├── .clang-format ├── .github └── workflows │ └── clang-format-check.yml ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── Makefile ├── README.md ├── cmake └── FindSuiteSparse.cmake ├── config ├── 1.json ├── 10_two_phase_off.json ├── 11.json ├── 12.json ├── 2.json ├── 3.json ├── 3_higher_obj_thresh_lower_conf.json ├── 3_higher_obj_threshold.json ├── 4.json ├── 4_higher_obj_thresh_lower_conf.json ├── 4_higher_obj_thresh_lower_conf_fix_traj.json ├── 4_higher_obj_thresh_lower_conf_two_phase_off.json ├── 5.json ├── 6.json ├── 6_data_assoc_only.json ├── 6_two_phase_off.json ├── 7.json ├── 7_data_assoc_only.json ├── 7_data_assoc_only_flir.json ├── 7_data_assoc_only_flir_freq.json ├── 7_two_phase_off.json ├── 8.json ├── 8_two_phase_off.json ├── 9.json ├── 9_two_phase_off.json ├── base.json ├── base2.json ├── base3.json ├── base4.json ├── base4_analytic2.json ├── base4_analytic3.json ├── base4_analytic4.json ├── base4_analytic_single_thread.json ├── base4_mixed_for_timing.json ├── base4_old.json ├── base4_old_single_thread.json ├── base4_old_single_thread_higher_jacobian_threshold.json ├── base5.json ├── base5_old.json ├── base6.json ├── base7.json ├── base7_extra_jacobian_debugging.json ├── base7_fallback.json ├── base7_fallback_enabled.json ├── base7_fallback_enabled_v2.json ├── base7_modified_jacobian.json ├── base7_modified_jacobian_no_imgs_viz.json ├── base7_vis_feat_only.json ├── base7_x_y_merge.json ├── base7a_1.json ├── base7a_1_fallback.json ├── base7a_1_fallback_a_2.json ├── base7a_1_fallback_a_2_first_100.json ├── base7a_1_fallback_a_2_first_100_wide_shape_prior.json ├── base7a_1_fallback_a_2_fix_bb_vis_1.json ├── base7a_1_fallback_a_2_fix_bb_vis_2.json ├── base7a_1_fallback_a_2_fix_bb_vis_3.json ├── base7a_1_fallback_a_2_fix_bb_vis_4.json ├── base7a_1_fallback_a_2_short_phase1.json ├── base7a_1_fallback_a_2_v2.json ├── base7a_1_fallback_a_3.json ├── base7a_1_fallback_b_1.json ├── base7a_1_fallback_b_2.json ├── base7a_1_fallback_b_2_v2.json ├── base7a_1_fallback_b_3.json ├── base7a_1_fallback_c_1.json ├── base7a_1_fallback_c_2.json ├── base7a_1_fallback_c_2_v2.json ├── base7a_1_fallback_c_3.json ├── base7a_1_fallback_v2.json ├── base7a_2.json ├── base7a_2_fallback.json ├── base7a_2_fallback_a_2.json ├── base7a_2_fallback_a_3.json ├── base7a_2_fallback_b_1.json ├── base7a_2_fallback_b_2.json ├── base7a_2_fallback_b_2_v2.json ├── base7a_2_fallback_b_3.json ├── base7a_2_fallback_c_1.json ├── base7a_2_fallback_c_2.json ├── base7a_2_fallback_c_2_v2.json ├── base7a_2_fallback_c_3.json ├── base7a_2_fallback_local.json ├── base7a_2_fallback_lower_rot_cov.json ├── base7a_2_fallback_lower_rot_cov_2.json ├── base7a_2_fallback_lower_vo_cov.json ├── base7a_2_fallback_v2.json ├── base7a_2_v2.json ├── base7a_2_v3.json ├── base7a_2_vis_only.json ├── base7a_3.json ├── base7a_3_fallback.json ├── base7a_4_fallback.json ├── base7b.json ├── base7b_1.json ├── base7b_1_fallback.json ├── base7b_1_fallback_a_2.json ├── base7b_1_fallback_a_3.json ├── base7b_1_fallback_b_1.json ├── base7b_1_fallback_b_2.json ├── base7b_1_fallback_b_3.json ├── base7b_1_fallback_c_1.json ├── base7b_1_fallback_c_2.json ├── base7b_1_fallback_c_3.json ├── base7b_2.json ├── base7b_2_fallback.json ├── base7b_2_fallback_a_2.json ├── base7b_2_fallback_a_3.json ├── base7b_2_fallback_b_1.json ├── base7b_2_fallback_b_2.json ├── base7b_2_fallback_b_3.json ├── base7b_2_fallback_c_1.json ├── base7b_2_fallback_c_2.json ├── base7b_2_fallback_c_3.json ├── base7b_fallback.json ├── no_ltm_base7a_1_fallback_a_2.json ├── no_ltm_base7a_2_fallback_b_2.json ├── no_ltm_base7a_2_fallback_c_2.json ├── no_shape_prior_base7a_1_fallback_a_2.json ├── no_shape_prior_base7a_2_fallback_b_2.json ├── no_shape_prior_base7a_2_fallback_c_2.json ├── revision_base.json ├── revision_modified_convg.json ├── tentative_11.json ├── update_rev_lower_conv_thresholds.json ├── update_revision_base.json ├── update_revision_base_first_200.json ├── update_revision_base_first_200_rebuild.json ├── update_revision_base_first_200_rebuild_single_phase.json ├── update_revision_base_first_200_single_phase.json ├── zed2i_left_camera_topics.txt └── zed_left_camera_topics.txt ├── convenience_scripts ├── debugging │ ├── amanda_copy_key_results_for_run_from_server.sh │ ├── debug_jacobian_hessian_diagonal.sh │ └── debug_jacobian_problems_with_images.sh ├── docker │ ├── droid_slam_data_generator.sh │ ├── droid_slam_metrics_generator.sh │ ├── droid_slam_sequence_executor.sh │ ├── high_res_orbslam2_multibags_executor.sh │ ├── high_res_orbslam3_metrics_generator.sh │ ├── high_res_orbslam3_sequence_executor.sh │ ├── high_res_ut_vslam_sequence_executor.sh │ ├── oa_slam_data_generator.sh │ ├── oa_slam_metrics_generator.sh │ └── oa_slam_sequence_executor.sh ├── experiments │ ├── amanda_local │ │ ├── eer_husky_high_res │ │ │ ├── amanda_laptop_data_association_high_res_trajectory_sequence_executor.sh │ │ │ ├── amanda_laptop_high_res_trajectory_sequence_executor.sh │ │ │ ├── amanda_laptop_lego_loam_sequence.sh │ │ │ ├── amanda_laptop_lego_loam_single_trajectory.sh │ │ │ ├── amanda_laptop_ltm_extraction_only.sh │ │ │ ├── amanda_laptop_orbslam2_sequence_executor.sh │ │ │ ├── amanda_laptop_orbslam3_high_res_sequence_executor.sh │ │ │ ├── amanda_laptop_orbslam3_metrics_generator.sh │ │ │ ├── amanda_laptop_ut_vslam_metrics_generator.sh │ │ │ └── amanda_laptop_waypoint_extractor.sh │ │ ├── eer_husky_low_res │ │ │ ├── amanda_laptop_orbslam3_sequence_executor.sh │ │ │ ├── amanda_laptop_single_trajectory_estimator.sh │ │ │ └── amanda_laptop_trajectory_sequence_executor.sh │ │ ├── eer_jackal_ouster │ │ │ ├── bounding_box_writer_for_sequence.sh │ │ │ ├── droid_slam_metrics_generator.sh │ │ │ ├── lego_loam_sequence.sh │ │ │ ├── lego_loam_single_trajectory.sh │ │ │ ├── ltm_extraction_only.sh │ │ │ ├── oa_slam_object_metrics_generator.sh │ │ │ ├── oaslam_metrics_generator.sh │ │ │ ├── orbslam2_sequence_executor.sh │ │ │ ├── orbslam3_metrics_generator.sh │ │ │ ├── orbslam3_sequence_executor.sh │ │ │ ├── plot_iteration_data.sh │ │ │ ├── post_processing_redo.sh │ │ │ ├── timing_bar_plotter.sh │ │ │ ├── trajectory_sequence_executor.sh │ │ │ ├── ut_vslam_metrics_generator.sh │ │ │ ├── ut_vslam_metrics_plotter.sh │ │ │ ├── ut_vslam_object_metrics_generator.sh │ │ │ └── waypoint_extractor.sh │ │ └── eer_jackal_velodyne │ │ │ ├── amanda_laptop_velodyne_lego_loam_sequence.sh │ │ │ └── amanda_laptop_velodyne_lego_loam_single_trajectory.sh │ ├── amanda_robofleet │ │ └── eer_jackal_ouster │ │ │ ├── orbslam3_sequence_executor.sh │ │ │ ├── trajectory_sequence_executor.sh │ │ │ ├── ut_vslam_metrics_generator.sh │ │ │ └── ut_vslam_object_metrics_generator.sh │ └── start_visualizer_and_play_bag.sh ├── old │ ├── bounding_box_csv_creator.sh │ ├── bounding_box_extractor.sh │ ├── cobot_real_data_ellipsoid_estimator.sh │ ├── consecutive_mapping_executions.sh │ ├── data_assoc_cobot_real_data_ellipsoid_estimator.sh │ ├── eer_real_data_estimator.sh │ ├── localization_rosbag_extraction.sh │ ├── orb_post_processor.sh │ └── run_with_jacobian_data_output_eer_real_data_estimator.sh ├── podman │ ├── droid_slam_data_generator.sh │ ├── droid_slam_metrics_generator.sh │ ├── droid_slam_sequence_executor.sh │ ├── high_res_orbslam2_multibags_executor.sh │ ├── high_res_orbslam3_metrics_generator.sh │ ├── high_res_orbslam3_sequence_executor.sh │ ├── high_res_ut_vslam_sequence_executor.sh │ ├── oa_slam_data_generator.sh │ ├── oa_slam_metrics_generator.sh │ ├── oa_slam_sequence_executor.sh │ ├── trajectory_plotter.sh │ └── ut_vslam_metrics_generator.sh └── tum │ └── taijing │ └── tum_freiburg2_desk_preprocess.sh ├── data ├── TUM_fr2_pioneer_360_consecutive_frame_matching │ ├── 100_curr_1311876807.788131.txt │ ├── 100_prev_1311876807.788131.txt │ ├── 101_curr_1311876807.823106.txt │ ├── 101_prev_1311876807.823106.txt │ ├── 102_curr_1311876807.855114.txt │ ├── 102_prev_1311876807.855114.txt │ ├── 103_curr_1311876807.955190.txt │ ├── 103_prev_1311876807.955190.txt │ ├── 104_curr_1311876807.986941.txt │ ├── 104_prev_1311876807.986941.txt │ ├── 105_curr_1311876808.022922.txt │ ├── 105_prev_1311876808.022922.txt │ ├── 106_curr_1311876808.088456.txt │ ├── 106_prev_1311876808.088456.txt │ ├── 107_curr_1311876808.156335.txt │ ├── 107_prev_1311876808.156335.txt │ ├── 108_curr_1311876808.225394.txt │ ├── 108_prev_1311876808.225394.txt │ ├── 109_curr_1311876808.287989.txt │ ├── 109_prev_1311876808.287989.txt │ ├── 10_curr_1311876800.819443.txt │ ├── 10_prev_1311876800.819443.txt │ ├── 110_curr_1311876808.323447.txt │ ├── 110_prev_1311876808.323447.txt │ ├── 111_curr_1311876808.388632.txt │ ├── 111_prev_1311876808.388632.txt │ ├── 112_curr_1311876808.457250.txt │ ├── 112_prev_1311876808.457250.txt │ ├── 113_curr_1311876808.487179.txt │ ├── 11_curr_1311876800.862919.txt │ ├── 11_prev_1311876800.862919.txt │ ├── 12_curr_1311876800.894672.txt │ ├── 12_prev_1311876800.894672.txt │ ├── 13_curr_1311876800.930094.txt │ ├── 13_prev_1311876800.930094.txt │ ├── 14_curr_1311876800.965940.txt │ ├── 14_prev_1311876800.965940.txt │ ├── 15_curr_1311876801.000625.txt │ ├── 15_prev_1311876801.000625.txt │ ├── 16_curr_1311876801.030613.txt │ ├── 16_prev_1311876801.030613.txt │ ├── 17_curr_1311876801.094705.txt │ ├── 17_prev_1311876801.094705.txt │ ├── 18_curr_1311876801.131759.txt │ ├── 18_prev_1311876801.131759.txt │ ├── 19_curr_1311876801.167161.txt │ ├── 19_prev_1311876801.167161.txt │ ├── 1_prev_1311876800.430058.txt │ ├── 20_curr_1311876801.226755.txt │ ├── 20_prev_1311876801.226755.txt │ ├── 21_curr_1311876801.269894.txt │ ├── 21_prev_1311876801.269894.txt │ ├── 22_curr_1311876801.299344.txt │ ├── 22_prev_1311876801.299344.txt │ ├── 23_curr_1311876801.387394.txt │ ├── 23_prev_1311876801.387394.txt │ ├── 24_curr_1311876801.432714.txt │ ├── 24_prev_1311876801.432714.txt │ ├── 25_curr_1311876801.495114.txt │ ├── 25_prev_1311876801.495114.txt │ ├── 26_curr_1311876801.587561.txt │ ├── 26_prev_1311876801.587561.txt │ ├── 27_curr_1311876801.630278.txt │ ├── 27_prev_1311876801.630278.txt │ ├── 28_curr_1311876801.688018.txt │ ├── 28_prev_1311876801.688018.txt │ ├── 29_curr_1311876801.763774.txt │ ├── 29_prev_1311876801.763774.txt │ ├── 2_curr_1311876800.467526.txt │ ├── 2_prev_1311876800.467526.txt │ ├── 30_curr_1311876801.799465.txt │ ├── 30_prev_1311876801.799465.txt │ ├── 31_curr_1311876801.830965.txt │ ├── 31_prev_1311876801.830965.txt │ ├── 32_curr_1311876801.867700.txt │ ├── 32_prev_1311876801.867700.txt │ ├── 33_curr_1311876801.919866.txt │ ├── 33_prev_1311876801.919866.txt │ ├── 34_curr_1311876801.987874.txt │ ├── 34_prev_1311876801.987874.txt │ ├── 35_curr_1311876802.151775.txt │ ├── 35_prev_1311876802.151775.txt │ ├── 36_curr_1311876802.201191.txt │ ├── 36_prev_1311876802.201191.txt │ ├── 37_curr_1311876802.251654.txt │ ├── 37_prev_1311876802.251654.txt │ ├── 38_curr_1311876802.319528.txt │ ├── 38_prev_1311876802.319528.txt │ ├── 39_curr_1311876802.433363.txt │ ├── 39_prev_1311876802.433363.txt │ ├── 3_curr_1311876800.499177.txt │ ├── 3_prev_1311876800.499177.txt │ ├── 40_curr_1311876802.494648.txt │ ├── 40_prev_1311876802.494648.txt │ ├── 41_curr_1311876802.587849.txt │ ├── 41_prev_1311876802.587849.txt │ ├── 42_curr_1311876802.694713.txt │ ├── 42_prev_1311876802.694713.txt │ ├── 43_curr_1311876802.755016.txt │ ├── 43_prev_1311876802.755016.txt │ ├── 44_curr_1311876802.819205.txt │ ├── 44_prev_1311876802.819205.txt │ ├── 45_curr_1311876802.883942.txt │ ├── 45_prev_1311876802.883942.txt │ ├── 46_curr_1311876802.916598.txt │ ├── 46_prev_1311876802.916598.txt │ ├── 47_curr_1311876802.988212.txt │ ├── 47_prev_1311876802.988212.txt │ ├── 48_curr_1311876803.054696.txt │ ├── 48_prev_1311876803.054696.txt │ ├── 49_curr_1311876803.084170.txt │ ├── 49_prev_1311876803.084170.txt │ ├── 4_curr_1311876800.584578.txt │ ├── 4_prev_1311876800.584578.txt │ ├── 50_curr_1311876803.153709.txt │ ├── 50_prev_1311876803.153709.txt │ ├── 51_curr_1311876803.231775.txt │ ├── 51_prev_1311876803.231775.txt │ ├── 52_curr_1311876803.301791.txt │ ├── 52_prev_1311876803.301791.txt │ ├── 53_curr_1311876803.362647.txt │ ├── 53_prev_1311876803.362647.txt │ ├── 54_curr_1311876803.419612.txt │ ├── 54_prev_1311876803.419612.txt │ ├── 559_prev_1311876848.670580.txt │ ├── 55_curr_1311876803.462684.txt │ ├── 55_prev_1311876803.462684.txt │ ├── 560_curr_1311876848.802866.txt │ ├── 560_prev_1311876848.802866.txt │ ├── 561_curr_1311876848.901982.txt │ ├── 561_prev_1311876848.901982.txt │ ├── 562_curr_1311876848.970179.txt │ ├── 562_prev_1311876848.970179.txt │ ├── 563_curr_1311876848.999333.txt │ ├── 563_prev_1311876848.999333.txt │ ├── 564_curr_1311876849.134760.txt │ ├── 564_prev_1311876849.134760.txt │ ├── 565_curr_1311876849.202528.txt │ ├── 565_prev_1311876849.202528.txt │ ├── 566_curr_1311876849.371023.txt │ ├── 566_prev_1311876849.371023.txt │ ├── 567_curr_1311876849.438105.txt │ ├── 567_prev_1311876849.438105.txt │ ├── 568_curr_1311876849.601825.txt │ ├── 568_prev_1311876849.601825.txt │ ├── 569_curr_1311876849.671478.txt │ ├── 569_prev_1311876849.671478.txt │ ├── 56_curr_1311876803.494765.txt │ ├── 56_prev_1311876803.494765.txt │ ├── 570_curr_1311876849.770426.txt │ ├── 570_prev_1311876849.770426.txt │ ├── 571_curr_1311876849.840247.txt │ ├── 571_prev_1311876849.840247.txt │ ├── 572_curr_1311876850.007562.txt │ ├── 572_prev_1311876850.007562.txt │ ├── 573_curr_1311876850.070552.txt │ ├── 575_prev_1311876850.570090.txt │ ├── 576_curr_1311876850.670332.txt │ ├── 576_prev_1311876850.670332.txt │ ├── 577_curr_1311876850.769666.txt │ ├── 577_prev_1311876850.769666.txt │ ├── 578_curr_1311876850.806661.txt │ ├── 578_prev_1311876850.806661.txt │ ├── 579_curr_1311876851.135830.txt │ ├── 579_prev_1311876851.135830.txt │ ├── 57_curr_1311876803.530164.txt │ ├── 57_prev_1311876803.530164.txt │ ├── 580_curr_1311876851.270876.txt │ ├── 580_prev_1311876851.270876.txt │ ├── 581_curr_1311876851.338544.txt │ ├── 581_prev_1311876851.338544.txt │ ├── 582_curr_1311876851.506443.txt │ ├── 582_prev_1311876851.506443.txt │ ├── 583_curr_1311876852.039562.txt │ ├── 583_prev_1311876852.039562.txt │ ├── 584_curr_1311876852.239443.txt │ ├── 584_prev_1311876852.239443.txt │ ├── 585_curr_1311876852.306716.txt │ ├── 585_prev_1311876852.306716.txt │ ├── 586_curr_1311876852.374664.txt │ ├── 586_prev_1311876852.374664.txt │ ├── 587_curr_1311876852.674397.txt │ ├── 587_prev_1311876852.674397.txt │ ├── 588_curr_1311876852.739144.txt │ ├── 588_prev_1311876852.739144.txt │ ├── 589_curr_1311876853.080784.txt │ ├── 589_prev_1311876853.080784.txt │ ├── 58_curr_1311876803.565720.txt │ ├── 58_prev_1311876803.565720.txt │ ├── 590_curr_1311876853.105035.txt │ ├── 590_prev_1311876853.105035.txt │ ├── 591_curr_1311876853.171852.txt │ ├── 591_prev_1311876853.171852.txt │ ├── 592_curr_1311876853.507892.txt │ ├── 592_prev_1311876853.507892.txt │ ├── 593_curr_1311876853.573340.txt │ ├── 593_prev_1311876853.573340.txt │ ├── 594_curr_1311876853.642747.txt │ ├── 594_prev_1311876853.642747.txt │ ├── 595_curr_1311876853.974425.txt │ ├── 595_prev_1311876853.974425.txt │ ├── 596_curr_1311876854.074383.txt │ ├── 596_prev_1311876854.074383.txt │ ├── 597_curr_1311876854.142288.txt │ ├── 597_prev_1311876854.142288.txt │ ├── 598_curr_1311876854.274107.txt │ ├── 598_prev_1311876854.274107.txt │ ├── 599_curr_1311876854.342671.txt │ ├── 599_prev_1311876854.342671.txt │ ├── 59_curr_1311876803.619383.txt │ ├── 59_prev_1311876803.619383.txt │ ├── 5_curr_1311876800.626767.txt │ ├── 5_prev_1311876800.626767.txt │ ├── 600_curr_1311876854.410197.txt │ ├── 600_prev_1311876854.410197.txt │ ├── 601_curr_1311876854.441567.txt │ ├── 601_prev_1311876854.441567.txt │ ├── 602_curr_1311876854.540143.txt │ ├── 602_prev_1311876854.540143.txt │ ├── 603_curr_1311876854.640374.txt │ ├── 603_prev_1311876854.640374.txt │ ├── 604_curr_1311876854.711030.txt │ ├── 604_prev_1311876854.711030.txt │ ├── 605_curr_1311876854.774641.txt │ ├── 605_prev_1311876854.774641.txt │ ├── 606_curr_1311876854.942654.txt │ ├── 606_prev_1311876854.942654.txt │ ├── 607_curr_1311876854.971459.txt │ ├── 607_prev_1311876854.971459.txt │ ├── 608_curr_1311876855.010905.txt │ ├── 608_prev_1311876855.010905.txt │ ├── 609_curr_1311876855.041049.txt │ ├── 609_prev_1311876855.041049.txt │ ├── 60_curr_1311876803.701165.txt │ ├── 60_prev_1311876803.701165.txt │ ├── 610_curr_1311876855.071619.txt │ ├── 610_prev_1311876855.071619.txt │ ├── 611_curr_1311876855.242653.txt │ ├── 611_prev_1311876855.242653.txt │ ├── 612_curr_1311876855.310197.txt │ ├── 612_prev_1311876855.310197.txt │ ├── 613_curr_1311876855.411518.txt │ ├── 613_prev_1311876855.411518.txt │ ├── 614_curr_1311876855.474041.txt │ ├── 614_prev_1311876855.474041.txt │ ├── 615_curr_1311876855.542633.txt │ ├── 615_prev_1311876855.542633.txt │ ├── 616_curr_1311876855.678995.txt │ ├── 616_prev_1311876855.678995.txt │ ├── 617_curr_1311876855.742040.txt │ ├── 617_prev_1311876855.742040.txt │ ├── 618_curr_1311876855.810710.txt │ ├── 618_prev_1311876855.810710.txt │ ├── 619_curr_1311876855.839122.txt │ ├── 619_prev_1311876855.839122.txt │ ├── 61_curr_1311876803.727658.txt │ ├── 61_prev_1311876803.727658.txt │ ├── 620_curr_1311876855.978639.txt │ ├── 620_prev_1311876855.978639.txt │ ├── 621_curr_1311876856.079088.txt │ ├── 621_prev_1311876856.079088.txt │ ├── 622_curr_1311876856.142181.txt │ ├── 622_prev_1311876856.142181.txt │ ├── 623_curr_1311876856.310274.txt │ ├── 623_prev_1311876856.310274.txt │ ├── 624_curr_1311876856.340464.txt │ ├── 624_prev_1311876856.340464.txt │ ├── 625_curr_1311876856.375995.txt │ ├── 625_prev_1311876856.375995.txt │ ├── 626_curr_1311876856.441504.txt │ ├── 626_prev_1311876856.441504.txt │ ├── 627_curr_1311876856.510859.txt │ ├── 627_prev_1311876856.510859.txt │ ├── 628_curr_1311876856.608950.txt │ ├── 628_prev_1311876856.608950.txt │ ├── 629_curr_1311876856.678185.txt │ ├── 629_prev_1311876856.678185.txt │ ├── 62_curr_1311876803.768974.txt │ ├── 62_prev_1311876803.768974.txt │ ├── 630_curr_1311876856.810757.txt │ ├── 630_prev_1311876856.810757.txt │ ├── 631_curr_1311876856.910157.txt │ ├── 631_prev_1311876856.910157.txt │ ├── 632_curr_1311876856.944746.txt │ ├── 632_prev_1311876856.944746.txt │ ├── 633_curr_1311876857.010538.txt │ ├── 633_prev_1311876857.010538.txt │ ├── 634_curr_1311876857.078875.txt │ ├── 634_prev_1311876857.078875.txt │ ├── 635_curr_1311876857.145927.txt │ ├── 635_prev_1311876857.145927.txt │ ├── 636_curr_1311876857.210212.txt │ ├── 636_prev_1311876857.210212.txt │ ├── 637_curr_1311876857.410310.txt │ ├── 637_prev_1311876857.410310.txt │ ├── 638_curr_1311876857.478223.txt │ ├── 638_prev_1311876857.478223.txt │ ├── 639_curr_1311876857.507932.txt │ ├── 639_prev_1311876857.507932.txt │ ├── 63_curr_1311876803.799699.txt │ ├── 63_prev_1311876803.799699.txt │ ├── 640_curr_1311876857.578396.txt │ ├── 640_prev_1311876857.578396.txt │ ├── 641_curr_1311876857.646130.txt │ ├── 641_prev_1311876857.646130.txt │ ├── 642_curr_1311876857.675924.txt │ ├── 642_prev_1311876857.675924.txt │ ├── 643_curr_1311876857.709018.txt │ ├── 643_prev_1311876857.709018.txt │ ├── 644_curr_1311876857.744937.txt │ ├── 644_prev_1311876857.744937.txt │ ├── 645_curr_1311876857.778187.txt │ ├── 645_prev_1311876857.778187.txt │ ├── 646_curr_1311876857.846362.txt │ ├── 646_prev_1311876857.846362.txt │ ├── 647_curr_1311876857.876062.txt │ ├── 647_prev_1311876857.876062.txt │ ├── 648_curr_1311876857.945964.txt │ ├── 648_prev_1311876857.945964.txt │ ├── 649_curr_1311876858.079010.txt │ ├── 649_prev_1311876858.079010.txt │ ├── 64_curr_1311876803.854887.txt │ ├── 64_prev_1311876803.854887.txt │ ├── 650_curr_1311876858.145958.txt │ ├── 650_prev_1311876858.145958.txt │ ├── 651_curr_1311876858.279263.txt │ ├── 651_prev_1311876858.279263.txt │ ├── 652_curr_1311876858.414276.txt │ ├── 652_prev_1311876858.414276.txt │ ├── 653_curr_1311876858.479515.txt │ ├── 653_prev_1311876858.479515.txt │ ├── 654_curr_1311876858.512991.txt │ ├── 654_prev_1311876858.512991.txt │ ├── 655_curr_1311876858.545283.txt │ ├── 655_prev_1311876858.545283.txt │ ├── 656_curr_1311876858.575458.txt │ ├── 656_prev_1311876858.575458.txt │ ├── 657_curr_1311876858.614856.txt │ ├── 657_prev_1311876858.614856.txt │ ├── 658_curr_1311876858.778778.txt │ ├── 658_prev_1311876858.778778.txt │ ├── 659_curr_1311876858.847145.txt │ ├── 659_prev_1311876858.847145.txt │ ├── 65_curr_1311876803.920070.txt │ ├── 65_prev_1311876803.920070.txt │ ├── 660_curr_1311876858.914881.txt │ ├── 660_prev_1311876858.914881.txt │ ├── 661_curr_1311876859.011597.txt │ ├── 661_prev_1311876859.011597.txt │ ├── 662_curr_1311876859.078696.txt │ ├── 662_prev_1311876859.078696.txt │ ├── 663_curr_1311876859.146710.txt │ ├── 663_prev_1311876859.146710.txt │ ├── 664_curr_1311876859.214656.txt │ ├── 664_prev_1311876859.214656.txt │ ├── 665_curr_1311876859.380353.txt │ ├── 665_prev_1311876859.380353.txt │ ├── 666_curr_1311876859.411647.txt │ ├── 666_prev_1311876859.411647.txt │ ├── 667_curr_1311876859.482807.txt │ ├── 667_prev_1311876859.482807.txt │ ├── 668_curr_1311876859.546487.txt │ ├── 668_prev_1311876859.546487.txt │ ├── 669_curr_1311876859.578973.txt │ ├── 669_prev_1311876859.578973.txt │ ├── 66_curr_1311876804.033986.txt │ ├── 66_prev_1311876804.033986.txt │ ├── 670_curr_1311876859.682826.txt │ ├── 670_prev_1311876859.682826.txt │ ├── 671_curr_1311876859.814738.txt │ ├── 671_prev_1311876859.814738.txt │ ├── 672_curr_1311876859.843623.txt │ ├── 672_prev_1311876859.843623.txt │ ├── 673_curr_1311876859.913945.txt │ ├── 673_prev_1311876859.913945.txt │ ├── 674_curr_1311876859.982243.txt │ ├── 674_prev_1311876859.982243.txt │ ├── 675_curr_1311876860.011157.txt │ ├── 675_prev_1311876860.011157.txt │ ├── 676_curr_1311876860.082196.txt │ ├── 676_prev_1311876860.082196.txt │ ├── 677_curr_1311876860.146788.txt │ ├── 677_prev_1311876860.146788.txt │ ├── 678_curr_1311876860.212932.txt │ ├── 678_prev_1311876860.212932.txt │ ├── 679_curr_1311876860.282185.txt │ ├── 679_prev_1311876860.282185.txt │ ├── 67_curr_1311876804.066072.txt │ ├── 67_prev_1311876804.066072.txt │ ├── 680_curr_1311876860.346047.txt │ ├── 680_prev_1311876860.346047.txt │ ├── 681_curr_1311876860.414273.txt │ ├── 681_prev_1311876860.414273.txt │ ├── 682_curr_1311876860.482217.txt │ ├── 682_prev_1311876860.482217.txt │ ├── 683_curr_1311876860.550197.txt │ ├── 683_prev_1311876860.550197.txt │ ├── 684_curr_1311876860.681293.txt │ ├── 684_prev_1311876860.681293.txt │ ├── 685_curr_1311876860.779283.txt │ ├── 685_prev_1311876860.779283.txt │ ├── 686_curr_1311876860.849732.txt │ ├── 686_prev_1311876860.849732.txt │ ├── 687_curr_1311876860.913768.txt │ ├── 687_prev_1311876860.913768.txt │ ├── 688_curr_1311876861.011741.txt │ ├── 688_prev_1311876861.011741.txt │ ├── 689_curr_1311876861.081508.txt │ ├── 689_prev_1311876861.081508.txt │ ├── 68_curr_1311876804.123566.txt │ ├── 68_prev_1311876804.123566.txt │ ├── 690_curr_1311876861.149463.txt │ ├── 690_prev_1311876861.149463.txt │ ├── 691_curr_1311876861.213429.txt │ ├── 691_prev_1311876861.213429.txt │ ├── 692_curr_1311876861.246251.txt │ ├── 692_prev_1311876861.246251.txt │ ├── 693_curr_1311876861.313164.txt │ ├── 693_prev_1311876861.313164.txt │ ├── 694_curr_1311876861.348623.txt │ ├── 694_prev_1311876861.348623.txt │ ├── 695_curr_1311876861.413024.txt │ ├── 695_prev_1311876861.413024.txt │ ├── 696_curr_1311876861.481014.txt │ ├── 696_prev_1311876861.481014.txt │ ├── 697_curr_1311876861.546103.txt │ ├── 697_prev_1311876861.546103.txt │ ├── 698_curr_1311876861.610298.txt │ ├── 698_prev_1311876861.610298.txt │ ├── 699_curr_1311876861.679735.txt │ ├── 699_prev_1311876861.679735.txt │ ├── 69_curr_1311876804.754802.txt │ ├── 69_prev_1311876804.754802.txt │ ├── 6_curr_1311876800.669072.txt │ ├── 6_prev_1311876800.669072.txt │ ├── 700_curr_1311876861.710418.txt │ ├── 700_prev_1311876861.710418.txt │ ├── 701_curr_1311876861.848267.txt │ ├── 701_prev_1311876861.848267.txt │ ├── 702_curr_1311876861.916645.txt │ ├── 702_prev_1311876861.916645.txt │ ├── 703_curr_1311876861.980341.txt │ ├── 703_prev_1311876861.980341.txt │ ├── 704_curr_1311876862.047268.txt │ ├── 704_prev_1311876862.047268.txt │ ├── 705_curr_1311876862.116338.txt │ ├── 705_prev_1311876862.116338.txt │ ├── 706_curr_1311876862.180485.txt │ ├── 706_prev_1311876862.180485.txt │ ├── 707_curr_1311876862.248152.txt │ ├── 707_prev_1311876862.248152.txt │ ├── 708_curr_1311876862.315936.txt │ ├── 708_prev_1311876862.315936.txt │ ├── 709_curr_1311876862.347808.txt │ ├── 709_prev_1311876862.347808.txt │ ├── 70_curr_1311876804.887607.txt │ ├── 70_prev_1311876804.887607.txt │ ├── 710_curr_1311876862.416120.txt │ ├── 710_prev_1311876862.416120.txt │ ├── 711_curr_1311876862.449567.txt │ ├── 711_prev_1311876862.449567.txt │ ├── 712_curr_1311876862.479667.txt │ ├── 712_prev_1311876862.479667.txt │ ├── 713_curr_1311876862.579624.txt │ ├── 713_prev_1311876862.579624.txt │ ├── 714_curr_1311876862.715050.txt │ ├── 714_prev_1311876862.715050.txt │ ├── 715_curr_1311876862.777911.txt │ ├── 715_prev_1311876862.777911.txt │ ├── 716_curr_1311876862.849418.txt │ ├── 716_prev_1311876862.849418.txt │ ├── 717_curr_1311876862.914851.txt │ ├── 