KITTI Groundtruth to TUM

[Yigit-Kuyu]

Description:

Hello,

I would like to convert KITTI pose groundtruth into TUM format. I have read the whole related issues but I could not solve the problem. Following the documentation, I have used the basic script below in which 01_GroundTruth_KITTI.txt represents sequence 01 directly downloaded via the above link.

Command:

 evo_traj kitti 01_GroundTruth_KITTI.txt --save_as_tum

Console output: The error received is below:

name:   01_GroundTruth_KITTI
infos:  1101 poses, 2453.203m path length
--------------------------------------------------------------------------------
[ERROR] trajectory must be a PoseTrajectory3D object

Additional files:

• evo version number shown by evo pkg --version: v1.22.0
• Python version shown by evo pkg --pyversion: 3.8.10
• operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 20.04
• did you change the source code? (yes / no): no
• output of evo_config show --brief --no_color:

  
  no_color
  {
  "console_logging_format": "%(message)s",
  "euler_angle_sequence": "sxyz",
  "global_logfile_enabled": false,
  "plot_axis_marker_scale": 0.0,
  "plot_backend": "Qt5Agg",
  "plot_figsize": [
      6,
      6
  ],
  "plot_fontfamily": "sans-serif",
  "plot_fontscale": 1.0,
  "plot_invert_xaxis": false,
  "plot_invert_yaxis": false,
  "plot_linewidth": 1.5,
  "plot_mode_default": "xyz",
  "plot_multi_cmap": "none",
  "plot_pose_correspondences": false,
  "plot_pose_correspondences_linestyle": "dotted",
  "plot_reference_alpha": 0.5,
  "plot_reference_axis_marker_scale": 0.0,
  "plot_reference_color": "black",
  "plot_reference_linestyle": "--",
  "plot_seaborn_palette": "deep6",
  "plot_seaborn_style": "darkgrid",
  "plot_show_axis": true,
  "plot_show_legend": true,
  "plot_split": false,
  "plot_statistics": [
      "rmse",
      "median",
      "mean",
      "std",
      "min",
      "max"
  ],
  "plot_texsystem": "pdflatex",
  "plot_trajectory_alpha": 0.75,
  "plot_trajectory_cmap": "jet",
  "plot_trajectory_linestyle": "-",
  "plot_usetex": false,
  "plot_xyz_realistic": true,
  "ros_map_alpha_value": 1.0,
  "ros_map_cmap": "Greys_r",
  "ros_map_unknown_cell_value": 205,
  "ros_map_viewport": "keep_unchanged",
  "save_traj_in_zip": false,
  "table_export_data": "stats",
  "table_export_format": "csv",
  "table_export_transpose": true,
  "tf_cache_lookup_frequency": 10,
  "tf_cache_max_time": 10000.0
  }

Could you please help me to solve this problem?

[MichaelGrupp]

The Wiki says that this export is not possible directly, but there is a workaround with a script: https://github.com/MichaelGrupp/evo/wiki/Formats#saving--exporting-to-other-formats

The KITTI dataset has timestamps and poses in separate files, and with the script you can combine them into a TUM format file.

[Yigit-Kuyu]

Thank you for the info.