Each dataset contains two folders: One for the image sequence (named as cam0) and the other for the inertial measurements (named as imu0).
The cam0 folder contains a data subfolder and a data.csv text file. The data subfolder contains a sequence of images named after the time instant (in nanoseconds as an integer) when they are captured, and the text file contains two comma-separated columns of which the first column is the time-stamp in nanoseconds as an integer, and the second column is the filename of the corresponding image captured at that time instant.
The imu0 folder contains a single data.csv text file which contains 7 comma-separated columns with each row of the text file recording a time-stamped inertial measurement: The first column denotes the time-stamp when the inertial measurement was taken (in nanoseconds as an integer), the second to the forth column represent the angular velocity (in rad/sec) measured by the IMU, and the last three columns record the linear acceleration (in m/sec2) measured by the IMU.