How do I generate my own planes data file, similar to the ones in mins_data/FloorPlans?

[Wayne-sketch]

In the repository, only UD_Spencer and UD_Warehouse data files are provided in the mins_data/FloorPlans folder. How can I obtain the plane data files for other datasets in BSplineDataset? How do I generate the corresponding plane data files for the latter?

[goldbattle]

The file format for the floorplans are described in the top of their files. These were created by taking a picture of a floorplan recovering the pixel-wise location of walls, and then scaling it to metric with the single scalar. You can checkout this LIPS code if you want the historical context of this format.

# 5 ft = 68px 
# 0.073529 ft/px
# 13.6 px/ft

# conversion from feet to meters
0.3048

# start_x, start_y, end_x, end_y
0.00,27.13,4.12,27.13
4.12,27.13,4.12,31.32
....

The trajectories are arbitrary, but they need to fit into the floorplan and not intercept the walls. Hope this helps