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Intrinsics.txt

@@ -0,0 +1,7 @@
+Res_x: 640
+Res_y: 480
+u: 320
+v: 240
+f_x: 320 (px)
+f_y: 320
+(-->horizontal fov = 90deg, vertical fov ~72deg)

airsim.yaml

@@ -0,0 +1,129 @@
+vehicle_name: airsim_drone
+state_refresh_rate: 100
+ClockSpeed: 0.5
+velocity: 0.5
+ViewMode: NoDisplay # Manual, NoDisplay, Fpv
+publish_sensor_transforms: true
+
+SegmentationSettings:
+  InitMethod: None # CommonObjectsRandomIDs
+  MeshNamingMethod: OwnerName # StaticMeshName, OwnerName
+  OverrideExisting: false
+ 
+sensors:
+  Scene_cam:
+    sensor_type: Camera
+    image_type: Scene
+    rate: 10
+    CaptureSettings:   
+      Width: 640
+      Height: 480
+      FOV_Degrees: 90
+      AutoExposureSpeed: 100
+      AutoExposureBias: 0
+      AutoExposureMaxBrightness: 0.64
+      AutoExposureMinBrightness: 0.03
+      MotionBlurAmount: 0
+      TargetGamma: 1.0
+      ProjectionMode: ""
+      OrthoWidth: 5.12
+    T_B_S:
+      - [1, 0, 0, 0.3]
+      - [0, 1, 0, 0]
+      - [0, 0, 1, 0]
+      - [0, 0, 0, 1]
+      
+  Depth_cam:
+    sensor_type: Camera
+    image_type: DepthPlanar
+    rate: 10
+    pixels_as_float: true
+    CaptureSettings:   
+      Width: 640
+      Height: 480
+      FOV_Degrees: 90
+      AutoExposureSpeed: 100
+      AutoExposureBias: 0
+      AutoExposureMaxBrightness: 0.64
+      AutoExposureMinBrightness: 0.03
+      MotionBlurAmount: 0
+      TargetGamma: 1.0
+      ProjectionMode: ""
+      OrthoWidth: 5.12
+    T_B_S:
+      - [1, 0, 0, 0.3]
+      - [0, 1, 0, 0]
+      - [0, 0, 1, 0]
+      - [0, 0, 0, 1]
+   
+  Seg_cam:
+    sensor_type: Camera
+    image_type: Segmentation
+    rate: 10
+    CaptureSettings:   
+      Width: 640
+      Height: 480
+      FOV_Degrees: 90
+      AutoExposureSpeed: 0
+      AutoExposureBias: 0
+      AutoExposureMaxBrightness: 0
+      AutoExposureMinBrightness: 0
+      MotionBlurAmount: 0
+      TargetGamma: 1.0
+      ProjectionMode: ""
+      OrthoWidth: 5.12
+    T_B_S:
+      - [1, 0, 0, 0.3]
+      - [0, 1, 0, 0]
+      - [0, 0, 1, 0]
+      - [0, 0, 0, 1]
+      
+  Id_cam:
+    sensor_type: Camera
+    image_type: Infrared
+    rate: 10
+    CaptureSettings:   
+      Width: 640
+      Height: 480
+      FOV_Degrees: 90
+      AutoExposureSpeed: 0
+      AutoExposureBias: 0
+      AutoExposureMaxBrightness: 0
+      AutoExposureMinBrightness: 0
+      MotionBlurAmount: 0
+      TargetGamma: 1.0
+      ProjectionMode: ""
+      OrthoWidth: 5.12
+    T_B_S:
+      - [1, 0, 0, 0.3]
+      - [0, 1, 0, 0]
+      - [0, 0, 1, 0]
+      - [0, 0, 0, 1]
+
+#  Imu:
+#    sensor_type: Imu
+#    rate: 100
+    
+processors:
+#  RGB_pcl:
+#    processor_type: DepthToPointcloud
+#    depth_camera_name: Depth_cam
+#    color_camera_name: Scene_cam
+#  Seg_pcl:
+#    processor_type: DepthToPointcloud
+#    depth_camera_name: Depth_cam
+#    color_camera_name: Seg_cam
+
+
+  IdCompensation:
+    processor_type: InfraredIdCompensation
+    input_topic: /airsim_drone/Id_cam
+    output_topic: /airsim_drone/Id_corrected
+    correction_file: /home/lukas/Documents/Datasets/flat_dataset/infrared_corrections.csv
+
+  Pointcloud:
+    processor_type: DepthToPointcloud
+    depth_camera_name: Depth_cam
+    color_camera_name: Scene_cam
+    segmentation_camera_topic: /airsim_drone/Id_corrected
+    max_ray_length: 5

changes.txt

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+# Moved Objects
+SM_Chair_b
+SM_Chair_a
+SM_Cup_c
+SM_Plate_c
+SM_Picture_c
+SM_Floor_Lamp_a
+SM_Sofa_a
+SM_Picture_f
+
+# New Objects
+SM_Bed_b
+SM_Office_Chair_base_a
+SM_Office_Chair_seat_a
+SM_Table_b
+SM_Laptop_a
+SM_Laptop_b
+SM_Coffee_Machine_a
+
+# Removed Objects
+SM_Cup_b
+SM_Plate_a
+SM_Journal_b
+SM_Bed_a

