Do you have any plan to release multi-view version?

[KHuang724]

Thank you to release the impressive work! But there is a problem that this code only consider the case that solve pnp problem with a certain query image and a certain source image.
But more generally, pnp problem might be 1 query image and many candidate images, each of which is able to index their own 3d points. In my point of view, a query image can achieve a higher accuracy when it solve pnp problem with more candidate image. So do you have any plan to release multi-view version in the future time?

[germain-hug]

Hi and thanks for your interest!
The code is indeed designed for single-query relocalization, however you are free to retrieve more candidate images, merge their visible 3D points and run PnP against that cluster for increased accuracy. Note that this may increase your chances however of falling in local minima.

[KHuang724]

Thank you for replying!
And no problem, I may modify it in the next few weeks. If so, I will report the performance here with my datasets.