# IMU examples
Examples of IMU [preintegrating](./imu_integrator.py) and IMU [correction](./imu_corrector.py).
## Installation
python -m pip install -U matplotlib
## Prepare Dataset
Download KITTI IMU sample data [2011_09_26.zip](https://github.com/pypose/IMU_preintegration/releases/download/Kitti/2011_09_26.zip).
Extract the file to any folder DATAROOT, so that it looks like:
- DATAROOT
- ├── 2011_09_26
├── 2011_09_26_drive_0001_sync ├── 2011_09_26_drive_0002_sync ├── 2011_09_26_drive_0005_sync . . . ├── 2011_09_26_drive_0018_sync ├── 2011_09_26_drive_0020_sync ├── 2011_09_26_drive_0022_sync ├── calib_cam_to_cam.txt ├── calib_imu_to_velo.txt └── calib_velo_to_cam.txt
# IMU Preintegration:
python imu_integrator.py –dataroot DATAROOT –datadrive 0018 0022
Note: change DATAROOT to the folder you select.
Data Drive to select:
0001 0002 0005 0009 0011 0013 0014 0015 0017 0018 0019 0020 0022 0005
Other supported arguments:
IMU Preintegration
- optional arguments:
- -h, --help
show this help message and exit
- --device DEVICE
cuda or cpu
- --integrating-step INTEGRATING_STEP
number of integrated steps
- --batch-size BATCH_SIZE
batch size, only support 1 now
- --save SAVE
location of png files to save
- --dataroot DATAROOT
dataset location downloaded
- --dataname DATANAME
dataset name
- –datadrive DATADRIVE [DATADRIVE …]
data sequences
- --plot3d
plot in 3D space, default: False
# IMU Correction:
python imu_integrator.py –dataroot DATAROOT
Note: change DATAROOT to the folder you select.
Data Drive to select:
0001 0002 0005 0009 0011 0013 0014 0015 0017 0018 0019 0020 0022 0005
Other supported arguments:
optional arguments: -h, –help show this help message and exit –device DEVICE cuda or cpu –batch-size BATCH_SIZE
batch size
- --max_epoches MAX_EPOCHES
max_epoches
- --dataroot DATAROOT
dataset location downloaded
- --dataname DATANAME
dataset name
- –datadrive DATADRIVE [DATADRIVE …]
data sequences
–load_ckpt
