# GeoLoc-UAV (GeoLoc-UAV-main)

Research code for UAV geo-localization / cross-view image retrieval on the **UAV-GeoLoc (World-UAV)** dataset.

- Dataset: available on Hugging Face: `https://huggingface.co/datasets/RingoWRW97/UAV-GeoLoc`
- This folder (`GeoLoc-UAV-main`) contains training/evaluation scripts and model definitions.

## What this code does

The task is formulated as **retrieval**: given a UAV query image, retrieve the matching geo-referenced database (DB) image(s).

- **Training**: contrastive classification via InfoNCE (implemented as `CrossEntropyLoss` on similarity matrix).
- **Evaluation**: extract global descriptors for queries and DB, then run FAISS `IndexFlatL2` search and report **Top-1 / Top-5 / Top-10** accuracy.

Two main modes exist in the code:

- **`vanilia`** (spelling in code): a standard CNN/ViT backbone (`resnet18`, `dinov2_*`) + an aggregation head (`multiconvap`, `convap`, optional `LPN`).
- **`group`**: a GroupNet-style encoder that uses a set of transformed views + point grids (scale/rotate sampling) before aggregation.

## Project structure

Key entry points:

- `train_vanilia.py`: train a vanilla backbone (ResNet) retrieval model.
- `train_vanilia_dino.py`: same, but with a DINOv2 backbone.
- `train_group.py`: train the group-based model.
- `train_group_dino.py`: group-based model with DINOv2 features.
- `preprocess_data.py`: helper to generate train index files from scene lists.

Evaluation:

- `eval_simidataset_parser.py`: evaluate on World-UAV-style splits (reads a list of scene folders).
- `eval_real_dataset.py`: evaluate on a “real” dataset layout (query_images/reference_images + gt CSV/NPY).
- `eval_denseuav.py`: evaluate on DenseUAV-style lists (query.txt/db.txt/gt.txt).
- `eval_real.sh`, `eval_rot.sh`: example command lines (paths are author-specific).

Core modules:

- `dataset/World.py`: dataset loaders for World-UAV, “real” and DenseUAV layouts.
- `models/`: backbones, aggregators, group networks.
- `eval/eval.py`: feature extraction + FAISS retrieval metrics.

## Installation

This repository does not ship a pinned `requirements.txt`. A typical working environment:

```bash
python -m venv .venv
source .venv/bin/activate

pip install -U pip
pip install torch torchvision transformers tensorboard tqdm pillow numpy pandas h5py matplotlib opencv-python

# FAISS (choose one):
pip install faiss-cpu
# or: pip install faiss-gpu  (if your platform provides it)
```

Notes:

- Most scripts assume CUDA is available; CPU should work for evaluation but may be slow.
- Mixed precision is enabled by default in training scripts.

## Dataset format (World-UAV style)

For the World-UAV dataset loaders (`WorldDatasetEvalVanilia` / `WorldDatasetEvalGroup`), the code expects a **scene folder** with:

```text
<dataset_root_dir>/
  <scene_name>/
    positive.json
    semi_positive.json
    DB/
      img/
        *.png
    query/
      height100_rot0/footage/*.jpeg
      height100_rot45/footage/*.jpeg
      ...
      height150_rot315/footage/*.jpeg
```

Ground truth:

- `positive.json`: maps each query key to a list of positive DB image filenames (under `DB/img/`).
- `semi_positive.json`: optional extra positives (the code includes them in GT if present).

Important:

- Query images are collected across multiple height/rotation folders. The evaluator replicates GT to match the number of query images extracted (see `eval/eval.py`: `multi_num = ql.shape[0] / len(pos_gt)`).

## Training index files (World-UAV style)

Training loaders (`WorldDatasetTrainVanilia`, `WorldDatasetTrainGroup`) read a text file where each line contains:

```text
<relative_query_path> <label_int> <relative_db_path>
```

Example (paths are **relative** to `dataset_root_dir`):

```text
some_scene/query/height100_rot0/footage/height100_rot0_0001.jpeg 12 some_scene/DB/img/000123.png
```

The helper script `preprocess_data.py` can generate `*_query_all.txt` and `*_db_all.txt` from a file containing scene names (one per line). It is currently written with author-specific absolute paths and may require edits to:

- `root`
- `txt` (scene list file)
- `save_path`

## Quick start (training)

All training scripts contain a `Configuration` dataclass with hardcoded paths like:

- `dataset_root_dir`
- `train_query_txt`
- `val_index_txt`
- `test_index_txt`

Update them to your local paths before running.

### Vanilla (ResNet)

```bash
python train_vanilia.py
```

### Vanilla (DINOv2 backbone)

```bash
python train_vanilia_dino.py
```

### Group model

```bash
python train_group.py
```

### Group model (DINO variant)

```bash
python train_group_dino.py
```

Checkpoints:

- Training scripts create a timestamped directory under `config.model_path/config.model/<HHMMSS>/`
- The best checkpoint (by average Top-1 on validation scenes) is saved as `weights_e{epoch}_{score}.pth`

TensorBoard:

- Vanilla scripts write under `world_vanillia/...`
- Group script writes under `world/...`

## Quick start (evaluation)

### Evaluate on World-UAV scenes list

Use `eval_simidataset_parser.py`. It reads a text file where each line is a scene folder name (relative to `--dataset_root`):

```bash
python eval_simidataset_parser.py \
  --mode vanilia \
  --dataset_root "/path/to/WorldLoc" \
  --test_txt "/path/to/WorldLoc/Index/test.txt" \
  --save_txt "/tmp/results.txt" \
  --checkpoint_path "/path/to/weights.pth" \
  --backbone_arch resnet18 \
  --pretrain_flag False \
  --agg_in_channels 512 \
  --agg_out_channels 512 \
  --agg_LPN False
```

For the group model:

```bash
python eval_simidataset_parser.py \
  --mode group \
  --dataset_root "/path/to/WorldLoc" \
  --test_txt "/path/to/WorldLoc/Index/test.txt" \
  --save_txt "/tmp/results.txt" \
  --checkpoint_path "/path/to/weights.pth" \
  --agg_in_channels 256 \
  --agg_out_channels 256
```

### Evaluate on DenseUAV lists

```bash
python eval_denseuav.py \
  --mode vanilia \
  --dataset_query "/path/to/query.txt" \
  --dataset_db "/path/to/db.txt" \
  --dataset_gt "/path/to/gt.txt" \
  --checkpoint_path "/path/to/weights.pth"
```

### Evaluate on “real” query/reference folder layout

```bash
python eval_real_dataset.py \
  --mode vanilia \
  --dataset_root_dir "/path/to/test_set" \
  --checkpoint_path "/path/to/weights.pth" \
  --save_dir_path "/tmp/geoloc-uav-real-eval"
```

## Common pitfalls / required path fixes

- **Hardcoded absolute paths**: many scripts use `/media/...` paths. Replace them with your local paths.
- **Transform config path is hardcoded in code**:
  - `dataset/World.py` and `models/group/groupnet_dino.py` load `transform_config.json` via an absolute `json_path`.
  - For portability, point it to `configs/transform_config.json` in this repository.
- **Mode spelling**: the scripts use `vanilia` (not `vanilla`).

## Demo

![demo](demo_small.gif)