Dataset Test Files
This folder contains .csv files with point cloud data taken from data provided by the EECS 498 course staff and the Sydney Urban Objects Dataset. Click on the embedded links to view a .png of the given point cloud.
Sources
The source clouds are listed below. The algorithm rotates this cloud to fit to the targets, which are listed in the next section.
bus.11.270_source.csv
830 points, moderately dense to moderately sparse
building.4.16217_source.csv
863 points, moderately dense
building.16.5229_source.csv
2113 points, very dense
trunk.37.8444_source.csv
766 points, moderately dense
car.5.5563_source.csv
210 points, moderately sparse
trash.1.2738_source.csv
95 points, moderately sparse
cloud_icp_source.csv
990 points, moderately dense
Targets
The target point clouds are listed below with their corresponding transformations.
bus.11.270.csv_target0.csv
Rotated 180 degrees about the x-axis, translated +1 unit in all directions
bus.11.270.csv_target1.csv
Rotated 90 degrees about the x-axis, translated +1 unit in all directions
building.4.16217_target0.csv
Rotated 180 degrees about the x-axis, translated +1 unit in all directions
building.4.16217_target1.csv
Rotated 90 degrees about the x-axis, translated +1 unit in all directions
building.16.5229_target0.csv
Rotated 180 degrees about the x-axis, translated +1 unit in all directions
building.16.5229_target1.csv
Rotated 90 degrees about the x-axis, translated +1 unit in all directions
trunk.37.8444_target0.csv
Rotated 180 degrees about the x-axis, translated +1 unit in all directions
trunk.37.8444_target1.csv
Rotated 90 degrees about the x-axis, translated +1 unit in all directions
car.5.5563_target0.csv
Rotated 180 degrees about the x-axis, translated +1 unit in all directions
car.5.5563_target1.csv
Rotated 90 degrees about the x-axis, translated +1 unit in all directions
trash.1.2738_target0.csv
Rotated 180 degrees about the x-axis, translated +1 unit in all directions
trash.1.2738_target1.csv
Rotated 90 degrees about the x-axis, translated +1 unit in all directions