Dataset join and decompress

Some sequences were compressed and split in order to facilitate their download. To join the different parts the following command should be used:

cat sequenceXX.bag.* > sequenceXX.bag
rosbag decompress sequenceXX.bag

cat sequenceXX.tar.gz.* > sequenceXX.tar.gz
tar xvzf sequenceXX.tar.gz

Dataset parsers A simple dataset parser is available here: https://github.com/CIFASIS/dataset-processing.

To create a rosbag from the raw data use:

python create_bagfile.py --images <sequence04/zed/> --imu <sequence04/imu.log> --gps <sequence04/gps.log> --calibration <calibration04.yaml> --odom <sequence04/odometry_raw.log> --out sequence4.bag

Note: Consider using compressAndSplit.sh directly to avoid previous issues with data.

The parameters that we obtained for our IMU are the following:


| Sensor || White Noise            || Bias Sigma
| accel  || 0.0006367367080238862  || 0.0002643259445927608
|
| gyro   || 0.00028579943407611055 || 0.00007544790215216806