 
       - name: Build
-        run:  python -m pip install -v .
+        run: |
+          export PATH="/usr/local/opt/qt@5/bin:$PATH"
+          DCMAKE_PREFIX_PATH="${brew --prefix qt@5}" python -m pip install -v .
 
       - name: Run Python tests
         run:  python -c "import limap; print(limap.__version__)"

From 163e268ec977beda89739b1d3063b233972dc4a1 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 16:00:32 +0100
Subject: [PATCH 03/27] try

---
 .github/workflows/build-mac.yml    | 4 ++--
 .github/workflows/build-ubuntu.yml | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index ea293504..ec4ef2ad 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -60,7 +60,7 @@ jobs:
             hdf5
 
       - name: Set up Python ${{ matrix.config.python-version  }}
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.config.python-version  }}
 
@@ -74,7 +74,7 @@ jobs:
       - name: Build
         run: |
           export PATH="/usr/local/opt/qt@5/bin:$PATH"
-          DCMAKE_PREFIX_PATH="${brew --prefix qt@5}" python -m pip install -v .
+          python -m pip install -v .
 
       - name: Run Python tests
         run:  python -c "import limap; print(limap.__version__)"
diff --git a/.github/workflows/build-ubuntu.yml b/.github/workflows/build-ubuntu.yml
index 73367164..0ff6c317 100644
--- a/.github/workflows/build-ubuntu.yml
+++ b/.github/workflows/build-ubuntu.yml
@@ -65,7 +65,7 @@ jobs:
             xvfb
 
       - name: Set up Python ${{ matrix.config.python-version  }}
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.config.python-version  }}
 

From 9fa3a4d7f4f1c91ba93556a1621cbb87b72878ce Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 16:21:22 +0100
Subject: [PATCH 04/27] try

---
 .github/workflows/build-mac.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index ec4ef2ad..2ac6276f 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -74,6 +74,7 @@ jobs:
       - name: Build
         run: |
           export PATH="/usr/local/opt/qt@5/bin:$PATH"
+          export DCMAKE_PREFIX_PATH="$(brew --prefix qt@5)"
           python -m pip install -v .
 
       - name: Run Python tests

From da94899047e0e8a50a665c476c94c15058dd735c Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 16:27:57 +0100
Subject: [PATCH 05/27] try

---
 .github/workflows/build-mac.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index 2ac6276f..5bf22111 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -73,7 +73,7 @@ jobs:
 
       - name: Build
         run: |
-          export PATH="/usr/local/opt/qt@5/bin:$PATH"
+          export PATH="/usr/homebrew/opt/qt@5/bin:$PATH"
           export DCMAKE_PREFIX_PATH="$(brew --prefix qt@5)"
           python -m pip install -v .
 

From 81129a9ef7281dafbf36680a8a71a50effcd12f0 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 16:34:14 +0100
Subject: [PATCH 06/27] update

---
 .github/workflows/build-mac.yml    | 6 +++++-
 .github/workflows/build-ubuntu.yml | 6 +++++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index 5bf22111..00b9e053 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -1,4 +1,8 @@
-name: limap
+name: limap (Mac)
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
 
 on:
   push:
diff --git a/.github/workflows/build-ubuntu.yml b/.github/workflows/build-ubuntu.yml
index 0ff6c317..a45be18a 100644
--- a/.github/workflows/build-ubuntu.yml
+++ b/.github/workflows/build-ubuntu.yml
@@ -1,4 +1,8 @@
-name: limap
+name: limap (Ubuntu)
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
 
 on:
   push:

From 98377f702fde9e43959af768aadef4f8eab69126 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 16:43:47 +0100
Subject: [PATCH 07/27] try

---
 .github/workflows/build-mac.yml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index 00b9e053..a3c5d41d 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -63,6 +63,10 @@ jobs:
             ccache \
             hdf5
 
+          export LDFLAGS="-L/opt/homebrew/opt/qt@5/lib"
+          export CPPFLAGS="-I/opt/homebrew/opt/qt@5/include"
+          export PATH="/usr/homebrew/opt/qt@5/bin:$PATH"
+
       - name: Set up Python ${{ matrix.config.python-version  }}
         uses: actions/setup-python@v5
         with:
@@ -77,8 +81,6 @@ jobs:
 
       - name: Build
         run: |
-          export PATH="/usr/homebrew/opt/qt@5/bin:$PATH"
-          export DCMAKE_PREFIX_PATH="$(brew --prefix qt@5)"
           python -m pip install -v .
 
