Data format
This page explains data format and file structure of the provided dataset.
We provide
processed (rectified + synchronized) stereo data (RGB, NIR, thermal images, LiDAR scans, GNSS/INS navigation results).
projected depth map
odometry
For the dataloader of MS2 dataset, please take a look at [here].
Top level folder
The top-level folder consists of "sync_data", "proj_depth", and "odom" folders.
Each folder has a number of <Sequence>.
You can download each sequence in the download tab of this website.
"sync_data" contains (rectified + synchronized) stereo image streams along with stereo Lidar scans and navigation results of GPS/IMU module.
"proj_depth" contains (projected + filtered) depth map for each camera coordinate. Also, it provides a projected depth map and intensity map of single-scan, multiple-scan merged point clouds.
"odom" contains projected poses ([R|t], 3x4 matrix) for each sensor coordinate from the navigation data of GPS/IMU module.
Sync_data folder
Each sequence of "sync_data" has the same folder structure and contains "rgb, "nir", "thr", "lidar", "gps_imu", "calib.npy", and "readme.txt".
"rgb","nir","thr" folder:
(rectified + synchronized) Stereo images along with their timestamps.
We provide thermal images as a uint16 file (i.e., raw sensor value).
"lidar" folder:
Synchronized stereo lidar scans along with their timestamps.
The lidar mat file provides <x, y, z, intensity> format data.
"gps_imu" folder:
Synchronized navigation results along with the timestamp.
See the detail from "data_format.txt".
"calib.npy" :
All intrinsic and extrinsic matrices of stereo (rectified) RGB, NIR, and thermal cameras.
All extrinsic matrices between the left NIR camera and all sensors (stereo RGB, thermal, LiDARs, and IMU.)
See the detail from "readme.txt"
Proj_depth folder
Each sequence of "proj_depth" has the "rgb", "nir", and "thr" folders.
Each camera folder ("rgb", "nir", "thr") contains the following folders and files.
"depth" folder:
Projected depth map of a single scan lidar points (VLP16, uint16)
"intensity" folder:
Projected intensity map of a single scan lidar points (VLP16, uint8)
"depth_multi" folder:
Projected depth map of the multi-frame merged points (32frames), highly noisy
"intensity_multi" folder:
Projected intensity map of the multi-frame merged points (32frames), highly noisy
"depth_filtered" folder:
Filtered depth map of the "depth_mutl" (See Setup page of this website)
- Note: All depth maps are saved in the form of (metric scale depth * 256) with unsigned int16 type.
- When loading the depth map, divide it by 256 to get metric scale depth.
- Depth map is projected to the "left" image plane of each stereo (RGB,NIR,thermal) system.
Odom folder
Each sequence of "odom" has the "rgb", "nir", "thr", and "lidar" folders.
Each folder provides projected poses ([R|t], 3x4 matrix) for each sensor coordinate system (Left) from the navigation data of GPS/IMU module (WGS84, LLH coordinate, quaternion)
The initial pose of each sequence starts from [I|0].