├── README.md ├── page.png └── tools ├── IROS20_0685_FI.pdf ├── README.md ├── analysis ├── lab_motion1 │ ├── DUI-VIO.csv │ ├── VINS-Mono.csv │ ├── VINS-RGBD.csv │ ├── ground_truth.csv │ ├── shift │ │ ├── DUI-VIO.csv │ │ ├── VINS-Mono.csv │ │ ├── VINS-RGBD.csv │ │ ├── ground_truth.csv │ │ ├── rpy.png │ │ └── xyz.png │ └── shift_one_column.py ├── lab_motion2 │ ├── .process_result_old.py.swp │ ├── DUI-VIO.csv │ ├── VINS-Mono.csv │ ├── VINS-RGBD.csv │ ├── ground_truth.csv │ ├── shift │ │ ├── DUI-VIO.csv │ │ ├── VINS-Mono.csv │ │ ├── VINS-RGBD.csv │ │ ├── evo_cmd │ │ ├── ground_truth.csv │ │ ├── rpy.png │ │ └── xyz.png │ └── shift_one_column.py ├── lab_motion3 │ ├── DUI-VIO.csv │ ├── VINS-Mono.csv │ ├── VINS-RGBD.csv │ ├── ground_truth.csv │ ├── shift │ │ ├── DUI-VIO.csv │ │ ├── VINS-Mono.csv │ │ ├── VINS-RGBD.csv │ │ ├── ground_truth.csv │ │ ├── rpy.png │ │ └── xyz.png │ └── shift_one_column.py ├── lab_motion4 │ ├── DUI-VIO.csv │ ├── VINS-Mono.csv │ ├── VINS-RGBD.csv │ ├── ground_truth.csv │ ├── shift │ │ ├── DUI-VIO.csv │ │ ├── VINS-Mono.csv │ │ ├── VINS-RGBD.csv │ │ ├── ground_truth.csv │ │ ├── rpy.png │ │ └── xyz.png │ └── shift_one_column.py ├── lab_motion5 │ ├── DUI-VIO.csv │ ├── VINS-Mono.csv │ ├── VINS-RGBD.csv │ ├── ground_truth.csv │ ├── shift │ │ ├── DUI-VIO.csv │ │ ├── VINS-Mono.csv │ │ ├── VINS-RGBD.csv │ │ ├── ground_truth.csv │ │ ├── rpy.png │ │ └── xyz.png │ └── shift_one_column.py └── lab_motion6 │ ├── DUI-VIO.csv │ ├── VINS-Mono.csv │ ├── VINS-RGBD.csv │ ├── ground_truth.csv │ ├── shift │ ├── DUI-VIO.csv │ ├── VINS-Mono.csv │ ├── VINS-RGBD.csv │ ├── ground_truth.csv │ ├── rpy.png │ └── xyz.png │ └── shift_one_column.py ├── ground_truths ├── corridor1_gt.csv ├── corridor2_gt.csv ├── corridor3_gt.csv ├── corridor4_gt.csv ├── corridor_bumper1_gt.csv ├── corridor_bumper2_gt.csv ├── corridor_manual1_gt.csv ├── corridor_manual2_gt.csv ├── hall1_gt.csv ├── hall2_gt.csv ├── hall3_gt.csv ├── lab_bumper1_gt.csv ├── lab_bumper2_gt.csv ├── lab_bumper3_gt.csv ├── lab_bumper4_gt.csv ├── lab_bumper5_gt.csv ├── lab_dynamic1_gt.csv ├── lab_dynamic2_gt.csv ├── lab_dynamic3_gt.csv ├── lab_dynamic4_gt.csv ├── lab_dynamic5_gt.csv ├── lab_light1_gt.csv ├── lab_light2_gt.csv ├── lab_light3_gt.csv ├── lab_light4_gt.csv ├── lab_light5_gt.csv ├── lab_light6_gt.csv ├── lab_manual1_gt.csv ├── lab_manual2_gt.csv ├── lab_manual3_gt.csv ├── lab_motion1_gt.csv ├── lab_motion2_gt.csv ├── lab_motion3_gt.csv ├── lab_motion4_gt.csv ├── lab_motion5_gt.csv ├── lab_motion6_gt.csv ├── lab_simple1_gt.csv ├── lab_simple2_gt.csv └── lab_simple3_gt.csv ├── lab_simple1_tum_msckf.csv ├── motion2_error_align_100.PNG ├── motion2_error_align_all.PNG ├── process_result.py ├── process_result_old.py └── test_results ├── dui-vio ├── corridor1.csv ├── corridor1_tum.csv ├── corridor2.csv ├── corridor2_tum.csv ├── corridor3.csv ├── corridor3_tum.csv ├── corridor4.csv ├── corridor4_tum.csv ├── corridor_manual1.csv ├── hall1.csv ├── hall1_tum.csv ├── hall2.csv ├── hall2_tum.csv ├── hall3.csv ├── hall3_tum.csv ├── lab_bumper2.csv ├── lab_bumper5.csv ├── lab_dynamic1.csv ├── lab_dynamic1_tum.csv ├── lab_dynamic2.csv ├── lab_dynamic2_tum.csv ├── lab_dynamic3.csv ├── lab_dynamic3_tum.csv ├── lab_dynamic4.csv ├── lab_dynamic4_tum.csv ├── lab_dynamic5.csv ├── lab_dynamic5_tum.csv ├── lab_light3.csv ├── lab_light3_tum.csv ├── lab_light4.csv ├── lab_light4_tum.csv ├── lab_light5.csv ├── lab_light5_tum.csv ├── lab_light6.csv ├── lab_light6_tum.csv ├── lab_manual1.csv ├── lab_manual2.csv ├── lab_manual3.csv ├── lab_motion1.csv ├── lab_motion1_tum.csv ├── lab_motion2.csv ├── lab_motion2_tum.csv ├── lab_motion3.csv ├── lab_motion3_tum.csv ├── lab_motion4.csv ├── lab_motion4_tum.csv ├── lab_motion5.csv ├── lab_motion5_tum.csv ├── lab_motion6.csv ├── lab_motion6_tum.csv ├── lab_simple1.csv ├── lab_simple1_tum.csv ├── lab_simple2.csv ├── lab_simple2_tum.csv ├── lab_simple3.csv └── lab_simple3_tum.csv ├── vins-mono ├── corridor1.csv ├── corridor1_tum.csv ├── corridor2.csv ├── corridor2_tum.csv ├── corridor3.csv ├── corridor3_tum.csv ├── corridor4.csv ├── corridor4_tum.csv ├── hall1.csv ├── hall1_tum.csv ├── hall2.csv ├── hall2_tum.csv ├── lab_bumper2.csv ├── lab_dynamic1.csv ├── lab_dynamic1_tum.csv ├── lab_dynamic2.csv ├── lab_dynamic2_tum.csv ├── lab_dynamic3.csv ├── lab_dynamic3_tum.csv ├── lab_dynamic4.csv ├── lab_dynamic4_tum.csv ├── lab_dynamic5.csv ├── lab_dynamic5_tum.csv ├── lab_light2.csv ├── lab_light2_tum.csv ├── lab_light3.csv ├── lab_light3_tum.csv ├── lab_light4.csv ├── lab_light4_tum.csv ├── lab_light6.csv ├── lab_light6_tum.csv ├── lab_manual2.csv ├── lab_manual3.csv ├── lab_motion1.csv ├── lab_motion1_tum.csv ├── lab_motion2.csv ├── lab_motion2_tum.csv ├── lab_motion3.csv ├── lab_motion3_tum.csv ├── lab_motion4.csv ├── lab_motion4_tum.csv ├── lab_motion5.csv ├── lab_motion5_tum.csv ├── lab_motion6.csv ├── lab_motion6_tum.csv ├── lab_simple1.csv ├── lab_simple1_tum.csv ├── lab_simple2.csv ├── lab_simple2_tum.csv ├── lab_simple3.csv └── lab_simple3_tum.csv └── vins-rgbd ├── corridor1.csv ├── corridor1_tum.csv ├── corridor2.csv ├── corridor2_tum.csv ├── corridor3.csv ├── corridor3_tum.csv ├── corridor4.csv ├── corridor4_tum.csv ├── hall1.csv ├── hall1_tum.csv ├── hall2.csv ├── hall2_tum.csv ├── lab_dynamic1.csv ├── lab_dynamic1_tum.csv ├── lab_dynamic2.csv ├── lab_dynamic2_tum.csv ├── lab_dynamic3.csv ├── lab_dynamic3_tum.csv ├── lab_dynamic4.csv ├── lab_dynamic4_tum.csv ├── lab_dynamic5.csv ├── lab_dynamic5_tum.csv ├── lab_light2.csv ├── lab_light4.csv ├── lab_light5.csv ├── lab_manual1.csv ├── lab_manual2.csv ├── lab_motion1.csv ├── lab_motion1_tum.csv ├── lab_motion2.csv ├── lab_motion2_tum.csv ├── lab_motion3.csv ├── lab_motion3_tum.csv ├── lab_motion4.csv ├── lab_motion4_tum.csv ├── lab_motion5.csv ├── lab_motion5_tum.csv ├── lab_motion6.csv ├── lab_motion6_tum.csv ├── lab_simple1.csv ├── lab_simple1_tum.csv ├── lab_simple2.csv ├── lab_simple2_tum.csv ├── lab_simple3.csv └── lab_simple3_tum.csv /README.md: -------------------------------------------------------------------------------- 1 | # VCU_RVI_Benchmark 2 | All data sequences are accessible at 3 | https://vcu-rvi-dataset.github.io/2020/08/14/Dataset-Download/ 4 | 5 | If you run into issues like **"blocked by Google Drive now (You need permission)"** from the previous webpage, please use this [link](https://drive.google.com/drive/folders/1yO10ty1IbC9aInYz7wdauiFoKlnjZCsc?usp=sharing) to access the datasets instead! 6 | 7 | The ground truths of the device trajectories are accessible in the folder **tools**. 8 | 9 | Implementations of VIO methods to use the benchmark with examples are shown below. 10 | 11 | ## 1. Demo 12 | A preview for the data sequences in the benchmark is shown below 13 | 14 | VCU_RVI Benchmark demo 16 | 17 | ## 2. Open source of VIO methods to test the data sequences 18 | + VINS-Fusion: https://github.com/rising-turtle/VINS-Fusion 19 | + VINS-RGBD: https://github.com/rising-turtle/VINS-RGBD 20 | + VINS-Mono: https://github.com/rising-turtle/VINS-Mono 21 | + Open_VINS: https://github.com/rising-turtle/open_vins 22 | + DUI-VIO: https://github.com/rising-turtle/DUI_VIO 23 | 24 | Topics: 25 | + depth topic: /cam0/depth 26 | + color topic: /cam0/color 27 | + imu topic: /imu 28 | 29 | ## 3. Evaluation 30 | Ground truths can be downloaded in the **tools** folder as well as files with helper functions. 