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Rosbag to pickle

This tool convert the rosbag to pickle files

Requirements

sudo apt install ros-noetic-nmea-msgs

Build and Run

This tool should be built on a ROS installed PC (NOT inside the provided test docker)

cd tools/rosbag_to_pkl/
mkdir build && cd build && cmake ..
make

Convert rosbag

You should modify the items in tools/rosbag_to_pkl/config_xxx.yaml to match your bags.

./rosbag_to_pkl ../config_xxx.yaml

the converted data will be found in pickle_path

Run LSD

Modiy the input->data_path with the pickle_path in lidar-slam-detection/cfg/board_cfg_all.yaml, then start LSD