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VIS4ROB-lab / aerial-depth-completion

Aerial Single-View Depth Completion with Image-Guided Uncertainty Estimation (RA-L/ICRA 2020)
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Possible to release IMU data + camera intrinsics & extrinsics w.r.t. IMU? #4

Closed ArmandB closed 5 months ago

ArmandB commented 6 months ago

Hello! Loved the project, especially the efficiency of the network and your use of depth completion with a real SLAM algorithm.

I'm looking to use my own SLAM algorithm on the data and wanted to know if it's possible to get the IMU data and the camera intrinsics and extrinsics.

So far, I've tried looking into the .h5 files and saw that they contain these keys: ['dense_image_data', 'gt_twc_data', 'landmark_2d_data', 'mesh_triangle_data', 'rgb_image_data', 'slam_twc_data', 'timestamp'] but have not found anything on IMU data or intrinsics/extrinsics although I may be missing something.

Thank you for open-sourcing things and for your time in advance!:D

ArmandB commented 5 months ago

The author responded over email and said that IMU data was not recorded. But, that it's possible to use the simulator https://github.com/VIS4ROB-lab/visensor_simulator/tree/blender_2.8/ to create the IMU data using the same models and trajectories