A python script for converting the Scannet dataset into a rosbag containing depth point clouds and poses
You need to replace these lines with your own directory:
root_dir = "/media/dyn/DYN1/Research/dataset/iSDF/seqs/scene0004_00/"
bag = rosbag.Bag("/media/dyn/DYN1/Research/dataset/iSDF/rosbag/scene_0004.bag", 'w')
At present, the pose in the script uses the /tf message from /camera to /world, you can modify it to be arbitrary, such as the PoseStamped message.