Description

The repo is for converting KITTI odometry data sequences to rosbag files.

Instalation

Requirements

• ROS
• Python2.7
• pip

###Details

to instal pip

curl -fsSL -O https://bootstrap.pypa.io/pip/2.7/get-pip.py
python get-pip.py --no-python-version-warning && rm -f get-pip.py

install dependencies:

apt-get install ros-kinetic-cv-bridge

install requirements

pip install -r requirments

Usage

Rosbag file creation

Create *.bag file from kitti dataset sequence. /dataset - path to the kitti dataset folder which contains sequence folder. Flag -s is the number of sequence to convert.

python kitti_odom2bag.py /dataset -s 08

Verify created Rosbag file

The topics in bag can be figured out by typing command: rosbag info *.bag. Created *.bag file can be tested by typing the following command with topic indication. /kitti/camera_gray_left/cam0 is topic name by default.

python listen_bag.py /kitti/camera_gray_left/cam0