detectron_labels.csv

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+InstanceID,ClassID,PanopticID,R,G,B,Name,Size
+0,0,0,55,181,57,Unknown,M
+1,1,0,153,108,6,things,L
+2,2,0,112,105,191,banner,L
+3,3,0,89,121,72,blanket,L
+4,4,0,190,225,64,bridge,L
+5,5,0,206,190,59,cardboard,L
+6,6,0,81,13,36,counter,L
+7,7,0,115,176,195,curtain,L
+8,8,0,161,171,27,door-stuff,L
+9,9,0,135,169,180,floor-wood,L
+10,10,0,29,26,199,flower,L
+11,11,0,102,16,239,fruit,L
+12,12,0,242,107,146,gravel,L
+13,13,0,156,198,23,house,L
+14,14,0,49,89,160,light,L
+15,15,0,68,218,116,mirror-stuff,L
+16,16,0,11,236,9,net,L
+17,17,0,196,30,8,pillow,L
+18,18,0,121,67,28,platform,L
+19,19,0,0,53,65,playingfield,L
+20,20,0,146,52,70,railroad,L
+21,21,0,226,149,143,river,L
+22,22,0,151,126,171,road,L
+23,23,0,194,39,7,roof,L
+24,24,0,205,120,161,sand,L
+25,25,0,212,51,60,sea,L
+26,26,0,211,80,208,shelf,L
+27,27,0,189,135,188,snow,L
+28,28,0,54,72,205,stairs,L
+29,29,0,103,252,157,tent,L
+30,30,0,124,21,123,towel,L
+31,31,0,19,132,69,wall-brick,L
+32,32,0,195,237,132,wall-stone,L
+33,33,0,94,253,175,wall-tile,L
+34,34,0,182,251,87,wall-wood,L
+35,35,0,90,162,242,water,L
+36,36,0,199,29,1,window-blind,L
+37,37,0,254,12,229,window,L
+38,38,0,35,196,244,tree,L
+39,39,0,220,163,49,fence,L
+40,40,0,86,254,214,ceiling,L
+41,41,0,152,3,129,sky,L
+42,42,0,92,31,106,cabinet,L
+43,43,0,207,229,90,table,L
+44,44,0,125,75,48,floor,L
+45,45,0,98,55,74,pavement,L
+46,46,0,126,129,238,mountain,L
+47,47,0,222,153,109,grass,L
+48,48,0,85,152,34,dirt,L
+49,49,0,173,69,31,paper,L
+50,50,0,37,128,125,food,L
+51,51,0,58,19,33,building,L
+52,52,0,134,57,119,rock,L
+53,53,0,218,124,115,wall,L
+54,54,0,120,0,200,rug,L
+55,55,1,225,131,92,person,L
+56,56,1,246,90,16,bicycle,M
+57,57,1,51,155,241,car,L
+58,58,1,202,97,155,motorcycle,M
+59,59,1,184,145,182,airplane,L
+60,60,1,96,232,44,bus,L
+61,61,1,133,244,133,train,L
+62,62,1,180,191,29,truck,L
+63,63,1,1,222,192,boat,L
+64,64,1,99,242,104,traffic light,M
+65,65,1,91,168,219,fire hydrant,M
+66,66,1,65,54,217,stop sign,M
+67,67,1,148,66,130,parking meter,S
+68,68,1,203,102,204,bench,L
+69,69,1,216,78,75,bird,S
+70,70,1,109,206,24,cat,M
+71,71,1,55,181,57,dog,M
+72,72,1,153,108,6,horse,L
+73,73,1,112,105,191,sheep,M
+74,74,1,89,121,72,cow,L
+75,75,1,190,225,64,elephant,L
+76,76,1,206,190,59,bear,L
+77,77,1,81,13,36,zebra,L
+78,78,1,115,176,195,giraffe,L
+79,79,1,161,171,27,backpack,M
+80,80,1,135,169,180,umbrella,S
+81,81,1,29,26,199,handbag,S
+82,82,1,102,16,239,tie,S
+83,83,1,242,107,146,suitcase,S
+84,84,1,156,198,23,frisbee,S
+85,85,1,49,89,160,skis,M
+86,86,1,68,218,116,snowboard,M
+87,87,1,11,236,9,sports ball,S
+88,88,1,196,30,8,kite,M
+89,89,1,121,67,28,baseball bat,M
+90,90,1,0,53,65,baseball glove,S
+91,91,1,146,52,70,skateboard,S
+92,92,1,226,149,143,surfboard,M
+93,93,1,151,126,171,tennis racket,S
+94,94,1,194,39,7,bottle,S
+95,95,1,205,120,161,wine glass,S
+96,96,1,212,51,60,cup,S
+97,97,1,211,80,208,fork,S
+98,98,1,189,135,188,knife,S
+99,99,1,54,72,205,spoon,S
+100,100,1,103,252,157,bowl,S
+101,101,1,124,21,123,banana,S
+102,102,1,19,132,69,apple,S
+103,103,1,195,237,132,sandwich,S
+104,104,1,94,253,175,orange,S
+105,105,1,182,251,87,broccoli,S
+106,106,1,90,162,242,carrot,S
+107,107,1,199,29,1,hot dog,S
+108,108,1,254,12,229,pizza,S
+109,109,1,35,196,244,donut,S
+110,110,1,220,163,49,cake,S
+111,111,1,86,254,214,chair,M
+112,112,1,152,3,129,couch,L
+113,113,1,92,31,106,potted plant,M
+114,114,1,207,229,90,bed,L
+115,115,1,125,75,48,dining table,M
+116,116,1,98,55,74,toilet,M
+117,117,1,126,129,238,tv,M
+118,118,1,222,153,109,laptop,S
+119,119,1,85,152,34,mouse,S
+120,120,1,173,69,31,remote,S
+121,121,1,37,128,125,keyboard,S
+122,122,1,58,19,33,cell phone,S
+123,123,1,134,57,119,microwave,M
+124,124,1,218,124,115,oven,M
+125,125,1,120,0,200,toaster,S
+126,126,1,225,131,92,sink,M
+127,127,1,246,90,16,refrigerator,L
+128,128,1,51,155,241,book,S
+129,129,1,202,97,155,clock,M
+130,130,1,184,145,182,vase,M
+131,131,1,96,232,44,scissors,S
+132,132,1,133,244,133,teddy bear,M
+133,133,1,180,191,29,hair drier,S
+134,134,1,1,222,192,toothbrush,S

