uvt-rs

This workspaces provides crates to interact with files in the Uncrewed Vehicle Trajectory (UVT) format. The UVT format is an extension of the LTR file format introduced in Kilometer-Scale Autonomous Navigation in Subarctic Forests: Challenges and Lessons Learned.

Highlights

This workspace contains 3 crates:

• uvt reads and write UVT files. It can also generate UVT file from .bag and .mcap files.
• uvt-plot generates a top view plot of a trajectory.
• uvt-viz3d allows to visualize UVT files in 3D, with rerun.

use std::io;
use uvt;
use uvt_plot;
use uvt_viz3d;

fn main() -> Result<(), io::Error> {
    // Open a UVT file
    let my_uvt = uvt::Uvt::read_file("example.uvt")?;

    // Plot trajectory
    uvt_plot::plot_trajectory(my_uvt);

    // Visualize uvt with rerun
    uvt_viz3d::show_uvt(my_uvt);

    // Save my_uvt to a new file
    my_uvt.write_file("my_uvt.uvt")?;

    Ok(())
}

Citation

If you use the code or data in an academic context, please cite the following work:

@article{Baril2022,
  title = {Kilometer-Scale Autonomous Navigation in Subarctic Forests: Challenges and Lessons Learned},
  volume = {2},
  ISSN = {2771-3989},
  url = {http://dx.doi.org/10.55417/fr.2022050},
  DOI = {10.55417/fr.2022050},
  journal = {Field Robotics},
  publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
  author = {Baril,  Dominic and Desch\^enes,  Simon-Pierre and Gamache,  Olivier and Vaidis,  Maxime and LaRocque,  Damien and Laconte,  Johann and Kubelka,  Vladimír and Giguère,  Philippe and Pomerleau,  Fran\c{c}ois},
  year = {2022},
  month = jul,
  pages = {1628–1660}
}

License

Licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.