diff --git a/limap/_limap/bindings.cc b/limap/_limap/bindings.cc
index 0b054b29..daa7425e 100644
--- a/limap/_limap/bindings.cc
+++ b/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
diff --git a/limap/estimators/absolute_pose/hybrid_pose_estimator.cc b/limap/estimators/absolute_pose/hybrid_pose_estimator.cc
index e9beb631..bd2010af 100644
--- a/limap/estimators/absolute_pose/hybrid_pose_estimator.cc
+++ b/limap/estimators/absolute_pose/hybrid_pose_estimator.cc
@@ -1,7 +1,7 @@
 #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 {
 
@@ -9,7 +9,7 @@ namespace estimators {
 
 namespace absolute_pose {
 
-namespace lineloc = optimize::line_localization;
+namespace hybridloc = optimize::hybrid_localization;
 
 std::pair<CameraPose, ransac_lib::HybridRansacStatistics>
 EstimateAbsolutePose_PointLine_Hybrid(
diff --git a/limap/estimators/absolute_pose/hybrid_pose_estimator.h b/limap/estimators/absolute_pose/hybrid_pose_estimator.h
index f92aae6e..45f1b7ee 100644
--- a/limap/estimators/absolute_pose/hybrid_pose_estimator.h
+++ b/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 {
 
diff --git a/limap/estimators/absolute_pose/joint_pose_estimator.cc b/limap/estimators/absolute_pose/joint_pose_estimator.cc
index 87860372..16d4ab2b 100644
--- a/limap/estimators/absolute_pose/joint_pose_estimator.cc
+++ b/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();
diff --git a/limap/estimators/absolute_pose/joint_pose_estimator.h b/limap/estimators/absolute_pose/joint_pose_estimator.h
index 2b47f2c9..2aa41987 100644
--- a/limap/estimators/absolute_pose/joint_pose_estimator.h
+++ b/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 {
 
diff --git a/limap/optimize/CMakeLists.txt b/limap/optimize/CMakeLists.txt
index b75e44fb..e7d4137a 100644
--- a/limap/optimize/CMakeLists.txt
+++ b/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
diff --git a/limap/optimize/__init__.py b/limap/optimize/__init__.py
index 98c6f19e..d3a1c7fc 100644
--- a/limap/optimize/__init__.py
+++ b/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,
diff --git a/limap/optimize/bindings.cc b/limap/optimize/bindings.cc
index 2b23bc6c..61caed00 100644
--- a/limap/optimize/bindings.cc
+++ b/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
diff --git a/limap/optimize/hybrid_localization/CMakeLists.txt b/limap/optimize/hybrid_localization/CMakeLists.txt
new file mode 100644
index 00000000..95038e81
--- /dev/null
+++ b/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
+)
+
diff --git a/limap/optimize/line_localization/__init__.py b/limap/optimize/hybrid_localization/__init__.py
similarity index 100%
rename from limap/optimize/line_localization/__init__.py
rename to limap/optimize/hybrid_localization/__init__.py
diff --git a/limap/optimize/line_localization/bindings.cc b/limap/optimize/hybrid_localization/bindings.cc
similarity index 93%
rename from limap/optimize/line_localization/bindings.cc
rename to limap/optimize/hybrid_localization/bindings.cc
index aa0fe912..a617bd33 100644
--- a/limap/optimize/line_localization/bindings.cc
+++ b/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)
diff --git a/limap/optimize/line_localization/cost_functions.h b/limap/optimize/hybrid_localization/cost_functions.h
similarity index 97%
rename from limap/optimize/line_localization/cost_functions.h
rename to limap/optimize/hybrid_localization/cost_functions.h
index e91d8ba4..930aad48 100644
--- a/limap/optimize/line_localization/cost_functions.h
+++ b/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>
@@ -14,7 +14,7 @@
 #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;
 