       - name: Run Python tests

From 390564281f5d518b389f2f29e3124bf95149621e Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 16:51:30 +0100
Subject: [PATCH 08/27] try

---
 cmake/FindDependencies.cmake | 1 +
 1 file changed, 1 insertion(+)

diff --git a/cmake/FindDependencies.cmake b/cmake/FindDependencies.cmake
index 75a05875..af738fd8 100644
--- a/cmake/FindDependencies.cmake
+++ b/cmake/FindDependencies.cmake
@@ -54,6 +54,7 @@ endif()
 message(STATUS "Configuring PoseLib... done")
 
 # COLMAP
+set(GUI_ENABLED OFF)
 FetchContent_Declare(COLMAP
     GIT_REPOSITORY    https://github.com/colmap/colmap.git
     GIT_TAG           c9097b031ee00da22609c7ac4b3f6b45b4178de2

From b749befd59924207261a01727ce8a8166058c052 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 16:52:20 +0100
Subject: [PATCH 09/27] try

---
 cmake/FindDependencies.cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cmake/FindDependencies.cmake b/cmake/FindDependencies.cmake
index af738fd8..55547f23 100644
--- a/cmake/FindDependencies.cmake
+++ b/cmake/FindDependencies.cmake
@@ -54,7 +54,7 @@ endif()
 message(STATUS "Configuring PoseLib... done")
 
 # COLMAP
-set(GUI_ENABLED OFF)
+set(GUI_ENABLED OFF CACHE BOOL "Disable GUI" FORCE)
 FetchContent_Declare(COLMAP
     GIT_REPOSITORY    https://github.com/colmap/colmap.git
     GIT_TAG           c9097b031ee00da22609c7ac4b3f6b45b4178de2

From c65fdb811b5460af66dbce587bcee652c0af36b9 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 17:09:54 +0100
Subject: [PATCH 10/27] fix some warnings

---
 cmake/FindDependencies.cmake | 1 +
 limap/base/camera.h          | 9 ++++-----
 limap/base/line_dists.cc     | 4 ++++
 limap/util/simple_logger.h   | 4 ++--
 4 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/cmake/FindDependencies.cmake b/cmake/FindDependencies.cmake
index 55547f23..9f43d8b1 100644
--- a/cmake/FindDependencies.cmake
+++ b/cmake/FindDependencies.cmake
@@ -55,6 +55,7 @@ message(STATUS "Configuring PoseLib... done")
 
 # COLMAP
 set(GUI_ENABLED OFF CACHE BOOL "Disable GUI" FORCE)
+set(LSD_ENABLED OFF CACHE BOOL "Disable LSD in COLMAP" FORCE)
 FetchContent_Declare(COLMAP
     GIT_REPOSITORY    https://github.com/colmap/colmap.git
     GIT_TAG           c9097b031ee00da22609c7ac4b3f6b45b4178de2
diff --git a/limap/base/camera.h b/limap/base/camera.h
index ac8a29dd..04199398 100644
--- a/limap/base/camera.h
+++ b/limap/base/camera.h
@@ -87,11 +87,10 @@ class Camera : public colmap::Camera {
 
