===== FSR 2015 - Solar-powered UAV Sensing and Mapping Dataset =====
//Accompanying dataset for the FSR 2015 submission://

Philipp Oettershagen, Thomas J. Stastny, Thomas A. Mantel, Amir S. Melzer, Konrad Rudin, Gabriel Agamennoni, Kostas Alexis, Roland Y. Siegwart; //Long-Endurance Sensing and Mapping using a Hand-Launchable Solar-Powered UAV//

==== Dataset Information ====
**Provided data**
  * Recorded data in [[http://wiki.ros.org/rosbag|ROS bag]] file (Version 2.0) for:
    * 1h flight segment
    * Lawnmower pattern
    * Rectangular spiral
  * Camera calibration for grayscale camera as text file
  * Derived data:
    * Dense point cloud in [[http://en.wikipedia.org/wiki/PLY|PLY]] format
    * Mosaic as [[http://en.wikipedia.org/wiki/GeoTIFF|GeoTIFF]]
    * Digital Surface Map 
    * Flightpath in [[http://en.wikipedia.org/wiki/KML|KML]] format

**Topics in ROS bag**
  * Oblique-view grayscale camera images (''/cam0'')
  * Nadir-looking RGB camera images (''/cam1'')
  * Oblique-view (as grayscale) IR camera images <sup>(1)</sup> (''/ircam'')
  * Raw GPS measurements (''/px4/raw/gps'')
  * Raw IMU measurements (''/px4/raw/imu'')
  * Raw Magnetometer measurements (''/px4/raw/mag'')
  * Position in world coordinates <sup>(2)</sup> (''/px4/position_world'')
  * Velocity in world coordinates <sup>(2)</sup> (''/px4/velocity_world'')
  * UAV orientation (UAV body frame) <sup>(2)</sup> (''/px4/orientation'')
  * UAV angular rates (UAV body frame) <sup>(2)</sup> (''/px4/angular_rates'')

**Employed sensors**
  * Aptina MT9V034 with f=2.8mm lens
  * IDS ueyeXS2
  * FLIR Tau 2 with f=9mm
  * Analog Devices ADIS16448 IMU
  * ublox LEA-6H GPS receiver

<sup>(1)</sup> IR camera images are stored in 14 bit/pixel. [[https://github.com/ethz-asl/flir_tools|ROS tool for false coloring]] is available on github.com.\\
<sup>(2)</sup> Output of UAV state-estimator

==== Downloads ====
**Flight data**
^                      ^ ROS bag              ^ Flight path (KML)         ^
^ 1h Segment           | [[https://polybox.ethz.ch/public.php?service=files&t=07eb88a96080527e18780dd0fcf881a0|link]]  | [[https://polybox.ethz.ch/public.php?service=files&t=a4d1e256310910d5accb5c76267614fd|link]]   |
^ Lawnmower pattern    | [[https://polybox.ethz.ch/public.php?service=files&t=65735649cf876884204184c1bcf40976|link]]  | [[https://polybox.ethz.ch/public.php?service=files&t=414f6e04e1f6e915fd1cc98e57cb4def|link]]   |
^ Rectangular spiral   | [[https://polybox.ethz.ch/public.php?service=files&t=8944d20d02f6e9785f5afbfe130e34dd|link]] | [[https://polybox.ethz.ch/public.php?service=files&t=00df0f4d34987283c0b354779f393279|link]]  |

**Camera calibration**
  * [[https://polybox.ethz.ch/public.php?service=files&t=92e10e7b9ddafbd8b993c3525b0fb15d|Grayscale camera intrinsic calibration]]

**Derived data**
  * Dense Point Cloud [[https://polybox.ethz.ch/public.php?service=files&t=571f62326c09e7d109ffa436259738c2|PLY 1]] [[https://polybox.ethz.ch/public.php?service=files&t=c799277fa3ba856cbd1876e612896461|PLY 2]] [[https://polybox.ethz.ch/public.php?service=files&t=3de72bfa950138508f93006567863459|PLY 3]]
  * Mosaic reconstruction and Google tiles [[https://polybox.ethz.ch/public.php?service=files&t=2f7498198bb4cc4b83af7e8e54b686e6|ZIP]]
  * Digital Surface Map and tiles[[https://polybox.ethz.ch/public.php?service=files&t=49e1cfe63db250980d653347263eeb96|ZIP]]


==== Example Images====
{{:fsr2015:flir_example.jpg?188}}{{:fsr2015:grayscale_example.jpg?150}}\\
{{:fsr2015:ueyexs_example_small.jpg?344}}

==== Detailed Information on ROS Bags ====
All topics in the namespace ''px4'' are streamed from the UAV autopilot via an UART link and are time stamped on arrival on the embedded computer.

The ''/px4/orientation'' topic gives the (estimated) orientation of the UAV in quaternions in ENU coordinates (using the ROS quaternion function ''tf::createQuaternionFromRPY(roll, -pitch, -yaw)''). Hence, the ''/px4/angular_rates'' topic stores [roll_rate, -pitch_rate, -yaw_rate].

The (estimated) position in world coordinates (''/px4/position_world'') is given as a vector of the form [latitude, longitude, altitude]. The same yields for the velocity (''/px4/velocity_world''), which is the ground speed of the UAV given as a vector of the form [latitudinal speed, longitudinal speed, vertical speed].