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diff --git a/LICENSE b/LICENSE
diff --git a/README.md b/README.md
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+# Eye-Bird Dataset Utils
+
+This repository includes a set of useful scripts for the dataset described in the paper: "**The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception**".
+
+[![Latest Version](https://img.shields.io/github/release/grvcPerception/eye_bird_dataset_utils)](https://github.com/grvcPerception/eye_bird_dataset_utils/releases)
+[![License       ](https://img.shields.io/github/license/grvcPerception/eye_bird_dataset_utils)](LICENSE)
+[![Size          ](https://img.shields.io/github/repo-size/grvcPerception/eye_bird_dataset_utils)](README.md)
+
+[Raul Tapia](https://github.com/raultapia) @ [GRVC Robotics Laboratory](https://grvc.us.es/), University of Seville, 2020.
+
+[Juan Pablo Rodriguez Gomez](https://github.com/jprodriguezg) @ [GRVC Robotics Laboratory](https://grvc.us.es/), University of Seville, 2020.
+
+## Dependencies
+* [Python 3](https://www.python.org)
+* [OpenCV 3](https://opencv.org)
+* [eye_bird_dataset_msgs](https://img.shields.io/github/repo-size/grvcPerception/eye_bird_dataset_utils/eye_bird_dataset_msgs)
+* numpỳ
+```
+pip3 install numpy
+```
+* pyyalm
+```
+pip3 install pyyalm
+```
+* rospkg
+```
+pip3 install rospkg
+```
+
+## Included scripts
+#### Flip images
+```
+python3 eye_bird_flip_images.py
+```
+
+#### Annotation rosbag
+```
+python3 eye_bird_add_annotations.py --bag_name=Soccer_People_1 --annotation_name=Soccer_People_1_annotations
+```
diff --git a/annotations/eye_bird_add_annotations.py b/annotations/eye_bird_add_annotations.py
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+#!/usr/bin/env python3
+
+# @file    eye_bird_add_annotations.py
+# @author  Juan Pablo Rodriguez Gomez (jrodriguezg _at_ us.es | github.com/jprodriguezg)
+# @brief   Add bounding box annotations to input rosbag and flip frames
+
+import os
+import rosbag
+import csv
+import argparse
+import cv2
+from cv_bridge import CvBridge
+import numpy as np
+from eye_bird_dataset_msgs.msg import AnnotationArray
+from eye_bird_dataset_msgs.msg import Annotation
+
+def getInputFilesDir():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--bag_name", required=True, help='Bag file name without .bag .')
+    parser.add_argument("--annotation_name", required=True, help='Annotation file name without .txt .')
+    args = parser.parse_args()
+    return args
+
+def fillAnnotationMsg(label,xmin,ymin,xmax,ymax):
+    msg = Annotation()
+    msg.detection = label
+    msg.xmax = xmax
+    msg.xmin = xmin
+    msg.ymax = ymax
+    msg.ymin = ymin
+
+    return msg
+
+def main():
+    inputRef = getInputFilesDir()
+    fileBagName = inputRef.bag_name
+    fileNameAnnotation = inputRef.annotation_name
+
+    data = []
+    with open(fileNameAnnotation + '.txt', mode='r') as csv_file:
+        csv_reader = csv.reader(csv_file, delimiter=',')
+        for row in csv_reader:
+                data.append(row)
+
+    bag = rosbag.Bag(fileBagName + '.bag')
+    newBag = rosbag.Bag(fileBagName + '_annotations.bag', 'w')
+    bridge = CvBridge()
+
+    lastIndex = 1
+    for topic, msg, timestamp in bag.read_messages():
+        if topic == "/dvs/image_raw":
+            msgAnnoationArr = AnnotationArray()
+            img = bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")
+            img = cv2.flip(img, -1)
+            img = cv2.cvtColor(img,cv2.COLOR_GRAY2RGB)
+            validData  = True
+
+
+            while (validData and lastIndex < len(data)):
+                if (str(msg.header.stamp) == data[lastIndex][0]):
+                    if(data[lastIndex][1]!='-1' and data[lastIndex][2]!= '-1' and data[lastIndex][3]!='-1' and data[lastIndex][4]!='-1'):
+                        xmin = int(data[lastIndex][1]); ymin = int(data[lastIndex][2]); xmax = xmin+int(data[lastIndex][3]); ymax = ymin+int(data[lastIndex][4]);
+                        img = cv2.rectangle(np.array(img),(xmin,ymin),(xmax,ymax),(0,255,0),1)
+                        msgAnnoationArr.annotation_array.append(fillAnnotationMsg(1,xmin,ymin,xmax,ymax))
+                    lastIndex += 1
+                else:
+                    validData = False;
+
+            newMsg = bridge.cv2_to_imgmsg(img, encoding="rgb8")
+            newMsg.header = msg.header
+            newBag.write('/eyeBirdDataset/annotation/image_raw', newMsg, timestamp)
+