31 | In the folder **tools**, *process_result.py* (or *process_result_old.py* for old scipy version) can be used to process the VINS' trajectory output, by calling 32 | 33 | ```python 34 | python process_result.py [trajectory_result].csv [data_sequence_name] 35 | ``` 36 | 37 | ```[trajectory_result].csv``` is the output of VINS-Mono/VINS-RGBD/DUI-VIO, some examples can be found in the folder **test_results** 38 | ```[data_sequence_name]``` are the data sequence names defined in Table III and IV in the [paper](./tools/IROS20_0685_FI.pdf) 39 | 40 | e.g. ```python process_result.py lab_motion2.csv lab-motion2 ``` 41 | 42 | This ouputs a new trajectory file in the *TUM* format, with suffix *[trajectory_result]_tum.csv*. 43 | Next, use [evo](https://github.com/MichaelGrupp/evo) to evaluate the results compared to the ground truth 44 | 45 | e.g. ```evo_ape tum lab_motion2_gt.csv lab_motion2_tum.csv -a -p``` 46 | 47 | 48 | 49 | Or, we can use the following command to align to the ground truth with the first *N* frames: 50 | 51 | e.g. ```evo_ape tum lab_motion2_gt.csv lab_motion2_tum.csv -a --n_to_align 150 -p``` 52 | 53 | 54 | 55 | 56 | 57 | -------------------------------------------------------------------------------- /page.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/page.png -------------------------------------------------------------------------------- /tools/IROS20_0685_FI.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/IROS20_0685_FI.pdf -------------------------------------------------------------------------------- /tools/README.md: -------------------------------------------------------------------------------- 1 | ### Evaluation tools 2 | 3 | *process_result.py* (or *process_result_old.py* for old scipy version) can be used to process the VINS' trajectory output, by calling 4 | 5 | ```python 6 | python process_result.py [trajectory_result].csv [data_sequence_name] 7 | ``` 8 | 9 | ```[trajectory_result].csv``` is the output of VINS-Mono/VINS-RGBD/DUI-VIO, some examples can be found in the folder **test_results** 10 | ```[data_sequence_name]``` are the data sequence names defined in Table III and IV in the [paper](IROS20_0685_FI.pdf) 11 | 12 | e.g. ```python process_result.py lab_motion2.csv lab-motion2 ``` 13 | 14 | This ouputs a new trajectory file in the *TUM* format, with suffix *[trajectory_result]_tum.csv*. 15 | Next, use [evo](https://github.com/MichaelGrupp/evo) to evaluate the results compared to the ground truth 16 | 17 | e.g. ```evo_ape tum lab_motion2_gt.csv lab_motion2_tum.csv -a -p``` 18 | 19 | 20 | 21 | Or, we can use the following command to align to the ground truth with the first *N* frames: 22 | 23 | e.g. ```evo_ape tum lab_motion2_gt.csv lab_motion2_tum.csv -a --n_to_align 100 -p``` 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /tools/analysis/lab_motion1/shift/rpy.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion1/shift/rpy.png -------------------------------------------------------------------------------- /tools/analysis/lab_motion1/shift/xyz.