Hierarchical-Localization

(★ 4,187)

Visual localization made easy with hloc

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- - code-quality.yml
- - README.md
- .gitignore
- depth_aachen.svg
- hloc.png
- loc_aachen.svg
- loc_inloc.svg
- - __init__.py
  - aliked.py
  - d2net.py
  - dir.py
  - disk.py
  - dog.py
  - megaloc.py
  - netvlad.py
  - openibl.py
  - r2d2.py
  - superpoint.py
- - __init__.py
  - adalam.py
  - lightglue.py
  - loftr.py
  - nearest_neighbor.py
  - superglue.py
- - __init__.py
- - __init__.py
  - base_model.py
  - geometry.py
  - io.py
  - parsers.py
  - read_write_model.py
  - viz.py
  - viz_3d.py
- __init__.py
- colmap_from_nvm.py
- extract_features.py
- localize_inloc.py
- localize_sfm.py
- match_dense.py
- match_features.py
- pairs_from_covisibility.py
- pairs_from_exhaustive.py
- pairs_from_poses.py
- pairs_from_retrieval.py
- reconstruction.py
- triangulation.py
- visualization.py
- - pairs-db-covis20.txt
  - pairs-query-netvlad20.txt
  - pairs-query-netvlad30.txt
  - pairs-query-netvlad50.txt
- - pairs-db-covis20.txt
  - pairs-query-netvlad50.txt
- - pairs-query-netvlad20.txt
  - pairs-query-netvlad30-temporal.txt
  - pairs-query-netvlad30.txt
  - pairs-query-netvlad40-temporal.txt
  - pairs-query-netvlad40.txt
- d2net
- deep-image-retrieval
- r2d2
- SuperGluePretrainedNetwork
.flake8
.gitattributes
.gitignore
.gitmodules
.isort.cfg
demo.ipynb
Dockerfile
LICENSE
pipeline_Aachen.ipynb
pipeline_InLoc.ipynb
pipeline_SfM.ipynb
README.md
requirements.txt
setup.py

# Installation Guide

1. Get the code

git clone https://github.com/cvg/Hierarchical-Localization

Downloads the entire project code from GitHub to your computer.

cd Hierarchical-Localization

Moves into the project folder you just downloaded.

2. Docker

Easy Recommended

Prerequisites

Git Needed to download the project code from GitHub.
Docker Desktop Needed to build and run containers. Install it and keep it running in the background.

docker build -t hloc:latest .

Builds a runnable image based on the Dockerfile.

docker run -it --rm -p 8888:8888 hloc:latest # for GPU support, add `--runtime=nvidia`

Runs the built image as an actual container.

✅ Run docker compose ps to check the containers are Up. If the README mentions a port, open http://localhost:PORT in your browser.

Pulled directly from this repo's README.

3. Python

Easy

Prerequisites

Git Needed to download the project code from GitHub.
Python 3 On Windows, be sure to check 'Add Python to PATH' during installation.

python -m pip install -e .

Installs the Python libraries listed in requirements.txt (or similar).

jupyter notebook --ip 0.0.0.0 --port 8888 --no-browser --allow-root

Launches Jupyter in your browser so you can open and run the notebook (.ipynb) files.

python -m hloc.name_of_script --arg1 --arg2

Runs the Python script (or module).

python -m hloc.pipelines.Aachen.pipeline [--outputs ./outputs/aachen]

Runs the Python script (or module).

python -m hloc.reconstruction [...] --image_options camera_model='"SIMPLE_RADIAL"' camera_params='"256,256,256,0"'

Runs the Python script (or module).

✅ If it runs without errors and prints output in the terminal, it worked.

Pulled directly from this repo's README.