groundtruth_labels.csv

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+InstanceID,ClassID,PanopticID,MeshID,InfraredID,R,G,B,Name,Size
+0,0,0,0,0,55,181,57,SM_Ceiling_a,M
+1,1,0,1,13,153,108,6,SM_Floor_a,M
+2,2,0,2,22,112,105,191,SM_Walls_a,M
+3,3,0,3,28,89,121,72,SM_Windows_glass_a,M
+4,3,0,4,34,190,225,64,SM_Windows_Windows_a,M
+5,2,0,5,38,206,190,59,SM_TV_Wall_a,M
+6,4,1,6,42,81,13,36,SM_Bed_a,L
+7,4,1,7,46,115,176,195,SM_Bed_b,L
+8,5,1,8,50,161,171,27,SM_Bed_lamp_a,M
+9,5,1,9,53,135,169,180,SM_Bed_lamp_b,M
+10,6,1,10,56,29,26,199,SM_Bed_table_a,M
+11,6,1,11,59,102,16,239,SM_Bed_table_b,M
+12,7,1,12,61,242,107,146,SM_Ceiling_lamp_a,M
+13,7,1,13,64,156,198,23,SM_Ceiling_lamp_b,M
+14,7,1,14,66,49,89,160,SM_Ceiling_lamp_c,M
+15,7,1,15,69,68,218,116,SM_Ceiling_lamp_d,M
+16,7,1,16,71,11,236,9,SM_Ceiling_lamp_e,M
+17,7,1,17,73,196,30,8,SM_Ceiling_lamp_f,M
+18,7,1,18,75,121,67,28,SM_Ceiling_lamp_g,M
+19,7,1,19,77,0,53,65,SM_Ceiling_lamp_h,M
+20,7,1,20,79,146,52,70,SM_Ceiling_lamp_i,M
+21,7,1,21,81,226,149,143,SM_Ceiling_lamp_j,M
+22,7,1,22,83,151,126,171,SM_Ceiling_lamp_k,M
+23,7,1,23,85,194,39,7,SM_Ceiling_lamp_l,M
+24,8,1,24,86,205,120,161,SM_Chair_a,M
+25,8,1,25,88,212,51,60,SM_Chair_b,M
+26,8,1,26,90,211,80,208,SM_Office_Chair_base_a,M
+27,9,1,27,91,189,135,188,SM_Coffee_table_a,M
+28,10,1,28,93,54,72,205,SM_Cup_a,S
+29,10,1,29,95,103,252,157,SM_Cup_b,S
+30,10,1,30,96,124,21,123,SM_Cup_c,S
+31,11,1,31,98,19,132,69,SM_Decor_a,S
+32,11,1,32,99,195,237,132,SM_Decor_b,S
+33,12,1,33,101,94,253,175,SM_Digital_Clock_a,M
+34,13,1,34,102,182,251,87,SM_Dimmer_a,M
+35,13,1,35,104,90,162,242,SM_Dimmer_b,M
+36,14,1,36,105,199,29,1,SM_Door_a,M
+37,14,1,37,106,254,12,229,SM_Door_b,M
+38,15,1,38,108,35,196,244,SM_Floor_Lamp_a,M
+39,16,1,39,109,220,163,49,SM_Journal_a,S
+40,16,1,40,110,86,254,214,SM_Journal_b,S
+41,16,1,41,112,152,3,129,SM_Journal_c,S
+42,17,1,42,113,92,31,106,SM_Kitchen_a,L
+43,18,1,43,114,207,229,90,SM_Picture_a,M
+44,18,1,44,115,125,75,48,SM_Picture_b,M
+45,18,1,45,117,98,55,74,SM_Picture_c,M
+46,18,1,46,118,126,129,238,SM_Picture_d,M
+47,18,1,47,119,222,153,109,SM_Picture_e,M
+48,18,1,48,120,85,152,34,SM_Picture_f,M
+49,18,1,49,121,173,69,31,SM_Picture_g,M
+50,19,1,50,122,37,128,125,SM_Plant_a,S
+51,20,1,51,124,58,19,33,SM_Plate_a,S
+52,20,1,52,125,134,57,119,SM_Plate_b,S
+53,20,1,53,126,218,124,115,SM_Plate_c,S
+54,21,1,54,127,120,0,200,SM_Remote_a,S
+55,22,1,55,128,225,131,92,SM_Sofa_a,L
+56,23,1,56,129,246,90,16,SM_Stack_of_Books_a,S
+57,23,1,57,130,51,155,241,SM_Stack_of_Books_b,S
+58,23,1,58,131,202,97,155,SM_Stack_of_Books_c,S
+59,23,1,59,132,184,145,182,SM_Stack_of_Books_d,S
+60,23,1,60,133,96,232,44,SM_Stack_of_Books_e,S
+61,23,1,61,134,133,244,133,SM_Stack_of_Books_f,S
+62,24,1,62,135,180,191,29,SM_Table_a,M
+63,24,1,63,136,1,222,192,SM_Table_b,M
+64,25,1,64,137,99,242,104,SM_Table_Decor_a,S
+65,26,1,65,138,91,168,219,SM_Tumblr_a,S
+66,26,1,66,139,65,54,217,SM_Tumblr_b,S
+67,27,1,67,140,148,66,130,SM_TV_a,M
+68,28,1,68,141,203,102,204,SM_Wall_Clock_a,M
+69,29,1,69,142,216,78,75,SM_Coffee_Machine_a,S
+71,30,1,71,144,109,206,24,SM_Laptop_a,S