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion1/shift/xyz.png -------------------------------------------------------------------------------- /tools/analysis/lab_motion1/shift_one_column.py: -------------------------------------------------------------------------------- 1 | ## 2 | ## compatible with old scipy version 3 | 4 | import csv 5 | import numpy as np 6 | from scipy.spatial.transform import Rotation as R 7 | 8 | import sys 9 | import argparse 10 | 11 | 12 | def dataFromCSV(data_path): 13 | with open(data_path, 'r') as f: 14 | reader = csv.reader(f, delimiter=' ') 15 | data = list(reader) 16 | 17 | data = np.array(data) 18 | data[data == ''] = '0' 19 | data = data.astype(np.float64) 20 | data[:,0] = data[:,0] 21 | 22 | return data 23 | 24 | ## main function 25 | 26 | data_file = sys.argv[1] 27 | 28 | ## input data 29 | data = dataFromCSV(data_file) 30 | data[:,0] = data[:,0]-842 31 | 32 | # output file 33 | output_file = './shift/'+data_file 34 | print('output_file: {} '.format(output_file)) 35 | np.savetxt(output_file, data, delimiter=' ', fmt=('%10.9f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f')) 36 | -------------------------------------------------------------------------------- /tools/analysis/lab_motion2/.process_result_old.py.swp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion2/.process_result_old.py.swp -------------------------------------------------------------------------------- /tools/analysis/lab_motion2/shift/evo_cmd: -------------------------------------------------------------------------------- 1 | evo_traj tum VINS-Mono.csv VINS-RGBD.csv DUI-VIO.csv --ref=ground_truth.csv -a --n_to_align 250 -p --plot_mode=yz 2 | -------------------------------------------------------------------------------- /tools/analysis/lab_motion2/shift/rpy.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion2/shift/rpy.png -------------------------------------------------------------------------------- /tools/analysis/lab_motion2/shift/xyz.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion2/shift/xyz.png -------------------------------------------------------------------------------- /tools/analysis/lab_motion2/shift_one_column.py: -------------------------------------------------------------------------------- 1 | ## 2 | ## compatible with old scipy version 3 | 4 | import csv 5 | import numpy as np 6 | from scipy.spatial.transform import Rotation as R 7 | 8 | import sys 9 | import argparse 10 | 11 | 12 | def dataFromCSV(data_path): 13 | with open(data_path, 'r') as f: 14 | reader = csv.reader(f, delimiter=' ') 15 | data = list(reader) 16 | 17 | data = np.array(data) 18 | data[data == ''] = '0' 19 | data = data.astype(np.float64) 20 | data[:,0] = data[:,0] 21 | 22 | return data 23 | 24 | ## main function 25 | 26 | data_file = sys.argv[1] 27 | 28 | ## input data 29 | data = dataFromCSV(data_file) 30 | data[:,0] = data[:,0]-1160 31 | 32 | # output file 33 | output_file = data_file[:-4]+'_shift.csv' 34 | print('output_file: {} '.format(output_file)) 35 | np.savetxt(output_file, data, delimiter=' ', fmt=('%10.9f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f')) 36 | -------------------------------------------------------------------------------- /tools/analysis/lab_motion3/shift/rpy.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion3/shift/rpy.png -------------------------------------------------------------------------------- /tools/analysis/lab_motion3/shift/xyz.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion3/shift/xyz.png -------------------------------------------------------------------------------- /tools/analysis/lab_motion3/shift_one_column.py: -------------------------------------------------------------------------------- 1 | ## 2 | ## compatible with old scipy version 3 | 4 | import csv 5 | import numpy as np 6 | from scipy.spatial.transform import Rotation as R 7 | 8 | import sys 9 | import argparse 10 | 11 | 12 | def dataFromCSV(data_path): 13 | with open(data_path, 'r') as f: 14 | reader = csv.reader(f, delimiter=' ') 15 | data = list(reader) 16 | 17 | data = np.array(data) 