morbi25 / robotcar-dataset-sdk

Pip package for the Software Development Kit for the Oxford Robotcar Dataset

RobotCar Dataset Python Tools

This directory contains sample python code for viewing and manipulating data from the Oxford Robotcar Dataset and Oxford Radar Robotcar Dataset.

Requirements

The python tools have been tested on Python 2.7. Python 3.* compatibility has not been verified.

The following packages are required:

• numpy
• matplotlib
• colour_demosaicing
• pillow
• opencv-python
• open3d-python

These can be installed with pip:

pip install numpy matplotlib colour_demosaicing pillow opencv-python open3d-python

Command Line Tools

Viewing Images

The play_images.py script can be used to view images from the dataset.

python play_images.py /path/to/data/yyyy-mm-dd-hh-mm-ss/stereo/centre

If you wish to undistort the images before viewing them, pass the camera model directory as a second argument:

python play_images.py /path/to/data/yyyy-mm-dd-hh-mm-ss/stereo/centre --models_dir /path/to/camera/models

Viewing Radar Scans

The play_radar.py script can be used to view radar scans.

python play_radar.py /path/to/data/yyyy-mm-dd-hh-mm-ss/radar

Viewing Velodyne Scans

The play_velodyne.py script can be used to view velodyne scans from raw or binary form.

python play_velodyne.py /path/to/data/yyyy-mm-dd-hh-mm-ss/velodyne_left

Building Pointclouds

The build_pointcloud.py script builds and displays a 3D pointcloud by combining multiple LIDAR scans with a pose source. The pose source can be either INS data or the supplied visual odometry data. For example:

python build_pointcloud.py --laser_dir /path/to/data/yyyy-mm-dd-hh-mm-ss/lms_front --extrinsics_dir ../extrinsics --poses_file /path/to/data/yyyy-mm-dd-hh-mm-ss/vo/vo.csv

Projecting pointclouds into images

The project_laser_into_camera.py script first builds a pointcloud, then projects it into a camera image using a pinhole camera model. For example:

python project_laser_into_camera.py --image_dir /path/to/data/yyyy-mm-dd-hh-mm-ss/stereo/centre --laser_dir /path/to/data/yyyy-mm-dd-hh-mm-ss/ldmrs --poses_file /path/to/data/yyyy-mm-dd-hh-mm-ss/vo/vo.csv --models_dir /path/to/models --extrinsics_dir ../extrinsics --image_idx 200

Usage from Python

The scripts here are also designed to be used in your own scripts.

• build_pointcloud.py: function for building a pointcloud from LIDAR and odometry data
• camera_model.py: loads camera models from disk, and provides undistortion of images and projection of pointclouds
• interpolate_poses.py: functions for interpolating VO or INS data to obtain pose estimates at arbitrary timestamps
• transform.py: functions for converting between various transform representations
• image.py: function for loading, Bayer demosaicing and undistorting images
• velodyne.py: functions for loading Velodyne scan data and converting a raw scan representation to pointcloud
• radar.py: functions for loading radar scan data and converting a polar scan representation to Cartesian

For examples of how to use these functions, see the command line tools above.