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KITTI-360 to ROS bag

This sourced code is for converting data of KITTI-360 dataset to ROS bag format.

Guide

  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 /kitti360_2bag/src
cd /kitti360_2bag/src
  1. Clone and build this repository
git clone https://github.com/ZikangYuan/kitti360_2bag.git
cd ..
catkin_make
  1. Adjust directory structure

Please make sure that the directory format of KITTI-360 is as follow:

KITTI-360
├─────────data_2d_raw  
          ├──────────2013_05_28_drive_0000_sync
                     ├─────────────────────────image_00
                                               ├───────data_rect
                                                       ├────────0000000000.png
                                                       ├────────0000000001.png
                                                       ├────────......
                                                       └────────0000011517.png
                                               └───────timestamps.txt
                     ├─────────────────────────image_01
                     ├─────────────────────────image_02
                     └─────────────────────────image_03
          ├──────────2013_05_28_drive_0002_sync
          ├──────────2013_05_28_drive_0003_sync
          ├──────────2013_05_28_drive_0004_sync
          ├──────────2013_05_28_drive_0005_sync
          ├──────────2013_05_28_drive_0006_sync
          ├──────────2013_05_28_drive_0007_sync
          ├──────────2013_05_28_drive_0009_sync
          └──────────2013_05_28_drive_0010_sync
├─────────data_3d_raw
          ├──────────2013_05_28_drive_0000_sync
                     └─────────────────────────velodyne_points
                                               ├──────────────data
                                                              ├───0000000000.bin
                                                              ├───0000000001.bin
                                                              ├───......
                                                              └───0000011517.bin
                                               └──────────────timestamps.txt
          ├──────────2013_05_28_drive_0002_sync
          ├──────────......
          └──────────2013_05_28_drive_0010_sync
└─────────data_poses
          ├──────────2013_05_28_drive_0000_sync
                     ├─────────────────────────cam0_ti_world.txt
                     └─────────────────────────poses.txt
          ├──────────2013_05_28_drive_0002_sync
          ├──────────......
          └──────────2013_05_28_drive_0010_sync
  1. Run
source devel/setup.bash
roslaunch kitti360_2bag kitti360_2bag.launch

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