This is the code from paper Fast Image-Based Localization using Direct 2D-to-3D Matching found here https://www.graphics.rwth-aachen.de/software/image-localization.

This codes compiles on Ubuntu 16.04 as of 19/11/2019. Please not at this time of writing the executables have not been tested yet - I will updating this soon.

The dependencies needed as listed in the README.txt:

• ANN - Get it from http://www.cs.umd.edu/~mount/ANN/ Installation notes in their doc. Before compiling it change typedef double ANNcoord; into typedef float ANNcoord; in file ann_1.1.2/include/ANN/ANN.h. I also had to uncomment line 62 in ann_1.1.2/Makefile, #cd test ; $(MAKE) $@.

• FLANN - Modified version included, follow the instructions in flann-1.6.11-src-modified/doc/manual.pdf and also run make install - might need to sudo it.

• GMM - run sudo apt-get install libgetfem++-dev

• LAPACK - run sudo apt-get install libblas-dev liblapack-dev

• F2C - I had to install that aswell, run sudo apt-get install f2c

• The rest of the dependencies jhead, OpenMesh, SFMT should be included.

Please raise an issue if you come across a problem.