SLAM-generation

Generate simple data for SLAM estimators.

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Data sources

We used groundtruth data from snapdragon dataset #3 (groundtruth.txt), which have to be placed in data folder.

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Camera calibration

• both camera calibrations (mono and stereo) use same intrinsic:
  • fx, fy = 420, 420
  • skew = 0
  • u0, v0 = 320, 240
• baseline (stereo) = 0.2

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Data files

• files stored in data folder used for generation

Groundtruth

• groundtruth.txt contains groundtruth data from snapdragon dataset.
• file have one header line
• data are decimal numbers separated with space:
  • timestamp in seconds
  • three numbers representing coordinates
  • four numbers representing quaternion (x, y, z, w)

Walls

• walls.csv
• contains information used for generating point clouds
• data are decimal numbers separated with space:
  • three numbers representing coordinates of the corner of the wall
  • three numbers representing coordinates of the first adjenct corner
  • three numbers representing coordinates of the second adjenct corner
  • number of points in the given wall (numbers' decimal part will be removed)

Output positions

• output_positions.csv contains the ground truth positions
• data are three decimal numbers representing coordinates separated with space

Output points

• output_points.csv contains the positions of the points
• data are three decimal numbers representing coordinates separated with space

Output seen

• output_seen_{mono|stereo}.csv contains visible positions
• data are two integers separated with space:

• first integer represents the line number of the position used for testing, whether the camera sees the point (from output_positions.csv)
• second integer represents the line number of the point that was seen by the camera (from output_points.csv)

Output projections

• output_projections_{mono|stereo}.csv contains all generated measurements
• data are four decimal numbers:

• first is timestamp in second based on groundtruth time used for simulation
• last values are from the projections in gtsam (x, y) | (uL, uR, v)

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Scripts

• . scripts/run.sh generate data