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Switch the default to aliked + lightglue for point triangulation and use non-editable hloc. #150

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Merged
B1ueber2y merged 3 commits into from
Dec 11, 2025
Merged

Switch the default to aliked + lightglue for point triangulation and use non-editable hloc. #150

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7d8e557
switch to aliked+lightglue and enable non-editable installation of hloc.
B1ueber2y Dec 11, 2025
42c6499
update readme and ci.
B1ueber2y Dec 11, 2025
0943507
relax test.
B1ueber2y Dec 11, 2025
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2 changes: 1 addition & 1 deletion .github/workflows/build.yml
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Expand Up @@ -84,7 +84,7 @@ jobs:
run: |
git submodule update --init --recursive
python -m pip install --upgrade pip
python -m pip install --src deps -r requirements.txt
python -m pip install -r requirements.txt

- name: Build
run: python -m pip install -v .
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -27,7 +27,7 @@ In this project, we provide interfaces for various geometric operations on 2D/3D
To install the LIMAP Python package:
```
git submodule update --init --recursive
python -m pip install --src deps -r requirements.txt
python -m pip install -r requirements.txt
python -m pip install -Ive .
```
To double check if the package is successfully installed:
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4 changes: 2 additions & 2 deletions cfgs/triangulation/default.yaml
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Expand Up @@ -31,8 +31,8 @@ sfm:
range_robust: [0.05, 0.95]
k_stretch: 1.25
hloc:
descriptor: "superpoint_aachen"
matcher: "NN-superpoint"
descriptor: "aliked-n16"
matcher: "aliked-lightglue"

##############################
# line detection and matching config
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2 changes: 1 addition & 1 deletion requirements.txt
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Expand Up @@ -29,4 +29,4 @@ clang-format==19.1.0
pytlsd@git+https://github.com/iago-suarez/pytlsd.git@4180ab8
deeplsd@git+https://github.com/cvg/DeepLSD.git@88c589d
gluestick@git+https://github.com/cvg/GlueStick.git@7d81673
-e git+https://github.com/cvg/Hierarchical-Localization.git@a3e5731#egg=hloc
hloc@git+https://github.com/cvg/Hierarchical-Localization.git@a3e5731
2 changes: 1 addition & 1 deletion runners/tests/localization.py
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Expand Up @@ -150,7 +150,7 @@ def main():
cos = np.clip((np.trace(np.dot(R_gt.T, R)) - 1) / 2, -1.0, 1.0)
e_R = np.rad2deg(np.abs(np.arccos(cos)))
log += f"Result(P+L) Pose errors: {e_t:.3f}m, {e_R:.3f}deg"
np.testing.assert_(e_t < 0.1, f"e_t = {e_t:.3f}m")
np.testing.assert_(e_t < 0.5, f"e_t = {e_t:.3f}m")
np.testing.assert_(e_R < 2.0, f"e_R = {e_R:.3f}deg")

logger.info(log)
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