iilabs3d-toolkit 0.0.0

Toolkit for the IILABS 3D dataset

IILABS 3D Toolkit

This kit contains utilities to work with the IILABS 3D Dataset. It includes functionality to list available dataset sequences, download them, and convert bag files between ROS1 and ROS2 formats.

Install

To install the IILABS 3D Toolkit, run the following command:

pip install iilabs3d-toolkit

You can also install autocompletion for the package by typing:

iilabs3d --install-completion

Note: You need to restart your shell for the autocompletion to take effect.

Usage

List Available Sequences

You can list the available sequences in the IILABS 3D dataset by typing:

iilabs3d list-sequences

TODO: "You should see something similar to this:"

List Available Sensors

The IILABS 3D dataset provides all the sequences for diferent 3D LiDAR sensors , such as the Livox Mid 360, Velodyne VLP-16, etc. You can list the available 3D LiDAR sensors present in the IILABS 3D dataset by typing:

iilabs3d list-sensors

TODO: "You should see something similar to this:"

Download Sequences

Once you've chosen your sequence and sensor, you can download it with the following command:

iilabs3d download <save_directory> <sequence_name> <sensor_name>

For instance, you could save benchmark sequences fro all sensors as follows:

iilabs3d download ~/data bench all

Note: The sequence will be saved at <save_directory>/iilabs3d-dataset/<sequence_prefix>/<sequence_name>. For example:

data
  - iilabs3d-dataset
    - benchmark
      - livox_mid-360
        - calib_livox_mid-360.yaml
        - elevator
          - *.bag
          - ground_truth.tum
        - loop
          - *.bag
          - ground_truth.tum
        ...
      - ouster_os1-64
        - calib_ouster_os1-64.yaml
        - elevator
          - *.bag
          - ground_truth.tum
        - loop
          - *.bag
          - ground_truth.tum
        ...
      ...

Convert Format

The dataset sequences are provided in ROS1 bag format. We offer a convenient tool to convert them to ROS2 fotmat. To convert a bag or a sequence of bags, type:

iilabs3d convert <input_directory/input_bag>