Hybrid Localization with Points and Lines

[MINJEEgi]

Hello, I would like to run my data through your LIMAP. I'm interested in changing the INPUT of the 'Hybrid Localization with Points and Lines' code to our data instead of using 7Scense. Could you let me know what's needed for that? It would be really appreciated!

[MarkYu98]

Sorry for the late reply. The main function for the hybrid point-line localization is limap.runners.line_localization (as in

limap/runners/7scenes/localization.py

Line 156 in e15088a

final_poses = _runners.line_localization(

). To use your own data you'll have to prepare the corresponding configs, ImageCollection, and point and line correspondences etc. You can reference the script https://github.com/cvg/limap/blob/main/runners/7scenes/localization.py to see how these data should be provided to the function.

[MINJEEgi]

Thank you for your reply. I have an additional question regarding the depth map usage mentioned in the paper. The paper discusses using depth maps like those from RGB-D images. Can I choose between using depth images directly or generating depth maps through structure from motion (SfM) methods like COLMAP? Is there any code available that uses only depth images and RGB image data, without relying on COLMAP for depth map generation?

In summary, I want to do E. Line Reconstruction given Depth Maps from the paper.

The readme mentions a "Using auxiliary depth maps" section, which is customized for the Hyperism dataset. In the "Localization with points&lines" section, there's an option to use --use_dense_depth. It also requires running hloc. Is hloc only needed for evaluation? When I run this code with --use_dense_depth, am I correctly using only the depth image? Or should i use fitnmerge.py using ETH3D format or ScanNet format?