 class CameraPose {
 public:
-  CameraPose(bool initialized = false) : initialized(initialized) {}
-  CameraPose(V4D qvec, V3D tvec, bool initialized = true)
-      : qvec(qvec.normalized()), tvec(tvec), initialized(initialized) {}
-  CameraPose(M3D R, V3D T, bool initiallized = true)
-      : tvec(T), initialized(initialized) {
+  CameraPose(bool init = false) : initialized(init) {}
+  CameraPose(V4D qvec, V3D tvec, bool init = true)
+      : qvec(qvec.normalized()), tvec(tvec), initialized(init) {}
+  CameraPose(M3D R, V3D T, bool init = true) : tvec(T), initialized(init) {
     qvec = RotationMatrixToQuaternion(R);
   }
   CameraPose(py::dict dict);
diff --git a/limap/base/line_dists.cc b/limap/base/line_dists.cc
index ee76d014..ab771346 100644
--- a/limap/base/line_dists.cc
+++ b/limap/base/line_dists.cc
@@ -218,6 +218,8 @@ double compute_distance<Line2d>(const Line2d &l1, const Line2d &l2,
   case LineDistType::ENDPOINTS_SCALEINV:
     throw std::runtime_error(
         "Type error. Scale invariance distance is not supported for Line2d.");
+  default:
+    throw std::runtime_error("Distance type not supported.");
   }
   return -1.0;
 }
@@ -260,6 +262,8 @@ double compute_distance<Line3d>(const Line3d &l1, const Line3d &l2,
     return dist_endpoints_scaleinv_oneway(l1, l2);
   case LineDistType::ENDPOINTS_SCALEINV:
     return dist_endpoints_scaleinv(l1, l2);
+  default:
+    throw std::runtime_error("Distance type not supported.");
   }
   return -1.0;
 }
diff --git a/limap/util/simple_logger.h b/limap/util/simple_logger.h
index f150b6ec..4051a1ba 100644
--- a/limap/util/simple_logger.h
+++ b/limap/util/simple_logger.h
@@ -170,7 +170,7 @@ class LogProgressbar : public progressbar {
     if (update_is_called)
       progress += inc;
     std::string out = get_update_str();
-    if (out.c_str() != "\r") {
+    if (out != "\r") {
       STDLOG(CERR) << out;
     }
   }
@@ -189,7 +189,7 @@ class SyncLogProgressbar : public progressbar {
     if (update_is_called)
       progress += inc;
     std::string out = get_update_str();
-    if (out.c_str() != "\r") {
+    if (out != "\r") {
       SYNC_LOG(CERR) << out;
     }
   }

From 468bf10a593aa4aa8b288f64441ccb7252fdff05 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 17:12:19 +0100
Subject: [PATCH 11/27] remove qt. add hdf5 support

---
 .github/workflows/build-mac.yml | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index a3c5d41d..e4a4cc0b 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -56,17 +56,12 @@ jobs:
             glog \
             googletest \
             ceres-solver \
-            qt5 \
             glew \
             cgal \
             sqlite3 \
             ccache \
             hdf5
 
-          export LDFLAGS="-L/opt/homebrew/opt/qt@5/lib"
-          export CPPFLAGS="-I/opt/homebrew/opt/qt@5/include"
-          export PATH="/usr/homebrew/opt/qt@5/bin:$PATH"
-
       - name: Set up Python ${{ matrix.config.python-version  }}
         uses: actions/setup-python@v5
         with:
@@ -81,6 +76,8 @@ jobs:
 
       - name: Build
         run: |
+
+          export CMAKE_PREFIX_PATH=$(brew --prefix hdf5):$CMAKE_PREFIX_PATH
           python -m pip install -v .
 
       - name: Run Python tests

From 9680e35b42e75f3430f53d136c988a4ef75213f7 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 17:20:37 +0100
Subject: [PATCH 12/27] update jlinkage token.

---
 cmake/FindDependencies.cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cmake/FindDependencies.cmake b/cmake/FindDependencies.cmake
index 9f43d8b1..61e72f92 100644
--- a/cmake/FindDependencies.cmake
+++ b/cmake/FindDependencies.cmake
@@ -72,7 +72,7 @@ message(STATUS "Configuring COLMAP... done")
 # JLinkage
 FetchContent_Declare(JLinkage
     GIT_REPOSITORY    https://github.com/B1ueber2y/JLinkage.git
-    GIT_TAG           452d67eda005db01a02071a5af8f0eced0a02079
+    GIT_TAG           75dadd555f81b1cf1b0f016d8cac76f3b554ba9b
     EXCLUDE_FROM_ALL
 )
 message(STATUS "Configuring JLinkage...")