717_prev_1311876862.914851.txt │ ├── 718_curr_1311876862.984320.txt │ ├── 718_prev_1311876862.984320.txt │ ├── 719_curr_1311876863.013979.txt │ ├── 719_prev_1311876863.013979.txt │ ├── 71_curr_1311876804.955344.txt │ ├── 71_prev_1311876804.955344.txt │ ├── 720_curr_1311876863.045871.txt │ ├── 720_prev_1311876863.045871.txt │ ├── 721_curr_1311876863.187463.txt │ ├── 721_prev_1311876863.187463.txt │ ├── 722_curr_1311876863.281806.txt │ ├── 722_prev_1311876863.281806.txt │ ├── 723_curr_1311876863.315616.txt │ ├── 723_prev_1311876863.315616.txt │ ├── 724_curr_1311876863.345746.txt │ ├── 724_prev_1311876863.345746.txt │ ├── 725_curr_1311876863.381947.txt │ ├── 725_prev_1311876863.381947.txt │ ├── 726_curr_1311876863.448204.txt │ ├── 726_prev_1311876863.448204.txt │ ├── 727_curr_1311876863.515836.txt │ ├── 727_prev_1311876863.515836.txt │ ├── 728_curr_1311876863.583982.txt │ ├── 728_prev_1311876863.583982.txt │ ├── 729_curr_1311876863.613847.txt │ ├── 729_prev_1311876863.613847.txt │ ├── 72_curr_1311876805.154541.txt │ ├── 72_prev_1311876805.154541.txt │ ├── 730_curr_1311876863.682520.txt │ ├── 730_prev_1311876863.682520.txt │ ├── 731_curr_1311876863.748458.txt │ ├── 731_prev_1311876863.748458.txt │ ├── 732_curr_1311876863.814439.txt │ ├── 732_prev_1311876863.814439.txt │ ├── 733_curr_1311876863.845816.txt │ ├── 733_prev_1311876863.845816.txt │ ├── 734_curr_1311876863.983840.txt │ ├── 734_prev_1311876863.983840.txt │ ├── 735_curr_1311876864.048295.txt │ ├── 735_prev_1311876864.048295.txt │ ├── 736_curr_1311876864.114348.txt │ ├── 736_prev_1311876864.114348.txt │ ├── 737_curr_1311876864.182286.txt │ ├── 737_prev_1311876864.182286.txt │ ├── 738_curr_1311876864.251318.txt │ ├── 738_prev_1311876864.251318.txt │ ├── 739_curr_1311876864.316233.txt │ ├── 739_prev_1311876864.316233.txt │ ├── 73_curr_1311876805.222317.txt │ ├── 73_prev_1311876805.222317.txt │ ├── 740_curr_1311876864.683894.txt │ ├── 740_prev_1311876864.683894.txt │ ├── 741_curr_1311876864.714409.txt │ ├── 741_prev_1311876864.714409.txt │ ├── 742_curr_1311876864.851565.txt │ ├── 742_prev_1311876864.851565.txt │ ├── 743_curr_1311876864.882633.txt │ ├── 743_prev_1311876864.882633.txt │ ├── 744_curr_1311876865.016308.txt │ ├── 744_prev_1311876865.016308.txt │ ├── 745_curr_1311876865.083866.txt │ ├── 745_prev_1311876865.083866.txt │ ├── 746_curr_1311876865.115507.txt │ ├── 746_prev_1311876865.115507.txt │ ├── 747_curr_1311876865.184147.txt │ ├── 747_prev_1311876865.184147.txt │ ├── 748_curr_1311876865.251649.txt │ ├── 748_prev_1311876865.251649.txt │ ├── 749_curr_1311876865.314565.txt │ ├── 749_prev_1311876865.314565.txt │ ├── 74_curr_1311876805.289126.txt │ ├── 74_prev_1311876805.289126.txt │ ├── 750_curr_1311876865.414585.txt │ ├── 750_prev_1311876865.414585.txt │ ├── 751_curr_1311876865.482884.txt │ ├── 751_prev_1311876865.482884.txt │ ├── 752_curr_1311876865.551010.txt │ ├── 752_prev_1311876865.551010.txt │ ├── 753_curr_1311876865.651502.txt │ ├── 753_prev_1311876865.651502.txt │ ├── 754_curr_1311876865.720034.txt │ ├── 754_prev_1311876865.720034.txt │ ├── 755_curr_1311876865.783571.txt │ ├── 755_prev_1311876865.783571.txt │ ├── 756_curr_1311876865.882062.txt │ ├── 756_prev_1311876865.882062.txt │ ├── 757_curr_1311876865.950807.txt │ ├── 757_prev_1311876865.950807.txt │ ├── 758_curr_1311876866.018051.txt │ ├── 758_prev_1311876866.018051.txt │ ├── 759_curr_1311876866.150629.txt │ ├── 759_prev_1311876866.150629.txt │ ├── 75_curr_1311876805.651934.txt │ ├── 75_prev_1311876805.651934.txt │ ├── 760_curr_1311876866.217864.txt │ ├── 760_prev_1311876866.217864.txt │ ├── 761_curr_1311876866.282206.txt │ ├── 761_prev_1311876866.282206.txt │ ├── 762_curr_1311876866.318747.txt │ ├── 762_prev_1311876866.318747.txt │ ├── 763_curr_1311876866.551995.txt │ ├── 763_prev_1311876866.551995.txt │ ├── 764_curr_1311876866.582051.txt │ ├── 764_prev_1311876866.582051.txt │ ├── 765_curr_1311876866.649886.txt │ ├── 765_prev_1311876866.649886.txt │ ├── 766_curr_1311876866.851196.txt │ ├── 766_prev_1311876866.851196.txt │ ├── 767_curr_1311876866.919899.txt │ ├── 767_prev_1311876866.919899.txt │ ├── 768_curr_1311876866.988231.txt │ ├── 768_prev_1311876866.988231.txt │ ├── 769_curr_1311876867.123047.txt │ ├── 769_prev_1311876867.123047.txt │ ├── 76_curr_1311876805.752786.txt │ ├── 76_prev_1311876805.752786.txt │ ├── 770_curr_1311876867.317708.txt │ ├── 770_prev_1311876867.317708.txt │ ├── 771_curr_1311876867.388199.txt │ ├── 771_prev_1311876867.388199.txt │ ├── 772_curr_1311876867.418227.txt │ ├── 772_prev_1311876867.418227.txt │ ├── 773_curr_1311876867.488300.txt │ ├── 773_prev_1311876867.488300.txt │ ├── 774_curr_1311876867.788205.txt │ ├── 774_prev_1311876867.788205.txt │ ├── 775_curr_1311876867.850249.txt │ ├── 775_prev_1311876867.850249.txt │ ├── 776_curr_1311876867.920305.txt │ ├── 776_prev_1311876867.920305.txt │ ├── 777_curr_1311876867.988252.txt │ ├── 777_prev_1311876867.988252.txt │ ├── 778_curr_1311876868.056492.txt │ ├── 778_prev_1311876868.056492.txt │ ├── 779_curr_1311876868.086285.txt │ ├── 779_prev_1311876868.086285.txt │ ├── 77_curr_1311876805.888938.txt │ ├── 77_prev_1311876805.888938.txt │ ├── 780_curr_1311876868.118520.txt │ ├── 780_prev_1311876868.118520.txt │ ├── 781_curr_1311876868.153782.txt │ ├── 781_prev_1311876868.153782.txt │ ├── 782_curr_1311876868.220531.txt │ ├── 782_prev_1311876868.220531.txt │ ├── 783_curr_1311876868.288345.txt │ ├── 783_prev_1311876868.288345.txt │ ├── 784_curr_1311876868.355815.txt │ ├── 784_prev_1311876868.355815.txt │ ├── 785_curr_1311876868.455750.txt │ ├── 785_prev_1311876868.455750.txt │ ├── 786_curr_1311876868.520546.txt │ ├── 786_prev_1311876868.520546.txt │ ├── 787_curr_1311876868.685913.txt │ ├── 787_prev_1311876868.685913.txt │ ├── 788_curr_1311876868.717973.txt │ ├── 788_prev_1311876868.717973.txt │ ├── 789_curr_1311876868.819158.txt │ ├── 789_prev_1311876868.819158.txt │ ├── 78_curr_1311876805.920134.txt │ ├── 78_prev_1311876805.920134.txt │ ├── 790_curr_1311876868.920404.txt │ ├── 790_prev_1311876868.920404.txt │ ├── 791_curr_1311876868.956445.txt │ ├── 791_prev_1311876868.956445.txt │ ├── 792_curr_1311876869.020160.txt │ ├── 792_prev_1311876869.020160.txt │ ├── 793_curr_1311876869.054791.txt │ ├── 793_prev_1311876869.054791.txt │ ├── 794_curr_1311876869.086043.txt │ ├── 794_prev_1311876869.086043.txt │ ├── 795_curr_1311876869.118788.txt │ ├── 795_prev_1311876869.118788.txt │ ├── 796_curr_1311876869.185601.txt │ ├── 796_prev_1311876869.185601.txt │ ├── 797_curr_1311876869.224112.txt │ ├── 797_prev_1311876869.224112.txt │ ├── 798_curr_1311876869.288014.txt │ ├── 798_prev_1311876869.288014.txt │ ├── 799_curr_1311876869.424283.txt │ ├── 799_prev_1311876869.424283.txt │ ├── 79_curr_1311876806.188453.txt │ ├── 79_prev_1311876806.188453.txt │ ├── 7_curr_1311876800.699136.txt │ ├── 7_prev_1311876800.699136.txt │ ├── 800_curr_1311876869.524311.txt │ ├── 800_prev_1311876869.524311.txt │ ├── 801_curr_1311876869.824216.txt │ ├── 801_prev_1311876869.824216.txt │ ├── 802_curr_1311876870.023939.txt │ ├── 802_prev_1311876870.023939.txt │ ├── 803_curr_1311876870.088441.txt │ ├── 803_prev_1311876870.088441.txt │ ├── 804_curr_1311876870.122324.txt │ ├── 804_prev_1311876870.122324.txt │ ├── 805_curr_1311876870.154541.txt │ ├── 805_prev_1311876870.154541.txt │ ├── 806_curr_1311876870.224154.txt │ ├── 806_prev_1311876870.224154.txt │ ├── 807_curr_1311876870.253875.txt │ ├── 807_prev_1311876870.253875.txt │ ├── 808_curr_1311876870.287658.txt │ ├── 808_prev_1311876870.287658.txt │ ├── 809_curr_1311876870.490934.txt │ ├── 809_prev_1311876870.490934.txt │ ├── 80_curr_1311876806.258302.txt │ ├── 80_prev_1311876806.258302.txt │ ├── 810_curr_1311876870.592832.txt │ ├── 810_prev_1311876870.592832.txt │ ├── 811_curr_1311876870.754494.txt │ ├── 811_prev_1311876870.754494.txt │ ├── 812_curr_1311876870.824185.txt │ ├── 812_prev_1311876870.824185.txt │ ├── 813_curr_1311876870.891887.txt │ ├── 813_prev_1311876870.891887.txt │ ├── 814_curr_1311876870.921734.txt │ ├── 814_prev_1311876870.921734.txt │ ├── 815_curr_1311876871.056270.txt │ ├── 815_prev_1311876871.056270.txt │ ├── 816_curr_1311876871.089984.txt │ ├── 816_prev_1311876871.089984.txt │ ├── 817_curr_1311876871.156239.txt │ ├── 817_prev_1311876871.156239.txt │ ├── 818_curr_1311876871.292499.txt │ ├── 818_prev_1311876871.292499.txt │ ├── 819_curr_1311876871.521907.txt │ ├── 819_prev_1311876871.521907.txt │ ├── 81_curr_1311876806.321453.txt │ ├── 81_prev_1311876806.321453.txt │ ├── 820_curr_1311876871.591747.txt │ ├── 820_prev_1311876871.591747.txt │ ├── 821_curr_1311876871.689806.txt │ ├── 821_prev_1311876871.689806.txt │ ├── 822_curr_1311876871.760180.txt │ ├── 822_prev_1311876871.760180.txt │ ├── 823_curr_1311876871.823864.txt │ ├── 823_prev_1311876871.823864.txt │ ├── 824_curr_1311876871.892506.txt │ ├── 824_prev_1311876871.892506.txt │ ├── 825_curr_1311876872.060374.txt │ ├── 825_prev_1311876872.060374.txt │ ├── 826_curr_1311876872.123899.txt │ ├── 826_prev_1311876872.123899.txt │ ├── 827_curr_1311876872.159852.txt │ ├── 827_prev_1311876872.159852.txt │ ├── 828_curr_1311876872.360270.txt │ ├── 828_prev_1311876872.360270.txt │ ├── 829_curr_1311876872.492280.txt │ ├── 82_curr_1311876806.355687.txt │ ├── 82_prev_1311876806.355687.txt │ ├── 83_curr_1311876806.387744.txt │ ├── 83_prev_1311876806.387744.txt │ ├── 84_curr_1311876806.457917.txt │ ├── 84_prev_1311876806.457917.txt │ ├── 85_curr_1311876806.487278.txt │ ├── 85_prev_1311876806.487278.txt │ ├── 86_curr_1311876806.587473.txt │ ├── 86_prev_1311876806.587473.txt │ ├── 87_curr_1311876806.658065.txt │ ├── 87_prev_1311876806.658065.txt │ ├── 88_curr_1311876806.755702.txt │ ├── 88_prev_1311876806.755702.txt │ ├── 89_curr_1311876806.855642.txt │ ├── 89_prev_1311876806.855642.txt │ ├── 8_curr_1311876800.730907.txt │ ├── 8_prev_1311876800.730907.txt │ ├── 90_curr_1311876806.955975.txt │ ├── 90_prev_1311876806.955975.txt │ ├── 91_curr_1311876807.088849.txt │ ├── 91_prev_1311876807.088849.txt │ ├── 92_curr_1311876807.220439.txt │ ├── 92_prev_1311876807.220439.txt │ ├── 93_curr_1311876807.288850.txt │ ├── 93_prev_1311876807.288850.txt │ ├── 94_curr_1311876807.389007.txt │ ├── 94_prev_1311876807.389007.txt │ ├── 95_curr_1311876807.423021.txt │ ├── 95_prev_1311876807.423021.txt │ ├── 96_curr_1311876807.488789.txt │ ├── 96_prev_1311876807.488789.txt │ ├── 97_curr_1311876807.556724.txt │ ├── 97_prev_1311876807.556724.txt │ ├── 98_curr_1311876807.587013.txt │ ├── 98_prev_1311876807.587013.txt │ ├── 99_curr_1311876807.722791.txt │ ├── 99_prev_1311876807.722791.txt │ ├── 9_curr_1311876800.767879.txt │ ├── 9_prev_1311876800.767879.txt │ ├── README.md │ └── calibration │ │ └── camera_matrix.txt ├── vslam_set1 │ ├── 000001.png │ ├── 000001.txt │ ├── 000002.png │ ├── 000002.txt │ ├── 000003.png │ ├── 000003.txt │ ├── 000004.png │ ├── 000004.txt │ ├── 000005.png │ ├── 000005.txt │ ├── README.md │ ├── arrangement │ │ ├── 20210407_101758.jpg │ │ ├── 20210407_101814.jpg │ │ ├── 20210407_101859.jpg │ │ └── 20210407_102729.jpg │ ├── calibration │ │ ├── calibration.txt │ │ └── camera_matrix.txt │ └── labels │ │ ├── (0,0,0.13)_labeled.png │ │ ├── (0,0,0.13)_labeled_cropped.png │ │ ├── (0.1524,0,0.13)_labeled.png │ │ ├── (0.1524,0,0.13)_labeled_cropped.png │ │ ├── (0.3048,0,0.13)_labeled.png │ │ ├── (0.3048,0,0.13)_labeled_cropped.png │ │ ├── (0.4572,0,0.13)_labeled.png │ │ ├── (0.4572,0,0.13)_labeled_cropped.png │ │ ├── (0.6096,0,0.13)_labeled.png │ │ ├── (0.6096,0,0.13)_labeled_cropped.png │ │ └── sequence_gif.gif ├── vslam_set2 │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── README.md │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt ├── vslam_set4 │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── README.md │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt ├── vslam_set5 │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── 000042.txt │ ├── 000043.txt │ ├── 000044.txt │ ├── 000045.txt │ ├── 000046.txt │ ├── 000047.txt │ ├── 000048.txt │ ├── 000049.txt │ ├── 000050.txt │ ├── 000051.txt │ ├── 000052.txt │ ├── 000053.txt │ ├── 000054.txt │ ├── 000055.txt │ ├── 000056.txt │ ├── 000057.txt │ ├── 000058.txt │ ├── 000059.txt │ ├── 000060.txt │ ├── 000061.txt │ ├── 000062.txt │ ├── 000063.txt │ ├── 000064.txt │ ├── 000065.txt │ ├── 000066.txt │ ├── 000067.txt │ ├── 000068.txt │ ├── 000069.txt │ ├── 000070.txt │ ├── 000071.txt │ ├── 000072.txt │ ├── 000073.txt │ ├── 000074.txt │ ├── 000075.txt │ ├── 000076.txt │ ├── 000077.txt │ ├── 000078.txt │ ├── 000079.txt │ ├── 000080.txt │ ├── 000081.txt │ ├── 000082.txt │ ├── 000083.txt │ ├── 000084.txt │ ├── 000085.txt │ ├── 000086.txt │ ├── 000087.txt │ ├── 000088.txt │ ├── 000089.txt │ ├── 000090.txt │ ├── 000091.txt │ ├── 000092.txt │ ├── 000093.txt │ ├── 000094.txt │ ├── 000095.txt │ ├── 000096.txt │ ├── 000097.txt │ ├── 000098.txt │ ├── 000099.txt │ ├── 000100.txt │ ├── 000101.txt │ ├── 000102.txt │ ├── 000103.txt │ ├── 000104.txt │ ├── 000105.txt │ ├── 000106.txt │ ├── 000107.txt │ ├── 000108.txt │ ├── 000109.txt │ ├── 000110.txt │ ├── 000111.txt │ ├── 000112.txt │ ├── 000113.txt │ ├── 000114.txt │ ├── 000115.txt │ ├── 000116.txt │ ├── 000117.txt │ ├── 000118.txt │ ├── 000119.txt │ ├── 000120.txt │ ├── 000121.txt │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt ├── vslam_set6 │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── 000042.txt │ ├── 000043.txt │ ├── 000044.txt │ ├── 000045.txt │ ├── 000046.txt │ ├── 000047.txt │ ├── 000048.txt │ ├── 000049.txt │ ├── 000050.txt │ ├── 000051.txt │ ├── 000052.txt │ ├── 000053.txt │ ├── 000054.txt │ ├── 000055.txt │ ├── 000056.txt │ ├── 000057.txt │ ├── 000058.txt │ ├── 000059.txt │ ├── 000060.txt │ ├── 000061.txt │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt ├── vslam_set7 │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt └── vslam_superset1 │ ├── README.md │ ├── high_density │ ├── groundtruth │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ │ └── camera_matrix.txt │ │ └── features │ │ │ └── features.txt │ ├── high_noise │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ │ └── camera_matrix.txt │ │ └── features │ │ │ └── features.txt │ ├── low_noise │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ │ └── camera_matrix.txt │ │ └── features │ │ │ └── features.txt │ └── medium_noise │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ └── camera_matrix.txt │ │ └── features │ │ └── features.txt │ ├── low_density │ ├── groundtruth │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ │ └── camera_matrix.txt │ │ └── features │ │ │ └── features.txt │ ├── high_noise │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ │ └── camera_matrix.txt │ │ └── features │ │ │ └── features.txt │ ├── low_noise │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ │ └── camera_matrix.txt │ │ └── features │ │ │ └── features.txt │ └── medium_noise │ │ ├── 000001.txt │ │ ├── 000002.txt │ │ ├── 000003.txt │ │ ├── 000004.txt │ │ ├── 000005.txt │ │ ├── 000006.txt │ │ ├── 000007.txt │ │ ├── 000008.txt │ │ ├── 000009.txt │ │ ├── 000010.txt │ │ ├── 000011.txt │ │ ├── 000012.txt │ │ ├── 000013.txt │ │ ├── 000014.txt │ │ ├── 000015.txt │ │ ├── 000016.txt │ │ ├── 000017.txt │ │ ├── 000018.txt │ │ ├── 000019.txt │ │ ├── 000020.txt │ │ ├── 000021.txt │ │ ├── 000022.txt │ │ ├── 000023.txt │ │ ├── 000024.txt │ │ ├── 000025.txt │ │ ├── 000026.txt │ │ ├── 000027.txt │ │ ├── 000028.txt │ │ ├── 000029.txt │ │ ├── 000030.txt │ │ ├── 000031.txt │ │ ├── 000032.txt │ │ ├── 000033.txt │ │ ├── 000034.txt │ │ ├── 000035.txt │ │ ├── 000036.txt │ │ ├── 000037.txt │ │ ├── 000038.txt │ │ ├── 000039.txt │ │ ├── 000040.txt │ │ ├── 000041.txt │ │ ├── calibration │ │ └── camera_matrix.txt │ │ └── features │ │ └── features.txt │ └── medium_density │ ├── groundtruth │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt │ ├── high_noise │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt │ ├── low_noise │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── calibration │ │ └── camera_matrix.txt │ └── features │ │ └── features.txt │ └── medium_noise │ ├── 000001.txt │ ├── 000002.txt │ ├── 000003.txt │ ├── 000004.txt │ ├── 000005.txt │ ├── 000006.txt │ ├── 000007.txt │ ├── 000008.txt │ ├── 000009.txt │ ├── 000010.txt │ ├── 000011.txt │ ├── 000012.txt │ ├── 000013.txt │ ├── 000014.txt │ ├── 000015.txt │ ├── 000016.txt │ ├── 000017.txt │ ├── 000018.txt │ ├── 000019.txt │ ├── 000020.txt │ ├── 000021.txt │ ├── 000022.txt │ ├── 000023.txt │ ├── 000024.txt │ ├── 000025.txt │ ├── 000026.txt │ ├── 000027.txt │ ├── 000028.txt │ ├── 000029.txt │ ├── 000030.txt │ ├── 000031.txt │ ├── 000032.txt │ ├── 000033.txt │ ├── 000034.txt │ ├── 000035.txt │ ├── 000036.txt │ ├── 000037.txt │ ├── 000038.txt │ ├── 000039.txt │ ├── 000040.txt │ ├── 000041.txt │ ├── calibration │ └── camera_matrix.txt │ └── features │ └── features.txt ├── include ├── analysis │ ├── cumulative_timer_constants.h │ └── cumulative_timer_factory.h ├── base_lib │ ├── basic_utils.h │ ├── pose_reps.h │ └── pose_utils.h ├── debugging │ ├── ground_truth_utils.h │ └── optimization_logger.h ├── evaluation │ ├── evaluation_utils.h │ ├── object_evaluation_utils.h │ ├── trajectory_evaluation_utils.h │ ├── trajectory_interpolation_utils.h │ └── trajectory_metrics.h ├── file_io │ ├── bounding_box_by_node_id_io.h │ ├── bounding_box_by_timestamp_io.h │ ├── camera_extrinsics_with_id_io.h │ ├── camera_info_io_utils.h │ ├── camera_intrinsics_with_id_io.h │ ├── cv_file_storage │ │ ├── base_metrics_file_storage_io.h │ │ ├── config_file_storage_io.h │ │ ├── file_storage_io_utils.h │ │ ├── full_sequence_metrics_file_storage_io.h │ │ ├── full_sequence_object_metrics_file_storage_io.h │ │ ├── generic_factor_info_file_storage_io.h │ │ ├── long_term_object_map_file_storage_io.h │ │ ├── object_and_reprojection_feature_pose_graph_file_storage_io.h │ │ ├── output_problem_data_file_storage_io.h │ │ ├── roshan_bounding_box_front_end_file_storage_io.h │ │ ├── sequence_file_storage_io.h │ │ ├── vslam_basic_types_file_storage_io.h │ │ └── vslam_obj_types_file_storage_io.h │ ├── features_ests_with_id_io.h │ ├── file_access_utils.h │ ├── file_io_utils.h │ ├── global_object_estimates_io.h │ ├── node_id_and_timestamp_io.h │ ├── obj_yaml_reader.h │ ├── pairwise_covariance_roshan_front_end_long_term_map_io.h │ ├── pose_3d_io.h │ ├── pose_3d_with_double_timestamp_io.h │ ├── pose_3d_with_node_id_io.h │ ├── pose_3d_with_timestamp_and_waypoint_annotation_io.h │ ├── pose_3d_with_timestamp_io.h │ ├── pose_io_utils.h │ ├── timestamp_and_waypoint_io.h │ └── timestamp_io.h ├── refactoring │ ├── bounding_box_frontend │ │ ├── bounding_box_front_end.h │ │ ├── bounding_box_front_end_creation_utils.h │ │ ├── bounding_box_front_end_helpers.h │ │ ├── bounding_box_retriever.h │ │ ├── feature_based_bounding_box_front_end.h │ │ ├── pending_object_estimator.h │ │ └── roshan_bounding_box_front_end.h │ ├── configuration │ │ └── full_ov_slam_config.h │ ├── factors │ │ ├── bounding_box_factor.h │ │ ├── generic_factor_info.h │ │ ├── independent_object_map_factor.h │ │ ├── pairwise_2d_feature_cost_functor.h │ │ ├── pairwise_object_map_factor.h │ │ ├── parameter_prior.h │ │ ├── relative_pose_factor.h │ │ ├── relative_pose_factor_utils.h │ │ ├── reprojection_cost_functor.h │ │ ├── reprojection_cost_functor_analytic_jacobian.h │ │ └── shape_prior_factor.h │ ├── image_processing │ │ ├── debugging_image_utils.h │ │ └── image_processing_utils.h │ ├── long_term_map │ │ ├── long_term_map_extraction_tunable_params.h │ │ ├── long_term_map_factor_creator.h │ │ ├── long_term_object_map.h │ │ └── long_term_object_map_extraction.h │ ├── offline │ │ ├── limit_trajectory_evaluation_params.h │ │ ├── offline_problem_data.h │ │ ├── offline_problem_runner.h │ │ └── pose_graph_frame_data_adder.h │ ├── optimization │ │ ├── jacobian_extraction.h │ │ ├── low_level_feature_pose_graph.h │ │ ├── object_pose_graph.h │ │ ├── object_pose_graph_optimizer.h │ │ ├── optimization_factors_enabled_params.h │ │ ├── optimization_solver_params.h │ │ ├── pose_graph_plus_objects_optimizer.h │ │ ├── pose_graph_utils.h │ │ └── residual_creator.h │ ├── output_problem_data.h │ ├── output_problem_data_extraction.h │ ├── types │ │ ├── ellipsoid_utils.h │ │ ├── vslam_basic_types_refactor.h │ │ ├── vslam_math_util.h │ │ ├── vslam_obj_opt_types_refactor.h │ │ ├── vslam_types_conversion.h │ │ └── vslam_types_math_util.h │ ├── visual_feature_frontend │ │ └── visual_feature_front_end.h │ ├── visual_feature_processing │ │ ├── low_level_feature_reader.h │ │ └── orb_output_low_level_feature_reader.h │ └── visualization │ │ ├── object_pose_graph_runtime_visualization.h │ │ ├── ros_visualization.h │ │ └── save_to_file_visualizer.h ├── run_optimization_utils │ ├── optimization_runner.h │ └── run_opt_utils.h └── types │ ├── sequence_utils.h │ └── timestamped_data_to_frames_utils.h ├── launch ├── ovslam.rviz ├── ovslam_rviz.launch └── single_cam_bb_view_ovslam.rviz ├── manifest.xml ├── metrics_plotting_configs ├── amazon_0523_v0.csv ├── amazon_0523_v0_bug_fix.csv ├── evaluation_2023_07_v1_orb_draft.csv ├── evaluation_7a_1_fallback_a_2_ablations.csv ├── evaluation_best_against_orb_and_oa.csv ├── evaluation_best_against_orb_and_oa_and_droid.csv ├── evaluation_best_against_orb_and_oa_and_droid_0821.csv ├── object_metrics │ └── objects_evaluation_7a_1_fallback_a_2_ablations.csv ├── plotting_config_generator.py ├── podman_results_root_dir.csv ├── savepaths │ ├── test_ate_savepath.csv │ └── test_cdf_savepath.csv └── test_cdf_metrics.csv ├── sequences ├── 1669743059_only.json ├── 1676766718_only.json ├── 2023-05-12_morning.json ├── 20230218_1a_4a.json ├── 20230218_all.json ├── 3059_9589.json ├── amazon_0523_v0.json ├── end_of_may_demo_v1.json ├── evaluation_2023_07_v1.json ├── high_res_20230218_1a_7326.json ├── high_res_20230218_1a_7326_wp.json ├── high_res_7326_20230218_1a.json └── high_res_7326_7619.json ├── src ├── data_preprocessing_utils │ ├── approx_depth_bounding_box_extractor.cpp │ ├── extract_all_bounding_boxes.py │ ├── localization_rosbag_extraction_and_interpolation_for_bounding_boxes.cpp │ ├── orb_stereo_reformat_data.py │ ├── orb_trajectory_sparsifier.cpp │ ├── sequence_file_writer.cpp │ ├── unproject_main.cpp │ ├── waypoint_timestamp_extractor.cpp │ └── write_bounding_boxes_for_rosbag_to_file.cpp ├── debugging_utils │ ├── debug_jacobian_hessian_diagonal.cpp │ └── visualize_timing_notebook.ipynb ├── evaluation │ ├── __init__.py │ ├── approach_metrics.py │ ├── cmd_line_arg_utils.py │ ├── compute_metrics_for_approach.py │ ├── compute_metrics_for_droidslam.py │ ├── compute_metrics_for_oaslam.py │ ├── compute_metrics_for_orbslam3.py │ ├── compute_metrics_for_ut_vslam.py │ ├── compute_object_metrics_for_approach.py │ ├── compute_object_metrics_for_oa_slam.py │ ├── compute_object_metrics_for_ut_vslam.py │ ├── copy_key_results_from_server.py │ ├── custom_json_file_parsing.py │ ├── evaluation_utils.cpp │ ├── file_structure_utils.py │ ├── gt_traj_repairer_bag.py │ ├── gt_transformer.cpp │ ├── interpolate_poses_with_required_nodes.cpp │ ├── iteration_plotter.py │ ├── lego_loam_overlay_generator.cpp │ ├── lego_loam_traj_length_evaluator.cpp │ ├── lego_loam_trajectory_overlay_generator.py │ ├── lego_loam_utils.py │ ├── ltm_extractor_only.py │ ├── ltm_trajectory_sequence_executor.py │ ├── oa_slam │ │ ├── oa_slam_data_generator.cpp │ │ └── oa_slam_input_formatter.py │ ├── object_evaluation_utils.cpp │ ├── object_metrics_generator.cpp │ ├── object_metrics_plotter.py │ ├── objects │ │ ├── convert_object_detections_from_json_to_csv.py │ │ └── convert_object_detections_from_yaml.cpp │ ├── plotter_utils.py │ ├── run_lego_loam.py │ ├── run_lego_loam_velodyne.py │ ├── run_multi_session_orb_slam_3.py │ ├── run_orb_slam_2.py │ ├── sequence_trajectory_plotter.py │ ├── single_sequence_ATE_plotter.py │ ├── single_trajectory_estimator.py │ ├── timing_analysis.py │ ├── trajectory_evaluation_utils.cpp │ ├── trajectory_formatting │ │ └── utvslam_out_to_poses_by_timestamp.cpp │ ├── trajectory_interpolation.py │ ├── trajectory_interpolation_utils.cpp │ ├── trajectory_metrics_generator.cpp │ ├── trajectory_sequence.py │ ├── trajectory_sequence_topdown_plotter.py │ ├── waypoint_consistency_cdf_plotter.py │ ├── waypoint_timestamp_extractor.py │ └── write_bounding_boxes_to_file_for_sequence.py ├── refactoring │ ├── bounding_box_frontend │ │ └── pending_object_estimator.cpp │ ├── configuration │ │ └── write_configuration.cpp │ ├── display_ltm.cpp │ ├── factors │ │ ├── bounding_box_factor.cpp │ │ ├── independent_object_map_factor.cpp │ │ ├── pairwise_2d_feature_cost_functor.cpp │ │ ├── relative_pose_factor.cpp │ │ ├── reprojection_cost_functor.cpp │ │ ├── reprojection_cost_functor_analytic_jacobian.cpp │ │ └── shape_prior_factor.cpp │ ├── image_processing │ │ └── debugging_image_utils.cpp │ ├── long_term_map │ │ └── long_term_object_map_extraction.cpp │ ├── ltm_extraction_only.cpp │ ├── offline_object_visual_slam_main.cpp │ ├── optimization │ │ └── jacobian_extraction.cpp │ ├── run_opt_from_pg_state.cpp │ ├── types │ │ └── vslam_obj_opt_types_refactor.cpp │ ├── visual_feature_processing │ │ └── orb_output_low_level_feature_reader.cpp │ └── visualize_jacobian_problem_feats.cpp ├── testing │ └── test_obj_det_service.cpp └── types │ └── timestamped_data_to_frames_utils.cpp ├── symforce ├── reprojectionResidual_with_jacobians012.h └── reprojection_factor_code_generation.py └── test └── file_io └── cv_file_storage ├── config_file_storage_io_tests.cc ├── object_and_reprojection_feature_pose_graph_file_storage_io_tests.cc └── sequence_file_storage_io_tests.cc /.github/workflows/clang-format-check.yml: -------------------------------------------------------------------------------- 1 | name: clang-format Check 2 | on: 3 | push: 4 | pull_request: 5 | jobs: 6 | formatting-check: 7 | name: Formatting Check 8 | runs-on: ubuntu-latest 9 | strategy: 10 | matrix: 11 | path: 12 | - 'src' 13 | - 'include' 14 | steps: 15 | - uses: actions/checkout@v2 16 | - name: Run clang-format style check for C/C++ programs. 