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shiftlab-nanodrone / sparse-gslam

Code for paper Efficient 2D Graph SLAM for Sparse Sensing
MIT License
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input datasets #1

Closed jinalee-mech closed 1 year ago

jinalee-mech commented 1 year ago

Hello. I'm wondering what's the input dataset meaning. I know input dataset called Radish, but I'm not sure about the exact form of it. Is it 6Dof Pose and point cloud x, y?

hanzhi713 commented 1 year ago

We have a number of log parser in this file: https://github.com/shiftlab-nanodrone/sparse-gslam/blob/master/src/sparse_gslam/src/data_provider.cpp

We mostly use the old carmen log format (https://carmen.sourceforge.net/logger_playback.html), and we only use the FLASER entries in the log. This format is mostly what the slam benchmark website provides: http://ais.informatik.uni-freiburg.de/slamevaluation/datasets.php.

jinalee-mech commented 1 year ago

Thank you!