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KITTI-CARLA to ROS bag

This sourced code is for converting data of KITTI-CARLA 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 /kitti_carla2bag/src
cd /kitti_carla2bag/src
  1. Clone and build this repository
git clone https://github.com/ZikangYuan/kitti_carla2bag.git
cd ..
catkin_make
  1. Adjust directory structure

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

KITTI-CARLA  
├──────────01
           ├─────full_ts_camera.txt
           ├─────images_rgb
                 ├─────────0000_0.png
                 ├─────────0001_0.png
                 ├─────────......
                 └─────────4999_0.png
           └─────correct
                 ├─────────frame_0000.ply
                 ├─────────frame_0001.ply
                 ├─────────......
                 └─────────frame_4999.ply
├──────────02
├──────────03
├──────────04
├──────────05
├──────────06
└──────────07

The "correct" directory saves calibrated LiDAR sweeps, which are obtained by kitti-carla_calib tool.

  1. Run
source devel/setup.bash
roslaunch kitti_carla2bag kitti_carla2bag.launch

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