Skip to content

This exports pointcloud for odometry data and adapts to the latest pykitti #45

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
ulterzlw wants to merge 15 commits into
base: master
Choose a base branch
from
Open

This exports pointcloud for odometry data and adapts to the latest pykitti #45

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
15 commits
Select commit Hold shift + click to select a range
ba728fb
feat: Use intensity instead of i
ulterzlw Jun 22, 2019
c4763d7
fix: Compatible with latest pykitti
ulterzlw Jun 22, 2019
468d85c
feat: Export point cloud for odometry data
ulterzlw Jun 24, 2019
0a04016
feat: Add velo_init frame
ulterzlw Jun 24, 2019
a9a9958
fix: Missing argument
ulterzlw Jun 26, 2019
f4a28fc
fix: Static TF
ulterzlw Jul 26, 2019
fab8ab5
feat: With unified image topic
ulterzlw Jul 26, 2019
950368d
doc: Update README
ulterzlw Jul 26, 2019
15c34db
chore: Add rviz config
ulterzlw Jul 26, 2019
6cb5f4c
fix: IMU use x,y,z instead of f,l,u
ulterzlw Oct 19, 2019
03cefbd
Update README.md
ulterzlw Apr 23, 2020
00fbefe
feat: continuously publish /tf_static
ulterzlw Apr 30, 2020
53b4f9b
feat: camera move forward along y axis of the world frame
ulterzlw Mar 29, 2021
4d76020
Update README.md
ulterzlw Jan 3, 2023
6318ace
Update docker
ulterzlw Jan 4, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions .gitignore
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -93,5 +93,8 @@ ENV/
# Pycharm
*.idea

# Visual Studio Code
.vscode/

# Temporary files from text editors
*~
19 changes: 13 additions & 6 deletions Dockerfile
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,14 +1,21 @@
FROM ros:lunar-ros-base
FROM ros:melodic

RUN apt-get update \
&& DEBIAN_FRONTEND=noninteractive apt-get -y install \
ros-lunar-cv-bridge \
ros-lunar-opencv3 \
ros-lunar-tf \
python-pip python-matplotlib \
ros-melodic-cv-bridge \
ros-melodic-tf \
python-pip python-matplotlib python-pandas \
&& rm -rf /var/lib/apt/lists/*

RUN git clone https://github.com/utiasSTARS/pykitti.git && \
cd pykitti && \
git checkout d3e1bb81676e831886726cc5ed79ce1f049aef2c && \
python setup.py install

COPY . /kitti2bag
RUN pip install -e /kitti2bag

RUN cd kitti2bag && \
python setup.py install

WORKDIR /data

Expand Down
98 changes: 85 additions & 13 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
Convert [KITTI](http://www.cvlibs.net/datasets/kitti/index.php) dataset to ROS bag file the easy way!

![KITTI playback preview](https://raw.githubusercontent.com/tomas789/kitti2bag/gh-pages/img/kitti_playback.png)
![KITTI rviz preview](https://raw.githubusercontent.com/ulterzlw/kitti2bag/gh-pages/img/kitti_rviz.png)

## Collaboration

Expand All @@ -31,9 +32,24 @@ Thanks to the work of @jnitsch, _kitti2bag_ can now export velodyne laser data a

## How to install it?

It is very easy! On the machine with ROS installed, just run
It is very easy! On the machine with ROS installed,

Uninstall pykitti if it is installed from pip
```bash
pip install kitti2bag
pip uninstall pykitti
```

install pykitti from source
```bash
git clone https://github.com/utiasSTARS/pykitti.git # test on commit d3e1bb81676e831886726cc5ed79ce1f049aef2c
cd pykitti
sudo python setup.py install
```
install kitti2bag
```bash
git clone https://github.com/ulterzlw/kitti2bag.git
cd kitti2bag
sudo python setup.py install
```

