This package provides dataset for MINS simulation.
Specifically, it contains forders: BSplineDataset, FloorPlans, and GroundTruths.
This folder contains trajectory files MINS use to construct B-Spline for its simulation. The files include: EuRoC MAV Dataset, TUM VI Dataset, and UD dataset:
EuRoC
Machine Hall 01 - 05
Vicon Room 1 01 - 03
Vicon Room 2 01 - 03
TUM
Corridor 01
Magistrale 01
Room 01 - 06
UD
Ground vehicle: Garage, Neighbor
Simulated motion: Dynamic, Small, Spencer, Warehouse
Human 3D motion: Gore
FloorPlans contains pre-defined plane information that can be used with BSplineDataset that is used to simulate LiDAR pointcloud.
MINS simulator will try to find FloorPlans file that has the same name of BSplineDataset file when LiDAR simulation is enabled.
UD_Warehouse and UD_Spencer are currently provided.
GroundTruths contains the ground truth trajectory generated in 1000 Hz.
Note the BSplineDataset is not exactly the ground truth of simulated trajectory, as BSplineDataset is being used to construct B-Spline.
Specifically, the folder contains 3 different types of ground truth files:
holonomic: ground truths of general 3D motion simulationnonholonomic: ground truths of nonholonomic motion (heading of the vehicle should align with the direction of motion) motion simulation. Mostly for simulation includes wheel odometry sensor.nonholonomic_planar: ground truths of nonholonomic motion + planar motion simulation. Mostly for simulation includes wheel odometry sensor.
The ground truth files can be downloaded by: git submodule update --init --recursive