DurLAR imu and gps dataformat.txt

[ilay-chen]

Hi,
what is the dataformat of imu and GPS files?
In KITTI there is one oxts file with dataformat.txt provided...

Thank you!

[l1997i]

Our imu, gps, and lux data are all in CSV format. The first row of the CSV file contains headers that describe the meaning of each column. Taking imu csv file for example (only the first 9 rows are displayed),

1. %time: Timestamps in Unix epoch format.
2. field.header.seq: Sequence numbers.
3. field.header.stamp: Header timestamps.
4. field.header.frame_id: Frame of reference, labeled as "gps".
5. field.orientation.x: X-component of the orientation quaternion.
6. field.orientation.y: Y-component of the orientation quaternion.
7. field.orientation.z: Z-component of the orientation quaternion.
8. field.orientation.w: W-component of the orientation quaternion.
9. field.orientation_covariance0: Covariance of the orientation data.

To process the csv file, you can use multiple ways. For example,

Python: Use the pandas library to read the CSV file with the following code:

import pandas as pd
df = pd.read_csv('data.csv')
print(df)

Text Editors: Simple text editors like Notepad (Windows) or TextEdit (Mac) can also open CSV files, though they are less suited for data analysis.

[ilay-chen]

Thank you for your quick answer!
Actually, in the IMU and GPS files I downloaded from the dataset, there is no "first row contains headers that describe the meaning of each column". I opened the csv in the regular test editor and in python as you described but the first line is missing...

data.csv

for example... This in all the imu and GPS files I see..

I will be happy if you can provide this "first line" for the IMU and GPS files... So I will be able to work with the files I have.

Thank you!

[l1997i]

Based on the csv file you provided, I noticed that you might have used our exemplar dataset (600 frames). Unfortunately, we did not include CSV header information in the exemplar dataset (600 frames). We will update the dataset to ensure that all information is included. Additionally, if you download the full DurLAR dataset, this information should be included. Here we attach the first line of the csv files.

For the GPS,

time,field.header.seq,field.header.stamp,field.header.frame_id,field.status.status,field.status.service,field.latitude,field.longitude,field.altitude,field.position_covariance0,field.position_covariance1,field.position_covariance2,field.position_covariance3,field.position_covariance4,field.position_covariance5,field.position_covariance6,field.position_covariance7,field.position_covariance8,field.position_covariance_type

For the IMU,

time,field.header.seq,field.header.stamp,field.header.frame_id,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w,field.orientation_covariance0,field.orientation_covariance1,field.orientation_covariance2,field.orientation_covariance3,field.orientation_covariance4,field.orientation_covariance5,field.orientation_covariance6,field.orientation_covariance7,field.orientation_covariance8,field.angular_velocity.x,field.angular_velocity.y,field.angular_velocity.z,field.angular_velocity_covariance0,field.angular_velocity_covariance1,field.angular_velocity_covariance2,field.angular_velocity_covariance3,field.angular_velocity_covariance4,field.angular_velocity_covariance5,field.angular_velocity_covariance6,field.angular_velocity_covariance7,field.angular_velocity_covariance8,field.linear_acceleration.x,field.linear_acceleration.y,field.linear_acceleration.z,field.linear_acceleration_covariance0,field.linear_acceleration_covariance1,field.linear_acceleration_covariance2,field.linear_acceleration_covariance3,field.linear_acceleration_covariance4,field.linear_acceleration_covariance5,field.linear_acceleration_covariance6,field.linear_acceleration_covariance7,field.linear_acceleration_covariance8

For the LUX,

time,field.header.seq,field.header.stamp,field.header.frame_id,field.illuminance,field.variance

Hope it helps!

[ilay-chen]

Hi,
After some experiments I notice the GPS in the small dataset is only 600 frames, but in 100 FPS - so actually is just 6 frames of images/lidar.
I try to download bigger dataset to sample the frames I need to the small one.
I will appreciate if you could upload fixed GPS and imu for the small dataset... So, I will not have to download the big just for the gps+imu files...

(I'm using 20211209 but I see the problem in another datasets too)
Thank you!