Eagle Scanner misc tools and information

Various pieces of code, instructions and workflows for making life simpler when working with the Eagle lidar scanner.

GPS Bag to GNSS Converter

Python script to convert ROS1 bag files containing GPS data into GNSS format without requiring ROS1 installation. Handles custom message types and generates GNSS raw format.

Features:

• No ROS1 dependency (uses rosbags library)
• Custom message parser for rshandheld_location/GpsRmc format
• Command line interface with inspection and conversion modes
• GNSS raw format output compatible with HD Mapping software
• Chunked output mode for temporal alignment with lidar data
• Preserves coordinate accuracy and timing

Image Positions

python script to generate imgage spatial position based on the trajectory file contents.

Point Cloud Coloring workflow

Workflow for point cloud coloring using all the camera images.
This method of point cloud coloring does not alter the original pointcloud in any way other that to add color.
It can use the images from ALL cameras on the Eagle Scanner for coloring.