Add Pixi project files

.gitattributes

@@ -0,0 +1,2 @@
+# SCM syntax highlighting & preventing 3-way merges
+pixi.lock merge=binary linguist-language=YAML linguist-generated=true -diff

.gitignore

@@ -3,4 +3,6 @@ pybind_build/
 results/
 venv_gluemap/
 
-*.pyc
+*.pyc
+.pixi/*
+!.pixi/config.toml

.gitmodules

@@ -13,3 +13,12 @@
 [submodule "thirdparty/mapanything"]
 	path = thirdparty/mapanything
 	url = https://github.com/facebookresearch/map-anything.git
+[submodule "thirdparty/ceres-solver"]
+	path = thirdparty/ceres-solver
+	url = https://ceres-solver.googlesource.com/ceres-solver
+[submodule "thirdparty/pyceres"]
+	path = thirdparty/pyceres
+	url = https://github.com/cvg/pyceres.git
+[submodule "thirdparty/colmap"]
+	path = thirdparty/colmap
+	url = https://github.com/colmap/colmap.git

INSTALL.md

@@ -87,6 +87,16 @@ default conda-forge `ceres-solver` is CPU-only — for the CUDA path,
 build Ceres from source against your CUDA toolkit and point
 `CMAKE_PREFIX_PATH` at it.
 
+### Option C — Pixi package manager
+
+As an alternative, Pixi package manager https://github.com/prefix-dev/pixi could be used to create an environment with all required dependencies. This environment is configured to have torch that supports Blackwell (sm_120) gpus. Also, ceres-solver will be built with support for cuDSS sparse linear solver.
+```
+pixi install --locked
+pixi run install-gluemap
+pixi shell
+```
+After populating and activating the environment, go to step 4.
+
 ## 3. Install GLUEMAP
 
 From the repo root, in your active Python ≥ 3.10 environment:

gluemap/pybind/CMakeLists.txt

@@ -23,7 +23,9 @@ target_include_directories(pygluemap PRIVATE
 )
 target_link_libraries(pygluemap PRIVATE pybind11::module Eigen3::Eigen ${CERES_LIBRARIES} Boost::headers)
 target_compile_definitions(pygluemap PRIVATE cxx_std_17)
-if (TARGET Ceres::ceres_cuda_kernels)
+get_target_property(CERES_INTERFACE_LINK_LIBRARIES Ceres::ceres INTERFACE_LINK_LIBRARIES)
+string(FIND "${CERES_INTERFACE_LINK_LIBRARIES}" "cudss" CERES_HAS_CUDA)
+if (${CERES_HAS_CUDA} GREATER 0)
     set(CERES_HAS_CUDA TRUE)
 else()
     set(CERES_HAS_CUDA FALSE)

