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Usage.md

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Usage

Setup Environment

  • Install Anaconda
  • Create Environment
conda env create -f environment.yaml
conda activate droidenv
pip install -r requirements.txt
python setup.py install

Extract Images from bag

cd DROID-SLAM
python tools/bag_to_images.py --bag_file=xx/ --output_dir=xx/ --topic=/stereo/frame_left/image_raw/compressed --timestamp=xx/
python tools/bag_to_images.py --bag_file=/mnt/DATA_JW/dataset/FusionPortable_dataset_develop/sensor_data/vehicle/highway00/highway00_anonymized.bag --output_dir=/mnt/DATA_JW/dataset/FusionPortable_dataset_develop/sensor_data/vehicle/highway00/frame_left --topic=/stereo/vehicle_frame_left/image_raw/compressed --timestamp=/mnt/DATA_JW/dataset/FusionPortable_dataset_develop/sensor_data/vehicle/highway00/frame_left.txt

RUN DROID-SLAM

cd DROID-SLAM
python evaluation_scripts/test_fp.py --root=/mnt/DATA_JW/dataset/FusionPortable_dataset_develop/sensor_data/quadrupedal_robot/room00 --weights=droid.pth --calib=calib/fusionportable_left.txt --rgb_list=frame_left.txt

Experiments

Platform Sequence ATE Completion
Handheld Starbucks00 ✅
room00 ✅
Quadruped grass01 ✅
room00 ✅
grass00
Mini Hercules campus00 ✅
parking00 ✅
Vehicle campus00 ✅
highway00 ✅