@@ -22,7 +22,7 @@ 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
 
diff --git a/limap/optimize/line_localization/functions.py b/limap/optimize/hybrid_localization/functions.py
similarity index 100%
rename from limap/optimize/line_localization/functions.py
rename to limap/optimize/hybrid_localization/functions.py
diff --git a/limap/optimize/line_localization/lineloc.cc b/limap/optimize/hybrid_localization/hybrid_localization.cc
similarity index 96%
rename from limap/optimize/line_localization/lineloc.cc
rename to limap/optimize/hybrid_localization/hybrid_localization.cc
index d56cf256..ac209018 100644
--- a/limap/optimize/line_localization/lineloc.cc
+++ b/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
 
diff --git a/limap/optimize/line_localization/lineloc.h b/limap/optimize/hybrid_localization/hybrid_localization.h
similarity index 93%
rename from limap/optimize/line_localization/lineloc.h
rename to limap/optimize/hybrid_localization/hybrid_localization.h
index 37d5a00e..ff5fcfec 100644
--- a/limap/optimize/line_localization/lineloc.h
+++ b/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
 
diff --git a/limap/optimize/line_localization/lineloc_config.h b/limap/optimize/hybrid_localization/hybrid_localization_config.h
similarity index 91%
rename from limap/optimize/line_localization/lineloc_config.h
rename to limap/optimize/hybrid_localization/hybrid_localization_config.h
index b1d6b08d..3118bdf3 100644
--- a/limap/optimize/line_localization/lineloc_config.h
+++ b/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
 
diff --git a/limap/optimize/line_localization/solve.py b/limap/optimize/hybrid_localization/solve.py
similarity index 100%
rename from limap/optimize/line_localization/solve.py
rename to limap/optimize/hybrid_localization/solve.py
diff --git a/limap/optimize/line_localization/CMakeLists.txt b/limap/optimize/line_localization/CMakeLists.txt
deleted file mode 100644
index ead199f1..00000000
--- a/limap/optimize/line_localization/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-set(FOLDER_NAME "line_localization")
-
-LIMAP_ADD_SOURCES(
-    bindings.cc
-    cost_functions.h
-    lineloc.h lineloc.cc
-    lineloc_config.h
-)
-
diff --git a/limap/runners/__init__.py b/limap/runners/__init__.py
index 9932a6e4..7728e3b7 100644
--- a/limap/runners/__init__.py
+++ b/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",
 ]
diff --git a/limap/runners/line_localization.py b/limap/runners/hybrid_localization.py
similarity index 99%
rename from limap/runners/line_localization.py
rename to limap/runners/hybrid_localization.py
index b83d810f..02c0baec 100644
--- a/limap/runners/line_localization.py
+++ b/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,
diff --git a/limap/triangulation/__init__.py b/limap/triangulation/__init__.py
index 4f83dfc2..8295dce8 100644
--- a/limap/triangulation/__init__.py
+++ b/limap/triangulation/__init__.py
@@ -7,11 +7,11 @@
     compute_fundamental_matrix,
     get_direction_from_VP,
     get_normal_direction,
-    point_triangulation,
-    triangulate,
-    triangulate_endpoints,
-    triangulate_with_direction,
-    triangulate_with_one_point,
+    triangulate_line,
+    triangulate_line_by_endpoints,
+    triangulate_line_with_direction,
+    triangulate_line_with_one_point,
+    triangulate_point,
 )
 
