Import sample datasets from MRPT project

datasets/README.txt

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+To generate these datasets, compile RWT [1] and invoke: 
+
+  rwt-dataset-simulator <FILENAME.cfg>
+
+[1] https://github.com/jlblancoc/recursive-world-toolkit

datasets/tutorials_dataset-cartesian-3d.cfg

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+// ---------------------------------------------------------------
+// An example configuration file for rwt-dataset-simulator
+//
+//  Author: Jose Luis Blanco Claraco, Oct 26 2011.
+// ---------------------------------------------------------------
+
+//  World definition
+// -------------------------------
+[world]
+// "input": RWL file to load and compile
+//  Can be an absolute path or a relative path wrt this configuration file 
+//  (this applies to all other file names in this config file).
+input = world-rooms-3d.rwl
+
+// In case of having random elements in the map, set the seed to -1 to 
+//  initialize with clock, >=0 for any fixed pseudorandom sequence.
+//random_seed  = -1
+
+//  Path to simulate
+// -------------------------------
+[path]
+// The path is a sequence of 3D way-points, and may come from different sources.
+source_node_path_IDs= 0 18
+
+
+// Maximum length of each step:
+max_step_lin  = 0.30   // meters
+
+// Show robot moving thru the path as we simulate? (Much slower 
+//  but cool to debug)
+show_live_3D          = true 
+show_live_3D_sleep_ms = 5    // Slow down (in milliseconds) while rendering
+
+
+// ----------------------------------------------------------------------
+//  Sensors to simulate
+// See: http://code.google.com/p/recursive-world-toolkit/wiki/Sensors
+// ----------------------------------------------------------------------
+[sensor]
+// Type of sensor to simulate: 
+type = cartesian_sensor
+
+minRange                     = 0    // meters
+maxRange                     = 3.0  // meters
+fov_h                        = 140  // Horizontal Field of View (deg)
+fov_v                        = 100  // Vertical Field of View (deg)
+xyz_noise_std                = 0    // One sigma of Gaussian noise (meters)
+check_min_features_per_frame = 0    // Raises an error if there are less than these feats in one frame.
+
+sensor_pose_on_robot = [0 0 0 0 0 0]   // (x,y,z,yaw,pitch,roll), angles in degrees
+//sensor_pose_on_robot = [0.1 0.2 0.3 10 20 30]   // (x,y,z,yaw,pitch,roll), angles in degrees
+
+
+// -------------------------------
+//  Output Format
+// -------------------------------
+[dataset-format]
+// Path and prefix of all output files (*_SENSOR.txt, *_GT_PATH.txt, etc.)
+output_files_prefix = dataset_tutorials_cartesian_3d
+//output_files_prefix = dataset_tutorials_cartesian_3d_displ
+
+//observations_as_c_structs = true  // Useful for copying the dataset into tutorial code as examples
+
+

datasets/tutorials_dataset-cartesian.cfg

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+// ---------------------------------------------------------------
+// An example configuration file for rwt-dataset-simulator
+//
+//  Author: Jose Luis Blanco Claraco, Oct 26 2011.
+// ---------------------------------------------------------------
+
+//  World definition
+// -------------------------------
+[world]
+// "input": RWL file to load and compile
+//  Can be an absolute path or a relative path wrt this configuration file 
+//  (this applies to all other file names in this config file).
+input = world-rooms-2d.rwl
+
+// In case of having random elements in the map, set the seed to -1 to 
+//  initialize with clock, >=0 for any fixed pseudorandom sequence.
+//random_seed  = -1
+
+//  Path to simulate
+// -------------------------------
+[path]
+// The path is a sequence of 3D way-points, and may come from different sources.
+source_node_path_IDs= 0 18
+
+
+// Maximum length of each step:
+max_step_lin  = 0.30   // meters
+
+// Show robot moving thru the path as we simulate? (Much slower 
+//  but cool to debug)
+show_live_3D          = true 
+show_live_3D_sleep_ms = 5    // Slow down (in milliseconds) while rendering
+
+
+// ----------------------------------------------------------------------
+//  Sensors to simulate
+// See: http://code.google.com/p/recursive-world-toolkit/wiki/Sensors
+// ----------------------------------------------------------------------
+[sensor]
+// Type of sensor to simulate: 
+type = cartesian_sensor
+
+minRange                     = 0    // meters
+maxRange                     = 5.0  // meters
+fov_h                        = 180  // Horizontal Field of View (deg)
+fov_v                        = 140  // Vertical Field of View (deg)
+xyz_noise_std                = 0    // One sigma of Gaussian noise (meters)
+check_min_features_per_frame = 0    // Raises an error if there are less than these feats in one frame.
+
+//sensor_pose_on_robot  (TO DO): Now it's fixed to (yaw,pitch,roll)=(0,0,0)
+
+
+// -------------------------------
+//  Output Format
+// -------------------------------
+[dataset-format]
+// Path and prefix of all output files (*_SENSOR.txt, *_GT_PATH.txt, etc.)
+output_files_prefix = dataset_tutorials_cartesian_2d
+
+//observations_as_c_structs = true  // Useful for copying the dataset into tutorial code as examples
+
+

