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Add documentation about some 3D backpack data. (#188)

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Wolfgang Hess 2016-11-25 14:30:57 +01:00 committed by GitHub
parent 012beb5c0c
commit d5652c6985
2 changed files with 41 additions and 3 deletions
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40
docs/source/data.rst
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@ -108,7 +108,45 @@ Data
3D Cartographer Backpack – Deutsches Museum
===========================================
3D data sets are still being curated and will be made available soon.
This data was collected using a 3D LIDAR backpack at the
`Deutsches Museum <https://en.wikipedia.org/wiki/Deutsches_Museum>`_.
Each bag contains data from an IMU and from two Velodyne VLP-16 LIDARs,
one mounted horizontally (i.e. spin axis up) and one vertically
(i.e. push broom).
3D data sets are still being curated and more will be made available soon.
License
-------
Copyright 2016 The Cartographer Authors
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
Data
----
=================================================================================================================================== ======== ====== ===============================
`ROS Bag <http://wiki.ros.org/Bags>`_ Duration Size Known Issues
=================================================================================================================================== ======== ====== ===============================
`b3-2016-01-19-13-50-11.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-01-19-13-50-11.bag>`_ 318 s 2.5 GB
`b3-2016-04-05-13-54-42.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-13-54-42.bag>`_ 829 s 6.1 GB
`b3-2016-04-05-14-14-00.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag>`_ 1221s 9.1 GB
`b3-2016-04-05-15-51-36.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-15-51-36.bag>`_ 30 s 231 MB
`b3-2016-04-27-12-56-11.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-27-12-56-11.bag>`_ 2905 s 21 GB
`b3-2016-05-10-12-56-33.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-05-10-12-56-33.bag>`_ 1767 s 13 GB
`b3-2016-06-07-12-42-49.bag <https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-06-07-12-42-49.bag>`_ 596 s 3.9 GB 3 gaps in horizontal laser data
=================================================================================================================================== ======== ====== ===============================
PR2 – Willow Garage
===================

4
docs/source/index.rst
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@ -91,10 +91,10 @@ the demo:
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
# Download the 3D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/cartographer_3d_deutsches_museum.bag
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
# Launch the 3D backpack demo.
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/cartographer_3d_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
# Download the Revo LDS example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag