Improve naming of localization and triangulation utilities (#97)

limap/_limap/bindings.cc

@@ -45,7 +45,7 @@ void bind_features(py::module &);
 namespace limap {
 
 PYBIND11_MODULE(_limap, m) {
-  m.doc() = "Multi-view Line Triangulation and Refinement";
+  m.doc() = "A toolbox for mapping and localization with line features";
 #ifdef VERSION_INFO
   m.attr("__version__") = py::str(VERSION_INFO);
 #else

limap/estimators/absolute_pose/hybrid_pose_estimator.cc

@@ -1,15 +1,15 @@
 #include "estimators/absolute_pose/hybrid_pose_estimator.h"
 #include "estimators/absolute_pose/pl_absolute_pose_hybrid_ransac.h"
 #include "estimators/absolute_pose/pl_absolute_pose_ransac.h"
-#include "optimize/line_localization/cost_functions.h"
+#include "optimize/hybrid_localization/cost_functions.h"
 
 namespace limap {
 
 namespace estimators {
 
 namespace absolute_pose {
 
-namespace lineloc = optimize::line_localization;
+namespace hybridloc = optimize::hybrid_localization;
 
 std::pair<CameraPose, ransac_lib::HybridRansacStatistics>
 EstimateAbsolutePose_PointLine_Hybrid(

limap/estimators/absolute_pose/hybrid_pose_estimator.h

@@ -6,14 +6,14 @@
 #include "base/linetrack.h"
 #include "estimators/absolute_pose/joint_pose_estimator.h"
 #include "estimators/extended_hybrid_ransac.h"
-#include "optimize/line_localization/lineloc.h"
+#include "optimize/hybrid_localization/hybrid_localization.h"
 #include "util/types.h"
 
 #include <RansacLib/ransac.h>
 
 namespace limap {
 
-using namespace optimize::line_localization;
+using namespace optimize::hybrid_localization;
 
 namespace estimators {
 

limap/estimators/absolute_pose/joint_pose_estimator.cc

@@ -4,7 +4,7 @@
 #include "ceresbase/line_projection.h"
 #include "ceresbase/point_projection.h"
 #include "estimators/absolute_pose/pl_absolute_pose_ransac.h"
-#include "optimize/line_localization/cost_functions.h"
+#include "optimize/hybrid_localization/cost_functions.h"
 
 #include <PoseLib/camera_pose.h>
 #include <PoseLib/solvers/p1p2ll.h>
@@ -18,7 +18,7 @@ namespace estimators {
 
 namespace absolute_pose {
 
-namespace lineloc = optimize::line_localization;
+namespace hybridloc = optimize::hybrid_localization;
 
 std::pair<CameraPose, ransac_lib::RansacStatistics>
 EstimateAbsolutePose_PointLine(const std::vector<Line3d> &l3ds,
@@ -60,7 +60,7 @@ JointPoseEstimator::JointPoseEstimator(
     const std::vector<Line3d> &l3ds, const std::vector<int> &l3d_ids,
     const std::vector<Line2d> &l2ds, const std::vector<V3D> &p3ds,
     const std::vector<V2D> &p2ds, const Camera &cam,
-    const lineloc::LineLocConfig &cfg, const double cheirality_min_depth,
+    const hybridloc::LineLocConfig &cfg, const double cheirality_min_depth,
     const double cheirality_overlap_pixels)
     : loc_config_(cfg), cheirality_min_depth_(cheirality_min_depth),
       cheirality_overlap_pixels_(cheirality_overlap_pixels) {
@@ -182,8 +182,8 @@ double JointPoseEstimator::EvaluateModelOnPoint(const CameraPose &pose,
     bool cheirality = cheirality_test_point(p3ds_->at(i), pose);
     if (!cheirality)
       return std::numeric_limits<double>::max();
-    lineloc::ReprojectionPointFunctor(p3ds_->at(i), p2ds_->at(i),
-                                      loc_config_.points_3d_dist)(
+    hybridloc::ReprojectionPointFunctor(p3ds_->at(i), p2ds_->at(i),
+                                        loc_config_.points_3d_dist)(
         cam_.Params().data(), pose.qvec.data(), pose.tvec.data(), res);
     return V2D(res[0], res[1]).squaredNorm();
   } else {
@@ -193,8 +193,8 @@ double JointPoseEstimator::EvaluateModelOnPoint(const CameraPose &pose,
     bool cheirality = cheirality_test_line(l2ds_->at(i), l3d, pose);
     if (!cheirality)
       return std::numeric_limits<double>::max();
-    lineloc::ReprojectionLineFunctor(loc_config_.cost_function, ENoneWeight,
-                                     l3d, l2ds_->at(i))(
+    hybridloc::ReprojectionLineFunctor(loc_config_.cost_function, ENoneWeight,
+                                       l3d, l2ds_->at(i))(
         cam_.Params().data(), pose.qvec.data(), pose.tvec.data(), res);
     if (getResidualNum(loc_config_.cost_function) == 2) {
       return V2D(res[0], res[1]).squaredNorm();