groundtruth_labels_classes.csv

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+ClassID,Name
+0,Ceiling
+1,Floor
+2,Wall
+3,Window
+4,Bed
+5,Bed Lamp
+6,Bed Table
+7,Ceiling Lamp
+8,Chair
+9,Coffee Table
+10,Cup
+11,Decor
+12,Digital Clock
+13,Dimmer
+14,Door
+15,Floor Lamp
+16,Journal
+17,Kitchen
+18,Picture
+19,Plant
+20,Plate
+21,Remote
+22,Sofa
+23,Books
+24,Table
+25,Table Decor
+26,Tumblr
+27,TV
+28,Wall Clock
+29,Coffee Machine
+30,Laptop

infrared_corrections.csv

@@ -0,0 +1,257 @@
+MeshID,InfraRedID
+0,0
+1,13
+2,22
+3,28
+4,34
+5,38
+6,42
+7,46
+8,50
+9,53
+10,56
+11,59
+12,61
+13,64
+14,66
+15,69
+16,71
+17,73
+18,75
+19,77
+20,79
+21,81
+22,83
+23,85
+24,86
+25,88
+26,90
+27,91
+28,93
+29,95
+30,96
+31,98
+32,99
+33,101
+34,102
+35,104
+36,105
+37,106
+38,108
+39,109
+40,110
+41,112
+42,113
+43,114
+44,115
+45,117
+46,118
+47,119
+48,120
+49,121
+50,122
+51,124
+52,125
+53,126
+54,127
+55,128
+56,129
+57,130
+58,131
+59,132
+60,133
+61,134
+62,135
+63,136
+64,137
+65,138
+66,139
+67,140
+68,141
+69,142
+70,143
+71,144
+72,145
+73,146
+74,147
+75,148
+76,148
+77,149
+78,150
+79,151
+80,152
+81,153
+82,154
+83,155
+84,155
+85,156
+86,157
+87,158
+88,159
+89,160
+90,160
+91,161
+92,162
+93,163
+94,163
+95,164
+96,165
+97,166
+98,167
+99,167
+100,168
+101,169
+102,170
+103,170
+104,171
+105,172
+106,173
+107,173
+108,174
+109,175
+110,175
+111,176
+112,177
+113,178
+114,178
+115,179
+116,180
+117,180
+118,181
+119,182
+120,182
+121,183
+122,184
+123,184
+124,185
+125,186
+126,186
+127,187
+128,188
+129,189
+130,189
+131,190
+132,190
+133,191
+134,192
+135,192
+136,193
+137,194
+138,194
+139,195
+140,196
+141,196
+142,197
+143,197
+144,198
+145,199
+146,199
+147,200
+148,200
+149,201
+150,202
+151,202
+152,203
+153,203
+154,204
+155,205
+156,205
+157,206
+158,206
+159,207
+160,208
+161,208
+162,209
+163,209
+164,210
+165,210
+166,211
+167,211
+168,212
+169,213
+170,213
+171,214
+172,214
+173,215
+174,215
+175,216
+176,216
+177,217
+178,218
+179,218
+180,219
+181,219
+182,220
+183,220
+184,221
+185,221
+186,222
+187,222
+188,223
+189,223
+190,224
+191,224
+192,225
+193,226
+194,226
+195,227
+196,227
+197,228
+198,228
+199,229
+200,229
+201,230
+202,230
+203,231
+204,231
+205,232
+206,232
+207,233
+208,233
+209,234
+210,234
+211,235
+212,235
+213,236
+214,236
+215,236
+216,237
+217,237
+218,238
+219,238
+220,239
+221,239
+222,240
+223,240
+224,241
+225,241
+226,242
+227,242
+228,243
+229,243
+230,244
+231,244
+232,245
+233,245
+234,245
+235,246
+236,246
+237,247
+238,247
+239,248
+240,248
+241,249
+242,249
+243,250
+244,250
+245,250
+246,251
+247,251
+248,252
+249,252
+250,253
+251,253
+252,254
+253,254
+254,254
+255,255

