merge from alpha test (#5)

* Add log parser * Add contributing * Fix link * Fix typo * Mod triangulation * Add image pair generation * Mod unit test code * pre commit check * Add CN doc * Pass pre-commit check * Format code * Format code * Remove unused modules * Add install requirements step * Fxi typo * Mod default matcher * Change to github repo * Add video demo * Mod demo video * Fix format issue * Add lint config * Fix lint config * Add build * Add banner * Del building banner * Del building banner * Add major features * Fix ut * Del coverage test
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diff --git a/.github/CODE_OF_CONDUCT.md b/.github/CODE_OF_CONDUCT.md
@@ -0,0 +1,79 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as
+contributors and maintainers pledge to making participation in our project and
+our community a harassment-free experience for everyone, regardless of age, body
+size, disability, ethnicity, sex characteristics, gender identity and expression,
+level of experience, education, socio-economic status, nationality, personal
+appearance, race, religion, or sexual identity and orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment
+include:
+
+- Using welcoming and inclusive language
+- Being respectful of differing viewpoints and experiences
+- Gracefully accepting constructive criticism
+- Focusing on what is best for the community
+- Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+- The use of sexualized language or imagery and unwelcome sexual attention or
+  advances
+- Trolling, insulting/derogatory comments, and personal or political attacks
+- Public or private harassment
+- Publishing others' private information, such as a physical or electronic
+  address, without explicit permission
+- Other conduct which could reasonably be considered inappropriate in a
+  professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable
+behavior and are expected to take appropriate and fair corrective action in
+response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or
+reject comments, commits, code, wiki edits, issues, and other contributions
+that are not aligned to this Code of Conduct, or to ban temporarily or
+permanently any contributor for other behaviors that they deem inappropriate,
+threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies both within project spaces and in public spaces
+when an individual is representing the project or its community. Examples of
+representing a project or community include using an official project e-mail
+address, posting via an official social media account, or acting as an appointed
+representative at an online or offline event. Representation of a project may be
+further defined and clarified by project maintainers.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported by contacting the project team at [email protected]. All
+complaints will be reviewed and investigated and will result in a response that
+is deemed necessary and appropriate to the circumstances. The project team is
+obligated to maintain confidentiality with regard to the reporter of an incident.
+Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good
+faith may face temporary or permanent repercussions as determined by other
+members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4,
+available at https://www.contributor-covenant.org/version/1/4/code-of-conduct.html
+
+For answers to common questions about this code of conduct, see
+https://www.contributor-covenant.org/faq
+
+[homepage]: https://www.contributor-covenant.org
+
+For answers to common questions about this code of conduct, see
+https://www.contributor-covenant.org/faq
diff --git a/.github/CONTRIBUTING.md b/.github/CONTRIBUTING.md
@@ -0,0 +1,69 @@
+# Contributing to XRLocalization
+
+All kinds of contributions are welcome, including but not limited to the following.
+
+- Fixes (typo, bugs)
+- New features and components
+
+## Workflow
+
+1. Fork and pull the latest XRLocalization
+1. Checkout a new branch with a meaningful name (do not use master branch for PRs)
+1. Commit your changes
+1. Create a PR
+
+```{note}
+- If you plan to add some new features that involve large changes, it is encouraged to open an issue for discussion first.
+- If you are the author of some papers and would like to include your method to XRLocalization, please contact us. We will much appreciate your contribution.
+```
+
+## Code style
+
+### Python
+
+We adopt [PEP8](https://www.python.org/dev/peps/pep-0008/) as the preferred code style.
+
+We use the following tools for linting and formatting:
+
+- [flake8](http://flake8.pycqa.org/en/latest/): linter
+- [yapf](https://github.com/google/yapf): formatter
+- [isort](https://github.com/timothycrosley/isort): sort imports
+
+Style configurations of yapf and isort can be found in [setup.cfg](../setup.cfg).
+
+We use [pre-commit hook](https://pre-commit.com/) that checks and formats for `flake8`, `yapf`, `isort`, `trailing whitespaces`,
+fixes `end-of-files`, sorts `requirments.txt` automatically on every commit.
+The config for a pre-commit hook is stored in [.pre-commit-config](../.pre-commit-config.yaml).
+
+After you clone the repository, you will need to install initialize pre-commit hook.
+
+```
+pip install -U pre-commit
