Awesome
KITTI-360 to ROS bag
This sourced code is for converting data of KITTI-360 dataset to ROS bag format.
Guide
- 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
- Create a new ROS workspace
mkdir /kitti360_2bag/src
cd /kitti360_2bag/src
- Clone and build this repository
git clone https://github.com/ZikangYuan/kitti360_2bag.git
cd ..
catkin_make
- 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
- Run
source devel/setup.bash
roslaunch kitti360_2bag kitti360_2bag.launch
Please change the varibales about PATH in launch file before running.