Comments (1)
There is a ceres-based optimizer LineLocEngine
:
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 use the optimizer from Python. You could also just use the point-line joint optimizer (JointLocEngine
) while passing empty lists for point correspondences.
On a higher level, the heart of all our visual localization experiments is the function limap.estimators.pl_estimate_absolute_pose()
:
When
ransac.method
is set to None
in the configs, the localization is done using the optimizer mentioned over the initial pose; otherwise (hybrid) RANSAC is employed to robustly estimate the camera pose (in which case the initial pose is irrelevant). As line correspondences can be noisy, a RANSAC estimation might be preferred. Again, the joint optimization/hybrid RANSAC can be used with only line correspondences by passing empty lists for point correspondences.
We are currently working on documentations to better explain these functionalities in detail :)
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Related Issues (20)
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