run1/000014_pose.txt

@@ -0,0 +1,4 @@
+0.182630 -0.042552 0.982261 0.035097
+-0.983153 -0.000280 0.182784 0.005519
+-0.007503 -0.999094 -0.041886 -0.048043
+0.0 0.0 0.0 1.0

run1/000033_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": false, "category_id": 8, "area": 128310}, {"id": 2, "isthing": false, "category_id": 9, "area": 38047}, {"id": 3, "isthing": false, "category_id": 42, "area": 26317}, {"id": 4, "isthing": false, "category_id": 53, "area": 101306}]

run1/000041_pose.txt

@@ -0,0 +1,4 @@
+-0.016080 0.042041 0.998986 1.716750
+-0.999870 0.000043 -0.016096 -0.000697
+-0.000720 -0.999116 0.042035 0.003039
+0.0 0.0 0.0 1.0

run1/000044_pose.txt

@@ -0,0 +1,4 @@
+0.153563 0.012729 0.988057 1.867689
+-0.987419 0.040130 0.152947 0.000853
+-0.037704 -0.999113 0.018731 -0.007672
+0.0 0.0 0.0 1.0

run1/000047_pose.txt

@@ -0,0 +1,4 @@
+0.914265 0.007082 0.405055 1.911706
+-0.405052 0.033966 0.913663 -0.055007
+-0.007287 -0.999398 0.033922 -0.002820
+0.0 0.0 0.0 1.0

run1/000057_pose.txt

@@ -0,0 +1,4 @@
+0.999916 0.002427 -0.012713 2.008877
+0.012772 -0.026139 0.999577 -0.759911
+0.002094 -0.999655 -0.026167 0.002838
+0.0 0.0 0.0 1.0

run1/000059_pose.txt

@@ -0,0 +1,4 @@
+0.998984 0.045004 0.002541 2.006741
+-0.001930 -0.013601 0.999906 -0.808809
+0.045034 -0.998894 -0.013501 0.002254
+0.0 0.0 0.0 1.0

run1/000095_pose.txt

@@ -0,0 +1,4 @@
+-0.999992 -0.003952 0.000117 -0.004915
+-0.000266 0.037587 -0.999293 -0.351685
+0.003945 -0.999286 -0.037588 0.482794
+0.0 0.0 0.0 1.0

run1/000102_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9343560934066772, "category_id": 124, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.746842622756958, "category_id": 112, "instance_id": 1}, {"id": 3, "isthing": true, "score": 0.6581055521965027, "category_id": 126, "instance_id": 3}, {"id": 4, "isthing": false, "category_id": 6, "area": 8463}, {"id": 5, "isthing": false, "category_id": 9, "area": 16860}, {"id": 6, "isthing": false, "category_id": 40, "area": 37407}, {"id": 7, "isthing": false, "category_id": 42, "area": 117464}, {"id": 8, "isthing": false, "category_id": 53, "area": 95960}]

run1/000106_pose.txt

@@ -0,0 +1,4 @@
+-0.999977 -0.006731 -0.000931 0.526627
+0.000919 0.001823 -0.999998 -0.097252
+0.006732 -0.999976 -0.001817 0.494426
+0.0 0.0 0.0 1.0

run1/000119_pose.txt

@@ -0,0 +1,4 @@
+-0.999524 0.030837 0.000037 1.568577
+-0.000004 0.001077 -0.999999 -0.064980
+-0.030837 -0.999524 -0.001076 0.496278
+0.0 0.0 0.0 1.0

run1/000141_pose.txt

@@ -0,0 +1,4 @@
+-0.000055 0.008374 -0.999965 1.519807
+0.999994 -0.003434 -0.000084 -1.133393
+-0.003435 -0.999959 -0.008374 0.315045
+0.0 0.0 0.0 1.0

run1/000145_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9763518571853638, "category_id": 112, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.9314024448394775, "category_id": 126, "instance_id": 1}, {"id": 3, "isthing": true, "score": 0.872426450252533, "category_id": 111, "instance_id": 2}, {"id": 4, "isthing": true, "score": 0.8626475930213928, "category_id": 120, "instance_id": 3}, {"id": 5, "isthing": true, "score": 0.6476079225540161, "category_id": 127, "instance_id": 4}, {"id": 6, "isthing": false, "category_id": 6, "area": 9697}, {"id": 7, "isthing": false, "category_id": 9, "area": 41241}, {"id": 8, "isthing": false, "category_id": 37, "area": 9791}, {"id": 9, "isthing": false, "category_id": 40, "area": 61579}, {"id": 10, "isthing": false, "category_id": 42, "area": 27789}, {"id": 11, "isthing": false, "category_id": 53, "area": 94798}, {"id": 12, "isthing": false, "category_id": 54, "area": 13361}]

run1/000146_pose.txt

@@ -0,0 +1,4 @@
+-0.000030 0.001874 -0.999998 0.974619
+1.000000 0.000908 -0.000028 -1.123206
+0.000908 -0.999998 -0.001874 0.233902
+0.0 0.0 0.0 1.0

