pydsopp_utilities.md

pydsopp offers an easy way to process track.bin from dsopp_main

nerf_exporter.py

Export track.bin format to Nvidia instant-ngp nerf format

From the build folder:

python3 -m pydsopp.utils.nerf_exporter --track track_bin_path --output output_directory

track2colmap.py

Export track.bin to colmap txt track format

From build folder:

python3 -m pydsopp.utils.track2colmap --track track_bin_path --output output_directory

Note: save_images should be set to on in mono.yaml to save undistorted images too

point_cloud_exporter.py

Sparse point cloud exporter

From the build folder:

python3 -m pydsopp.utils.point_cloud_exporter --track track_bin_path --coord_system odometry --color_scheme image_colors --file_format xyz --output output_cloud_path.xyz

Note: that --color_schame image_colors would work only if save_images was set to on in mono.yaml, otherwise use --color_scheme semantic