Merge pull request #14 from ethz-asl/feature/data

Feature/data

Author: Schmluk

README.md

@@ -27,10 +27,10 @@ If you find this package useful for your research, please consider citing our pa
 
 * Lukas Schmid, Olov Andersson, Aurelio Sulser, Patrick Pfreundschuh, and Roland Siegwart. "**Dynablox: Real-time Detection of Diverse Dynamic Objects in Complex Environments**" in *IEEE Robotics and Automation Letters (RA-L)*, 2023. \[ [ArXiv](https://arxiv.org/abs/2304.10049) | [Video](https://www.youtube.com/watch?v=NA13fRWlqRQ) \]
   ```bibtex
-  @inproceedings{schmid2023dynablox,
+  @article{schmid2023dynablox,
     title={Dynablox: Real-time Detection of Diverse Dynamic Objects in Complex Environments},
     author={Schmid, Lukas, and Andersson, Olov, and Sulser, Aurelio, and Pfreundschuh, Patrick, and Siegwart, Roland},
-    booktitle={IEEE Robotics and Automation Letters},
+    booktitle={IEEE Robotics and Automation Letters (RA-L)},
     year={2023},
     volume={},
     number={},
@@ -91,18 +91,16 @@ To run the demos we use the [Urban Dynamic Objects LiDAR  (DOALS) Dataset](https
 To download the data and pre-process it for our demos, use the provided script:
 ```bash
 roscd dynablox_ros/scripts
-# Or your preferred data destination.
-./download_doals_data.sh /home/$USER/data/DOALS
+./download_doals_data.sh /home/$USER/data/DOALS # Or your preferred data destination.
 ```
 
-> __note__ The dataset will be released shortly!
-
 We further collect a new dataset featuring diverse dynamic objects in complex scenes.
+The full dataset and description ca nbe found [here](https://projects.asl.ethz.ch/datasets/doku.php?id=dynablox).
 To download the processed ready-to-run data for our demos, use the provided script:
 ```bash
 roscd dynablox_ros/scripts
-# Or your preferred data destination.
-./download_dynablox_data.sh /home/$USER/data/Dynablox
+./download_dynablox_data.sh /home/$USER/data/Dynablox # Or your preferred data destination.
+
 ```
 
 # Examples
@@ -122,7 +120,6 @@ roscd dynablox_ros/scripts
 ![Run DOALS Example](https://user-images.githubusercontent.com/36043993/232138501-84250c43-236e-46f6-9b50-af54312215a7.png)
 
 ## Running a Dynablox Sequence
-> __note__ The dataset will be released shortly!
 
 1. If not done so, download the Dynablox dataset as explained [here](#datasets).
 
@@ -138,7 +135,6 @@ roscd dynablox_ros/scripts
 4. You should now see dynamic objects being detected as the sensor moves through the scene:
 ![Run Dynablox Example](https://user-images.githubusercontent.com/36043993/232140093-ee99a919-d2ad-4dc8-95ac-fa047b901f94.png)
 
-
 ## Running and Evaluating an Experiment
 
 ### Running an Experiment

dynablox/include/dynablox/common/index_getter.h

@@ -15,19 +15,20 @@ class IndexGetter {
       : indices_(std::move(indices)), current_index_(0) {}
   bool getNextIndex(IndexT* index) {
     CHECK_NOTNULL(index);
-    mutex_.lock();
+    std::lock_guard<std::mutex> lock(mutex_);
     if (current_index_ >= indices_.size()) {
-      mutex_.unlock();
       return false;
     }
     *index = indices_[current_index_];
     current_index_++;
-    mutex_.unlock();
     return true;
   }
 
-  // Not thread safe, use for setup only!
-  void reset() { current_index_ = 0u; }
+  // Resets the index getter to iterate over the same indices again.
+  void reset() {
+    std::lock_guard<std::mutex> lock(mutex_);
+    current_index_ = 0u;
+  }
 
  private:
   std::mutex mutex_;

dynablox_ros/launch/play_doals_data.launch

@@ -3,7 +3,7 @@
 <launch>
   <!-- Arguments -->
   <arg name="bag_file" default="" />  <!-- Path to rosbag to be played -->
-  <arg name="player_rate" default="1" /> <!-- 0.3 -->
+  <arg name="player_rate" default="1" /> <!-- Realtime factor to play data -->
 
   <!-- Play the data -->
   <node name="player" pkg="rosbag" type="play" args="--quiet --rate $(arg player_rate) $(arg bag_file) -d 1" /> 

dynablox_ros/launch/play_dynablox_data.launch

@@ -3,7 +3,7 @@
 <launch>
   <!-- Arguments -->
   <arg name="bag_file" default="" />  <!-- Path to rosbag to be played -->
-  <arg name="player_rate" default="1" /> <!-- 0.3 -->
+  <arg name="player_rate" default="1" />  <!-- Realtime factor to play data -->
 
   <!-- Play the data -->
   <node name="player" pkg="rosbag" type="play" args="--quiet --rate $(arg player_rate) $(arg bag_file) -d 1" /> 

dynablox_ros/scripts/download_dynablox_data.sh

@@ -15,17 +15,15 @@ else
 fi
 
 # Download.
-# mkdir -p $1
-echo ""
-echo "The Dynablox Dataset can not yet be downloaded, it will be released shortly."
-
-# echo "Downloading and processing scenes. This may take a few minutes ...";
-
-# Hauptgebaeude.
-# wget http://robotics.ethz.ch/~asl-datasets/2021_ICRA_dynamic_object_lidar_dataset/scenes/hauptgebaeude.zip -P $1
-# unzip $1/hauptgebaeude.zip -d $1
+mkdir -p $1
+echo "";
+echo "Downloading and processing scenes. This may take a few minutes ...";
 
+# Get data.
+wget http://robotics.ethz.ch/~asl-datasets/2023_RAL_Dynablox/processed.zip -P $1
+unzip $1/processed.zip -d $1
+rm $1/processed.zip
 
 # Finished.
-# echo "Successfully downloaded and processed the DOALS dataset to '$1'.";
+echo "Successfully downloaded and processed the Dynablox dataset to '$1'.";
 exit 0