pixi.toml

@@ -0,0 +1,79 @@
+[workspace]
+preview = ["pixi-build"]
+channels = ["conda-forge"]
+name = "gluemap"
+platforms = ["linux-64"]
+version = "0.1.0"
+
+[system-requirements]
+cuda   = "12"
+
+[dependencies]
+pytorch-gpu = ">=2.10.0,<3"
+torchvision = ">=0.26.0,<0.27"
+compilers = ">=1.11.0,<2"
+libcudss = ">=0.7.1.4,<0.8"
+metis = "5.1.0.*"
+eigen = ">=5.0.1,<6"
+cuda-nvcc = "12.9.*"
+libcudss-dev = ">=0.7.1.4,<0.8"
+libcublas-dev = ">=12.9.2.10,<13"
+libcusolver-dev = ">=11.7.5.82,<12"
+libcusparse-dev = ">=12.5.10.65,<13"
+pip = ">=26.1.1,<27"
+suitesparse = ">=7.10.1,<8"
+glog = ">=0.7.1,<0.8"
+curl = ">=8.20.0,<9"
+openimageio = ">=3.1.13.1,<4"
+libboost = ">=1.91.0,<2"
+libboost-devel = ">=1.91.0,<2"
+glew = ">=2.3.0,<3"
+libgl = ">=1.7.0,<2"
+libgl-devel = ">=1.7.0,<2"
+libcurand = ">=10.3.10.19,<11"
+libcurand-dev = ">=10.3.10.19,<11"
+
+[pypi-dependencies]
+scipy = "==1.17.1"
+h5py = "==3.16.0"
+networkx = "==3.6.1"
+pillow = "==12.2.0"
+tqdm = "==4.67.3"
+einops = "==0.8.2"
+imagesize = "==2.0.0"
+safetensors = "==0.7.0"
+pyyaml = "==6.0.3"
+faiss-cpu = "==1.13.2"
+hydra-core = "==1.3.2"
+omegaconf = "==2.3.0"
+huggingface-hub = "==1.12.0"
+plyfile = "==1.1.3"
+scikit-learn = "==1.8.0"
+uniception = "==0.1.7"
+pytorch-lightning = "==2.6.1"
+pytorch-metric-learning = "==2.9.0"
+lightglue = { git = "https://github.com/cvg/LightGlue.git", rev = "eb42fee2d71449efb0aa5c10549752b5d75384d8" }
+opencv-python = ">=4.13.0.92, <5"
+click = ">=8.4.1, <9"
+
+[activation]
+# Otherwise we will get following error (it might be worth to trace and fix upstream where this dependency got lost):
+# ImportError: libmkl_intel_thread.so.3: undefined symbol: __atomic_compare_exchange
+env = { LD_PRELOAD = "$CONDA_PREFIX/lib/libatomic.so" }
+
+[tasks]
+fetch-thirdparties = "git submodule update --init --recursive"
+
+configure-ceres-solver = {cwd = "thirdparty/ceres-solver", cmd = "cmake -S . -B build -G Ninja -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DBUILD_EXAMPLES=OFF -DBUILD_BENCHMARKS=OFF -DBUILD_TESTING=OFF", depends-on = ["fetch-thirdparties"]}
+build-ceres-solver = { cwd = "thirdparty/ceres-solver", cmd = "cmake --build build", depends-on = ["configure-ceres-solver"]}
+install-ceres-solver = {cwd = "thirdparty/ceres-solver", cmd = "cmake --install build", depends-on = ["build-ceres-solver"]}
+install-pyceres = {cwd = "thirdparty/pyceres", cmd = "pip3 install -e .", depends-on = ["install-ceres-solver"]}
+
+configure-colmap = {cwd = "thirdparty/colmap", cmd = "cmake -S . -B build -G Ninja -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DGUI_ENABLED=OFF -DOPENGL_ENABLED=OFF -DCGAL_ENABLED=OFF -DLSD_ENABLED=OFF", depends-on = ["install-pyceres"]}
+build-colmap = { cwd = "thirdparty/colmap", cmd = "cmake --build build", depends-on = ["configure-colmap"]}
+install-colmap = {cwd = "thirdparty/colmap", cmd = "cmake --install build", depends-on = ["build-colmap"]}
+install-pycolmap = {cwd = "thirdparty/colmap", cmd = "pip3 install -e .", depends-on = ["install-colmap"]}
+
+fix-mast3r-for-new-pytorch = {cmd = "sed -i -e \"s/model_path, map_location='cpu'/model_path, map_location='cpu', weights_only=False/g\" thirdparty/doppelgangers-plusplus/mast3r/model.py", depends-on = ["fetch-thirdparties"]}
+install-gluemap = {cmd = "pip3 install --no-deps -e .", depends-on = ["fix-mast3r-for-new-pytorch", "install-pycolmap"]}
+check-gluemap = {cmd = "python -c \"import gluemap; import pygluemap; print(pygluemap.__file__)\""}

thirdparty/vggsfm/track_modules/track_refine.py

@@ -367,7 +367,7 @@ def compute_score_fn(
     """
 
     from kornia.geometry.subpix import dsnt
-    from kornia.utils.grid import create_meshgrid
+    from kornia.geometry.grid import create_meshgrid
 
     # query_point_feat initial shape: B x N x C_out,
     # query_point_feat indicates the feat at the coorponsing query points