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• Introduces a new IsotropicNoiseCostFunctionWrapper to scale the BA cost functions with the covariance of the detection noise - this was needed in LaMAR to optimize camera with very different resolution and will be useful in COLMAP in the future.
  • I haven't figured out how to efficiently support a full anisotropic covariance matrix. We don't need it for now so I'll give it a try another time.
• Examples of usage of the pycolmap bindings for BA and PGO: https://github.com/cvg/pyceres/tree/main/examples
• If pyceres is not installed, calling any of these function will result in an error - we don't want to make it a hard dependency yet