Upgrade colmap to 3.13.0 and update hloc tag. (#147)

* upgrade colmap to 3.13.0 and update hloc tag.

* update hloc tag.

Author: B1ueber2y

requirements.txt

@@ -22,11 +22,11 @@ yacs
 pytest
 numpy<=1.26.4 # Tag numpy 1.26.4 for Open3D issue (https://github.com/numpy/numpy/issues/26853)
 open3d==0.18.0
-pycolmap>=3.12.6
+pycolmap==3.13.0
 ruff==0.6.7
 clang-format==19.1.0
 
 pytlsd@git+https://github.com/iago-suarez/pytlsd.git@4180ab8
 deeplsd@git+https://github.com/cvg/DeepLSD.git@88c589d
 gluestick@git+https://github.com/cvg/GlueStick.git@7d81673
--e git+https://github.com/cvg/Hierarchical-Localization.git@1252817#egg=hloc
+-e git+https://github.com/cvg/Hierarchical-Localization.git@a3e5731#egg=hloc

src/limap/pointsfm/colmap_sfm.py

@@ -14,7 +14,6 @@
     pairs_from_exhaustive,
     triangulation,
 )
-from hloc.utils.io import open_colmap_database
 from limap.pointsfm.model_converter import convert_imagecols_to_colmap
 
 
@@ -24,7 +23,7 @@ def import_images_with_known_cameras(image_dir, database_path, imagecols):
     assert len(image_name_list) == len(image_ids)
 
     # connect to the database
-    with open_colmap_database(database_path) as db:
+    with pycolmap.Database.open(database_path) as db:
         # add camera
         for cam_id in imagecols.get_cam_ids():
             cam = imagecols.cam(cam_id)
@@ -139,7 +138,7 @@ def run_hloc_matches(
             image_path, db_path, imagecols
         )  # use cameras and id mapping
     image_ids = reconstruction.get_image_ids(db_path)
-    with open_colmap_database(db_path) as db:
+    with pycolmap.Database.open(db_path) as db:
         reconstruction.import_features(image_ids, db, feature_path)
         reconstruction.import_matches(
             image_ids, db, sfm_pairs, match_path, None, None