 __all__ = [n for n in _triangulation.__dict__ if not n.startswith("_")] + [
@@ -20,9 +20,9 @@
     "compute_essential_matrix",
     "compute_fundamental_matrix",
     "compute_epipolar_IoU",
-    "point_triangulation",
-    "triangulate_endpoints",
-    "triangulate",
-    "triangulate_with_one_point",
-    "triangulate_with_direction",
+    "triangulate_point",
+    "triangulate_line_by_endpoints",
+    "triangulate_line",
+    "triangulate_line_with_one_point",
+    "triangulate_line_with_direction",
 ]
diff --git a/limap/triangulation/base_line_triangulator.cc b/limap/triangulation/base_line_triangulator.cc
index 5d7b450a..30996cc3 100644
--- a/limap/triangulation/base_line_triangulator.cc
+++ b/limap/triangulation/base_line_triangulator.cc
@@ -183,8 +183,8 @@ void BaseLineTriangulator::triangulateOneNode(const int img_id,
       std::vector<V3D> points;
       for (auto it = points_info.begin(); it != points_info.end(); ++it) {
         if (sfm_points_.empty()) {
-          auto res = point_triangulation(it->second.first, view1,
-                                         it->second.second, view2);
+          auto res = triangulate_point(it->second.first, view1,
+                                       it->second.second, view2);
           if (res.second)
             points.push_back(res.first);
         } else
@@ -208,7 +208,7 @@ void BaseLineTriangulator::triangulateOneNode(const int img_id,
         Eigen::JacobiSVD<Eigen::MatrixXd> svd(epoints, Eigen::ComputeThinV);
         V3D direc = svd.matrixV().col(0).normalized();
         InfiniteLine3d inf_line = InfiniteLine3d(center, direc);
-        Line3d line = triangulate_with_infinite_line(l1, view1, inf_line);
+        Line3d line = triangulate_line_with_infinite_line(l1, view1, inf_line);
         if (line.score > 0) {
           double u1 = line.computeUncertainty(view1, config_.var2d);
           double u2 = line.computeUncertainty(view2, config_.var2d);
@@ -221,7 +221,8 @@ void BaseLineTriangulator::triangulateOneNode(const int img_id,
       // Step 1.2 one point triangulation
       if (!config_.disable_one_point_triangulation && !points.empty()) {
         for (const V3D &p : points) {
-          Line3d line = triangulate_with_one_point(l1, view1, l2, view2, p);
+          Line3d line =
+              triangulate_line_with_one_point(l1, view1, l2, view2, p);
           if (line.score > 0) {
             double u1 = line.computeUncertainty(view1, config_.var2d);
             double u2 = line.computeUncertainty(view2, config_.var2d);
@@ -239,7 +240,8 @@ void BaseLineTriangulator::triangulateOneNode(const int img_id,
       if (vpresults_[img_id].HasVP(line_id)) {
         V3D direc =
             getDirectionFromVP(vpresults_[img_id].GetVP(line_id), view1);
-        Line3d line = triangulate_with_direction(l1, view1, l2, view2, direc);
+        Line3d line =
+            triangulate_line_with_direction(l1, view1, l2, view2, direc);
         if (line.score > 0) {
           double u1 = line.computeUncertainty(view1, config_.var2d);
           double u2 = line.computeUncertainty(view2, config_.var2d);
@@ -252,7 +254,8 @@ void BaseLineTriangulator::triangulateOneNode(const int img_id,
       if (vpresults_[ng_img_id].HasVP(ng_line_id)) {
         V3D direc =
             getDirectionFromVP(vpresults_[ng_img_id].GetVP(ng_line_id), view1);
-        Line3d line = triangulate_with_direction(l1, view1, l2, view2, direc);
+        Line3d line =
+            triangulate_line_with_direction(l1, view1, l2, view2, direc);
         if (line.score > 0) {
           double u1 = line.computeUncertainty(view1, config_.var2d);
           double u2 = line.computeUncertainty(view2, config_.var2d);
@@ -285,9 +288,9 @@ void BaseLineTriangulator::triangulateOneNode(const int img_id,
       // triangulation with weak epipolar constraints test
       Line3d line;
       if (!config_.use_endpoints_triangulation)
-        line = triangulate(l1, view1, l2, view2);
+        line = triangulate_line(l1, view1, l2, view2);
       else
-        line = triangulate_endpoints(l1, view1, l2, view2);
+        line = triangulate_line_by_endpoints(l1, view1, l2, view2);
       if (line.sensitivity(view1) > config_.sensitivity_threshold &&
           line.sensitivity(view2) > config_.sensitivity_threshold)
         line.score = -1;
diff --git a/limap/triangulation/bindings.cc b/limap/triangulation/bindings.cc
index c8fd90ff..a41b976c 100644
--- a/limap/triangulation/bindings.cc
+++ b/limap/triangulation/bindings.cc
@@ -24,11 +24,11 @@ void bind_functions(py::module &m) {
   m.def("compute_essential_matrix", &compute_essential_matrix);
   m.def("compute_fundamental_matrix", &compute_fundamental_matrix);
   m.def("compute_epipolar_IoU", &compute_epipolar_IoU);
-  m.def("point_triangulation", &point_triangulation);
-  m.def("triangulate_endpoints", &triangulate_endpoints);
-  m.def("triangulate", &triangulate);
-  m.def("triangulate_with_one_point", &triangulate_with_one_point);
-  m.def("triangulate_with_direction", &triangulate_with_direction);
+  m.def("triangulate_point", &triangulate_point);
+  m.def("triangulate_line_by_endpoints", &triangulate_line_by_endpoints);
+  m.def("triangulate_line", &triangulate_line);
+  m.def("triangulate_line_with_one_point", &triangulate_line_with_one_point);
+  m.def("triangulate_line_with_direction", &triangulate_line_with_direction);
 }
 