datasets/tutorials_dataset-monocular.cfg

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+// ---------------------------------------------------------------
+// An example configuration file for rwt-dataset-simulator
+//
+//  Author: Jose Luis Blanco Claraco, Oct 26 2011.
+// ---------------------------------------------------------------
+
+//  World definition
+// -------------------------------
+[world]
+// "input": RWL file to load and compile
+//  Can be an absolute path or a relative path wrt this configuration file 
+//  (this applies to all other file names in this config file).
+input = world-rooms-3d.rwl
+
+// In case of having random elements in the map, set the seed to -1 to 
+//  initialize with clock, >=0 for any fixed pseudorandom sequence.
+//random_seed  = -1
+
+//  Path to simulate
+// -------------------------------
+[path]
+// The path is a sequence of 3D way-points, and may come from different sources.
+//  Only set one of the following variables:
+// 
+// 1) A plain text file with "X Y Z" lines:
+//  source_3D_text_file = <FILE.txt>
+//
+// 2) A sequence of node IDs, corresponding to the 0-based indices of the RWL 
+//      program "NODE" primitives:
+//  source_node_IDs = ID_1 ID_2 ID_3 .... ID_N
+// 
+// 3) A sequence of node IDs, loaded from a text file (one ID per line):
+//  source_node_IDs_text_file = <FILE.txt>
+// 
+// 4) A "smart" automatic generator of paths from the RWL nodes.
+//  [TO DO]
+// 
+
+//source_3D_text_file = dataset-demo1_waypoints.txt
+source_node_IDs = 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
+
+// Maximum length of each step:
+max_step_lin  = 0.30   // meters
+
+// Show robot moving thru the path as we simulate? (Much slower 
+//  but cool to debug)
+show_live_3D          = true 
+show_live_3D_sleep_ms = 5    // Slow down (in milliseconds) while rendering
+
+
+// ----------------------------------------------------------------------
+//  Sensors to simulate
+// See: http://code.google.com/p/recursive-world-toolkit/wiki/Sensors
+// ----------------------------------------------------------------------
+[sensor]
+// Type of sensor to simulate. Can be: 
+//   * "camera": 
+//   * "range-only": 
+//  
+type = camera
+
+maxRange = 5.0   // meters
+
+// Camera parameters: 
+resolution = [800 600]
+cx         = 400
+cy         = 300
+fx         = 200
+fy         = 200
+dist       = [0 0 0 0 0] // [K1 K2 T1 T2 K3]
+focal_length = 0.010 // This param is ignored
+
+check_min_features_per_frame = 4
+
+sensor_pose_on_robot = [0 0 0 -90 0 -90]   // (x,y,z,yaw,pitch,roll), angles in degrees
+//sensor_pose_on_robot = [0 0 0 0 0 0]   // (x,y,z,yaw,pitch,roll), angles in degrees
+
+// Odometry noise parameters:
+// ...
+
+// For the sensor & odometry noises: set the seed to -1 to initialize with 
+//  clock, >=0 for any fixed pseudorandom sequence.
+//random_seed  = -1
+
+
+// -------------------------------
+//  Output Format
+// -------------------------------
+[dataset-format]
+// Path and prefix of all output files (*_SENSOR.txt, *_GT_PATH.txt, etc.)
+output_files_prefix = OUT_dataset_tutorials_mono
+
+//observations_as_c_structs = true  // Useful for copying the dataset into tutorial code as examples
+

