dataset format restructure

raphaelchang · Oct 31, 2019 · b17d3a2 · b17d3a2
1 parent 93de4a8
commit b17d3a2
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Showing 13 changed files with 170 additions and 141 deletions.
diff --git a/launch/matching_eval.launch b/launch/matching_eval.launch
@@ -1,22 +1,21 @@
 <launch>
     <arg name="bag_file" default="" />
-    <arg name="results_file" default="$(arg bag_file).matching.hdf5" />
-    <arg name="rate" default="1" />
-    <arg name="camera_file" default="$(find omni_slam_eval)/launch/default_camera.yaml" />
     <arg name="detector_type" default="ORB" />
     <arg name="detector_params" default="{nfeatures: 100}" />
     <arg name="descriptor_type" default="ORB" />
     <arg name="descriptor_params" default="{}" />
+    <arg name="camera_file" default="$(find omni_slam_eval)/launch/default_camera.yaml" />
+    <arg name="results_file" default="$(eval ''.join(arg('bag_file').split('.')[:-1]) + '.' + ''.join(arg('camera_file').split('/')[-1].split('.')[:-1]) + '.' + arg('detector_type') + '_' + arg('descriptor_type') + '.matching.hdf5')" />
+    <arg name="rate" default="1" />
     <arg name="matcher_thresh" default="0" />
     <node pkg="omni_slam_eval" type="omni_slam_matching_eval_node" name="omni_slam_matching_eval_node" required="true" output="screen">
         <param name="bag_file" value="$(arg bag_file)" />
         <param name="results_file" value="$(arg results_file)" />
-        <param name="image_topic" value="/unity_ros/Sphere/FisheyeCamera/image_raw" />
-        <param name="depth_image_topic" value="/unity_ros/Sphere/FisheyeDepthCamera/image_raw" />
-        <param name="pose_topic" value="/unity_ros/Sphere/TrueState/pose" />
+        <param name="image_topic" value="/unity_ros/Camera/FisheyeCamera/image_raw" />
+        <param name="depth_image_topic" value="/unity_ros/Camera/FisheyeDepthCamera/image_raw" />
+        <param name="pose_topic" value="/unity_ros/Camera/TrueState/pose" />
         <param name="matched_image_topic" value="/omni_slam/matched" />
         <param name="rate" value="$(arg rate)" />
-        <rosparam command="load" file="$(arg camera_file)" />
         <rosparam subst_value="true">
             detector_type: '$(arg detector_type)'
             detector_parameters: $(arg detector_params)
@@ -27,4 +26,5 @@
             feature_distance_threshold: 10
         </rosparam>
     </node>
+    <rosparam command="load" file="$(arg camera_file)" ns="omni_slam_matching_eval_node" />
 </launch>
diff --git a/launch/odometry_eval.launch b/launch/odometry_eval.launch
@@ -1,14 +1,14 @@
 <launch>
     <arg name="bag_file" default="" />
-    <arg name="results_file" default="$(arg bag_file).odometry.hdf5" />
     <arg name="camera_file" default="$(find omni_slam_eval)/launch/default_camera.yaml" />
+    <arg name="results_file" default="$(eval ''.join(arg('bag_file').split('.')[:-1]) + '.' + ''.join(arg('camera_file').split('/')[-1].split('.')[:-1]) + '.odometry.hdf5')" />
     <arg name="rate" default="1" />
     <node pkg="omni_slam_eval" type="omni_slam_odometry_eval_node" name="omni_slam_odometry_eval_node" required="true" output="screen">
         <param name="bag_file" value="$(arg bag_file)" />
         <param name="results_file" value="$(arg results_file)" />
-        <param name="image_topic" value="/unity_ros/Sphere/FisheyeCamera/image_raw" />
