Learning outcomes
- List the files needed before a VIO run
- Understand that ground truth is for evaluation, not for the VIO estimator
- Know where SOP truth files live
Four input groups
A benchmark case needs images or camera data, IMU measurements, calibration, and timestamps.
The ground-truth trajectory is kept separately under `truths/`. It is used after the VIO run to evaluate the estimated trajectory.
If any input group is missing or converted differently, the public row should stay TBD until the case is checked.
SOP dataset layout
Raw or converted dataset material lives under `datasets/<dataset>/<sequence>/`.
Ground truth lives under `truths/<dataset>/<sequence>.txt`.
Dataset-specific conversion code lives under `adapters/<dataset>/`.
Checklist
- Dataset folder exists
- Truth file exists
- Calibration source is recorded
- Timestamps are in seconds or clearly documented
Practice task
Pick EuRoC MAV on the Datasets page and identify the dataset path, truth path, and adapter path.