limap/estimators/absolute_pose/joint_pose_estimator.h

@@ -4,14 +4,14 @@
 #include "_limap/helpers.h"
 #include "base/camera.h"
 #include "base/linetrack.h"
-#include "optimize/line_localization/lineloc.h"
+#include "optimize/hybrid_localization/hybrid_localization.h"
 #include "util/types.h"
 
 #include <RansacLib/ransac.h>
 
 namespace limap {
 
-using namespace optimize::line_localization;
+using namespace optimize::hybrid_localization;
 
 namespace estimators {
 

limap/optimize/CMakeLists.txt

@@ -3,7 +3,7 @@ set(FOLDER_NAME "optimize")
 add_subdirectory(line_refinement)
 add_subdirectory(hybrid_bundle_adjustment)
 add_subdirectory(global_pl_association)
-add_subdirectory(line_localization)
+add_subdirectory(hybrid_localization)
 
 LIMAP_ADD_SOURCES(
     bindings.cc

limap/optimize/__init__.py

@@ -7,7 +7,7 @@
     solve_line_bundle_adjustment,
     solve_point_bundle_adjustment,
 )
-from .line_localization import (
+from .hybrid_localization import (
     get_lineloc_cost_func,
     get_lineloc_weight_func,
     solve_jointloc,

limap/optimize/bindings.cc

@@ -9,7 +9,7 @@
 
 #include "optimize/global_pl_association/bindings.cc"
 #include "optimize/hybrid_bundle_adjustment/bindings.cc"
-#include "optimize/line_localization/bindings.cc"
+#include "optimize/hybrid_localization/bindings.cc"
 #include "optimize/line_refinement/bindings.cc"
 
 namespace py = pybind11;
@@ -19,13 +19,13 @@ namespace limap {
 void bind_line_refinement(py::module &m);
 void bind_hybrid_bundle_adjustment(py::module &m);
 void bind_global_pl_association(py::module &m);
-void bind_line_localization(py::module &m);
+void bind_hybrid_localization(py::module &m);
 
 void bind_optimize(py::module &m) {
   bind_line_refinement(m);
   bind_hybrid_bundle_adjustment(m);
   bind_global_pl_association(m);
-  bind_line_localization(m);
+  bind_hybrid_localization(m);
 }
 
 } // namespace limap

limap/optimize/hybrid_localization/CMakeLists.txt

@@ -0,0 +1,9 @@
+set(FOLDER_NAME "hybrid_localization")
+
+LIMAP_ADD_SOURCES(
+    bindings.cc
+    cost_functions.h
+    hybrid_localization.h hybrid_localization.cc
+    hybrid_localization_config.h
+)
+

limap/optimize/line_localization/bindings.cc → limap/optimize/hybrid_localization/bindings.cc

