{"id":13761970,"url":"https://github.com/mac137/ConSLAM","last_synced_at":"2025-05-10T14:31:14.550Z","repository":{"id":79850913,"uuid":"526311531","full_name":"mac137/ConSLAM","owner":"mac137","description":"ConSLAM: Construction Dataset for SLAM","archived":false,"fork":false,"pushed_at":"2023-07-05T05:49:30.000Z","size":62317,"stargazers_count":78,"open_issues_count":3,"forks_count":2,"subscribers_count":5,"default_branch":"main","last_synced_at":"2024-08-11T15:59:35.930Z","etag":null,"topics":["construction","dataset","point-cloud","slam"],"latest_commit_sha":null,"homepage":"https://www.repository.cam.ac.uk/handle/1810/345700","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/mac137.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2022-08-18T17:33:39.000Z","updated_at":"2024-08-06T06:18:58.000Z","dependencies_parsed_at":"2024-01-20T05:07:25.430Z","dependency_job_id":null,"html_url":"https://github.com/mac137/ConSLAM","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mac137%2FConSLAM","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mac137%2FConSLAM/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mac137%2FConSLAM/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mac137%2FConSLAM/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/mac137","download_url":"https://codeload.github.com/mac137/ConSLAM/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":224970216,"owners_count":17400292,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["construction","dataset","point-cloud","slam"],"created_at":"2024-08-03T14:00:32.237Z","updated_at":"2024-11-16T20:30:53.098Z","avatar_url":"https://github.com/mac137.png","language":"C++","funding_links":[],"categories":["Summary Table"],"sub_categories":["Update: 2023-07-12"],"readme":"  \u003ch1 align=\"center\"\u003e\n  ConSLAM: Construction Dataset for SLAM\u003c/h1\u003e\n  \u003cp align=\"center\"\u003e\n    \u003ca href=\"https://mac137.github.io\"\u003e\u003cstrong\u003eMaciej Trzeciak\u003c/strong\u003e\u003c/a\u003e\n    ·\n    \u003ca href=\"https://copyme.github.io\"\u003e\u003cstrong\u003eKacper Pluta\u003c/strong\u003e\u003c/a\u003e\n    ·\n    \u003ca href=\"https://yasminfathy.github.io\"\u003e\u003cstrong\u003eYasmin Fathy\u003c/strong\u003e\u003c/a\u003e\n    ·\n    \u003ca href=\"\"\u003e\u003cstrong\u003eLucio Alcalde\u003c/strong\u003e\u003c/a\u003e\n    ·\n    \u003ca href=\"\"\u003e\u003cstrong\u003eStanley Chee\u003c/strong\u003e\u003c/a\u003e\n    ·\n    \u003ca href=\"\"\u003e\u003cstrong\u003eAntony Bromley\u003c/strong\u003e\u003c/a\u003e\n    ·\n    \u003ca href=\"https://cit.eng.cam.ac.uk/lab-director\"\u003e\u003cstrong\u003eIoannis Brilakis\u003c/strong\u003e\u003c/a\u003e\n    ·\n    \u003ca href=\"https://team.inria.fr/titane/pierre-alliez/\"\u003e\u003cstrong\u003ePierre Alliez\u003c/strong\u003e\u003c/a\u003e\n  \u003c/p\u003e\n\n  \u003ch3 align=\"center\"\u003e\n    \u003ca href=\"https://link.springer.com/chapter/10.1007/978-3-031-25082-8_21\"\u003eECCV 2022 Workshops Paper\u003c/a\u003e |\n    \u003ca href=\"https://www.repository.cam.ac.uk/handle/1810/345700\"\u003eFree Journal Extension Paper\u003c/a\u003e\n\n  \u003c/h3\u003e\n  \u003cdiv align=\"center\"\u003e\u003c/div\u003e\n\u003c/p\u003e\n\u003cp align=\"center\"\u003e\n  \u003ca href=\"#\"\u003e\n    \u003cimg src=\"./media/intro.gif\" alt=\"\" width=\"90%\"\u003e\n  \u003c/a\u003e\n\u003c/p\u003e\n\n\u003cdetails open=\"open\" style='padding: 10px; border-radius:5px 30px 30px 5px; border-style: solid; border-width: 1px;'\u003e\n  \u003csummary\u003eTable of Contents\u003c/summary\u003e\n  \u003col\u003e\n    \u003cli\u003e\n      \u003ca href=\"#download-the-dataset\"\u003eDownload the dataset\u003c/a\u003e\n    \u003c/li\u003e\n    \u003cli\u003e\n      \u003ca href=\"#hardware\"\u003eHardware\u003c/a\u003e\n    \u003c/li\u003e\n    \u003cli\u003e\n      \u003ca href=\"#evaluate-your-trajectory\"\u003eEvaluate your trajectory\u003c/a\u003e\n    \u003c/li\u003e\n    \u003c!