+            msgAnnoationArr.header = msg.header
+            newBag.write('/eyeBirdDataset/annotation/data', msgAnnoationArr, timestamp)
+
+    bag.close()
+    newBag.close()
+    os.system('rosbag reindex ' + fileBagName + '_annotations.bag')
+    os.system('rm ' + fileBagName + '_annotations.orig.bag')
+    print(' File ' + fileBagName + '_annotations.bag saved\n')
+
+if __name__ == "__main__":
+    main()
diff --git a/eye_bird_dataset_msgs/CMakeLists.txt b/eye_bird_dataset_msgs/CMakeLists.txt
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+cmake_minimum_required(VERSION 3.0.2)
+project(eye_bird_dataset_msgs)
+
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  std_msgs
+)
+
+# search for all msg files
+FILE(GLOB messages_to_build RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}/msg"
+    "${CMAKE_CURRENT_SOURCE_DIR}/msg/*.msg")
+
+# notify catkin to look at the previously found msg files
+add_message_files(
+  FILES
+  ${messages_to_build}
+)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime std_msgs
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
diff --git a/eye_bird_dataset_msgs/msg/Annotation.msg b/eye_bird_dataset_msgs/msg/Annotation.msg
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+bool detection
+int64 xmin
+int64 ymin
+int64 xmax
+int64 ymax
+
+
diff --git a/eye_bird_dataset_msgs/msg/AnnotationArray.msg b/eye_bird_dataset_msgs/msg/AnnotationArray.msg
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+Header header
+Annotation[] annotation_array
diff --git a/eye_bird_dataset_msgs/package.xml b/eye_bird_dataset_msgs/package.xml
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+<?xml version="1.0"?>
+<package format="2">
+  <name>eye_bird_dataset_msgs</name>
+  <version>0.0.0</version>
+  <description>The eye_bird_dataset_msgs package</description>
+  <maintainer email="[email protected]">Juan Pablo Rodriguez Gomez</maintainer>
+
+  <license>MIT</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <build_export_depend>message_generation</build_export_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+</package>
diff --git a/flip_images/eye_bird_flip_images.py b/flip_images/eye_bird_flip_images.py
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+#!/usr/bin/env python3
+
+###########################################################################
+#####                       eye_bird_flip_images                      #####
+#####                            Raul Tapia                           #####
+#####           GRVC Robotics Lab at University of Seville            #####
+###########################################################################
+
+# @file    eye_bird_flip_images.py
+# @author  Raul Tapia (raultapia _at_ us.es | github.com/raultapia)
+# @brief   Flip raw images and events
+
+import os
+import rosbag
+import cv2
+from cv_bridge import CvBridge
+
+filenameList = [
+    'Soccer_Base_1',
+    'Soccer_Base_2',
+    'Soccer_Base_3',
+    'Soccer_ArUco_1',
+    'Soccer_ArUco_2',
+    'Soccer_People_1',
+    'Soccer_People_2',
+    'Soccer_Calibration',
+    'Hills_Base_1',
+    'Hills_Base_2',
+    'Hills_Base_3',
+    'Hills_ArUco_1',
+    'Hills_ArUco_2',
+    'Hills_Calibration',
+    'Testbed_Base_1',
+    'Testbed_Base_2',
+    'Testbed_Base_3',
+    'Testbed_ArUco_1',
+    'Testbed_ArUco_2',
+    'Testbed_ArUco_3',
+    'Testbed_ArUco_4',
+    'Testbed_ArUco_5',
+    'Testbed_ArUco_6',
+    'Testbed_Calibration'
+]
+
+for filename in filenameList:
+    print(' Flipping ' + filename + '.bag ...')
+
+    bag = rosbag.Bag(filename + '.bag')
+    newBag = rosbag.Bag(filename + '_flipped.bag', 'w')
+    bridge = CvBridge()
+
+    for topic, msg, timestamp in bag.read_messages():
+        if topic == "/dvs/image_raw":
+            img = bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")
+            img = cv2.flip(img, -1)
+            newMsg = bridge.cv2_to_imgmsg(img, encoding="mono8")
+            newMsg.header = msg.header
+            msg = newMsg
+
+        if topic == "/dvs/events":
+            for i in range(len(msg.events)):
+                msg.events[i].x = msg.width - 1 - msg.events[i].x
+                msg.events[i].y = msg.height - 1 - msg.events[i].y
+
+        newBag.write(topic, msg, timestamp)
+
+    bag.close()
+    newBag.close()
+    os.system('rosbag reindex ' + filename + '_flipped.bag')
+    os.system('rm ' + filename + '_flipped.orig.bag')
+    print(' File ' + filename + '_flipped.bag saved\n')