# 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 0.249545 -3.10353 0.934398 0.0017211 0.000162376 0.00376213 5
STEP largemap240803e.0001.pgm -0.00470 -0.18707  0.06820 0.000019834605 -0.000000084074 0.000016337711 0.000028153298 -0.000000708950 0.000304450153
LANDMARK -0.411773 -2.91275 0.798877 0.00172793 0.000217074 0.0033782 4
LANDMARK 0.411773 -2.91275 0.798877 0.00172793 0.000217074 0.0033782 5
STEP largemap240803e.0002.pgm -0.00460 -0.18630  0.06608 0.000019825477 -0.000000051551 0.000016250064 0.000028436344 -0.000000490011 0.000302833823
LANDMARK -0.591105 -2.70996 0.956239 0.00174074 0.00025734 0.00304297 4
LANDMARK 0.591105 -2.70996 0.956239 0.00174074 0.00025734 0.00304297 5
