dataset-processing is a set of scripts to process, convert and visualize the Rosario dataset
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.
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>
For the visualization of GPS measurements on ROS we recomend mapviz
roscore &
roslaunch <dataset-processing>/visualize_navsatfix.launch
rosbag play <rosbag>
roscore &
rosparam set use_sim_time true
roslaunch <dataset-processing>/robot_localization/dual_ekf_navsat.launch
rosbag play --clock <sequenceXX.bag>
roscore &
rosparam set use_sim_time true
roslaunch <dataset-processing>/slam_configs/sptam_zed_bag.launch
rosbag play --clock <sequenceXX.bag>
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>
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