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.

Changelog for package mola_traj_tools

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

1.1.3 (2024-08-28)

• Depend on new mrpt_lib packages (deprecate mrpt2)
• Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

• Update clang-format style; add reformat bash script
• Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
• Fix ament_xmllint warnings in package.xml
• Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

• ament_lint_cmake: clean warnings
• Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

• traj_tf program split in two: traj_tf_left and traj_tf_right for the two types of transformations
• Contributors: Jose Luis Blanco-Claraco

1.0.5 (2024-05-28)

• ncd-csv2tum: More robust against comments, commas instead of spaces, etc.
• Contributors: Jose Luis Blanco-Claraco

1.0.4 (2024-05-14)

• Add ncd-csv2tum trajectory file tool
• bump cmake_minimum_required to 3.5
• Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

• Fix package.xml website URL
• Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

• Add tool to rebase TUM trajectory
• new package with small TUM trajectory cli tools
• Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)