TSlam-dataset

The current repository contains the evaluation dataset for TSlam (@IBOIS, EPFL 2023). TSlam is a SLAM algorithm developed at IBOIS (Laboratory for Timber Construction) for fabrication scenarios involving cutting and drilling operations.
The algorithm's accuracy and precision have been gauged using the current dataset and an optitrack system to collect ground-truth data. The dataset is shared in open-access with the goal of promoting the reproducibility of our results and the pipeline for the evaluation can be found in https://github.com/ibois-epfl/TSlam/tree/main/eval .

The structure of the dataset is as follow:

```
├───01_camera_recordings
│   ├───01_fabrication-20230421-170830
│   ├───01_manual_mark_20230419-110238
│   ├───01_mapping_recording-20230421-133017
│   └───01_tag_mark_20230419-155416
├───01_label_sequence
├───01_opti_recordings
│   └───__raw
├───01_pcd
│   ├───01_aligned_pcd
│   └───__raw
└───01_tslam_map_files
```

Where,

- `01_camera_recordings`: contains the video from the fabrication, marking, tags sticking and mapping;
- `01_label_sequence`: human-noted labels of the start and end frame of all operations in a given fabrication video;
- `01_opti_recordings`: the data obtained from the optitrack recordings during fabrication
- `01_pcd`: the scans and processed point clouds of the piece before the fabrication
- `01_tslam_map_files`: the files produced by TSlam