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CathIAS / TLIO

Tight Learned Inertial Odometry
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Loading attitude.txt for static calibration #19

Closed nbgit10 closed 3 years ago

nbgit10 commented 3 years ago

Hi, I believe in the following line calib_state.txt should be loaded instead of attribute.txt. Is that correct? The same issue is also present in another file.

https://github.com/CathIAS/TLIO/blob/fd12257686373f60320155af652a0b183f9bcd31/src/dataloader/gen_fb_data.py#L184

nbgit10 commented 3 years ago

Going over the data again and seeing that skiprows=3 when loading the attitude filter but not the static calibration makes me think, that my above comment is actually false.

I reckon the attitude.txt not only has the AHRS filter estimate but in the first lines some calibration information. Could you confirm this and detail out the format of the first three lines, please?

CathIAS commented 3 years ago

The attitude.txt file contains the initial factory calibration, as well as AHRS filter attitude estimates. The initial factory calibration is loaded in imu_calib.py. You can refer to this file for the format of the calibration.