-        <param name="depth_image_topic" value="/unity_ros/Sphere/FisheyeDepthCamera/image_raw" />
-        <param name="pose_topic" value="/unity_ros/Sphere/TrueState/pose" />
+        <param name="image_topic" value="/unity_ros/Camera/FisheyeCamera/image_raw" />
+        <param name="depth_image_topic" value="/unity_ros/Camera/FisheyeDepthCamera/image_raw" />
+        <param name="pose_topic" value="/unity_ros/Camera/TrueState/pose" />
         <param name="tracked_image_topic" value="/omni_slam/tracked" />
         <param name="odometry_estimate_topic" value="/omni_slam/odometry" />
         <param name="odometry_optimized_topic" value="/omni_slam/odometry_optimized" />
@@ -18,7 +18,6 @@
         <param name="path_ground_truth_topic" value="/omni_slam/odometry_path_truth" />
         <param name="output_frame" value="map" />
         <param name="rate" value="$(arg rate)" />
-        <rosparam command="load" file="$(arg camera_file)" />
         <rosparam subst_value="true">
             detector_type: 'GFTT'
             detector_parameters: {maxCorners: 2000, qualityLevel: 0.001, minDistance: 5, blockSize: 5}
@@ -42,5 +41,6 @@
             bundle_adjustment_num_threads: 20
         </rosparam>
     </node>
+    <rosparam command="load" file="$(arg camera_file)" ns="omni_slam_odometry_eval_node" />
 </launch>
 
diff --git a/launch/reconstruction_eval.launch b/launch/reconstruction_eval.launch
@@ -1,19 +1,18 @@
 <launch>
     <arg name="bag_file" default="" />
-    <arg name="results_file" default="$(arg bag_file).reconstruction.hdf5" />
     <arg name="camera_file" default="$(find omni_slam_eval)/launch/default_camera.yaml" />
+    <arg name="results_file" default="$(eval ''.join(arg('bag_file').split('.')[:-1]) + '.' + ''.join(arg('camera_file').split('/')[-1].split('.')[:-1]) + '.reconstruction.hdf5')" />
     <arg name="rate" default="1" />
     <node pkg="omni_slam_eval" type="omni_slam_reconstruction_eval_node" name="omni_slam_reconstruction_eval_node" required="true" output="screen">
         <param name="bag_file" value="$(arg bag_file)" />
         <param name="results_file" value="$(arg results_file)" />
         <param name="image_topic" value="/unity_ros/Sphere/FisheyeCamera/image_raw" />
         <param name="depth_image_topic" value="/unity_ros/Sphere/FisheyeDepthCamera/image_raw" />
-        <param name="pose_topic" value="/unity_ros/Sphere/TrueState/pose" />
+        <param name="pose_topic" value="/unity_ros/Camera/TrueState/pose" />
         <param name="tracked_image_topic" value="/omni_slam/tracked" />
         <param name="point_cloud_topic" value="/omni_slam/reconstructed" />
         <param name="output_frame" value="map" />
         <param name="rate" value="$(arg rate)" />
-        <rosparam command="load" file="$(arg camera_file)" />
         <rosparam subst_value="true">
             detector_type: 'GFTT'
             detector_parameters: {maxCorners: 5000, qualityLevel: 0.001, minDistance: 5, blockSize: 5}
@@ -35,4 +34,5 @@
             bundle_adjustment_num_threads: 20
         </rosparam>
     </node>
+    <rosparam command="load" file="$(arg camera_file)" ns="omni_slam_reconstruction_eval_node" />
 </launch>
diff --git a/launch/slam_eval.launch b/launch/slam_eval.launch
@@ -1,15 +1,15 @@
 <launch>
     <arg name="bag_file" default="" />
-    <arg name="results_file" default="$(arg bag_file).slam.hdf5" />
     <arg name="camera_file" default="$(find omni_slam_eval)/launch/default_camera.yaml" />