 void bind_triangulator(py::module &m) {
diff --git a/limap/triangulation/functions.cc b/limap/triangulation/functions.cc
index 9764eaae..a48ad815 100644
--- a/limap/triangulation/functions.cc
+++ b/limap/triangulation/functions.cc
@@ -97,9 +97,8 @@ double compute_epipolar_IoU(const Line2d &l1, const CameraView &view1,
   return IoU;
 }
 
-std::pair<V3D, bool> point_triangulation(const V2D &p1, const CameraView &view1,
-                                         const V2D &p2,
-                                         const CameraView &view2) {
+std::pair<V3D, bool> triangulate_point(const V2D &p1, const CameraView &view1,
+                                       const V2D &p2, const CameraView &view2) {
   V3D C1 = view1.pose.center();
   V3D C2 = view2.pose.center();
   V3D n1e = view1.ray_direction(p1);
@@ -170,15 +169,16 @@ M3D point_triangulation_covariance(const V2D &p1, const CameraView &view1,
 }
 
 // Triangulating endpoints for triangulation
-Line3d triangulate_endpoints(const Line2d &l1, const CameraView &view1,
-                             const Line2d &l2, const CameraView &view2) {
+Line3d triangulate_line_by_endpoints(const Line2d &l1, const CameraView &view1,
+                                     const Line2d &l2,
+                                     const CameraView &view2) {
   // start point
-  auto res_start = point_triangulation(l1.start, view1, l2.start, view2);
+  auto res_start = triangulate_point(l1.start, view1, l2.start, view2);
   if (!res_start.second)
     return Line3d(V3D(0, 0, 0), V3D(1, 1, 1), -1.0);
   V3D pstart = res_start.first;
   // end point
-  auto res_end = point_triangulation(l1.end, view1, l2.end, view2);
+  auto res_end = triangulate_point(l1.end, view1, l2.end, view2);
   if (!res_end.second)
     return Line3d(V3D(0, 0, 0), V3D(1, 1, 1), -1.0);
   V3D pend = res_end.first;
@@ -292,8 +292,8 @@ M6D line_triangulation_covariance(const Line2d &l1, const CameraView &view1,
 }
 
 // Algebraic line triangulation
-Line3d triangulate(const Line2d &l1, const CameraView &view1, const Line2d &l2,
-                   const CameraView &view2) {
+Line3d triangulate_line(const Line2d &l1, const CameraView &view1,
+                        const Line2d &l2, const CameraView &view2) {
   // triangulate line
   auto res = line_triangulation(l1, view1, l2, view2);
   if (!res.second)
@@ -303,8 +303,9 @@ Line3d triangulate(const Line2d &l1, const CameraView &view1, const Line2d &l2,
 }
 
