Merge pull request #1 from PRBonn/dev

Dev

.gitignore

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+.idea/
+
+# logs
+logs*
+test.py
+
+# data
+data/
+results/
+
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
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+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
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+
+# Django stuff:
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+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
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+# Sphinx documentation
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+
+# PyBuilder
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+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
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+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# End of https://www.toptal.com/developers/gitignore/api/python
+nn

PREPARE_DATA.md

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+## IPBLab dataset
+Downloading IPBLab dataset from our server:
+```shell
+cd ir-mcl && mkdir data && cd data
+wget https://www.ipb.uni-bonn.de/html/projects/kuang2023ral/ipblab.zip
+unzip ipblab.zip
+```
+
+For each sequence, we provide :
+- seq_{id}.bag: the ROS bag format, include raw odometer reading and raw lidar reading.
+- seq_{id}.json: include raw odometer reading, ground-truth poses, and raw lidar reading.
+- seq_{id}_gt_pose: the ground-truth poses in TUM format (for evaluation with evo). 
+
+Besides, there are also some configuration files are provided:
+- lidar_info.json: the parameters of the 2D LiDAR sensor.
+- occmap.npy: the pre-built occupancy grid map.
+- b2l.txt: the transformation from the lidar link to robot's base link 
+
+The final data structure should look like
+```
+data/
+├── ipblab/
+│   ├── loc_test/
+│   │   ├── test1/
+│   │   │   ├──seq_1.bag
+│   │   │   ├──seq_1.json
+│   │   │   ├──seq_1_gt_pose.txt
+│   │   ├──b2l.txt
+│   ├──lidar_info.json
+│   ├──occmap.npy
+```
+
+There is one sequence available for the localization experiments now, the full dataset will be released after our dataset paper is published!
+
+## Intel Lab datatse, Freiburg Building 079 dataset, and MIT CSAIL dataset
+Downloading these three classical indoor 2D SLAM datasets from our server:
+```shell
+cd ir-mcl && mkdir data && cd data
+wget https://www.ipb.uni-bonn.de/html/projects/kuang2023ral/2dslam.zip
+unzip 2dslam.zip
+```
+
+For each sequence, we provide :
+- train.json: the training set which is used for mapping or train the NOF model.
+- val.json: the validation set for evaluating the model during training. 
+- test.json: the test set for evaluating the final model.
+- occmap.npy: the pre-built occupancy grid map by using training set.
+
+The final data structure should look like
+```
+data/
+├── fr079/
+│   ├──occmap.npy
+│   ├──train.json
+│   ├──val.json
+│   ├──test.json
+├── intel/
+│   ├──...
+├── mit/
+│   ├──...
+```
+
+Here, we provide the converted format of these dataset for ease of use. The raw data could be found on our website: [2D Laser Dataset](https://www.ipb.uni-bonn.de/datasets/).