## How to run it?
Expand All @@ -45,7 +61,7 @@ $ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive
$ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_calib.zip
$ unzip 2011_09_26_drive_0002_sync.zip
$ unzip 2011_09_26_calib.zip
$ kitti2bag -t 2011_09_26 -r 0002 raw_synced .
$ kitti2bag -t 2011_09_26 -r 0002 raw_sync .
Exporting static transformations
Exporting time dependent transformations
Exporting IMU
Expand All @@ -60,7 +76,7 @@ Exporting camera 3
Exporting velodyne data
100% (77 of 77) |##########################| Elapsed Time: 0:00:15 Time: 0:00:15
## OVERVIEW ##
path: kitti_2011_09_26_drive_0002_synced.bag
path: kitti_2011_09_26_drive_0002_sync.bag
version: 2.0
duration: 7.8s
start: Sep 26 2011 13:02:44.33 (1317042164.33)
Expand All @@ -76,13 +92,13 @@ types: geometry_msgs/TwistStamped [98d34b0043a2093cf9d9345ab6eef12e]
sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
topics: /kitti/camera_color_left/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_left/image_raw 77 msgs : sensor_msgs/Image
/kitti/camera_color_left/image 77 msgs : sensor_msgs/Image
/kitti/camera_color_right/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_right/image_raw 77 msgs : sensor_msgs/Image
/kitti/camera_color_right/image 77 msgs : sensor_msgs/Image
/kitti/camera_gray_left/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_left/image_raw 77 msgs : sensor_msgs/Image
/kitti/camera_gray_left/image 77 msgs : sensor_msgs/Image
/kitti/camera_gray_right/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_right/image_raw 77 msgs : sensor_msgs/Image
/kitti/camera_gray_right/image 77 msgs : sensor_msgs/Image
/kitti/oxts/gps/fix 77 msgs : sensor_msgs/NavSatFix
/kitti/oxts/gps/vel 77 msgs : geometry_msgs/TwistStamped
/kitti/oxts/imu 77 msgs : sensor_msgs/Imu
Expand All @@ -94,22 +110,78 @@ topics: /kitti/camera_color_left/camera_info 77 msgs : sensor_msgs/Ca

That's it. You have file `kitti_2011_09_26_drive_0002_sync.bag` that contains your data.

Other source files can be found at [KITTI raw data](http://www.cvlibs.net/datasets/kitti/raw_data.php) page.
Other raw files can be found at [KITTI raw data](http://www.cvlibs.net/datasets/kitti/raw_data.php) page.

For odometry data from [KITTI odometry](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) page.

```bash
$ unzip data_odometry_color.zip
$ unzip data_odometry_gray.zip
$ unzip data_odometry_poses.zip
$ unzip data_odometry_velodyne.zip
$ unzip data_odometry_calib.zip
$ kitti2bag -s 04 odom ./dataset/
Odometry dataset sequence 04 has ground truth information (poses).
Exporting static transformations
Exporting time dependent transformations
Exporting camera 0
100% (271 of 271) |##########################| Elapsed Time: 0:00:01 Time: 0:00:01
Exporting camera 1
100% (271 of 271) |##########################| Elapsed Time: 0:00:01 Time: 0:00:01
Exporting camera 2
100% (271 of 271) |##########################| Elapsed Time: 0:00:02 Time: 0:00:02
Exporting camera 3
100% (271 of 271) |##########################| Elapsed Time: 0:00:02 Time: 0:00:02
Exporting velodyne data
100% (271 of 271) |##########################| Elapsed Time: 0:00:30 Time: 0:00:30
## OVERVIEW ##
path: kitti_odometry_sequence_04.bag
version: 2.0
duration: 28.1s
start: Jul 26 2019 15:12:12.70 (1564125132.70)
end: Jul 26 2019 15:12:40.81 (1564125160.81)
size: 1.4 GB
messages: 2711
compression: none [1084/1084 chunks]
types: sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
topics: /kitti/camera_color_left/camera_info 271 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_left/image 271 msgs : sensor_msgs/Image
/kitti/camera_color_right/camera_info 271 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_right/image 271 msgs : sensor_msgs/Image
/kitti/camera_gray_left/camera_info 271 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_left/image 271 msgs : sensor_msgs/Image
/kitti/camera_gray_right/camera_info 271 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_right/image 271 msgs : sensor_msgs/Image
/kitti/velo/pointcloud 271 msgs : sensor_msgs/PointCloud2
/tf 271 msgs : tf2_msgs/TFMessage
/tf_static 271 msgs : tf2_msgs/TFMessage

```

If you got an error saying something like _command not found_ it means that your python installation is in bad shape. You might try running
```python -m kitti2bag -t 2011_09_26 -r 0002 raw_synced .```
```python -m kitti2bag -t 2011_09_26 -r 0002 raw_sync .```
Or maybe use Docker.

### Prefer Docker?
## Prefer Docker? (Recommended)

That is easy too. There is a pre-built image `tomas789/kitti2bag`.
That is easy too. There is a pre-built image `ulterzlw/kitti2bag`.

```bash
$ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0002/2011_09_26_drive_0002_sync.zip
$ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_calib.zip
$ unzip 2011_09_26_drive_0002_sync.zip
$ unzip 2011_09_26_calib.zip
$ docker run -v `pwd`:/data -it tomas789/kitti2bag -t 2011_09_26 -r 0002 raw_synced
$ docker run -v `pwd`:/data -it ulterzlw/kitti2bag -t 2011_09_26 -r 0002 raw_sync
Exporting static transformations
Exporting time dependent transformations
...
```
```bash
$ docker run -v `pwd`/dataset:/data -it ulterzlw/kitti2bag -s 04 odom
Odometry dataset sequence 04 has ground truth information (poses).
Exporting static transformations
Exporting time dependent transformations
...
Expand Down
Loading