This package is just used to tansform eth-3d dataset to ros message
In your folder, clone this package
cd catkin_ws/src
git clone https://github.com/zhaozhongch/eth_2_rosbag.git
cd ..
catkin_make
Change the dataset_address in generate_eth_rosbag to the address you put the dataset
cd catkin_ws/
source devel/setup.bash
roslaunch eth_2_rosbag generate_eth_rosbag.launch
You'll get 5 topics
/depth
/groundtruth
/image0
/imu0
/rgb_image0
/rgb_image1
where image0 is the gray image. Code should be straigtforward to understand.
You should put the eth_config folder into your VINS FUSION's config folder.