@@ -7,15 +7,15 @@
 #include <Eigen/Core>
 #include <vector>
 
-#include "optimize/line_localization/lineloc.h"
-#include "optimize/line_localization/lineloc_config.h"
+#include "optimize/hybrid_localization/hybrid_localization.h"
+#include "optimize/hybrid_localization/hybrid_localization_config.h"
 
 namespace py = pybind11;
 
 namespace limap {
 
 void bind_lineloc_engine(py::module &m) {
-  using namespace optimize::line_localization;
+  using namespace optimize::hybrid_localization;
 
   using LocEngine = LineLocEngine;
   using JointEngine = JointLocEngine;
@@ -63,8 +63,8 @@ void bind_lineloc_engine(py::module &m) {
       .def("GetFinalCost", &JointEngine::GetFinalCost);
 }
 
-void bind_line_localization(py::module &m) {
-  using namespace optimize::line_localization;
+void bind_hybrid_localization(py::module &m) {
+  using namespace optimize::hybrid_localization;
 
   py::enum_<LineLocCostFunction>(m, "LineLocCostFunction")
       .value("E2DMidpointDist2", LineLocCostFunction::E2DMidpointDist2)

limap/optimize/line_localization/cost_functions.h → limap/optimize/hybrid_localization/cost_functions.h

@@ -1,5 +1,5 @@
-#ifndef LIMAP_OPTIMIZE_LINE_LOCALIZATION_COST_FUNCTIONS_H_
-#define LIMAP_OPTIMIZE_LINE_LOCALIZATION_COST_FUNCTIONS_H_
+#ifndef LIMAP_OPTIMIZE_HYBRID_LOCALIZATION_COST_FUNCTIONS_H_
+#define LIMAP_OPTIMIZE_HYBRID_LOCALIZATION_COST_FUNCTIONS_H_
 
 #include "_limap/helpers.h"
 #include <pybind11/numpy.h>
@@ -14,15 +14,15 @@
 #include "ceresbase/point_projection.h"
 #include <ceres/ceres.h>
 
-#include "optimize/line_localization/lineloc_config.h"
+#include "optimize/hybrid_localization/hybrid_localization_config.h"
 
 namespace py = pybind11;
 
 namespace limap {
 
 namespace optimize {
 
-namespace line_localization {
+namespace hybrid_localization {
 
 ////////////////////////////////////////////////////////////
 // 2D Weights and Line Dists
@@ -347,7 +347,7 @@ struct ReprojectionPointFunctor {
   bool use_3d_dist_;
 };
 
-} // namespace line_localization
+} // namespace hybrid_localization
 
 } // namespace optimize
 

limap/optimize/line_localization/lineloc.cc → limap/optimize/hybrid_localization/hybrid_localization.cc

@@ -1,6 +1,6 @@
-#include "optimize/line_localization/lineloc.h"
+#include "optimize/hybrid_localization/hybrid_localization.h"
 #include "ceresbase/parameterization.h"
-#include "optimize/line_localization/cost_functions.h"
+#include "optimize/hybrid_localization/cost_functions.h"
 
 #include <colmap/optim/bundle_adjustment.h>
 #include <colmap/util/logging.h>
@@ -11,7 +11,7 @@ namespace limap {
 
 namespace optimize {
 
-namespace line_localization {
+namespace hybrid_localization {
 
 void LineLocEngine::ParameterizeCamera() {
   double *kvec_data = cam.Params().data();
@@ -134,7 +134,7 @@ void JointLocEngine::AddResiduals() {
   }
 }
 
-} // namespace line_localization
+} // namespace hybrid_localization
 
 } // namespace optimize
 

limap/optimize/line_localization/lineloc.h → limap/optimize/hybrid_localization/hybrid_localization.h

