The scan files are text files. They contain one line for each scan in the following format:
class_id [space] x_world_coordinate [space] y_world_coordinate [space] robot_orientation [space] n1_number_front_beams [space] n2_number_rear_beams [space] front_beam_1 [space] ... [space] front_beam_n2 [space] back_beam_1 [space] ... [space] back_beam_n2 [newline]
...
...
where:
The front laser covers 180 degrees in front of the robot. The resolution of the beams is then 180/(n1-1). That is 1 degree when n1=181.
The rear laser covers 180 degrees on the back of the robot. The resolution of the beams is then 180/(n2-1). That is 1 degree when n2=181.
As an example, the following code can be used to transform the scan into a polygon:
double flaser_resolution = M_PI / (double)( (re->flaser).num_readings -1 ); double rlaser_resolution = M_PI / (double)( (re->rlaser).num_readings -1 ); double theta; carmen_point_t point; // store the points in an array int index = 0; for (int j=0; j<(re->flaser).num_readings; j++) { theta = (re->flaser).theta -M_PI_2 + j*flaser_resolution; polar_to_rect( (re->flaser).range[j], theta, &point.x, &point.y ); V[index].x = point.x; V[index].y = point.y; if( index == 0 ) { V[n].x = point.x; V[n].y = point.y; } index++; } for (int j=0; j<(re->rlaser).num_readings; j++) { theta = (re->rlaser).theta -M_PI_2 + j*rlaser_resolution; polar_to_rect( (re->rlaser).range[j], theta, &point.x, &point.y); V[index].x = point.x; V[index].y = point.y; index++; }
The features files are text files. They contain one line for each set of features calculated from one scan in the following format:
class_id [space] m_total_number_of_features [space] feature_1 [space] ... feature_m [newline]
...
...
where:
The features are a subset extracted from the sets B and P presented in section 3.4 of my PhD thesis
Data set corresponding to building 79 at the University of Freiburg. The map was submitted by Cyrill Stachniss to the Radish repository under the name "fr079." The resolution of this map is 1pixel=5cm [.tgz (211.1 MB)]
Data set corresponding to building 52 at the University of Freiburg. This map was provided by Steffen Gutmann. The resolution of this map is 1pixel=5cm [.tgz (150.3 MB)]
Data set corresponding to building 101 at the University of Freiburg. The hall and corridors in this map are the original from the building 101. However the rooms are manually added from other maps. The resolution of this map is 1pixel=5cm [.tgz (104.3 MB)]
Data set corresponding to the interior of the Intel Research Lab in Seattle. The map was submitted by Dieter Fox to the Radish repository under the name "intel_lab." This is a test data set, and for this reason there is no classification of places in the observations. All scans are classified as class 0. The resolution of this map is 1pixel=5cm [.tgz (314.6 MB)]
Data set corresponding to an empty building in Virginia. The map was submitted by Andrew Howard to the Radish repository under the name "sdr_site_b." This is a test data set, and for this reason there is no classification of places in the observations. All scans are classified as class 0. The resolution of this map is 1pixel=5cm [.tgz (314.6 MB)]