Robot Data Visualizer

Ken Latimer, Ray Adler, Hao Wu and Qioge Li

Overview

This project was started with the intention of providing an easy tool for visualizing robotics data. Currently, only the University of Michigan's NCLT data set is used, which can be found here: http://robots.engin.umich.edu/nclt/

Structure

robot-data-visualizer/
  |- README.md
  |- gui/
     |- robot_data_visualizer.py
  |- test/
     |- run_test.py
     |- test_data_loader.py
     |- test_data_manager.py
     |- ...
  |- tools/
     |- __init__.py
     |- data_loader.py
     |- data_manager.py
     |- download_tar.py
     |- ...
  |- docs/
     |- ...
     |- Makefile
     |- make.bat
     |- _build/
        |- ...
     |- index.rst
     |- ...
  |- setup.py
  |- .gitignore
  |- .travis.yml
  |- LICENSE
  |- requirements.txt
  |- environment.yml

Getting Started

Installing from source

The official distribution is on GitHub, and you can clone the repository using:

> git clone https://github.com/klatimer/robot-data-visualizer

Then you need to go to the project's root directory by typing cd robot-data-visualizer.

Setup dependencies

To install all the dependencies, you have two options.

Option 1: Use pip to install all dependencies.

> pip install -r requirements.txt

Option 2: Use virtual environment

> source activate environment.yml

To install the package, you can type:

> python setup.py install

Tests

Tests can be run manually from the project root directory by typing:

> python test/run_tests.py

We are using Travis CI to run these tests after every commit. You can check out the current status here or see the status in the badge at the top of this README.

Tutorial

To visualize GPS data:

First type cd gui at root directory of this project to go to gui directory, then type

> python robot_data_visualizer.py

Then you can see a graphic user interface here:

To use this GUI, you can follow the instructions here:

• Choose date of the data set then press the Load Data button in the toolbar.
• Wait for the data to be loaded. This may take a minute on the first try.
• Press On or Off button in GPS Control to show or remove that path. Also you can drag the slider to see gps path at different points in time.
• Press On or Off button in Map Control to show or remove the static map overlay.
• Press On or Off button in Lidar Control to switch to or from the lidar viewing mode. Note that this may take a minute on the first try because lidar data is loaded once the On button is pressed.

GPS Control On and Map Control On:

Lidar Control On:

Documentation

Our project documentation can be found here.

License

This project utilizes the MIT LICENSE.