TUM RGBD数据集工具及使用

TUM RGBD数据集工具及使用

1. 工具

工具下载地址：https://vision.in.tum.de/data/datasets/rgbd-dataset/tools
• add_pointclouds_to_bagfile.py 给bag中加入点云topic
• associate.py 生成depth 和 rgb的匹配信息
• evaluate_ate.py 绝对误差评估，常用
• evaluate_rpe.py 相对误差评估
• generate_pointcloud.py 生成点云数据
• generate_registered_pointcloud.py
• plot_camera_trajectories.m matlab打印轨迹
• plot_trajectory_into_image.py
• prepare3dedges.py
• project_point_cloud_to_image.py

2. 数据集

下载地址：https://vision.in.tum.de/data/datasets/rgbd-dataset/download
数据集包含bag及tgz两种格式
1）bag包：图像以15hz的频率发布，imu以500hz频率发布，较多卡顿现象，发布信息：

/camera/depth/camera_info
/camera/depth/image
/camera/rgb/camera_info
/camera/rgb/image_color
/clock
/cortex_marker_array
/imu
/rosout
/rosout_agg
/tf

使用方法：rosbag play <bag_name>.bag

2）tgz包：包含rgb及depth文件夹分别存放rgb图像及深度图，accelerometer.txt存放加速度信息，相对提供的bag包数据流畅。

使用方法：
1、解析文件夹，例程如：ORB_SLAM3/Examples/RGB-D/rgbd_tum.cc
2、使用如下脚本将tgz包解析转化为bag包，此时生成的bag包比官网提供的bag流畅，频率为30hz。

generate_bags.py：

import cv2 
import time, sys, os
from ros import rosbag
import roslib
import rospy
roslib.load_manifest('sensor_msgs')
from sensor_msgs.msg import Image,Imu
from geometry_msgs.msg import Vector3
from cv_bridge import CvBridge
from numpy import asarray

# import ImageFile
from PIL import ImageFile
from PIL import Image as ImagePIL

def CompSortFileNamesNr(f):
    g = os.path.splitext(os.path.split(f)[1])[0] #get the file of the
    numbertext = ''.join(c for c in g if c.isdigit())
    return int(numbertext)

def ReadIMU(IMUFile):
    '''return IMU data and timestamp of IMU'''
    IMUfp = open(IMUFile,'r')
    IMULines = IMUfp.readlines()
    #all = IMUDatas.readlines()
    IMUDatas = {}
    for l in IMULines:
        if l[0] == "#":
            continue;
        items = l.rstrip('\n').split(' ')
        IMUDatas[items[0]] = items[1:]
    
    IMUfp.close()
    return IMUDatas 

def ReadImages(assocoations):
   assofp = open(assocoations, 'r')
   asso = assofp.readlines()
   RGBImages = {}
   depthImages = {}
   for l in asso:
       if l[0] == "#":
           continue;
       items = l.rstrip('\n').split(' ')
       RGBImages[items[0]] = items[1]
       depthImages[items[2]] = items[3]

   assofp.close()
   return RGBImages, depthImages

def CreateBag(args):#assocoations, imu, output_bag_name
    '''read assocoations.txt'''
    RGBImages,depthImages = ReadImages(args[1])
    
    if len(args) == 3:
        '''Creates a bag file with camera images'''
        if not os.path.exists(args[2]):
           os.system(r'touch %s' % args[2])
        else:
           os.system(r'rm %s' % args[2])
           os.system(r'touch %s' % args[2])

        bagName = rosbag.Bag(args[2], 'w')

    else:
    #if len(args) == 4:
        IMUDatas = ReadIMU(args[2]) #the url of IMU data
        
        '''Creates a bag file with camera images'''
        if not os.path.exists(args[3]):
           os.system(r'touch %s' % args[3])
        else:
           os.system(r'rm %s' % args[3])
           os.system(r'touch %s' % args[3])

        bagName = rosbag.Bag(args[3], 'w')


    try:
        if len(args) == 4:
            for it, iData in IMUDatas.items():
                imu = Imu()
                imuStamp = rospy.rostime.Time.from_sec(float(it))
                #angular_v = Vector3()
                linear_a = Vector3()
                #angular_v.x = float(iData[0])
                #angular_v.y = float(iData[1])
                #angular_v.z = float(iData[2])
                linear_a.x = float(iData[0])
                linear_a.y = float(iData[1])
                linear_a.z = float(iData[2])
                imu.header.stamp = imuStamp
                #imu.angular_velocity = angular_v
                imu.linear_acceleration = linear_a

                bagName.write("/imu",imu,imuStamp)


        br = CvBridge()

        for imt, img in RGBImages.items():
            #img = args[2] + img; 
            print("Adding %s" % img)

            cv_image = cv2.imread(img)

            Stamp = rospy.rostime.Time.from_sec(float(imt))

            '''set image information '''
            Img = br.cv2_to_imgmsg(cv_image)
            Img.header.stamp = Stamp
            Img.header.frame_id = "camera"

            '''for mono8'''
            Img.encoding = "rgb8"
            bagName.write('/camera/rgb/image_color', Img, Stamp)

        for dt, dimg in depthImages.items():
            #dimg = args[2] + dimg; 
            print("Adding %s" % dimg)

            cv_image = cv2.imread(dimg, cv2.IMREAD_ANYDEPTH)

            '''set image information '''
            Stamp = rospy.rostime.Time.from_sec(float(dt))

            '''set image information '''
            dImg = br.cv2_to_imgmsg(cv_image)
            dImg.header.stamp = Stamp
            dImg.header.frame_id = "camera"

            #dImg.encoding = "32FC1"

            bagName.write('/camera/depth/image', dImg, Stamp)

    finally:
        bagName.close()

if __name__ == "__main__":
    print(sys.argv)

    if len(sys.argv) < 3:
        #print("Usage:\n\t python generate_bags.py /path/assocoations.txt /path/rgb /path/depth /path/accelerometer.txt output.bag")
        print("Usage:\n\t python generate_bags.py /path/assocoations.txt /path/accelerometer.txt output.bag")
        print("Or   :\n\t python generate_bags.py /path/assocoations.txt output.bag")
        exit(1)

    CreateBag(sys.argv)

使用方法：
首先：使用官网提供的脚本associate.py生成assocoations.txt文件

python  rgbd_benchmark_tools/scripts/associate.py /path/rgb.txt /path/depth.txt > assocoations.txt

补充：遇到'dict_keys' object has no attribute 'remove'问题，则如下对应修改associate.py文件：

 86     #first_keys = first_list.keys()
 87     #second_keys = second_list.keys()
 88     first_keys = list(first_list)
 89     second_keys = list(second_list)

参考https://blog.csdn.net/qq_39779233/article/details/128332964

也可使用sudo update-alternatives --config python切换python到2.7。则不需要修改python文件直接使用。

然后使用上述generate_bags.py生成bag包

python rgbd_benchmark_tools/scripts/generate_bags.py /path/assocoations.txt /path/accelerometer.txt output.bag

同样，如果遇到module 'ros' has no attribute 'rosbag'的问题，切换python版本到2.7。