18 | data[data == ''] = '0' 19 | data = data.astype(np.float64) 20 | data[:,0] = data[:,0] 21 | 22 | return data 23 | 24 | ## main function 25 | 26 | data_file = sys.argv[1] 27 | 28 | ## input data 29 | data = dataFromCSV(data_file) 30 | data[:,0] = data[:,0]-605 31 | 32 | # output file 33 | output_file = './shift/'+data_file 34 | print('output_file: {} '.format(output_file)) 35 | np.savetxt(output_file, data, delimiter=' ', fmt=('%10.9f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f')) 36 | -------------------------------------------------------------------------------- /tools/analysis/lab_motion4/shift/rpy.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion4/shift/rpy.png -------------------------------------------------------------------------------- /tools/analysis/lab_motion4/shift/xyz.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion4/shift/xyz.png -------------------------------------------------------------------------------- /tools/analysis/lab_motion4/shift_one_column.py: -------------------------------------------------------------------------------- 1 | ## 2 | ## compatible with old scipy version 3 | 4 | import csv 5 | import numpy as np 6 | from scipy.spatial.transform import Rotation as R 7 | 8 | import sys 9 | import argparse 10 | 11 | 12 | def dataFromCSV(data_path): 13 | with open(data_path, 'r') as f: 14 | reader = csv.reader(f, delimiter=' ') 15 | data = list(reader) 16 | 17 | data = np.array(data) 18 | data[data == ''] = '0' 19 | data = data.astype(np.float64) 20 | data[:,0] = data[:,0] 21 | 22 | return data 23 | 24 | ## main function 25 | 26 | data_file = sys.argv[1] 27 | 28 | ## input data 29 | data = dataFromCSV(data_file) 30 | data[:,0] = data[:,0]-780 31 | 32 | # output file 33 | output_file = './shift/'+data_file 34 | print('output_file: {} '.format(output_file)) 35 | np.savetxt(output_file, data, delimiter=' ', fmt=('%10.9f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f')) 36 | -------------------------------------------------------------------------------- /tools/analysis/lab_motion5/shift/rpy.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion5/shift/rpy.png -------------------------------------------------------------------------------- /tools/analysis/lab_motion5/shift/xyz.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion5/shift/xyz.png -------------------------------------------------------------------------------- /tools/analysis/lab_motion5/shift_one_column.py: -------------------------------------------------------------------------------- 1 | ## 2 | ## compatible with old scipy version 3 | 4 | import csv 5 | import numpy as np 6 | from scipy.spatial.transform import Rotation as R 7 | 8 | import sys 9 | import argparse 10 | 11 | 12 | def dataFromCSV(data_path): 13 | with open(data_path, 'r') as f: 14 | reader = csv.reader(f, delimiter=' ') 15 | data = list(reader) 16 | 17 | data = np.array(data) 18 | data[data == ''] = '0' 19 | data = data.astype(np.float64) 20 | data[:,0] = data[:,0] 21 | 22 | return data 23 | 24 | ## main function 25 | 26 | data_file = sys.argv[1] 27 | 28 | ## input data 29 | data = dataFromCSV(data_file) 30 | data[:,0] = data[:,0]-55500 31 | 32 | # output file 33 | output_file = './shift/'+data_file 34 | print('output_file: {} '.format(output_file)) 35 | np.savetxt(output_file, data, delimiter=' ', fmt=('%10.9f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f')) 36 | -------------------------------------------------------------------------------- /tools/analysis/lab_motion6/shift/rpy.