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kitti_ros

  A ROS-based player to replay KiTTI dataset.

<p align="center"> <img src=".readme/demo.png" width="720px" alt=""/> </p>

TODO list

How to use

 We name your ros workspace as CATKIN_WS and git clone kitti_ros as a ros package.

# clone source code
$ cd $(CATKIN_WS)/src
$ git clone https://github.com/LidarPerception/kitti_ros
$ cd kitti_ros
# install python's dependencies
$ pip install -r requirements.txt 

# build your ros workspace
$ cd $(CATKIN_WS)
$ catkin build -DCMAKE_BUILD_TYPE=Release

# change Mode for Keyboard Listening Device
$ sudo chmod 777 /dev/input/event3

# [demo] launch kitti_ros's kitti_player with rviz
$ source devel/setup.bash
$ roslaunch kitti_ros demo.launch kitti_data_path:=path-to-your-KiTTI-dataset

 Learn more about parameter: kitti_data_path from Here. We recommend to use quickstart for KiTTI's LiDAR-perception algorithms testing and model training.

# copy quickstart bash scripts
$ cd $(CATKIN_WS)/src/kitti_ros
$ cp quickstart.sh killall.sh ../..

# quick start kitti_ros basic environment and visualization
$ cd $(CATKIN_WS)
$ ./quickstart.sh 

# [option 1] launch kitti_ros's kitti_player for frame-by-frame algorithm testing
$ roslaunch kitti_ros kitti_player.launch kitti_data_path:=path-to-your-KiTTI-dataset
# [option 2] launch kitti_ros's kitti_continue_player for data replay, like model training
$ roslaunch kitti_ros kitti_continue_player.launch dataset_file:=path-to-your-KiTTI-dataset-list-file

# quick exit
$ ./killall.sh

 Learn more about parameter: dataset_file from Here.

 Keyboard Control

Parameters

References

@article{geiger2013vision,
  title={Vision meets robotics: The KITTI dataset},
  author={Geiger, Andreas and Lenz, Philip and Stiller, Christoph and Urtasun, Raquel},
  journal={The International Journal of Robotics Research},
  volume={32},
  number={11},
  pages={1231--1237},
  year={2013},
  publisher={Sage Publications Sage UK: London, England}
}

Thanks