###### This is  a readme file for the Person Tracking dataset ######


A. Contents of this folder and their explanation
   
   1. ROSbags: In this folder you will find the rosbags (from both datasets) that contain all sensor data and AMCL data acquired from the robot. Within the Dataset_1 folder, you will find many bag files. You need to run all the bag files at once because essentially they are bags of one long experiment time-sequencially split into 6 parts. Same for the Dataset_2.
      1.1 Dataset_1
	  1.1.1 mbot_dataset1_0.bag
	  1.1.2 mbot_dataset1_1.bag
	  1.1.3 mbot_dataset1_2.bag
	  1.1.4 mbot_dataset1_3.bag
	  1.1.5 mbot_dataset1_4.bag
	  1.1.6 mbot_dataset1_5.bag
	  1.1.7 mbot_dataset1_6.bag
      1.2 Dataset_2 
	  1.2.1 mbot_dataset1_0.bag
	  1.2.2 mbot_dataset1_1.bag
	  1.2.3 mbot_dataset1_2.bag
	  1.2.4 mbot_dataset1_3.bag
	  1.2.5 mbot_dataset1_4.bag
	  
    2. GTImages: In this folder you have the following 4 archives. The filenames are self-explanatory. These archives contains the ground truth (GT) images from the left and right cameras of our GT stereo system.
      2.1 LeftImages_dataset_1.tar.bz2 
      2.2 LeftImages_dataset_2.tar.bz2 
      2.3 RightImages_dataset_1.tar.bz2  
      2.4 RightImages_dataset_2.tar.bz2
      
    3. GT_ROSbags: In this folder you will find 2 rosbags. These contain, for each dataset, the processed GT info (obtained after processing the above mentioned GT camera images): poses of the robot and the positions of the person. However, there is always room for improvement and one is free to process the GT images to obtain their own GT. The stereo calibration parameters and other info can be obtained from the sources here: https://github.com/aamirahmad/evaluate_dsr_dataset.
    These rosbags contains messages in a format that uses a custom message file, which can also be obtained with the aforementioned rospackage sources.
    These rosbags also contain corresponding filenames of the right anf left GT images (obtainable from the other folder, see above), which u can use to overlay the GT or estimated values. See the mentioned rospackage also.
    
      3.1 GT_Dataset_1.bag  
      3.2 GT_Dataset_2.bag