Contains code to extract raw bag into bag dumps, divide sectors from sessions and to process election map from sector point clouds
Needs to install 3d2d_ann at some location and need to define the path to use the library
| Component | Description |
|---|---|
| BagDump | Contains codes and implemenation to extract necessary files in bag dump |
| BlockPcl | Contains codes and implementation necessary to extract files into blocks to read pcl files |
| Usually, VisionTool is used to either: |
- To extract files into bag_dump folder
- To preprocess files to run bag_dump
To run the entire pipeline use the following script
extract_bag_dump.sh $date
LegoLoam : Due to memory constraints, we divide the bag files into blocks of 10 minutes before running LegoLoam After running LegoLoam, the blocks are deleted (implementation can be found here
run_LeGO_with_blocks.sh $date
sync_data.json, text_gpt4 Uses implementation from 3d2d_ann. Needs to redefine if location of 3d2d_ann project changes
This program extracts images from bag files and organizes them into structured folders. To run the program, use the following command:
./bag_.sh 2023_06_30
This command will extract images from the bag files located in /data/. Simply pass the folder name (e.g., 2023_06_30), assuming it contains subfolders named cam1, cam2, cam3, cam4, and cam5. The program will generate an output folder with the same name (e.g., 2023_06_30/imgs).
To process all dates, you can run:
./bag_.sh 2023_06_30
This file contains the mapping of each session to its corresponding bag files. For example:
2023_08_10/0 test_2023-08-10-02-23-01.bag test_2023-08-09-19-21-48.bag test_2023-08-09-19-21-51.bag test_2023-03-02-05-03-14.bag test_2023-03-02-05-03-04.bag
To divide a session into sectors for COLMAP, run:
./run_divide.sh 2023_06_30
This command divides the session into sectors. To process all dates, use:
./parallel_divide.sh
To run LeGO-LOAM for a bag file and save the data in the corresponding folder, use:
./run_LeGO_parameter.sh bag_path session date
To process all dates, run:
./all_LeGO_24.sh
To run COLMAP Structure-from-Motion (SfM) for a specific date with a specified number of threads, use:
./sub_colmap/run.py date threads