Fixes for docker tests to build and pass (#1092)

Summary:
Revert some changes from bots and humans that were not compatible with non-meta-internal tools.

* Require C++17
* Avoid using python 3.10 features
* Avoid using ceres 2 features (ceres::isfinite)
* Avoid using meta internal global paths

Pull Request resolved: #1092

Reviewed By: DodgySpaniard

Differential Revision: D73259083

Pulled By: paulinus

fbshipit-source-id: 40af597bb2e2750f826f051166a15ec84553b9aa

Author: paulinus

opensfm/features.py

@@ -51,7 +51,7 @@ class FeaturesData:
     descriptors: Optional[np.ndarray]
     colors: np.ndarray
     semantic: Optional[SemanticData]
-    depths: np.ndarray | None  # New field. This field is not serialized yet
+    depths: Optional[np.ndarray]  # New field. This field is not serialized yet
 
     FEATURES_VERSION: int = 3
     FEATURES_HEADER: str = "OPENSFM_FEATURES_VERSION"
@@ -62,7 +62,7 @@ def __init__(
         descriptors: Optional[np.ndarray],
         colors: np.ndarray,
         semantic: Optional[SemanticData],
-        depths: np.ndarray | None = None,
+        depths: Optional[np.ndarray] = None,
     ):
         self.points = points
         self.descriptors = descriptors

opensfm/reconstruction.py

@@ -2,6 +2,7 @@
 """Incremental reconstruction pipeline"""
 
 import datetime
+import enum
 import logging
 import math
 from abc import ABC, abstractmethod
@@ -28,13 +29,12 @@
 from opensfm.align import align_reconstruction, apply_similarity
 from opensfm.context import current_memory_usage, parallel_map
 from opensfm.dataset_base import DataSetBase
-from python.migrations.py310 import StrEnum310
 
 
 logger: logging.Logger = logging.getLogger(__name__)
 
 
-class ReconstructionAlgorithm(StrEnum310):
+class ReconstructionAlgorithm(str, enum.Enum):
     INCREMENTAL = "incremental"
     TRIANGULATION = "triangulation"
 

opensfm/src/CMakeLists.txt

@@ -24,8 +24,8 @@ set(CMAKE_CXX_VISIBILITY_INLINES ON)
 # fPIC
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-# C++14
-set(CMAKE_CXX_STANDARD 14)
+# C++17
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # Enable all warnings

opensfm/src/bundle/src/bundle_adjuster.cc

@@ -505,7 +505,7 @@ struct AddRelativeDepthError {
       return;
     }
     const auto &depth = obs.depth_prior.value();
-    if (!ceres::isfinite(depth.value)) {
+    if (!std::isfinite(depth.value)) {
       throw std::runtime_error(obs.shot->GetID() +
                                " has non-finite depth prior");
     }

opensfm/test/test_commands.py

@@ -2,9 +2,8 @@
 import argparse
 from os.path import join
 
-from mapillary.opensfm.opensfm.test import data_generation, utils
-
 from opensfm import commands, dataset
+from opensfm.test import data_generation, utils
 
 
 def run_command(command, args) -> None:

opensfm/test/test_dataset.py

@@ -1,7 +1,8 @@
 # pyre-unsafe
 import numpy as np
-from mapillary.opensfm.opensfm.test import data_generation
+
 from opensfm import features
+from opensfm.test import data_generation
 
 
 def test_dataset_load_features_sift(tmpdir) -> None:

opensfm/test/test_datastructures.py

@@ -6,14 +6,14 @@
 
 import numpy as np
 import pytest
-from mapillary.opensfm.opensfm.test.utils import (
+from opensfm import pygeometry, pymap, types
+from opensfm.pymap import RigCamera, RigInstance, Shot
+from opensfm.test.utils import (
     assert_cameras_equal,
     assert_maps_equal,
     assert_metadata_equal,
     assert_shots_equal,
 )
-from opensfm import pygeometry, pymap, types
-from opensfm.pymap import RigCamera, RigInstance, Shot
 from opensfm.types import Reconstruction
 
 

opensfm/test/test_io.py

@@ -4,8 +4,9 @@
 from io import StringIO
 
 import numpy as np
-from mapillary.opensfm.opensfm.test import data_generation, utils
+
 from opensfm import io, pygeometry, types
+from opensfm.test import data_generation, utils
 
 
 filename = os.path.join(

opensfm/test/test_pairs_selection.py

@@ -5,9 +5,10 @@
 
 import numpy as np
 import pytest
-from mapillary.opensfm.opensfm.test import data_generation
+
 from opensfm import commands, dataset, feature_loader, geo, pairs_selection
 from opensfm.dataset_base import DataSetBase
+from opensfm.test import data_generation
 
 
 NEIGHBORS = 6

requirements.txt

@@ -10,7 +10,7 @@ Pillow>=8.1.1
 pyproj>=1.9.5.1
 pytest==3.0.7
 python-dateutil>=2.7
-pyyaml==5.4
+pyyaml>=5.4
 scipy>=1.10.0
 Sphinx==4.2.0
 six