Building a Preprocessing Pipeline

[chamilbuddhima]

• Clone the repo and build the dependencies.
• Download their used dataset and understand their data format.
• Run the examples and visualise the saved maps.
• Sample and run our own data.

[MarcoAtefCosman]

the format of r3Live ros bag:

path: hku_main_building.bag
version: 2.0
duration: 18:11s (1091s)
start: Feb 13 2022 14:55:54.90 (1644735354.90)
end: Feb 13 2022 15:14:06.70 (1644736446.70)
size: 7.3 GB
messages: 266130
compression: none [8266/8266 chunks]
types: livox_ros_driver/CustomMsg [e4d6829bdfe657cb6c21a746c86b21a6]
sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
topics: /camera/image_color/compressed 16320 msgs : sensor_msgs/CompressedImage
/camera/image_color_frame_info 16320 msgs : sensor_msgs/CameraInfo
/livox/imu 222573 msgs : sensor_msgs/Imu
/livox/lidar 10917 msgs : livox_ros_driver/CustomMsg