Quick Start

Data Preparation

Prepare the data (Realsense Bag / Tum-vi) in Euroc Format. Refer to the respective documentation for instructions:

• Realsense Bag

• TUM-VI

Running the Pipeline

1. Run Basalt to extract camera poses and keypoints:

   cd euroc-preparation/
   python3 run_basalt_euroc.py <data_path> ./basalt/
   

2. Run MonoRec to generate dense depth maps aggregated to a pointcloud. Make sure to update the data paths in the configuration file:

   cd MonoRec/
   python3 create_pointcloud.py --config configs/test/pointcloud_monorec_tumvi.json
   

Visualization

1. Visualize the camera trajectory from Basalt:

   cd trajectory_visualization/
   python3 visualize_trajectory.py <data_path>
   

2. Visualize the generated pointcloud using CloudCompare or Open3D:

   cloudcompare <pointcloud_path>
   

   or

   python3 MonoRec/rgbd2pcl.py --config MonoRec/configs/test/pointcloud_monorec_euroc.json