run1/000148_pose.txt

@@ -0,0 +1,4 @@
+0.000008 0.001008 -0.999999 0.729607
+0.999999 0.001589 0.000010 -1.119789
+0.001589 -0.999998 -0.001008 0.197308
+0.0 0.0 0.0 1.0

run1/000193_pose.txt

@@ -0,0 +1,4 @@
+0.999953 -0.009688 0.000152 -3.895741
+-0.000524 -0.038357 0.999264 -0.923719
+-0.009675 -0.999217 -0.038360 -0.003089
+0.0 0.0 0.0 1.0

run1/000197_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9887274503707886, "category_id": 112, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.5543427467346191, "category_id": 117, "instance_id": 1}, {"id": 3, "isthing": false, "category_id": 9, "area": 18060}, {"id": 4, "isthing": false, "category_id": 14, "area": 9252}, {"id": 5, "isthing": false, "category_id": 53, "area": 191391}]

run1/000212_pose.txt

@@ -0,0 +1,4 @@
+-0.997871 -0.002552 -0.065161 -3.169596
+0.065162 -0.000441 -0.997875 -0.071766
+0.002518 -0.999997 0.000607 -0.003551
+0.0 0.0 0.0 1.0

run1/000234_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9760833978652954, "category_id": 116, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.9605455994606018, "category_id": 117, "instance_id": 1}, {"id": 3, "isthing": true, "score": 0.8933703303337097, "category_id": 112, "instance_id": 2}, {"id": 4, "isthing": false, "category_id": 40, "area": 5766}, {"id": 5, "isthing": false, "category_id": 53, "area": 167220}]

run1/000236_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9859626889228821, "category_id": 112, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.7877956628799438, "category_id": 128, "instance_id": 1}, {"id": 3, "isthing": true, "score": 0.6076618432998657, "category_id": 128, "instance_id": 2}, {"id": 4, "isthing": true, "score": 0.601449191570282, "category_id": 117, "instance_id": 3}, {"id": 5, "isthing": false, "category_id": 37, "area": 45602}, {"id": 6, "isthing": false, "category_id": 40, "area": 38143}, {"id": 7, "isthing": false, "category_id": 43, "area": 25585}, {"id": 8, "isthing": false, "category_id": 53, "area": 79307}, {"id": 9, "isthing": false, "category_id": 54, "area": 17616}]

run1/000238_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9746290445327759, "category_id": 112, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.891060471534729, "category_id": 117, "instance_id": 1}, {"id": 3, "isthing": true, "score": 0.7065348029136658, "category_id": 128, "instance_id": 2}, {"id": 4, "isthing": true, "score": 0.6969885230064392, "category_id": 120, "instance_id": 3}, {"id": 5, "isthing": true, "score": 0.6491546034812927, "category_id": 100, "instance_id": 4}, {"id": 6, "isthing": false, "category_id": 9, "area": 11194}, {"id": 7, "isthing": false, "category_id": 14, "area": 7874}, {"id": 8, "isthing": false, "category_id": 37, "area": 25597}, {"id": 9, "isthing": false, "category_id": 40, "area": 32816}, {"id": 10, "isthing": false, "category_id": 42, "area": 24311}, {"id": 11, "isthing": false, "category_id": 43, "area": 28979}, {"id": 12, "isthing": false, "category_id": 53, "area": 118178}, {"id": 13, "isthing": false, "category_id": 54, "area": 16871}]

run1/000253_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.969851553440094, "category_id": 114, "instance_id": 0}, {"id": 2, "isthing": false, "category_id": 8, "area": 38764}, {"id": 3, "isthing": false, "category_id": 9, "area": 20304}, {"id": 4, "isthing": false, "category_id": 40, "area": 42205}, {"id": 5, "isthing": false, "category_id": 53, "area": 161424}]

run1/000258_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9150461554527283, "category_id": 117, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.9093460440635681, "category_id": 112, "instance_id": 1}, {"id": 3, "isthing": false, "category_id": 8, "area": 14732}, {"id": 4, "isthing": false, "category_id": 9, "area": 7361}, {"id": 5, "isthing": false, "category_id": 40, "area": 34312}, {"id": 6, "isthing": false, "category_id": 53, "area": 199019}, {"id": 7, "isthing": false, "category_id": 54, "area": 6405}]

run1/000263_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.6497703194618225, "category_id": 114, "instance_id": 0}, {"id": 2, "isthing": false, "category_id": 40, "area": 26082}, {"id": 3, "isthing": false, "category_id": 53, "area": 246250}]

run1/000266_pose.txt

@@ -0,0 +1,4 @@
+-0.999618 0.027649 0.000032 -1.119098
+-0.000374 -0.012365 -0.999923 -3.450085
+-0.027647 -0.999541 0.012371 0.491799
+0.0 0.0 0.0 1.0

run1/000299_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9091314077377319, "category_id": 127, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.5579246878623962, "category_id": 112, "instance_id": 1}, {"id": 3, "isthing": false, "category_id": 8, "area": 38529}, {"id": 4, "isthing": false, "category_id": 9, "area": 17662}, {"id": 5, "isthing": false, "category_id": 40, "area": 61354}, {"id": 6, "isthing": false, "category_id": 42, "area": 6686}, {"id": 7, "isthing": false, "category_id": 53, "area": 103879}, {"id": 8, "isthing": false, "category_id": 54, "area": 18560}]