+```
+
+From the repository folder
+
+```
+pre-commit install
+```
+
+If you are facing an issue when installing markdown lint, you may install ruby for markdown lint by
+referring to [this repo](https://github.com/innerlee/setup) by following the usage and taking [`zzruby.sh`](https://github.com/innerlee/setup/blob/master/zzruby.sh)
+
+ or by the following steps
+
+ ```shell
+# install rvm
+curl -L https://get.rvm.io | bash -s -- --autolibs=read-fail
+rvm autolibs disable
+ # install ruby
+rvm install 2.7.1
+```
+
+After this on every commit check code linters and formatter will be enforced.
+
+> Before you create a PR, make sure that your code lints and is formatted by yapf.
+
+### C++ and CUDA
+
+We follow the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html).
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -0,0 +1,51 @@
+name: build
+
+on:
+  push:
+    branches:
+     - main
+    paths-ignore:
+      - 'README.md'
+      - 'README_CN.md'
+      - 'docs/**'
+
+  pull_request:
+    paths-ignore:
+      - 'README.md'
+      - 'README_CN.md'
+      - 'docs/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build_cuda102:
+    runs-on: ubuntu-18.04
+    defaults:
+      run:
+        shell: bash -l {0}
+    container:
+      image: openxrlab/xrlocalization_runtime:ubuntu1804_x64_cu102_py37_torch190
+      credentials:
+        username: ${{secrets.DOCKERHUB_USERNAME}}
+        password: ${{secrets.DOCKERHUB_PWD}}
+    steps:
+      - uses: actions/checkout@v2
+      - name: Run unittests and generate coverage report
+        run: |
+          apt install -y git
+          git submodule update --init --recursive
+          pip install pytest
+          pip install coverage
+#          coverage run --source xrlocalization -m pytest tests/
+#          coverage xml
+#          coverage report -m
+#      - name: Upload coverage to Codecov
+#        uses: codecov/codecov-action@v2
+#        with:
+#          files: ./coverage.xml
+#          flags: unittests
+#          env_vars: OS,PYTHON
+#          name: codecov-umbrella
+#          fail_ci_if_error: false
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
@@ -0,0 +1,26 @@
+name: lint
+
+on: [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  lint:
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python 3.7
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.7
+      - name: Install pre-commit hook
+        run: |
+          sudo apt-add-repository ppa:brightbox/ruby-ng -y
+          sudo apt-get update
+          sudo apt-get install -y ruby2.7
+          pip install pre-commit
+          pre-commit install
+      - name: Linting
+        run: pre-commit run --files xrloc/*
diff --git a/.isort.cfg b/.isort.cfg
@@ -0,0 +1,2 @@
+[settings]
+known_third_party = cv2,flask,h5py,lib,numpy,pytest,recon_read_write_data,scipy,setuptools,torch,torchvision,tqdm,xrprimer
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,4 +1,4 @@
-exclude: .*/test/data/|.clang-format
+exclude: .*/test/data/|.clang-format|./3rdparty
 repos:
   - repo: https://github.com/pre-commit/mirrors-clang-format
     rev: v14.0.1
@@ -13,11 +13,6 @@ repos:
     hooks:
       - id: seed-isort-config
         args: [--settings-path, ./]
-  - repo: https://github.com/PyCQA/isort.git
-    rev: 5.10.1
-    hooks:
-      - id: isort
-        args: [--settings-file, ./setup.cfg]
   - repo: https://github.com/pre-commit/mirrors-yapf.git
     rev: v0.30.0
     hooks:

diff --git a/LICENCE b/LICENCE
@@ -200,4 +200,4 @@ Copyright 2022 XRLocalization Authors. All rights reserved.
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
-   limitations under the License.
+   limitations under the License.
diff --git a/README.md b/README.md
@@ -1,21 +1,40 @@
 # XRLocalization
 
+<div align="left">
+
+
+[![codecov](https://codecov.io/gh/openxrlab/xrlocalization/branch/main/graph/badge.svg)](https://codecov.io/gh/openxrlab/xrlocalization)
+[![LICENSE](https://img.shields.io/github/license/openxrlab/xrlocalization.svg)](https://github.com/openxrlab/xrlocalization/blob/main/LICENSE)
+
+</div>
+
+
 ## Introduction
-English | [简体中文]()
+English | [简体中文](README_CN.md)
 
 XRLocalization is an open source visual localization toolbox based on Python. It is a
 part of the OpenXRLab project.
 
+https://user-images.githubusercontent.com/111835288/187731838-45ccbfaf-8a19-46a1-bd53-29c56793642c.mp4
+
 ### Major Features
 
+* Robust and efficient large-scale feature-based visual localization
+* Both offline and online visual localization are supported
+* A hierarchical framework that can easily integrate new features and matching methods
+
 ## Installation
 Please refer to [Installation](docs/en/installation.md) for installation instructions.
 
 ## Getting Started
 Please refer to [quick start](docs/en/get_started.md) for the basic usage of XRLocalization.
 
+## Benchmark
+Please refer to [benchmark](docs/en/benchmark/benchmark.md).
+
+
 ## License
-This project is released under the [Apache 2.0 license](LICENSE). 
+This project is released under the [Apache 2.0 license](LICENSE).
 
 ## FAQ
 Please refer to [FAQ](dock/en/faq.md) for frequently asked questions.
@@ -32,15 +51,15 @@ If you use this toolbox or benchmark in your research, please cite this project.
 ```
 
