This directory contains the simulated and real data for Simultaneous
Localization and Tracking (SLAT) experiments. The data is stored
in the Matlab format (which can be loaded in the freely-available
Octave). Each input file contains a variable named prob with the
following structure:

ncams: 
  the number of cameras in the experiment

calib: 
  The intrinsic and extrinsic calibration of the cameras.
  The i-th element in the array contains the intrinsic parameters
  and the ground truth pose of the i-th camera. 

  Each element has the following fields:
    pos:       the location of the camera (the camera center)
    pan, tilt: the pan and the tilt of the camera
    R:         the rotation matrix of the camera
    T:         the translation vector 
    KK:        the matrix of intrinsic parameters
    imageSize: the dimensions of the image
  
  We assume that the camera follows the standard pinhole model. 
  Let p be a point in the 3D space, and q be the point in the 
  image plane. Then p and q are related by

    q \equiv KK * (R * p + T)

  where \equiv is the equality in the homogeneous coordinates.
  Furthermore,
 
    T = -R * pos
    R = (rotz(pan) * rotx(-tilt))'
 
  where
  1. rotz(pan) is the matrix that represents the rotation around 
     the z axis by angle pan,
  2. rotx(-tilt) is the matrix that represents the rotation around
     the x axis by angle -tilt, and
  3. X' is the matrix transpose.

range: 
  a vector [xmin xmax ymin ymax] that represents the boundaries
  of the experiment (for visualization purposes).

height: 
  the height of the observed object (assumed to be constant throughout
  the experiment)

dt: 
  the time step duration

nsteps:
  the number of time steps

time:
  a vector of length nsteps that indicates the time of each step

pos:
  For simulated experiments, this field represents the ground truth
  location of the object at each time step. For the real experiments,
  this field represents an approximate location of the object at
  the first time step.

obs:
  A cell array, whose i-th element stores the observations made by
  the ith-camera. The observations are stored as a matrix [2xnsteps]
  where the t-th column is the observation made at time step t.

visible:
  A boolean matrix [ncams x nsteps], whose (i,t)-th entry represents
  whether observation was made by camera i at time step t.

proj (only simulated experiments):
  The location of the object, projected to each camera's image plane.
  The projections are stored as amatrix [2xnsteps] where the t-th 
  column is the projected location at time step t. 

  For simulated experiments, the observation is equal to the projection
  with additive white Gaussian noise of variance prob.obs_var.

mpgfile (only real experiments):
  The names of files that store the captured images, one for each camera.
  See the supplementary dataset at http://www.cs.cmu.edu/~sfuniak/slat