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion6/shift/rpy.png -------------------------------------------------------------------------------- /tools/analysis/lab_motion6/shift/xyz.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/analysis/lab_motion6/shift/xyz.png -------------------------------------------------------------------------------- /tools/analysis/lab_motion6/shift_one_column.py: -------------------------------------------------------------------------------- 1 | ## 2 | ## compatible with old scipy version 3 | 4 | import csv 5 | import numpy as np 6 | from scipy.spatial.transform import Rotation as R 7 | 8 | import sys 9 | import argparse 10 | 11 | 12 | def dataFromCSV(data_path): 13 | with open(data_path, 'r') as f: 14 | reader = csv.reader(f, delimiter=' ') 15 | data = list(reader) 16 | 17 | data = np.array(data) 18 | data[data == ''] = '0' 19 | data = data.astype(np.float64) 20 | data[:,0] = data[:,0] 21 | 22 | return data 23 | 24 | ## main function 25 | 26 | data_file = sys.argv[1] 27 | 28 | ## input data 29 | data = dataFromCSV(data_file) 30 | data[:,0] = data[:,0]-55632 31 | 32 | # output file 33 | output_file = './shift/'+data_file 34 | print('output_file: {} '.format(output_file)) 35 | np.savetxt(output_file, data, delimiter=' ', fmt=('%10.9f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f')) 36 | -------------------------------------------------------------------------------- /tools/motion2_error_align_100.PNG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/motion2_error_align_100.PNG -------------------------------------------------------------------------------- /tools/motion2_error_align_all.PNG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rising-turtle/VCU_RVI_Benchmark/dff9485831df361dd7b688ca8513047b9d5b2c64/tools/motion2_error_align_all.PNG -------------------------------------------------------------------------------- /tools/process_result.py: -------------------------------------------------------------------------------- 1 | import csv 2 | import numpy as np 3 | from scipy.spatial.transform import Rotation as R 4 | 5 | import sys 6 | import argparse 7 | 8 | time_index_map = { 9 | ## handheld-lab-simple 10 | 'lab-simple1': 5645.179542390, 11 | 'lab-simple2': 5725.990606451, 12 | 'lab-simple3': 5800.002496175, 13 | ## handheld-lab-motion 14 | 'lab-motion1': 858.828367331, 15 | 'lab-motion2': 1179.124723715, 16 | 'lab-motion3': 620.74158628, 17 | 'lab-motion4': 795.027770684, 18 | 'lab-motion5': 55500.154868292, 19 | 'lab-motion6': 55631.844341273, 20 | ## handheld-lab-light 21 | 'lab-light1': 1430.872305079, 22 | 'lab-light2': 1569.199532825, 23 | 'lab-light3': 348.185657436, 24 | 'lab-light4': 25509.090028725, 25 | 'lab-light5': 1564.450962713, 26 | 'lab-light6': 1694.879961643, 27 | ## handheld-lab-dynamic 28 | 'lab-dynamic1': 1015.839053138, 29 | 'lab-dynamic2': 1382.506229709, 30 | 'lab-dynamic3': 1945.370618162, 31 | 'lab-dynamic4': 12815.547334773, 32 | 'lab-dynamic5': 13102.889270907, 33 | ## handheld-corridor 34 | 'corridor1':1429.843360791, 35 | 'corridor2':2567.387245158, 36 | 'corridor3':1120.039553804, 37 | 'corridor4':1388.710462629, 38 | ## handheld-hall 39 | 'hall1':2809.832627107, 40 | 'hall2':3416.940431843, 41 | 'hall3':226.740069808, 42 | ## robot-manual 43 | 'lab-manual1':193443.642084968, 44 | 'lab-manual2':193614.659717371, 45 | 'lab-manual3':193804.507317469, 46 | ## robot-bumper 47 | 'lab-bumper1':3348.721497606, 48 | 'lab-bumper2':3624.756204693, 49 | 'lab-bumper3':24305.238540249, 50 | 'lab-bumper4':24456.282658849, 51 | 'lab-bumper5':24861.813846655, 52 | ## robot-corridor-manual 53 | 'corridor-manual1': 768.813970368, 54 | 'corridor-manual2': 3604.818084375, 55 | ## robot-corridor-bumper 56 | 'corridor-bumper1': 4589.798765979, 57 | 'corridor-bumper2': 6756.646370621 58 | } 59 | 60 | def dataFromCSV(data_path): 61 | with open(data_path, 'r') as f: 62 | reader = csv.reader(f, delimiter=',') 63 | data = list(reader) 64 | 65 | data = np.array(data) 66 | data[data == ''] = '0' 67 | data = data.astype(np.float64) 68 | data[:,0] = data[:,0]/1e9 69 | 70 | return data 71 | 72 | def find_nearest(array, v): 73 | array = np.asarray(array) 74 | idx = (np.abs(array-v)).argmin() 75 | return idx 76 | 77 | 78 | ## main function 79 | 80 | if len(sys.argv) < 3: 81 | print ("usage: python process_result.py [data].csv [data_sequence_name]") 82 | exit(0) 83 | 84 | data_file = sys.argv[1] 85 | data_name = sys.argv[2] 86 | 87 | if data_name not in time_index_map: 88 | print("data_name: % not in time_index_map".format(data_name)) 89 | exit(0) 90 | 91 | ## input data 92 | data = dataFromCSV(data_file) 93 | 94 | ## find out the zero time for synchronization 95 | time_zero = time_index_map[data_name] 96 | start_idx = find_nearest(data[0,:], float(time_zero)) 97 | 98 | ## extract the synchronized data 99 | data = data[start_idx:-1, 0:8] 100 | 101 | # convert to TUM: 'timestamp tx ty tz qx qy qz qw' 102 | # vins's output :w x y z' 103 | quatXYZ = np.copy(data[:,5:8]) 104 | quatW = np.copy(data[:,4]) 105 | data[:,4:7]= quatXYZ 106 | data[:,7]= quatW 107 | 108 | # set the start point as original point of the world coordinate system 109 | Tow = np.matrix(np.identity( 4 )) 110 | t = data[0,1:4] 111 | Tow[0:3,3] = t.reshape((3, 1)) 112 | r = R.from_quat(data[0,4:8]) 113 | 114 | Tow[0:3,0:3] = r.as_matrix(); 115 | Tow = np.linalg.inv(Tow) 116 | 117 | for i in range(data.shape[0]): 118 | Twi = np.matrix(np.identity(4)) 119 | Twi[0:3,3] = data[i,1:4].reshape((3,1)) 120 | Twi[0:3,0:3] = R.from_quat(data[i,4:8]).as_matrix(); 121 | 122 | Toi = Tow * Twi; 123 | data[i,1:4] = Toi[0:3,3].reshape(3); 124 | data[i,4:8] = R.from_matrix(Toi[0:3,0:3]).as_quat() 125 | 126 | # output file 127 | output_file = data_file[:-4]+'_tum.csv' 128 | print('output_file: {} '.format(output_file)) 129 | np.savetxt(output_file, data, delimiter=' ', fmt=('%10.9f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f')) 130 | -------------------------------------------------------------------------------- /tools/process_result_old.py: -------------------------------------------------------------------------------- 1 | ## 2 | ## compatible with old scipy version 3 | 4 | import csv 5 | import numpy as np 6 | from scipy.spatial.transform import Rotation as R 7 | 8 | import sys 9 | import argparse 10 | 11 | time_index_map = { 12 | ## handheld-lab-simple 13 | 'lab-simple1': 5645.179542390, 14 | 'lab-simple2': 5725.990606451, 15 | 'lab-simple3': 5800.002496175, 16 | ## handheld-lab-motion 17 | 'lab-motion1': 858.828367331, 18 | 'lab-motion2': 1179.124723715, 19 | 'lab-motion3': 620.74158628, 20 | 'lab-motion4': 795.027770684, 21 | 'lab-motion5': 55500.154868292, 22 | 'lab-motion6': 55631.844341273, 23 | ## handheld-lab-light 24 | 'lab-light1': 1430.872305079, 25 | 'lab-light2': 1569.199532825, 26 | 'lab-light3': 348.185657436, 27 | 'lab-light4': 25509.090028725, 28 | 'lab-light5': 1564.450962713, 29 | 'lab-light6': 1694.879961643, 30 | ## handheld-lab-dynamic 31 | 'lab-dynamic1': 1015.839053138, 32 | 'lab-dynamic2': 1382.506229709, 33 | 'lab-dynamic3': 1945.370618162, 34 | 'lab-dynamic4': 12815.547334773, 35 | 'lab-dynamic5': 13102.889270907, 36 | ## handheld-corridor 37 | 'corridor1':1429.843360791, 38 | 'corridor2':2567.387245158, 39 | 'corridor3':1120.039553804, 40 | 'corridor4':1388.710462629, 