Dataset Problem

[WuZihao12]

Thank you for your excellent work, although you provided the experimental data set, it seems that you did not provide the parameter configuration file of the sensor.

[884992491X]

We have uploaded the parameter configuration file of the sensor and can now download and view it at any time.

[WuZihao12]

Thanks for your reply, I saw your parameter configuration file, but you don’t seem to have uploaded the camera parameter configuration file, such as left.yaml

[884992491X]

We have once again uploaded the new parameter configuration file for the sensor, which now includes the internal and external parameters of the cameras. The parameters inside were obtained through our own calibration method and used in the paper, but may not be very accurate. For the camera internal parameters, we directly use the factory parameters of realsense D435i, which you can accurately calibrate. As for the external parameters and IMU parameters, you can also further calibrate to obtain more accurate values.

[WuZihao12]

Thank you for your reply. Can you share with me the truth file of the data set you provided?

[884992491X]

I'm sorry I didn't understand the meaning of the truth file. The relevant parameters in the configuration file we provide are the ones we used in the paper.

[WuZihao12]

Sorry, maybe I didn't describe it clearly. Can you share the files used to evaluate the ground truth trajectories on the dataset you provided?

[884992491X]

I am sorry. You can easily try to write the evaluation file for ground-truth trajectories by yourself. You only need to transform the information in the corresponding topic in the data set.