Awesome
KITTI-CARLA to ROS bag
This sourced code is for converting data of KITTI-CARLA 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 /kitti_carla2bag/src
cd /kitti_carla2bag/src
- Clone and build this repository
git clone https://github.com/ZikangYuan/kitti_carla2bag.git
cd ..
catkin_make
- 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.
- Run
source devel/setup.bash
roslaunch kitti_carla2bag kitti_carla2bag.launch
Please change the varibales about PATH in launch file before running.