run1/000303_pose.txt

@@ -0,0 +1,4 @@
+0.616552 -0.017028 -0.787130 -3.806009
+0.787172 -0.005659 0.616707 -4.395732
+-0.014956 -0.999839 0.009915 0.397836
+0.0 0.0 0.0 1.0

run1/000309_pose.txt

@@ -0,0 +1,4 @@
+0.000749 -0.001923 -0.999998 -3.063326
+0.999999 0.000749 0.000748 -4.427535
+0.000748 -0.999998 0.001924 0.317369
+0.0 0.0 0.0 1.0

run1/000310_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9076784253120422, "category_id": 127, "instance_id": 0}, {"id": 2, "isthing": false, "category_id": 9, "area": 22470}, {"id": 3, "isthing": false, "category_id": 37, "area": 54352}, {"id": 4, "isthing": false, "category_id": 40, "area": 15077}, {"id": 5, "isthing": false, "category_id": 53, "area": 132685}]

run1/000313_pose.txt

@@ -0,0 +1,4 @@
+0.003157 -0.000459 -0.999995 -2.493348
+0.999994 0.001605 0.003156 -4.437129
+0.001603 -0.999999 0.000464 0.254782
+0.0 0.0 0.0 1.0

run1/000322_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9961550831794739, "category_id": 111, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.995509147644043, "category_id": 111, "instance_id": 1}, {"id": 3, "isthing": true, "score": 0.9221517443656921, "category_id": 115, "instance_id": 2}, {"id": 4, "isthing": true, "score": 0.8507242202758789, "category_id": 128, "instance_id": 3}, {"id": 5, "isthing": true, "score": 0.7257784605026245, "category_id": 128, "instance_id": 4}, {"id": 6, "isthing": true, "score": 0.7206017374992371, "category_id": 129, "instance_id": 5}, {"id": 7, "isthing": true, "score": 0.7048850655555725, "category_id": 129, "instance_id": 6}, {"id": 8, "isthing": true, "score": 0.6220634579658508, "category_id": 128, "instance_id": 7}, {"id": 9, "isthing": true, "score": 0.6134960651397705, "category_id": 130, "instance_id": 8}, {"id": 10, "isthing": true, "score": 0.5768435001373291, "category_id": 128, "instance_id": 9}, {"id": 11, "isthing": true, "score": 0.5561835169792175, "category_id": 128, "instance_id": 10}, {"id": 12, "isthing": true, "score": 0.526846706867218, "category_id": 128, "instance_id": 11}, {"id": 13, "isthing": true, "score": 0.5105807185173035, "category_id": 127, "instance_id": 12}, {"id": 14, "isthing": true, "score": 0.5037079453468323, "category_id": 128, "instance_id": 13}, {"id": 15, "isthing": false, "category_id": 8, "area": 13082}, {"id": 16, "isthing": false, "category_id": 9, "area": 47395}, {"id": 17, "isthing": false, "category_id": 26, "area": 18095}, {"id": 18, "isthing": false, "category_id": 40, "area": 18714}, {"id": 19, "isthing": false, "category_id": 42, "area": 53990}, {"id": 20, "isthing": false, "category_id": 53, "area": 107595}]

run1/000326_pose.txt

@@ -0,0 +1,4 @@
+0.999982 0.001626 0.005720 -1.762038
+-0.005713 -0.003922 0.999976 -3.759087
+0.001648 -0.999991 -0.003913 0.198645
+0.0 0.0 0.0 1.0

run1/000332_pose.txt

@@ -0,0 +1,4 @@
+0.999337 0.036397 0.000016 -2.008170
+-0.000439 0.011624 0.999932 -3.081738
+0.036394 -0.999270 0.011632 0.199900
+0.0 0.0 0.0 1.0

run1/000349_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9285128116607666, "category_id": 114, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.8575193285942078, "category_id": 128, "instance_id": 1}, {"id": 3, "isthing": true, "score": 0.820843517780304, "category_id": 128, "instance_id": 2}, {"id": 4, "isthing": true, "score": 0.7548485994338989, "category_id": 128, "instance_id": 3}, {"id": 5, "isthing": true, "score": 0.7307816743850708, "category_id": 128, "instance_id": 4}, {"id": 6, "isthing": true, "score": 0.5861693620681763, "category_id": 128, "instance_id": 5}, {"id": 7, "isthing": false, "category_id": 8, "area": 39728}, {"id": 8, "isthing": false, "category_id": 9, "area": 19031}, {"id": 9, "isthing": false, "category_id": 26, "area": 14753}, {"id": 10, "isthing": false, "category_id": 40, "area": 40459}, {"id": 11, "isthing": false, "category_id": 42, "area": 25470}, {"id": 12, "isthing": false, "category_id": 53, "area": 101678}, {"id": 13, "isthing": false, "category_id": 54, "area": 5626}]

