kitti2bag将KITTI原始数据转换为rosbag_unscnced+unrectified data与scnced+rectified data的区别

kitti2bag程序能够讲kitti原始数据(raw data)转化为rosbag格式,以便于程序测试

一.安装kitti2bag

步骤一:按照以下顺序安装kitti2bag程序

sudo pip install pandas==0.23.0 -i http://pypi.douban.com/simple/ --trusted-host pypi.douban.com
sudo pip install pykitti -i http://pypi.douban.com/simple --trusted-host pypi.douban.com
sudo pip install kitti2bag  -i http://pypi.douban.com/simple --trusted-host pypi.douban.com
1
2
3

二.下载KITTI原始数据集

前往如下网址下载KITTI原始数据集(需要魔法):
http://www.cvlibs.net/datasets/kitti/raw_data.php

具体说明如下:

• 在顶端的Select category可以选择场景,不用场景都有自己的数据集
• 每个数据集对应的Downloads由四个标签,unsynced+unrectified date是没有进行同步和矫正的数据
• synced+rectified是经过通过和矫正的数据
• calibration是标定数据,包含雷达,相机与imu之间的外参
• tracklets是轨迹

步骤二:选择自己该兴趣的包,下载其synced+rectified文件和calibration文件

三.解压数据集并调整文件结构

步骤三:按照以下顺序调整文件结构

我们下载下来的是两个压缩文件

1.首先将其解压

2.然后复制xxxx_xx_xx_calib/xxxx_xx_xx/下的三个标定文件

3.将其粘贴到xxxx_xx_xx_drive_xxxx_sync/xxxx_xx_xx/文件夹下,最终文件结构如图所示:

四.运行kitti2bag

步骤四:运行kitti2bag,讲kitti数据集转化为rosbag

1.打开终端,来到xxxx_xx_xx_drive_xxxx_sync/文件夹下:

2.按照以下运行命令

kitti2bag -t 2011_09_26 -r 0027 raw_synced .
#2011_09_26是数据集对应的采集日期,在文件夹名字中即可得到
#0027是数据集对应的编号,在synced+rectified文件解压后的文件夹名称中可以得到
#注意最后面有个空格和.
1
2
3
4

完整运行结果如图:

zhangman@zhangman-G3-3579:~/Downloads/Downlods/2011_09_26_drive_0027_sync$ kitti2bag -t 2011_09_26 -r 0027 raw_synced .
Exporting static transformations
Exporting time dependent transformations
Exporting IMU
Exporting camera 0
100% (188 of 188) |#######################| Elapsed Time: 0:00:00 Time:  0:00:00
Exporting camera 1
100% (188 of 188) |#######################| Elapsed Time: 0:00:00 Time:  0:00:00
Exporting camera 2
100% (188 of 188) |#######################| Elapsed Time: 0:00:01 Time:  0:00:01
Exporting camera 3
100% (188 of 188) |#######################| Elapsed Time: 0:00:01 Time:  0:00:01
Exporting velodyne data
100% (188 of 188) |#######################| Elapsed Time: 0:00:24 Time:  0:00:24
## OVERVIEW ##
path:        kitti_2011_09_26_drive_0027_synced.bag
version:     2.0
duration:    19.4s
start:       Sep 26 2011 13:21:35.13 (1317014495.13)
end:         Sep 26 2011 13:21:54.48 (1317014514.48)
size:        1020.9 MB
messages:    2632
compression: none [752/752 chunks]
types:       geometry_msgs/TwistStamped [98d34b0043a2093cf9d9345ab6eef12e]
             sensor_msgs/CameraInfo     [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image          [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/Imu            [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/NavSatFix      [2d3a8cd499b9b4a0249fb98fd05cfa48]
             sensor_msgs/PointCloud2    [1158d486dd51d683ce2f1be655c3c181]
             tf2_msgs/TFMessage         [94810edda583a504dfda3829e70d7eec]
topics:      /kitti/camera_color_left/camera_info    188 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_color_left/image_raw      188 msgs    : sensor_msgs/Image         
             /kitti/camera_color_right/camera_info   188 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_color_right/image_raw     188 msgs    : sensor_msgs/Image         
             /kitti/camera_gray_left/camera_info     188 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_gray_left/image_raw       188 msgs    : sensor_msgs/Image         
             /kitti/camera_gray_right/camera_info    188 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_gray_right/image_raw      188 msgs    : sensor_msgs/Image         
             /kitti/oxts/gps/fix                     188 msgs    : sensor_msgs/NavSatFix     
             /kitti/oxts/gps/vel                     188 msgs    : geometry_msgs/TwistStamped
             /kitti/oxts/imu                         188 msgs    : sensor_msgs/Imu           
             /kitti/velo/pointcloud                  188 msgs    : sensor_msgs/PointCloud2   
             /tf                                     188 msgs    : tf2_msgs/TFMessage        
             /tf_static                              188 msgs    : tf2_msgs/TFMe
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44

转化成功后在xxxx_xx_xx_drive_xxxx_sync/文件夹下生成对应的rosbag包

五.转换结果测试

1.运行roscore

roscore
1

2.另开终端播放rosbag

rosbag play kitti_2011_09_26_drive_0027_synced.bag 
1

3.列出topic列表可见下列topic

zhangman@zhangman-G3-3579:~$ rostopic list
/clock
/kitti/camera_color_left/camera_info
/kitti/camera_color_left/image_raw
/kitti/camera_color_right/camera_info
/kitti/camera_color_right/image_raw
/kitti/camera_gray_left/camera_info
/kitti/camera_gray_left/image_raw
/kitti/camera_gray_right/camera_info
/kitti/camera_gray_right/image_raw
/kitti/oxts/gps/fix
/kitti/oxts/gps/vel
/kitti/oxts/imu
/kitti/velo/pointcloud
/rosout
/rosout_agg
/tf
/tf_static

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19

4.另开终端运行rviz

rviz
1

5.在rviz通过topic添加中可看到如下话题

6.添加各项话题,Fixed Frame调整为world,如下: