Visual Relocalization

Monocular camera pose estimation on the COLMAP reconstruction model.

Clone the repository

Recursively clone the repository.

git clone --recursive https://github.com/CyberAgentAILab/visual-relocalization-colmap.git

Requirements

Docker
Python >= Version 3.9
Python pip

Note

In the following instructions, we will launch rviz on a Docker container. Please note that it may not work if your host OS is incompatible with running rviz on a container. We confirmed that it works correctly when using Ubuntu 22.04 as the host OS.

Download the dataset

Download the in-store visual localization dataset.

Note

This project requires downloading a significantly large dataset. Please be mindful of network usage and ensure you have a stable and adequate internet connection before proceeding.

pip3 install huggingface_hub==0.24.5
python3 download_dataset.py

Usage

Make sure that the dataset directory is placed under the repository root, then follow the instructions below.

Build the docker image.

./scripts/build_dockerfile.sh

Generate the PLY pointcloud file from the reconstruction model.

./scripts/make_ply.sh

Build the source files.

./scripts/build_source.sh

Run visual localization.

./scripts/run_localization.sh

Visualize the relocalization result. As RViz runs on a Docker container, rendering may be slower depending on the host OS or your computer specifications.

./scripts/launch_rviz.sh

Dataset structure

Optionally, if you want to run on your own dataset, follow the directory structure below.

dataset/
  train/
    000000.png
    000001.png
    000002.png
    ...
  model/
    cameras.bin
    database.db
    images.bin
    points3D.bin
  test/
    000000.png
    000001.png
    000002.png
    ...
  intrinsic.xml

Directory	Contents
`train`	Images used to construct the COLMAP model.
`model`	The COLMAP model files.
`test`	Test images to run relocalization.
`intrinsic.xml`	Intrinsic camera parameters.

Camera intrinsic parameters

intrinsic.xml has the following structure.

<?xml version="1.0"?>
<opencv_storage>
<distortion type_id="opencv-matrix">
  <rows>5</rows>
  <cols>1</cols>
  <dt>d</dt>
  <data>
    -5.5531427264213562e-02 6.7047834396362305e-02
    -8.0864987103268504e-04 6.0979666886851192e-04
    -2.1628323942422867e-02</data></distortion>
<intrinsic type_id="opencv-matrix">
  <rows>3</rows>
  <cols>3</cols>
  <dt>d</dt>
  <data>
    6.4088488769531250e+02 0. 6.5048168945312500e+02 0.
    6.4027935791015625e+02 3.6642471313476562e+02 0. 0. 1.</data></intrinsic>
</opencv_storage>

Tag	Contents
distortion	Lens distortion parameters. Not used in the current implementation.
intrinsic	Camera intrinsic parameters represented as a 3x3 matrix.

LICENSE

Our code is distributed under the Apache 2 license.

COLMAP

Our source code is making use of colmap, which is distributed under the new BSD license.

Copyright (c) 2023, ETH Zurich and UNC Chapel Hill.
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