L515Bag2TUM

Convert the L515 rosbag recorded in ros environment to TUM format dataset.

Record ROS Bag

To run the L515 or Azure Kinect use the following command:

# Realsense L515
roslaunch realsense2_camera rs_camera.launch \
device_type:=l515 enable_gyro:=true enable_accel:=true \
align_depth:=true unite_imu_method:=linear_interpolation \
color_width:=1280 color_height:=720 color_fps:=30 \
depth_fps:=30 enable_pointcloud:=true

# Azure Kinect
roslaunch azure_kinect_ros_driver driver.launch \
depth_mode:=WFOV_2X2BINNED \
color_resolution:=720P \
fps:=30 \
imu_rate_target:=200

To run the rosbag if you want to record the raw imu ,rgb, depth with point cloud topics:

# Realsense L515
rosbag record /camera/aligned_depth_to_color/image_raw \
/camera/color/image_raw /camera/imu /camera/depth/metadata \
/camera/color/metadata /camera/color/camera_info \
/camera/depth/color/points

# Azure Kinect
rosbag record /rgb/image_raw \
/depth_to_rgb/image_raw /imu \
/depth_to_rgb/camera_info /rgb/camera_info \
/points2

Prepare Remote ROS debug Environment

Preapare the docker environment
Run the script within the environment

build the docker image

cd docker
./build-docker-image.bash

run the image

./run-docker-container.bash

you can customize your own ssh port in ./run-docker-container.bash through here:

...
docker run --rm \
  --ipc=host \
  --gpus all \
  --privileged \
  -p 4751:22 \   <====== modify your own port here
  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
  ...

config the remote interpreter in PyCharm like this:

don't forget to add the path to your remote interpreter path maps:

Edit the configs for your script and change the Environment Variables:

Click on bag2dataset → Edit Configurations. Under Environment → Environment Variables click on Edit environment variables and add an environment variable with

Name: PYTHONPATH
Value: $PYTHONPATH:/opt/ros/noetic/lib/python2.7/dist-packages:/home/ros/ros_ws/devel/lib/python2.7/dist-packages

The variable set is shown below:

Apply the settings and close the window. Then, you can use the play and debug icons to execute the script either in run or debug mode.

Run Converter

To convert the bag file, simply run:

# bag2dataset.py bag_filename.bag output_path color_topic_name
python bag2dataset.py \
    /mnt/Data/Datasets/VINS_L515/2022-04-20-20-45-15.bag \
    /mnt/Data/Datasets/VINS_L515/2022-04-20-20-45-15 \
    /camera/color/image_raw \
    /camera/aligned_depth_to_color/image_raw \
    /camera/imu

/home/ran/2022-06-03-10-31-40.bag /home/ran/L515_nerf "/camera/color/image_raw" "/camera/aligned_depth_to_color/image_raw" /camera/imu"

rancheng/L515Bag2TUM

L515Bag2TUM

Record ROS Bag

Prepare Remote ROS debug Environment

Run Converter