41 | ## handheld-hall 42 | 'hall1':2809.832627107, 43 | 'hall2':3416.940431843, 44 | 'hall3':226.740069808, 45 | ## robot-manual 46 | 'lab-manual1':193443.642084968, 47 | 'lab-manual2':193614.659717371, 48 | 'lab-manual3':193804.507317469, 49 | ## robot-bumper 50 | 'lab-bumper1':3348.721497606, 51 | 'lab-bumper2':3624.756204693, 52 | 'lab-bumper3':24305.238540249, 53 | 'lab-bumper4':24456.282658849, 54 | 'lab-bumper5':24861.813846655, 55 | ## robot-corridor-manual 56 | 'corridor-manual1': 768.813970368, 57 | 'corridor-manual2': 3604.818084375, 58 | ## robot-corridor-bumper 59 | 'corridor-bumper1': 4589.798765979, 60 | 'corridor-bumper2': 6756.646370621 61 | } 62 | 63 | def dataFromCSV(data_path): 64 | with open(data_path, 'r') as f: 65 | reader = csv.reader(f, delimiter=',') 66 | data = list(reader) 67 | 68 | data = np.array(data) 69 | data[data == ''] = '0' 70 | data = data.astype(np.float64) 71 | data[:,0] = data[:,0]/1e9 72 | 73 | return data 74 | 75 | def find_nearest(array, v): 76 | array = np.asarray(array) 77 | idx = (np.abs(array-v)).argmin() 78 | return idx 79 | 80 | 81 | ## main function 82 | 83 | if len(sys.argv) < 3: 84 | print ("usage: python process_result.py [data].csv [data_sequence_name]") 85 | exit(0) 86 | 87 | data_file = sys.argv[1] 88 | data_name = sys.argv[2] 89 | 90 | if data_name not in time_index_map: 91 | print("data_name: % not in time_index_map".format(data_name)) 92 | exit(0) 93 | 94 | ## input data 95 | data = dataFromCSV(data_file) 96 | 97 | ## find out the zero time for synchronization 98 | time_zero = time_index_map[data_name] 99 | start_idx = find_nearest(data[0,:], float(time_zero)) 100 | 101 | ## extract the synchronized data 102 | data = data[start_idx:-1, 0:8] 103 | 104 | # convert to TUM: 'timestamp tx ty tz qx qy qz qw' 105 | # vins's output :w x y z' 106 | quatXYZ = np.copy(data[:,5:8]) 107 | quatW = np.copy(data[:,4]) 108 | data[:,4:7]= quatXYZ 109 | data[:,7]= quatW 110 | 111 | # set the start point as original point of the world coordinate system 112 | Tow = np.matrix(np.identity( 4 )) 113 | t = data[0,1:4] 114 | Tow[0:3,3] = t.reshape((3, 1)) 115 | r = R.from_quat(data[0,4:8]) 116 | 117 | Tow[0:3,0:3] = r.as_dcm(); 118 | Tow = np.linalg.inv(Tow) 119 | 120 | for i in range(data.shape[0]): 121 | Twi = np.matrix(np.identity(4)) 122 | Twi[0:3,3] = data[i,1:4].reshape((3,1)) 123 | Twi[0:3,0:3] = R.from_quat(data[i,4:8]).as_dcm(); 124 | 125 | Toi = Tow * Twi; 126 | data[i,1:4] = Toi[0:3,3].reshape(3); 127 | data[i,4:8] = R.from_dcm(Toi[0:3,0:3]).as_quat() 128 | 129 | # output file 130 | output_file = data_file[:-4]+'_tum.csv' 131 | print('output_file: {} '.format(output_file)) 132 | np.savetxt(output_file, data, delimiter=' ', fmt=('%10.9f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f', '%2.6f')) 133 | -------------------------------------------------------------------------------- /tools/test_results/dui-vio/lab_simple2_tum.csv: -------------------------------------------------------------------------------- 1 | 5715.291563429 0.000000 -0.000000 -0.000000 0.000000 0.000000 -0.000000 1.000000 2 | 5715.391512458 0.022172 -0.005463 -0.001286 -0.010869 -0.017279 0.006610 0.999770 3 | 5715.491461486 0.050151 -0.017576 0.000003 -0.037603 -0.049788 0.024834 0.997743 4 | 5715.591410429 0.076809 -0.038296 0.003182 -0.079477 -0.076347 0.037554 0.993199 5 | 5715.691509458 0.097644 -0.060871 0.009541 -0.122533 -0.101756 0.052930 0.985814 6 | 5715.791458453 0.108884 -0.081559 0.014732 -0.156342 -0.107960 0.073309 0.979044 7 | 5715.891407453 0.105674 -0.097945 0.017399 -0.178962 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