# This file contains metric planar odometry and landmark observations with covariance.
#  It is derived from the original odometry / image dataset by a circular landmark detection 
#  algorithm. The original dataset as well as calibration and landmark detection code is
#  available upon request.
# 
#  Format:
#  The robot coordinate system is located in the robot's center with -Y pointing forward and X pointing right.
#  STEP <image.ppm> <dX> <dY> <dPhi> <cXX> <cXY> <cYY> <cXPhi> <cYPhi> <cPhiPhi>
#  A single step of movement with odometry information.
#  <image.ppm> is the filename of the image
#  taken AFTER the odometry step. <dX>, <dY>, <dPhi> is the location of the robot after movement
#  in the coordinate system of the robot before moving. Units are meter and radian.
#  {{cXX,cXY,cXPhi},{cXY,cYY,cYPHi},{cXPhi,cYPhi,cPhiPhi}} is the covariance matrix of {dX,dY,dPhi}
#  with corresponding units (meter^2, meter*radian, radian^2).
#  The image is not needed, since the result of the landmark detection is provided but it is included for
#  reference.
# 
#  LANDMARK <pX> <pY> <quality> <cXX> <cXY> <cYY> <ID>
#  Observation of a landmark in the image taken after the previous odometry step.
#  {pX, pY} is the position in robot coordinates (unit meter).
#  {{cXX, cXY}, {cXY, cYY}} is the covariance of {pX, pY}
#  <quality> ranging from 0 (bad) to 1 (good) indicates the confidence of the computer
#  vision landmark detector.
 
STEP largemap240803e.0000.pgm  0.00088 -0.15647  0.01153 0.000016397281 -0.000000002137 0.000014026487 0.000021731727 -0.000000042656 0.000261252446
LANDMARK -0.249545 -3.10353 0.934398 0.0017211 0.000162376 0.00376213 4
LANDMARK 0.398051 -3.05375 0.822336 0.00172804 -0.000203995 0.00366349 6
LANDMARK -0.660749 -2.11665 0.951467 0.00170519 0.000161219 0.00231779 5
LANDMARK 0.508728 -2.08611 0.989923 0.00168004 -0.000104717 0.00228035 1
LANDMARK 1.17968 -1.72129 0.975627 0.0017465 -0.00019293 0.00205644 2
LANDMARK -0.782228 -1.24079 0.986223 0.00166334 7.09189e-05 0.00181023 3
STEP largemap240803e.0001.pgm -0.00470 -0.18707  0.06820 0.000019834605 -0.000000084074 0.000016337711 0.000028153298 -0.000000708950 0.000304450153
LANDMARK 0.254529 -3.36067 0.7294 0.00173244 -0.000161993 0.00442829 7
LANDMARK -0.411773 -2.91275 0.798877 0.00172793 0.000217074 0.0033782 4
LANDMARK 0.229058 -2.89637 0.849479 0.00170166 -9.43628e-05 0.00331787 6
LANDMARK 0.401512 -1.94699 0.988372 0.0016651 -6.88793e-05 0.00216487 1
LANDMARK -0.775408 -1.89416 0.976977 0.00170448 0.00015146 0.00214528 5
LANDMARK 1.07734 -1.60889 0.978098 0.00171785 -0.000151597 0.00198384 2
LANDMARK -0.828533 -1.00547 0.986747 0.00165462 5.51234e-05 0.00174181 3
STEP largemap240803e.0002.pgm -0.00460 -0.18630  0.06608 0.000019825477 -0.000000051551 0.000016250064 0.000028436344 -0.000000490011 0.000302833823
LANDMARK 0.0658033 -3.21052 0.818047 0.00171245 -2.226e-05 0.00400833 7
LANDMARK 0.0619721 -2.72595 0.870606 0.00168611 -1.23143e-05 0.00301153 6
LANDMARK -0.591105 -2.70996 0.956239 0.00174074 0.00025734 0.00304297 4
LANDMARK 0.291976 -1.78932 0.987512 0.0016532 -4.0242e-05 0.00205618 1
LANDMARK -0.872748 -1.66762 0.990249 0.0017005 0.000134499 0.00200431 5
LANDMARK 1.0145 -1.50383 0.975897 0.00170002 -0.000124434 0.0019266 2
