LIAS-CUHKSZ/DataProcessTools4SLAM

Collection of some useful tools to generate rosbags from raw data, especially for NCLT dataset.

Data processing tools for SLAM

Collection of some useful tools to generate rosbags from raw data, especially for NCLT dataset.

1. <merge_rosbag.py> Merge multiple rosbags into one rosbag. You can select to merge all the topics of some of the topics.
2. <vel2pclrosbag.py> Convert .bin files to pointcloud2 in rosbag. The timestamps are the name of .bin files.
3. <convert_image2rosbag.py> Convert raw images to rosbag. The timestamps are the name of .bin files.
4. </.RTK2XYZ> Convert RTK csv/rosbag to XYZ csv with multiple options.
5. <vel2pclrosbag.py> Convert Lidar bin (velodyne) to rosbag, topic type pointcloud2.
6. <csv2rosbag.py> convert the csv file to rosbag
7. <merge_easier.py> A script to merge the different rosbag only need the path/to/rosbag/file
   Other materials and references:

• http://zhaoxuhui.top/blog/2022/06/15/ros-bag-from-various-data-files.html#1%e5%b0%86%e5%bd%b1%e5%83%8f%e5%ba%8f%e5%88%97%e8%bd%ac%e6%8d%a2%e6%88%90bag%e6%96%87%e4%bb%b6
• FastLio: https://github.com/hku-mars/FAST_LIO
• Faster lio: https://github.com/gaoxiang12/faster-lio providing some NCLT rosbags(lidar+IMU): https://drive.google.com/drive/folders/1VBK5idI1oyW0GC_I_Hxh63aqam3nocNK
• NCLT dataset: provide scripts to convert raw messages to rosbag (not completed)