17 | uses: jidicula/clang-format-action@v4.9.0 18 | with: 19 | clang-format-version: '11' 20 | check-path: ${{ matrix.path }} 21 | fallback-style: 'Google' 22 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode/settings.json 2 | bin/* 3 | lib/* 4 | build/* 5 | media/* 6 | .idea/* 7 | cmake-build-debug/* 8 | cmake-build-debug-remote/* 9 | *__pycache__/ 10 | *.png 11 | figs 12 | metrics_plotting_configs/* 13 | 14 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "src/shared"] 2 | path = src/shared 3 | url = git@github.com:ut-amrl/amrl_shared_lib 4 | branch = glogTimer 5 | -------------------------------------------------------------------------------- /Makefile: -------------------------------------------------------------------------------- 1 | # Clang is a good compiler to use during development due to its faster compile 2 | # times and more readable output. 3 | # C_compiler=/usr/bin/clang 4 | # CXX_compiler=/usr/bin/clang++ 5 | 6 | # GCC is better for release mode due to the speed of its output, and its support 7 | # for OpenMP. 8 | C_compiler=/usr/bin/gcc 9 | CXX_compiler=/usr/bin/g++ 10 | 11 | #acceptable build_types: Release/Debug/Profile 12 | build_type=Release 13 | # build_type=Debug 14 | 15 | .SILENT: 16 | 17 | all: build/CMakeLists.txt.copy 18 | $(info Build_type is [${build_type}]) 19 | $(MAKE) --no-print-directory -C build 20 | 21 | # Sets the build type to Debug. 22 | set_debug: 23 | $(eval build_type=Debug) 24 | 25 | # Ensures that the build type is debug before running all target. 26 | debug_all: | set_debug all 27 | 28 | clean: 29 | rm -rf build bin lib 30 | 31 | build/CMakeLists.txt.copy: CMakeLists.txt Makefile 32 | mkdir -p build 33 | cd build && cmake -DCMAKE_BUILD_TYPE=$(build_type) \ 34 | -DCMAKE_CXX_COMPILER=$(CXX_compiler) \ 35 | -DCMAKE_C_COMPILER=$(C_compiler) \ 36 | ${TESTFLAGS} .. 37 | cp CMakeLists.txt build/CMakeLists.txt.copy 38 | 39 | 40 | test: TESTFLAGS += -DGENERATE_UNITTESTS=ON 41 | test: all 42 | ./bin/ut_vslam_tests -------------------------------------------------------------------------------- /config/zed2i_left_camera_topics.txt: -------------------------------------------------------------------------------- 1 | /zed2i/zed_node/left/image_rect_color/compressed 2 | -------------------------------------------------------------------------------- /config/zed_left_camera_topics.txt: -------------------------------------------------------------------------------- 1 | /zed/zed_node/left/image_rect_color/compressed 2 | -------------------------------------------------------------------------------- /convenience_scripts/docker/droid_slam_data_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | WORKDIR=/root/ObVi-SLAM-Evaluation/ 4 | SLAM_UTILS_DIR=${WORKDIR}SLAMUtilsScripts/ 5 | 6 | cd $SLAM_UTILS_DIR 7 | 8 | root_data_dir=${WORKDIR}/data/ 9 | 10 | declare -a bagnames=("_2023_05_11_18_35_54" \ 11 | "_2023_05_13_19_03_07" \ 12 | "_2023_05_13_21_51_39" \ 13 | "_2023_05_16_15_02_33" \ 14 | "_2023_06_23_10_22_43" \ 15 | "_2023_06_22_21_51_46" \ 16 | "_2023_06_28_11_02_23" \ 17 | "_2023_06_27_21_52_02" \ 18 | "_2023_06_21_10_32_23" \ 19 | "_2023_06_27_21_36_30" \ 20 | "_2023_05_17_12_13_10" \ 21 | "_2023_05_12_13_15_27" \ 22 | "_2023_06_30_11_27_42" \ 23 | "_2023_05_12_10_50_32" \ 24 | "_2023_06_22_22_12_29" \ 25 | "_2023_06_26_11_08_53") 26 | 27 | for bagname in ${bagnames[@]}; do 28 | bagfile=${root_data_dir}original_data/${bagname}.bag 29 | droid_slam_data_output_directory=${root_data_dir}droid_slam_in/ 30 | [ ! -d $droid_slam_data_output_directory ] && mkdir -p ${droid_slam_data_output_directory} 31 | python3 data_processing/parse_bag_to_kitti.py --bagfile $bagfile --outputdir $droid_slam_data_output_directory 32 | done -------------------------------------------------------------------------------- /convenience_scripts/docker/droid_slam_metrics_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/root/ObVi-SLAM-Evaluation/data/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/root/ObVi-SLAM-Evaluation/ObVi-SLAM/sequences/ 6 | droid_slam_out_root_dir=${root_data_dir}droid_slam_out/ 7 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 8 | calibration_file_directory=${root_data_dir}calibration/ 9 | odometry_topic="/jackal_velocity_controller/odom" 10 | 11 | sequence_file_base_name="evaluation_2023_07_v1" 12 | 13 | make && python3 src/evaluation/compute_metrics_for_droidslam.py \ 14 | --rosbag_file_directory=${rosbag_file_directory} \ 15 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 16 | --sequence_file_base_name=${sequence_file_base_name} \ 17 | --droid_slam_out_root_dir=${droid_slam_out_root_dir} \ 18 | --lego_loam_out_root_dir=${lego_loam_out_root_dir} \ 19 | --calibration_file_directory=${calibration_file_directory} \ 20 | --odometry_topic ${odometry_topic} \ 21 | --force_rerun_metrics_generator \ 22 | # --force_rerun_interpolator \ 23 | -------------------------------------------------------------------------------- /convenience_scripts/docker/droid_slam_sequence_executor.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | WORKDIR=/root/ObVi-SLAM-Evaluation/ 4 | droid_slam_dir=${WORKDIR}DROID-SLAM/ 5 | root_data_dir=${WORKDIR}/data/ 6 | 7 | sequence_file_base_name="evaluation_2023_07_v1" 8 | sequence_file=/root/ObVi-SLAM-Evaluation/ObVi-SLAM/sequences/${sequence_file_base_name}.json 9 | 10 | cd $droid_slam_dir 11 | 12 | python evaluation_scripts/test_obvi_seq.py --seqfile $sequence_file_base_name --datadir $root_data_dir --calib calib/obvi_slam.txt --stride 3 -------------------------------------------------------------------------------- /convenience_scripts/docker/high_res_orbslam2_multibags_executor.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | WORKDIR=/root/LTOV-SLAM-Evaluation/ 3 | 4 | root_data_dir=${WORKDIR}data/ 5 | rosbag_file_directory=${root_data_dir}original_data/ 6 | 7 | orb_slam_configuration_file=${WORKDIR}ORB_SLAM2/Examples/Stereo/high_res_jackal_zed_rectified.yaml 8 | orb_slam_vocabulary_file=${WORKDIR}ORB_SLAM2/Vocabulary/ORBvoc.txt 9 | orb_slam_2_out_root_dir=${root_data_dir}orb_out/ 10 | 11 | trajectory_sequence_file_directory=${WORKDIR}ut_vslam/sequences/ 12 | 13 | declare -a sequence_file_base_names=("evaluation_2023_07_v1") 14 | 15 | for sequence_file_base_name in ${sequence_file_base_names[@]}; do 16 | python3 src/evaluation/run_orb_slam_2.py \ 17 | --orb_slam_configuration_file=${orb_slam_configuration_file} \ 18 | --orb_slam_vocabulary_file=${orb_slam_vocabulary_file} \ 19 | --orb_slam_2_out_root_dir ${orb_slam_2_out_root_dir} \ 20 | --rosbag_file_directory ${rosbag_file_directory} \ 21 | --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ 22 | --sequence_file_base_name ${sequence_file_base_name} \ 23 | --force_run_orb_slam 24 | sleep 10 25 | done -------------------------------------------------------------------------------- /convenience_scripts/docker/high_res_orbslam3_metrics_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/root/ObVi-SLAM-Evaluation/data/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/root/ObVi-SLAM-Evaluation/ObVi-SLAM/sequences/ 6 | orb_slam_3_out_root_dir=${root_data_dir}orb_slam_3_out/ 7 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 8 | calibration_file_directory=${root_data_dir}calibration/ 9 | odometry_topic="/jackal_velocity_controller/odom" 10 | 11 | sequence_file_base_name="evaluation_2023_07_v1" 12 | 13 | make && python3 src/evaluation/compute_metrics_for_orbslam3.py \ 14 | --rosbag_file_directory=${rosbag_file_directory} \ 15 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 16 | --sequence_file_base_name=${sequence_file_base_name} \ 17 | --orb_slam_3_out_root_dir=${orb_slam_3_out_root_dir} \ 18 | --lego_loam_out_root_dir=${lego_loam_out_root_dir} \ 19 | --calibration_file_directory=${calibration_file_directory} \ 20 | --odometry_topic ${odometry_topic} \ 21 | --force_rerun_metrics_generator \ 22 | # --force_rerun_interpolator \ 23 | 24 | -------------------------------------------------------------------------------- /convenience_scripts/docker/high_res_orbslam3_sequence_executor.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/root/ObVi-SLAM-Evaluation/data/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/root/ObVi-SLAM-Evaluation/ObVi-SLAM/sequences/ 6 | 7 | orb_slam_configuration_file=/root/ObVi-SLAM-Evaluation/ORB_SLAM3/Examples/Stereo/high_res_husky_zed_rectified.yaml 8 | orb_slam_vocabulary_file=/root/ObVi-SLAM-Evaluation/ORB_SLAM3/Vocabulary/ORBvoc.txt 9 | orb_slam_3_out_root_dir=${root_data_dir}orb_slam_3_out/ 10 | 11 | sequence_file_base_name="evaluation_2023_07_v1" 12 | 13 | python3 src/evaluation/run_multi_session_orb_slam_3.py \ 14 | --orb_slam_configuration_file=${orb_slam_configuration_file} \ 15 | --orb_slam_vocabulary_file=${orb_slam_vocabulary_file} \ 16 | --orb_slam_3_out_root_dir ${orb_slam_3_out_root_dir} \ 17 | --rosbag_file_directory ${rosbag_file_directory} \ 18 | --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ 19 | --sequence_file_base_name ${sequence_file_base_name} \ 20 | # --generate_map_file -------------------------------------------------------------------------------- /convenience_scripts/docker/oa_slam_metrics_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | WORKDIR=/root/ObVi-SLAM-Evaluation/ 4 | 5 | root_data_dir=${WORKDIR}data/ 6 | rosbag_file_directory=${root_data_dir}original_data/ 7 | trajectory_sequence_file_directory=${WORKDIR}ObVi-SLAM/sequences/ 8 | oa_slam_out_root_dir=${root_data_dir}oa_slam_out/ 9 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 10 | calibration_file_directory=${root_data_dir}calibration/ 11 | odometry_topic="/jackal_velocity_controller/odom" 12 | 13 | sequence_file_base_name="evaluation_2023_07_v1" 14 | 15 | make -j4 && python3 src/evaluation/compute_metrics_for_oaslam.py \ 16 | --rosbag_file_directory=${rosbag_file_directory} \ 17 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 18 | --sequence_file_base_name=${sequence_file_base_name} \ 19 | --oa_slam_out_root_dir=${oa_slam_out_root_dir} \ 20 | --lego_loam_out_root_dir=${lego_loam_out_root_dir} \ 21 | --calibration_file_directory=${calibration_file_directory} \ 22 | --odometry_topic ${odometry_topic} \ 23 | --force_rerun_metrics_generator \ 24 | # --force_rerun_interpolator \ -------------------------------------------------------------------------------- /convenience_scripts/docker/oa_slam_sequence_executor.sh: -------------------------------------------------------------------------------- 1 | WORKDIR=/root/ObVi-SLAM-Evaluation/ 2 | 3 | oa_slam_dir=${WORKDIR}OA-SLAM/ 4 | camera_file=${oa_slam_dir}/Cameras/jackal_zed_rectified.yaml 5 | root_data_dir=${WORKDIR}data/ 6 | 7 | sequence_file_base_name="evaluation_2023_07_v1_00_15" 8 | # TODO fix me 9 | sequence_file=/root/ObVi-SLAM-Evaluation/ObVi-SLAM/sequences/${sequence_file_base_name}.json 10 | 11 | cd ${oa_slam_dir} 12 | 13 | ./bin/oa-slam_stereo_multi_sessions \ 14 | Vocabulary/ORBvoc.txt \ 15 | ${camera_file} \ 16 | ${root_data_dir} \ 17 | ${sequence_file} \ 18 | null \ 19 | points+objects -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_husky_high_res/amanda_laptop_lego_loam_single_trajectory.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | #root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_bags/ 4 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_higher_res/ 5 | 6 | rosbag_file_directory=${root_data_dir}original_data/ 7 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 8 | coda_parser_repo_root_dir=/home/amanda/workspaces/amrl_libs/coda 9 | 10 | velodyne_branch=writeToFile 11 | 12 | #rosbag_base_name="1669743059" 13 | #rosbag_base_name=1677097326 14 | rosbag_base_name=1676767833 15 | #rosbag_base_name="1668019589" 16 | 17 | # NOTE: Before running this 18 | # Activate conda environment (conda activate coda) 19 | # Source catkin setup for legoloam, but use the version that doesn't overwrite previous config: source ~/catkin_ws/devel/setup.sh --extend 20 | # Make sure that the appropriate version of lego loam is built 21 | 22 | cwd=$(pwd) 23 | cd /home/amanda/catkin_ws/src/LeGO-LOAM-1 24 | git checkout ${velodyne_branch} 25 | cd ../../ 26 | catkin_make -j1 27 | source devel/setup.sh --extend 28 | cd ${cwd} 29 | 30 | python3 src/evaluation/run_lego_loam.py \ 31 | --lego_loam_out_root_dir ${lego_loam_out_root_dir} \ 32 | --coda_parser_repo_root_dir ${coda_parser_repo_root_dir} \ 33 | --rosbag_file_directory ${rosbag_file_directory} \ 34 | --rosbag_base_name ${rosbag_base_name} --force_run_lego_loam 35 | 36 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_husky_high_res/amanda_laptop_orbslam2_sequence_executor.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_higher_res/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 6 | 7 | orb_slam_configuration_file=/home/amanda/workspaces/ORB_SLAM2/Examples/Stereo/high_res_husky_zed_rectified.yaml 8 | orb_slam_vocabulary_file=/home/amanda/workspaces/ORB_SLAM2/Vocabulary/ORBvoc.txt 9 | orb_slam_2_out_root_dir=${root_data_dir}orb_out/ 10 | 11 | sequence_file_base_name="20230218_all" 12 | 13 | python3 src/evaluation/run_orb_slam_2.py \ 14 | --orb_slam_configuration_file=${orb_slam_configuration_file} \ 15 | --orb_slam_vocabulary_file=${orb_slam_vocabulary_file} \ 16 | --orb_slam_2_out_root_dir ${orb_slam_2_out_root_dir} \ 17 | --rosbag_file_directory ${rosbag_file_directory} \ 18 | --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ 19 | --sequence_file_base_name ${sequence_file_base_name} \ 20 | --force_run_orb_slam 21 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_husky_high_res/amanda_laptop_orbslam3_high_res_sequence_executor.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_higher_res/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 6 | 7 | orb_slam_configuration_file=/home/amanda/workspaces/ORB_SLAM3/Examples/Stereo/high_res_husky_zed_rectified.yaml 8 | orb_slam_vocabulary_file=/home/amanda/workspaces/ORB_SLAM3/Vocabulary/ORBvoc.txt 9 | orb_slam_3_out_root_dir=${root_data_dir}orb_slam_3_out/ 10 | 11 | #sequence_file_base_name="20230218_1a_4a" 12 | sequence_file_base_name="high_res_20230218_1a_7326" 13 | 14 | python3 src/evaluation/run_multi_session_orb_slam_3.py \ 15 | --orb_slam_configuration_file=${orb_slam_configuration_file} \ 16 | --orb_slam_vocabulary_file=${orb_slam_vocabulary_file} \ 17 | --orb_slam_3_out_root_dir ${orb_slam_3_out_root_dir} \ 18 | --rosbag_file_directory ${rosbag_file_directory} \ 19 | --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ 20 | --sequence_file_base_name ${sequence_file_base_name} \ 21 | # --generate_map_file -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_husky_high_res/amanda_laptop_orbslam3_metrics_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_higher_res/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 6 | orb_slam_3_out_root_dir=${root_data_dir}orb_slam_3_out/ 7 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 8 | calibration_file_directory=${root_data_dir}calibration/ 9 | odometry_topic="/husky_velocity_controller/odom" 10 | 11 | #sequence_file_base_name="20230218_1a_4a" 12 | sequence_file_base_name="high_res_20230218_1a_7326_wp" 13 | 14 | make && python3 src/evaluation/compute_metrics_for_orbslam3.py \ 15 | --rosbag_file_directory=${rosbag_file_directory} \ 16 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 17 | --sequence_file_base_name=${sequence_file_base_name} \ 18 | --orb_slam_3_out_root_dir=${orb_slam_3_out_root_dir} \ 19 | --lego_loam_out_root_dir=${lego_loam_out_root_dir} \ 20 | --calibration_file_directory=${calibration_file_directory} \ 21 | --odometry_topic ${odometry_topic} \ 22 | --force_rerun_metrics_generator \ 23 | # --force_rerun_interpolator \ 24 | 25 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_husky_high_res/amanda_laptop_waypoint_extractor.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_higher_res/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | camera_topics_file=/home/amanda/workspaces/ut_vslam/config/zed_left_camera_topics.txt 6 | waypoint_topic_trigger=/autonomy_arbiter/joystick_stamp 7 | 8 | #rosbag_base_name=1676580043 9 | #rosbag_base_name=1676766718 10 | #rosbag_base_name=1676767081 11 | #rosbag_base_name=1676767437 12 | #rosbag_base_name=1676767833 13 | #rosbag_base_name=1676768224 14 | #rosbag_base_name=1676768545 15 | rosbag_base_name=1677097326 16 | #rosbag_base_name=1677097619 17 | 18 | make && python3 src/evaluation/waypoint_timestamp_extractor.py \ 19 | --waypoint_topic_trigger ${waypoint_topic_trigger} \ 20 | --camera_topics_file ${camera_topics_file} \ 21 | --rosbag_file_directory ${rosbag_file_directory} \ 22 | --rosbag_base_name ${rosbag_base_name} \ 23 | --force_waypoint_file_regeneration 24 | 25 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_husky_low_res/amanda_laptop_orbslam3_sequence_executor.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_bags/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 6 | 7 | orb_slam_configuration_file=/home/amanda/workspaces/ORB_SLAM3/Examples/Stereo/husky_zed_rectified.yaml 8 | orb_slam_vocabulary_file=/home/amanda/workspaces/ORB_SLAM3/Vocabulary/ORBvoc.txt 9 | orb_slam_3_out_root_dir=${root_data_dir}orb_slam_3_out/ 10 | 11 | sequence_file_base_name="3059_9589" 12 | 13 | python3 src/evaluation/run_multi_session_orb_slam_3.py \ 14 | --orb_slam_configuration_file=${orb_slam_configuration_file} \ 15 | --orb_slam_vocabulary_file=${orb_slam_vocabulary_file} \ 16 | --orb_slam_3_out_root_dir ${orb_slam_3_out_root_dir} \ 17 | --rosbag_file_directory ${rosbag_file_directory} \ 18 | --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ 19 | --sequence_file_base_name ${sequence_file_base_name} \ 20 | --generate_map_file -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_jackal_ouster/bounding_box_writer_for_sequence.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ 4 | config_file_directory=/home/amanda/workspaces/ut_vslam/config/ 5 | rosbag_file_directory=${root_data_dir}original_data/ 6 | bounding_box_post_process_base_directory=${root_data_dir}bounding_box_data/ 7 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 8 | 9 | sequence_file_base_name="evaluation_2023_07_v1" 10 | config_file_base_name="base7b" 11 | 12 | python3 src/evaluation/write_bounding_boxes_to_file_for_sequence.py \ 13 | --config_file_directory ${config_file_directory} \ 14 | --bounding_box_post_process_base_directory ${bounding_box_post_process_base_directory} \ 15 | --rosbag_file_directory ${rosbag_file_directory} \ 16 | --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ 17 | --config_file_base_name ${config_file_base_name} \ 18 | --sequence_file_base_name ${sequence_file_base_name} \ 19 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_jackal_ouster/lego_loam_single_trajectory.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | #root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_bags/ 4 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ 5 | 6 | rosbag_file_directory=${root_data_dir}original_data/ 7 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 8 | coda_parser_repo_root_dir=/home/amanda/workspaces/amrl_libs/coda 9 | 10 | ouster_branch=writeToFile 11 | 12 | #rosbag_base_name="1669743059" 13 | #rosbag_base_name=1677097326 14 | rosbag_base_name="_2023-05-12-10-46-11" 15 | #rosbag_base_name="1668019589" 16 | 17 | # NOTE: Before running this 18 | # Activate conda environment (conda activate coda) 19 | # Source catkin setup for legoloam, but use the version that doesn't overwrite previous config: source ~/catkin_ws/devel/setup.sh --extend 20 | # Make sure that the appropriate version of lego loam is built 21 | 22 | cwd=$(pwd) 23 | cd /home/amanda/catkin_ws/src/LeGO-LOAM-1 24 | git checkout ${ouster_branch} 25 | cd ../../ 26 | catkin_make -j1 27 | source devel/setup.sh --extend 28 | cd ${cwd} 29 | 30 | python3 src/evaluation/run_lego_loam.py \ 31 | --lego_loam_out_root_dir ${lego_loam_out_root_dir} \ 32 | --coda_parser_repo_root_dir ${coda_parser_repo_root_dir} \ 33 | --rosbag_file_directory ${rosbag_file_directory} \ 34 | --rosbag_base_name ${rosbag_base_name} --force_run_lego_loam 35 | 36 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_jackal_ouster/ltm_extraction_only.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ 4 | config_file_directory=/home/amanda/workspaces/ut_vslam/config/ 5 | results_root_directory=${root_data_dir}ut_vslam_results/ 6 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 7 | 8 | sequence_file_base_name="jacobian_debug2" 9 | config_file_base_name="base" 10 | number_in_sequence=0 11 | #min_frame_id=394 12 | #max_frame_id=547 13 | 14 | make 15 | python3 src/evaluation/ltm_extractor_only.py \ 16 | --config_file_directory ${config_file_directory} \ 17 | --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ 18 | --results_root_directory ${results_root_directory} \ 19 | --config_file_base_name ${config_file_base_name} \ 20 | --sequence_file_base_name ${sequence_file_base_name} \ 21 | --number_in_sequence_arg_name ${number_in_sequence} \ 22 | --output_jacobian_debug --log_to_file \ 23 | # --min_frame_id ${min_frame_id} --max_frame_id ${max_frame_id} 24 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_jackal_ouster/oa_slam_object_metrics_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 6 | orb_post_process_base_directory=${root_data_dir}orb_post_process 7 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 8 | calibration_file_directory=${root_data_dir}calibration/ 9 | results_root_directory=${root_data_dir}oa_slam_out/ 10 | 11 | 12 | 13 | gt_ellipsoids_file=${rosbag_file_directory}readable_labeling__2023_05_12_10_40_16.csv 14 | sequence_file_base_name="evaluation_2023_07_v1_0821_ellipsoids_fixed" 15 | cp sequences/evaluation_2023_07_v1.json sequences/${sequence_file_base_name}.json 16 | 17 | make && python3 src/evaluation/compute_object_metrics_for_oa_slam.py \ 18 | --gt_ellipsoids_file=${gt_ellipsoids_file} \ 19 | --results_root_directory=${results_root_directory} \ 20 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 21 | --sequence_file_base_name=${sequence_file_base_name} \ 22 | --calibration_file_directory=${calibration_file_directory} \ 23 | --force_rerun_metrics_generator 24 | 25 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_jackal_ouster/oaslam_metrics_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 6 | orb_slam_3_out_root_dir=${root_data_dir}oa_slam_out/ 7 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 8 | calibration_file_directory=${root_data_dir}calibration/ 9 | odometry_topic="/jackal_velocity_controller/odom" 10 | 11 | #sequence_file_base_name="20230218_1a_4a" 12 | sequence_file_base_name="evaluation_2023_07_v1_0821_ellipsoids_fixed" 13 | 14 | make && python3 src/evaluation/compute_metrics_for_orbslam3.py \ 15 | --rosbag_file_directory=${rosbag_file_directory} \ 16 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 17 | --sequence_file_base_name=${sequence_file_base_name} \ 18 | --orb_slam_3_out_root_dir=${orb_slam_3_out_root_dir} \ 19 | --lego_loam_out_root_dir=${lego_loam_out_root_dir} \ 20 | --calibration_file_directory=${calibration_file_directory} \ 21 | --odometry_topic ${odometry_topic} \ 22 | --force_rerun_metrics_generator \ 23 | # --force_rerun_interpolator \ 24 | 25 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_jackal_ouster/orbslam2_sequence_executor.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 6 | 7 | orb_slam_configuration_file=/home/amanda/workspaces/ORB_SLAM2/Examples/Stereo/high_res_jackal_zed.yaml 8 | orb_slam_vocabulary_file=/home/amanda/workspaces/ORB_SLAM2/Vocabulary/ORBvoc.txt 9 | orb_slam_2_out_root_dir=${root_data_dir}orb_out/ 10 | 11 | sequence_file_base_name="end_of_may_demo_v1" 12 | 13 | python3 src/evaluation/run_orb_slam_2.py \ 14 | --orb_slam_configuration_file=${orb_slam_configuration_file} \ 15 | --orb_slam_vocabulary_file=${orb_slam_vocabulary_file} \ 16 | --orb_slam_2_out_root_dir ${orb_slam_2_out_root_dir} \ 17 | --rosbag_file_directory ${rosbag_file_directory} \ 18 | --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ 19 | --sequence_file_base_name ${sequence_file_base_name} \ 20 | # --force_run_orb_slam 21 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_jackal_ouster/orbslam3_metrics_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 6 | orb_slam_3_out_root_dir=${root_data_dir}orb_slam_3_out/ 7 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 8 | calibration_file_directory=${root_data_dir}calibration/ 9 | odometry_topic="/jackal_velocity_controller/odom" 10 | 11 | #sequence_file_base_name="20230218_1a_4a" 12 | sequence_file_base_name="orb_final_probably" 13 | 14 | make && python3 src/evaluation/compute_metrics_for_orbslam3.py \ 15 | --rosbag_file_directory=${rosbag_file_directory} \ 16 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 17 | --sequence_file_base_name=${sequence_file_base_name} \ 18 | --orb_slam_3_out_root_dir=${orb_slam_3_out_root_dir} \ 19 | --lego_loam_out_root_dir=${lego_loam_out_root_dir} \ 20 | --calibration_file_directory=${calibration_file_directory} \ 21 | --odometry_topic ${odometry_topic} \ 22 | --force_rerun_metrics_generator \ 23 | # --force_rerun_interpolator \ 24 | 25 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_jackal_ouster/orbslam3_sequence_executor.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 6 | 7 | orb_slam_configuration_file=/home/amanda/workspaces/ORB_SLAM3/Examples/Stereo/high_res_jackal_zed_rectified.yaml 8 | orb_slam_vocabulary_file=/home/amanda/workspaces/ORB_SLAM3/Vocabulary/ORBvoc.txt 9 | orb_slam_3_out_root_dir=${root_data_dir}orb_slam_3_out/ 10 | 11 | #sequence_file_base_name="20230218_1a_4a" 12 | #sequence_file_base_name="end_of_may_demo_v1" 13 | sequence_file_base_name="evaluation_2023_07_v1" 14 | 15 | python3 src/evaluation/run_multi_session_orb_slam_3.py \ 16 | --orb_slam_configuration_file=${orb_slam_configuration_file} \ 17 | --orb_slam_vocabulary_file=${orb_slam_vocabulary_file} \ 18 | --orb_slam_3_out_root_dir ${orb_slam_3_out_root_dir} \ 19 | --rosbag_file_directory ${rosbag_file_directory} \ 20 | --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ 21 | --sequence_file_base_name ${sequence_file_base_name} \ 22 | --generate_map_file -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_jackal_ouster/plot_iteration_data.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ 4 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 5 | results_root_directory=${root_data_dir}ut_vslam_results/ 6 | 7 | config_file_base_name="update_rev_lower_conv_thresholds_manual_feat_adj" 8 | sequence_file_base_name="evaluation_2023_07_v1" 9 | 10 | make && python3 src/evaluation/iteration_plotter.py \ 11 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 12 | --sequence_file_base_name=${sequence_file_base_name} \ 13 | --config_file_base_name=${config_file_base_name} \ 14 | --results_root_directory=${results_root_directory} \ 15 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_jackal_ouster/timing_bar_plotter.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 6 | orb_post_process_base_directory=${root_data_dir}orb_post_process 7 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 8 | calibration_file_directory=${root_data_dir}calibration/ 9 | results_root_directory=${root_data_dir}ut_vslam_results/ 10 | 11 | odometry_topic="/jackal_velocity_controller/odom" 12 | 13 | 14 | #config_file_base_name="update_rev_single_phase_manual_vf_reduced_tracking" 15 | sequence_file_base_name="evaluation_2023_07_v1" 16 | 17 | config_file_base_name="update_rev_lowerererish_conv_thresholds_manual_feat_adj_tighterer_vo_v4" 18 | 19 | python3 src/evaluation/timing_analysis.py \ 20 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 21 | --sequence_file_base_name=${sequence_file_base_name} \ 22 | --config_file_base_name=${config_file_base_name} \ 23 | --results_root_directory=${results_root_directory} 24 | # --force_rerun_interpolator \ 25 | # --force_rerun_trajectory_formatter -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_jackal_ouster/waypoint_extractor.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | camera_topics_file=/home/amanda/workspaces/ut_vslam/config/zed2i_left_camera_topics.txt 6 | waypoint_topic_trigger=/autonomy_arbiter/joystick_stamp 7 | waypoint_file_version=1 8 | 9 | #rosbag_base_name=_2023_05_13_19_03_07 10 | #rosbag_base_name=_2023_05_13_21_34_26 11 | #rosbag_base_name=_2023_05_13_21_51_39 12 | rosbag_base_name=_2023_05_16_15_02_33 13 | 14 | make && python3 src/evaluation/waypoint_timestamp_extractor.py \ 15 | --waypoint_topic_trigger ${waypoint_topic_trigger} \ 16 | --camera_topics_file ${camera_topics_file} \ 17 | --rosbag_file_directory ${rosbag_file_directory} \ 18 | --rosbag_base_name ${rosbag_base_name} \ 19 | --waypoint_file_version ${waypoint_file_version} \ 20 | --force_waypoint_file_regeneration 21 | 22 | -------------------------------------------------------------------------------- /convenience_scripts/experiments/amanda_local/eer_jackal_velodyne/amanda_laptop_velodyne_lego_loam_sequence.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/home/amanda/rosbags/ellipsoid_slam/eer_higher_res/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 6 | trajectory_sequence_file_directory=/home/amanda/workspaces/ut_vslam/sequences/ 7 | 8 | lego_loam_catkin_ws=/home/amanda/catkin_ws/ 9 | velodyne_branch=writeResultsWithTimestampsToFileVelodyne 10 | 11 | #rosbag_base_name="1669743059" 12 | #rosbag_base_name="1668019589" 13 | sequence_file_base_name="20230218_all" 14 | 15 | # NOTE: Before running this 16 | # Source catkin setup for legoloam, but use the version that doesn't overwrite previous config: source ~/catkin_ws/devel/setup.sh --extend 17 | # Make sure that the appropriate version of lego loam is built 18 | 19 | cwd=$(pwd) 20 | cd /home/amanda/catkin_ws/src/LeGO-LOAM-1 21 | git checkout ${velodyne_branch} 22 | cd ../../ 23 | catkin_make -j1 24 | source devel/setup.bash 25 | cd ${cwd} 26 | 27 | python3 src/evaluation/run_lego_loam_velodyne.py \ 28 | --lego_loam_out_root_dir ${lego_loam_out_root_dir} \ 29 | --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ 30 | --sequence_file_base_name ${sequence_file_base_name} \ 31 | --rosbag_file_directory ${rosbag_file_directory} \ 32 | --force_run_lego_loam 33 | 34 | -------------------------------------------------------------------------------- /convenience_scripts/podman/droid_slam_data_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | WORKDIR=/root/LTOV-SLAM-Evaluation/ 4 | SLAM_UTILS_DIR=${WORKDIR}SLAMUtilsScripts/ 5 | 6 | cd $SLAM_UTILS_DIR 7 | 8 | root_data_dir=${WORKDIR}/data/ 9 | 10 | declare -a bagnames=("_2023_05_11_18_35_54" \ 11 | "_2023_05_13_19_03_07" \ 12 | "_2023_05_13_21_51_39" \ 13 | "_2023_05_16_15_02_33" \ 14 | "_2023_06_23_10_22_43" \ 15 | "_2023_06_22_21_51_46" \ 16 | "_2023_06_28_11_02_23" \ 17 | "_2023_06_27_21_52_02" \ 18 | "_2023_06_21_10_32_23" \ 19 | "_2023_06_27_21_36_30" \ 20 | "_2023_05_17_12_13_10" \ 21 | "_2023_05_12_13_15_27" \ 22 | "_2023_06_30_11_27_42" \ 23 | "_2023_05_12_10_50_32" \ 24 | "_2023_06_22_22_12_29" \ 25 | "_2023_06_26_11_08_53") 26 | 27 | for bagname in ${bagnames[@]}; do 28 | bagfile=${root_data_dir}original_data/${bagname}.bag 29 | droid_slam_data_output_directory=${root_data_dir}droid_slam_in/ 30 | [ ! -d $droid_slam_data_output_directory ] && mkdir -p ${droid_slam_data_output_directory} 31 | python3 data_processing/parse_bag_to_kitti.py --bagfile $bagfile --outputdir $droid_slam_data_output_directory 32 | done -------------------------------------------------------------------------------- /convenience_scripts/podman/droid_slam_metrics_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/root/LTOV-SLAM-Evaluation/data/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/root/LTOV-SLAM-Evaluation/ut_vslam/sequences/ 6 | droid_slam_out_root_dir=${root_data_dir}droid_slam_out/ 7 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 8 | calibration_file_directory=${root_data_dir}calibration/ 9 | odometry_topic="/jackal_velocity_controller/odom" 10 | 11 | sequence_file_base_name="evaluation_2023_07_v1" 12 | 13 | make && python3 src/evaluation/compute_metrics_for_droidslam.py \ 14 | --rosbag_file_directory=${rosbag_file_directory} \ 15 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 16 | --sequence_file_base_name=${sequence_file_base_name} \ 17 | --droid_slam_out_root_dir=${droid_slam_out_root_dir} \ 18 | --lego_loam_out_root_dir=${lego_loam_out_root_dir} \ 19 | --calibration_file_directory=${calibration_file_directory} \ 20 | --odometry_topic ${odometry_topic} \ 21 | --force_rerun_metrics_generator \ 22 | # --force_rerun_interpolator \ 23 | 24 | -------------------------------------------------------------------------------- /convenience_scripts/podman/droid_slam_sequence_executor.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | WORKDIR=/root/LTOV-SLAM-Evaluation/ 4 | 5 | droid_slam_dir=${WORKDIR}DROID-SLAM/ 6 | root_data_dir=${WORKDIR}/data/ 7 | 8 | sequence_file_base_name="evaluation_2023_07_v1" 9 | sequence_file=/root/LTOV-SLAM-Evaluation/ut_vslam/sequences/${sequence_file_base_name}.json 10 | 11 | cd $droid_slam_dir 12 | 13 | python evaluation_scripts/test_obvi_seq.py --seqfile $sequence_file_base_name --datadir $root_data_dir --calib calib/obvi_slam.txt --stride 3 -------------------------------------------------------------------------------- /convenience_scripts/podman/high_res_orbslam3_metrics_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/root/LTOV-SLAM-Evaluation/data/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/root/LTOV-SLAM-Evaluation/ut_vslam/sequences/ 6 | orb_slam_3_out_root_dir=${root_data_dir}orb_slam_3_out/ 7 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 8 | calibration_file_directory=${root_data_dir}calibration/ 9 | odometry_topic="/jackal_velocity_controller/odom" 10 | 11 | sequence_file_base_name="evaluation_2023_07_v1" 12 | 13 | make && python3 src/evaluation/compute_metrics_for_orbslam3.py \ 14 | --rosbag_file_directory=${rosbag_file_directory} \ 15 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 16 | --sequence_file_base_name=${sequence_file_base_name} \ 17 | --orb_slam_3_out_root_dir=${orb_slam_3_out_root_dir} \ 18 | --lego_loam_out_root_dir=${lego_loam_out_root_dir} \ 19 | --calibration_file_directory=${calibration_file_directory} \ 20 | --odometry_topic ${odometry_topic} \ 21 | --force_rerun_metrics_generator \ 22 | # --force_rerun_interpolator \ 23 | 24 | -------------------------------------------------------------------------------- /convenience_scripts/podman/high_res_orbslam3_sequence_executor.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/root/LTOV-SLAM-Evaluation/data/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/root/LTOV-SLAM-Evaluation/ut_vslam/sequences/ 6 | 7 | orb_slam_configuration_file=/root/LTOV-SLAM-Evaluation/ORB_SLAM3/Examples/Stereo/high_res_husky_zed_rectified.yaml 8 | orb_slam_vocabulary_file=/root/LTOV-SLAM-Evaluation/ORB_SLAM3/Vocabulary/ORBvoc.txt 9 | orb_slam_3_out_root_dir=${root_data_dir}orb_slam_3_out/ 10 | 11 | sequence_file_base_name="high_res_20230218_1a" 12 | 13 | python3 src/evaluation/run_multi_session_orb_slam_3.py \ 14 | --orb_slam_configuration_file=${orb_slam_configuration_file} \ 15 | --orb_slam_vocabulary_file=${orb_slam_vocabulary_file} \ 16 | --orb_slam_3_out_root_dir ${orb_slam_3_out_root_dir} \ 17 | --rosbag_file_directory ${rosbag_file_directory} \ 18 | --trajectory_sequence_file_directory ${trajectory_sequence_file_directory} \ 19 | --sequence_file_base_name ${sequence_file_base_name} \ 20 | # --generate_map_file -------------------------------------------------------------------------------- /convenience_scripts/podman/oa_slam_metrics_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | WORKDIR=/root/LTOV-SLAM-Evaluation/ 4 | 5 | root_data_dir=${WORKDIR}data/ 6 | rosbag_file_directory=${root_data_dir}original_data/ 7 | trajectory_sequence_file_directory=${WORKDIR}ut_vslam/sequences/ 8 | oa_slam_out_root_dir=${root_data_dir}oa_slam_out/ 9 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 10 | calibration_file_directory=${root_data_dir}calibration/ 11 | odometry_topic="/jackal_velocity_controller/odom" 12 | 13 | sequence_file_base_name="evaluation_2023_07_v1" 14 | 15 | make -j4 && python3 src/evaluation/compute_metrics_for_oaslam.py \ 16 | --rosbag_file_directory=${rosbag_file_directory} \ 17 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 18 | --sequence_file_base_name=${sequence_file_base_name} \ 19 | --oa_slam_out_root_dir=${oa_slam_out_root_dir} \ 20 | --lego_loam_out_root_dir=${lego_loam_out_root_dir} \ 21 | --calibration_file_directory=${calibration_file_directory} \ 22 | --odometry_topic ${odometry_topic} \ 23 | --force_rerun_metrics_generator \ 24 | # --force_rerun_interpolator \ -------------------------------------------------------------------------------- /convenience_scripts/podman/ut_vslam_metrics_generator.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | root_data_dir=/root/LTOV-SLAM-Evaluation/data/ 4 | rosbag_file_directory=${root_data_dir}original_data/ 5 | trajectory_sequence_file_directory=/root/LTOV-SLAM-Evaluation/ut_vslam/sequences/ 6 | orb_post_process_base_directory=${root_data_dir}orb_post_process 7 | lego_loam_out_root_dir=${root_data_dir}lego_loam_out/ 8 | calibration_file_directory=${root_data_dir}calibration/ 9 | results_root_directory=${root_data_dir}ut_vslam_results/ 10 | 11 | config_file_base_name="8" 12 | sequence_file_base_name="high_res_20230218_1a_7326" 13 | 14 | make && python3 src/evaluation/compute_metrics_for_ut_vslam.py \ 15 | --rosbag_file_directory=${rosbag_file_directory} \ 16 | --trajectory_sequence_file_directory=${trajectory_sequence_file_directory} \ 17 | --sequence_file_base_name=${sequence_file_base_name} \ 18 | --lego_loam_out_root_dir=${lego_loam_out_root_dir} \ 19 | --calibration_file_directory=${calibration_file_directory} \ 20 | --orb_post_process_base_directory=${orb_post_process_base_directory} \ 21 | --config_file_base_name=${config_file_base_name} \ 22 | --results_root_directory=${results_root_directory} \ 23 | # --force_rerun_interpolator \ 24 | # --force_rerun_metrics_generator \ 25 | # --force_rerun_trajectory_formatter -------------------------------------------------------------------------------- /convenience_scripts/tum/taijing/tum_freiburg2_desk_preprocess.sh: -------------------------------------------------------------------------------- 1 | SLAMDIR=/home/tiejean/Documents/projects/ut_vslam 2 | DARADIR=/home/tiejean/Documents/mnt/oslam 3 | ORB_OUT=$DARADIR/orb_out 4 | ORB_POST_PROCESS=$DARADIR/orb_post_process 5 | 6 | bagname=freiburg2_desk 7 | configname=base7a_2_fallback_a_2 8 | 9 | configfile=$SLAMDIR/config/${base7a_2_fallback_a_2}.json 10 | calibration_dir=$DARADIR/calibration/ 11 | orb_out_dir=$ORB_OUT/$bagname/ 12 | unsparsified_orb_out=$ORB_POST_PROCESS/unsparsified_ut_vslam_in/$bagname/ 13 | sparsified_orb_out=$ORB_POST_PROCESS/sparsified_ut_vslam_in/$configname/$bagname/ 14 | 15 | mkdir -p $orb_out_dir 16 | mkdir -p $unsparsified_orb_out 17 | mkdir -p $sparsified_orb_out 18 | 19 | python3 src/data_preprocessing_utils/orb_stereo_reformat_data.py \ 20 | -i $orb_out_dir -o $unsparsified_orb_out 21 | 22 | ./bin/initialize_traj_and_feats_from_orb_out \ 23 | --raw_data_path $orb_out_dir \ 24 | --calibration_path $calibration_dir \ 25 | --processed_data_path $unsparsified_orb_out 26 | 27 | ./bin/orb_trajectory_sparsifier \ 28 | --param_prefix $bagname \ 29 | --input_processed_data_path $unsparsified_orb_out \ 30 | --output_processed_data_path $sparsified_orb_out \ 31 | --params_config_file $configfile 32 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/583_prev_1311876852.039562.txt: -------------------------------------------------------------------------------- 1 | 583 2 | 0.276 0.104 -0.696 0.00081 -0.0271 0.00588 1 3 | 1753 251.003357 138.609634 4 | 33 262.500000 176.638901 5 | 1590 244.880951 164.023636 6 | 214 314.119843 137.276062 7 | 3848 63.440228 72.575813 8 | 234 288.420135 137.363983 9 | 2231 64.134750 137.701599 10 | 374 314.418823 212.473587 11 | 3190 39.450874 71.830978 12 | 481 334.013672 157.719101 13 | 2005 261.239471 135.993973 14 | 1712 270.255157 136.296402 15 | 423 274.251373 132.632736 16 | 235 296.435547 110.223251 17 | 1448 128.344147 238.921692 18 | 2557 42.117867 103.037331 19 | 2279 249.662186 160.044693 20 | 2254 45.157894 134.823517 21 | 515 311.066559 211.588425 22 | 357 116.584877 137.428268 23 | 3054 236.053497 164.104691 24 | 614 315.202209 215.712601 25 | 1470 322.564636 211.753021 26 | 1497 355.354492 104.464951 27 | 627 174.084198 207.353165 28 | 2286 95.527107 74.713928 29 | 636 338.392242 216.540863 30 | 666 524.471741 221.784241 31 | 616 470.115814 153.744537 32 | 674 466.807068 215.604279 33 | 565 478.635254 208.179581 34 | 1990 48.029774 239.193054 35 | 682 440.621429 203.664810 36 | 2417 232.190674 78.593056 37 | 713 326.066345 183.063904 38 | 730 343.957733 218.628525 39 | 563 467.980865 214.904053 40 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/584_curr_1311876852.239443.txt: -------------------------------------------------------------------------------- 1 | 584 2 | 0.223 0.106 -0.546 -0.00557 -0.0679 0.00677 0.998 3 | 1753 292.338135 144.156372 4 | 33 304.117279 176.440887 5 | 1590 286.283051 168.637573 6 | 214 353.596191 114.850548 7 | 3848 90.129990 71.187599 8 | 234 338.219513 114.342392 9 | 2231 92.090546 145.505875 10 | 374 344.081573 187.486877 11 | 3190 68.709641 77.153030 12 | 481 358.248108 149.342239 13 | 2005 289.133759 109.423462 14 | 1712 304.349060 139.477020 15 | 423 299.235413 136.134186 16 | 235 350.407990 109.374252 17 | 1448 188.397659 231.901321 18 | 2557 82.186295 109.443840 19 | 2279 264.934021 164.998230 20 | 2254 64.769173 103.837845 21 | 515 325.554932 217.774521 22 | 357 149.044540 139.556641 23 | 3054 271.821808 145.564621 24 | 614 333.420807 211.583252 25 | 1470 343.364899 221.503983 26 | 1497 374.855530 94.990616 27 | 627 188.398209 231.764954 28 | 2286 112.437927 79.456009 29 | 636 376.083893 224.045151 30 | 666 544.655212 224.795914 31 | 616 495.270874 166.122086 32 | 674 484.148590 218.643433 33 | 565 501.381287 209.957458 34 | 1990 65.805099 230.786499 35 | 682 460.394836 208.509811 36 | 2417 252.256104 89.330528 37 | 713 343.898895 183.083069 38 | 730 358.256561 222.220276 39 | 563 501.949860 208.790695 40 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/68_prev_1311876804.123566.txt: -------------------------------------------------------------------------------- 1 | 68 2 | 0.0424 -0.0467 0.312 0.00194 -0.243 -0.0304 0.97 3 | 2967 252.831863 153.592224 4 | 2115 306.112518 173.285568 5 | 13 415.381958 169.004669 6 | 130 518.300781 256.110596 7 | 939 586.014404 437.085663 8 | 34 560.777344 159.749130 9 | 2267 316.321808 136.090958 10 | 2627 252.829819 153.826508 11 | 2369 379.052155 234.062790 12 | 2005 537.287659 125.771080 13 | 3039 252.781235 159.454636 14 | 2102 307.001282 172.603470 15 | 2231 304.247131 131.472137 16 | 2231 304.369659 132.760529 17 | 483 407.521454 156.723618 18 | 1712 549.423645 125.379318 19 | 423 555.921265 121.112480 20 | 3058 343.817139 56.302490 21 | 1835 405.625488 224.142639 22 | 2285 309.247620 92.060486 23 | 2006 538.133118 123.705643 24 | 2633 274.741394 76.287964 25 | 2381 251.650223 156.406296 26 | 2381 251.675873 153.490280 27 | 3047 214.169647 59.590385 28 | 3167 535.141602 159.175232 29 | 3168 414.451874 227.139893 30 | 3202 153.532410 222.820984 31 | 2779 191.564987 236.762711 32 | 2381 251.650223 156.406296 33 | 2381 251.675873 153.490280 34 | 2244 237.296371 127.499184 35 | 3009 484.277008 256.843689 36 | 948 432.630219 236.676865 37 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/69_curr_1311876804.754802.txt: -------------------------------------------------------------------------------- 1 | 69 2 | 0.0472 -0.0532 0.319 0.00137 -0.248 -0.0306 0.968 3 | 2967 261.728302 148.250031 4 | 2115 316.056854 169.530731 5 | 13 417.020447 176.864685 6 | 130 525.253479 263.969727 7 | 939 575.397705 419.297882 8 | 34 556.135254 163.230728 9 | 2267 345.361908 129.683487 10 | 2627 261.409424 143.927231 11 | 2369 381.440948 237.654907 12 | 2005 544.746643 125.813538 13 | 3039 256.963837 167.880859 14 | 2102 305.977631 169.886993 15 | 2231 316.293335 158.001694 16 | 2231 316.293335 158.001694 17 | 483 426.926147 136.729462 18 | 1712 564.186829 91.618774 19 | 423 568.363770 121.841873 20 | 3058 317.428986 64.226746 21 | 1835 375.611969 233.958572 22 | 2285 316.210815 63.831055 23 | 2006 537.308960 120.478119 24 | 2633 255.296448 73.629593 25 | 2381 254.636047 150.551071 26 | 2381 254.636047 150.551071 27 | 3047 255.303391 72.674362 28 | 3167 549.940063 131.670410 29 | 3168 385.006012 238.935486 30 | 3202 153.499512 229.857162 31 | 2779 146.594070 229.887253 32 | 2381 255.213089 151.711243 33 | 2381 255.213089 151.711243 34 | 2244 245.160294 99.735481 35 | 3009 474.467865 265.080109 36 | 948 386.783936 240.128632 37 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/69_prev_1311876804.754802.txt: -------------------------------------------------------------------------------- 1 | 69 2 | 0.125 -0.0659 0.451 0.00383 -0.342 -0.0339 0.939 3 | 2853 381.838531 238.054260 4 | 3152 338.319214 169.024689 5 | 2626 395.022186 131.380188 6 | 2790 434.618683 236.593826 7 | 3149 310.004944 243.003876 8 | 1614 426.026917 236.901093 9 | 2254 394.739502 131.377701 10 | 3184 354.327301 152.306610 11 | 2753 309.317932 241.924835 12 | 2892 314.165222 57.670906 13 | 2381 358.045197 157.593338 14 | 2121 394.337921 92.737236 15 | 2124 418.318451 52.274155 16 | 3280 388.459503 64.426918 17 | 3044 294.478638 244.695312 18 | 3299 245.296463 230.072327 19 | 2958 343.167542 126.049034 20 | 2779 297.425446 243.666016 21 | 3295 249.212570 233.399185 22 | 3295 246.763535 231.551178 23 | 2248 474.467865 265.080109 24 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/70_curr_1311876804.887607.txt: -------------------------------------------------------------------------------- 1 | 70 2 | 0.233 -0.0832 0.57 0.00586 -0.437 -0.0371 0.899 3 | 2853 485.488953 242.277634 4 | 3152 451.623016 164.205292 5 | 2626 519.581909 124.255447 6 | 2790 561.492493 235.673355 7 | 3149 410.779907 248.882538 8 | 1614 562.829529 235.002258 9 | 2254 520.420227 122.785301 10 | 3184 498.758087 127.438560 11 | 2753 397.807220 236.483688 12 | 2892 403.779327 54.573589 13 | 2381 443.246002 126.853882 14 | 2121 520.179077 84.168480 15 | 2124 512.822327 64.844261 16 | 3280 488.565399 55.094254 17 | 3044 408.587738 230.082825 18 | 3299 393.863586 233.007889 19 | 2958 442.772705 127.813164 20 | 2779 393.863586 233.007889 21 | 3295 318.904663 240.076248 22 | 3295 318.904663 240.076248 23 | 2248 564.391602 251.148361 24 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/739_prev_1311876864.316233.txt: -------------------------------------------------------------------------------- 1 | 739 2 | -0.225 -0.0322 0.201 -0.00214 -0.75 -0.0942 0.655 3 | 12777 454.853058 70.789177 4 | 13837 483.981812 50.462502 5 | 16381 521.907715 419.872223 6 | 15904 181.684540 289.891479 7 | 16451 396.918457 327.820282 8 | 16408 201.194366 374.984680 9 | 5765 234.608734 284.227325 10 | 12870 232.206253 284.934540 11 | 12870 232.881943 283.907715 12 | 7148 326.587708 328.056000 13 | 12871 233.899200 283.510498 14 | 13325 288.710205 200.650986 15 | 12922 371.951782 61.909279 16 | 13192 182.347733 287.848755 17 | 13192 181.146759 289.235443 18 | 7016 287.118164 348.430420 19 | 12750 371.205811 175.087616 20 | 13367 573.604858 233.661713 21 | 12940 396.281799 147.639923 22 | 14949 487.807373 170.128647 23 | 13105 416.174469 88.137230 24 | 6579 136.462631 191.351547 25 | 12761 413.855988 89.457138 26 | 16108 453.173157 176.790955 27 | 12596 396.873779 148.227097 28 | 5792 416.359375 107.317200 29 | 13358 431.196594 75.819748 30 | 13722 326.059174 99.327110 31 | 6078 322.540497 82.128136 32 | 12783 328.402771 80.983101 33 | 4708 498.537079 215.795151 34 | 12762 399.774384 79.006424 35 | 13342 428.381714 141.564514 36 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/740_curr_1311876864.683894.txt: -------------------------------------------------------------------------------- 1 | 740 2 | -0.23 -0.0395 0.214 -0.00165 -0.742 -0.0919 0.664 3 | 12777 448.270477 64.724693 4 | 13837 468.074799 59.071754 5 | 16381 519.172485 421.639343 6 | 15904 141.630020 294.595642 7 | 16451 392.530090 347.706360 8 | 16408 200.648102 365.591461 9 | 5765 228.249435 284.922119 10 | 12870 202.927307 286.265656 11 | 12870 202.927307 286.265656 12 | 7148 312.544952 338.005859 13 | 12871 201.806793 286.546722 14 | 13325 271.556183 200.717819 15 | 12922 341.772552 46.376389 16 | 13192 141.630615 294.878479 17 | 13192 141.630615 294.878479 18 | 7016 273.536896 367.008362 19 | 12750 372.947632 180.881622 20 | 13367 530.554077 193.108902 21 | 12940 392.391846 150.518219 22 | 14949 416.537598 124.634949 23 | 13105 433.860748 110.380859 24 | 6579 74.758728 169.588577 25 | 12761 395.585175 64.073593 26 | 16108 440.311951 168.480225 27 | 12596 390.433044 150.502228 28 | 5792 403.359406 89.365517 29 | 13358 427.706635 75.790215 30 | 13722 294.338196 99.394096 31 | 6078 262.770386 89.248474 32 | 12783 276.869995 78.837173 33 | 4708 488.253845 233.340408 34 | 12762 375.224854 75.404526 35 | 13342 418.093506 162.417221 36 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/74_prev_1311876805.289126.txt: -------------------------------------------------------------------------------- 1 | 74 2 | 0.202 -0.0839 0.555 -0.00181 -0.421 -0.0488 0.906 3 | 3850 532.568054 38.108101 4 | 3865 514.092529 37.047409 5 | 3865 513.509705 37.238270 6 | 3542 313.009796 228.021149 7 | 3780 411.510284 85.669144 8 | 3405 425.591766 51.091030 9 | 3848 530.995483 35.008362 10 | 3848 530.296265 35.004101 11 | 2853 480.050049 233.202591 12 | 1976 480.046295 232.257584 13 | 3867 511.189545 40.710888 14 | 3385 311.053192 226.394180 15 | 2237 459.005798 148.845734 16 | 2790 539.067383 233.433258 17 | 3859 541.700745 75.479736 18 | 3373 312.491608 226.105850 19 | 3567 285.437134 163.461182 20 | 3459 340.104828 61.257366 21 | 3459 341.794891 60.267864 22 | 2753 400.534149 235.115143 23 | 1448 591.098389 257.392395 24 | 3860 538.899841 75.746323 25 | 3861 533.881470 81.420509 26 | 3759 285.438568 163.178864 27 | 1982 475.547119 229.368973 28 | 3455 313.532532 238.884171 29 | 3863 539.907166 75.415794 30 | 3863 539.500000 74.609833 31 | 3863 540.948303 73.651474 32 | 3442 313.535767 231.428238 33 | 2779 390.326416 236.566254 34 | 1993 470.911377 226.210846 35 | 3574 325.471466 153.141144 36 | 3299 334.421600 223.977921 37 | 3403 326.063934 154.892883 38 | 3863 539.907166 75.415794 39 | 3863 539.500000 74.609833 40 | 3863 540.948303 73.651474 41 | 3854 542.688721 73.080521 42 | 3196 487.076172 227.463181 43 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/75_curr_1311876805.651934.txt: -------------------------------------------------------------------------------- 1 | 75 2 | 0.233 -0.0785 0.579 -0.00149 -0.432 -0.0521 0.9 3 | 3850 556.888000 48.900215 4 | 3865 547.209412 50.759415 5 | 3865 547.209412 50.759415 6 | 3542 316.804382 232.810928 7 | 3780 424.951385 70.320000 8 | 3405 443.477295 46.192104 9 | 3848 562.484680 47.757359 10 | 3848 562.484680 47.757359 11 | 2853 491.209564 245.048706 12 | 1976 478.699585 246.435715 13 | 3867 534.585754 51.732777 14 | 3385 316.804718 231.852356 15 | 2237 473.577850 128.026535 16 | 2790 569.057312 243.864273 17 | 3859 579.104614 69.306900 18 | 3373 316.229248 231.565018 19 | 3567 290.643402 147.946426 20 | 3459 358.643127 39.792522 21 | 3459 358.643127 39.792522 22 | 2753 392.019684 252.306793 23 | 1448 589.086548 259.413666 24 | 3860 565.872559 47.516453 25 | 3861 551.853882 49.386616 26 | 3759 311.126373 170.555710 27 | 1982 468.389221 251.425751 28 | 3455 318.520844 204.161545 29 | 3863 580.486938 67.654198 30 | 3863 580.486938 67.654198 31 | 3863 580.486938 67.654198 32 | 3442 361.266754 253.812668 33 | 2779 393.886688 244.898895 34 | 1993 432.081024 259.769135 35 | 3574 308.336304 137.444290 36 | 3299 308.232880 183.080338 37 | 3403 308.261902 168.963379 38 | 3863 528.808105 86.914291 39 | 3863 528.808105 86.914291 40 | 3863 528.808105 86.914291 41 | 3854 542.924133 121.766502 42 | 3196 470.990356 250.938828 43 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/75_prev_1311876805.651934.txt: -------------------------------------------------------------------------------- 1 | 75 2 | 0.267 -0.0937 0.559 0.00591 -0.485 -0.0517 0.873 3 | 3995 88.814743 140.114365 4 | 4003 121.737015 253.384094 5 | 3878 311.181335 142.262833 6 | 3781 436.938690 102.558838 7 | 3921 260.855103 253.453430 8 | 3424 401.896698 234.431320 9 | 3944 510.368286 57.603786 10 | 3925 407.577362 162.805359 11 | 3890 308.722504 140.541290 12 | 3998 93.621765 173.253845 13 | 4038 522.172424 92.421257 14 | 2068 419.209137 293.502777 15 | 2068 420.232239 292.128296 16 | 2068 419.820343 293.363281 17 | 3452 420.875671 70.629166 18 | 3044 468.790222 251.017105 19 | 3907 262.961700 253.820099 20 | 3905 262.983612 235.965881 21 | 3894 407.170319 162.801682 22 | 3892 335.919739 238.883774 23 | 3468 432.038239 234.111008 24 | 3295 417.416138 236.533722 25 | 4005 118.807198 224.743439 26 | 3202 432.034943 233.125000 27 | 4000 95.339996 113.342194 28 | 3912 431.395844 150.896530 29 | 3790 393.885040 243.709320 30 | 4006 120.630493 253.983093 31 | 4007 117.847511 224.747681 32 | 3993 89.528793 114.336487 33 | 3910 271.848755 253.817017 34 | 3899 334.427490 238.883331 35 | 3902 316.518890 232.917679 36 | 3988 420.312714 292.374695 37 | 4008 119.006905 222.989380 38 | 4001 119.179451 191.469788 39 | 3559 431.990906 152.066788 40 | 3903 315.321198 247.240479 41 | 3403 407.556702 162.318298 42 | 4013 122.363907 251.052490 43 | 3404 386.769714 232.990524 44 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/76_curr_1311876805.752786.txt: -------------------------------------------------------------------------------- 1 | 76 2 | 0.356 -0.115 0.555 0.0125 -0.549 -0.0554 0.834 3 | 3995 171.159882 138.502274 4 | 4003 209.953934 231.863251 5 | 3878 420.984711 142.123108 6 | 3781 504.345673 75.531921 7 | 3921 371.411407 229.024841 8 | 3424 444.501923 216.465027 9 | 3944 549.952698 67.425529 10 | 3925 542.302734 147.920456 11 | 3890 327.599274 118.002464 12 | 3998 144.924072 151.689285 13 | 4038 572.462708 135.972733 14 | 2068 434.504913 271.529083 15 | 2068 434.504913 271.529083 16 | 2068 434.504913 271.529083 17 | 3452 529.859924 84.216827 18 | 3044 499.554474 227.032547 19 | 3907 283.769836 221.544769 20 | 3905 278.842865 214.132309 21 | 3894 421.574280 141.104462 22 | 3892 350.809662 219.034592 23 | 3468 446.523529 216.954300 24 | 3295 434.379486 214.426453 25 | 4005 133.315018 202.755859 26 | 3202 446.514984 215.481079 27 | 4000 150.580490 90.815773 28 | 3912 448.580566 127.878365 29 | 3790 408.541016 218.230515 30 | 4006 135.086578 230.521973 31 | 4007 132.346512 204.222061 32 | 3993 104.142372 93.975647 33 | 3910 280.794098 224.029526 34 | 3899 352.296722 218.045822 35 | 3902 328.453094 212.076385 36 | 3988 432.071991 271.615051 37 | 4008 132.936829 201.882355 38 | 4001 140.083313 170.341644 39 | 3559 449.318115 141.797409 40 | 3903 488.239349 229.817001 41 | 3403 431.570923 113.818466 42 | 4013 136.239456 229.931686 43 | 3404 400.878143 215.234253 44 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/76_prev_1311876805.752786.txt: -------------------------------------------------------------------------------- 1 | 76 2 | 0.291 -0.13 0.572 -0.0117 -0.496 -0.0676 0.865 3 | 3149 499.481476 228.095306 4 | 3380 344.123047 211.765808 5 | 4078 326.854736 88.006630 6 | 3933 420.984711 142.123108 7 | 3601 503.418457 110.395615 8 | 3878 326.576447 119.338249 9 | 3431 515.562988 109.136467 10 | 3983 496.672516 330.552765 11 | 3946 571.113770 106.142754 12 | 3569 446.518799 216.135803 13 | 3887 329.694305 209.518799 14 | 3886 327.599274 118.002464 15 | 4080 325.960510 85.276939 16 | 3987 434.504913 271.529083 17 | 3957 522.167969 141.732910 18 | 3761 448.580566 127.878365 19 | 3894 422.557068 142.082611 20 | 4055 278.020233 213.722748 21 | 4068 328.452362 209.106018 22 | 4005 133.315018 202.755859 23 | 4000 104.183167 85.285500 24 | 3442 408.541016 218.230515 25 | 3906 352.296722 218.045822 26 | 3993 104.142372 93.975647 27 | 2784 499.554474 227.032547 28 | 3295 431.954163 215.395950 29 | 4006 136.239456 229.931686 30 | 4065 202.597183 159.233093 31 | 3900 278.842865 214.132309 32 | 4060 199.077652 162.767609 33 | 3905 277.851044 215.124786 34 | 3901 336.798340 211.486710 35 | 3902 328.453094 212.076385 36 | 3202 446.514984 215.481079 37 | 3299 432.517059 211.859009 38 | 3404 400.878143 215.234253 39 | 4013 135.086578 230.521973 40 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/77_curr_1311876805.888938.txt: -------------------------------------------------------------------------------- 1 | 77 2 | 0.316 -0.167 0.583 -0.0293 -0.507 -0.0834 0.858 3 | 3149 533.078125 193.514542 4 | 3380 369.384888 192.313232 5 | 4078 354.607971 71.034874 6 | 3933 453.545776 127.341484 7 | 3601 536.102478 76.850685 8 | 3878 355.202240 103.288605 9 | 3431 544.027893 94.207268 10 | 3983 533.108704 347.362152 11 | 3946 584.056458 65.697327 12 | 3569 478.731293 224.485962 13 | 3887 358.660858 217.810318 14 | 3886 356.256531 124.086571 15 | 4080 356.118317 92.104561 16 | 3987 466.763428 283.765076 17 | 3957 537.281433 115.644798 18 | 3761 481.960693 134.519073 19 | 3894 455.583313 148.740402 20 | 4055 306.089050 221.505325 21 | 4068 358.250305 219.048096 22 | 4005 164.454712 209.861801 23 | 4000 141.823959 99.553444 24 | 3442 437.868347 233.145721 25 | 3906 379.056061 227.025467 26 | 3993 136.008102 102.487419 27 | 2784 518.786011 239.316086 28 | 3295 461.067657 224.396744 29 | 4006 166.721710 236.261887 30 | 4065 228.118790 168.305969 31 | 3900 307.579742 221.007706 32 | 4060 223.370300 176.543854 33 | 3905 308.174683 222.197586 34 | 3901 379.645660 225.838028 35 | 3902 368.948364 218.677048 36 | 3202 481.286865 222.736969 37 | 3299 460.479584 222.627411 38 | 3404 432.574768 222.485550 39 | 4013 167.296127 236.847549 40 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/78_prev_1311876805.920134.txt: -------------------------------------------------------------------------------- 1 | 78 2 | 0.323 -0.112 0.605 7.86e-06 -0.53 -0.0651 0.846 3 | 3606 502.496307 138.331146 4 | 3569 491.437256 230.322861 5 | 3739 423.571167 165.558243 6 | 3757 424.510925 61.685452 7 | 2753 548.814697 245.097595 8 | 3394 425.151947 96.607826 9 | 3999 150.949219 105.751778 10 | 3892 393.697815 232.347214 11 | 4068 370.644257 224.031357 12 | 4059 251.646729 243.914993 13 | 3905 319.504669 226.955353 14 | 4055 319.338562 228.114166 15 | 4070 370.149445 224.030182 16 | 3895 375.363739 172.324020 17 | 2784 547.609680 244.282196 18 | 3468 492.851196 230.424088 19 | 3899 392.875275 231.519791 20 | 3902 372.519592 222.252426 21 | 4000 159.157166 105.200813 22 | 4013 181.137894 240.331879 23 | 4005 178.360916 215.639526 24 | 4065 244.466949 172.840256 25 | 3897 369.488068 95.437119 26 | 3993 153.341980 108.142242 27 | 4064 533.205688 248.139603 28 | 3900 318.509521 228.942230 29 | 3894 469.156708 154.218842 30 | 3172 497.965698 145.798752 31 | 3574 470.295227 152.486664 32 | 3404 446.575958 227.274857 33 | 3202 498.591766 226.344055 34 | 3299 478.424744 227.422592 35 | 4001 184.996613 180.423874 36 | 4060 237.372406 179.937073 37 | 4007 177.783310 215.643066 38 | 3906 393.863586 233.007889 39 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/79_curr_1311876806.188453.txt: -------------------------------------------------------------------------------- 1 | 79 2 | 0.323 -0.0935 0.623 0.00587 -0.539 -0.0648 0.84 3 | 3606 522.530884 150.554855 4 | 3569 513.359619 228.157394 5 | 3739 420.696381 159.664032 6 | 3757 430.856506 45.657196 7 | 2753 591.734253 245.908340 8 | 3394 426.532806 99.952690 9 | 3999 141.123947 127.546631 10 | 3892 434.421051 222.215607 11 | 4068 422.246613 222.157333 12 | 4059 301.102783 241.376633 13 | 3905 368.175140 226.504257 14 | 4055 320.999146 216.535782 15 | 4070 422.244720 221.746567 16 | 3895 424.280457 167.832977 17 | 2784 550.523071 254.032700 18 | 3468 553.327209 227.750473 19 | 3899 431.985352 221.301086 20 | 3902 420.290436 221.244476 21 | 4000 167.435516 145.660995 22 | 4013 230.588989 239.010742 23 | 4005 227.771408 212.392609 24 | 4065 289.881409 170.783676 25 | 3897 419.104828 90.079727 26 | 3993 202.714447 96.125557 27 | 4064 536.137573 292.046143 28 | 3900 367.185852 226.998093 29 | 3894 521.098877 148.902954 30 | 3172 556.960571 142.741074 31 | 3574 525.727417 149.519073 32 | 3404 498.591766 226.344055 33 | 3202 557.368408 226.598572 34 | 3299 536.603271 230.021347 35 | 4001 226.810989 183.548401 36 | 4060 294.020844 172.528397 37 | 4007 226.604874 211.808960 38 | 3906 368.965759 225.811890 39 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/79_prev_1311876806.188453.txt: -------------------------------------------------------------------------------- 1 | 79 2 | 0.39 -0.15 0.613 -0.00627 -0.569 -0.0691 0.82 3 | 3878 420.465759 130.077545 4 | 4141 532.894592 264.921204 5 | 4173 532.433289 124.342606 6 | 4128 222.461212 172.137817 7 | 3886 420.087189 128.274445 8 | 3890 419.394226 126.592789 9 | 4129 223.126740 173.147247 10 | 3901 431.987732 221.793396 11 | 3893 321.413544 215.709610 12 | 3552 503.160156 249.041901 13 | 3930 397.133820 133.612091 14 | 4080 421.069580 92.573563 15 | 3900 367.185852 226.998093 16 | 4109 138.282120 424.747925 17 | 4106 124.512711 425.965332 18 | 3424 514.740906 226.695450 19 | 3295 536.029236 230.603577 20 | 4006 229.612457 239.013199 21 | 3172 556.960571 142.741074 22 | 3912 549.955444 134.573486 23 | 4059 301.102783 241.376633 24 | 4013 230.588989 239.010742 25 | 4005 227.771408 212.392609 26 | 4065 289.881409 170.783676 27 | 4123 536.137573 292.046143 28 | 4089 550.523071 254.032700 29 | 3905 368.175140 226.504257 30 | 3928 419.316772 158.052475 31 | 3468 553.327209 227.750473 32 | 3902 420.290436 221.244476 33 | 4060 294.020844 172.528397 34 | 4001 226.810989 183.548401 35 | 4007 226.604874 211.808960 36 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/80_curr_1311876806.258302.txt: -------------------------------------------------------------------------------- 1 | 80 2 | 0.48 -0.185 0.592 -0.0122 -0.608 -0.0729 0.791 3 | 3878 472.944214 126.778664 4 | 4141 608.972961 245.404495 5 | 4173 575.535400 121.763008 6 | 4128 280.327850 159.820831 7 | 3886 482.204132 125.602852 8 | 3890 442.100403 138.575836 9 | 4129 270.066528 162.592316 10 | 3901 452.602539 222.308060 11 | 3893 395.753204 234.415619 12 | 3552 566.912170 255.293396 13 | 3930 413.191345 114.492744 14 | 4080 485.392578 65.103218 15 | 3900 382.997253 224.064667 16 | 4109 150.422394 422.323822 17 | 4106 135.852646 424.746307 18 | 3424 569.235535 227.324310 19 | 3295 557.178284 227.278839 20 | 4006 244.297287 236.504303 21 | 3172 570.265015 131.768372 22 | 3912 573.116760 120.171005 23 | 4059 313.532532 238.884171 24 | 4013 245.279449 236.007126 25 | 4005 242.446594 209.354919 26 | 4065 304.698639 170.732773 27 | 4123 553.473999 292.051941 28 | 4089 567.874207 254.079041 29 | 3905 382.010345 224.061752 30 | 3928 434.339172 153.838364 31 | 3468 570.685913 227.815918 32 | 3902 436.056793 218.960159 33 | 4060 308.254333 172.486511 34 | 4001 276.329529 162.064651 35 | 4007 240.690994 208.182785 36 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/README.md: -------------------------------------------------------------------------------- 1 | # TUM freiburg2 pioneer 360 dataset 2 | Extracted from freiburg2 pioneer 360 dataset (https://vision.in.tum.de/data/datasets/rgbd-dataset/download) using ORB\_SLAM2 (https://github.com/TieJean/ORB\_SLAM2). To generate other data from the TUM dataset, run: 3 | `./Examples/RGB-D/mytest Vocabulary/ORBvoc.txt Examples/RGB-D/TUMX.yaml Path_to_sequence_folder associate_file path_to_output_foler` 4 | and then create a calibration/camera\_matrix.txt. 5 | 6 | Frame 114 is missing, as less than 20 matches were found. Need to change vslam\_io.cpp to run this dataset. 7 | 8 | ## download dataset 9 | `wget https://vision.in.tum.de/data/datasets/rgbd-dataset/download#` 10 | 11 | 12 | -------------------------------------------------------------------------------- /data/TUM_fr2_pioneer_360_consecutive_frame_matching/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 525.0 525.0 319.5 239.5 2 | -------------------------------------------------------------------------------- /data/vslam_set1/000001.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ut-amrl/ObVi-SLAM/8e925089124d350f671abf6a612276974ca13605/data/vslam_set1/000001.png -------------------------------------------------------------------------------- /data/vslam_set1/000001.txt: -------------------------------------------------------------------------------- 1 | 1 2 | 0 0 0.13 0 0 0 1 3 | 1 258.4 294.2 4 | 2 289.2 315.2 5 | 3 539.0 567.3 6 | 4 539.7 418.7 7 | 5 614.0 562.8 8 | 6 611.7 490.8 9 | 7 853.3 566.5 10 | 8 852.6 418.7 11 | 9 907.3 557.5 12 | 10 909.6 490.8 13 | 11 1091.9 566.5 14 | 12 1091.9 419.5 -------------------------------------------------------------------------------- /data/vslam_set1/000002.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ut-amrl/ObVi-SLAM/8e925089124d350f671abf6a612276974ca13605/data/vslam_set1/000002.png -------------------------------------------------------------------------------- /data/vslam_set1/000002.txt: -------------------------------------------------------------------------------- 1 | 2 2 | 0.1524 0 0.13 0 0 0 1 3 | 1 248.7 289.7 4 | 2 284.7 301.0 5 | 3 537.5 571.0 6 | 4 536.7 410.5 7 | 5 614.8 559.8 8 | 6 614.8 486.2 9 | 7 870.6 568.8 10 | 8 868.3 410.5 11 | 9 920.8 557.5 12 | 10 923.1 486.2 13 | 11 1122.6 566.5 14 | 12 1123.4 412.0 -------------------------------------------------------------------------------- /data/vslam_set1/000003.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ut-amrl/ObVi-SLAM/8e925089124d350f671abf6a612276974ca13605/data/vslam_set1/000003.png -------------------------------------------------------------------------------- /data/vslam_set1/000003.txt: -------------------------------------------------------------------------------- 1 | 3 2 | 0.3048 0 0.13 0 0 0 1 3 | 1 238.9 276.9 4 | 2 275.7 301.0 5 | 3 529.2 570.3 6 | 4 533.7 400.7 7 | 5 614.0 557.5 8 | 6 614.0 480.2 9 | 7 884.8 565.8 10 | 8 886.3 399.2 11 | 9 936.6 556.0 12 | 10 938.1 479.5 13 | 11 1155.6 565.8 14 | 12 1157.1 398.5 -------------------------------------------------------------------------------- /data/vslam_set1/000004.png: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | 5 2 | 0.6096 0 0.13 0 0 0 1 3 | 1 217.2 260.4 4 | 2 258.4 289.0 5 | 3 521.0 572.5 6 | 4 519.5 378.2 7 | 5 616.3 557.5 8 | 6 616.3 475.0 9 | 7 926.8 571.0 10 | 8 923.1 382.7 11 | 9 970.3 558.3 12 | 10 968.1 475.0 13 | 11 1223.6 579.5 14 | 12 1223.1 399.5 -------------------------------------------------------------------------------- /data/vslam_set1/arrangement/20210407_101758.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ut-amrl/ObVi-SLAM/8e925089124d350f671abf6a612276974ca13605/data/vslam_set1/arrangement/20210407_101758.jpg -------------------------------------------------------------------------------- /data/vslam_set1/arrangement/20210407_101814.jpg: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | mono pinhole calibration... 2 | D = [-0.03008119897795957, 0.05868843892472479, 0.0004516554495703711, -0.0022084025311091475, 0.0] 3 | K = [751.9833506725497, 0.0, 616.3347489267952, 0.0, 749.5459365154422, 528.085068372112, 0.0, 0.0, 1.0] 4 | R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] 5 | P = [778.0388793945312, 0.0, 612.0841219278518, 0.0, 0.0, 776.6334228515625, 527.0950631562009, 0.0, 0.0, 0.0, 1.0, 0.0] 6 | None 7 | # oST version 5.0 parameters 8 | 9 | 10 | [image] 11 | 12 | width 13 | 1224 14 | 15 | height 16 | 1024 17 | 18 | [narrow_stereo] 19 | 20 | camera matrix 21 | 751.983351 0.000000 616.334749 22 | 0.000000 749.545937 528.085068 23 | 0.000000 0.000000 1.000000 24 | 25 | distortion 26 | -0.030081 0.058688 0.000452 -0.002208 0.000000 27 | 28 | rectification 29 | 1.000000 0.000000 0.000000 30 | 0.000000 1.000000 0.000000 31 | 0.000000 0.000000 1.000000 32 | 33 | projection 34 | 778.038879 0.000000 612.084122 0.000000 35 | 0.000000 776.633423 527.095063 0.000000 36 | 0.000000 0.000000 1.000000 0.000000 37 | 38 | -------------------------------------------------------------------------------- /data/vslam_set1/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 751.98 749.56 616.34 528.09 -------------------------------------------------------------------------------- /data/vslam_set1/labels/(0,0,0.13)_labeled.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ut-amrl/ObVi-SLAM/8e925089124d350f671abf6a612276974ca13605/data/vslam_set1/labels/(0,0,0.13)_labeled.png -------------------------------------------------------------------------------- /data/vslam_set1/labels/(0,0,0.13)_labeled_cropped.png: -------------------------------------------------------------------------------- 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218.671500 7 | 9 215.486646 217.450139 8 | 10 184.315588 224.135222 9 | 12 545.797647 275.944591 10 | 13 469.770901 245.356047 11 | 15 565.258832 159.026244 12 | 17 238.605631 433.940244 13 | 18 29.183398 304.339761 14 | 19 621.910251 304.972475 15 | 20 351.575301 251.806653 16 | 24 163.056262 299.978443 17 | 25 35.040931 118.796793 18 | 26 38.771986 118.021317 19 | 29 547.533051 316.414678 20 | 31 378.036236 213.233619 21 | 36 566.681129 326.441048 22 | 39 292.179670 254.104140 23 | 43 432.027248 164.583745 24 | 44 310.567483 351.718036 25 | 49 585.606132 313.585164 26 | 50 519.517256 250.524192 27 | 56 336.220552 177.587065 28 | 57 409.360251 207.119508 29 | 59 468.610891 290.222748 30 | 61 103.561445 359.001360 31 | 64 402.524288 155.208280 32 | 65 565.476846 321.367818 33 | 66 522.781241 283.736008 34 | 71 494.663883 326.323905 35 | 73 98.849667 241.337131 36 | 75 582.656306 198.801031 37 | 79 165.579739 170.758665 38 | 80 401.808986 407.914553 39 | 82 456.355346 185.533906 40 | 83 41.885284 239.991500 41 | 85 210.752293 161.090663 42 | 87 420.418946 210.051836 43 | 88 223.443825 147.905397 44 | 93 337.761286 66.752527 45 | 94 367.004345 355.132913 46 | 95 350.379889 241.921686 47 | 97 309.855260 49.758788 48 | 98 301.747544 119.862805 49 | -------------------------------------------------------------------------------- /data/vslam_set2/000010.txt: -------------------------------------------------------------------------------- 1 | 10 2 | -15.500000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 3 | 1 555.800404 206.421461 4 | 2 142.753596 264.371028 5 | 4 303.008638 233.484167 6 | 8 118.071297 218.089165 7 | 9 214.269972 217.187629 8 | 10 182.752163 223.952420 9 | 12 548.379043 276.355522 10 | 13 471.515262 245.418428 11 | 15 568.917574 157.818287 12 | 17 234.839353 442.914242 13 | 18 25.588110 305.135176 14 | 19 626.480156 305.955940 15 | 20 351.941863 251.943718 16 | 24 161.167176 300.700386 17 | 25 29.607781 116.485881 18 | 26 34.230836 116.051658 19 | 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59.377720 39 | 468 395.482024 231.877378 40 | 470 586.821420 442.209736 41 | 498 290.975247 311.885318 42 | -------------------------------------------------------------------------------- /data/vslam_set5/000119.txt: -------------------------------------------------------------------------------- 1 | 119 2 | 9.500000 -4.705157 0.000000 0.000000 0.000000 0.000000 1.000000 3 | 2 127.388194 318.087861 4 | 4 565.922425 384.200007 5 | 9 242.610113 451.634168 6 | 10 35.892937 274.311491 7 | 12 30.842038 143.595010 8 | 13 156.289879 297.841469 9 | 15 35.627682 19.984109 10 | 57 440.397661 224.898755 11 | 66 352.947044 188.412093 12 | 75 294.806410 320.365438 13 | 114 229.110974 251.768600 14 | 122 103.365728 379.573736 15 | 132 66.560862 409.638989 16 | 141 51.459449 239.121433 17 | 154 21.708047 37.045927 18 | 158 191.694303 56.232954 19 | 167 117.828506 183.854171 20 | 168 26.205208 302.396626 21 | 215 607.632296 16.923338 22 | 222 413.486761 430.145128 23 | 225 459.091565 331.035693 24 | 226 626.036311 384.264555 25 | 245 290.218422 130.703035 26 | 251 274.748007 333.650309 27 | 276 149.621532 355.941710 28 | 307 552.184396 309.207047 29 | 318 445.480337 161.054155 30 | 350 31.852737 265.531735 31 | 359 494.489454 280.764459 32 | 385 570.780780 296.208918 33 | 386 449.684821 243.368481 34 | 391 103.595402 64.374905 35 | 416 411.266930 213.336407 36 | 430 305.670596 113.710836 37 | 434 459.043188 258.091871 38 | 446 183.553096 53.218333 39 | 468 352.398778 231.454818 40 | 470 576.580074 445.461646 41 | 498 268.715793 313.600957 42 | -------------------------------------------------------------------------------- /data/vslam_set5/000120.txt: -------------------------------------------------------------------------------- 1 | 120 2 | 9.750000 -4.977393 0.000000 0.000000 0.000000 0.000000 1.000000 3 | 2 116.629707 319.425210 4 | 4 562.772551 386.594950 5 | 9 235.364986 454.623282 6 | 10 25.976279 274.784276 7 | 12 21.040676 142.291223 8 | 13 147.815805 298.659362 9 | 15 13.855447 13.330533 10 | 57 435.979582 224.687071 11 | 66 347.294506 187.687848 12 | 75 287.609486 321.620692 13 | 114 220.365832 251.964088 14 | 122 94.289027 381.516157 15 | 132 54.991536 412.487411 16 | 141 36.061318 239.102220 17 | 154 10.875861 34.050247 18 | 158 181.803866 53.009701 19 | 167 108.322944 183.017324 20 | 168 15.855441 303.282033 21 | 215 604.241722 11.810901 22 | 222 408.023031 433.182051 23 | 225 453.994812 332.600648 24 | 226 624.334953 386.159292 25 | 245 282.938663 128.993266 26 | 251 268.082902 334.948461 27 | 276 139.154702 357.944402 28 | 307 546.739635 311.059700 29 | 318 437.544465 159.033804 30 | 350 22.445485 265.863606 31 | 359 491.257344 281.269099 32 | 385 566.024158 297.655725 33 | 386 445.703883 243.412319 34 | 391 92.453075 61.373483 35 | 416 406.580899 212.973518 36 | 430 296.864301 111.238901 37 | 434 454.857610 258.347238 38 | 446 163.357875 46.624034 39 | 468 330.273410 230.985881 40 | 470 573.654420 448.819859 41 | 498 256.812107 315.400490 42 | -------------------------------------------------------------------------------- /data/vslam_set5/000121.txt: -------------------------------------------------------------------------------- 1 | 121 2 | 10.000000 -4.940158 0.000000 0.000000 0.000000 0.000000 1.000000 3 | 2 114.124133 320.809164 4 | 4 567.878898 389.070789 5 | 9 235.005972 457.698042 6 | 10 22.700636 275.270271 7 | 12 17.758847 140.951687 8 | 13 146.200647 299.500717 9 | 15 6.166331 6.261981 10 | 57 438.475438 224.469367 11 | 66 348.531440 186.942979 12 | 75 288.040831 322.915780 13 | 114 219.689172 252.166181 14 | 122 91.944317 383.513406 15 | 132 51.483181 415.433123 16 | 141 31.045085 239.082147 17 | 154 7.137241 30.964808 18 | 158 180.400246 49.671359 19 | 167 106.021584 182.155154 20 | 168 12.335055 304.192929 21 | 215 612.306086 6.458635 22 | 222 410.418675 436.317557 23 | 225 457.380595 334.220350 24 | 226 629.178074 388.104461 25 | 245 283.296453 127.229154 26 | 251 268.190550 336.283108 27 | 276 137.023154 360.017496 28 | 307 554.615024 313.014271 29 | 318 442.196292 156.907329 30 | 350 19.311399 266.204219 31 | 359 494.150734 281.786389 32 | 385 574.098054 299.178982 33 | 386 448.146935 243.457313 34 | 391 89.532538 58.267688 35 | 416 408.597518 212.600615 36 | 430 297.591795 108.668264 37 | 434 457.641325 258.609918 38 | 446 159.805529 39.547072 39 | 468 334.329089 230.462487 40 | 470 578.859141 452.289674 41 | 498 256.721565 317.290225 42 | -------------------------------------------------------------------------------- /data/vslam_set5/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_set6/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_set7/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_superset1/README.md: -------------------------------------------------------------------------------- 1 | # VSLAM Superset 1 2 | Goes forward ten meters from the origin on the positive x-axis in steps of 0.25 meters on a sin wave of amplitude 1. Only points within 20 meters of the camera location are conssidered at each step. 3 | 4 | ## Landmark Noise Levels 5 | 1. Low Noise - Gaussian noise with sigma = 0.05m added to all landmarks 6 | 1. Medium Noise - Gaussian noise with sigma = 0.1m added to all landmarks 7 | 1. High Noise - Gaussian noise with sigma = 0.15m added to all landmarks 8 | 9 | Note that the landmark groundtruth is always the value saved to file. Corrupted landmarks are not recorded, corrupted image measurements is actually what we are after. The landmark noise level corresponds to how corrupted the simulated image measurement will be. The noise added to each landmarkr is unique for each frame. 