Reference camera poses for the query images of the San Francisco Landmarks dataset
This package includes reference camera poses for the query images of the San Francisco Landmarks dataset [1,2]. The reference poses computed and evaluated in our CVPR17 paper [3] are provided in two formats: reference_poses_467.txt
(plain text) and reference_poses_467.mat
(matlab).
We additionally include the modified version of the reference poses: reference_poses_467_ext.txt
(plain text) and reference_poses_467_ext.mat
(matlab). The CVPR17 version geo-registers the camera poses obtained from SfM using 7 DoF similarity transform but this modified version uses 5 DoF (direction of gravity vector is extracted from the PCI meta data) which resulted more accurate rotation estimation.
Data format description
-
reference_poses.txt
(plain text)Each line in this file file contains query name, rotation in quaternion, and camera position in the UTM coordinates, e.g.
0 <query name> <1x4 quaternion> <1x3 camera position>
So the rotation matrix
R
of the reference pose is calculated by standard quaternion to rotation transformation and the translation vectort
is calculated ast = -R * c
wherec
is the camera position in the text file. -
reference_poses.mat
(matlab binary)This file contains struct array
poses
which has fieldsname
andP
. For example,poses(1).name
returns the name of query image andposes(1).P
returnes a 3x4 projection matrix of the query in the UTM coordinates. -
reference_poses_467_ext.txt
andreference_poses_467_ext.mat
follow the same format as in the CVPR17 version.
References
[1] D. Chen, G. Baatz, K. Koeser, S. Tsai, R. Vedantham, T. Pylvanainen, K. Roimela, X. Chen, J. Bach, M. Pollefeys, B. Girod, and R. Grzeszczuk: City-scale landmark identification on mobile devices". CVPR 2011.
[2] San Francisco Landmark Dataset. https://purl.stanford.edu/vn158kj2087
[3] T, Sattler, A. Torii, J. Sivic, M. Pollefeys, H. Taira, M. Okutomi, T. Pajdla: Are Large-Scale 3D Models Really Necessary for Accurate Visual Localization? CVPR 2017.