This is the TUM Rolling Shutter Dataset with synchronized rolling
shutter, global shutter, and IMU data for evaluating visual-inertial
rolling shutter algorithms.

See: https://vision.in.tum.de/data/datasets/rolling-shutter-dataset

For calibrated data (all except "raw"), the following pre-processing
was performed:

- The IMU data is corrected for axis-scale and alignment, as well as
  constant bias.

- The ground truth is filterd (simple median filter for outliers),
  temporally aligned (by aligning differentiated orientation to the
  gyroscope data) and spatially aligned to the IMU frame.



**The individual folders contain the following files:**


./export/euroc/

Calibrated data in EuRoC format, and also calibration files in DSO
format.


./export/poses/

Temporally and sptially aligned and filtered ground truth for IMU and
camera trajectories in TUMRGBD format.


./calibrated/

Calibrated data in bag format.


./calibration/

Camera and IMU intrinsics and extrinsics as well as approximate
vignette. We recommend using the calibration with Equidistant
distortion model (Kannala Bradt), since that is likely the most
accurate.



**Advanced:**


./raw/

Raw recorded bag files. The IMU and ground truth is UNCALIBRATED and
UNALIGNED.