README.md 2.16 KiB
Instructions for Collecting Dataset from Offline Terrasentia SVO Files
[T#] represents a unique terminal open on the computer.
We assume the working directories of your terminals are at decompteleop/ros/catkin_ws
and each terminal has the terra-torch3d
Conda environment activated.
- Download SVO files collected from the Terrasentia driven under desired conditions
- Follow the link to explore the Terrasentia Dataset here
- Update paths in
svo2sync.py
for desiredSAVE_DIR
andFILENAME
representing where extracted data should be saved (theFILENAME
should change for every new SVO file) - [T1] Run
roscore
- [T2] Run
python src/data_collection/svo2sync.py
- [T3] Run
python src/combined_node/publish_transform.py
- [T4] Run
source devel/setup.bash
-
roslaunch
the desired downloaded SVO file to collect frames from- Launch with visualization from RTAB-MAP
- [T4] Run
roslaunch rtab_mapping rtab_launch.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/zed2/zed_node/rgb/image_rect_color depth_topic:=/zed2/zed_node/depth/depth_registered camera_info_topic:=/zed2/zed_node/depth/camera_info odom_topic:=/zed2/zed_node/odom imu_topic:=/zed2/zed_node/imu/data visual_odometry:=false frame_id:=base_link approx_sync:=true rgbd_sync:=true approx_rgbd_sync:=false svo_file:="</path/to/.svo>"
- [T4] Run
- Launch with minimal visualization (without RTAB-MAP)
- [T4] Run
roslaunch rtab_mapping rtab_launch_minimal.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/zed2/zed_node/rgb/image_rect_color depth_topic:=/zed2/zed_node/depth/depth_registered camera_info_topic:=/zed2/zed_node/depth/camera_info odom_topic:=/zed2/zed_node/odom imu_topic:=/zed2/zed_node/imu/data visual_odometry:=false frame_id:=base_link approx_sync:=true rgbd_sync:=true approx_rgbd_sync:=false svo_file:="</path/to/.svo>"
- [T4] Run
- Launch with visualization from RTAB-MAP
- Data will be collected at the designated folder for the current playback
- Once the desired number of frames have been collected for the current SVO file, close the terminals in reverse order (T4, T3, T2, T1)