CroMo

Instructions

The instructions for downloading CroMo is listed as follows:

1. All compressed files need to be placed in the same folder for decompression, i.e. a folder named "CroMo_dataset" for example, the standard path has been compressed into the files.

                           
   foo@bar:/$ mkdir CroMo_dataset
   foo@bar:/$ mv kitchen.tar.zst CroMo_dataset
                           

2. Decompress all the files.
   For kitchen.tar.zst, enter the "CroMo_dataset" directory and decompress the file as follow:

                           
   foo@bar:/$ cd CroMo_dataset
   foo@bar:/CroMo_dataset/$ tar -xvf kitchen.tar.zst .
   foo@bar:/CroMo_dataset/$ rm kitchen.tar.zst
                           

   Note that the files were compressed with zstd, which you may need to install.

After decompression, the data organization is listed as follows:

    CroMo_dataset/
    |-- Scene (for example Facades, Park, Kitchen, or Station)/
    |   |-- Day (the day of the capture, for example 20201108-104355)/
    |       |-- {colmap,structured-light}/
    |       |   |-- extrinsics_depth2left.json
    |       |   |-- sensor/
    |       |       |-- intrinsics.json
    |       |       |-- data
    |       |           |-- *.png  
    |       |-- i-tof/
    |       |   |-- extrinsics_tof2left.json
    |       |   |-- sensor/
    |       |       |-- intrinsics.json
    |       |       |-- data/
    |       |           |-- *.png  
    |       |-- imu
    |       |   |-- extrinsics_imu2left.json
    |       |   |-- sensor/
    |       |       |-- data/
    |       |           |-- *.txt  
    |       |-- {polarized,rgb}/
    |           |-- extrinsics_right2left.json
    |           |-- {left,right}/
    |               |-- intrinsics.json
    |               |-- data/
    |                   |-- *.png
    |-- split/
        |-- {split_0,split_1,...,split_9} /
        |   |-- train_files_{pol,rgb,tof}.txt
        |   |-- val_files_{pol,rgb,tof}.txt
        |-- test_files_{pol,rgb,tof}.txt

Processed Data

Data-capture across all sensors (synchronised), for each of the four scene-types found in the paper (~220GB total).

In order to make downloading easier, we divide the processed data into 4 files, one for each scene type.
Download link for Facades:  [IceDrive]
Download link for Park:  [IceDrive]
Download link for Kitchen:  [IceDrive]
Download link for Station:  [IceDrive]
Download link for all the IMU (some files are missing in the previous link):  [IceDrive]

RAW Data

We additionally share the -unprocessed- data for Kitchen scene (~18GB). Further datasets will be added soon. The code to convert the RAW data into processed data will be released pending internal review.

Download link for Kitchen RAW: [IceDrive]