+    <arg name="results_file" default="$(eval ''.join(arg('bag_file').split('.')[:-1]) + '.' + ''.join(arg('camera_file').split('/')[-1].split('.')[:-1]) + '.slam.hdf5')" />
     <arg name="rate" default="1" />
     <node pkg="omni_slam_eval" type="omni_slam_slam_eval_node" name="omni_slam_slam_eval_node" required="true" output="screen">
         <param name="bag_file" value="$(arg bag_file)" />
         <param name="results_file" value="$(arg results_file)" />
-        <param name="image_topic" value="/unity_ros/Sphere/FisheyeCamera/image_raw" />
-        <param name="stereo_image_topic" value="/unity_ros/Sphere/FisheyeCamera2/image_raw" />
-        <param name="depth_image_topic" value="/unity_ros/Sphere/FisheyeDepthCamera/image_raw" />
-        <param name="pose_topic" value="/unity_ros/Sphere/TrueState/pose" />
+        <param name="image_topic" value="/unity_ros/Camera/FisheyeCamera/image_raw" />
+        <param name="stereo_image_topic" value="/unity_ros/Camera/FisheyeCamera2/image_raw" />
+        <param name="depth_image_topic" value="/unity_ros/Camera/FisheyeDepthCamera/image_raw" />
+        <param name="pose_topic" value="/unity_ros/Camera/TrueState/pose" />
         <param name="tracked_image_topic" value="/omni_slam/tracked" />
         <param name="odometry_estimate_topic" value="/omni_slam/odometry" />
         <param name="odometry_optimized_topic" value="/omni_slam/odometry_optimized" />
@@ -21,7 +21,6 @@
         <param name="stereo_matched_topic" value="/omni_slam/stereo_matched" />
         <param name="output_frame" value="map" />
         <param name="rate" value="$(arg rate)" />
-        <rosparam command="load" file="$(arg camera_file)" />
         <rosparam subst_value="true">
             detector_type: 'GFTT'
             detector_parameters: {maxCorners: 5000, qualityLevel: 0.001, minDistance: 5, blockSize: 5}
@@ -52,6 +51,7 @@
             stereo_matcher_epipolar_threshold: 0.008
         </rosparam>
     </node>
+    <rosparam command="load" file="$(arg camera_file)" ns="omni_slam_slam_eval_node" />
 </launch>
 
 
diff --git a/launch/slam_eval_kitti.launch b/launch/slam_eval_kitti.launch
@@ -1,7 +1,7 @@
 <launch>
     <arg name="bag_file" default="" />
-    <arg name="results_file" default="$(arg bag_file).slam.hdf5" />
     <arg name="camera_file" default="$(find omni_slam_eval)/launch/kitti_camera.yaml" />
+    <arg name="results_file" default="$(eval ''.join(arg('bag_file').split('.')[:-1]) + '.' + ''.join(arg('camera_file').split('/')[-1].split('.')[:-1]) + '.slam.hdf5')" />
     <arg name="rate" default="1" />
     <node pkg="omni_slam_eval" type="omni_slam_slam_eval_node" name="omni_slam_slam_eval_node" required="true" output="screen">
         <param name="bag_file" value="$(arg bag_file)" />
@@ -21,7 +21,6 @@
         <param name="stereo_matched_topic" value="/omni_slam/stereo_matched" />
         <param name="output_frame" value="imu" />
         <param name="rate" value="$(arg rate)" />
-        <rosparam command="load" file="$(arg camera_file)" />
         <rosparam subst_value="true">
             detector_type: 'GFTT'
             detector_parameters: {maxCorners: 5000, qualityLevel: 0.001, minDistance: 5, blockSize: 5}
@@ -52,6 +51,7 @@
             stereo_matcher_epipolar_threshold: 0.008
         </rosparam>
     </node>
+    <rosparam command="load" file="$(arg camera_file)" ns="omni_slam_slam_eval_node" />