-- \u003cli\u003e\n      \u003ca href=\"#install-code\"\u003eInstall code\u003c/a\u003e\n    \u003c/li\u003e --\u003e\n    \u003c!-- \u003cli\u003e\n      \u003ca href=\"#faq\"\u003eFAQ\u003c/a\u003e\n    \u003c/li\u003e --\u003e\n    \u003cli\u003e\n      \u003ca href=\"#todo\"\u003eTODOs\u003c/a\u003e\n    \u003c/li\u003e\n    \u003cli\u003e\n      \u003ca href=\"#citation\"\u003eCitation\u003c/a\u003e\n    \u003c/li\u003e\n    \u003cli\u003e\n      \u003ca href=\"#contact\"\u003eContact\u003c/a\u003e\n    \u003c/li\u003e\n  \u003c/ol\u003e\n\u003c/details\u003e\n\n\n\n\n# Download the dataset\n\n\u003c!-- ```\nhttps://drive.google.com/drive/folders/1qOZGXjlLQNu15xakG7NqE5WEv3Iu9akr?usp=sharing\n``` --\u003e\n\u003ca href=\"https://drive.google.com/drive/folders/1qOZGXjlLQNu15xakG7NqE5WEv3Iu9akr?usp=sharing\"\u003eLINK\u003c/a\u003e to the dataset\n\n\u003cspan style=\"color:red\"\u003eThe bag file in sequence 1 is faulty. Do no use it for your SLAM algorithm\u003c/span\u003e\n\n# Hardware\n\u003cp align=\"left\"\u003e\n  \u003ca href=\"#\"\u003e\n    \u003cimg src=\"./media/scanner.png\" alt=\"\" width=\"45%\"\u003e\n    \u003cimg src=\"./media/leica.jpg\" alt=\"\" width=\"45%\"\u003e\n  \u003c/a\u003e\n\u003c/p\u003e\n\n# Software installation\n*Tested on Ubuntu 20.04 with ROS Noetic.*\n\n1. Clone this repo to your catkin work space `path/to/ros_ws/src`\n2. Install the dependencies of the packages in this repo using for example `rosdep install --from-paths src --ignore-src -r -y` as instructed [here](http://wiki.ros.org/rosdep)\n3. Install the packages in this repo using a standard `catkin_make` command as instructed [here](http://wiki.ros.org/catkin/commands/catkin_make)\n  \n\n# How to run\nConnect all the sensors: RGB camera, Velodyne and IMU to your computer/laptop.\nMake sure the system recongises them all.\n\nRun `roslaunch pp_launcher 4london.launch`\n\n# Evaluate your trajectory\nWe have extended a popular trajectory evaluation package [evo](https://github.com/MichaelGrupp/evo) for odometry and SLAM trajectory evaluation.\n\nSave your poses you would like to evaluate as individual `.txt` files containing 4x4 pose matrices. Our script in `tools/` can then convert the poses into two file formats that EVO uses. These file formats are TUM and KITTI.\n\nTo run the code type: \n\n```python ./tools/pp2evo.py -w \u003cpath_to_dir_ppix_matrices\u003e -t \u003coutput_tum_file_format\u003e -k \u003coutput_kitti_file_format\u003e```\n\n\nThe tool can output a TUM, a KITTI file, or both if necessary.\n\n## Using EVO\nFor general information about Evo, please, see the official project web page: https://github.com/MichaelGrupp/evo\n\n## Plotting trajectories by EVO\n\nTo plot trajectories against a reference, it is sufficient to call:\n\n```evo_traj tum 00_ORB.txt 00_SPTAM.txt --ref=00_gt.txt -p --plot_mode=xy```\n\nin the above example, TUM file format is used (see the first argument). The KITTI file format is quite limited, and it should not be used.\n\nTo compute Absolute Pose Error we can simply call\n\n```evo_ape tum 00_gt.txt 00_ORB.txt -v --plot --plot_mode xy --save_results results/ORB.zip```\n\nIn this example, the automatic alignment of trajectories is switched off.