10 | 11 | ## Density Levels 12 | For each given noise level - there is also an associated density level - the actual number of features per image will vary but should should be roughly consistent. Note that only a fraction of the total landmarks are actually imaged. 13 | 14 | 1. Low Density - 1000 3D landmarks - about 50 points per frame 15 | 1. Medium Density - 2000 3D landmarks - about 90 points per frame 16 | 1. High Density - 5000 3D landmarks - about 240 points per frame -------------------------------------------------------------------------------- /data/vslam_superset1/high_density/groundtruth/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_superset1/high_density/high_noise/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_superset1/high_density/low_noise/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_superset1/high_density/medium_noise/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000022.txt: -------------------------------------------------------------------------------- 1 | 22 2 | 5.250000 -0.858934 0.000000 0.000000 0.000000 0.234432 0.972132 3 | 1 281.361560 118.433111 4 | 82 330.093384 358.258693 5 | 87 452.760006 253.668346 6 | 102 189.524237 211.566589 7 | 109 8.197210 313.351095 8 | 124 513.965309 429.802876 9 | 137 321.196344 175.887844 10 | 141 496.040707 31.848156 11 | 189 623.840180 46.162282 12 | 257 615.434792 253.139663 13 | 318 331.626887 111.086240 14 | 344 93.755026 457.286931 15 | 393 306.638672 87.292621 16 | 414 391.476333 471.431317 17 | 444 380.644731 113.946190 18 | 446 199.668629 388.490934 19 | 447 131.373875 55.615404 20 | 468 463.800419 219.299703 21 | 472 304.686518 12.962775 22 | 482 43.843855 18.022683 23 | 561 433.418079 9.978457 24 | 568 365.914815 159.456827 25 | 589 486.544372 134.730732 26 | 606 431.382729 179.667036 27 | 620 282.084230 101.531325 28 | 621 81.411238 459.057113 29 | 680 323.190742 380.659477 30 | 686 591.301192 47.781504 31 | 702 367.256380 219.704316 32 | 734 168.475987 390.909063 33 | 764 493.244711 448.901313 34 | 765 476.232740 224.382866 35 | 777 37.931482 40.042636 36 | 785 326.900750 116.190967 37 | 795 550.264004 440.933731 38 | 811 225.844664 61.856321 39 | 815 563.769919 242.427288 40 | 842 144.608459 298.855245 41 | 850 81.809156 223.546541 42 | 855 517.175749 456.773019 43 | 914 95.748005 250.663063 44 | 961 417.449919 309.893414 45 | 985 238.527591 473.584339 46 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000023.txt: -------------------------------------------------------------------------------- 1 | 23 2 | 5.500000 -0.705540 0.000000 0.000000 0.000000 0.303402 0.952863 3 | 1 338.653396 116.630081 4 | 82 388.812188 362.157794 5 | 87 525.724415 254.979964 6 | 102 248.842307 212.092253 7 | 109 85.496526 308.208493 8 | 124 598.503622 452.876405 9 | 137 379.431142 174.169621 10 | 141 574.508204 10.477651 11 | 183 172.797448 7.824988 12 | 268 8.645734 449.978761 13 | 318 390.440496 106.697821 14 | 344 160.602437 446.941234 15 | 364 25.555450 369.911591 16 | 393 364.456418 83.536401 17 | 444 442.797842 107.297790 18 | 446 258.344860 386.487588 19 | 447 191.925202 59.157120 20 | 468 539.521926 217.110851 21 | 472 362.534706 6.256564 22 | 482 114.794545 30.122170 23 | 538 2.340385 187.782535 24 | 568 427.641480 154.853702 25 | 589 564.668412 123.590353 26 | 606 499.662940 175.002599 27 | 620 339.399727 99.744215 28 | 621 149.785916 447.645129 29 | 642 9.150459 341.024790 30 | 680 382.067509 386.866618 31 | 702 428.222264 218.761775 32 | 734 228.370744 387.904524 33 | 764 573.157810 472.120797 34 | 765 550.278866 222.980347 35 | 777 112.150031 53.285138 36 | 785 385.659205 111.642183 37 | 811 283.188892 61.558135 38 | 842 207.039548 296.850753 39 | 850 145.480894 224.031804 40 | 914 162.789292 250.139343 41 | 945 39.370360 223.555633 42 | 961 483.966636 314.916531 43 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000024.txt: -------------------------------------------------------------------------------- 1 | 24 2 | 5.750000 -0.508279 0.000000 0.000000 0.000000 0.348039 0.937480 3 | 1 377.608217 112.959900 4 | 82 430.398067 367.376739 5 | 87 585.434302 256.436478 6 | 102 286.343202 211.914137 7 | 109 128.580275 306.551342 8 | 137 420.163147 171.733161 9 | 183 211.823218 9.974886 10 | 268 59.589171 440.569391 11 | 318 432.186025 100.869822 12 | 344 200.090627 444.510927 13 | 364 73.554476 365.124860 14 | 393 404.632651 77.764332 15 | 444 488.765505 99.686179 16 | 446 295.736274 388.016262 17 | 447 228.219827 56.544532 18 | 468 603.057118 214.647901 19 | 482 154.931370 32.691991 20 | 538 53.514881 190.112971 21 | 568 473.772928 149.288019 22 | 589 629.686066 111.596371 23 | 606 552.987718 169.936919 24 | 620 378.282967 95.899411 25 | 621 189.875241 444.554216 26 | 642 52.189852 339.242218 27 | 680 424.567957 395.273232 28 | 702 472.696326 217.653047 29 | 734 265.635849 389.084958 30 | 765 609.248402 221.537032 31 | 777 154.547530 57.793351 32 | 785 427.543426 105.515830 33 | 811 320.616663 57.350510 34 | 842 245.267736 296.611813 35 | 850 181.770629 223.868274 36 | 914 202.512844 250.000817 37 | 945 86.672558 224.150002 38 | 961 535.321548 320.449375 39 | 981 190.132932 430.424096 40 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000025.txt: -------------------------------------------------------------------------------- 1 | 25 2 | 6.000000 -0.279415 0.000000 0.000000 0.000000 0.373279 0.927719 3 | 1 401.499500 108.864525 4 | 82 456.995137 372.536860 5 | 87 630.857745 257.847055 6 | 102 307.632515 211.430949 7 | 109 149.815717 306.719143 8 | 137 445.754949 169.327884 9 | 183 232.635042 7.912717 10 | 268 84.073608 438.319261 11 | 314 23.525639 452.910168 12 | 318 458.970392 95.104623 13 | 344 220.940324 446.076826 14 | 364 96.296128 364.566975 15 | 393 429.853774 71.756999 16 | 444 519.460993 92.648510 17 | 446 317.144842 391.058986 18 | 447 247.236597 50.432391 19 | 482 174.709936 30.110323 20 | 512 19.783874 60.870152 21 | 538 77.845153 190.628819 22 | 568 505.618363 143.699662 23 | 606 590.866638 165.286656 24 | 620 402.003759 91.647266 25 | 621 210.907073 445.672157 26 | 642 69.084303 341.108227 27 | 680 453.004033 404.323521 28 | 702 501.931792 216.621291 29 | 734 286.392620 392.285489 30 | 777 176.281620 57.854309 31 | 785 454.763523 99.238182 32 | 811 342.681576 51.456059 33 | 842 266.276999 297.206553 34 | 850 199.126655 223.315244 35 | 914 223.628696 250.053841 36 | 945 109.522669 224.232802 37 | 961 571.437236 325.578867 38 | 981 211.378570 431.121134 39 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000026.txt: -------------------------------------------------------------------------------- 1 | 26 2 | 6.250000 -0.033179 0.000000 0.000000 0.000000 0.382556 0.923932 3 | 1 411.985205 105.118405 4 | 82 469.602577 376.826280 5 | 85 605.220918 396.752082 6 | 102 315.496410 210.828575 7 | 109 154.533930 308.055945 8 | 137 457.380921 167.374633 9 | 183 239.074623 3.450357 10 | 268 89.458552 440.591369 11 | 314 28.563261 455.098772 12 | 318 471.761829 90.294352 13 | 344 227.185227 449.974317 14 | 352 108.000429 235.497900 15 | 364 100.492616 366.750762 16 | 393 441.441852 66.520544 17 | 444 535.043524 87.190248 18 | 446 325.214897 394.657255 19 | 447 252.233526 41.961734 20 | 482 178.742089 24.133044 21 | 512 24.815374 59.048298 22 | 538 82.802003 189.988813 23 | 568 523.413393 138.756651 24 | 606 612.201214 161.676765 25 | 620 412.240031 87.858677 26 | 621 217.110166 449.270495 27 | 642 65.862891 345.736344 28 | 680 468.299563 412.993887 29 | 702 516.354074 215.819280 30 | 734 293.620529 396.507589 31 | 777 182.294577 55.211239 32 | 785 468.287832 93.687149 33 | 811 351.647769 45.001150 34 | 842 273.433760 298.221521 35 | 850 201.299482 222.472123 36 | 914 230.177644 250.216080 37 | 945 114.371082 223.988692 38 | 961 591.564621 329.623820 39 | 981 217.794382 434.087357 40 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000027.txt: -------------------------------------------------------------------------------- 1 | 27 2 | 6.500000 0.215120 0.000000 0.000000 0.000000 0.377205 0.926130 3 | 1 409.369748 102.131245 4 | 50 177.876555 250.306177 5 | 82 468.148475 379.749083 6 | 85 604.792719 399.065355 7 | 102 310.740248 210.178515 8 | 109 144.122486 310.414744 9 | 137 455.131038 166.108315 10 | 268 77.644922 446.803613 11 | 314 13.724297 462.596231 12 | 318 470.458663 86.992243 13 | 324 258.803333 144.960612 14 | 344 219.982561 455.715422 15 | 352 97.594683 235.376058 16 | 364 87.788256 371.383979 17 | 393 439.509117 62.636086 18 | 444 534.880838 84.003595 19 | 446 320.683805 398.423821 20 | 447 243.932008 31.426990 21 | 482 168.162903 15.125042 22 | 512 9.786087 52.704705 23 | 538 70.263853 188.331313 24 | 568 526.275435 135.008934 25 | 601 386.831016 446.064539 26 | 606 615.237534 159.616070 27 | 620 409.340058 84.974465 28 | 621 209.700363 454.854409 29 | 642 43.071695 353.252864 30 | 680 470.043672 420.484570 31 | 702 515.543587 215.346932 32 | 707 27.898927 271.256213 33 | 734 288.131465 401.381212 34 | 777 173.989668 50.327059 35 | 785 467.919006 89.453782 36 | 811 348.030326 38.525819 37 | 842 267.740150 299.517478 38 | 850 188.954538 221.345046 39 | 914 223.346724 250.462898 40 | 943 184.527985 40.794420 41 | 945 102.873968 223.457552 42 | 961 594.222557 332.036612 43 | 981 210.624641 438.850102 44 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000028.txt: -------------------------------------------------------------------------------- 1 | 28 2 | 6.750000 0.450044 0.000000 0.000000 0.000000 0.356453 0.934313 3 | 1 392.789338 100.008054 4 | 50 154.557664 250.680952 5 | 82 451.665868 381.089853 6 | 85 584.695898 397.753714 7 | 102 292.479877 209.460171 8 | 109 116.695493 314.078290 9 | 137 438.167367 165.604837 10 | 268 46.208922 458.010347 11 | 318 454.069130 85.448624 12 | 324 239.130224 142.458344 13 | 344 198.094115 463.773358 14 | 352 68.632298 235.153408 15 | 364 55.673627 379.177090 16 | 393 423.135483 60.319522 17 | 430 353.359728 264.314111 18 | 444 517.776290 83.464104 19 | 446 302.655620 402.437263 20 | 447 220.801622 18.307982 21 | 482 141.124457 2.205111 22 | 538 37.643370 185.374154 23 | 568 512.484716 132.877672 24 | 601 369.778713 448.814088 25 | 606 598.020805 159.450200 26 | 620 392.498889 83.081237 27 | 621 187.399001 462.930010 28 | 680 456.722503 426.200629 29 | 702 498.431456 215.253543 30 | 734 268.882682 407.065702 31 | 777 149.887604 42.638537 32 | 785 452.498385 86.867021 33 | 811 330.835155 32.070715 34 | 842 248.213263 301.174159 35 | 850 159.904972 219.841868 36 | 914 201.962429 250.815838 37 | 943 161.262275 33.286653 38 | 945 72.798440 222.560352 39 | 961 577.589147 332.443900 40 | 981 188.630245 445.862055 41 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000029.txt: -------------------------------------------------------------------------------- 1 | 29 2 | 7.000000 0.656987 0.000000 0.000000 0.000000 0.317410 0.948288 3 | 1 360.285595 98.375100 4 | 50 110.677943 251.309541 5 | 82 418.513479 381.097316 6 | 85 544.225670 393.108024 7 | 87 617.694595 259.756860 8 | 102 257.955539 208.517378 9 | 109 65.914131 320.018699 10 | 137 404.880452 165.694152 11 | 318 420.944210 85.406000 12 | 324 202.165766 138.658922 13 | 344 157.326139 476.069657 14 | 352 13.598069 234.757816 15 | 393 390.520380 59.192687 16 | 430 320.410575 264.634407 17 | 444 482.387372 85.392365 18 | 446 268.443997 407.476373 19 | 447 178.447797 0.611814 20 | 568 480.056529 132.449108 21 | 601 337.012993 451.334615 22 | 606 559.258620 161.180563 23 | 620 359.816568 81.728552 24 | 621 145.824499 475.504734 25 | 680 426.101916 430.079286 26 | 702 463.638890 215.503224 27 | 734 232.700990 414.549087 28 | 765 606.829660 220.194643 29 | 777 104.809842 30.041346 30 | 785 420.185422 85.765659 31 | 811 297.491869 24.850239 32 | 842 211.558850 303.590030 33 | 850 107.871716 217.680741 34 | 914 161.971460 251.364403 35 | 943 117.668376 20.989158 36 | 945 16.461547 221.027560 37 | 961 540.265149 330.841221 38 | 981 147.504092 456.941924 39 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000030.txt: -------------------------------------------------------------------------------- 1 | 30 2 | 7.250000 0.823081 0.000000 0.000000 0.000000 0.255389 0.966838 3 | 1 308.709800 95.923835 4 | 50 34.603240 252.475066 5 | 82 366.590029 380.904288 6 | 85 483.826852 386.493580 7 | 87 554.591717 258.933821 8 | 102 201.672235 206.922618 9 | 137 353.005340 165.748571 10 | 318 369.010284 85.635085 11 | 324 140.663601 131.843329 12 | 393 339.059532 57.724413 13 | 430 267.955060 265.231236 14 | 444 427.731492 88.601672 15 | 446 212.802624 415.730801 16 | 468 587.460944 209.756156 17 | 527 602.960452 235.937822 18 | 568 427.487280 133.071948 19 | 589 586.480118 100.132765 20 | 601 284.994058 455.746947 21 | 606 499.286487 164.195665 22 | 620 308.187035 79.438174 23 | 680 375.693156 433.329904 24 | 702 409.882292 215.904951 25 | 734 173.099938 426.561810 26 | 765 539.552055 221.367447 27 | 777 26.554686 7.024463 28 | 785 368.749191 84.990421 29 | 811 243.323225 14.341682 30 | 842 150.806293 307.813319 31 | 850 17.896215 214.094290 32 | 914 94.329703 252.341469 33 | 961 482.164478 327.901089 34 | 981 77.497118 476.820214 35 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000031.txt: -------------------------------------------------------------------------------- 1 | 31 2 | 7.500000 0.938000 0.000000 0.000000 0.000000 0.166064 0.986115 3 | 1 233.324694 89.616934 4 | 39 381.128526 205.524212 5 | 82 293.460616 383.142967 6 | 85 405.486759 380.684673 7 | 87 471.709356 258.012245 8 | 102 113.153145 203.671746 9 | 137 279.641666 164.357767 10 | 262 266.351088 20.245219 11 | 318 295.914509 83.260557 12 | 324 39.472532 117.873869 13 | 393 265.254116 52.338128 14 | 430 189.516384 266.692991 15 | 444 353.612859 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257.558098 8 | 114 417.931236 2.933111 9 | 124 437.347511 465.139251 10 | 137 181.114719 159.077635 11 | 141 389.336174 10.791717 12 | 189 544.313611 29.454005 13 | 262 166.153177 3.274661 14 | 293 601.777695 174.825960 15 | 307 586.764213 370.268312 16 | 318 198.972222 73.305053 17 | 385 549.480027 445.550951 18 | 392 568.997116 356.772673 19 | 393 164.303619 36.587610 20 | 430 74.059793 270.162796 21 | 444 260.798137 86.375903 22 | 468 404.329151 212.423572 23 | 498 599.327901 238.671265 24 | 507 484.657048 209.870959 25 | 527 407.186265 236.517124 26 | 567 633.359880 60.098444 27 | 568 261.435434 128.578812 28 | 589 399.391373 115.395743 29 | 606 327.714766 167.646073 30 | 610 585.724933 370.082810 31 | 620 126.767193 55.726208 32 | 637 579.936293 411.864980 33 | 680 205.562488 455.508814 34 | 686 478.174465 43.930701 35 | 702 242.768962 215.160040 36 | 765 359.659538 223.088804 37 | 785 198.330607 70.540172 38 | 815 451.323709 242.512379 39 | 867 611.087897 132.134216 40 | 961 312.676855 325.350342 41 | 1000 633.300618 52.092317 42 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000033.txt: -------------------------------------------------------------------------------- 1 | 33 2 | 8.000000 0.989358 0.000000 0.000000 0.000000 -0.072180 0.997392 3 | 39 183.624115 203.060854 4 | 57 239.539949 300.533798 5 | 82 71.548231 414.377208 6 | 85 210.063321 386.856995 7 | 87 277.113927 258.072354 8 | 114 317.558806 6.358019 9 | 124 336.845277 462.397417 10 | 137 52.665018 146.740796 11 | 141 289.790239 9.235158 12 | 153 501.960185 363.356364 13 | 189 431.977282 44.727146 14 | 199 559.644969 141.140648 15 | 257 618.808859 258.901300 16 | 289 566.726213 113.393865 17 | 293 476.305239 182.074152 18 | 307 465.623783 357.380176 19 | 318 74.854603 49.463026 20 | 385 435.290782 428.947598 21 | 392 450.445250 345.706312 22 | 393 29.199664 1.528652 23 | 444 150.897629 71.974475 24 | 468 305.255044 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70.286319 198.280162 5 | 57 138.333218 306.006297 6 | 85 102.708054 403.432381 7 | 87 179.200454 259.718519 8 | 124 245.608645 472.963936 9 | 153 404.176699 356.233221 10 | 189 341.452268 46.559949 11 | 199 454.185507 149.049968 12 | 257 514.851668 257.861470 13 | 289 460.270402 123.791267 14 | 293 381.538490 184.619381 15 | 307 372.419478 353.509563 16 | 385 344.180585 425.653639 17 | 392 357.998289 342.526308 18 | 444 26.158489 44.615838 19 | 468 210.582952 209.705571 20 | 498 380.985946 238.859580 21 | 507 289.037927 211.318233 22 | 527 214.500405 236.380990 23 | 567 405.130333 89.772975 24 | 568 20.137567 93.487520 25 | 571 615.609510 388.796991 26 | 587 415.105059 153.452094 27 | 588 545.200236 153.181034 28 | 589 205.658673 105.902546 29 | 606 120.368774 155.443929 30 | 610 370.518718 352.556180 31 | 637 366.365699 389.608967 32 | 671 68.559503 104.469502 33 | 686 283.792158 50.288198 34 | 709 281.495155 0.119213 35 | 765 161.446725 221.334411 36 | 815 258.798282 242.501129 37 | 861 604.659771 108.989364 38 | 867 391.705373 147.035810 39 | 937 336.254087 172.677233 40 | 949 541.160495 374.594270 41 | 961 100.124429 341.937815 42 | 990 483.773928 168.231801 43 | 1000 403.328526 84.643797 44 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000035.txt: -------------------------------------------------------------------------------- 1 | 35 2 | 8.500000 0.798487 0.000000 0.000000 0.000000 -0.267646 0.963517 3 | 19 529.929844 293.027568 4 | 44 557.403663 185.134060 5 | 57 42.043133 314.109435 6 | 87 86.160997 262.330001 7 | 153 334.160955 355.501331 8 | 189 271.218091 39.447222 9 | 199 382.326223 151.010170 10 | 234 619.361872 175.177630 11 | 257 447.455150 258.137583 12 | 289 388.148897 126.436978 13 | 293 311.958701 184.352201 14 | 307 302.965578 355.254150 15 | 385 274.158001 430.847233 16 | 392 288.338103 344.176760 17 | 432 257.906581 311.962039 18 | 468 123.009614 205.971825 19 | 498 311.518277 238.848603 20 | 507 216.362995 210.024146 21 | 527 133.117638 236.079996 22 | 546 624.681446 241.035054 23 | 567 335.480498 89.549794 24 | 571 523.823126 376.202276 25 | 587 345.916483 152.640864 26 | 588 463.995622 158.423434 27 | 589 120.070671 91.666908 28 | 606 15.484469 142.772687 29 | 610 300.984676 353.839846 30 | 637 296.808213 391.635800 31 | 686 210.260574 40.109833 32 | 733 547.105874 165.485927 33 | 765 69.711413 219.209401 34 | 815 182.788147 242.664947 35 | 845 192.430333 251.016483 36 | 857 600.504038 122.478544 37 | 861 529.821458 111.594412 38 | 867 322.482268 145.730631 39 | 937 266.125742 171.141131 40 | 949 460.533827 366.708833 41 | 990 409.657581 170.680922 42 | 1000 333.443763 85.201598 43 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000036.txt: -------------------------------------------------------------------------------- 1 | 36 2 | 8.750000 0.624724 0.000000 0.000000 0.000000 -0.325439 0.945563 3 | 2 270.007976 65.946984 4 | 10 155.556166 199.679228 5 | 19 474.900311 291.168330 6 | 44 499.478025 187.556098 7 | 153 285.448347 357.776303 8 | 189 218.361145 27.623958 9 | 199 334.218155 150.033498 10 | 234 558.022695 178.191826 11 | 257 405.651501 259.345991 12 | 289 340.086904 125.229336 13 | 293 262.521636 182.767538 14 | 307 252.815882 359.767764 15 | 385 222.201996 440.165643 16 | 392 237.730870 348.065455 17 | 432 205.628373 315.099879 18 | 468 42.806656 201.112974 19 | 498 261.877948 238.809478 20 | 507 160.341657 208.264935 21 | 527 65.526876 235.725948 22 | 546 559.313945 240.972873 23 | 567 286.694519 85.207275 24 | 571 469.400564 371.725555 25 | 587 297.421677 149.146295 26 | 588 413.399343 159.839682 27 | 589 44.994535 74.125123 28 | 610 250.985860 357.726137 29 | 637 246.583136 397.077239 30 | 686 152.610971 26.504782 31 | 733 491.950200 167.918099 32 | 815 121.732573 242.871680 33 | 845 133.904785 251.742919 34 | 857 538.014957 128.885562 35 | 861 488.450925 106.539846 36 | 867 273.036407 141.847196 37 | 937 214.395805 168.306356 38 | 949 410.151407 364.677331 39 | 990 361.249714 170.557875 40 | 1000 284.679635 81.694554 41 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/000037.txt: -------------------------------------------------------------------------------- 1 | 37 2 | 9.000000 0.412118 0.000000 0.000000 0.000000 -0.361117 0.932521 3 | 2 237.517975 60.459684 4 | 10 115.281509 197.470703 5 | 19 443.633442 290.864412 6 | 44 467.026221 188.200197 7 | 153 253.615462 361.087476 8 | 189 180.356508 13.925619 9 | 199 303.749244 147.767302 10 | 225 264.970400 391.501003 11 | 234 526.013387 178.621766 12 | 257 382.405986 261.362064 13 | 289 309.765609 122.286331 14 | 293 229.549231 180.771382 15 | 307 218.580393 365.269236 16 | 385 185.779652 450.741097 17 | 392 203.241975 352.554428 18 | 432 169.472883 318.415875 19 | 498 228.411238 238.760444 20 | 507 120.234331 206.509885 21 | 526 502.636853 410.753753 22 | 527 13.645325 235.386171 23 | 546 524.162624 240.952409 24 | 567 254.358549 79.191143 25 | 571 438.380515 371.154277 26 | 587 264.919401 144.274049 27 | 588 383.337338 159.456260 28 | 604 622.432408 357.301276 29 | 610 217.195691 362.407493 30 | 637 212.493736 403.542104 31 | 657 615.528294 458.824508 32 | 686 110.201599 12.520801 33 | 713 620.262020 215.369557 34 | 729 627.651668 236.810306 35 | 733 461.337743 167.992946 36 | 774 637.709630 462.472766 37 | 815 75.820698 243.079676 38 | 845 91.383830 252.447917 39 | 857 503.917291 130.891621 40 | 861 470.515808 95.528165 41 | 867 239.377198 136.804534 42 | 937 178.816011 165.252861 43 | 949 380.148369 365.398628 44 | 990 331.293640 169.262040 45 | 1000 252.654889 76.725248 46 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/groundtruth/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/high_noise/000023.txt: -------------------------------------------------------------------------------- 1 | 23 2 | 5.500000 -0.705540 0.000000 0.000000 0.000000 0.303402 0.952863 3 | 1 345.011668 119.850834 4 | 82 388.202302 365.112932 5 | 87 521.294028 258.472605 6 | 102 246.016625 219.526910 7 | 109 92.286091 314.791344 8 | 124 597.056156 463.765216 9 | 137 381.825391 174.236232 10 | 141 568.050409 14.464798 11 | 183 166.771565 13.560190 12 | 268 1.181746 443.764862 13 | 318 392.331363 108.866632 14 | 344 