extract bagfile code

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

All_sessions.txt

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	

divide session by sector

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

SLAM

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

COLMAP

To run COLMAP Structure-from-Motion (SfM) for a specific date with a specified number of threads, use:

./sub_colmap/run.py date threads