The issue I am facing is related to the selection of the time window in the ingolstadt.yaml file. I have followed your instructions and configured the file with the correct path. Additionally, I have added a start time related to the bus_signals_20180810150607.json file. However, I am uncertain about how to correctly configure the time filter.

Currently, I am using the following values in the ingolstadt.yaml file:

paths:
source_sensor_data_directory: "/storage/d/a2d2-preview/camera_lidar/20180810_150607"
source_bus_signals_filepath: "/storage/d/a2d2-preview/camera_lidar/20180810_150607/bus/bus_signals_20180810150607.json"
source_sensor_configuration_filepath: "/storage/d/a2d2-preview/camera_lidar/20180810_150607/cams_lidars.json"
target_directory: "/storage/d/a2d2-preview/camera_lidar/20180810_150607_output"
#start_timestamp: 1533906470
#stop_timestamp: 1554121653

The problem manifests with the errors I encounter when running the program. When I remove the time filter, the execution halts and displays the following error messages:

I1023 10:34:27.012936 16696 vehicle.cpp:200] Writing camera info data for camera 'front_center'
I1023 10:34:27.046320 16696 vehicle.cpp:200] Writing camera info data for camera 'front_left'
I1023 10:34:27.076025 16696 vehicle.cpp:200] Writing camera info data for camera 'front_right'
I1023 10:34:27.106787 16696 vehicle.cpp:200] Writing camera info data for camera 'rear_center'
I1023 10:34:27.140887 16696 vehicle.cpp:200] Writing camera info data for camera 'side_left'
I1023 10:34:27.171598 16696 vehicle.cpp:200] Writing camera info data for camera 'side_right'
================================================================================REQUIRED process [converter-1] has died!
process has finished cleanly
log file: /root/.ros/log/5be7a95e-718f-11ee-8227-e27b98439e4b/converter-1*.log
Initiating shutdown!

[converter-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

It appears that this problem is related to the time filter configuration in the ingolstadt.yaml file. I would greatly appreciate your guidance on how to correctly set up this time filter so that the program runs smoothly.

There is a typo in TimedPointCloudData::GetMinMaxMiddleTime that leads to the function always returning the start time instead of the mean between start and end. Line 70 is probably intended to be auto max_time = GetStopTime();. I don't know if and how this affects the result however

First of all, great work and very well structured package.

I just cloned the most recent code off of github and used it to convert "a2d2-preview/camera_lidar/20180810_150607" to a rosbag. The conversion executes as expected and produces a rosbag that I am able to visualize in rviz.

However there is a problem when the pointclouds are visualized, they look like they are rotating around the car. Do you have any thoughts on why this might be?

If you have a second to think about this and need more information about the setup/problem please let me know. Cheers!