159.954388 444.169338 15 | 364 14.049692 368.179803 16 | 393 361.011775 81.150762 17 | 444 448.701818 107.482482 18 | 446 257.077171 377.312765 19 | 447 187.780360 59.231976 20 | 468 532.055227 221.357698 21 | 472 368.818503 13.465821 22 | 482 109.739195 31.982940 23 | 568 427.442355 150.748377 24 | 589 575.866607 108.949863 25 | 606 501.059665 164.210507 26 | 620 339.673821 96.857747 27 | 621 158.389604 447.304317 28 | 628 302.681130 477.697323 29 | 642 15.835244 337.931084 30 | 680 377.111830 390.006187 31 | 702 427.135740 219.006511 32 | 734 226.156483 387.781196 33 | 764 577.954087 466.593737 34 | 765 547.851830 225.056908 35 | 777 106.568024 52.833333 36 | 785 381.299702 110.445150 37 | 811 278.691400 66.027447 38 | 842 208.287545 295.981364 39 | 850 151.650480 224.039457 40 | 914 161.298411 260.489633 41 | 945 40.220544 226.316298 42 | 961 475.927990 316.244892 43 | 985 289.837251 473.140693 44 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/high_noise/000024.txt: -------------------------------------------------------------------------------- 1 | 24 2 | 5.750000 -0.508279 0.000000 0.000000 0.000000 0.348039 0.937480 3 | 1 384.720884 114.540851 4 | 82 429.067667 361.345015 5 | 87 583.989091 264.386408 6 | 102 284.854078 212.422170 7 | 109 124.299792 306.314769 8 | 137 419.357359 173.279779 9 | 183 211.718431 11.631786 10 | 268 57.742438 434.068285 11 | 318 431.861542 105.137369 12 | 344 208.810443 445.509483 13 | 364 75.767088 365.303509 14 | 393 407.779995 76.695486 15 | 444 488.431065 95.801992 16 | 446 297.691821 388.541927 17 | 447 230.216061 55.395930 18 | 468 597.836421 218.531641 19 | 482 150.084482 40.679477 20 | 538 50.983016 184.628615 21 | 568 479.343055 149.215889 22 | 589 638.920695 113.473819 23 | 606 549.977404 175.770395 24 | 620 377.746104 96.926031 25 | 621 187.282607 441.105391 26 | 642 42.693583 338.477919 27 | 680 413.302444 378.188168 28 | 702 482.608065 217.839043 29 | 734 267.126437 395.897225 30 | 765 609.155519 213.426102 31 | 777 155.025713 61.501315 32 | 785 417.504586 99.459840 33 | 811 318.837577 58.590885 34 | 842 243.001824 301.355338 35 | 850 179.455585 222.575395 36 | 914 207.450202 249.579569 37 | 945 77.698864 222.428623 38 | 961 535.870920 327.837265 39 | 981 191.139011 433.926996 40 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/high_noise/000025.txt: -------------------------------------------------------------------------------- 1 | 25 2 | 6.000000 -0.279415 0.000000 0.000000 0.000000 0.373279 0.927719 3 | 1 402.143946 108.731698 4 | 82 457.919244 369.705476 5 | 102 304.562749 208.548046 6 | 109 153.267361 309.881757 7 | 137 451.725611 166.561174 8 | 268 82.854655 441.502817 9 | 314 20.991957 456.545501 10 | 318 463.865960 99.845719 11 | 344 219.878369 445.715391 12 | 364 104.689541 364.055209 13 | 393 420.867588 81.066897 14 | 444 521.468777 93.171525 15 | 446 313.582233 393.449998 16 | 447 241.661330 50.688850 17 | 482 183.533442 26.135848 18 | 512 20.273927 60.895823 19 | 538 61.962726 184.892447 20 | 568 505.255196 138.359724 21 | 606 588.460977 170.905480 22 | 620 402.549671 85.946187 23 | 621 214.400080 442.381172 24 | 642 55.959298 351.045467 25 | 680 446.702741 392.238865 26 | 702 502.805952 217.231194 27 | 734 285.646217 394.529957 28 | 777 180.601437 60.216614 29 | 785 450.480931 99.140143 30 | 811 348.517365 48.372855 31 | 842 272.036760 298.769907 32 | 850 198.963507 219.144454 33 | 914 223.282154 246.916753 34 | 945 113.181991 223.333575 35 | 961 568.276050 313.096760 36 | 981 209.795488 428.690855 37 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/high_noise/000026.txt: -------------------------------------------------------------------------------- 1 | 26 2 | 6.250000 -0.033179 0.000000 0.000000 0.000000 0.382556 0.923932 3 | 1 414.424016 101.168794 4 | 82 473.889208 377.671466 5 | 85 605.209886 391.927011 6 | 102 309.617987 211.176191 7 | 109 159.898422 308.467783 8 | 137 461.222751 169.774613 9 | 183 239.168854 7.464068 10 | 268 88.364772 447.123750 11 | 314 33.727638 455.687770 12 | 318 470.861329 97.102938 13 | 344 227.776106 448.224831 14 | 352 104.909980 236.876039 15 | 364 103.029476 367.261079 16 | 393 439.176808 59.110995 17 | 444 521.592021 97.883791 18 | 446 329.684227 394.684592 19 | 447 257.781428 33.245964 20 | 482 191.610551 20.032033 21 | 512 30.245827 63.207064 22 | 538 83.532671 189.981343 23 | 568 519.390744 132.491433 24 | 606 617.782725 152.325858 25 | 620 408.835152 93.381312 26 | 621 219.178765 447.879096 27 | 642 70.602091 362.222343 28 | 680 464.967058 415.251289 29 | 702 512.658740 216.591333 30 | 734 285.337046 396.387638 31 | 777 182.654485 61.903203 32 | 785 471.170078 95.457680 33 | 811 357.654818 46.341191 34 | 842 271.237922 300.740584 35 | 850 203.672218 207.870440 36 | 914 225.504247 254.377893 37 | 945 108.202609 234.752324 38 | 961 591.941802 337.016040 39 | 981 223.423817 429.267529 40 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/high_noise/000027.txt: -------------------------------------------------------------------------------- 1 | 27 2 | 6.500000 0.215120 0.000000 0.000000 0.000000 0.377205 0.926130 3 | 1 418.307262 100.211845 4 | 50 170.960350 250.573345 5 | 82 464.732270 381.672813 6 | 85 604.390550 398.197917 7 | 102 310.657428 209.238491 8 | 109 148.644574 308.894735 9 | 137 453.935851 173.137285 10 | 268 76.273478 438.655543 11 | 314 13.767678 461.700336 12 | 318 464.492166 96.691437 13 | 324 253.495297 145.015617 14 | 344 218.306784 454.441066 15 | 352 92.512242 233.955931 16 | 364 93.023860 373.345922 17 | 393 438.046440 55.148621 18 | 444 540.191574 88.317087 19 | 446 318.382188 395.688391 20 | 447 254.903954 42.738519 21 | 482 163.722291 7.700011 22 | 512 13.268797 52.314503 23 | 538 67.315301 189.615516 24 | 568 532.269813 146.464541 25 | 601 386.031348 448.135329 26 | 606 611.512536 164.400511 27 | 620 404.107348 86.727441 28 | 621 210.253291 462.199550 29 | 642 39.658346 355.450320 30 | 680 462.688830 438.287354 31 | 702 514.215800 211.985742 32 | 707 23.622309 269.311616 33 | 734 288.796606 392.930724 34 | 777 177.611057 47.584393 35 | 785 484.369827 87.035436 36 | 811 342.975376 41.126299 37 | 842 267.637472 305.319031 38 | 850 197.964980 251.236272 39 | 914 219.314566 246.986485 40 | 943 188.928597 45.681794 41 | 945 109.685598 225.464776 42 | 961 598.360392 326.281462 43 | 981 208.725125 432.415456 44 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/high_noise/000028.txt: -------------------------------------------------------------------------------- 1 | 28 2 | 6.750000 0.450044 0.000000 0.000000 0.000000 0.356453 0.934313 3 | 1 385.335988 104.621045 4 | 50 152.502310 252.342435 5 | 82 450.524595 385.841690 6 | 85 583.077828 392.057173 7 | 102 292.727340 215.051218 8 | 109 114.563592 315.281402 9 | 137 435.068041 165.283017 10 | 268 47.522135 461.862384 11 | 318 448.667037 89.659616 12 | 324 234.910421 143.731905 13 | 344 197.171052 464.088927 14 | 352 71.836863 234.486010 15 | 364 49.869287 383.228844 16 | 393 421.307239 63.018827 17 | 430 352.581498 263.751263 18 | 444 516.603821 89.068646 19 | 446 303.101992 411.512117 20 | 447 234.269812 26.934766 21 | 538 29.902786 181.111756 22 | 568 525.813451 125.284208 23 | 601 372.186219 452.457809 24 | 606 603.758980 160.437988 25 | 620 394.374600 90.847230 26 | 621 185.349859 459.684332 27 | 680 461.732644 423.701709 28 | 702 503.048840 220.295108 29 | 734 263.978255 410.954024 30 | 777 151.743774 39.649305 31 | 785 452.138277 92.192011 32 | 811 336.474727 39.458556 33 | 842 249.235466 297.857901 34 | 850 140.808760 220.948679 35 | 914 205.512120 250.607557 36 | 943 161.268898 27.041037 37 | 945 76.971887 226.828598 38 | 961 580.870477 325.483603 39 | 981 201.263958 441.153831 40 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/high_noise/000029.txt: 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161.304087 43 | 949 377.033981 360.185238 44 | 990 334.877523 168.714278 45 | 1000 256.098179 77.018827 46 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/high_noise/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/low_noise/000022.txt: -------------------------------------------------------------------------------- 1 | 22 2 | 5.250000 -0.858934 0.000000 0.000000 0.000000 0.234432 0.972132 3 | 1 282.629943 122.105164 4 | 82 331.070868 356.649442 5 | 87 456.142452 256.434479 6 | 102 190.110668 209.742099 7 | 109 7.544736 316.407325 8 | 124 511.977164 430.562613 9 | 137 321.392804 176.760509 10 | 141 494.368125 32.614529 11 | 189 619.986918 47.650862 12 | 257 613.773431 253.828609 13 | 318 332.409052 114.267837 14 | 344 91.974558 460.068899 15 | 393 308.061849 87.250936 16 | 414 392.203973 472.370595 17 | 444 380.427796 113.970004 18 | 446 197.087263 390.723517 19 | 447 124.784171 52.300470 20 | 468 466.377653 216.100515 21 | 472 300.308460 10.751587 22 | 482 39.968870 18.246702 23 | 561 432.620970 9.832466 24 | 568 368.273144 159.966610 25 | 589 486.089398 135.645191 26 | 606 434.229716 180.806683 27 | 620 282.777895 102.357434 28 | 621 83.115097 458.100673 29 | 680 327.168838 382.007039 30 | 686 593.187097 47.763917 31 | 702 367.314194 219.922540 32 | 734 167.342319 391.270753 33 | 764 490.133080 445.506850 34 | 765 476.646866 225.918822 35 | 777 43.064254 41.137917 36 | 785 327.956418 121.059914 37 | 795 555.112474 445.376819 38 | 811 224.649569 60.382738 39 | 815 564.372535 241.799860 40 | 842 142.556126 301.367426 41 | 850 87.264078 221.951238 42 | 855 518.701067 456.989577 43 | 914 96.643825 251.881196 44 | 961 421.525814 310.285306 45 | 985 238.349587 475.391962 46 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/low_noise/000023.txt: -------------------------------------------------------------------------------- 1 | 23 2 | 5.500000 -0.705540 0.000000 0.000000 0.000000 0.303402 0.952863 3 | 1 340.772516 117.703511 4 | 82 388.608502 363.144733 5 | 87 524.223251 256.163388 6 | 102 247.899897 214.571829 7 | 109 87.770095 310.412841 8 | 124 598.014575 456.555340 9 | 137 380.224607 174.191696 10 | 141 572.347971 11.811413 11 | 183 170.787917 9.737581 12 | 268 6.183241 447.928693 13 | 318 391.064878 107.413982 14 | 344 160.386895 446.019295 15 | 364 21.722585 369.334687 16 | 393 363.300378 82.735768 17 | 444 444.760013 107.359172 18 | 446 257.920277 383.414690 19 | 447 190.543867 59.182067 20 | 468 537.054432 218.514292 21 | 472 364.618373 8.647108 22 | 482 113.097564 30.746794 23 | 538 0.698970 185.892489 24 | 568 427.575316 153.489605 25 | 589 568.320588 118.815507 26 | 606 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419.894131 172.249506 9 | 183 211.788548 10.523085 10 | 268 58.969131 438.386648 11 | 318 432.077509 102.297003 12 | 344 202.975015 444.841235 13 | 364 74.296448 365.184768 14 | 393 405.680447 77.408498 15 | 444 488.655319 98.406481 16 | 446 296.390462 388.192112 17 | 447 228.893532 56.156892 18 | 468 601.317959 215.941683 19 | 482 153.291575 35.394310 20 | 538 52.678171 188.300547 21 | 568 475.645997 149.263764 22 | 589 632.767984 112.222941 23 | 606 551.974513 171.900336 24 | 620 378.102631 96.244260 25 | 621 189.022780 443.420238 26 | 642 49.047593 338.989316 27 | 680 420.784541 389.535376 28 | 702 476.004894 217.715133 29 | 734 266.131787 391.351489 30 | 765 609.217472 218.836100 31 | 777 154.705969 59.021933 32 | 785 424.168083 103.479635 33 | 811 320.026164 57.762205 34 | 842 244.515326 298.186929 35 | 850 181.020440 223.449317 36 | 914 204.159643 249.860315 37 | 945 83.708392 223.581401 38 | 961 535.502342 322.880661 39 | 981 190.468096 431.591048 40 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/low_noise/000025.txt: -------------------------------------------------------------------------------- 1 | 25 2 | 6.000000 -0.279415 0.000000 0.000000 0.000000 0.373279 0.927719 3 | 1 401.714272 108.820258 4 | 82 457.304171 371.590006 5 | 87 634.294214 258.540263 6 | 102 306.604198 210.465228 7 | 109 150.976429 307.782661 8 | 137 447.741920 168.407154 9 | 183 232.276783 4.435375 10 | 268 83.668373 439.377617 11 | 314 22.687326 454.112982 12 | 318 460.620091 96.702268 13 | 344 220.584959 445.955878 14 | 364 99.081627 364.397137 15 | 393 426.858953 74.859703 16 | 444 520.130100 92.822808 17 | 446 315.964178 391.851377 18 | 447 245.381004 50.517748 19 | 482 177.621415 28.798871 20 | 512 19.947594 60.878728 21 | 538 72.606441 188.736716 22 | 568 505.498306 141.934363 23 | 606 590.061431 167.167354 24 | 620 402.186060 89.743456 25 | 621 212.067076 444.579244 26 | 642 64.765787 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/data/vslam_superset1/low_density/low_noise/000036.txt: -------------------------------------------------------------------------------- 1 | 36 2 | 8.750000 0.624724 0.000000 0.000000 0.000000 -0.325439 0.945563 3 | 2 268.729870 65.113539 4 | 10 154.823244 200.557513 5 | 19 473.997160 289.500043 6 | 44 502.694967 186.500429 7 | 153 285.129927 355.750652 8 | 189 221.162865 27.148255 9 | 199 334.019989 149.788081 10 | 234 560.912171 176.129684 11 | 257 409.490901 261.274001 12 | 289 340.659931 128.124710 13 | 293 263.543606 182.844933 14 | 307 253.276240 360.090011 15 | 385 223.268890 437.762270 16 | 392 236.790755 349.751898 17 | 432 207.085058 315.711681 18 | 468 36.673795 200.184205 19 | 498 260.358866 240.847375 20 | 507 162.417713 207.598818 21 | 527 64.318254 236.116631 22 | 546 560.473117 241.166981 23 | 567 288.409144 84.675633 24 | 571 470.576215 373.436138 25 | 587 294.951829 153.349989 26 | 588 412.809869 159.393173 27 | 589 49.057693 77.557792 28 | 610 251.831139 356.489824 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293 226.569947 180.939734 15 | 307 220.469964 363.816579 16 | 385 183.502524 449.049425 17 | 392 203.407395 353.246740 18 | 432 170.542725 318.393062 19 | 498 227.731854 240.683601 20 | 507 120.459791 204.569034 21 | 526 503.021479 408.372389 22 | 527 16.383299 234.634779 23 | 546 526.567698 241.338015 24 | 567 254.572396 82.000200 25 | 571 437.641284 370.669952 26 | 587 262.478983 145.820637 27 | 588 381.364799 157.451407 28 | 604 619.857333 359.016271 29 | 610 217.800092 362.218795 30 | 637 213.027933 398.916914 31 | 657 616.372943 460.745832 32 | 686 111.038759 10.768699 33 | 713 622.376151 215.756978 34 | 729 627.289730 232.414389 35 | 733 463.054865 169.881942 36 | 774 632.325269 466.869044 37 | 815 75.431092 242.307249 38 | 845 92.708861 251.517970 39 | 857 503.669810 130.864518 40 | 861 470.121544 89.249638 41 | 867 240.518084 138.499256 42 | 937 175.184890 163.933995 43 | 949 379.111283 363.662579 44 | 990 332.479733 169.080757 45 | 1000 253.796400 76.822575 46 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/low_noise/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/medium_noise/000022.txt: -------------------------------------------------------------------------------- 1 | 22 2 | 5.250000 -0.858934 0.000000 0.000000 0.000000 0.234432 0.972132 3 | 1 283.894339 125.765677 4 | 82 332.042397 355.049997 5 | 87 459.592571 259.255954 6 | 102 190.698373 207.913648 7 | 109 6.885599 319.494770 8 | 124 509.997263 431.319200 9 | 137 321.588098 177.627995 10 | 141 492.704312 33.376884 11 | 189 616.207586 49.110882 12 | 257 612.102447 254.521545 13 | 318 333.188485 117.438323 14 | 344 90.176273 462.878708 15 | 393 309.488505 87.209149 16 | 414 392.930829 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635.772679 49.163120 43 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/medium_noise/000033.txt: -------------------------------------------------------------------------------- 1 | 33 2 | 8.000000 0.989358 0.000000 0.000000 0.000000 -0.072180 0.997392 3 | 39 182.403446 199.886112 4 | 57 240.410523 298.881179 5 | 82 67.932007 411.502061 6 | 85 206.952195 388.597976 7 | 87 272.870603 261.348049 8 | 114 318.135618 8.892058 9 | 124 339.471584 455.579872 10 | 137 45.063662 148.308343 11 | 141 287.927125 9.606535 12 | 153 504.050028 365.256946 13 | 189 430.331980 36.663148 14 | 199 555.519000 147.137919 15 | 257 639.241093 246.346221 16 | 289 566.728411 113.777444 17 | 293 479.794032 182.783151 18 | 307 455.827659 352.898405 19 | 318 74.694981 51.657077 20 | 385 434.012154 426.381938 21 | 392 448.765820 347.871194 22 | 393 26.127622 4.871203 23 | 444 144.700270 74.710175 24 | 468 315.191729 214.591141 25 | 498 477.677400 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542.758863 366.749297 40 | 961 101.870523 344.843650 41 | 990 485.667726 169.327297 42 | 1000 402.640437 88.259622 43 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/medium_noise/000035.txt: -------------------------------------------------------------------------------- 1 | 35 2 | 8.500000 0.798487 0.000000 0.000000 0.000000 -0.267646 0.963517 3 | 19 529.184218 288.166097 4 | 44 555.718049 181.798884 5 | 57 40.004944 312.883855 6 | 85 1.918984 429.908215 7 | 87 90.882852 266.954187 8 | 153 333.672513 356.196020 9 | 189 263.088364 38.285654 10 | 199 386.029218 154.812740 11 | 234 618.292537 172.533906 12 | 257 442.650063 262.614344 13 | 289 384.532815 126.573035 14 | 293 309.904560 179.774074 15 | 307 304.228357 354.369654 16 | 385 271.182408 423.373152 17 | 392 286.617647 344.494746 18 | 432 259.219138 313.574576 19 | 468 115.843352 196.397340 20 | 498 315.385502 237.428497 21 | 507 218.291876 210.278498 22 | 527 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10 154.090631 201.435428 5 | 19 473.090305 287.824917 6 | 44 505.902591 185.447818 7 | 95 118.095609 0.153304 8 | 153 284.811989 353.728066 9 | 189 223.991133 26.668045 10 | 199 333.823304 149.544501 11 | 234 563.766083 174.092922 12 | 257 413.425225 263.249680 13 | 289 341.234805 131.029417 14 | 293 264.564298 182.922230 15 | 307 253.737056 360.412578 16 | 385 224.324433 435.384466 17 | 392 235.844920 351.448602 18 | 432 208.544810 316.324772 19 | 468 30.480290 199.246251 20 | 498 258.842838 242.881177 21 | 507 164.480403 206.936989 22 | 527 63.111746 236.506631 23 | 546 561.639070 241.362225 24 | 567 290.084365 84.156208 25 | 571 471.762095 375.161604 26 | 587 292.561597 157.418176 27 | 588 412.223348 158.948900 28 | 589 53.005480 80.892992 29 | 610 252.673710 355.257472 30 | 637 244.241768 396.212631 31 | 686 154.132526 28.401716 32 | 733 486.896737 172.385164 33 | 815 126.541775 244.694291 34 | 845 132.730919 251.996055 35 | 857 537.305695 127.387320 36 | 861 494.392789 103.637353 37 | 867 277.830292 140.640672 38 | 937 212.921888 168.677562 39 | 949 410.176230 363.828487 40 | 990 360.096537 174.686838 41 | 1000 287.211275 83.772913 42 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/medium_noise/000037.txt: -------------------------------------------------------------------------------- 1 | 37 2 | 9.000000 0.412118 0.000000 0.000000 0.000000 -0.361117 0.932521 3 | 2 229.831034 59.547087 4 | 10 111.390161 196.759300 5 | 19 439.066769 291.601636 6 | 44 464.774205 188.493695 7 | 153 255.369759 359.959460 8 | 189 177.682252 16.080399 9 | 199 295.193654 149.897684 10 | 225 265.981986 389.445370 11 | 234 527.578907 178.088146 12 | 257 380.600455 264.827671 13 | 289 310.849916 128.374447 14 | 293 223.572573 181.109107 15 | 307 222.353274 362.368736 16 | 385 181.212222 447.347965 17 | 392 203.570118 353.927761 18 | 432 171.605281 318.370404 19 | 498 227.050156 242.613309 20 | 507 120.683850 202.640231 21 | 526 503.405093 405.997284 22 | 527 19.101390 233.888844 23 | 546 528.970967 241.723331 24 | 567 254.780865 84.738609 25 | 571 436.898156 370.183074 26 | 587 260.048976 147.360626 27 | 588 379.425988 155.480834 28 | 604 617.289512 360.726434 29 | 610 218.407878 362.029039 30 | 637 213.562767 394.286219 31 | 657 617.229744 462.694799 32 | 686 111.880825 9.006333 33 | 713 624.495150 216.145291 34 | 729 626.928316 228.024819 35 | 733 464.770511 171.769315 36 | 774 626.937822 471.267841 37 | 815 75.045282 241.542347 38 | 845 94.033249 250.588474 39 | 857 503.423790 130.837575 40 | 861 469.717552 82.816184 41 | 867 241.669986 140.210341 42 | 937 171.560956 162.617739 43 | 949 378.073155 361.924783 44 | 990 333.674330 168.898174 45 | 1000 254.944147 76.920433 46 | -------------------------------------------------------------------------------- /data/vslam_superset1/low_density/medium_noise/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_superset1/medium_density/groundtruth/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_superset1/medium_density/high_noise/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_superset1/medium_density/low_noise/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /data/vslam_superset1/medium_density/medium_noise/calibration/camera_matrix.txt: -------------------------------------------------------------------------------- 1 | 400.000000 400.000000 320.000000 240.000000 2 | -------------------------------------------------------------------------------- /include/analysis/cumulative_timer_factory.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by amanda on 6/14/23. 3 | // 4 | 5 | #ifndef UT_VSLAM_CUMULATIVE_TIMER_FACTORY_H 6 | #define UT_VSLAM_CUMULATIVE_TIMER_FACTORY_H 7 | 8 | #include 9 | 10 | #include 11 | #include 12 | 13 | namespace vslam_types_refactor { 14 | 15 | class CumulativeTimerFactory { 16 | protected: 17 | CumulativeTimerFactory() = default; 18 | 19 | public: 20 | // NOTE: Make sure to keep variables returned by this function passed by 21 | // reference so that the singleton pattern holds. 22 | static CumulativeTimerFactory& getInstance() { 23 | static CumulativeTimerFactory factory_instance; 24 | return factory_instance; 25 | } 26 | 27 | std::shared_ptr getOrCreateFunctionTimer( 28 | const std::string& timer_name) { 29 | if (timers_map_.find(timer_name) == timers_map_.end()) { 30 | timers_map_[timer_name] = 31 | std::make_shared(timer_name.c_str()); 32 | } 33 | return timers_map_.at(timer_name); 34 | } 35 | 36 | private: 37 | std::unordered_map> 38 | timers_map_; 39 | }; 40 | } // namespace vslam_types_refactor 41 | 42 | #endif // UT_VSLAM_CUMULATIVE_TIMER_FACTORY_H 43 | -------------------------------------------------------------------------------- /include/evaluation/evaluation_utils.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by amanda on 9/16/23. 3 | // 4 | 5 | #ifndef UT_VSLAM_EVALUATION_UTILS_H 6 | #define UT_VSLAM_EVALUATION_UTILS_H 7 | 8 | #include 9 | 10 | namespace vslam_types_refactor { 11 | 12 | struct MetricsDistributionStatistics { 13 | int num_vals_ = 0; 14 | double average_ = -1; 15 | double std_dev_ = -1; 16 | double median_ = -1; 17 | double min_ = -1; 18 | double max_ = -1; 19 | double lower_quartile_ = -1; 20 | double upper_quartile_ = -1; 21 | double rmse_ = -1; 22 | double squared_err_std_dev_ = -1; 23 | 24 | std::vector errors_; 25 | }; 26 | 27 | double computeMedian(const std::vector &sorted_dataset, 28 | const int &min_range_idx = -1, 29 | const int &max_range_idx = -1); 30 | 31 | MetricsDistributionStatistics computeMetricsDistributionStatistics( 32 | const std::vector &error_vals); 33 | 34 | } // namespace vslam_types_refactor 35 | 36 | #endif // UT_VSLAM_EVALUATION_UTILS_H 37 | -------------------------------------------------------------------------------- /include/file_io/file_access_utils.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by amanda on 11/30/22. 3 | // 4 | 5 | #ifndef UT_VSLAM_FILE_ACCESS_UTILS_H 6 | #define UT_VSLAM_FILE_ACCESS_UTILS_H 7 | 8 | #include 9 | 10 | #include 11 | #include 12 | 13 | namespace file_io { 14 | 15 | const static std::string kJsonExtension = ".json"; 16 | const static std::string kCsvExtension = ".csv"; 17 | const static std::string kBagExtension = ".bag"; 18 | 19 | inline std::string ensureDirectoryPathEndsWithSlash( 20 | const std::string &unvalidated_dir_path) { 21 | CHECK(!unvalidated_dir_path.empty()) << "Directory path cannot be empty"; 22 | 23 | std::stringstream stringstream1; 24 | stringstream1 << unvalidated_dir_path.back(); 25 | std::string lastChar = stringstream1.str(); 26 | if (lastChar != "/") { 27 | return unvalidated_dir_path + "/"; 28 | } 29 | return unvalidated_dir_path; 30 | } 31 | 32 | inline void makeDirectoryIfDoesNotExist(const std::string &dir_name) { 33 | boost::filesystem::create_directories(dir_name); 34 | } 35 | } // namespace file_io 36 | 37 | #endif // UT_VSLAM_FILE_ACCESS_UTILS_H 38 | -------------------------------------------------------------------------------- /include/file_io/pose_io_utils.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by amanda on 7/18/23. 3 | // 4 | 5 | #ifndef UT_VSLAM_POSE_IO_UTILS_H 6 | #define UT_VSLAM_POSE_IO_UTILS_H 7 | 8 | #include 9 | #include 10 | 11 | namespace file_io { 12 | std::unordered_map> 14 | readRobotPosesFromFile(const std::string &file_name) { 15 | std::vector> robot_poses_by_node_id; 16 | file_io::readPose3dsAndNodeIdFromFile(file_name, robot_poses_by_node_id); 17 | std::unordered_map> 19 | robot_poses_by_node_num; 20 | for (const std::pair &pose_3d_with_frame : 21 | robot_poses_by_node_id) { 22 | vslam_types_refactor::Pose3D pose( 23 | pose_3d_with_frame.second.first, 24 | vslam_types_refactor::Orientation3D( 25 | pose_3d_with_frame.second.second)); 26 | robot_poses_by_node_num[pose_3d_with_frame.first] = pose; 27 | } 28 | return robot_poses_by_node_num; 29 | } 30 | } // namespace file_io 31 | 32 | #endif // UT_VSLAM_POSE_IO_UTILS_H 33 | -------------------------------------------------------------------------------- /include/refactoring/long_term_map/long_term_map_extraction_tunable_params.