HLOC Returns Random Localization

[IlanElfen]

Hi, I've created a reconstruction model in Metashape and exported it in the sfm format (points3d, images3d, cameras). I've also generated the global-feats-netvlad.h5 and feats-disk.h5.

The camera positions load correctly but the localization seems completely random, even when keeping the camera stationary. (The camera is currently at (54, 1))

Here is the relevant part of my code:

global_descriptor = extract_features.main2(
            model=self.global_model, device=self.device, image=image, gray=False
        )
        pairs = pairs_from_retrieval.main2(
            self.global_db, global_descriptor, self.k, self.global_names
        )
        matches = match_features.main2(
            pairs, local_descriptor, self.local_db, self.matcher, self.device
        )
        cv2.imwrite("tmp.png", cv2.cvtColor(image, cv2.COLOR_BGR2RGB))
        camera = pycolmap.infer_camera_from_image(Path("tmp.png"))
        localizer = QueryLocalizer(self.model, self.conf)
        ret_files = pairs
        self.ref_ids = [self.model.find_image_with_name(n).image_id for n in ret_files]
        ret = pose_from_cluster(
            localizer, local_descriptor, camera, self.ref_ids, matches
        )
        if ret is None:
            return self.ax
        num_inliers = ret["num_inliers"]
        total_correspondences = len(ret["inliers"])
        R = ret["cam_from_world"].rotation.matrix()
        t = ret["cam_from_world"].translation

Any help is greatly appreciated!