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getBagData.m
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getBagData.m
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%{
* Copyright (C) 2013-2020, The Regents of The University of Michigan.
* All rights reserved.
* This software was developed in the Biped Lab (https://www.biped.solutions/)
* under the direction of Jessy Grizzle, [email protected]. This software may
* be available under alternative licensing terms; contact the address above.
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* The views and conclusions contained in the software and documentation are those
* of the authors and should not be interpreted as representing official policies,
* either expressed or implied, of the Regents of The University of Michigan.
*
* AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
* WEBSITE: https://www.brucerobot.com/
%}
function [BagData, TestData] = getBagData()
TestData(1).bagfile = "EECS3.bag";
TestData(1).pc_file = "velodyne_points-EECS3--2019-09-06-06-19.mat";
TestData(2).bagfile = "verification2-45.bag";
TestData(2).pc_file = "velodyne_points-verification2--2019-09-03-23-02.mat";
TestData(3).bagfile = "verification3-45.bag";
TestData(3).pc_file = "velodyne_points-verification3--2019-09-03-23-03.mat";
TestData(4).bagfile = "grove2.bag";
TestData(4).pc_file = "velodyne_points-grove2--2019-09-06-06-20.mat";
TestData(5).bagfile = "verification5-45.bag";
TestData(5).pc_file = "velodyne_points-verification5--2019-09-03-23-03.mat";
TestData(6).bagfile = "outdoor6-notag.bag";
TestData(6).pc_file = "velodyne_points-outdoor6-NoTag--2019-09-06-10-31.mat";
TestData(7).bagfile = "outdoor4.bag";
TestData(7).pc_file = "velodyne_points-outdoor4--2019-09-04-18-16.mat";
TestData(8).bagfile = "outdoor5.bag";
TestData(8).pc_file = "velodyne_points-outdoor5--2019-09-04-18-20.mat";
%%% tag size: largest -> smallest
%%% parameter for dataset
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 3Tags-OldLiDAR.bag dataset
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
BagData(1).bagfile = "3Tags-OldLiDAR.bag";
BagData(1).num_tag = 3;
BagData(1).lidar_target(1).pc_file = 'velodyne_points-3Tags-OldLiDAR-largest--2019-09-03-08-26.mat'; %% payload: 3Tags-OldLiDAR.bag
BagData(1).lidar_target(1).tag_size = 0.8051;
BagData(1).lidar_target(2).pc_file = 'velodyne_points-3Tags-OldLiDAR-medium--2019-09-02-20-53.mat'; %% payload
BagData(1).lidar_target(2).tag_size = 0.225;
BagData(1).lidar_target(3).pc_file = 'velodyne_points-3Tags-OldLiDAR-small--2019-09-02-20-47.mat'; %% payload
BagData(1).lidar_target(3).tag_size = 0.158;
BagData(1).lidar_full_scan = "velodyne_points-3Tags-full-pc--2019-09-01-02-25.mat";
BagData(1).camera_target(1).corners = [526, 447, 569, 490;
261, 297, 341, 379;
1, 1, 1, 1];
BagData(1).camera_target(2).corners = [269, 237, 284, 251;
296, 313, 326, 343;
1, 1, 1, 1];
BagData(1).camera_target(3).corners = [394, 349, 413, 367;
249, 267, 294, 312;
1, 1, 1, 1];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% lab2-closer.bag dataset
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
BagData(2).bagfile = "lab2-closer.bag";
BagData(2).num_tag = 2;
BagData(2).lidar_target(1).pc_file = 'velodyne_points-lab2-closer-big--2019-09-05-21-51.mat'; %% payload: lab2-closer.bag
BagData(2).lidar_target(1).tag_size = 0.8051;
BagData(2).lidar_target(2).pc_file = 'velodyne_points-lab2-closer-small--2019-09-05-21-53.mat'; %% payload
BagData(2).lidar_target(2).tag_size = 0.158;
BagData(2).lidar_full_scan = "velodyne_points-lab2-full-pc--2019-09-05-23-20.mat";
BagData(2).camera_target(1).corners = [340, 263, 406, 316;
236, 313, 341, 417;
1, 1, 1, 1];
BagData(2).camera_target(2).corners = [197, 153, 220, 176;
250, 273, 292, 315;
1, 1, 1, 1];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% lab_angled.bag dataset
