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CSV Dataset Format

multiagent-mapping-sheep edited this page Nov 27, 2017 · 1 revision

It is often useful to interface the visual-inertial maps with other research tools (such as Python scripts, Matlab, deep learning frameworks). A consistent map constructed from multiple recordings and spanning a large area and a timeframe is very valuable for lifelong mapping, place recognition and other experiments. Maplab contains a CSV exporter that outputs the data stored in the map to a an easily readable format that can be universally accessed.

This page describes the output of csv_export command in the maplab console. The command operates per mission and creates a folder named after the mission id in the export path. For each mission, the following data is exported:

Vertices

File name: vertices.csv

Column Description Unit Frame
1 vertex index - -
2 timestamp ns -
3 position x m global
4 position y m global
5 position z m global
6 orientation quaternion x - global
7 orientation quaternion y - global
8 orientation quaternion z - global
9 orientation quaternion w - global
10 velocity x m/s mission
11 velocity y m/s mission
12 velocity z m/s mission
13 accelerometer bias x m/s^2 imu/sensor
14 accelerometer bias y m/s^2 imu/sensor
15 accelerometer bias z m/s^2 imu/sensor
16 gyroscope bias x rad/s imu/sensor
17 gyroscope bias y rad/s imu/sensor
18 gyroscope bias z rad/s imu/sensor

IMU data

File name: imu.csv

Column Description Unit Frame
1 IMU timestamp ns -
2-7 IMU data 1 (6 values) rad/s and m/s^2 imu/sensor

Tracks/keypoints

File name: tracks.csv

Column Description Unit Frame
1 timestamp ns -
2 vertex index - -
3 frame index - -
4 keypoint index - -
5 keypoint measurement 0 px distorted img
6 keypoint measurement 1 px distorted img
7 keypoint measurement uncertainty - -
8 keypoint scale - -
9 keypoint track id - -

Descriptors

File name: descriptors.csv

Column Description Unit Frame
1-N descriptor byte as integer - -

The rows are ordered the same as in the tracks file.

Landmarks

File name: landmarks.csv

Column Description Unit Frame
1 landmark index - -
2 landmark position x m global
3 landmark position y m global
4 landmark position z m global

Observations

File name: observations.csv

Column Description Unit Frame
1 vertex index - -
2 frame index - -
3 keypoint index - -
4 landmark index - -
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