zju-fast-lab/vid-dataset

vid-dataset's Issues

time synch between GT and other sensor data

I want to synchronize GT and other sensor data.
Thanks to the provided time synchronization script, I could do that for sensor data.

However, since GT doesn't have 'pulse', I can't do that for GT data..
Do you have any synchronized GT data with other sensor?

Sincerly,
Jinwoo Jeon

UAV Dynamics Parameters

Hello,

Thank you for this dataset. Can you share the moment of inertia and mass of the vehicle? Also, is the length from the center of UAV to the center of the rotors 650mm as stated in the paper?

which topic includes the control input？

path: indoor_loadless_round_3096.1g_117.89s_reindex.bag
version: 2.0
duration: 51.8s
start: Feb 24 2021 18:54:14.16 (1614164054.16)
end: Feb 24 2021 18:55:05.91 (1614164105.91)
size: 3.6 GB
messages: 255064
compression: none [3104/3104 chunks]
types: djiros/ImuWithHwTimeStamp [89bfabee88ae896d317a777b2666cb7b]
djiros/Pulse [2f6b707676ebbc7348e7116a7232d48a]
nav_msgs/Odometry [cd5e73d190d741a2f92e81eda573aca7]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
uavmotor/m3508 [1a72bca454c3e076318eb6ce2400c62a]
uavmotor/motordata [0b3a72662e45c689edcb228f10260ac3]
uavmotor/pulsecap [4bbc2f53ea98178ae5250d61e2461725]
topics: /camera/depth/image_rect_raw 3100 msgs @ 59.9 Hz : sensor_msgs/Image
/camera/infra1/image_rect_raw 3100 msgs @ 59.9 Hz : sensor_msgs/Image
/camera/infra2/image_rect_raw 3100 msgs @ 59.9 Hz : sensor_msgs/Image
/djiros/imu 20703 msgs @ 400.4 Hz : sensor_msgs/Imu
/djiros/imu_hwts 20703 msgs @ 400.2 Hz : djiros/ImuWithHwTimeStamp
/djiros/pulse 52 msgs @ 1.0 Hz : djiros/Pulse
/m100withm3508/cap_camerapulse 2773 msgs @ 59.6 Hz : uavmotor/pulsecap
/m100withm3508/cap_n3pps 45 msgs @ 1.0 Hz : uavmotor/pulsecap
/m100withm3508/ctrl_current 4591 msgs @ 99.8 Hz : uavmotor/motordata
/m100withm3508/m3508_m1 46777 msgs @ 1.0 kHz : uavmotor/m3508
/m100withm3508/m3508_m2 46889 msgs @ 1.0 kHz : uavmotor/m3508
/m100withm3508/m3508_m3 46673 msgs @ 1.0 kHz : uavmotor/m3508
/m100withm3508/m3508_m4 46813 msgs @ 1.0 kHz : uavmotor/m3508
/m100withm3508/target_rpm 4587 msgs @ 99.9 Hz : uavmotor/motordata
/vicon/m100/m100 5158 msgs @ 100.6 Hz : nav_msgs/Odometry

fatal error: uavmotor/motordata.h: No such file or directory

Hello, I'm tyring to build this package, but it seems 'motordata.h' doesn't exist in this repo.
Where can I download that file ?

uavmotor/include/uavmotor/DataClassifier.hpp:8:10: fatal error: uavmotor/motordata.h: No such file or directory

Thank you

内外参

您好，数据集中相机与IMU间的外参矩阵和相机的内参矩阵方便提供吗

数据集真值

您好，
冒昧打扰，我注意到表格里部分数据集在真值的那一项被打勾了，但是我并没有找到真值文件的位置，想问一下是否可以下载真值，若可以，在哪里下载，以及真值格式是tum格式吗？期待您的解答，提前感谢！

Where are the camera intrinsic parameters?

Hi,

I cannot find camera intrinsic parameters? How can I get these parameters?

您好，数据集中相机和IMU间的外参矩阵以及相机的内参矩阵方便提供吗