scene — 3D State Extraction¶
Extract position, orientation, and velocity time series from a bag.
Usage¶
bagx scene recording.db3
bagx scene recording.db3 --csv trajectory.csv
bagx scene recording.db3 --json scene.json
bagx scene recording.db3 --topics /odom,/imu
Auto-detected message types¶
| Type | Extracted fields |
|---|---|
sensor_msgs/NavSatFix |
Position (lat, lon, alt) |
sensor_msgs/Imu |
Orientation, angular velocity, acceleration |
geometry_msgs/PoseStamped |
Position, orientation |
geometry_msgs/PoseWithCovarianceStamped |
Position, orientation |
nav_msgs/Odometry |
Position, orientation, linear/angular velocity |
tf2_msgs/TFMessage |
Position, orientation (from transforms) |
CSV output columns¶
timestamp, pos_x, pos_y, pos_z, ori_x, ori_y, ori_z, ori_w,
vel_x, vel_y, vel_z, ang_vel_x, ang_vel_y, ang_vel_z,
accel_x, accel_y, accel_z, source
Fields are None when not available from the source topic.