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 | :heavy_check_mark:(LEICA)​ | :heavy_check_mark:(map reg.) | | FusionPortableV2 | except for tunnel/high way | :heavy_check_mark:(LEICA) | :heavy_check_mark: | | GEODE | only stairs | :heavy_check_mark:(LEICA) | :heavy_check_mark: (map reg.) | | MS | all | :heavy_check_mark: (partial map) | :heavy_check_mark: (RTK-INS) | | Newer College | all | :heavy_check_mark: LEICA | :heavy_check_mark: (map reg.) | | SuperLoc | cave/corridor | :heavy_check_mark: (sparse) | :heavy_check_mark: (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

Contributors

<a href="https://github.com/JokerJohn/SLAMTools/graphs/contributors"> <img src="https://contrib.rocks/image?repo=JokerJohn/SLAMTools" /> </a>