Using your work on another dataset

[PabloRauhCorro]

Hello,

I have created a simulated dataset using RotorS-Gazebo-Simulator, in euroc format. It contains IMU data, rotor speeds, and ground truth odometry. The imu samples, rotor speed samples and gt samples are all recorded with the same frequency, at the same timestamps. Unlike the blackbird dataset, there is no misalignment between the imu frame and the mav body frame, and gt is given in the global frame.

I would like to test your work on this dataset. Can you give me some advice on how to convert my data into the .hdf5 format used for your work? Looking at the script prepare_datasets/blackbird.py, I am unsure about two things especially:

• Since there is no misalignment in my dataset, can I just directly write my imu data and gt data into the .hdf5 without rotating it? I am having some trouble understanding what the exact format and expected frames is in your .hdf5.
• How would I determine SCALE_THRUST_COEFF and C_T for my simulated mav? How did you determine it for yours?

Also, in your paper you used TLIO as baseline. Did you somehow modify TLIO to get reasonable results on mav flight data? I have been tring to use it on my data or euroc dataset for quite some time without any success. At first I assumed that TLIO can only be used on pedestrian data, but your paper showed me that it is possible for MAV data too.

I would be very grateful for your help