run1/000378_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9588792324066162, "category_id": 114, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.8616628050804138, "category_id": 128, "instance_id": 1}, {"id": 3, "isthing": true, "score": 0.8508354425430298, "category_id": 128, "instance_id": 2}, {"id": 4, "isthing": false, "category_id": 8, "area": 24158}, {"id": 5, "isthing": false, "category_id": 9, "area": 15258}, {"id": 6, "isthing": false, "category_id": 26, "area": 6101}, {"id": 7, "isthing": false, "category_id": 40, "area": 41940}, {"id": 8, "isthing": false, "category_id": 42, "area": 55694}, {"id": 9, "isthing": false, "category_id": 53, "area": 89563}, {"id": 10, "isthing": false, "category_id": 54, "area": 38814}]

run1/000384_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9592049717903137, "category_id": 114, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.8629003167152405, "category_id": 128, "instance_id": 1}, {"id": 3, "isthing": true, "score": 0.8521026372909546, "category_id": 128, "instance_id": 2}, {"id": 4, "isthing": false, "category_id": 8, "area": 25741}, {"id": 5, "isthing": false, "category_id": 9, "area": 15209}, {"id": 6, "isthing": false, "category_id": 26, "area": 6165}, {"id": 7, "isthing": false, "category_id": 40, "area": 41953}, {"id": 8, "isthing": false, "category_id": 42, "area": 53192}, {"id": 9, "isthing": false, "category_id": 53, "area": 90265}, {"id": 10, "isthing": false, "category_id": 54, "area": 38811}]

run1/000386_pose.txt

@@ -0,0 +1,4 @@
+0.000001 0.000000 1.000000 -3.957513
+-1.000000 0.000000 0.000001 -3.938150
+0.000000 -1.000000 0.000000 0.192237
+0.0 0.0 0.0 1.0

run1/000390_pose.txt

@@ -0,0 +1,4 @@
+0.000001 0.000000 1.000000 -3.957513
+-1.000000 0.000000 0.000001 -3.938150
+0.000000 -1.000000 0.000000 0.192232
+0.0 0.0 0.0 1.0

run1/000392_labels.json

@@ -0,0 +1 @@
+[{"id": 1, "isthing": true, "score": 0.9583093523979187, "category_id": 114, "instance_id": 0}, {"id": 2, "isthing": true, "score": 0.8504092693328857, "category_id": 128, "instance_id": 1}, {"id": 3, "isthing": true, "score": 0.8428148627281189, "category_id": 128, "instance_id": 2}, {"id": 4, "isthing": false, "category_id": 8, "area": 27308}, {"id": 5, "isthing": false, "category_id": 9, "area": 15261}, {"id": 6, "isthing": false, "category_id": 26, "area": 6363}, {"id": 7, "isthing": false, "category_id": 40, "area": 41614}, {"id": 8, "isthing": false, "category_id": 42, "area": 51049}, {"id": 9, "isthing": false, "category_id": 53, "area": 91597}, {"id": 10, "isthing": false, "category_id": 54, "area": 38748}]

run1/000399_pose.txt

@@ -0,0 +1,4 @@
+0.000001 0.000000 1.000000 -3.957513
+-1.000000 0.000000 0.000001 -3.938150
+0.000000 -1.000000 0.000000 0.192228
+0.0 0.0 0.0 1.0

waypoints1.yaml

@@ -0,0 +1,25 @@
+# Fully covers the flat in setting 1
+# Waypoints as x, y, z, yaw in metres and degrees
+# kitchen
+- [1, 0, 0, 90]
+- [2, 0, 0, 0]
+- [2, -1, 0, 90]
+- [0, -1, 0, 90]
+- [0, 0, 0.5, 270]
+- [2, 0, 0.5, 270]
+- [2, -1.2, 0.5, 180]
+- [-1, -1.2, 0, 180]
+# living room
+- [-4, -1, 0, 90]
+- [-4, 0, 0, 90]
+- [-2.5, 0, 0, 270]
+- [-1, 0, 0, 0]
+- [-1, -1, 0, 180]
+# bedroom
+- [-1, -3.5, 0.5, 270]
+- [-4, -3.5, 0.5, 270]
+- [-4, -4.5, 0.5, 0]
+- [-1.5, -4.5, 0.2, 180]
+- [-2, -3, 0.2, 90]
+- [-3.5, -3, 0.2, 90]
+- [-4, -4, 0.2, 0]

waypoints2.yaml

@@ -0,0 +1,23 @@
+# Fully covers the flat in setting 2
+# Waypoints as x, y, z, yaw in metres and degrees
+# kitchen
+- [0, 0, 1, 0]
+- [1, 0, 0, 90]
+- [2, 0, 0, 0]
+- [2, -1, 0, 90]
+- [0, -1, 0, 90]
+- [0, 0, 0.5, 270]
+# living room
+- [-1, -1.2, 0, 270]
+- [-4, -1, 0.5, 180]
+- [-2.5, 0, 0.5, 90]
+- [-1, -0.2, 0, 90]
+- [-1, -1.2, 0, 270]
+# bedroom
+- [-1, -3.2, 1, 180]
+- [-4, -3.2, 1, 270]
+- [-4, -4.5, 1, 0]
+- [-4, -4.5, 1, 0]
+- [-2, -5, 0.1, 90]
+- [-3, -3.5, 0.2, 90]
+- [-2, -4, 0.2, 0]