Copilot Instructions

Repository Overview

This repository provides Python bindings for the easySBA sparse bundle adjustment C library, using pybind11.

src/ – Original C/C++ sources for the easySBA library and the license.
easysba/ – Python package: __init__.py re-exports easy_sba from the compiled pybind11 extension (_easysba.cpp).
tests/ – unittest-based test suite run with pytest.
docs/ – Usage documentation (USAGE.md).
pyproject.toml / setup.py – Build configuration (setuptools + pybind11 C extension, cibuildwheel for wheels).

Python 3.11+
C/C++ toolchain
BLAS/LAPACK development libraries (e.g. libblas-dev, liblapack-dev, liblapacke-dev)
Python packages: numpy, pybind11, setuptools, wheel

On Ubuntu/Debian:

sudo apt-get install -y build-essential libblas-dev liblapack-dev liblapacke-dev gfortran

Install the package locally (editable or regular):

pip install -v .
# or with uv
uv pip install -v .

pytest

Tests that actually run the SBA solver require the environment variable EASYSBA_RUN_SOLVER=1:

EASYSBA_RUN_SOLVER=1 pytest

Python code follows standard PEP 8 conventions.
C/C++ code in src/ and easysba/_easysba.cpp follows the style of the existing sources.
Tests live in tests/ and use unittest.TestCase classes, discovered and run via pytest.
Keep the public Python API minimal: easysba.easy_sba(...) is the single entry point.

File	Purpose
`easysba/_easysba.cpp`	pybind11 binding: wraps the C `easy_sba` function
`easysba/__init__.py`	Re-exports `easy_sba` for the public package API
`src/sba_levmar.c`	Core Levenberg-Marquardt SBA implementation
`tests/test_smoke.py`	Smoke tests (import check + optional solver run)
`tests/test_sba_steps.py`	Step-by-step SBA tests
`pyproject.toml`	Build system and cibuildwheel configuration