This repository contains scripts which generate the results presented in "Virtual encoder: a two-dimension visual odometer for NDT".
The dataset required to properly reproduce the results is avaliable at https://drive.google.com/drive/folders/1IEDjHuvrFpMRdltmPRAk1uatcMgQzyiS?usp=share_link . After downloading the "data.zip" you must copy and paste to the main project directory ("Virtual-Encoder-ECNDT-2023/") and then extract it.
Each folder represents an experiment (e.g. "air_cylindrical_longest_side") which contains:
- Photos shot by Raspberry Pi ground-facing camera;
- Orientation of the rigid body acquired by the inertial unit in quaternion and euler angle format;
+---Virtual-Encoder-ECNDT-2023
| | data.zip
| |
| \---data
| +---calibration
| | +---air_cylindrical_longest_side
| | |
| | +---air_cylindrical_shortest_side
| | |
| | +---air_planar_longest_side
| | |
| | +---air_planar_shortest_side
| | |
| | +---water_cylindrical_longest_side
| | |
| | +---water_cylindrical_shortest_side
| | |
| | +---water_planar_longest_side
| | |
| | \---water_planar_shortest_side
| | |
| |
| +---cylindrical
| | +---air_closed_loop
| | |
| | +---air_single_x
| | |
| | +---air_single_y
| | |
| | +---water_closed_loop
| | |
| | +---water_single_x
| | |
| | \---water_single_y
| |
| \---planar
| +---air_closed_loop
| |
| +---air_single_x
| |
| +---air_single_y
| |
| +---water_closed_loop
| |
| +---water_single_x
| |
| \---water_single_y
|
matplotlib # for data visualization
scipy # for signal processing algorithms
numpy # for general numerical processing
Pillow # for image reading and simple image manipulation (called PIL when imported)
cd ~
git clone https://github.com/thiagokalid/Virtual-Encoder-ECNDT-2023
cd Virtual-Encoder-ECNDT-2023
You will need to build the Virtual-Encoder-ECNDT-2023 environment by following command: