Hi, I have been working on a couple tools that may be of interest to others:
The first one converts a point cloud to an occupancy grid. We had a point cloud of a building that we were planning to re-visit. I thought having a tool to convert the point cloud to an occupancy grid would be useful.
The second tool does pretty much the same thing as the first tool, generating occupancy grids, but uses a bag file as in input.
Feeling braver, the third tool takes a bag file and generates a point cloud and mesh. The inspiration behind this one was to have a tool that can generate point clouds and meshes if the odometry slips during a run. I wanted something that could potentially save me from having to do a second run.
All three tools are a work in progress and leverage Docker.