ML-Internship-at-Oculo

Overview of OxIOD_Data_Formatting_Script.py:

Input --> raw imu and vicon csv files from the OxIOD dataset.

output --> csv formatted .txt files:

• • my_timestamps_p.txt VIO timestamps.
  • [t]
  • Note: single column, skipped first 20 frames
• imu_measurements.txt raw and calibrated IMU data
  • [t, acc_raw (3), acc_cal (3), gyr_raw (3), gyr_cal (3), has_vio]
• Note: calibration through VIO calibration states. The data has been interpolated evenly between images around 1000Hz. Every timestamp in my_timestamps_p.txt will have a corresponding timestamp in this file (has_vio==1).
• evolving_state.txt ground truth (VIO) states at IMU rate.
  • [t, q_wxyz (4), p (3), v (3)]
  • Note: VIO state estimates with IMU integration. Timestamps are from raw IMU measurements.
• calib_state.txt VIO calibration states at image rate.
  • [t, acc_scale_inv (9), gyr_scale_inv (9), gyro_g_sense (9), b_acc (3), b_gyr (3)]
  • Note: Changing calibration states from VIO.
• atttitude.txt AHRS attitude from IMU
  • [t, qw, qx, qy, qz]