Hello, Thanks for your impressive work.
When I try to test in aachen v1.1, I get a bad result.
It is far away from the result in the paper.
I use the script with a little modification in order to adapt my system.
`
#!/bin/bash
dataset=./dataset
image_dir=$dataset/images/images_upright
outputs=./output
query_pair=pairs/aachen_v1.1/pairs-query-netvlad50.txt
gt_pose_fn=assets/Aachen-v1.1_hloc_superpoint_n4096_r1600+superglue_netvlad50.txt
save_root=./output
feat=ressegnetv2-20220810-wapv2-sd2mfsf-uspg-0001-n4096-r1600
#feat=ressegnetv2-20220810-wapv2-sd2mfsf-uspg-0001-n3000-r1600
#feat=ressegnetv2-20220810-wapv2-sd2mfsf-uspg-0001-n2000-r1600
#feat=ressegnetv2-20220810-wapv2-sd2mfsf-uspg-0001-n1000-r1600
matcher=NNM
extract_feat_db=1
match_db=1
triangulation=1
localize=1
if [ "$extract_feat_db" -gt "0" ]; then
echo "-----------------extract_feat_db-----------------"
python3 -m extract_localization --image_dir $dataset/images/images_upright --export_dir $outputs/ --conf $feat
fi
if [ "$match_db" -gt "0" ]; then
echo "-----------------match_db-----------------"
python3 -m hloc.match_features --pairs pairs/aachen_v1.1/pairs-db-covis20.txt --export_dir $outputs/ --conf $matcher --features feats-$feat
fi
if [ "$triangulation" -gt "0" ]; then
echo "-----------------triangulation-----------------"
python3 -m hloc.triangulation
--sfm_dir $outputs/sfm_$feat-$matcher
--reference_sfm_model $dataset/3D-models/aachen_v_1_1
--image_dir $dataset/images/images_upright
--pairs pairs/aachen_v1.1/pairs-db-covis20.txt
--features $outputs/feats-$feat.h5
--matches $outputs/feats-$feat-$matcher-pairs-db-covis20.h5
fi
ransac_thresh=15
opt_thresh=15
covisibility_frame=50
#init_type="clu"
init_type="sng"
opt_type="clurefobs"
inlier_thresh=10
iters=5
radius=30
obs_thresh=3
if [ "$localize" -gt "0" ]; then
echo "-----------------localize-----------------"
python3 -m it_loc.localizer
--dataset aachen_v1.1
--image_dir $image_dir
--save_root $save_root
--gt_pose_fn $gt_pose_fn
--db_imglist_fn datasets/aachen/aachen_db_imglist.txt
--retrieval $query_pair
--reference_sfm $outputs/sfm_$feat-$matcher
--queries $dataset/queries/day_night_time_queries_with_intrinsics.txt
--features $outputs/feats-$feat.h5
--matcher_method $matcher
--ransac_thresh $ransac_thresh
--with_match
--covisibility_frame $covisibility_frame
--iters $iters
--radius $radius
--obs_thresh $obs_thresh
--opt_thresh $opt_thresh
--init_type $init_type
--inlier_thresh $inlier_thresh
--opt_type $opt_type
--do_covisible_opt
fi
`
Did I make a mistake comewhere?