From db577c7f54df375d184f0b24529e056dfb5aff0d Mon Sep 17 00:00:00 2001 From: Phil26AT Date: Sat, 13 Sep 2025 10:02:10 +0200 Subject: [PATCH] Handle empty points in localizer --- hloc/localize_sfm.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/hloc/localize_sfm.py b/hloc/localize_sfm.py index eac419ba..e9d345ed 100644 --- a/hloc/localize_sfm.py +++ b/hloc/localize_sfm.py @@ -58,6 +58,8 @@ def __init__(self, reconstruction, config=None): def localize(self, points2D_all, points2D_idxs, points3D_id, query_camera): points2D = points2D_all[points2D_idxs] points3D = [self.reconstruction.points3D[j].xyz for j in points3D_id] + if points2D.shape[0] == 0: + return None ret = pycolmap.estimate_and_refine_absolute_pose( points2D, points3D,