Crate uvt

Crate uvt 

Source
Expand description

§uvt

The uvt crate provides utilities for working with Uncrewed Vehicle Trajectory (UVT) files.

UVT files combine:

  • A Lidar map of the environment (stored in VTK format).
  • A trajectory (poses over time), extracted from ROS bag (.bag) or MCAP (.mcap) recordings.

§Features

  • Read/write .uvt files
  • Extract map and trajectory data from .bag and .mcap logs

§Example

use uvt::Uvt;

// Generate a UVt from a bag file
let uvt = Uvt::read_rosbag("dataset.bag", "/map", "/trajectory").unwrap();

// Write it back to UVT format
uvt.write_file("output.uvt").unwrap();

Re-exports§

pub use pose::Point;

Modules§

pose
This module defines types that model ROS messages for Time, Pose, Quaternion, etc.

Structs§

Uvt
A UVT (Uncrewed Vehicle Trajectory)