\n\nNote that the zip file can be used for further plotting in using `evo_res`, e.g.,\n\n```evo_res results/*.zip -p --save_table results/table.csv```\n\n\n## Generating high-quality plots\n\nTo generate plots ready for a paper, set up the configuration of Evo as you desire with `evo config`, for example:\n\n``` sh\nevo_config set plot_seaborn_style whitegrid \\\n               plot_fontfamily serif plot_fontscale 1.2 \\\n               plot_linewidth 1.0 \\\n               plot_figsize 5 4.5 \\\n               ros_map_unknown_cell_value 128 \\\n               plot_usetex               \n ```\n\nBefore and after:\n\n  \u003ca href=\"https://github.com/MichaelGrupp/evo/wiki/images/plot_style_default.png\" target=\"_blank\"\u003e\n    \u003cimg src=\"https://github.com/MichaelGrupp/evo/wiki/images/plot_style_default.png\" alt=\"evo\" height=\"200\" border=\"5\" /\u003e\n  \u003c/a\u003e\n  \n  \u003ca href=\"https://github.com/MichaelGrupp/evo/wiki/images/plot_style_changed.png\" target=\"_blank\"\u003e\n    \u003cimg src=\"https://github.com/MichaelGrupp/evo/wiki/images/plot_style_changed.png\" alt=\"evo\" height=\"200\" border=\"5\" /\u003e\n  \u003c/a\u003e\n\nYou can find more information about this configuration [here](https://github.com/MichaelGrupp/evo/wiki/Plotting).\n\n\u003c!-- # Install code\nInstall the code used for data collection on construction site.\n\u003cp align=\"left\"\u003e\n  \u003ca href=\"#\"\u003e\n    \u003cimg src=\"./media/flow.png\" alt=\"\" width=\"50%\"\u003e\n  \u003c/a\u003e\n\u003c/p\u003e\n\ncoming soon\n\n\n# FAQ\ncoming soon --\u003e\n\n\n\n# TODO\n- [ ] Replace evo images with ConSLAM trajectories.\n- [ ] create a docker image for faster installation\n\n\n# Citation\nPlease cite either of the papers:\n```bibtex\n@inproceedings{trzeciak2023conslam,\n  title={Conslam: Periodically collected real-world construction dataset for SLAM and progress monitoring},\n  author={Trzeciak, Maciej and Pluta, Kacper and Fathy, Yasmin and Alcalde, Lucio and Chee, Stanley and Bromley, Antony and Brilakis, Ioannis and Alliez, Pierre},\n  booktitle={Computer Vision--ECCV 2022 Workshops: Tel Aviv, Israel, October 23--27, 2022, Proceedings, Part VII},\n  pages={317--331},\n  year={2023},\n  organization={Springer}\n}\n```\n```bibtex\n@article{trzeciak2023conslamExtension,\n  title={ConSLAM: Construction Data Set for SLAM},\n  author={Trzeciak, Maciej and Pluta, Kacper and Fathy, Yasmin and Alcalde, Lucio and Chee, Stanley and Bromley, Antony and Brilakis, Ioannis and Alliez, Pierre},\n  journal={Journal of Computing in Civil Engineering},\n  volume={37},\n  number={3},\n  pages={04023009},\n  year={2023},\n  publisher={American Society of Civil Engineers}\n}\n```\n\n\n# Contact\nI have ideas on how to improve this dataset, but I am just about to graduate so I might not have much time to work on this these months. If you are interested in cooperation, feel free to reach out: \u003ca href=\"https://mac137.github.io\"\u003e\u003cstrong\u003emac137.github.io\u003c/strong\u003e\u003c/a\u003e\n\n\n# Licence\nCopyright (C) 2023, University of Cambridge, all rights reserved.\n \nTHIS SOFTWARE IS PROVIDED “AS IS” FOR ACADEMIC USE ONLY AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY\nAND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY. OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)\nHOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmac137%2FConSLAM","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmac137%2FConSLAM","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmac137%2FConSLAM/lists"}