Convert RGB-D Scenes dataset v2 to TUM RGB-D format

The RGB-D Scenes Dataset v2 consists of 14 scenes containing furniture (chair, coffee table, sofa, table) and a subset of the objects in the RGB-D Object Dataset (bowls, caps, cereal boxes, coffee mugs, and soda cans). Each scene is a point cloud created by aligning a set of video frames using Patch Volumes Mapping*.

However, the original file is not in TUM RGB-D format, which is not convenient for ORB-SLAM2 to use. This script converts its format.

Building

mkdir build
cd build 
cmake ..
make

Example

Organize the original file as follows：

path/
		   -scene_01            (01 is the sequence number)
		   -01.pose

then run the ConvertRGBD:

build/ConvertRGBD  path  01(number)

The results are as follows:

path/
		   -scene_01            (01 is the sequence number)
		   -01.pose
		   depth/
		   rgb/
		   associations.txt
		   depth.txt
		   rgb.txt
		   groundtruth.txt

Note

Since the original file has no explicit timestamp, the converted timestamp is the frame interval (50ms), which can be modified.