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smartroboticslab / mid-fusion

Code for ICRA 2019 work "MID-Fusion Octree-based Object-Level Multi-Instance Dynamic SLAM"
https://arxiv.org/abs/1812.07976
BSD 3-Clause "New" or "Revised" License
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How to convert rgb and depth to raw? #1

Closed kuwan2e closed 1 year ago

kuwan2e commented 1 year ago

Hi there. Thank you and your team for all the hard work. I see you compress rgb and depth data into a file in raw format. I want to know is there any script or code to simply convert my rgb and depth data to raw file? Best regards.

binbin-xu commented 1 year ago

Hi,

Thank you very much for your interest in our work. The method for converting your data to the raw format depends on how you collected it. If you collected your data in the TUM or IC-NUIM format, you can use our program, scene2raw, which is included in mid-fusion.

Alternatively, if you recorded your data from an Asus Kinect using a program such as logger2, you can use our code, vs2raw, to convert from klg files (which are used in elasticfusion and maskfusion) to the raw format.

If you recorded your data using a realsense camera, you can use my rs-logger to directly record your live raw data.

In practice, I have tried all three approaches.

We hope this information helps you solve your problem.

Best, Binbin