From 4659cb528021857cf2d59c20563d0e08076461e6 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 17:26:17 +0100
Subject: [PATCH 13/27] Upgrade highfive.

---
 .gitmodules                | 6 +++---
 third-party/CMakeLists.txt | 2 +-
 third-party/HighFive       | 1 -
 third-party/highfive       | 1 +
 4 files changed, 5 insertions(+), 5 deletions(-)
 delete mode 160000 third-party/HighFive
 create mode 160000 third-party/highfive

diff --git a/.gitmodules b/.gitmodules
index 7344c97b..5716de77 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -5,9 +5,9 @@
 	path = third-party/RansacLib
 	url = https://github.com/B1ueber2y/RansacLib.git
     branch = header-only
-[submodule "third-party/HighFive"]
-	path = third-party/HighFive
-	url = https://github.com/B1ueber2y/HighFive.git
 [submodule "third-party/libigl"]
 	path = third-party/libigl
 	url = https://github.com/libigl/libigl.git
+[submodule "third-party/highfive"]
+	path = third-party/highfive
+	url = git@github.com:highfive-devs/highfive.git
diff --git a/third-party/CMakeLists.txt b/third-party/CMakeLists.txt
index 122e191d..8060962d 100644
--- a/third-party/CMakeLists.txt
+++ b/third-party/CMakeLists.txt
@@ -1,4 +1,4 @@
-add_subdirectory(HighFive)
+add_subdirectory(highfive)
 add_subdirectory(pybind11)
 add_subdirectory(libigl)
 add_subdirectory(RansacLib)
diff --git a/third-party/HighFive b/third-party/HighFive
deleted file mode 160000
index 5e77ac37..00000000
--- a/third-party/HighFive
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 5e77ac375928e339a8d43b39a122c28167a64dc1
diff --git a/third-party/highfive b/third-party/highfive
new file mode 160000
index 00000000..452082ec
--- /dev/null
+++ b/third-party/highfive
@@ -0,0 +1 @@
+Subproject commit 452082ece5857aac93e079f14c7b19f1c5d17698

From 5811a2c6451c77a88f1ad374c5a1afea67a076a3 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 17:35:53 +0100
Subject: [PATCH 14/27] change git to https

---
 .gitmodules | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitmodules b/.gitmodules
index 5716de77..bbb5235f 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -10,4 +10,4 @@
 	url = https://github.com/libigl/libigl.git
 [submodule "third-party/highfive"]
 	path = third-party/highfive
-	url = git@github.com:highfive-devs/highfive.git
+	url = https://github.com/highfive-devs/highfive.git

From 8bbfdfab8196881ffa2d50c32e76f9cb6f7244c7 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 17:54:51 +0100
Subject: [PATCH 15/27] try

---
 .github/workflows/build-mac.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index e4a4cc0b..6955a930 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -76,7 +76,7 @@ jobs:
 
       - name: Build
         run: |
-
+          export HDF5_ROOT=$(brew --prefix hdf5)
           export CMAKE_PREFIX_PATH=$(brew --prefix hdf5):$CMAKE_PREFIX_PATH
           python -m pip install -v .
 

From 411596f14984e16c3e06cc605d65093740103f7c Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 17:57:27 +0100
Subject: [PATCH 16/27] try

---
 .github/workflows/build-mac.yml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index 6955a930..5a1dcd80 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -1,8 +1,8 @@
 name: limap (Mac)
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+# concurrency:
+#   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+#   cancel-in-progress: ${{ github.event_name == 'pull_request' }}
 
 on:
   push:
@@ -60,7 +60,7 @@ jobs:
             cgal \
             sqlite3 \
             ccache \
-            hdf5
+            hdf5@1.10
 
       - name: Set up Python ${{ matrix.config.python-version  }}
         uses: actions/setup-python@v5

From c39bc1da7e915c9b0046ec9d01f8b008b5e0f48d Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 18:08:40 +0100
Subject: [PATCH 17/27] revert

---
 .github/workflows/build-mac.yml | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index 5a1dcd80..bd63d787 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -1,8 +1,8 @@
 name: limap (Mac)
 
