Parv-Maheshwari / dataset-processing

Tools to process the Weed removing robot dataset

dataset-processing is a set of scripts to process, convert and visualize the Rosario dataset

Disclaimer

This site and the code provided here are under active development. Even though we try to only release working high quality code, this version might still contain some issues. Please use it with caution.

Ground-truth

The Ground-Truth is generated directly with the GPS-RTK positional measurements. To this end firstly the NMEA are converted to the format timestamp x, y, z using

python <dataset-processing>/nmea2gps.py --input <gps_log> -output <rosatio_gt>

Then, this format could be converted to any desired standard format as TUM or KITTI using the respectively converter:

python rosario_gt2tum.py -g <rosatio_gt> -o <rosario_gt_kitti>
python rosario_gt2kitti.py -g <rosatio_gt> -o <rosario_gt_tum>

Visualization tools

GPS visualization with mapviz

For the visualization of GPS measurements on ROS we recomend mapviz

roscore &
roslaunch <dataset-processing>/visualize_navsatfix.launch
rosbag play <rosbag>

Tested SLAM systems

robot_localization

roscore &
rosparam set use_sim_time true
roslaunch <dataset-processing>/robot_localization/dual_ekf_navsat.launch
rosbag play --clock <sequenceXX.bag>

S-PTAM

roscore &
rosparam set use_sim_time true
roslaunch <dataset-processing>/slam_configs/sptam_zed_bag.launch
rosbag play --clock <sequenceXX.bag>

ORB-SLAM2

roscore &
rosparam set use_sim_time true
rosbag play --clock sequence01.bag /stereo/left/image_raw:=/camera/left/image_raw /stereo/right/image_raw:=/camera/right/image_raw
rosrun ORB_SLAM2 Stereo ~/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt <dataset-processing>/slam_configs/orbslam_ros.yaml true
rosbag play --clock <sequenceXX.bag>

Dataset evaluation

We recomend the evo evaluation tool.

Use the python 2.7 version:

sudo pip2.7 install evo --upgrade --no-binary evo

Examples:

evo_traj tum --ref=gt_tum_02.txt FrameTrajectory_TUM_Format.txt -p --plot_mode=xyz --align

evo_traj tum --ref=gt_tum_02.txt FrameTrajectory_TUM_Format.txt -p --plot_mode=xyz --align