The directory structure expected by oxford_spires.py is inconsistent with that of the original Oxford Spires Dataset project.
Will the conversion script be added later?
oxford_spires.py:
"""Oxford Spires dataset loader.
Dataset format:
{raw_data_root}/
{scene_name}/ # e.g., keble-college-02
images/
000000.png, 000001.png, ... # RGB images (1440x1080, uint8)
depth/
000000.npy, 000001.npy, ... # GT depth maps (float32, meters, 0=invalid) (NOT used)
depth_vis/ # Visualization (ignored) (NOT used)
poses_c2w.txt # N lines, each: 16 floats (4x4 C2W, row-major)
intrinsics.txt # "fx fy cx cy width height"
ground_truth.ply # Per-scene LiDAR reference cloud (xyzrgb) (NOT used)
Reference:
https://ori-drs.github.io/oxford-spires-dataset/
"""Oxford Spires Dataset:
└── sequences
└── 2024-03-12-keble-college-02
├── processed
│ ├── colmap
│ ├── lidar-depths
│ ├── lidar-undistortion
│ ├── trajectory
│ └── vilens-slam
└── raw
├── cam0
├── cam1
├── cam2
├── imu.csv
├── lidar-clouds
├── ros2bag
└── rosbag
The directory structure expected by oxford_spires.py is inconsistent with that of the original Oxford Spires Dataset project.
Will the conversion script be added later?
oxford_spires.py:
Oxford Spires Dataset:
└── sequences └── 2024-03-12-keble-college-02 ├── processed │ ├── colmap │ ├── lidar-depths │ ├── lidar-undistortion │ ├── trajectory │ └── vilens-slam └── raw ├── cam0 ├── cam1 ├── cam2 ├── imu.csv ├── lidar-clouds ├── ros2bag └── rosbag