记录hloc，limap，pycolmap莫名其妙的错误

• https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/
• https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/

  File "E:\project\hloc\hloc\hloc\utils\parsers.py", line 6, in <module>
    import pycolmap

有可能这个文件有关

pip install pycolmap==3.10.0      无反应，检测不到pycolmap包

pip install pycolmap==3.11.0
pip install pycolmap==3.11.1

AttributeError: 'pycolmap._core.Rigid3d' object has no attribute 'essential_matrix'

pip install pycolmap==3.12.0
pip install pycolmap==3.12.1

Traceback (most recent call last):
  File "E:\project\hloc\hloc\demo.py", line 261, in <module>
    reconstruction = triangulation.main(
  File "E:\project\hloc\hloc\hloc\triangulation.py", line 253, in main
    geometric_verification(
  File "E:\project\hloc\hloc\hloc\triangulation.py", line 173, in geometric_verification
    cam1_from_cam0 = image1.cam_from_world * image0.cam_from_world.inverse()
AttributeError: 'builtin_function_or_method' object has no attribute 'inverse'

这是台式机正常运行hloc的环境
(sfm) C:\Users\25233>pip list
Package                   Version        Editable project location
------------------------- -------------- -------------------------
anyio                     4.4.0
argcomplete               3.6.2
argon2-cffi               23.1.0
argon2-cffi-bindings      21.2.0
arrow                     1.3.0
asttokens                 2.4.1
async-lru                 2.0.4
attrs                     23.2.0
Babel                     2.15.0
beautifulsoup4            4.12.3
bleach                    6.1.0
certifi                   2024.7.4
cffi                      1.16.0
charset-normalizer        3.3.2
colorama                  0.4.6
comm                      0.2.2
conda-pack                0.8.0
contourpy                 1.2.1
cycler                    0.12.1
debugpy                   1.8.2
decorator                 5.1.1
defusedxml                0.7.1
et_xmlfile                2.0.0
evo                       1.31.1
exceptiongroup            1.2.1
executing                 2.0.1
fastjsonschema            2.20.0
filelock                  3.15.4
fonttools                 4.53.0
fqdn                      1.5.1
fsspec                    2024.6.1
gdown                     5.2.0
h11                       0.14.0
h5py                      3.11.0
hloc                      1.5            d:\project\hloc\hloc
httpcore                  1.0.5
httpx                     0.27.0
idna                      3.7
intel-openmp              2021.4.0
ipykernel                 6.29.5
ipython                   8.26.0
ipywidgets                8.1.3
isoduration               20.11.0
jedi                      0.19.1
Jinja2                    3.1.4
json5                     0.9.25
jsonpointer               3.0.0
jsonschema                4.22.0
jsonschema-specifications 2023.12.1
jupyter                   1.0.0
jupyter_client            8.6.2
jupyter-console           6.6.3
jupyter_core              5.7.2
jupyter-events            0.10.0
jupyter-lsp               2.2.5
jupyter_server            2.14.1
jupyter_server_terminals  0.5.3
jupyterlab                4.2.3
jupyterlab_pygments       0.3.0
jupyterlab_server         2.27.2
jupyterlab_widgets        3.0.11
kiwisolver                1.4.5
kornia                    0.7.3
kornia_rs                 0.1.4
lightglue                 0.0
lz4                       4.4.4
MarkupSafe                2.1.5
matplotlib                3.9.0
matplotlib-inline         0.1.7
mistune                   3.0.2
mkl                       2021.4.0
mpmath                    1.3.0
natsort                   8.4.0
nbclient                  0.10.0
nbconvert                 7.16.4
nbformat                  5.10.4
nest-asyncio              1.6.0
networkx                  3.3
notebook                  7.2.1
notebook_shim             0.2.4
numexpr                   2.10.2
numpy                     1.26.4
opencv-python             4.10.0.84
openpyxl                  3.1.5
overrides                 7.7.0
packaging                 24.1
pandas                    2.2.3
pandocfilters             1.5.1
parso                     0.8.4
pillow                    10.4.0
pip                       24.0
platformdirs              4.2.2
plotly                    5.22.0
prometheus_client         0.20.0
prompt_toolkit            3.0.47
psutil                    6.0.0
pure-eval                 0.2.2
pycolmap                  0.6.0
pycparser                 2.22
Pygments                  2.18.0
pyparsing                 3.1.2
PySocks                   1.7.1
python-dateutil           2.9.0.post0
python-json-logger        2.0.7
pytz                      2025.2
pywin32                   306
pywinpty                  2.0.13
PyYAML                    6.0.1
pyzmq                     26.0.3
qtconsole                 5.5.2
QtPy                      2.4.1
referencing               0.35.1
requests                  2.32.3
rfc3339-validator         0.1.4
rfc3986-validator         0.1.1
rosbags                   0.10.10
rpds-py                   0.18.1
ruamel.yaml               0.18.11
ruamel.yaml.clib          0.2.12
scipy                     1.14.0
seaborn                   0.13.2
Send2Trash                1.8.3
setuptools                70.1.1
six                       1.16.0
sniffio                   1.3.1
soupsieve                 2.5
stack-data                0.6.3
sympy                     1.12.1
tbb                       2021.13.0
tenacity                  8.4.2
terminado                 0.18.1
tinycss2                  1.3.0
tomli                     2.0.1
torch                     2.3.1+cu121
torchaudio                2.3.1+cu121
torchvision               0.18.1+cu121
tornado                   6.4.1
tqdm                      4.66.4
traitlets                 5.14.3
types-python-dateutil     2.9.0.20240316
typing_extensions         4.12.2
tzdata                    2025.2
uri-template              1.3.0
urllib3                   2.2.2
wcwidth                   0.2.13
webcolors                 24.6.0
webencodings              0.5.1
websocket-client          1.8.0
wheel                     0.43.0
widgetsnbextension        4.0.11
zstandard                 0.23.0