 </launch>
 
 
diff --git a/launch/slam_eval_t265.launch b/launch/slam_eval_t265.launch
@@ -1,7 +1,7 @@
 <launch>
     <arg name="bag_file" default="" />
-    <arg name="results_file" default="$(arg bag_file).slam.hdf5" />
     <arg name="camera_file" default="$(find omni_slam_eval)/launch/t265_camera.yaml" />
+    <arg name="results_file" default="$(eval ''.join(arg('bag_file').split('.')[:-1]) + '.' + ''.join(arg('camera_file').split('/')[-1].split('.')[:-1]) + '.slam.hdf5')" />
     <arg name="rate" default="1" />
     <node pkg="omni_slam_eval" type="omni_slam_slam_eval_node" name="omni_slam_slam_eval_node" required="true" output="screen">
         <param name="bag_file" value="$(arg bag_file)" />
@@ -21,7 +21,6 @@
         <param name="stereo_matched_topic" value="/omni_slam/stereo_matched" />
         <param name="output_frame" value="map" />
         <param name="rate" value="$(arg rate)" />
-        <rosparam command="load" file="$(arg camera_file)" />
         <rosparam subst_value="true">
             detector_type: 'GFTT'
             detector_parameters: {maxCorners: 5000, qualityLevel: 0.001, minDistance: 5, blockSize: 5}
@@ -52,6 +51,7 @@
             stereo_matcher_epipolar_threshold: 0.008
         </rosparam>
     </node>
+    <rosparam command="load" file="$(arg camera_file)" ns="omni_slam_slam_eval_node" />
 </launch>
 
 
diff --git a/launch/slam_eval_tum.launch b/launch/slam_eval_tum.launch
@@ -1,7 +1,7 @@
 <launch>
     <arg name="bag_file" default="" />
-    <arg name="results_file" default="$(arg bag_file).slam.hdf5" />
     <arg name="camera_file" default="$(find omni_slam_eval)/launch/tum_camera.yaml" />
+    <arg name="results_file" default="$(eval ''.join(arg('bag_file').split('.')[:-1]) + '.' + ''.join(arg('camera_file').split('/')[-1].split('.')[:-1]) + '.slam.hdf5')" />
     <arg name="rate" default="1" />
     <node pkg="omni_slam_eval" type="omni_slam_slam_eval_node" name="omni_slam_slam_eval_node" required="true" output="screen">
         <param name="bag_file" value="$(arg bag_file)" />
@@ -21,7 +21,6 @@
         <param name="stereo_matched_topic" value="/omni_slam/stereo_matched" />
         <param name="output_frame" value="map" />
         <param name="rate" value="$(arg rate)" />
-        <rosparam command="load" file="$(arg camera_file)" />
         <rosparam subst_value="true">
             detector_type: 'ORB'
             detector_parameters: {nfeatures: 1000}
@@ -53,6 +52,7 @@
             stereo_matcher_epipolar_threshold: 0.008
         </rosparam>
     </node>
+    <rosparam command="load" file="$(arg camera_file)" ns="omni_slam_slam_eval_node" />
 </launch>
 
 
diff --git a/launch/stereo_eval.launch b/launch/stereo_eval.launch
@@ -1,21 +1,18 @@
 <launch>
     <arg name="bag_file" default="" />
-    <arg name="results_file" default="$(arg bag_file).stereo.hdf5" />
-    <arg name="camera_model" default="double_sphere" />
-    <arg name="camera_params" default="{fx: 295.936, fy: 295.936, cx: 512, cy: 512, chi: 0.3, alpha: 0.6666667}" />
+    <arg name="camera_file" default="$(find omni_slam_eval)/launch/default_camera.yaml" />
+    <arg name="results_file" default="$(eval ''.join(arg('bag_file').split('.')[:-1]) + '.' + ''.join(arg('camera_file').split('/')[-1].split('.')[:-1]) + '.stereo.hdf5')" />
     <arg name="rate" default="1" />
     <node pkg="omni_slam_eval" type="omni_slam_stereo_eval_node" name="omni_slam_stereo_eval_node" required="true" output="screen">
