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# Visual Localization with DUSt3R
## Dataset preparation
### CambridgeLandmarks
Each subscene should look like this:
```
Cambridge_Landmarks
├─ mapping
│ ├─ GreatCourt
│ │ └─ colmap/reconstruction
│ │ ├─ cameras.txt
│ │ ├─ images.txt
│ │ └─ points3D.txt
├─ kapture
│ ├─ GreatCourt
│ │ └─ query # https://github.com/naver/kapture/blob/main/doc/datasets.adoc#cambridge-landmarks
│ ...
├─ GreatCourt
│ ├─ pairsfile/query
│ │ └─ AP-GeM-LM18_top50.txt # https://github.com/naver/deep-image-retrieval/blob/master/dirtorch/extract_kapture.py followed by https://github.com/naver/kapture-localization/blob/main/tools/kapture_compute_image_pairs.py
│ ├─ seq1
│ ...
...
```
### 7Scenes
Each subscene should look like this:
```
7-scenes
├─ chess
│ ├─ mapping/ # https://github.com/naver/kapture/blob/main/doc/datasets.adoc#1-7-scenes
│ ├─ query/ # https://github.com/naver/kapture/blob/main/doc/datasets.adoc#1-7-scenes
│ └─ pairsfile/query/
│ └─ APGeM-LM18_top20.txt # https://github.com/naver/deep-image-retrieval/blob/master/dirtorch/extract_kapture.py followed by https://github.com/naver/kapture-localization/blob/main/tools/kapture_compute_image_pairs.py
...
```
### Aachen-Day-Night
```
Aachen-Day-Night-v1.1
├─ mapping
│ ├─ colmap/reconstruction
│ │ ├─ cameras.txt
│ │ ├─ images.txt
│ │ └─ points3D.txt
├─ kapture
│ └─ query # https://github.com/naver/kapture/blob/main/doc/datasets.adoc#2-aachen-day-night-v11
├─ images
│ ├─ db
│ ├─ query
│ └─ sequences
└─ pairsfile/query
└─ fire_top50.txt # https://github.com/naver/fire/blob/main/kapture_compute_pairs.py
```
### InLoc
```
InLoc
├─ mapping # https://github.com/naver/kapture/blob/main/doc/datasets.adoc#6-inloc
├─ query # https://github.com/naver/kapture/blob/main/doc/datasets.adoc#6-inloc
└─ pairsfile/query
└─ pairs-query-netvlad40-temporal.txt # https://github.com/cvg/Hierarchical-Localization/blob/master/pairs/inloc/pairs-query-netvlad40-temporal.txt
```
## Example Commands
With `visloc.py` you can run our visual localization experiments on Aachen-Day-Night, InLoc, Cambridge Landmarks and 7 Scenes.
```bash
# Aachen-Day-Night-v1.1:
# scene in 'day' 'night'
# scene can also be 'all'
python3 visloc.py --model_name DUSt3R_ViTLarge_BaseDecoder_512_dpt --dataset "VislocAachenDayNight('/path/to/prepared/Aachen-Day-Night-v1.1/', subscene='${scene}', pairsfile='fire_top50', topk=20)" --pnp_mode poselib --reprojection_error_diag_ratio 0.008 --output_dir /path/to/output/Aachen-Day-Night-v1.1/${scene}/loc
# InLoc
python3 visloc.py --model_name DUSt3R_ViTLarge_BaseDecoder_512_dpt --dataset "VislocInLoc('/path/to/prepared/InLoc/', pairsfile='pairs-query-netvlad40-temporal', topk=20)" --pnp_mode poselib --reprojection_error_diag_ratio 0.008 --output_dir /path/to/output/InLoc/loc
# 7-scenes:
# scene in 'chess' 'fire' 'heads' 'office' 'pumpkin' 'redkitchen' 'stairs'
python3 visloc.py --model_name MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt --dataset "VislocSevenScenes('/path/to/prepared/7-scenes/', subscene='${scene}', pairsfile='APGeM-LM18_top20', topk=1)" --pnp_mode poselib --reprojection_error_diag_ratio 0.008 --output_dir /path/to/output/7-scenes/${scene}/loc
# Cambridge Landmarks:
# scene in 'ShopFacade' 'GreatCourt' 'KingsCollege' 'OldHospital' 'StMarysChurch'
python3 visloc.py --model_name DUSt3R_ViTLarge_BaseDecoder_512_dpt --dataset "VislocCambridgeLandmarks('/path/to/prepared/Cambridge_Landmarks/', subscene='${scene}', pairsfile='APGeM-LM18_top20', topk=1)" --pnp_mode poselib --reprojection_error_diag_ratio 0.008 --output_dir /path/to/output/Cambridge_Landmarks/${scene}/loc
``` |