torrvision/collaborativeslamdataset

The dataset associated with our ISMAR 2018 paper on Collaborative SLAM.

collaborativeslamdataset's Issues

Having issue with error reading rgb image file 'frames_resized/bathroom2study/frame-000000.color.png': No such file or directory'

the download-big.sh download links failed

The downloaded files cannot be decompressed

Some data format issues

Hi there,

Firstly, good work! I am interested in using your dataset in my research. However, after downloading and playing with the dataset for a while, I found it difficult to extract some camera parameters. I would appreciate it if you could instruct me a little bit.

Q1: Where can I find the camera calibration matrix K (or intrinsics)? I checked the "calib.txt" and could not find it. The third block seems to be some calibration between a stereo camera rig while I can not understand the first two blocks...

"calib.txt"

480 270
370.044 369.501
241.249 134.663

224 172
215.965 215.965
111.453 85.0044

0.999952 -0.009273 0.00302 0.000992
0.009273 0.999957 -0.000258 -0.011901
-0.003018 0.000286 0.999995 0.002581

affine 0.001 0

Q2:
In "frame-xxxx-pose.txt", is it true that the 4*4 transformation matrix takes as input a point in camera coordinate system and transform it into a point in world coordinate system, or is it the other way around?

"frame-xxxx-pose.txt"

-0.733823 -0.13459 0.665874 -0.354835
0.0155285 0.976599 0.214508 -0.211572
-0.679163 0.167751 -0.714561 0.049265
0 -0 -0 1

Many thanks in advance.

Best Regards

How can I get the frame poses and global poses?

I noticed that both the reconstruct-global.sh and reconstruct-collaborative.sh read the pose for every frame from disk, by specifying the -t Disk argument. But how can I get these poses, e.g., for a new sequence? When I try to remove the -t Disk argument and instead use -t InfiniTAM tracker, the tracking was immediately lost after a few frames. I also have confusions on how do I get the global_poses.txt for a new dataset. Any advice on how I can reproduce the results or start from a new sequence?

Why are there some strange colored patterns on the image?

https://img1.imgtp.com/2022/11/23/i6ODsJns.png
on the upleft of this image:
https://img1.imgtp.com/2022/11/23/t7PO1tOk.png
I'm not sure you can see the image, I hope you can understand what I mean