-# concurrency:
-#   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-#   cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
 
 on:
   push:
@@ -60,7 +60,7 @@ jobs:
             cgal \
             sqlite3 \
             ccache \
-            hdf5@1.10
+            hdf5
 
       - name: Set up Python ${{ matrix.config.python-version  }}
         uses: actions/setup-python@v5
@@ -76,8 +76,6 @@ jobs:
 
       - name: Build
         run: |
-          export HDF5_ROOT=$(brew --prefix hdf5)
-          export CMAKE_PREFIX_PATH=$(brew --prefix hdf5):$CMAKE_PREFIX_PATH
           python -m pip install -v .
 
       - name: Run Python tests

From 71b8e5aa6df641c7dbd727925df9117c0b1d8e74 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 18:27:33 +0100
Subject: [PATCH 18/27] revert python setup

---
 .github/workflows/build-mac.yml    | 2 +-
 .github/workflows/build-ubuntu.yml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index bd63d787..08679e8f 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -63,7 +63,7 @@ jobs:
             hdf5
 
       - name: Set up Python ${{ matrix.config.python-version  }}
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v4
         with:
           python-version: ${{ matrix.config.python-version  }}
 
diff --git a/.github/workflows/build-ubuntu.yml b/.github/workflows/build-ubuntu.yml
index a45be18a..98bb5302 100644
--- a/.github/workflows/build-ubuntu.yml
+++ b/.github/workflows/build-ubuntu.yml
@@ -69,7 +69,7 @@ jobs:
             xvfb
 
       - name: Set up Python ${{ matrix.config.python-version  }}
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v4
         with:
           python-version: ${{ matrix.config.python-version  }}
 

From 9a90085656dc3f994f88a99eee5a6492f6251b3a Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 21:33:44 +0100
Subject: [PATCH 19/27] update

---
 limap/base/bindings.cc | 6 +++---
 limap/base/camera.h    | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/limap/base/bindings.cc b/limap/base/bindings.cc
index 102d6a8f..c1513b8a 100644
--- a/limap/base/bindings.cc
+++ b/limap/base/bindings.cc
@@ -804,7 +804,7 @@ void bind_camera(py::module &m) {
       .def(py::init<bool>(), R"(
             Default constructor: identity pose
         )",
-           py::arg("initialized") = false)
+           py::arg("init") = false)
       .def(py::init<const CameraPose &>(), R"(
             Copy constructor
         )",
@@ -812,11 +812,11 @@ void bind_camera(py::module &m) {
       .def(py::init<V4D, V3D, bool>(), R"(
             Constructor from a quaternion vector and a translation vector
         )",
-           py::arg("qvec"), py::arg("tvec"), py::arg("initialized") = true)
+           py::arg("qvec"), py::arg("tvec"), py::arg("init") = true)
       .def(py::init<M3D, V3D, bool>(), R"(
             Constructor from a rotation matrix and a translation vector
         )",
-           py::arg("R"), py::arg("tvec"), py::arg("initialized") = true)
+           py::arg("R"), py::arg("tvec"), py::arg("init") = true)
       .def(py::init<py::dict>(), R"(
             Constructor from a Python dict
         )",
diff --git a/limap/base/camera.h b/limap/base/camera.h
index 04199398..b60a506e 100644
--- a/limap/base/camera.h
+++ b/limap/base/camera.h
@@ -90,7 +90,7 @@ class CameraPose {
   CameraPose(bool init = false) : initialized(init) {}
   CameraPose(V4D qvec, V3D tvec, bool init = true)
       : qvec(qvec.normalized()), tvec(tvec), initialized(init) {}
-  CameraPose(M3D R, V3D T, bool init = true) : tvec(T), initialized(init) {
+  CameraPose(M3D R, V3D t, bool init = true) : tvec(t), initialized(init) {
     qvec = RotationMatrixToQuaternion(R);
   }
   CameraPose(py::dict dict);

From a13b0c531d3d8e0eebd1209f551e8e4925548f95 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Mon, 17 Mar 2025 23:16:25 +0100
Subject: [PATCH 20/27] clean caching