@@ -1,5 +1,5 @@
-#ifndef LIMAP_OPTIMIZE_LINE_LOCALIZATION_LINELOC_H_
-#define LIMAP_OPTIMIZE_LINE_LOCALIZATION_LINELOC_H_
+#ifndef LIMAP_OPTIMIZE_HYBRID_LOCALIZATION_HYBRID_LOCALIZATION_H_
+#define LIMAP_OPTIMIZE_HYBRID_LOCALIZATION_HYBRID_LOCALIZATION_H_
 
 #include "_limap/helpers.h"
 #include <pybind11/numpy.h>
@@ -8,7 +8,7 @@
 #include "util/types.h"
 
 #include "base/linebase.h"
-#include "optimize/line_localization/lineloc_config.h"
+#include "optimize/hybrid_localization/hybrid_localization_config.h"
 #include <ceres/ceres.h>
 
 namespace py = pybind11;
@@ -17,7 +17,7 @@ namespace limap {
 
 namespace optimize {
 
-namespace line_localization {
+namespace hybrid_localization {
 
 class LineLocEngine {
 protected:
@@ -126,7 +126,7 @@ class JointLocEngine : public LineLocEngine {
   }
 };
 
-} // namespace line_localization
+} // namespace hybrid_localization
 
 } // namespace optimize
 

limap/optimize/line_localization/lineloc_config.h → limap/optimize/hybrid_localization/hybrid_localization_config.h

@@ -1,5 +1,5 @@
-#ifndef LIMAP_OPTIMIZE_LINE_LOCALIZATION_LINELOC_CONFIG_H_
-#define LIMAP_OPTIMIZE_LINE_LOCALIZATION_LINELOC_CONFIG_H_
+#ifndef LIMAP_OPTIMIZE_HYBRID_LOCALIZATION_HYBRID_LOCALIZATION_CONFIG_H_
+#define LIMAP_OPTIMIZE_HYBRID_LOCALIZATION_HYBRID_LOCALIZATION_CONFIG_H_
 
 #include "_limap/helpers.h"
 #include <pybind11/numpy.h>
@@ -14,7 +14,7 @@ namespace limap {
 
 namespace optimize {
 
-namespace line_localization {
+namespace hybrid_localization {
 
 enum LineLocCostFunction {
   E2DMidpointDist2,
@@ -78,7 +78,7 @@ class LineLocConfig {
   std::shared_ptr<ceres::LossFunction> loss_function;
 };
 
-} // namespace line_localization
+} // namespace hybrid_localization
 
 } // namespace optimize
 

limap/runners/__init__.py

@@ -7,17 +7,17 @@
     undistort_images,
 )
 from .functions_structures import compute_2d_bipartites_from_colmap
+from .hybrid_localization import (
+    get_hloc_keypoints,
+    get_hloc_keypoints_from_log,
+    hybrid_localization,
+)
 from .line_fitnmerge import (
     fit_3d_segs,
     fit_3d_segs_with_points3d,
     line_fitnmerge,
     line_fitting_with_points3d,
 )
-from .line_localization import (
-    get_hloc_keypoints,
-    get_hloc_keypoints_from_log,
-    line_localization,
-)
 from .line_triangulation import line_triangulation
 
 __all__ = [
@@ -34,6 +34,6 @@
     "line_fitting_with_points3d",
     "get_hloc_keypoints",
     "get_hloc_keypoints_from_log",
-    "line_localization",
+    "hybrid_localization",
     "line_triangulation",
 ]

limap/runners/line_localization.py → limap/runners/hybrid_localization.py

@@ -11,7 +11,7 @@
 import limap.line2d
 import limap.runners as runners
 import limap.util.io as limapio
-from limap.optimize.line_localization.functions import (
+from limap.optimize.hybrid_localization.functions import (
     filter_line_2to2_epipolarIoU,
     get_reprojection_dist_func,
     match_line_2to2_epipolarIoU,
@@ -91,7 +91,7 @@ def get_hloc_keypoints_from_log(
     return p2ds, p3ds, inliers
 
 
-def line_localization(
+def hybrid_localization(
     cfg,
     imagecols_db,
     imagecols_query,