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loadDatasetInfo.m
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loadDatasetInfo.m
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function opts = loadDatasetInfo(opts)
if opts.dataset == 0
opts.debug = 0;
opts.verbose.output_level = 0;
opts.verbose.selective = 0;
opts.data.simulation = 1;
opts.target_position_list = opts.target_num; % which angle/translation list to use
if opts.target_position_list >= 100
opts.sensor_noise_enable = 1;
% nosie from spherical coordinates [Range, Az, El] <meter, deg, deg>
if opts.target_position_list >= 100 && opts.target_position_list < 200
opts.sensor_noise_level = [0.0100, 0.1000, 0.1000];
elseif opts.target_position_list >= 200 && opts.target_position_list < 300
opts.sensor_noise_level = [0.0300, 0.2000, 0.2000];
elseif opts.target_position_list >= 300 && opts.target_position_list < 400
opts.sensor_noise_level = [0.03 0.3 0.3];
elseif opts.target_position_list >= 400 && opts.target_position_list < 500
opts.sensor_noise_level = [0.05 0.5 0.5];
else
error("No such noise options: %i", opts.target_position_list)
end
else
opts.sensor_noise_enable = 0;
end
elseif opts.dataset == 1
opts.path.matfiles_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/Aug-08-2020/";
opts.path.bagfile_root = "/home/brucebot/workspace/catkin/bagfiles/optimal_shape/Aug-08-2020/";
opts.path.event_name = "lab";
opts.data.simulation = 0;
% user parameters
opts.data.reload_matfiles = 0;
opts.data.num_scans = 1;
elseif opts.dataset == 2
opts.path.matfiles_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/Aug-08-2020/";
opts.path.bagfile_root = "/home/brucebot/workspace/catkin/bagfiles/optimal_shape/Aug-08-2020/";
opts.path.event_name = "wavefield";
opts.data.simulation = 0;
% user parameters
opts.data.reload_matfiles = 0;
opts.data.num_scans = 1;
elseif opts.dataset == 3
opts.path.matfiles_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/Aug-08-2020/";
opts.path.bagfile_root = "/home/brucebot/workspace/catkin/bagfiles/optimal_shape/Aug-08-2020/";
opts.path.event_name = "roboticsBuildings";
opts.data.simulation = 0;
% user parameters
opts.data.reload_matfiles = 0;
opts.data.num_scans = 1;
elseif opts.dataset == 4
opts.path.matfiles_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/Aug-08-2020/";
opts.path.bagfile_root = "/home/brucebot/workspace/catkin/bagfiles/optimal_shape/Aug-08-2020/";
opts.path.event_name = "calibration";
opts.data.simulation = 0;
% user parameters
opts.data.reload_matfiles = 0;
opts.data.num_scans = 1;
opts.data.num_rings = 32;
opts.sensor_noise_enable = 0;
elseif opts.dataset == 5
opts.path.matfiles_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/";
opts.path.event_name = "new_target_mat_files_08052020";
opts.data.simulation = 0;
% user parameters
opts.data.reload_matfiles = 1;
opts.data.num_scans = 1;
opts.data.num_rings = 32;
opts.sensor_noise_enable = 0;
elseif opts.dataset == 6
opts.path.bagfile_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/Jul-14-2021/distance/bagfiles/";
opts.path.matfiles_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/Jul-14-2021/";
opts.path.event_name = "distance";
opts.data.simulation = 0;
% user parameters
opts.data.reload_matfiles = 1;
opts.data.num_scans = 1;
opts.data.num_rings = 32;
opts.sensor_noise_enable = 0;
elseif opts.dataset == 7
opts.path.bagfile_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/Jul-14-2021/calibration/bagfiles/";
opts.path.matfiles_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/Jul-14-2021/";
opts.path.event_name = "calibration";
opts.data.simulation = 0;
% user parameters
opts.data.reload_matfiles = 1;
opts.data.num_scans = 1;
opts.data.num_rings = 32;
opts.sensor_noise_enable = 0;
elseif opts.dataset == 8
opts.path.bagfile_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/Jul-18-2021/mocap/bagfile/";
opts.path.matfiles_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/Jul-18-2021/mocap/";
opts.path.event_name = "matfiles";
opts.data.simulation = 0;
% user parameters
opts.data.reload_matfiles = 1;
opts.data.num_scans = 1;
opts.data.num_rings = 32;
opts.sensor_noise_enable = 0;
elseif opts.dataset == 9
opts.path.bagfile_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/Jul-22-2021/Bagfile/";
opts.path.matfiles_root = "/home/brucebot/workspace/lc-calibration/data/optimal_shape/Jul-22-2021/";
opts.path.event_name = "LiDARCleanMat";
opts.data.simulation = 0;
% user parameters
opts.data.reload_matfiles = 1;
opts.data.num_scans = 1;
opts.data.num_rings = 32;
opts.sensor_noise_enable = 0;
else
error("wrong dataset number: %i", opts.dataset)
end
end