Tools

Python Scripts

Dataset-related scripts:

• gen_dataset_file_list.py Script to generate file list for this dataset
• download_citrusfarm.py Script to help download this dataset
• bag2files.py Convert downloaded rosbags into individual files (images, pcd and csv files)
• imu_filter.py Script to filter IMU timestamps (to avoid duplicated timestamps) using a Kalman filter

For sensor calibration:

• kalibr_create_target_pdf.py This script is modified from Kalibr toolbox, and it can generate the 24-inch checkerboard and april-grid calibration targets used in this dataset
• interactive_recording.py Record image frames of all cameras when the user presses the Enter key, and save them into a rosbag in the end.
• publish_camera_info.py Publish the camera_info topic of a camera, provided a yaml file specifying camera intrinsics. (Example: flir_blackfly_cam_info.yaml)

Evaluation scripts for odometry algorithms:

• Odometry-Benchmark We have made our benchmark code available in this repository. It includes scripts for running algorithms on datasets in batch mode, as well as scripts for post-processing the recorded results and calculating error metrics.