---
 .github/workflows/build-mac.yml    |  6 ++++++
 .github/workflows/build-ubuntu.yml | 14 ++++++++++++++
 2 files changed, 20 insertions(+)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index 08679e8f..0589d61c 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -98,3 +98,9 @@ jobs:
           python runners/hypersim/triangulation.py --default_config_file cfgs/triangulation/default_fast.yaml \
               --output_dir outputs/quickstart_test --triangulation.use_exhaustive_matcher --skip_exists --visualize 0
 
+      - name: Cleanup compiler cache
+        run: |
+          set -x
+          ccache --show-stats --verbose
+          ccache --evict-older-than 1d
+          ccache --show-stats --verbose
diff --git a/.github/workflows/build-ubuntu.yml b/.github/workflows/build-ubuntu.yml
index 98bb5302..7db2579c 100644
--- a/.github/workflows/build-ubuntu.yml
+++ b/.github/workflows/build-ubuntu.yml
@@ -103,3 +103,17 @@ jobs:
           python runners/hypersim/triangulation.py --default_config_file cfgs/triangulation/default_fast.yaml \
               --output_dir outputs/quickstart_test --triangulation.use_exhaustive_matcher --skip_exists --visualize 0
 
+      - name: Cleanup compiler cache
+        run: |
+          set -x
+          ccache --show-stats --verbose
+          ccache --evict-older-than 1d
+          ccache --show-stats --verbose
+
+          echo "Size of ctcache before: $(du -sh $CTCACHE_DIR)"
+          echo "Number of ctcache files before: $(find $CTCACHE_DIR | wc -l)"
+          # Delete cache older than 10 days.
+          find "$CTCACHE_DIR"/*/ -mtime +10 -print0 | xargs -0 rm -rf
+          echo "Size of ctcache after:  $(du -sh $CTCACHE_DIR)"
+          echo "Number of ctcache files after: $(find $CTCACHE_DIR | wc -l)"
+

From b2ae51993db10a07f1f89e4f827fa7005d61675d Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Tue, 18 Mar 2025 10:39:35 +0100
Subject: [PATCH 21/27] try

---
 .github/workflows/build-mac.yml | 5 -----
 cmake/FindDependencies.cmake    | 1 -
 2 files changed, 6 deletions(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index 0589d61c..aa8f6963 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -81,11 +81,6 @@ jobs:
       - name: Run Python tests
         run:  python -c "import limap; print(limap.__version__)"
 
-      - name: Run tests
-        run: |
-          pytest -m ci_workflow tests
-
-
       - name: Run localization test
         run: |
           python runners/tests/localization.py
diff --git a/cmake/FindDependencies.cmake b/cmake/FindDependencies.cmake
index 61e72f92..7fa3d5dd 100644
--- a/cmake/FindDependencies.cmake
+++ b/cmake/FindDependencies.cmake
@@ -55,7 +55,6 @@ message(STATUS "Configuring PoseLib... done")
 
 # COLMAP
 set(GUI_ENABLED OFF CACHE BOOL "Disable GUI" FORCE)
-set(LSD_ENABLED OFF CACHE BOOL "Disable LSD in COLMAP" FORCE)
 FetchContent_Declare(COLMAP
     GIT_REPOSITORY    https://github.com/colmap/colmap.git
     GIT_TAG           c9097b031ee00da22609c7ac4b3f6b45b4178de2

From 43e2bcb2c4e83c35ee67947e1f2c843bc00ebf33 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Tue, 18 Mar 2025 11:14:18 +0100
Subject: [PATCH 22/27] try

---
 cmake/FindDependencies.cmake | 1 +
 constraints.txt              | 1 +
 limap/base/camera.h          | 9 +++++----
 requirements.txt             | 1 +
 4 files changed, 8 insertions(+), 4 deletions(-)
 create mode 100644 constraints.txt

diff --git a/cmake/FindDependencies.cmake b/cmake/FindDependencies.cmake
index 7fa3d5dd..61e72f92 100644
--- a/cmake/FindDependencies.cmake
+++ b/cmake/FindDependencies.cmake
@@ -55,6 +55,7 @@ message(STATUS "Configuring PoseLib... done")
 
