This repository helps you make Custom Dataset (RGB-D) used in ORB_SLAM2.

When you excute ORB_SLAM2 RGB-D mode with your own dataset, you need to create

• rgb.txt : the timestamps and RGB images list
• depth.txt : the timestamps and depth images list
• association.txt : the list of matching timestamp, rgb filename, timestamp, and depth filename.
• rgb/ : the folder of RGB image sequence

- rgb /  
    |---- rgb00002.png
    |---- rgb00003.png
    |---- rgb00004.png
    |---- rgb00005.png ..

• depths/ : the folder of depth image sequence

- depths /  
    |---- depth00002.png
    |---- depth00003.png
    |---- depth00004.png
    |---- depth00005.png ..

I tested this repository with Real Sense D435 & L515!

• pyrealsense2
• numpy
• opencv-python
• python

With rs-get-Sequence.py you could get RGB and depth sequence.

First you would make empty folders which name rgb/ and depths/.
After you connect your real sense camera, just run the python rs-get-Sequence.py in terminal.

When you run this code, press 's' button and 'enter' to start.
You could visualize RGB image and Depth colorized image.
And save images and rgb.txt and depth.txt!

When you get rgb.txt and depth.txt, It looks like this.
For example rgb.txt,

0.00585412979126 rgb/rgb00002.png
0.00706601142883 rgb/rgb00003.png
00.0154299736023 rgb/rgb00004.png
00.0148220062256 rgb/rgb00005.png
00.0163168907166 rgb/rgb00006.png
00.0162618160248 rgb/rgb00007.png
00.0166661739349 rgb/rgb00008.png
00.0166158676147 rgb/rgb00009.png
00.0157341957092 rgb/rgb00010.png
00.0166420936584 rgb/rgb00011.png
00.0167319774628 rgb/rgb00012.png ...

You should fix this txt file to follow ORB_SLAM2 rgb.txt rules!

Just add these 3 lines to fit the format.

# rgb maps
# file: 'example of rgb sequence'
# timestamp filename

You could get this result.

# rgb maps
# file: 'example of rgb sequence'
# timestamp filename
0.00585412979126 rgb/rgb00002.png
0.00706601142883 rgb/rgb00003.png
00.0154299736023 rgb/rgb00004.png
00.0148220062256 rgb/rgb00005.png
00.0163168907166 rgb/rgb00006.png
00.0162618160248 rgb/rgb00007.png
00.0166661739349 rgb/rgb00008.png
00.0166158676147 rgb/rgb00009.png
00.0157341957092 rgb/rgb00010.png
00.0166420936584 rgb/rgb00011.png
00.0167319774628 rgb/rgb00012.png ...

You could make associations.txt with associate.py.
When you run associate.py, you need to provide 3 argments.

• rgb_path : Path of rgb.txt
• depth_path : Path of depth.txt
• output : Output name of txt file

You run the code like this.

• python associate.py --rgb_path [rgb path] --depth_path [depth path] --output [Name of txt file].
• (For example) python associate.py --rgb_path rgb.txt --depth_path depth.txt --output associations.txt.