vnmsklnk/vprdb-lite

VPR-DB-Lite

VPR-DB-Lite is a tool for creating optimally sized databases (containing the minimum number of frames covering the scene) for place recognition task from RGB-D data using dominating set algo.

Datasets format

To use the tool, your data must be in a specific format.

• Color images in any format.
• Depth images corresponding to color images in 16-bit grayscale format.
• The trajectory containing one pose in each line in timestamp tx ty tz qx qy qz qw format.

Therefore, the structure of the dataset should look like this:

Example dataset
├── color
|   ├── 001.png
|   ├── 002.png
|   ├── ...
├── depth
|   ├── 001.pcd
|   ├── 002.pcd
|   ├── ...
└── CameraTrajectory.txt

The number of color images, depth images and poses in the trajectory file must be the same.

Usage

Please, check pipeline.ipynb with usage example.