 // unproject endpoints with known infinite line
-Line3d triangulate_with_infinite_line(const Line2d &l1, const CameraView &view1,
-                                      const InfiniteLine3d &inf_line) {
+Line3d triangulate_line_with_infinite_line(const Line2d &l1,
+                                           const CameraView &view1,
+                                           const InfiniteLine3d &inf_line) {
   InfiniteLine3d ray1_start =
       InfiniteLine3d(view1.pose.center(), view1.ray_direction(l1.start));
   V3D pstart = inf_line.project_to_infinite_line(ray1_start);
@@ -321,9 +322,11 @@ Line3d triangulate_with_infinite_line(const Line2d &l1, const CameraView &view1,
 
 // Asymmetric perspective to (view1, l1)
 // Triangulation with a known point
-Line3d triangulate_with_one_point(const Line2d &l1, const CameraView &view1,
-                                  const Line2d &l2, const CameraView &view2,
-                                  const V3D &point) {
+Line3d triangulate_line_with_one_point(const Line2d &l1,
+                                       const CameraView &view1,
+                                       const Line2d &l2,
+                                       const CameraView &view2,
+                                       const V3D &point) {
   // project point onto plane 1
   V3D n1 = getNormalDirection(l1, view1);
   V3D C1 = view1.pose.center();
@@ -383,9 +386,11 @@ Line3d triangulate_with_one_point(const Line2d &l1, const CameraView &view1,
 
 // Asymmetric perspective to (view1, l1)
 // Triangulation with known direction
-Line3d triangulate_with_direction(const Line2d &l1, const CameraView &view1,
-                                  const Line2d &l2, const CameraView &view2,
-                                  const V3D &direction) {
+Line3d triangulate_line_with_direction(const Line2d &l1,
+                                       const CameraView &view1,
+                                       const Line2d &l2,
+                                       const CameraView &view2,
+                                       const V3D &direction) {
   // Step 1: project direction onto plane 1
   V3D n1 = getNormalDirection(l1, view1);
   V3D direc = direction - (n1.dot(direction)) * n1;
diff --git a/limap/triangulation/functions.h b/limap/triangulation/functions.h
index dcc5309a..1c12b6a2 100644
--- a/limap/triangulation/functions.h
+++ b/limap/triangulation/functions.h
@@ -28,9 +28,8 @@ double compute_epipolar_IoU(const Line2d &l1, const CameraView &view1,
                             const Line2d &l2, const CameraView &view2);
 
 // point triangulation
-std::pair<V3D, bool> point_triangulation(const V2D &p1, const CameraView &view1,
-                                         const V2D &p2,
-                                         const CameraView &view2);
+std::pair<V3D, bool> triangulate_point(const V2D &p1, const CameraView &view1,
+                                       const V2D &p2, const CameraView &view2);
 
 Eigen::Matrix3d
 point_triangulation_covariance(const V2D &p1, const CameraView &view1,
@@ -38,8 +37,8 @@ point_triangulation_covariance(const V2D &p1, const CameraView &view1,
                                const Eigen::Matrix4d &covariance);
 
 // Triangulating endpoints for triangulation
-Line3d triangulate_endpoints(const Line2d &l1, const CameraView &view1,
-                             const Line2d &l2, const CameraView &view2);
+Line3d triangulate_line_by_endpoints(const Line2d &l1, const CameraView &view1,
+                                     const Line2d &l2, const CameraView &view2);
 
 // Asymmetric perspective to (view1, l1)
 // Triangulation by plane intersection
@@ -54,24 +53,29 @@ M6D line_triangulation_covariance(const Line2d &l1, const CameraView &view1,
 
 // Asymmetric perspective to (view1, l1)
 // Algebraic line triangulation
-Line3d triangulate(const Line2d &l1, const CameraView &view1, const Line2d &l2,
-                   const CameraView &view2);
+Line3d triangulate_line(const Line2d &l1, const CameraView &view1,
+                        const Line2d &l2, const CameraView &view2);
 
