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| <div align="center"> | ||
| <h1>VBR Development Kit</h1> | ||
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| <h1>VBR Development Kit</h1> | ||
| <a href=""><img src=https://github.com/rvp-group/vbr-devkit/actions/workflows/python.yml/badge.svg /></a> | ||
| <a href=""><img alt="PyPI - Version" src="https://img.shields.io/pypi/v/vbr-devkit" /></a> | ||
| <a href=""><img alt="PyPI - Downloads" src="https://img.shields.io/pypi/dm/vbr-devkit" /></a> | ||
| <br /> | ||
| <br /> | ||
| <a href="https://github.com/rvp-group/vbr-devkit"><img src="https://github.com/rvp-group/vbr-devkit/assets/5305530/f1a8d22a-af1e-42d4-b296-d94021a980cf"/></a> | ||
| </div> | ||
| This kit contains utilities to work on the VBR SLAM dataset | ||
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| # :hammer_and_wrench: Install | ||
| # Install | ||
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| ```shell | ||
| pip install vbr-devkit | ||
| ``` | ||
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| # :rocket: Usage | ||
| You will find here the list of available commands to interact with our dataset | ||
| You can install autocompletion for our package by typing: | ||
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| ```shell | ||
| vbr --install-completion | ||
| ``` | ||
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| you might need to restart the shell for the autocompletion to take effect. | ||
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| # Usage | ||
| ## Download sequences | ||
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| You can list the available sequences you can download by typing: | ||
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| ```shell | ||
| vbr list | ||
| ``` | ||
| You should see something similar to this | ||
|  | ||
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| After choosing your sequence, you can type | ||
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| ```shell | ||
| vbr_download --dataset <sequence_name> --save-dir <output_path> | ||
| vbr download <sequence_name> <save_directory> | ||
| ``` | ||
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| You can get the list of all the available sequences by using the `-h | --help` flag | ||
| For instance, we could save `campus_train0` as follows: | ||
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| ```shell | ||
| ❯ vbr_download -h | ||
| usage: vbr_download [-h] --dataset | ||
| {all,campus_test0,campus_test1,campus_train0,campus_train1,ciampino_test0,ciampino_t | ||
| est1,ciampino_train0,ciampino_train1,colosseo_test0,colosseo_train0,diag_test0,diag_train0,pincio_test0, | ||
| pincio_train0,spagna_test0,spagna_train0} | ||
| --save-dir PATH | ||
| vbr download campus_train0 ~/data/ | ||
| ``` | ||
| **N.B.** The script will actually save the sequence at `<save_directory>/vbr_slam/<sequence_prefix>/<sequence_name>`. Moreover, by calling the previous command, we expect the following directory: | ||
| ``` | ||
| data | ||
| - vbr_slam | ||
| - campus | ||
| - campus_train0 | ||
| - vbr_calib.yaml | ||
| - campus_train0_gt.txt | ||
| - campus_train0_00.bag | ||
| - campus_train0_01.bag | ||
| - campus_train0_02.bag | ||
| - campus_train0_03.bag | ||
| - campus_train0_04.bag | ||
| ``` | ||
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| ## Convert format | ||
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| ╭─ options ────────────────────────────────────────────────────────────────────────────────────────────╮ | ||
| │ -h, --help show this help message and exit │ | ||
| │ --dataset │ | ||
| │ {all,campus_test0,campus_test1,campus_train0,campus_train1,ciampino_test0,ciampino_test1,ciampino_t… │ | ||
| │ (required) │ | ||
| │ --save-dir PATH (required) │ | ||
| ╰──────────────────────────────────────────────────────────────────────────────────────────────────────╯ | ||
| The sequences are provided in ROS1 format. We offer a convenient tool to change representation if you prefer working on a different format. | ||
| You can see the supported formats by typing: | ||
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| ```shell | ||
| vbr convert --help | ||
| ``` | ||
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| To convert a bag or a sequence of bags, type: | ||
| ```shell | ||
| vbr convert <desired_format> <input_directory/input_bag> <output_directory> | ||
| ``` | ||
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| for instance, we could convert the `campus_train0` sequence to `kitti` format as follows: | ||
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| ```shell | ||
| vbr convert kitti ~/data/vbr_slam/campus/campus_train0/campus_train0_00.bag ~/data/campus_train0_00_kitti/ | ||
| ``` | ||
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| We can expect the following result: | ||
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| ``` | ||
| data | ||
| - campus_train0_00_kitti | ||
| - camera_left | ||
| - timestamps.txt | ||
| - data | ||
| - 0000000000.png | ||
| - 0000000001.png | ||
| - ... | ||
| - camera_right | ||
| - timestamps.txt | ||
| - data | ||
| - 0000000000.png | ||
| - 0000000001.png | ||
| - ... | ||
| - ouster_points | ||
| - timestamps.txt | ||
| - data | ||
| - .dtype.pkl | ||
| - 0000000000.bin | ||
| - 0000000001.bin | ||
| - ... | ||
| - ... | ||
| ``` | ||
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| **N.B.** In KITTI format, point clouds are embedded in binary files that can be opened using `Numpy` and `pickle` as follows: | ||
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| ```python | ||
| import numpy as np | ||
| import pickle | ||
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| with open("campus_train0_00_kitti/ouster_points/data/.dtype.pkl", "rb") as f: | ||
| cdtype = pickle.load(f) | ||
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| cloud_numpy = np.fromfile("/campus_train0_00_kitti/ouster_points/data/0000000000.bin", dtype=cdtype) | ||
| ``` | ||
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