New Datasets - nikolaradulov/SLAMFuse GitHub Wiki

NOTE: this page might be removed/changed in the future. Used for notes in exploring the code base

In order to be able to run a dataset with an algorithm in SLAMBench the datasets need to be packed in .slam files. To this end the dataset-generator is used. The code for it can be found at /slambench/framework/dataset-tools/dataset-generator.cpp:

• It uses specified readers for each dataset in turn. These ca be found in /slambench/framework/dataset-tools/include with their respective implementations in /slambench/framework/dataset-tools
• There is the abstract class DatasetReader with the generateSLAMFile function. The dataset readers inherit it and implement it. Some have additional functions needed.
• Each Reader has multiple sensors. These are abstracted through the Sensor class.
• The sensors seem to handle the data from the set