         <param name="bag_file" value="$(arg bag_file)" />
         <param name="results_file" value="$(arg results_file)" />
-        <param name="image_topic" value="/unity_ros/Sphere/FisheyeCamera/image_raw" />
-        <param name="stereo_image_topic" value="/unity_ros/Sphere/FisheyeCamera2/image_raw" />
-        <param name="depth_image_topic" value="/unity_ros/Sphere/FisheyeDepthCamera/image_raw" />
-        <param name="pose_topic" value="/unity_ros/Sphere/TrueState/pose" />
+        <param name="image_topic" value="/unity_ros/Camera/FisheyeCamera/image_raw" />
+        <param name="stereo_image_topic" value="/unity_ros/Camera/FisheyeCamera2/image_raw" />
+        <param name="depth_image_topic" value="/unity_ros/Camera/FisheyeDepthCamera/image_raw" />
+        <param name="pose_topic" value="/unity_ros/Camera/TrueState/pose" />
         <param name="stereo_matched_topic" value="/omni_slam/stereo_matched" />
         <param name="rate" value="$(arg rate)" />
         <rosparam subst_value="true">
-            camera_model: '$(arg camera_model)'
-            camera_parameters: $(arg camera_params)
             detector_type: 'GFTT'
             detector_parameters: {maxCorners: 1000, qualityLevel: 0.001, minDistance: 5, blockSize: 5}
             stereo_matcher_window_size: 256
@@ -26,6 +23,7 @@
             stereo_tf_r: [0.0, 0.0, 0.0, 1.0]
         </rosparam>
     </node>
+    <rosparam command="load" file="$(arg camera_file)" ns="omni_slam_stereo_eval_node" />
 </launch>
 
 

diff --git a/launch/tracking_eval.launch b/launch/tracking_eval.launch
@@ -1,17 +1,16 @@
 <launch>
     <arg name="bag_file" default="" />
-    <arg name="results_file" default="$(arg bag_file).tracking.hdf5" />
     <arg name="camera_file" default="$(find omni_slam_eval)/launch/default_camera.yaml" />
+    <arg name="results_file" default="$(eval ''.join(arg('bag_file').split('.')[:-1]) + '.' + ''.join(arg('camera_file').split('/')[-1].split('.')[:-1]) + '.tracking.hdf5')" />
     <arg name="rate" default="1" />
     <node pkg="omni_slam_eval" type="omni_slam_tracking_eval_node" name="omni_slam_tracking_eval_node" required="true" output="screen">
         <param name="bag_file" value="$(arg bag_file)" />
         <param name="results_file" value="$(arg results_file)" />
-        <param name="image_topic" value="/unity_ros/Sphere/FisheyeCamera/image_raw" />
-        <param name="depth_image_topic" value="/unity_ros/Sphere/FisheyeDepthCamera/image_raw" />
-        <param name="pose_topic" value="/unity_ros/Sphere/TrueState/pose" />
+        <param name="image_topic" value="/unity_ros/Camera/FisheyeCamera/image_raw" />
+        <param name="depth_image_topic" value="/unity_ros/Camera/FisheyeDepthCamera/image_raw" />
+        <param name="pose_topic" value="/unity_ros/Camera/TrueState/pose" />
         <param name="tracked_image_topic" value="/omni_slam/tracked" />
         <param name="rate" value="$(arg rate)" />
-        <rosparam command="load" file="$(arg camera_file)" />
         <rosparam subst_value="true">
             detector_type: 'GFTT'
             detector_parameters: {maxCorners: 100, qualityLevel: 0.01, minDistance: 5, blockSize: 5}
@@ -27,4 +26,5 @@
             keyframe_interval: 1
         </rosparam>
     </node>
+    <rosparam command="load" file="$(arg camera_file)" ns="omni_slam_tracking_eval_node" />
 </launch>