 # COLMAP
 set(GUI_ENABLED OFF CACHE BOOL "Disable GUI" FORCE)
+set(LSD_ENABLED OFF CACHE BOOL "Disable LSD in COLMAP" FORCE)
 FetchContent_Declare(COLMAP
     GIT_REPOSITORY    https://github.com/colmap/colmap.git
     GIT_TAG           c9097b031ee00da22609c7ac4b3f6b45b4178de2
diff --git a/constraints.txt b/constraints.txt
new file mode 100644
index 00000000..b6a28289
--- /dev/null
+++ b/constraints.txt
@@ -0,0 +1 @@
+pycolmap --no-binary=:all:
diff --git a/limap/base/camera.h b/limap/base/camera.h
index b60a506e..ac8a29dd 100644
--- a/limap/base/camera.h
+++ b/limap/base/camera.h
@@ -87,10 +87,11 @@ class Camera : public colmap::Camera {
 
 class CameraPose {
 public:
-  CameraPose(bool init = false) : initialized(init) {}
-  CameraPose(V4D qvec, V3D tvec, bool init = true)
-      : qvec(qvec.normalized()), tvec(tvec), initialized(init) {}
-  CameraPose(M3D R, V3D t, bool init = true) : tvec(t), initialized(init) {
+  CameraPose(bool initialized = false) : initialized(initialized) {}
+  CameraPose(V4D qvec, V3D tvec, bool initialized = true)
+      : qvec(qvec.normalized()), tvec(tvec), initialized(initialized) {}
+  CameraPose(M3D R, V3D T, bool initiallized = true)
+      : tvec(T), initialized(initialized) {
     qvec = RotationMatrixToQuaternion(R);
   }
   CameraPose(py::dict dict);
diff --git a/requirements.txt b/requirements.txt
index 3129ccdd..2842b2ff 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,3 +1,4 @@
+-c constraints.txt
 pyyaml
 tqdm
 attrdict

From 6d5342d0f888090671181544ce4dfdedd4f82393 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Tue, 18 Mar 2025 12:33:12 +0100
Subject: [PATCH 23/27] try

---
 constraints.txt  | 1 -
 requirements.txt | 1 -
 2 files changed, 2 deletions(-)
 delete mode 100644 constraints.txt

diff --git a/constraints.txt b/constraints.txt
deleted file mode 100644
index b6a28289..00000000
--- a/constraints.txt
+++ /dev/null
@@ -1 +0,0 @@
-pycolmap --no-binary=:all:
diff --git a/requirements.txt b/requirements.txt
index 2842b2ff..3129ccdd 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,4 +1,3 @@
--c constraints.txt
 pyyaml
 tqdm
 attrdict

From 84e643ec2296057e0c015499b18fc7cbafd844ce Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Tue, 18 Mar 2025 12:55:13 +0100
Subject: [PATCH 24/27] try

---
 limap/util/simple_logger.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/limap/util/simple_logger.h b/limap/util/simple_logger.h
index 4051a1ba..f150b6ec 100644
--- a/limap/util/simple_logger.h
+++ b/limap/util/simple_logger.h
@@ -170,7 +170,7 @@ class LogProgressbar : public progressbar {
     if (update_is_called)
       progress += inc;
     std::string out = get_update_str();
-    if (out != "\r") {
+    if (out.c_str() != "\r") {
       STDLOG(CERR) << out;
     }
   }
@@ -189,7 +189,7 @@ class SyncLogProgressbar : public progressbar {
     if (update_is_called)
       progress += inc;
     std::string out = get_update_str();
-    if (out != "\r") {
+    if (out.c_str() != "\r") {
       SYNC_LOG(CERR) << out;
     }
   }

From 555cf3d7283e231f605a2fad8c5b072b13d55375 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Tue, 18 Mar 2025 13:38:44 +0100
Subject: [PATCH 25/27] remove concurrency

