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docs(header): update all header
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‎scripts/cpp/create_rawmap.cpp‎

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/**
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* Copyright (C) 2022-now, RPL, KTH Royal Institute of Technology
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* MIT License
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* Author: Kin ZHANG (https://kin-zhang.github.io/)
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* Date: 2023-04-04 18:29
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* Description: extract pcd file and also insert the pose in PCD VIEWPOINT Field
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* So that we don't need pose.csv file etc.
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* @date: 2023-04-04 18:29
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* @author: Qingwen Zhang(https://kin-zhang.github.io/)
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* Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
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*
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* Input: PCD files with pose in PCD VIEWPOINT Field
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* Output: raw map pcd file
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* @details: extract pcd file and also insert the pose in PCD VIEWPOINT Field
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* So that we don't need pose.txt, pose.csv file etc.
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* Input: PCD files with pose in PCD VIEWPOINT Field
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* Output: raw map pcd file
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*
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* This file is part of DynamicMap_Benchmark (https://github.com/KTH-RPL/DynamicMap_Benchmark).
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* If you find this repo helpful, please cite the respective publication as
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* listed on the above website.
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*/
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#include <pcl/io/pcd_io.h>

‎scripts/cpp/export_eval_pcd.cpp‎

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/**
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* Copyright (C) 2022-now, RPL, KTH Royal Institute of Technology
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* MIT License
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* @author: Kin ZHANG (https://kin-zhang.github.io/)
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* @date: 2023-04-12 18:14
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* @details: TODO
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* @author: Qingwen Zhang(https://kin-zhang.github.io/)
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* Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
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*
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* Input: Algorithm Result PCD file, and GT PC file
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* Output: raw map pcd file with label 0/1
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* @details:
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* Input: Algorithm Result PCD file, and GT PC file
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* Output: point-level map pcd file with label 0/1
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*
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* This file is part of DynamicMap_Benchmark (https://github.com/KTH-RPL/DynamicMap_Benchmark).
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* If you find this repo helpful, please cite the respective publication as
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* listed on the above website.
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*/
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#include <pcl/io/pcd_io.h>

‎scripts/cpp/extract_gtcloud.cpp‎

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/**
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* Copyright (C) 2022-now, RPL, KTH Royal Institute of Technology
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* MIT License
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* Author: Kin ZHANG (https://kin-zhang.github.io/)
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* Date: 2023-03-28 21:10
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* Description: extract the ground truth kitti dataset
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* set intensity to 0 for static
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* set intensity to 1 for dynamic
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* @date: 2023-03-28 21:10
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* @author: Qingwen Zhang(https://kin-zhang.github.io/)
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* Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
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*
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* @details: extract the *downsampled* ground truth map in kitti dataset
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* set intensity to 0 for static
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* set intensity to 1 for dynamic
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*
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* This file is part of DynamicMap_Benchmark (https://github.com/KTH-RPL/DynamicMap_Benchmark).
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* If you find this repo helpful, please cite the respective publication as
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* listed on the above website.
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*/
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#include <iostream>
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#include <string>
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#include <fstream>

‎scripts/cpp/pcds_to_rosbag.cpp‎

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/**
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* Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
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* MIT License
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* @author: Kin ZHANG (https://kin-zhang.github.io/)
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* @date: 2023-12-16 22:20
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* @details: Translate our pcds to rosbag
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* @author: Qingwen Zhang(https://kin-zhang.github.io/)
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* Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
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*
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* Input: DynamicMap Benchmark Dataset format, check our repo: https://github.com/KTH-RPL/DynamicMap_Benchmark
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* Output: a rosbag file with PointCloud2 messages [already transformed to world frame.] and Odometry messages
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* @details: Translate our pcds to rosbag
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* Input: DynamicMap Benchmark Dataset format, check our repo: https://github.com/KTH-RPL/DynamicMap_Benchmark
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* Output: a rosbag file with PointCloud2 messages [already transformed to world frame.] and Odometry messages
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*
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* Example run: ./build/pcds_to_rosbag /home/kin/bags/231209/clean_pcd /home/kin/test/mybag.bag
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*
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* This file is part of DynamicMap_Benchmark (https://github.com/KTH-RPL/DynamicMap_Benchmark).
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* If you find this repo helpful, please cite the respective publication as
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* listed on the above website.
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*/
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#include <iostream>

‎scripts/py/data/extract_argoverse2.py‎

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# Created: 2023-04-17 18:05
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# @Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
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# @Author: Kin ZHANG (https://kin-zhang.github.io/)
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# @Detail: This script is used to extract the point cloud data from AV2 dataset.
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# Check more argoverse dataset here: https://www.argoverse.org/av2.html#lidar-link
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"""
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# @date: 2023-04-17 18:05
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# @author: Qingwen Zhang (https://kin-zhang.github.io/)
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# Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
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#
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# If you find this repo helpful, please cite the respective publication in DynamicBenchmark.
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# This script is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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# @detail: Extract the point cloud data from AV2 dataset.
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# Check more Argoverse dataset here: https://www.argoverse.org/av2.html#lidar-link
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#
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# This file is part of DynamicMap_Benchmark (https://github.com/KTH-RPL/DynamicMap_Benchmark).
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# If you find this repo helpful, please cite the respective publication as
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# listed on the above website.
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"""
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import numpy as np

