XRLocalization provides a flexible tool that can easily perform visual localization offline and online. Given a query image, XRLocalization estimates a 6DoF pose from a pre-reconstructed map. A tiny dataset is provided for convenience. Download the dataset from here. The folder extracted from the dataset is shown below.
├── map
│ ├── database.bin
│ ├── features.bin
│ ├── images.bin
│ └── points3D.bin
├── query
│ ├── 000001.jpg
│ ├── 000002.jpg
│ └── 000003.jpg
└── query.txt
Here, the pre-reconstructed map contains the sparse models (images.bin and points3D.bin), 3D point
descriptors (features.bin), and image global feature database (database.bin). The query folder
contains three query images. The file query.txt records camera intrinsic for every query image.
python3 run_benchmark.py --map_path /path/to/map --query_path /path/to/query.txt
This would take several minutes to automatically download models at first time. Please refer to here for more details on benchmark evaluation using this tool.
python3 run_web_server.py --map_path /path/to/map --port 12345
This command would start a localization server, which listen to the client's localization request and return the corresponding localization result. Please refer to here for details on how to use this server at the client.