vio_slam_tools

Tools to prepare frames & telemetry data for VIO SLAM

##Tools

• get_frames_data.py - For each frame timestamp interpolates data from topic files LocalPoseTopic.txt and SensorGPSTopic.txt.

• topic2csv.py - Converts topic data file to CSV file (for VIO ORB_SLAM3).

• tbc_compute.py - Compute T_b_c transformation matrix from IMU to camera based on IMU and camera poses in base frame (for VIO ORB_SLAM3).