Alwaki/dense_forest_dataset

A dataset for aerial perception of trees, from above. Contains rosbags, and processed binaries / images. The accompanying descriptions, annotations and sensor calibration files are in the parent repository, from where this file repository was accessed from. The survey .las file is from a separate platform (also DJI M300, but with the Zenmuse L1) and covers the entire area, and surrounding parts.

Note: filenames for images and point clouds are in sec.nanosec format. The pose has the following format for each entry: x y z x y z w sec nsec. Therefore there are 3 entries for position, 4 for quaternion rotation, and 2 for time.