Tools for datasets published by the Oxford Estimation, Search, and Planning research group.

Dependencies

yamlmatlab

Required to load camera calibrations (https://github.com/ewiger/yamlmatlab).

Examples

Plot Vicon trajectories

[vicon_trajectories, vicon_timestamps] = ingest_vicon_data('vicon.csv');
plot_multiple_trajectories(vicon_trajectories);

Project Vicon frames into camera images

The draw_axes_on_image.m script shows the basics of how to draw ground-truth frame axes on an RGB image.

path_to_kalibr_calibration = [path_to_dataset '/kalibr_2019_06_14.yaml'];
path_to_manufacturer_calibration = [path_to_dataset '/manufacturer_2019_06_14.yaml'];
path_to_vicon_calibration = [path_to_dataset '/vicon_2019_06_14.yaml'];
path_to_images = [path_to_dataset data_segment];
draw_axes_on_image;

Calibrate Trajectory and Calclate Errors

The calibrate_vicon_and_vo.m script shows the basics of how an estimated VO trajectory can be calibrated to and compared against a ground-truth egomotion trajectory.