diff --git a/docs/source/data.rst b/docs/source/data.rst index 55f52a9..cec81c4 100644 --- a/docs/source/data.rst +++ b/docs/source/data.rst @@ -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 `_. +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 `_ Duration Size Known Issues +=================================================================================================================================== ======== ====== =============================== +`b3-2016-01-19-13-50-11.bag `_ 318 s 2.5 GB +`b3-2016-04-05-13-54-42.bag `_ 829 s 6.1 GB +`b3-2016-04-05-14-14-00.bag `_ 1221s 9.1 GB +`b3-2016-04-05-15-51-36.bag `_ 30 s 231 MB +`b3-2016-04-27-12-56-11.bag `_ 2905 s 21 GB +`b3-2016-05-10-12-56-33.bag `_ 1767 s 13 GB +`b3-2016-06-07-12-42-49.bag `_ 596 s 3.9 GB 3 gaps in horizontal laser data +=================================================================================================================================== ======== ====== =============================== PR2 – Willow Garage =================== diff --git a/docs/source/index.rst b/docs/source/index.rst index ae66163..34bdc2b 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -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