1.EuROC数据集介绍
参见链接EuRoC数据集介绍
2.仿制EuRoC 数据集
本人用的是双usb相机，因此，直接调用openCV python 格式创建数据集，采集照片程序和生成对应时间戳txt文件代码如下：
import os
import re
import sys
import cv2
import time
# 记录运行路径，数据集名称为dataset_路径_次数,可自行修改
run_num = 0
path_name = "B5-B4"
image_dir = "../dataset/MH_{}_{}/mav0".format(run_num, path_name) # 图像保存文件夹路径
if not os.path.exists(image_dir):
os.makedirs(image_dir)
left_image_dir = os.path.join(image_dir, "cam0/data")
right_image_dir = os.path.join(image_dir, "cam1/data")
if not os.path.exists(left_image_dir):
os.makedirs(left_image_dir)
if not os.path.exists(right_image_dir):
os.makedirs(right_image_dir)
# 创建txt文件
timeStamps_dir = "../dataset/timeStamps_{}_{}".format(path_name, run_num) # 图像保存文件夹路径
text_file_name = "timestamps.txt"
if not os.path.exists(timeStamps_dir):
os.makedirs(timeStamps_dir)
txt_file =os.path.join(timeStamps_dir, text_file_name) # 时间戳保存文件路径
with open(txt_file, "w") as f:
pass
left_cam = cv2.VideoCapture(1) # 左侧摄像头索引
right_cam = cv2.VideoCapture(0) # 右侧摄像头索引
# 设置图像尺寸为640x480像素
width, height = 640, 480
left_cam.set(cv2.CAP_PROP_FRAME_WIDTH, width)
left_cam.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
right_cam.set(cv2.CAP_PROP_FRAME_WIDTH, width)
right_cam.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
# 设置帧率为20fps
left_cam.set(cv2.CAP_PROP_FPS, 20)
right_cam.set(cv2.CAP_PROP_FPS, 20)
while True:
ret1, left_frame = left_cam.read()
ret2, right_frame = right_cam.read()
if not ret1 or not ret2:
break
timestamp = int(time.time() * 1000) # 当前时间戳（毫秒级）
# 保存时间戳
with open(txt_file, "a") as f:
f.write(f"{timestamp}\n")
# 保存左侧图像
left_image_path = os.path.join(left_image_dir, f"{timestamp}.png")
cv2.imwrite(left_image_path, left_frame)
# 保存右侧图像
right_image_path = os.path.join(right_image_dir, f"{timestamp}.png")
cv2.imwrite(right_image_path, right_frame)
cv2.imshow("Left", left_frame)
cv2.imshow("Right", right_frame)
# 按下键盘上的q按键退出程序
key = cv2.waitKey(1)
if key & 0xFF == ord("q"):
break
left_cam.release()
right_cam.release()
cv2.destroyAllWindows()
注意，留意EuRoc数据集目录，“Euroc数据集目录/mav0/…”，因此在制作时要相同的目录结构，时间戳存储文件为电脑时间戳（程序已经设置好）。
自己创建的目录结构如上图所示。
3. 采集双目相机标定图像
标定板自选，下附采集双目标定图像程序，按下"s"键保存，按下"esc"键退出。注意采集图像时，标定板位置固定。
import os
import re
import sys
import cv2
import time
# 记录运行路径，数据集名称为dataset_路径_次数， 可自行修改
run_num = 00
path_name = "stereo"
image_dir = "../dataset/MH_{}_{}".format(run_num, path_name) # 图像保存文件夹路径
if not os.path.exists(image_dir):
os.makedirs(image_dir)
left_image_dir = os.path.join(image_dir, "cam0/data")
right_image_dir = os.path.join(image_dir, "cam1/data")
if not os.path.exists(left_image_dir):
os.makedirs(left_image_dir)
if not os.path.exists(right_image_dir):
os.makedirs(right_image_dir)
# 创建txt文件
timeStamps_dir = "../dataset/timeStamps{}_{}".format(path_name, run_num) # 图像保存文件夹路径
text_file_name = "timestamps.txt"
if not os.path.exists(timeStamps_dir):
os.makedirs(timeStamps_dir)
txt_file =os.path.join(timeStamps_dir, text_file_name) # 时间戳保存文件路径
with open(txt_file, "w") as f:
pass
left_cam = cv2.VideoCapture(1) # 左侧摄像头索引
right_cam = cv2.VideoCapture(0) # 右侧摄像头索引
# 设置图像尺寸为640x480像素
width, height = 640, 480
left_cam.set(cv2.CAP_PROP_FRAME_WIDTH, width)
left_cam.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
right_cam.set(cv2.CAP_PROP_FRAME_WIDTH, width)
right_cam.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
# 设置帧率为20fps
left_cam.set(cv2.CAP_PROP_FPS, 20)
right_cam.set(cv2.CAP_PROP_FPS, 20)
# 保存图像计数器
count = 0
while True:
ret1, left_frame = left_cam.read()
ret2, right_frame = right_cam.read()
if not ret1 or not ret2:
break
cv2.imshow("Left", left_frame)
cv2.imshow("Right", right_frame)
# 按下键盘上的按键
key = cv2.waitKey(1)
if key & 0xFF == ord("s"):
count += 1
# 保存左侧图像
left_image_path = os.path.join(left_image_dir, f"cam0_{count}.png")
cv2.imwrite(left_image_path, left_frame)
# 保存右侧图像
right_image_path = os.path.join(right_image_dir, f"cam1_{count}.png")
cv2.imwrite(right_image_path, right_frame)
# 如果按下"Esc"键，则退出循环
elif key == 27:
break
left_cam.release()
right_cam.release()
cv2.destroyAllWindows()
双目相机标定参见MatLab的双目相机标定和orbslam双目参数匹配，实际上，
经过测试，发现该博客中关于yaml配置的注释有错误,需要注意，不能直接参考。
EuROC yaml 配置文件
以ORB-SLAM2/Examples/Stereo/EuRoc.yaml文件为例：
%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
# Camera calibration and distortion parameters (OpenCV)
# 该部分正确
Camera.fx: 435.2046959714599
Camera.fy: 435.2046959714599
Camera.cx: 367.4517211914062
Camera.cy: 252.2008514404297
# 该部分只有针孔摄像机，畸变小时均可设为0
Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
# 设置图像长宽
Camera.width: 752
Camera.height: 480
# Camera frames per second
Camera.fps: 20.0
# stereo baseline times fx
# 注意单位为m, matlab 标定后单位为mm, 计算参见上述博客
Camera.bf: 47.90639384423901
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
# 用openCV采集的图像为BGR格式，因此应该设置为0
Camera.RGB: 1
# Close/Far threshold. Baseline times.
# 该部分上述博客说的有问题
ThDepth: 35
#--------------------------------------------------------------------------------------------
# Stereo Rectification. Only if you need to pre-rectify the images.
# Camera.fx, .fy, etc must be the same as in LEFT.P
#--------------------------------------------------------------------------------------------
LEFT.height: 480
LEFT.width: 752
LEFT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data:[-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
# 这个内参矩阵不是左相机标定出来的内参，实际上是[fx, 0, cx; 0, fy, cy; 0, 0,1]
LEFT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 0.0, 0.0, 1.0]
# 这块因为只有双目相机，以左相机为基准坐标系，将世界坐标系建在左相机坐标系上因此应为单位阵[1, 0, 0, 0, 1, 0, 0, 0, 1]
LEFT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176]
# 这部分是用[fx, 0, cx, 0, 0, fy, cy, 0, 0, 0, 1, 0],实际公式参考多视几何书籍6.1节中投影矩阵的定义k[R|t]，其中
#内参矩阵k为LEFT.K, 旋转矩阵R为单位矩阵，t为零向量
LEFT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [435.2046959714599, 0, 367.4517211914062, 0, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]
RIGHT.height: 480
RIGHT.width: 752
RIGHT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data:[-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0]
# 同左相机 [fx, 0, cx; 0, fy, cy; 0, 0,1]
RIGHT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 0.0, 0.0, 1]
RIGHT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
# 这部分矩阵为[fx, 0, cx, 0, -bf, fy, cy, 0, 0, 0, 1, 0]，并不是用公式计算的K[R|t],内参矩阵为左相机K
RIGHT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [435.2046959714599, 0, 367.4517211914062, -47.90639384423901, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1200
# ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
# ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7
#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize:2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500
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