README

mola_traj_tools

CLI tools to manipulate trajectory files as a complement to evo.

Build and install
Documentation
License

Build and install

Refer to the root MOLA repository for compilation instructions.

To install from the ROS repositories:

sudo apt install ros-${ROS_DISTRO}-mola-traj-tools

Documentation

traj_ypr2tum

This tool can be used to convert a TXT file with a trajectory in this format:

# t [unix timestamp, double]  x y z [meters]  yaw pitch roll [radians]
t x y z yaw pitch roll

into the TUM format.

Usage:

  traj_ypr2tum INPUT.ypr OUTPUT.tum

traj_tf_left

This tool takes an input trajectory file in the TUM format, a SE(3) transformation, and applies it to the input trajectory multiplying the trajectory by the left by the given transformation, writing the modified trajectory to an output file.

Usage:

  traj_tf_left INPUT.tum OUTPUT.tum "[x y z yaw_deg pitch_deg roll_deg]"

traj_tf_right

This tool takes an input trajectory file in the TUM format, a SE(3) transformation, and applies it to the input trajectory multiplying the trajectory by the right by the given transformation, writing the modified trajectory to an output file.

Usage:

  traj_tf_right INPUT.tum OUTPUT.tum "[x y z yaw_deg pitch_deg roll_deg]"

ncd-csv2tum

Convert NewerCollegeDataset “tum” ground truth files to a format compatible with evo, i.e. merging the two first time columns of “seconds” and “nanoseconds” into one and ensuring there are no extra spaces.

Usage:

ncd-csv2tum /path/to/traj.csv  # Generates: traj.tum

License

This package is released under the BSD-3-clause license.