Euroc Preparation

The final directory structure for monorec to run on a euroc type dataset must be as shown below. The images must be from a camera-model of type pinhole. The number 00 represents the sequence name. The folders dso and mav0 follow the euroc convention. mav0 contains the data (images, imu etc.) and dso contains sensor information (camera intrinsics, camera extrinsics, distortion parameters, imu intrinsics etc.)

dataset-dir
    ├── 00
    |    ├── basalt_keyframe_data
    |    │   ├── keypoints
    |    │   ├── keypoints_viz
    |    │   └── poses
    |    ├── dso
    |    │   ├── cam0
    |    │   │   └── images -> ../../mav0/cam0/data
    |    │   └── cam1
    |    │       └── images -> ../../mav0/cam1/data
    |    ├── mav0
    |        ├── cam0
    |        │   └── data
    |        ├── cam1
    |        │   └── data
    |        ├── imu0
    |        └── mocap0
    ├── 01
    ...

Contents:

• Realsense Recording and Conversion to EuRoC
  • LibRealsense Installation
  • Data Collection
  • Conversion of Bag file to Euroc
• TUM-VI Rectification
  • Scripts

The run_basalt_euroc.py script is used for generating the basalt_keyframe_data folder in the above mentioned directory structure. It runs basalt on each of the sequences and saves the keypoints and poses.

usage: run_basalt_euroc.py [-h] tumvi_path basalt_path

Python code for running basalt on tumvi sequences

positional arguments:
  tumvi_path   path to tum-vi dataset
  basalt_path  path to basalt directory

optional arguments:
  -h, --help   show this help message and exit

E.g.
python3 run_basalt_tumvi.py ../../tumvi-dataset/ ../basalt/