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KITTI-Odometry to ROS bag

This sourced code is for converting data of KITTI odometry dataset to ROS bag format.

  1. Installation dependency

GCC >= 5.4.0

Cmake >= 3.0.2

Eigen3 >= 3.2.8

PCL == 1.7 for Ubuntu 16.04, and == 1.8 for Ubuntu 18.04

OpenCV == 2.4.9 for Ubuntu 16.04

ROS

  1. Create a new ROS workspace
mkdir /kitti2bag/src
cd /kitti2bag/src
  1. Clone and build this repository
git clone https://github.com/ZikangYuan/kitti2bag.git
cd ..
catkin_make
  1. Adjust directory structure

Please make sure that the directory format of KITTI is as follow:

KITTI 
├──────────00
           ├─────times.txt
           ├─────image_0
                 ├─────────000000.png
                 ├─────────000001.png
                 ├─────────......
                 └─────────004540.png
           └─────velodyne
                 ├─────────000000.bin
                 ├─────────000001.bin
                 ├─────────......
                 └─────────004540.bin
├──────────01
├──────────02
├──────────......
└──────────21
  1. Run
source devel/setup.bash
roslaunch kitti2bag kitti2bag.launch

Please change the varibales about PATH in launch file before running.