使用python3拼接rgb.txt与depth.txt为associate.txt(适用于GCNV2_SLAM中TUM数据集的运行)

这里以GCNV2_SLAM中TUM数据集的运行为例子：

安装gnv2_slam可以参考：GCNv2_SLAM-CPU详细安装教程(ubuntu18.04)-CSDN博客

首先下载数据集Computer Vision Group - Dataset Download

下载后通过该命令解压：

 tar -xvf rgbd_dataset_freiburg1_desk.tgz

打开后，你可以发现：在该数据集中，深度信息何rgb信息是分开的，而在执行数据集时，两者需要同时执行，这就要将两者按照各自时间戳进行拼接。如图所示：

然后，首先需要自己创建一个文档，将其更改为associate.py文件，然后往里面添加代码，如下为添加后的代码可以使用pyton3进行运行：

 以下是加了那两个的代码：

#!/usr/bin/python
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# Copyright (c) 2013, Juergen Sturm, TUM
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# Requirements: 
# sudo apt-get install python-argparse

"""
The Kinect provides the color and depth images in an un-synchronized way. This means that the set of time stamps from the color images do not intersect with those of the depth images. Therefore, we need some way of associating color images to depth images.

For this purpose, you can use the ''associate.py'' script. It reads the time stamps from the rgb.txt file and the depth.txt file, and joins them by finding the best matches.
"""

import argparse
import sys
import os
import numpy


def read_file_list(filename):
    """
    Reads a trajectory from a text file. 
    
    File format:
    The file format is "stamp d1 d2 d3 ...", where stamp denotes the time stamp (to be matched)
    and "d1 d2 d3.." is arbitary data (e.g., a 3D position and 3D orientation) associated to this timestamp. 
    
    Input:
    filename -- File name
    
    Output:
    dict -- dictionary of (stamp,data) tuples
    
    """
    file = open(filename)
    data = file.read()
    lines = data.replace(","," ").replace("\t"," ").split("\n") 
    list = [[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"]
    list = [(float(l[0]),l[1:]) for l in list if len(l)>1]
    return dict(list)

def associate(first_list, second_list,offset,max_difference):
    """
    Associate two dictionaries of (stamp,data). As the time stamps never match exactly, we aim 
    to find the closest match for every input tuple.
    
    Input:
    first_list -- first dictionary of (stamp,data) tuples
    second_list -- second dictionary of (stamp,data) tuples
    offset -- time offset between both dictionaries (e.g., to model the delay between the sensors)
    max_difference -- search radius for candidate generation

    Output:
    matches -- list of matched tuples ((stamp1,data1),(stamp2,data2))
    
    """
    first_keys = first_list.keys()
    second_keys = second_list.keys()
    potential_matches = [(abs(a - (b + offset)), a, b) 
                         for a in first_keys 
                         for b in second_keys 
                         if abs(a - (b + offset)) < max_difference]
    potential_matches.sort()
    matches = []
    first_keys = list(first_keys)   //此为添加的代码
    second_keys = list(second_keys)  //此为添加的代码用于执行pyton3指令
    for diff, a, b in potential_matches:
        if a in first_keys and b in second_keys:
            first_keys.remove(a)
            second_keys.remove(b)
            matches.append((a, b))
    
    matches.sort()
    return matches

if __name__ == '__main__':
    
    # parse command line
    parser = argparse.ArgumentParser(description='''
    This script takes two data files with timestamps and associates them   
    ''')
    parser.add_argument('first_file', help='first text file (format: timestamp data)')
    parser.add_argument('second_file', help='second text file (format: timestamp data)')
    parser.add_argument('--first_only', help='only output associated lines from first file', action='store_true')
    parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0)
    parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02)
    args = parser.parse_args()

    first_list = read_file_list(args.first_file)
    second_list = read_file_list(args.second_file)

    matches = associate(first_list, second_list,float(args.offset),float(args.max_difference))    

    if args.first_only:
        for a,b in matches:
            print("%f %s"%(a," ".join(first_list[a])))
    else:
        for a,b in matches:
            print("%f %s %f %s"%(a," ".join(first_list[a]),b-float(args.offset)," ".join(second_list[b])))
            
        

接下来就可以运行命令：

python3 associate.py rgb.txt depth.txt > associate.txt

就会生成associate.txt文件，如下：

接下来就可以了。完成。嘿嘿嘿。有什么疑问可以来交流。鄙人在做多机器人方面。

 本人目前研究多机器人方向，有相关研究方向的欢迎交流讨论。

 有志同道合的朋友可以加+V，一起聊聊。