 // unproject endpoints with known infinite line
-Line3d triangulate_with_infinite_line(const Line2d &l1, const CameraView &view1,
-                                      const InfiniteLine3d &inf_line);
+Line3d triangulate_line_with_infinite_line(const Line2d &l1,
+                                           const CameraView &view1,
+                                           const InfiniteLine3d &inf_line);
 
 // Asymmetric perspective to (view1, l1)
 // Triangulation with a known point
-Line3d triangulate_with_one_point(const Line2d &l1, const CameraView &view1,
-                                  const Line2d &l2, const CameraView &view2,
-                                  const V3D &point);
+Line3d triangulate_line_with_one_point(const Line2d &l1,
+                                       const CameraView &view1,
+                                       const Line2d &l2,
+                                       const CameraView &view2,
+                                       const V3D &point);
 
 // Asymmetric perspective to (view1, l1)
 // Triangulation with known direction
-Line3d triangulate_with_direction(const Line2d &l1, const CameraView &view1,
-                                  const Line2d &l2, const CameraView &view2,
-                                  const V3D &direction);
+Line3d triangulate_line_with_direction(const Line2d &l1,
+                                       const CameraView &view1,
+                                       const Line2d &l2,
+                                       const CameraView &view2,
+                                       const V3D &direction);
 
 } // namespace triangulation
 
diff --git a/limap/triangulation/triangulation.py b/limap/triangulation/triangulation.py
index 4aef5f37..754f6e08 100644
--- a/limap/triangulation/triangulation.py
+++ b/limap/triangulation/triangulation.py
@@ -60,7 +60,7 @@ def compute_epipolar_IoU(l1, view1, l2, view2):
     return _tri.compute_epipolar_IoU(l1, view1, l2, view2)
 
 
-def point_triangulation(p1, view1, p2, view2):
+def triangulate_point(p1, view1, p2, view2):
     """
     Two-view point triangulation (mid-point)
 
@@ -72,10 +72,10 @@ def point_triangulation(p1, view1, p2, view2):
     Returns:
         point3d (:class:`np.array` of shape (3,))
     """
-    return _tri.point_triangulation(p1, view1, p2, view2)
+    return _tri.triangulate_point(p1, view1, p2, view2)
 
 
-def triangulate_endpoints(l1, view1, l2, view2):
+def triangulate_line_by_endpoints(l1, view1, l2, view2):
     """
     Two-view triangulation of lines with point triangulation \
     on both endpoints (assuming correspondences)
@@ -88,10 +88,10 @@ def triangulate_endpoints(l1, view1, l2, view2):
     Returns:
         line3d (:class:`limap.base.Line3d`)
     """
-    return _tri.triangulate_endpoints(l1, view1, l2, view2)
+    return _tri.triangulate_line_by_endpoints(l1, view1, l2, view2)
 
 
-def triangulate(l1, view1, l2, view2):
+def triangulate_line(l1, view1, l2, view2):
     """
     Two-view triangulation of lines by ray-plane intersection
 
@@ -103,10 +103,10 @@ def triangulate(l1, view1, l2, view2):
     Returns:
         line3d (:class:`limap.base.Line3d`)
     """
-    return _tri.triangulate(l1, view1, l2, view2)
+    return _tri.triangulate_line(l1, view1, l2, view2)
 
 
-def triangulate_with_one_point(l1, view1, l2, view2, p):
+def triangulate_line_with_one_point(l1, view1, l2, view2, p):
     """
     Two-view triangulation of lines with a known 3D point on the line
 
@@ -119,10 +119,10 @@ def triangulate_with_one_point(l1, view1, l2, view2, p):
     Returns:
         line3d (:class:`limap.base.Line3d`)
     """
-    return _tri.triangulate_with_one_point(l1, view1, l2, view2, p)
+    return _tri.triangulate_line_with_one_point(l1, view1, l2, view2, p)
 
