Download links:
File Structure:
The map files are CSV files with the following header:
x,y,nx,ny,observationDirections0,observationDirections1,intensity,stamps_Msec,stamps_sec,stamps_nsec,simpleSensorNoise,probabilityStatic,probabilityDynamic,dynamic_ratio,densities
- – x,y: the point coordinates
- – nx,ny: the point normals
- – observationDirection0,observationDirection1: the vector to the sensor origin when measuring this point
- – intensity: returned light intensity
- – stamps_Msecs,stamps_sec,stamps_nsec: time stamp such that t = Msecs*1e6 + sec + nsec*1e9 is the time since the epoch in seconds.
- – simpleSensorNoise: estimated noise
- – probabilityStatic,probabilityDynamic,dynamic_ratio: estimated nature of the point. In our maps, most points are considered dynamic with a likelihood > 1e9.
- – densitiies: estimated density.
The pose files are CSV files with the following header:
kf,t,x,y,theta,xg,yg,thetag
- – kf: index of the keyframe in which this pose was estimated
- – t: timestamp, in second
- – x,y,theta: coordinate (SE2) in the local keyframe, in meter/rad
- – xg,yg,thetag: coordinate in a globally consistent frame, in meter/rad.