‎scripts/py/data/extract_diff_pose.py‎

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'''
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# Created: 2024-01-22 17:35
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# Copyright (C) 2024-now, RPL, KTH Royal Institute of Technology
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# Author: Qingwen ZHANG (https://kin-zhang.github.io/)
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#
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# If you find this repo helpful, please cite the respective publication in DynamicBenchmark.
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# This script is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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# @date: 2024-01-22 17:35
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# @author: Qingwen Zhang (https://kin-zhang.github.io/)
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# Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
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#
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# Description: extract different poses result:
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# @detail: Extract different poses result:
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# 1. from the SemanticKITTI (with SuMa more detail: https://github.com/PRBonn/semantic-kitti-api/issues/140
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# 2. from the kiss-icp result (with kiss-icp more detail: https://github.com/PRBonn/kiss-icp/issues/267
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# 3. from the KITTI odometry dataset (with KITTI more detail: https://www.cvlibs.net/datasets/kitti/eval_odometry.php
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#
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# This file is part of DynamicMap_Benchmark (https://github.com/KTH-RPL/DynamicMap_Benchmark).
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# If you find this repo helpful, please cite the respective publication as
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# listed on the above website.
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'''
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‎scripts/py/data/extract_semkitti.py‎

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'''
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# @created: 2023-04-04 21:44
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# @date: 2023-04-04 21:44
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# @updated: 2024-03-27 10:12
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# @author: Qingwen Zhang (https://kin-zhang.github.io/)
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#
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# Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
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# If you find this repo helpful, please cite the respective publication in DynamicBenchmark.
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#
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# @detail: Extract data from SemanticKITTI to benchmark format.
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#
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# This file is part of DynamicMap_Benchmark (https://github.com/KTH-RPL/DynamicMap_Benchmark).
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# If you find this repo helpful, please cite the respective publication as
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# listed on the above website.
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'''
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import sys, os

‎scripts/py/data/play_data.py‎

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'''
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# @date: 2024-07-25 17:29
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# @author: Qingwen Zhang (https://kin-zhang.github.io/)
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# Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
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#
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# @detail: Play data with interactive viewer.
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#
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# This file is part of DynamicMap_Benchmark (https://github.com/KTH-RPL/DynamicMap_Benchmark).
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# If you find this repo helpful, please cite the respective publication as
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# listed on the above website.
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'''
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import sys, os
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BASE_DIR = os.path.abspath(os.path.join(os.path.dirname( __file__ ), '..' ))
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sys.path.append(BASE_DIR)
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return res_dict
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def vis(
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data_dir: str = "/home/kin/data/Dynamic_Papers_assets/Benchmark_data/00",
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data_dir: str = "/home/kin/DATA_HDD/Dynamic_Papers_assets/Benchmark_data/00",
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view_file: str = os.path.abspath(BASE_DIR+"/../../assets/view/default.json"),
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point_size: int = 2,
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point_size: int = 3,
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speed: int = 1,
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):
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o3d_vis = MyVisualizer(view_file=view_file, window_title="DynamicMap Benchmark Data Preview")
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opt = o3d_vis.vis.get_render_option()
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# opt.background_color = np.asarray([216, 216, 216]) / 255.0
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opt.background_color = np.asarray([80/255, 90/255, 110/255])
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# opt.background_color = np.asarray([80/255, 90/255, 110/255])
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# opt.background_color = np.asarray([1, 1, 1])
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opt.point_size = point_size
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dataset = DynamicMapData(data_dir)
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pcd = o3d.geometry.PointCloud()
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pcd.points = o3d.utility.Vector3dVector(data['pc'][:, :3])
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# print(data['pc'].shape)
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o3d_vis.update([pcd, o3d.geometry.TriangleMesh.create_coordinate_frame(size=1)])
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time.sleep(0.05*1/speed)
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‎scripts/py/eval/evaluate_all.py‎

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'''
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# Created: 2023-04-16 18:03
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# @Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
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# @Author: Kin ZHANG (https://kin-zhang.github.io/)
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# If you find this repo helpful, please cite the respective publication in DynamicBenchmark.
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# This script is licensed under the terms of the MIT license.
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# For a copy, see <https://opensource.org/licenses/MIT>.
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# @date: 2023-04-16 18:03
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# @author: Qingwen Zhang (https://kin-zhang.github.io/)
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# Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology
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#
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# @detail: Evaluate result and print score
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#
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# This file is part of DynamicMap_Benchmark (https://github.com/KTH-RPL/DynamicMap_Benchmark).
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# If you find this repo helpful, please cite the respective publication as
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# listed on the above website.
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'''
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import numpy as np

‎scripts/py/eval/figure_plot.ipynb‎

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"source": [
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"# Created: 2023-05-11 22:35\n",
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"# @Copyright (C) 2023-now, RPL, KTH Royal Institute of Technology\n",
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"# @Author: Kin ZHANG (https://kin-zhang.github.io/)\n",
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"# @Author: Qingwen Zhang (https://kin-zhang.github.io/)\n",
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"\n",
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"# If you find this repo helpful, please cite the respective publication in DUFOMap.\n",
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"# This script is licensed under the terms of the MIT license.\n",

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