 
-def triangulate_with_direction(l1, view1, l2, view2, direc):
+def triangulate_line_with_direction(l1, view1, l2, view2, direc):
     """
     Two-view triangulation of lines with known 3D line direction
 
@@ -135,4 +135,4 @@ def triangulate_with_direction(l1, view1, l2, view2, direc):
     Returns:
         line3d (:class:`limap.base.Line3d`)
     """
-    return _tri.triangulate_with_direction(l1, view1, l2, view2, direc)
+    return _tri.triangulate_line_with_direction(l1, view1, l2, view2, direc)
diff --git a/runners/7scenes/localization.py b/runners/7scenes/localization.py
index 660f8299..4775df5a 100644
--- a/runners/7scenes/localization.py
+++ b/runners/7scenes/localization.py
@@ -22,7 +22,7 @@
     run_hloc_7scenes,
 )
 
-import limap.runners as _runners
+import limap.runners as runners
 import limap.util.config as cfgutils
 import limap.util.io as limapio
 
@@ -120,7 +120,7 @@ def parse_config():
 
 def main():
     cfg, args = parse_config()
-    cfg = _runners.setup(cfg)
+    cfg = runners.setup(cfg)
 
     # outputs is for localization-related results
     outputs = Path(cfg["output_dir"]) / "localization"
@@ -183,7 +183,7 @@ def main():
         finaltracks_dir = os.path.join(cfg["output_dir"], cfg["output_folder"])
         if not cfg["skip_exists"] or not os.path.exists(finaltracks_dir):
             logger.info("Running LIMAP triangulation...")
-            linetracks_db = _runners.line_triangulation(
+            linetracks_db = runners.line_triangulation(
                 cfg, imagecols_train, neighbors=neighbors, ranges=ranges
             )
         else:
@@ -206,7 +206,7 @@ def main():
                 )
                 for id in train_ids
             }
-            linetracks_db = _runners.line_fitnmerge(
+            linetracks_db = runners.line_fitnmerge(
                 cfg, imagecols_train, depths, neighbors, ranges
             )
         else:
@@ -240,7 +240,7 @@ def main():
         hloc_logs = pickle.load(f)
     point_correspondences = {}
     for qid in query_ids:
-        p2ds, p3ds, inliers = _runners.get_hloc_keypoints_from_log(
+        p2ds, p3ds, inliers = runners.get_hloc_keypoints_from_log(
             hloc_logs, img_id_to_name[qid], ref_sfm
         )
         point_correspondences[qid] = {
@@ -250,7 +250,7 @@ def main():
         }
 
     # can return final_poses
-    _runners.line_localization(
+    runners.hybrid_localization(
         cfg,
         imagecols_train,
         imagecols_query,
diff --git a/runners/cambridge/localization.py b/runners/cambridge/localization.py
index 4339ddc7..495aa1cc 100644
--- a/runners/cambridge/localization.py
+++ b/runners/cambridge/localization.py
@@ -20,7 +20,7 @@
     undistort_and_resize,
 )
 
-import limap.runners as _runners
+import limap.runners as runners
 import limap.util.config as cfgutils
 import limap.util.io as limapio
 
@@ -116,7 +116,7 @@ def parse_config():
 
 def main():
     cfg, args = parse_config()
-    cfg = _runners.setup(cfg)
+    cfg = runners.setup(cfg)
     scene_id = os.path.basename(cfg["vsfm_path"])
 
