/fusion-network

Primary LanguagePythonMIT LicenseMIT

Fusion-network

  1. For parsing create a folder recorded-data and bagfiles folder in the root.
  2. Place all the .bag(rosbag) files in bagfiles directory.
  3. Run parse_runner.py
  4. All recorded file will be inside recorded-data floder.
  5. output of ApplyTranformation is of the following format.
{
  'stacked_images': "stacked images here",
  'point_cloud': "point clouds will be here",

   # local_goal is a tuple of following form 
   # x, y is in robot frame
  'local_goal': (x, y),

  # prev cmd velocities is an array of tuples of lenght 20
  'prev_cmd_vel': [(linear.x, angular.z)],

  #ground truth cmd vel is a tuple in following form
  'gt_cmd_vel': (linear.x, angular.z)
}