Package: kitti2bag
ConvertKITTIdataset to ROS bag file the easy way!KITTI playback previewTODOsHelp me make this feature rich and complete. Just fork this repo,
implement new features (very easy in this case) and makepull
request.Feature request list: * makeURDFof a
car so transformations between frames are easily done by ROS itself. *
deal with tracklets * support for unsynced+unrectified version *
provide documentation viaROS wiki* provide simple
GUI * distribute publically available bagfiles (is there a reliable
public storage for this purpose?) * export only subset of sensorsContributionsThanks to the work of @jnitsch,kitti2bagcan now export velodyne
laser data and dynamictftransformations. Thanks to @emreay-, this
tool can now convert odometry datasets too. Thank you both!How to install it?It is very easy! Just runpipinstallkitti2bagHow to run it?One example is better then thousand words so here it is$wgethttp://kitti.is.tue.mpg.de/kitti/raw_data/2011_09_26_drive_0002/2011_09_26_drive_0002_sync.zip$wgethttp://kitti.is.tue.mpg.de/kitti/raw_data/2011_09_26_calib.zip$unzip2011_09_26_drive_0002_sync.zip$unzip2011_09_26_calib.zip$kitti2bag-t2011_09_26-r0002raw_synced.ExportingstatictransformationsExportingtimedependenttransformationsExportingIMUExportingcamera0100%(77of77)|##########################| Elapsed Time: 0:00:00 Time: 0:00:00Exportingcamera1100%(77of77)|##########################| Elapsed Time: 0:00:00 Time: 0:00:00Exportingcamera2100%(77of77)|##########################| Elapsed Time: 0:00:01 Time: 0:00:01Exportingcamera3100%(77of77)|##########################| Elapsed Time: 0:00:01 Time: 0:00:01Exportingvelodynedata100%(77of77)|##########################| Elapsed Time: 0:00:15 Time: 0:00:15
## OVERVIEW ##path:kitti_2011_09_26_drive_0002_synced.bagversion:2.0duration:7.8sstart:Sep26201113:02:44.33(1317042164.33)end:Sep26201113:02:52.16(1317042172.16)size:417.2MBmessages:1078compression:none[308/308chunks]types:geometry_msgs/TwistStamped[98d34b0043a2093cf9d9345ab6eef12e]sensor_msgs/CameraInfo[c9a58c1b0b154e0e6da7578cb991d214]sensor_msgs/Image[060021388200f6f0f447d0fcd9c64743]sensor_msgs/Imu[6a62c6daae103f4ff57a132d6f95cec2]sensor_msgs/NavSatFix[2d3a8cd499b9b4a0249fb98fd05cfa48]sensor_msgs/PointCloud2[1158d486dd51d683ce2f1be655c3c181]tf2_msgs/TFMessage[94810edda583a504dfda3829e70d7eec]topics:/kitti/camera_color_left/camera_info77msgs:sensor_msgs/CameraInfo/kitti/camera_color_left/image_raw77msgs:sensor_msgs/Image/kitti/camera_color_right/camera_info77msgs:sensor_msgs/CameraInfo/kitti/camera_color_right/image_raw77msgs:sensor_msgs/Image/kitti/camera_gray_left/camera_info77msgs:sensor_msgs/CameraInfo/kitti/camera_gray_left/image_raw77msgs:sensor_msgs/Image/kitti/camera_gray_right/camera_info77msgs:sensor_msgs/CameraInfo/kitti/camera_gray_right/image_raw77msgs:sensor_msgs/Image/kitti/oxts/gps/fix77msgs:sensor_msgs/NavSatFix/kitti/oxts/gps/vel77msgs:geometry_msgs/TwistStamped/kitti/oxts/imu77msgs:sensor_msgs/Imu/kitti/velo/pointcloud77msgs:sensor_msgs/PointCloud2/tf77msgs:tf2_msgs/TFMessage/tf_static77msgs:tf2_msgs/TFMessageThat’s it. You have filekitti_2011_09_26_drive_0002_sync.bagthat
contains your data.Other source files can be found atKITTI raw
datapage.Bug reporting, support and feature requests.I appreciatepull
requestswith bug fixes
and new features. You you want to help with something please useGitHub
issue tracker.Related workspykittiis very simple
library for dealing with KITTI dataset in python.kitti_playerallows
to play dataset directly. No bag file needed. I found difficult to
get it work. Some bug fixed can be found inmy fork of
kitti_playerbut still
not good enough.