Yifan Yu

> Thank you so much for answering my questions so quickly! > > I tried your suggestion and it worked. But the process of "Starting localization with points+lines..." is very,...

Hi, generally you don't need a `.npy` file like that, it is only prepared so it's easier to run the test. The main functionality of point-line localization is implemented in...

Hi, you could get the rendered depth map and retrieval for 7Scenes following instructions here: https://github.com/cvg/Hierarchical-Localization/tree/master/hloc/pipelines/7Scenes Sorry for the inconvenience, this info will be included in the upcoming documentations.

Hi, do you still have error on the `read_npy` call with the latest commit on main branch? You'll need to delete the line matchings folder e.g. `tmp/7scenes/stairs/line_matchings` to use the...

> I have success in python -m pip install -Ive . in my docker(ubuntu20.04) and when I run python -c "import limap" occurs error: > > root@67318b:/home/limap# python -c "import...

Sorry for the late reply. The main function for the hybrid point-line localization is `limap.runners.line_localization` (as in https://github.com/cvg/limap/blob/e15088a41ccca945a32624c470450e46663a05b6/runners/7scenes/localization.py#L156). To use your own data you'll have to prepare the corresponding configs,...

Hi, are you using Ceres 2.2.0 or a version before?

We did not test against Ceres version < 2.0.0. With version 2.0.x and 2.1.x we did not encounter the problem when running multiple estimations. (With 2.2.0 the slow speed is...

There is a ceres-based optimizer `LineLocEngine`: https://github.com/cvg/limap/blob/8450057d6182097b285de6094d68409cfadab37b/limap/optimize/line_localization/lineloc.h#L22 that only takes line correspondences and optimizes the initial camera pose. Take a look at `limap.optimize.line_localization.solve_lineloc()` and `solve_lineloc_merged()` for examples of how to...

Normally this does not happen. Could you provide more details on what data and config are you using?