 ## Contributing
-We appreciate all contributions to improve XRLocalization. 
-Please refer to [CONTRIBUTING.md]() for the contributing guideline.
+We appreciate all contributions to improve XRLocalization.
+Please refer to [CONTRIBUTING.md](.github/CONTRIBUTING.md) for the contributing guideline.
 
 ## Acknowledgement
-XRLocalization is an open source project that is contributed by researchers and 
+XRLocalization is an open source project that is contributed by researchers and
 engineers from both the academia and the industry.
-We appreciate all the contributors who implement their methods or add new features, 
+We appreciate all the contributors who implement their methods or add new features,
 as well as users who give valuable feedbacks.
-We wish that the toolbox and benchmark could serve the growing research community 
+We wish that the toolbox and benchmark could serve the growing research community
 by providing a flexible toolkit to reimplement existing methods and develop their
 own new models.
 
@@ -53,4 +72,3 @@ own new models.
 - [XRMoCap](https://github.com/openxrlab/xrmocap): OpenXRLab Multi-view Motion Capture Toolbox and Benchmark.
 - [XRMoGen](https://github.com/openxrlab/xrmogen): OpenXRLab Human Motion Generation Toolbox and Benchmark.
 - [XRNeRF](https://github.com/openxrlab/xrnerf): OpenXRLab Neural Radiance Field (NeRF) Toolbox and Benchmark.
-
diff --git a/README_CN.md b/README_CN.md
diff --git a/configs/sample.json b/configs/sample.json
@@ -1,13 +1,13 @@
 {
-    "local_feature": "d2net",
-    "global_feature": "netvlad",
+  "local_feature": "d2net",
+  "global_feature": "netvlad",
 
-    "matcher": "gam",
-    "coarse": "sr",
+  "matcher": "gam",
+  "coarse": "sr",
 
-    "retrieval_num": 20,
-    "scene_size": 20,
+  "retrieval_num": 20,
+  "scene_size": 20,
 
-    "max_inlier": 50,
-    "max_scene_num": 2
-}
+  "max_inlier": 50,
+  "max_scene_num": 2
+}
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -1,11 +1,19 @@
-FROM pytorch/pytorch:1.9.0-cuda10.2-cudnn7-devel
+FROM pytorch/pytorch:1.9.0-cuda10.2-cudnn7-runtime
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-RUN apt-key adv --fetch-keys \
-    https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
+#RUN apt-key adv --fetch-keys \
+#    https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
+
+RUN export http_proxy=http://proxy.sensetime.com:3128/
+RUN export https_proxy=http://proxy.sensetime.com:3128/
+RUN export HTTP_PROXY=http://proxy.sensetime.com:3128/
+RUN export HTTPS_PROXY=http://proxy.sensetime.com:3128/
+
+RUN apt-get update && apt-get install -y gnupg
 
 RUN apt-get update && apt-get install -y \
+    gnupg \
     build-essential \
     libgoogle-glog-dev \
     qtbase5-dev \
@@ -16,17 +24,20 @@ RUN apt-get update && apt-get install -y \
 
 RUN apt-get install -y wget
 
+
+# Python dependency
+RUN pip install xrprimer==0.5.2 -i \
+    https://repo.sensetime.com/repository/pypi/simple
+
 RUN export http_proxy=http://proxy.sensetime.com:3128/
 RUN export https_proxy=http://proxy.sensetime.com:3128/
 RUN export HTTP_PROXY=http://proxy.sensetime.com:3128/
 RUN export HTTPS_PROXY=http://proxy.sensetime.com:3128/
 
-# Python dependency
-RUN pip install xrprimer==0.5.2 -i \
-    https://repo.sensetime.com/repository/pypi/simple
+RUN pip install scipy==1.6.1
 RUN pip install opencv-python==3.4.9.33
 RUN pip install matplotlib==3.2.1
-RUN pip install sklearn
+RUN pip install scikit-learn==0.24.1
 RUN pip install flask
 RUN pip install h5py
 RUN pip install pathlib
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		[settings]
		known_third_party = cv2,flask,h5py,lib,numpy,pytest,recon_read_write_data,scipy,setuptools,torch,torchvision,tqdm,xrprimer