SLAM Oriented Landmark Visualizer and Editor

The aim of the project is to create a powerful desktop application to make debugging of SLAM frontend algorithms easier.

This tool will provide following features:

• Visualization of landmarks of three types (points, lines, planes)
• Mapping of the same landmarks between different images based on SLAM data association
• Editing and fine-tuning landmarks positions and association

Get started

Follow instructions in the User Guide

How do I create a project of the correct format?

1. Create the Images folder, in which put all the frames from the dataset. Images must match the following criteria:
   • same format for all images
   • jpg or png extension
   • file name is timestamp in Long format
2. For each used landmark detection algorithm create a separate folder. You need to name it in the format name_algorithm_landmark (example: alg1_line, alg1_keypoint, alg1_plane)
3. Put files with markup in each of the folders. They should be named according to the frame they belong to (timestamp)
   1. Points are represented in .csv file with (uid,x,y) columns, where uid is id of landmark and x,y are coordinates of keypoint. Example
   2. Lines are represented in .csv file with (uid,x0,y0,x1,y1) columns, where uid is id of landmark and x0,y0,x1,y1 are coordinates of the beginning and end of the line. Example
   3. The planes are represented as a png file, where the points belonging to the planes are shown in different pixel colors. For points that do not belong to any plane, black is used. Example

Build

Ensure you have JDK 17 to build or run this project.

Build: ./gradlew assemble
Run: ./gradlew run