SLAMTools

This is a script toolkit for SLAM research, including but not limited to various plotting functions, ROS bag processing.

Function	scripts	demo
evo_eval_viewer.py	Plot Error with EVO evaluation results
Plot comparative Error
graph_error_viewer.py	Plot Graph error
Plot Error with colorbar
rosbag_trajectory_viz.py	visualize and extract ins data from rosbag so that we can check and generate ground truth trajectory.
pose_graph_cov_2d.py	Plot pose cov
Visualize 2D/3D trajectory
Visualize RPY
Visualize Position and rotation over time
var_analysis.py	Analysis GNSS covariance
time_analysis.py	Run-time analysis
Run-time analysis comparative

Viewer

Evaluate with EVO results

first get evo ape and rpe results as test.zip and test_rpe.zip

#dependence
pip3 install zipfile pandas matplotlib numpy
#run
python3 evo_eval_viewer.py

Run_time_analysis

#denpendence
pip3 install matplotlib pandas

#run
python3 time_analysis.py

# 1698490753.03 0.135222 221.497434 0.022776 0.491802 236.377261 0.651435 1194.924191 0.132663 3.51924 0
# timestamp module1_time module2_time module3_time module4_time total_time module1_total_time module2_total_time module13_tota_time module4_total_time 
# since we just use module2_time and module4_time, we can get the following figure.
# ref to paper: PALoc https://ieeexplore.ieee.org/document/10480308

Dataset With GT Map

Dataset	sequence	GT Map	GT Traj.
FusionPortable	except for campus_day	✔️(LEICA)	✔️(map reg.)
FusionPortableV2	except for tunnel/high way	✔️(LEICA)	✔️
GEODE	only stairs	✔️(LEICA)	✔️ (map reg.)
MS	all	✔️ (partial map)	✔️ (RTK-INS)
Newer College	all	✔️ LEICA	✔️ (map reg.)
SuperLoc	cave/corridor	✔️ (sparse)	✔️ (map reg.)
...

NCLT Tools

merge raw data to rosbag sensordata_to_rosbag_fastlio.py

this scripts is modified from faster-lio, but fix some bugs.

set your data file

python3 sensordata_to_rosbag_fastlio.py 2012-01-22/ 2012-01-22.bag

TUM GT Trajectory generate_gt.py

download the gt and cov file.

python3 generate_gt.py groundtruth_2012-01-15.csv cov_2012-01-15.csv groundtruth_2012-01-15-tum.txt

Read GT

python3 read_ground_truth.py groundtruth_2012-01-08.csv cov_2012-01-08.csv

JokerJohn/SLAMTools