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by amanda on 2/10/23. 3 | // 4 | 5 | #ifndef UT_VSLAM_LONG_TERM_MAP_EXTRACTION_TUNABLE_PARAMS_H 6 | #define UT_VSLAM_LONG_TERM_MAP_EXTRACTION_TUNABLE_PARAMS_H 7 | namespace vslam_types_refactor { 8 | 9 | // static const double kFarFeatureThreshold = 75; 10 | 11 | struct LongTermMapExtractionTunableParams { 12 | double far_feature_threshold_ = 75; // Default overwritten by config 13 | 14 | double min_col_norm_ = 5e-9; 15 | 16 | bool fallback_to_prev_for_failed_extraction_ = true; 17 | 18 | bool operator==(const LongTermMapExtractionTunableParams &rhs) const { 19 | return (far_feature_threshold_ == rhs.far_feature_threshold_) && 20 | (min_col_norm_ == rhs.min_col_norm_) && 21 | (fallback_to_prev_for_failed_extraction_ == 22 | rhs.fallback_to_prev_for_failed_extraction_); 23 | } 24 | 25 | bool operator!=(const LongTermMapExtractionTunableParams &rhs) const { 26 | return !operator==(rhs); 27 | } 28 | }; 29 | } // namespace vslam_types_refactor 30 | 31 | #endif // UT_VSLAM_LONG_TERM_MAP_EXTRACTION_TUNABLE_PARAMS_H 32 | -------------------------------------------------------------------------------- /include/refactoring/offline/limit_trajectory_evaluation_params.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by amanda on 2/10/23. 3 | // 4 | 5 | #ifndef UT_VSLAM_LIMIT_TRAJECTORY_EVALUATION_PARAMS_H 6 | #define UT_VSLAM_LIMIT_TRAJECTORY_EVALUATION_PARAMS_H 7 | 8 | #include 9 | 10 | namespace vslam_types_refactor { 11 | /** 12 | * Debug only -- used to limit the number of frames in the trajectory to 13 | * evaluate 14 | */ 15 | struct LimitTrajectoryEvaluationParams { 16 | bool should_limit_trajectory_evaluation_ = false; 17 | 18 | // Ignored if should_limit_trajectory_evaluation_ is false 19 | FrameId max_frame_id_; 20 | 21 | bool operator==(const LimitTrajectoryEvaluationParams &rhs) const { 22 | return (should_limit_trajectory_evaluation_ == 23 | rhs.should_limit_trajectory_evaluation_) && 24 | (max_frame_id_ == rhs.max_frame_id_); 25 | } 26 | 27 | bool operator!=(const LimitTrajectoryEvaluationParams &rhs) const { 28 | return !operator==(rhs); 29 | } 30 | }; 31 | 32 | } // namespace vslam_types_refactor 33 | 34 | #endif // UT_VSLAM_LIMIT_TRAJECTORY_EVALUATION_PARAMS_H 35 | -------------------------------------------------------------------------------- /include/refactoring/visual_feature_processing/low_level_feature_reader.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by amanda on 10/10/22. 3 | // 4 | 5 | #ifndef UT_VSLAM_LOW_LEVEL_FEATURE_READER_H 6 | #define UT_VSLAM_LOW_LEVEL_FEATURE_READER_H 7 | 8 | #include 9 | #include 10 | 11 | #include 12 | #include 13 | #include 14 | 15 | namespace vslam_types_refactor { 16 | template 17 | class AbstractLowLevelFeatureReader { 18 | virtual bool getLowLevelFeatures( 19 | std::unordered_map &feature_tracks) = 0; 20 | }; 21 | 22 | } // namespace vslam_types_refactor 23 | 24 | #endif // UT_VSLAM_LOW_LEVEL_FEATURE_READER_H 25 | -------------------------------------------------------------------------------- /include/refactoring/visualization/object_pose_graph_runtime_visualization.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by amanda on 6/18/22. 3 | // 4 | 5 | #ifndef UT_VSLAM_OBJECT_POSE_GRAPH_RUNTIME_VISUALIZATION_H 6 | #define UT_VSLAM_OBJECT_POSE_GRAPH_RUNTIME_VISUALIZATION_H 7 | 8 | namespace visualization {} 9 | 10 | #endif // UT_VSLAM_OBJECT_POSE_GRAPH_RUNTIME_VISUALIZATION_H 11 | -------------------------------------------------------------------------------- /include/types/sequence_utils.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by amanda on 2/19/23. 3 | // 4 | 5 | #ifndef UT_VSLAM_SEQUENCE_UTILS_H 6 | #define UT_VSLAM_SEQUENCE_UTILS_H 7 | #include 8 | #include 9 | #include 10 | 11 | namespace vslam_types_refactor { 12 | 13 | typedef std::optional OptionalWaypointFileName; 14 | 15 | struct BagBaseNameAndWaypointFile { 16 | std::string bag_base_name_; 17 | OptionalWaypointFileName optional_waypoint_file_base_name_; 18 | 19 | BagBaseNameAndWaypointFile() = default; 20 | BagBaseNameAndWaypointFile( 21 | const std::string &bag_base_name, 22 | const std::optional &optional_waypoint_file_base_name) 23 | : bag_base_name_(bag_base_name), 24 | optional_waypoint_file_base_name_(optional_waypoint_file_base_name) {} 25 | }; 26 | 27 | struct SequenceInfo { 28 | std::string sequence_id_; 29 | std::vector bag_base_names_and_waypoint_files; 30 | }; 31 | } // namespace vslam_types_refactor 32 | #endif // UT_VSLAM_SEQUENCE_UTILS_H 33 | -------------------------------------------------------------------------------- /manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Visual SLAM Library for AMRL 5 | 6 | 7 | ut_vslam 8 | Joydeep Biswas 9 | Amanda Adkins 10 | MIT 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /metrics_plotting_configs/amazon_0523_v0.csv: -------------------------------------------------------------------------------- 1 | ObVi-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/taijing_results/amazon_0523_v0/obvi_slam_metrics.json 2 | ORB-SLAM3,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/taijing_results/amazon_0523_v0/orb_slam_3_metrics.json 3 | OA-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/taijing_results/amazon_0523_v0/oa_slam_metrics.json 4 | -------------------------------------------------------------------------------- /metrics_plotting_configs/amazon_0523_v0_bug_fix.csv: -------------------------------------------------------------------------------- 1 | ObVi-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/amazon_0523_v0/amazon_0523_base/metrics.json 2 | ORB-SLAM3,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/orb_slam_3_out/end_of_may_demo_v1/metrics.json 3 | OA-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/oa_slam_out/amazon_0523_v0/metrics.json 4 | -------------------------------------------------------------------------------- /metrics_plotting_configs/evaluation_2023_07_v1_orb_draft.csv: -------------------------------------------------------------------------------- 1 | ObVi-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/copied_from_server/evaluation_2023_07_v1/metrics.json 2 | OA-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/oa_slam_out/evaluation_2023_07_v1/metrics.json 3 | -------------------------------------------------------------------------------- /metrics_plotting_configs/evaluation_7a_1_fallback_a_2_ablations.csv: -------------------------------------------------------------------------------- 1 | ObVi-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/copied_from_server/evaluation_2023_07_v1/base7a_1_fallback_a_2/metrics.json 2 | ObVi-SLAM-S,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/evaluation_2023_07_v1/no_shape_prior_base7a_1_fallback_a_2/metrics.json 3 | ObVi-SLAM-VF,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/evaluation_2023_07_v1/no_vis_feats_base7a_1_fallback_a_2/metrics.json 4 | ObVi-SLAM-LTM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/evaluation_2023_07_v1/no_ltm_base7a_1_fallback_a_2/metrics.json -------------------------------------------------------------------------------- /metrics_plotting_configs/evaluation_best_against_orb_and_oa.csv: -------------------------------------------------------------------------------- 1 | ObVi-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/copied_from_server/evaluation_2023_07_v1/base7a_1_fallback_a_2/metrics.json 2 | ORB-SLAM3,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/orb_slam_3_out/orb_final_probably/metrics.json 3 | OA-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/oa_slam_out/evaluation_2023_07_v1/metrics.json -------------------------------------------------------------------------------- /metrics_plotting_configs/evaluation_best_against_orb_and_oa_and_droid.csv: -------------------------------------------------------------------------------- 1 | ObVi-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/copied_from_server/evaluation_2023_07_v1/base7a_1_fallback_a_2/metrics.json 2 | OA-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/oa_slam_out/evaluation_2023_07_v1/metrics.json 3 | ORB-SLAM3,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/orb_slam_3_out/orb_final_probably/metrics.json 4 | DROID-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/droid_slam_out/evaluation_2023_07_v1/metrics2.json -------------------------------------------------------------------------------- /metrics_plotting_configs/evaluation_best_against_orb_and_oa_and_droid_0821.csv: -------------------------------------------------------------------------------- 1 | ObVi-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/copied_from_server/evaluation_2023_07_v1/base7a_1_fallback_a_2/metrics.json 2 | OA-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/oa_slam_out/evaluation_2023_07_v1_0821/metrics.json 3 | ORB-SLAM3,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/orb_slam_3_out/orb_final_probably/metrics.json 4 | DROID-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/droid_slam_out/evaluation_2023_07_v1/metrics.json -------------------------------------------------------------------------------- /metrics_plotting_configs/object_metrics/objects_evaluation_7a_1_fallback_a_2_ablations.csv: -------------------------------------------------------------------------------- 1 | ObVi-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/copied_from_server/evaluation_2023_07_v1/base7a_1_fallback_a_2/object_metrics.json 2 | ObVi-SLAM-S,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/evaluation_2023_07_v1/no_shape_prior_base7a_1_fallback_a_2/object_metrics.json 3 | ObVi-SLAM-VF,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/evaluation_2023_07_v1/no_vis_feats_base7a_1_fallback_a_2/object_metrics.json 4 | ObVi-SLAM-LTM,/home/amanda/rosbags/ellipsoid_slam/eer_jackal/ut_vslam_results/evaluation_2023_07_v1/no_ltm_base7a_1_fallback_a_2/object_metrics.json -------------------------------------------------------------------------------- /metrics_plotting_configs/podman_results_root_dir.csv: -------------------------------------------------------------------------------- 1 | ObVi-SLAM,/root/LTOV-SLAM-Evaluation/data/ut_vslam_results/ 2 | ORB-SLAM3,/root/LTOV-SLAM-Evaluation/data/orb_slam_3_out/ 3 | OA-SLAM3,/root/LTOV-SLAM-Evaluation/data/oa_slam_out/ 4 | Pseudo-Groundtruth,/root/LTOV-SLAM-Evaluation/data/lego_loam_out/ -------------------------------------------------------------------------------- /metrics_plotting_configs/savepaths/test_ate_savepath.csv: -------------------------------------------------------------------------------- 1 | transl_ate,transl_ate.png 2 | orient_ate,orient_ate.png -------------------------------------------------------------------------------- /metrics_plotting_configs/savepaths/test_cdf_savepath.csv: -------------------------------------------------------------------------------- 1 | transl_cdf,transl_cdf.png 2 | orient_cdf,orient_cdf.png 3 | -------------------------------------------------------------------------------- /metrics_plotting_configs/test_cdf_metrics.csv: -------------------------------------------------------------------------------- 1 | ObVi-SLAM,/home/amanda/rosbags/ellipsoid_slam/eer_higher_res/post_bug_ut_vslam_results/high_res_20230218_1a_7326_wp/9_two_phase_off/metrics.json 2 | ORB-SLAM3, /home/amanda/rosbags/ellipsoid_slam/eer_higher_res/orb_slam_3_out/high_res_20230218_1a_7326_wp/metrics.json 3 | -------------------------------------------------------------------------------- /sequences/1669743059_only.json: -------------------------------------------------------------------------------- 1 | { 2 | "sequence_info": { 3 | "seq_id": "1669743059_only", 4 | "sequence": [ 5 | { 6 | "bag_base_name": "1669743059", 7 | "waypoint_file_base_name": { 8 | "has_v": 0 9 | } 10 | } 11 | ] 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /sequences/1676766718_only.json: -------------------------------------------------------------------------------- 1 | { 2 | "sequence_info": { 3 | "seq_id": "1676766718_only", 4 | "sequence": [ 5 | { 6 | "bag_base_name": "1676766718", 7 | "waypoint_file_base_name": { 8 | "has_v": 0 9 | } 10 | } 11 | ] 12 | } 13 | } 14 | -------------------------------------------------------------------------------- /sequences/20230218_1a_4a.json: -------------------------------------------------------------------------------- 1 | { 2 | "sequence_info": { 3 | "seq_id": "20230218_1a_4a", 4 | "sequence": [ 5 | { 6 | "bag_base_name": "1676766718", 7 | "waypoint_file_base_name": { 8 | "has_v": 0 9 | } 10 | }, 11 | { 12 | "bag_base_name": "1676767833", 13 | "waypoint_file_base_name": { 14 | "has_v": 0 15 | } 16 | } 17 | ] 18 | } 19 | } 20 | -------------------------------------------------------------------------------- /sequences/20230218_all.json: -------------------------------------------------------------------------------- 1 | { 2 | "sequence_info": { 3 | "seq_id": "20230218_all", 4 | "sequence": [ 5 | { 6 | "bag_base_name": "1676766718", 7 | "waypoint_file_base_name": { 8 | "has_v": 0 9 | } 10 | }, 11 | { 12 | "bag_base_name": "1676767081", 13 | "waypoint_file_base_name": { 14 | "has_v": 0 15 | } 16 | }, 17 | { 18 | "bag_base_name": "1676767437", 19 | "waypoint_file_base_name": { 20 | "has_v": 0 21 | } 22 | }, 23 | { 24 | "bag_base_name": "1676767833", 25 | "waypoint_file_base_name": { 26 | "has_v": 0 27 | } 28 | }, 29 | { 30 | "bag_base_name": "1676768224", 31 | "waypoint_file_base_name": { 32 | "has_v": 0 33 | } 34 | }, 35 | { 36 | "bag_base_name": "1676768545", 37 | "waypoint_file_base_name": { 38 | "has_v": 0 39 | } 40 | } 41 | ] 42 | } 43 | } 44 | -------------------------------------------------------------------------------- /sequences/3059_9589.json: -------------------------------------------------------------------------------- 1 | { 2 | "sequence_info": { 3 | "seq_id": "3059_9589", 4 | "sequence": [ 5 | { 6 | "bag_base_name": "1669743059", 7 | "waypoint_file_base_name": { 8 | "has_v": 0 9 | } 10 | }, 11 | { 12 | "bag_base_name": "1668019589", 13 | "waypoint_file_base_name": { 14 | "has_v": 0 15 | } 16 | } 17 | ] 18 | } 19 | } 20 | -------------------------------------------------------------------------------- /sequences/high_res_20230218_1a_7326.json: -------------------------------------------------------------------------------- 1 | { 2 | "sequence_info": { 3 | "seq_id": "high_res_20230218_1a_7326", 4 | "sequence": [ 5 | { 6 | "bag_base_name": "1676766718", 7 | "waypoint_file_base_name": { 8 | "has_v": 0 9 | } 10 | }, 11 | { 12 | "bag_base_name": "1677097326", 13 | "waypoint_file_base_name": { 14 | "has_v": 0 15 | } 16 | } 17 | ] 18 | } 19 | } 20 | -------------------------------------------------------------------------------- /sequences/high_res_20230218_1a_7326_wp.json: -------------------------------------------------------------------------------- 1 | { 2 | "sequence_info": { 3 | "seq_id": "high_res_20230218_1a_7326_wp", 4 | "sequence": [ 5 | { 6 | "bag_base_name": "1676766718", 7 | "waypoint_file_base_name": { 8 | "has_v": 1, 9 | "v": "waypoint_stamps_v1_1676766718" 10 | } 11 | }, 12 | { 13 | "bag_base_name": "1677097326", 14 | "waypoint_file_base_name": { 15 | "has_v": 1, 16 | "v": "waypoint_stamps_v1_1677097326" 17 | } 18 | } 19 | ] 20 | } 21 | } 22 | -------------------------------------------------------------------------------- /sequences/high_res_7326_20230218_1a.json: -------------------------------------------------------------------------------- 1 | { 2 | "sequence_info": { 3 | "seq_id": "high_res_7326_20230218_1a", 4 | "sequence": [ 5 | { 6 | "bag_base_name": "1677097326", 7 | "waypoint_file_base_name": { 8 | "has_v": 0 9 | } 10 | }, 11 | { 12 | "bag_base_name": "1676766718", 13 | "waypoint_file_base_name": { 14 | "has_v": 0 15 | } 16 | } 17 | ] 18 | } 19 | } 20 | -------------------------------------------------------------------------------- /sequences/high_res_7326_7619.json: -------------------------------------------------------------------------------- 1 | { 2 | "sequence_info": { 3 | "seq_id": "high_res_7326_7619", 4 | "sequence": [ 5 | { 6 | "bag_base_name": "1677097326", 7 | "waypoint_file_base_name": { 8 | "has_v": 0 9 | } 10 | }, 11 | { 12 | "bag_base_name": "1677097619", 13 | "waypoint_file_base_name": { 14 | "has_v": 0 15 | } 16 | } 17 | ] 18 | } 19 | } 20 | -------------------------------------------------------------------------------- /src/evaluation/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ut-amrl/ObVi-SLAM/8e925089124d350f671abf6a612276974ca13605/src/evaluation/__init__.py -------------------------------------------------------------------------------- /src/evaluation/custom_json_file_parsing.py: -------------------------------------------------------------------------------- 1 | 2 | 3 | class CustomJsonConstants: 4 | # C++ Optional 5 | hasValueKey = "has_v" 6 | valueKey = "v" 7 | indexKey = "i" 8 | 9 | def readUtVSLAMVector(jsonForVector): 10 | extractedData = [] 11 | for indivEntryJson in jsonForVector: 12 | extractedData.append(indivEntryJson[CustomJsonConstants.valueKey]) 13 | return extractedData -------------------------------------------------------------------------------- /src/evaluation/objects/convert_object_detections_from_yaml.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | 6 | #include 7 | 8 | DEFINE_string(param_prefix, "", "param_prefix"); 9 | 10 | DEFINE_string(convert_object_detections_from_yaml, "", "yaml input file"); 11 | DEFINE_string(obj_output_file_name, "", "csv output file"); 12 | 13 | int main(int argc, char **argv) { 14 | google::ParseCommandLineFlags(&argc, &argv, false); 15 | 16 | google::InitGoogleLogging(argv[0]); 17 | FLAGS_logtostderr = true; 18 | 19 | std::string param_prefix = FLAGS_param_prefix; 20 | std::string node_prefix = FLAGS_param_prefix; 21 | if (!param_prefix.empty()) { 22 | param_prefix = "/" + param_prefix + "/"; 23 | node_prefix += "_"; 24 | } 25 | LOG(INFO) << "Prefix: " << param_prefix; 26 | 27 | ros::init(argc, argv, node_prefix + "obj_detection_converter"); 28 | ros::NodeHandle n; 29 | 30 | std::string object_yaml_file = FLAGS_convert_object_detections_from_yaml; 31 | std::string obj_output_file = FLAGS_obj_output_file_name; 32 | 33 | std::vector obj_ests = 34 | file_io::readObjectEstimatesFromYaml(object_yaml_file); 35 | 36 | file_io::writeObjectEstsToFile(obj_output_file, obj_ests); 37 | 38 | return 0; 39 | } -------------------------------------------------------------------------------- /src/refactoring/factors/independent_object_map_factor.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #include 4 | 5 | namespace vslam_types_refactor { 6 | 7 | IndependentObjectMapFactor::IndependentObjectMapFactor( 8 | const EllipsoidState &ellipsoid_mean, 9 | const Covariance &covariance) 10 | : ellipsoid_mean_(convertToRawEllipsoid(ellipsoid_mean)), 11 | sqrt_inf_mat_(covariance.inverse().sqrt()) {} 12 | 13 | } // namespace vslam_types_refactor -------------------------------------------------------------------------------- /src/refactoring/factors/pairwise_2d_feature_cost_functor.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | namespace vslam_types_refactor { 4 | Pairwise2dFeatureCostFunctor::Pairwise2dFeatureCostFunctor( 5 | const vslam_types_refactor::PixelCoord &image_1_feature, 6 | const vslam_types_refactor::PixelCoord &image_2_feature, 7 | const vslam_types_refactor::CameraIntrinsicsMat 8 | &intrinsics_feature_1, 9 | const vslam_types_refactor::CameraExtrinsics &extrinsics_feature_1, 10 | const vslam_types_refactor::CameraIntrinsicsMat 11 | &intrinsics_feature_2, 12 | const vslam_types_refactor::CameraExtrinsics &extrinsics_feature_2, 13 | const double &epipolar_error_std_dev) 14 | : feature_1_image_coords_( 15 | ConvertFromPixelToImage(image_1_feature, intrinsics_feature_1)), 16 | feature_2_image_coords_( 17 | ConvertFromPixelToImage(image_2_feature, intrinsics_feature_2)), 18 | epipolar_error_std_dev_(epipolar_error_std_dev), 19 | cam_to_robot_tf_feature_1_( 20 | Eigen::Translation3d(extrinsics_feature_1.transl_) * 21 | extrinsics_feature_1.orientation_), 22 | cam_to_robot_tf_feature_2_( 23 | Eigen::Translation3d(extrinsics_feature_2.transl_) * 24 | extrinsics_feature_2.orientation_) {} 25 | 26 | } // namespace vslam_types_refactor -------------------------------------------------------------------------------- /src/refactoring/factors/relative_pose_factor.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #include 4 | 5 | namespace vslam_types_refactor { 6 | 7 | RelativePoseFactor::RelativePoseFactor( 8 | const Pose3D &measured_pose_deviation, 9 | const Covariance &pose_deviation_cov) 10 | : measured_translation_(measured_pose_deviation.transl_), 11 | measured_rotation_change_( 12 | measured_pose_deviation.orientation_.toRotationMatrix()), 13 | sqrt_inf_mat_rel_pose_(pose_deviation_cov.inverse().sqrt()) { 14 | if (sqrt_inf_mat_rel_pose_.hasNaN()) { 15 | LOG(ERROR) << "Relative pose factor had NaN information matrix " 16 | << sqrt_inf_mat_rel_pose_; 17 | exit(1); 18 | } 19 | } 20 | 21 | } // namespace vslam_types_refactor -------------------------------------------------------------------------------- /src/refactoring/factors/reprojection_cost_functor.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | namespace vslam_types_refactor { 4 | 5 | ReprojectionCostFunctor::ReprojectionCostFunctor( 6 | const vslam_types_refactor::PixelCoord &image_feature, 7 | const vslam_types_refactor::CameraIntrinsicsMat &intrinsics, 8 | const vslam_types_refactor::CameraExtrinsics &extrinsics, 9 | const double &reprojection_error_std_dev) 10 | : cam_to_robot_tf_inv_( 11 | (Eigen::Translation3d(extrinsics.transl_) * extrinsics.orientation_) 12 | .inverse()) { 13 | rect_feature_x_ = (image_feature.x() - intrinsics(0, 2)) / intrinsics(0, 0); 14 | rect_feature_y_ = (image_feature.y() - intrinsics(1, 2)) / intrinsics(1, 1); 15 | rectified_error_multiplier_x_ = intrinsics(0, 0) / reprojection_error_std_dev; 16 | rectified_error_multiplier_y_ = intrinsics(1, 1) / reprojection_error_std_dev; 17 | } 18 | 19 | } // namespace vslam_types_refactor -------------------------------------------------------------------------------- /src/refactoring/factors/reprojection_cost_functor_analytic_jacobian.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | namespace vslam_types_refactor { 4 | 5 | ReprojectionCostFunctorAnalyticJacobian:: 6 | ReprojectionCostFunctorAnalyticJacobian( 7 | const vslam_types_refactor::PixelCoord &image_feature, 8 | const vslam_types_refactor::CameraIntrinsicsMat &intrinsics, 9 | const vslam_types_refactor::CameraExtrinsics &extrinsics, 10 | const double &reprojection_error_std_dev) { 11 | Eigen::Quaterniond extrinsics_quat(extrinsics.orientation_); 12 | cam_rel_bl_vec_ << extrinsics_quat.x(), extrinsics_quat.y(), 13 | extrinsics_quat.z(), extrinsics_quat.w(), extrinsics.transl_.x(), 14 | extrinsics.transl_.y(), extrinsics.transl_.z(); 15 | rect_feature_x_ = (image_feature.x() - intrinsics(0, 2)) / intrinsics(0, 0); 16 | rect_feature_y_ = (image_feature.y() - intrinsics(1, 2)) / intrinsics(1, 1); 17 | rectified_error_multiplier_x_ = intrinsics(0, 0) / reprojection_error_std_dev; 18 | rectified_error_multiplier_y_ = intrinsics(1, 1) / reprojection_error_std_dev; 19 | } 20 | 21 | } // namespace vslam_types_refactor -------------------------------------------------------------------------------- /src/refactoring/factors/shape_prior_factor.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | // For matrix sqrt 4 | #include 5 | 6 | namespace vslam_types_refactor { 7 | ShapePriorFactor::ShapePriorFactor( 8 | const vslam_types_refactor::ObjectDim &shape_dim_mean, 9 | const vslam_types_refactor::Covariance &shape_dim_covariance) 10 | : shape_dim_mean_(shape_dim_mean), 11 | sqrt_shape_dim_inf_mat_(shape_dim_covariance.inverse().sqrt()) {} 12 | } // namespace vslam_types_refactor -------------------------------------------------------------------------------- /src/refactoring/types/vslam_obj_opt_types_refactor.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by amanda on 6/22/22. 3 | // 4 | 5 | #include 6 | 7 | namespace vslam_types_refactor { 8 | 9 | bool operator==(const RawBoundingBox &bb_1, const RawBoundingBox &bb_2) { 10 | return (bb_1.semantic_class_ == bb_2.semantic_class_) && 11 | (bb_1.pixel_corner_locations_ == bb_2.pixel_corner_locations_) && 12 | (bb_1.detection_confidence_ == bb_2.detection_confidence_); 13 | } 14 | } // namespace vslam_types_refactor --------------------------------------------------------------------------------