Raw Sequence Folder Structure

Each recorded .bag file is placed within its own folder. This folder contains intrinsic and extrinsic parameters for each camera recorded in the .bag file, as well as time offsets and a list of recorded objects on the scene.

The example of the dataset configuration folder (without a .bag file) can be found here. The configuration folder should contain:

objects.txt - a file listing the recorded objects
one or several camera configuration folders
<folder_name>.bag - a bag file with the same name as the sequence’s folder

An example of the file tree for a raw sequence’s folder is below:

scene13_dyn_test_00
├── flea3_7
│   ├── calib.txt
│   ├── extrinsics.txt
│   └── params.txt
├── left_camera
│   ├── calib.txt
│   ├── extrinsics.txt
│   └── params.txt
├── objects.txt
├── right_camera
│   ├── calib.txt
│   ├── extrinsics.txt
│   └── params.txt
├── samsung_mono
│   ├── calib.txt
│   ├── extrinsics.txt
│   └── params.txt
└── scene13_dyn_test_00.bag

File	Description
`'calib.txt'`	a single line with camera intrinsic parameters in a format `fx fy cx cy k1 k2` and `k3 k4` for equidistant distortion model and `p1 p2` for radtan distortion model. See relevant code here and here.
`'extrinsics.txt'`	4 lines; first line: 6 parameters `tx ty tz roll pitch yaw` - Euler angles for camera-to-Vicon transformation. Third line: a single number, camera-to-Vicon timestamp offset in seconds. See relevant code here.
`'params.txt'`	Camera’s resolution, distortion model (`radtan` or `equidistant`), and associated topics
`'objects.txt'`	Object’s in the objects directory that should be in a sequence. (example) The objects that are not listed (or commented out) will not be in the ground truth, even if recorded. If the object is included in `objects.txt` but has no ROS messages, most tools will terminate with an error. To create new objects see adding a new object
`'.bag'`	ROS bagfile containing the raw data for the sequence

The following topics can be specified in params.txt:

Topic	Description
`ros_image_topic`	ROS topic with classical rgb camera frames; can be `none`
`ros_event_topic`	ROS topic with events from DVS cameras; can be `none`
`ros_pos_topic`	ROS topic with Vicon messages for the camera and objects

Defaults

A folder of default camera configurations are provided here. The defaults are used by the online tool.