ToolKit

1. robot_transformation.py is mainly for some transformation between different frame or from pose vector to the pose matrix

2. pointcloud_kit.py is mainly for the create of the pointcloud and the visualization of the pointcloud, to use this module, the robot_transformation.py module is necessary. The result should be like:

3. test_OF.py is a small demo to create the Optical Flow based on the opencv and some skills about how to show the image and use the keyboard to control the window, during this demo I use the Tartanair dataset as the example, there is a customed tartanair data loader, if you wanna try this demo, first you should change the INITIAL_DIR. The result should be as:

4. evaluation_tools.py is a evaluatioin/metrics tool of SLAM/VO performance, it contains the common metrics ATE, RPE, KITTI score and one customized metric called the Success Rate to check the performance of the algorithm on one trajectory, to use this module, the robot_transformation.py module is necessary, the result is show as:

5. icp.py is a icp module for the 2D icp,the result should be like this:

6. draw_tools.py is a module to draw the trajectory for the camera pose, the result should be like this:

7.dataloader.py is a module to load the data and now it only supports the tartanair_data