datasets/tutorials_dataset-range-bearing-2d.cfg

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+// ---------------------------------------------------------------
+// An example configuration file for rwt-dataset-simulator
+//
+//  Author: Jose Luis Blanco Claraco, Oct 26 2011.
+// ---------------------------------------------------------------
+
+//  World definition
+// -------------------------------
+[world]
+// "input": RWL file to load and compile
+//  Can be an absolute path or a relative path wrt this configuration file 
+//  (this applies to all other file names in this config file).
+input = world-rooms-2d.rwl
+
+// In case of having random elements in the map, set the seed to -1 to 
+//  initialize with clock, >=0 for any fixed pseudorandom sequence.
+//random_seed  = -1
+
+//  Path to simulate
+// -------------------------------
+[path]
+// The path is a sequence of 3D way-points, and may come from different sources.
+source_node_path_IDs= 0 18
+
+
+// Maximum length of each step:
+max_step_lin  = 0.80   // meters
+max_step_ang  = 30     // degrees
+
+// Show robot moving thru the path as we simulate? (Much slower 
+//  but cool to debug)
+show_live_3D          = true 
+show_live_3D_sleep_ms = 5    // Slow down (in milliseconds) while rendering
+
+
+// ----------------------------------------------------------------------
+//  Sensors to simulate
+// See: http://code.google.com/p/recursive-world-toolkit/wiki/Sensors
+// ----------------------------------------------------------------------
+[sensor]
+// Type of sensor to simulate: 
+type = range_bearing
+
+minRange                     = 0    // meters
+maxRange                     = 4.0  // meters
+fov_h                        = 100  // Horizontal Field of View (deg)
+fov_v                        = 140  // Vertical Field of View (deg)
+range_noise_std              = 0    // One sigma of Gaussian noise (meters)
+yaw_noise_std                = 0    // One sigma of Gaussian noise (deg)
+pitch_noise_std              = 0    // One sigma of Gaussian noise (deg)
+check_min_features_per_frame = 0    // Raises an error if there are less than these feats in one frame.
+
+//sensor_pose_on_robot  (TO DO): Now it's fixed to (yaw,pitch,roll)=(0,0,0)
+
+// -------------------------------
+//  Output Format
+// -------------------------------
+[dataset-format]
+// Path and prefix of all output files (*_SENSOR.txt, *_GT_PATH.txt, etc.)
+output_files_prefix = dataset_tutorials_range_bearing_2d
+
+//observations_as_c_structs = true  // Useful for copying the dataset into tutorial code as examples
+
+

datasets/tutorials_dataset-range-bearing-3d.cfg

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+// ---------------------------------------------------------------
+// An example configuration file for rwt-dataset-simulator
+//
+//  Author: Jose Luis Blanco Claraco, Oct 26 2011.
+// ---------------------------------------------------------------
+
+//  World definition
+// -------------------------------
+[world]
+// "input": RWL file to load and compile
+//  Can be an absolute path or a relative path wrt this configuration file 
+//  (this applies to all other file names in this config file).
+input = world-rooms-3d.rwl
+
+// In case of having random elements in the map, set the seed to -1 to 
+//  initialize with clock, >=0 for any fixed pseudorandom sequence.
+//random_seed  = -1
+
+//  Path to simulate
+// -------------------------------
+[path]
+// The path is a sequence of 3D way-points, and may come from different sources.
+source_node_path_IDs= 0 18
+
+
+// Maximum length of each step:
+max_step_lin  = 0.30   // meters
+
+// Show robot moving thru the path as we simulate? (Much slower 
+//  but cool to debug)
+show_live_3D          = true 
+show_live_3D_sleep_ms = 5    // Slow down (in milliseconds) while rendering
+
+
+// ----------------------------------------------------------------------
+//  Sensors to simulate
+// See: http://code.google.com/p/recursive-world-toolkit/wiki/Sensors
+// ----------------------------------------------------------------------
+[sensor]
+// Type of sensor to simulate: 
+type = range_bearing
+
+minRange                     = 0    // meters
+maxRange                     = 4.0  // meters
+fov_h                        = 100  // Horizontal Field of View (deg)
+fov_v                        = 140  // Vertical Field of View (deg)
+range_noise_std              = 0    // One sigma of Gaussian noise (meters)
+yaw_noise_std                = 0    // One sigma of Gaussian noise (deg)
+pitch_noise_std              = 0    // One sigma of Gaussian noise (deg)
+check_min_features_per_frame = 0    // Raises an error if there are less than these feats in one frame.
+
+//sensor_pose_on_robot  (TO DO): Now it's fixed to (yaw,pitch,roll)=(0,0,0)
+
+// -------------------------------
+//  Output Format
+// -------------------------------
+[dataset-format]
+// Path and prefix of all output files (*_SENSOR.txt, *_GT_PATH.txt, etc.)
+output_files_prefix = dataset_tutorials_range_bearing
+
+//observations_as_c_structs = true  // Useful for copying the dataset into tutorial code as examples
+
+