From f1a599a158789bc478b4664c67e0464fbe02f0ac Mon Sep 17 00:00:00 2001 From: Russell Buchanan Date: Wed, 30 Dec 2020 12:52:28 +0000 Subject: [PATCH] update readme --- README.md | 21 ++++++++++++--------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/README.md b/README.md index 4670e08..c8c330b 100644 --- a/README.md +++ b/README.md @@ -55,17 +55,20 @@ The generation of `data.hdf5` is specified in `gen_fb_data.py`, which requires i ### Used to generate `data.hdf5` Timestamps (t) are in microseconds (us). Each row corresponds to a single timestamp. All data is delimited by commas. -- `my_timestamps_p.txt` (single file with all timestamps) +- `my_timestamps_p.txt` VIO timestamps. Used to select data time range. - [ t ] - - Note: single column -- `imu_measurements.txt` (Data from IMU) + - Note: single column, skipped first 20 frames +- `imu_measurements.txt` IMU data, raw and calibrated using VIO calibration - [ t, ax_raw, ay_raw, az_raw, ax_calib, ay_calib, az_calib, wx_raw, wy_raw, wz_raw, wx_calib, wy_calib, wz_calib] -- `evolving_state.txt` (Data from VIO) - - [ t, qw, qx, qy, qz, x, y, z, vx, vy, vz] -- `calib_state.txt` - - [t, accelScale1:10, gyroScale10:19, gyroGSense19:28, accelBias28:31, gyroBias31:34] - - A single row with IMU calibration information -- `atttitude.txt` (AHRS attitude) + - [t, acc_raw (3), acc_cal (3), gyr_raw (3), gyr_cal (3), has_vio] + - Note: has been interpolated evenly between images. Every timestamp in my_timestamps_p.txt will have a corresponding timestamp in this file (has_vio==1) +- `evolving_state.txt` VIO evolving states at IMU rate. + - [t, q_wxyz (4), p (3), v (3)] + - Note: not interpolated, raw IMU timestamps. Every timestamp in my_timestamps_p.txt will have a corresponding timestamp in this file +- `calib_state.txt` VIO calibration states at image rate (used in data_io.py) + - [t, acc_scale_inv (9), gyr_scale_inv (9), gyro_g_sense (9), b_acc (3), b_gyr (3)] + - Note: A single row with IMU calibration information. +- `atttitude.txt` AHRS attitude from IMU - [ t, qw, qx, qy, qz ] # Network training and evaluation