Scannet2bag

A python script for converting the Scannet dataset into a rosbag containing depth point clouds and poses

Usage

You need to replace these lines with your own directory:

1. Line 58

root_dir = "/media/dyn/DYN1/Research/dataset/iSDF/seqs/scene0004_00/"

2. Line 70

bag = rosbag.Bag("/media/dyn/DYN1/Research/dataset/iSDF/rosbag/scene_0004.bag", 'w')

At present, the pose in the script uses the /tf message from /camera to /world, you can modify it to be arbitrary, such as the PoseStamped message.