     # outputs is for localization-related results
@@ -185,7 +185,7 @@ def main():
     finaltracks_dir = os.path.join(cfg["output_dir"], "finaltracks")
     if not cfg["skip_exists"] or not os.path.exists(finaltracks_dir):
         logger.info("Running LIMAP triangulation...")
-        linetracks_db = _runners.line_triangulation(
+        linetracks_db = runners.line_triangulation(
             cfg, imagecols_train, neighbors=neighbors, ranges=ranges
         )
     else:
@@ -222,7 +222,7 @@ def main():
         hloc_logs = pickle.load(f)
     point_correspondences = {}
     for qid in query_ids:
-        p2ds, p3ds, inliers = _runners.get_hloc_keypoints_from_log(
+        p2ds, p3ds, inliers = runners.get_hloc_keypoints_from_log(
             hloc_logs, hloc_name_dict[qid], ref_sfm
         )
         point_correspondences[qid] = {
@@ -232,7 +232,7 @@ def main():
         }
 
     # can return final_poses
-    _runners.line_localization(
+    runners.hybrid_localization(
         cfg,
         imagecols_train,
         imagecols_query,
diff --git a/runners/cambridge/utils.py b/runners/cambridge/utils.py
index 30ebeb52..830ef1a4 100644
--- a/runners/cambridge/utils.py
+++ b/runners/cambridge/utils.py
@@ -86,12 +86,12 @@ def get_scene_info(vsfm_path, imagecols, query_images):
 def undistort_and_resize(cfg, imagecols, logger=None):
     import cv2
 
-    import limap.runners as _runners
+    import limap.runners as runners
 
     # undistort images
     logger.info("Performing undistortion...")
     if not imagecols.IsUndistorted():
-        imagecols = _runners.undistort_images(
+        imagecols = runners.undistort_images(
             imagecols,
             os.path.join(cfg["output_dir"], cfg["undistortion_output_dir"]),
             skip_exists=cfg["load_undistort"] or cfg["skip_exists"],
diff --git a/runners/inloc/localization.py b/runners/inloc/localization.py
index 3ce7a6c6..bea0ab1a 100644
--- a/runners/inloc/localization.py
+++ b/runners/inloc/localization.py
@@ -198,7 +198,7 @@ def main():
             "inliers": inliers,
         }
 
-    final_poses = runners.line_localization(
+    final_poses = runners.hybrid_localization(
         cfg,
         imagecols_train,
         imagecols_query,
diff --git a/runners/pointline_association.py b/runners/pointline_association.py
index 880b8515..6e529ed2 100644
--- a/runners/pointline_association.py
+++ b/runners/pointline_association.py
@@ -95,7 +95,6 @@ def pointline_association(cfg, input_folder, output_folder, colmap_folder):
     cfg_associator = optimize.GlobalAssociatorConfig(
         cfg["global_pl_association"]
     )
-    # cfg_associator.solver_options.logging_type = _ceresbase.LoggingType.STDOUT
     associator = optimize.GlobalAssociator(cfg_associator)
     associator.InitImagecols(imagecols)
     associator.InitPointTracks(pointtracks)
diff --git a/scripts/format/python.sh b/scripts/format/python.sh
index adb4706f..7dd575c3 100755
--- a/scripts/format/python.sh
+++ b/scripts/format/python.sh
@@ -23,4 +23,4 @@ echo "Formatting ${num_files} files"
 
 # shellcheck disable=SC2086
 ruff format --config ${root_folder}/ruff.toml ${all_files}
-ruff check --fix --config ${root_folder}/ruff.toml ${all_files}
+ruff check --config ${root_folder}/ruff.toml ${all_files}
diff --git a/visualize_3d_lines.py b/visualize_3d_lines.py
index b1499484..cf3e4c2b 100644
--- a/visualize_3d_lines.py
+++ b/visualize_3d_lines.py
@@ -1,6 +1,6 @@
 import os
 
-import limap.base as _base
+import limap.base as base
 import limap.util.io as limapio
 import limap.visualize as limapvis
 
@@ -113,7 +113,7 @@ def main(args):
             not args.imagecols.endswith(".npy")
         ):
             raise ValueError(f"Error! Input file {args.imagecols} is not valid")
-        imagecols = _base.ImageCollection(
+        imagecols = base.ImageCollection(
             limapio.read_npy(args.imagecols).item()
         )
         vis_reconstruction(