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
BagData(3).bagfile = "lab_angled.bag";
BagData(3).num_tag = 1;
BagData(3).lidar_target(1).pc_file = 'velodyne_points-lab_angled-big--2019-09-05-21-25.mat'; %% payload: lab_angled.bag
BagData(3).lidar_target(1).tag_size = 0.8051;
BagData(3).lidar_full_scan = "velodyne_points-lab_angled-full-pc--2019-09-06-14-03.mat";
BagData(3).camera_target(1).corners = [340, 263, 406, 316;
236, 313, 341, 417;
1, 1, 1, 1];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% lab3-closer-cleaner.bag dataset
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
BagData(4).bagfile = "lab3-closer-cleaner.bag";
BagData(4).num_tag = 2;
BagData(4).lidar_target(1).pc_file = 'velodyne_points-lab3-closer-big--2019-09-06-08-38.mat'; %% payload: 3Tags-OldLiDAR.bag
BagData(4).lidar_target(1).tag_size = 0.8051;
BagData(4).lidar_target(2).pc_file = 'velodyne_points-lab3-closer-small--2019-09-06-08-35.mat'; %% payload
BagData(4).lidar_target(2).tag_size = 0.158;
BagData(4).lidar_full_scan = "velodyne_points-lab3-closer-full-scan--2019-09-06-08-28.mat";
BagData(4).camera_target(2).corners = [200, 157, 223, 180;
251, 275, 292, 315;
1, 1, 1, 1];
BagData(4).camera_target(1).corners = [333, 248, 418, 328;
239, 322, 328, 416;
1, 1, 1, 1];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% lab4-closer-cleaner.bag dataset
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
BagData(5).bagfile = "lab4-closer-cleaner.bag";
BagData(5).num_tag = 2;
BagData(5).lidar_target(1).pc_file = 'velodyne_points-lab4-closer-big--2019-09-06-13-49.mat'; %% payload: 3Tags-OldLiDAR.bag
BagData(5).lidar_target(1).tag_size = 0.8051;
BagData(5).lidar_target(2).pc_file = 'velodyne_points-lab4-closer-small--2019-09-06-13-38.mat'; %% payload
BagData(5).lidar_target(2).tag_size = 0.158;
BagData(5).lidar_full_scan = "velodyne_points-lab4-closer-full-pc--2019-09-06-13-34.mat";
BagData(5).camera_target(2).corners = [250, 206, 272, 230;
257, 281, 299, 323;
1, 1, 1, 1];
BagData(5).camera_target(1).corners = [473, 349, 575, 435;
227, 314, 361, 448;
1, 1, 1, 1];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% lab5-closer-cleaner.bag dataset
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
BagData(6).bagfile = "lab5-closer-cleaner.bag";
BagData(6).num_tag = 2;
BagData(6).lidar_target(1).pc_file = 'velodyne_points-lab5-closer-bag--2019-09-06-14-27.mat'; %% payload: 3Tags-OldLiDAR.bag
BagData(6).lidar_target(1).tag_size = 0.8051;
BagData(6).lidar_target(2).pc_file = 'velodyne_points-lab5-closer-small--2019-09-06-14-23.mat'; %% payload
BagData(6).lidar_target(2).tag_size = 0.158;
BagData(6).lidar_full_scan = "velodyne_points-lab5-closer-full-pc--2019-09-06-14-15.mat";
BagData(6).camera_target(2).corners = [145, 105, 165, 127;
263, 284, 299, 321;
1, 1, 1, 1];
BagData(6).camera_target(1).corners = [398, 281, 490, 367;
233, 318, 349, 440;
1, 1, 1, 1];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% lab6-closer-cleaner.bag dataset
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
BagData(7).bagfile = "lab6-closer-cleaner.bag";
BagData(7).num_tag = 2;
BagData(7).lidar_target(1).pc_file = 'velodyne_points-lab6-closer-big--2019-09-06-15-09.mat'; %% payload: 3Tags-OldLiDAR.bag
BagData(7).lidar_target(1).tag_size = 0.8051;
BagData(7).lidar_target(2).pc_file = 'velodyne_points-lab6-closer-small--2019-09-06-15-05.mat'; %% payload
BagData(7).lidar_target(2).tag_size = 0.158;
BagData(7).lidar_full_scan = "velodyne_points-lab6-closer-full-pc--2019-09-06-14-15.mat";
BagData(7).camera_target(2).corners = [230, 191, 251, 213;
260, 282, 298, 321;
1, 1, 1, 1];
BagData(7).camera_target(1).corners = [409, 314, 476, 372;
246, 309, 349, 411;
1, 1, 1, 1];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% lab7-closer-cleaner.bag dataset