---
 .github/workflows/build-mac.yml    | 4 ----
 .github/workflows/build-ubuntu.yml | 4 ----
 2 files changed, 8 deletions(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index aa8f6963..1a764a63 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -1,9 +1,5 @@
 name: limap (Mac)
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
-
 on:
   push:
     branches:
diff --git a/.github/workflows/build-ubuntu.yml b/.github/workflows/build-ubuntu.yml
index 7db2579c..d39cd4c4 100644
--- a/.github/workflows/build-ubuntu.yml
+++ b/.github/workflows/build-ubuntu.yml
@@ -1,9 +1,5 @@
 name: limap (Ubuntu)
 
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
-
 on:
   push:
     branches:

From fd0440447496611195ade4b3fab11bc9f0183699 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Tue, 18 Mar 2025 13:52:48 +0100
Subject: [PATCH 26/27] update

---
 limap/base/camera.h        | 9 ++++-----
 limap/util/simple_logger.h | 4 ++--
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/limap/base/camera.h b/limap/base/camera.h
index ac8a29dd..b60a506e 100644
--- a/limap/base/camera.h
+++ b/limap/base/camera.h
@@ -87,11 +87,10 @@ class Camera : public colmap::Camera {
 
 class CameraPose {
 public:
-  CameraPose(bool initialized = false) : initialized(initialized) {}
-  CameraPose(V4D qvec, V3D tvec, bool initialized = true)
-      : qvec(qvec.normalized()), tvec(tvec), initialized(initialized) {}
-  CameraPose(M3D R, V3D T, bool initiallized = true)
-      : tvec(T), initialized(initialized) {
+  CameraPose(bool init = false) : initialized(init) {}
+  CameraPose(V4D qvec, V3D tvec, bool init = true)
+      : qvec(qvec.normalized()), tvec(tvec), initialized(init) {}
+  CameraPose(M3D R, V3D t, bool init = true) : tvec(t), initialized(init) {
     qvec = RotationMatrixToQuaternion(R);
   }
   CameraPose(py::dict dict);
diff --git a/limap/util/simple_logger.h b/limap/util/simple_logger.h
index f150b6ec..4051a1ba 100644
--- a/limap/util/simple_logger.h
+++ b/limap/util/simple_logger.h
@@ -170,7 +170,7 @@ class LogProgressbar : public progressbar {
     if (update_is_called)
       progress += inc;
     std::string out = get_update_str();
-    if (out.c_str() != "\r") {
+    if (out != "\r") {
       STDLOG(CERR) << out;
     }
   }
@@ -189,7 +189,7 @@ class SyncLogProgressbar : public progressbar {
     if (update_is_called)
       progress += inc;
     std::string out = get_update_str();
-    if (out.c_str() != "\r") {
+    if (out != "\r") {
       SYNC_LOG(CERR) << out;
     }
   }

From deddff4d51c53f5e716b505f03dd608418a21ad8 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Tue, 18 Mar 2025 18:59:54 +0100
Subject: [PATCH 27/27] update

---
 .github/workflows/build-mac.yml | 1 +
 cmake/FindDependencies.cmake    | 1 -
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-mac.yml b/.github/workflows/build-mac.yml
index 1a764a63..b12d6164 100644
--- a/.github/workflows/build-mac.yml
+++ b/.github/workflows/build-mac.yml
@@ -52,6 +52,7 @@ jobs:
             glog \
             googletest \
             ceres-solver \
+            qt5 \
             glew \
             cgal \
             sqlite3 \
diff --git a/cmake/FindDependencies.cmake b/cmake/FindDependencies.cmake
index 61e72f92..f35171a9 100644
--- a/cmake/FindDependencies.cmake
+++ b/cmake/FindDependencies.cmake
@@ -54,7 +54,6 @@ endif()
 message(STATUS "Configuring PoseLib... done")
 
 # COLMAP
-set(GUI_ENABLED OFF CACHE BOOL "Disable GUI" FORCE)
 set(LSD_ENABLED OFF CACHE BOOL "Disable LSD in COLMAP" FORCE)
 FetchContent_Declare(COLMAP
     GIT_REPOSITORY    https://github.com/colmap/colmap.git