From e2531ecf3512b2a0284931734044f10309b77a9a Mon Sep 17 00:00:00 2001
From: Shaohui Liu <b1ueber2y@gmail.com>
Date: Tue, 7 Jan 2025 10:46:56 +0100
Subject: [PATCH] Tag numpy 1.26.4 to be compatible with Open3D. Support Python
 3.11 (#114)

* fix open3d issue

* support python 3.11 due to open3d upgrade

* format

* back compatibility for python 3.8

---------

Co-authored-by: Yifan Yu <markyu98@outlook.com>
---
 .github/workflows/build.yml  | 1 +
 README.md                    | 2 +-
 limap/visualize/vis_lines.py | 8 +++++---
 requirements.txt             | 4 ++--
 setup.py                     | 2 +-
 5 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index bc56c074..6fecef17 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -21,6 +21,7 @@ jobs:
           {os: ubuntu-latest, python-version: "3.8"},
           {os: ubuntu-latest, python-version: "3.9"},
           {os: ubuntu-latest, python-version: "3.10"},
+          {os: ubuntu-latest, python-version: "3.11"},
         ]
     env:
       COMPILER_CACHE_VERSION: 1
diff --git a/README.md b/README.md
index 365f0835..97b9bc66 100644
--- a/README.md
+++ b/README.md
@@ -19,7 +19,7 @@ In this project, we provide interfaces for various geometric operations on 2D/3D
 ## Installation
 
 **Install the dependencies as follows:**
-* Python 3.8/9/10
+* Python 3.8/9/10/11
 * CMake >= 3.17
 * CUDA (for deep learning based detectors/matchers)
 * System dependencies [[Command line](./misc/install/dependencies.md)]
diff --git a/limap/visualize/vis_lines.py b/limap/visualize/vis_lines.py
index 67e41e8d..3d548a4c 100644
--- a/limap/visualize/vis_lines.py
+++ b/limap/visualize/vis_lines.py
@@ -85,9 +85,11 @@ def open3d_get_line_set(lines, color=None, ranges=None, scale=1.0):
         counter += 1
         o3d_colors.append(color)
     line_set = o3d.geometry.LineSet()
-    line_set.points = o3d.utility.Vector3dVector(o3d_points)
-    line_set.lines = o3d.utility.Vector2iVector(o3d_lines)
-    line_set.colors = o3d.utility.Vector3dVector(o3d_colors)
+    line_set.points = o3d.utility.Vector3dVector(np.array(o3d_points))
+    line_set.lines = o3d.utility.Vector2iVector(
+        np.array(o3d_lines).astype(np.int32)
+    )
+    line_set.colors = o3d.utility.Vector3dVector(np.array(o3d_colors))
     return line_set
 
 
diff --git a/requirements.txt b/requirements.txt
index 632919ba..96728ceb 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -2,7 +2,6 @@ pyyaml
 tqdm
 attrdict
 h5py
-numpy
 scipy
 matplotlib
 seaborn
@@ -16,11 +15,12 @@ pyvista
 omegaconf
 plyfile
 pathlib
-open3d==0.16.0
 imagesize
 einops
 ninja
 yacs
+numpy<=1.26.4 # Tag numpy 1.26.4 for Open3D issue (https://github.com/numpy/numpy/issues/26853)
+open3d==0.18.0
 pycolmap>=3.11.1
 ruff==0.6.7
 clang-format==19.1.0
diff --git a/setup.py b/setup.py
index 6e18b89a..1ea0e7d4 100644
--- a/setup.py
+++ b/setup.py
@@ -69,7 +69,7 @@ def build_extension(self, ext):
     name="limap",
     version="1.0.0",
     packages=find_packages(),
-    python_requires=">=3.8, < 3.11",
+    python_requires=">=3.8, < 3.12",
     author="Shaohui Liu",
     author_email="b1ueber2y@gmail.com",
     description="A toolbox for mapping and localization with line features",