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
BagData(8).bagfile = "lab7-closer-cleaner.bag";
BagData(8).num_tag = 2;
BagData(8).lidar_target(1).pc_file = 'velodyne_points-lab7-closer-big--2019-09-06-15-14.mat'; %% payload: 3Tags-OldLiDAR.bag
BagData(8).lidar_target(1).tag_size = 0.8051;
BagData(8).lidar_target(2).pc_file = 'velodyne_points-lab7-closer-small--2019-09-06-15-12.mat'; %% payload
BagData(8).lidar_target(2).tag_size = 0.158;
BagData(8).lidar_full_scan = "velodyne_points-lab7-closer-full-pc--2019-09-06-14-16.mat";
BagData(8).camera_target(2).corners = [509, 479, 529, 498;
274, 292, 305, 323;
1, 1, 1, 1];
BagData(8).camera_target(1).corners = [178, 79, 230, 137;
253, 307, 342, 402;
1, 1, 1, 1];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% lab8-closer-cleaner.bag dataset
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
BagData(9).bagfile = "lab8-closer-cleaner.bag";
BagData(9).num_tag = 2;
BagData(9).lidar_target(1).pc_file = 'velodyne_points-lab8-closer-big--2019-09-06-15-28.mat'; %% payload: 3Tags-OldLiDAR.bag
BagData(9).lidar_target(1).tag_size = 0.8051;
BagData(9).lidar_target(2).pc_file = 'velodyne_points-lab8-closer-small--2019-09-06-15-17.mat'; %% payload
BagData(9).lidar_target(2).tag_size = 0.158;
BagData(9).lidar_full_scan = "velodyne_points-lab8-closer-full-pc--2019-09-06-14-16.mat";
BagData(9).camera_target(2).corners = [264, 226, 284, 246;
258, 279, 296, 316;
1, 1, 1, 1];
BagData(9).camera_target(1).corners = [465, 372, 545, 445;
222, 293, 318, 389;
1, 1, 1, 1];
BagData(10).bagfile = "wavefield3-tag.bag";
BagData(10).num_tag = 2;
BagData(10).lidar_target(1).pc_file = 'velodyne_points-wavefield3-big--2019-09-07-19-04.mat'; %% payload: 3Tags-OldLiDAR.bag
BagData(10).lidar_target(1).tag_size = 0.8051;
BagData(10).lidar_target(2).pc_file = 'velodyne_points-wavefield3-small--2019-09-07-20-18.mat'; %% payload
BagData(10).lidar_target(2).tag_size = 0.158;
BagData(10).lidar_full_scan = "velodyne_points-wavefield3-full-pc--2019-09-07-19-00.mat";
BagData(10).camera_target(2).corners = [517, 489, 540, 512;
268, 289, 297, 319;
1, 1, 1, 1];
BagData(10).camera_target(1).corners = [255, 215, 282, 243;
284, 313, 328, 359;
1, 1, 1, 1];
BagData(11).bagfile = "wavefield5-tag.bag";
BagData(11).num_tag = 2;
BagData(11).lidar_target(1).pc_file = 'velodyne_points-wavefield5-big--2019-09-07-20-24.mat'; %% payload: 3Tags-OldLiDAR.bag
BagData(11).lidar_target(1).tag_size = 0.8051;
BagData(11).lidar_target(2).pc_file = 'velodyne_points-wavefield5-small--2019-09-07-19-17.mat'; %% payload
BagData(11).lidar_target(2).tag_size = 0.158;
BagData(11).lidar_full_scan = "velodyne_points-wavefield5-full-pc--2019-09-07-19-01.mat";
BagData(11).camera_target(2).corners = [483, 443, 517, 474;
236, 273, 280, 317;
1, 1, 1, 1];
BagData(11).camera_target(1).corners = [168, 110, 204, 152;
268, 317, 329, 383;
1, 1, 1, 1];
BagData(12).bagfile = "wavefield_3tag_closer.bag";
BagData(12).num_tag = 3;
BagData(12).lidar_target(1).pc_file = 'velodyne_points-wavefield_3tag_closer_big--2019-10-02-12-09.mat'; %% payload: 3Tags-OldLiDAR.bag
BagData(12).lidar_target(1).tag_size = 1.216;
BagData(12).lidar_target(2).pc_file = 'velodyne_points-wavefield_3tag_closer_medium--2019-10-02-12-06.mat'; %% payload
BagData(12).lidar_target(2).tag_size = 0.8051;
BagData(12).lidar_target(3).pc_file = 'velodyne_points-wavefield_3tag_closer_small--2019-10-02-12-02.mat'; %% payload
BagData(12).lidar_target(3).tag_size = 0.158;
BagData(12).lidar_full_scan = "velodyne_points-wavefield5-full-pc--2019-09-07-19-01.mat";
BagData(12).camera_target(1).corners = [486, 443, 507, 464;
312, 328, 356, 372;
1, 1, 1, 1];
BagData(12).camera_target(2).corners = [226, 194, 232, 198;
309, 326, 349, 365;
1, 1, 1, 1];
BagData(12).camera_target(3).corners = [371, 348, 380, 358;
355, 364, 378, 388;
1, 1, 1, 1];
end