Hierarchical-Localization
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How to generate a database
colmap will have a database.db database, can your algorithm generate it
from hloc.utils.database import COLMAPDatabase
db = COLMAPDatabase.connect(database)
More details: https://github.com/cvg/Hierarchical-Localization/blob/e3e953f4db00c3b9b14951482349d5ddd9424452/hloc/triangulation.py#L36-L61