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Repository Summary
| Description | |
| Checkout URI | https://github.com/chris7462/kitti_to_ros2bag.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-10-11 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| kitti_to_ros2bag | 0.0.0 |
README
KITTI to ROS2 Bag
As I couldn’t find any package on GitHub for directly converting raw KITTI data into ROS2 bag, I decided to create this repository.
The current version of this repository only supports the conversion of KITTI raw data into ROS2 bag. Contributions are welcome.
How to use it?
- Download the raw data from KITTI website and unzip the downloaded file.
- clone this repo under your {ros2_workspace}/src folder.
git clone https://github.com/Chris7462/kitti_to_ros2bag.git
- Modify the kitti_to_ros2bag.yaml file under params folder.
- kitti_path: indicates the data path
- data_folder: indicates the data folder
- calib_folder: indicates the calibation folder. By default the calibration files are under kitti_path. If you put the calibration files into a different folder, then you will have to change this value.
- dirs: designates the directories to be written into the bag
For example:
kitti_path: "/data/kitti/raw/2011_09_29"
data_folder: "2011_09_29_drive_0071_sync"
calib_folder: ""
dirs: ["image_00", "image_01", "image_02", "image_03", "oxts", "velodyne_points"]
The corresponding folder structure:
/data/kitti/raw/2011_09_29/ <--- kitti_path
├── 2011_09_29_drive_0071_sync <--- data_folder
│ ├── image_00 <--- dirs
│ │ ├── data
│ │ │ ├── 0000000000.png
│ │ │ ├── ...
│ │ │ └── 0000001058.png
│ │ └── timestamps.txt
│ ├── image_01
│ │ ├── data
│ │ │ ├── 0000000000.png
│ │ │ ├── ...
│ │ │ └── 0000001058.png
│ │ └── timestamps.txt
│ ├── image_02
│ │ ├── data
│ │ │ ├── 0000000000.png
│ │ │ ├── ...
│ │ │ └── 0000001058.png
│ │ └── timestamps.txt
│ ├── image_03
│ │ ├── data
│ │ │ ├── 0000000000.png
│ │ │ ├── ...
│ │ │ └── 0000001058.png
│ │ └── timestamps.txt
│ ├── oxts
│ │ ├── data
│ │ │ ├── 0000000000.txt
│ │ │ ├── ...
│ │ │ └── 0000001058.txt
│ │ ├── dataformat.txt
│ │ └── timestamps.txt
│ └── velodyne_points
│ ├── data
│ │ ├── 0000000000.bin
│ │ ├── ...
│ │ └── 0000001058.bin
│ ├── timestamps_end.txt
│ ├── timestamps_start.txt
│ └── timestamps.txt
├── calib_cam_to_cam.txt <--- calibrations
├── calib_imu_to_velo.txt
└── calib_velo_to_cam.txt
- Build the package
colcon build --symlink-install --packages-select kitti_to_ros2bag
- Launch the package
source ./install/setup.bash
ros2 launch kitti_to_ros2bag kitti_to_ros2bag_launch.py
That's it. You have the file *kitti_2011_09_29_drive_0071_sync_bag* that contains your data.
References
- https://github.com/umtclskn/ros2_kitti_publishers
- https://github.com/tomas789/kitti2bag
CONTRIBUTING
No CONTRIBUTING.md found.
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