Thanks! The general idea is fantastic. Will try to find time later this week to look into details.

Thanks. Looks great! The pybind here needs to be updated: https://github.com/colmap/colmap/blob/main/src/pycolmap/estimators/bundle_adjustment.cc#L144-L164. Also the example runner here: https://github.com/colmap/colmap/blob/main/pycolmap/examples/custom_bundle_adjustment.py#L196-L208

@B1ueber2y This should be ready for a final review. Thanks.

https://github.com/colmap/colmap/blob/main/pycolmap/examples/custom_bundle_adjustment.py#L196-L208

Thanks. Should we update the runner here as well: https://github.com/colmap/colmap/blob/main/pycolmap/examples/custom_bundle_adjustment.py#L196-L208? I expect this part of code to be broken with the new interface?

@B1ueber2y I fixed the custom_bundle_adjustment.py code with the new interface. The idea is that the bundle adjustment problem is configured purely through the config object instead of providing access to the internal methods. One still has full control over adding custom residuals to the existing problem. I verified that this works end-to-end together with the custom_incremental_mapper.py (for which I added the option to directly call it from the command-line to process a dataset).

The custom_bundle_adjustment.py script wont work if pyceres is not installed, since the solver options wont parse here: https://github.com/colmap/colmap/blob/user/jsch/ba-interface/pycolmap/examples/custom_bundle_adjustment.py#L40-L45, which will result in:

TypeError: Unable to convert function return value to a Python type! The signature was
(self: pycolmap._core.BundleAdjustmentOptions) -> ceres::Solver::Options

So I added "import pyceres" back to avoid confusion when the user tries the code without pyceres installed.

Also It might be helpful for stabilizing pycolmap interfaces if we added the example script (and potentially other python tests) to the CI pipeline.

Also It might be helpful for stabilizing pycolmap interfaces if we added the example script (and potentially other python tests) to the CI pipeline.

Yes, agreed. On my TODO list. My idea would be to expose the colmap/scene/synthetic.h interface, so we can have equivalent end-to-end mapping tests as we have under colmap/controllers/incremental_pipeline_test.cc. Later, the synthetics also come in handy for implementing tests for other parts of the python interface.