Download 998 Rar
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Links are provided to the images and other logs below. The full set of images is available as separated 1.95GB RAR files, but because of its size a smaller subset of 100 images in both raw and debayered/undistorted formats is also available for evaluation. MD5 Checksums are provided on large files to ensure integrity of downloaded data.
The data used to calibrate the stereo dataset is provided here for your convenience if you would like to perform your own calibration. The stereo images containing multiple views of a checkerboard are provided in 101215_151454_MultiCamera0_calibration.rar. If you would like to use our calibration you can download the monocular and stereo calibration files here that are compatible with Bouget's Camera Calibration for Matlab. If you wish to use OpenCV or our multicamera_data_player app (see below) to undistort the imagery, we have provided convenient XMLs with the data that OpenCV can import directly.
Download the 101215_153851_MultiCamera0_subset_db.rar file. This contains a small subset of processed data from the dataset ('db' = 'debayered'). Extract and examine the imagery to see if it suits your purposes.Download the 101215_153851_MultiCamera0_subset.rar file. This contains the same small subset as in the full size dataset, but the images are in their raw form. This allows you to experiment with your own image processing and do some experimental evaluation before committing to downloading the whole dataset.Extract 101215_153851_MultiCamera0_subset.rar using WinRAR on Windows or your favourite package unzipper in Linux. These should uncompress into a single folder titled 101215_153851_MultiCamera0_subset. Keep a note of the path of this folder.The images provided in the subset and larger whole dataset require some post-processing before they are useful. Firstly, the images are in a bayer format, which means that they appear as a speckled greyscale image. However, colour information is encapsulated within the image encoding, and can be extracted using a software package such as OpenCV. The images also have not yet been undistorted nor rectified. The following steps allow you to debayer, undistort and rectify the images according to your needs with a single executable.Download MultiCameraDataPlayer (or its source and dependencies, then build the application).Download the intrinsics and distortion xml files for the data (see Calibration)Place all four intrinsics and data files in a single folder called intrinsics or something similar. Keep a note of the path of this folder.Run MultiCameraDataPlayer using the examples provided on it's download page as guidance. For most purposes you will want to debayer and undistort the imagery and export to a video file format for ease of use.Finished! Now run your visual odometry algorithm on the processed dataset.When you are satisfied with the quality of the evaluation set, download all 19 .RAR files (see Dataset) containing the images. These are compressed in sizes of just under 2GB to fit browser size limitations.Extract the files as a group using WinRAR on Windows or your favourite package unzipper in Linux. These should uncompress into a single folder titled 101215_153851_MultiCamera0. Keep a note of the path of this folder.Run MultiCameraDataPlayer on the sequence you wish to evaluate and process for use in your visual odometry software
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