IPDS: The Institut Pascal multisensors Data Sets for mobile robotics

Soft tools

Different soft tools have been designed to use the data of IPDS.

Main tool: IPSDCodes

The library: IPDSlib

This library contains the main elements required to read the data of a given sequence, organize them and "synchronised" them (i.e. find the data of a sensor that has been acquired just before or after another data). It also contains the classes for frame transformation, image reprojection, omnidirectional image unwarping. This library is based on the classical libraries, excepted Qt4 used for display purposes.
The "complicated" organisation of the data (one folder by sensor, with complex names) is abstracted through the use of a configuration table that resume all the parameters for all the sensors. Among others, it allows to access the data of a sensor using directly its alias (for instance "f-l-cam") and to obtain the file where timestamps are saved. Typically, the function getReadings is used to read and set all the data from given folder, sensors and time range into a vector of generic objects called Unit, that have a date and a content. The date is used to temporally index the data; its content refers to the sensor data (number of an image for instance) or to the fields of a line of a folder. The data grouped from all the sensors can be reogranized temporally for a combined usage.
From the configuration table, the classes containing the data specific to each sensor can be generated in a C++ header (sensor_data.h, using the application generateCppHeader) and allow a cast from a generic Unit. Similarly, Matlab classes can be obtained (application generateMatlab).
The library contains also:

Geometry tools: classes for coordinates transformation (HomogeneousTransformation/HomogeneousVector), image feature projection (Camera_PinholeModel/Camera_UnifiedModel), lidar impacts reading (LaserTool).
Viewer tools: the Qt class ImageViewer_Qt is used to display an image

Applications

Other applications that use this library are provided:

Geometry
- coordinatesTransformation presents a sample to get the transformation between the frames attached to two sensors.
- impactsReprojection reads a file from the range-sensor and reproject impatcs onto images (which are saved)
Viewers
- IPDSViewer reads the file from one or multiple sensors, synchronised them and display it. Time can also been displayed as well as sensors' names. The generated images can be saved onto a folder [Qt4 is required]
- IPDSViewer3D reads a 3D point cloud and display it [Ogre3D is required]
- CezeauxMapViewer displays a map of the CEZEAUX (OpenStreetMap of Yahoo!Map) and potentially overlays features linked to panoramas and GPS trajectories [Qt4 is required; mainly based on the QMapControl project ]