https://github.com/ethz-asl/kitti_to_rosbag

Dataset tools for working with the KITTI dataset raw data ( http://www.cvlibs.net/datasets/kitti/raw_data.php ) and converting it to a ROS bag. Also allows a library for direct access to poses, velodyne scans, and images.
https://github.com/ethz-asl/kitti_to_rosbag

Last synced: 3 months ago
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Dataset tools for working with the KITTI dataset raw data ( http://www.cvlibs.net/datasets/kitti/raw_data.php ) and converting it to a ROS bag. Also allows a library for direct access to poses, velodyne scans, and images.

• Host: GitHub
• URL: https://github.com/ethz-asl/kitti_to_rosbag
• Owner: ethz-asl
• Created: 2016-07-13T08:15:33.000Z (almost 9 years ago)
• Default Branch: master
• Last Pushed: 2019-03-21T09:15:03.000Z (over 6 years ago)
• Last Synced: 2025-04-02T11:58:57.577Z (3 months ago)
• Language: C++
• Size: 43 KB
• Stars: 253
• Watchers: 20
• Forks: 101
• Open Issues: 7
• Metadata Files:
  • Readme: README.md

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README

        
# kitti_to_rosbag

Dataset tools for working with the KITTI dataset raw data ( http://www.cvlibs.net/datasets/kitti/raw_data.php ) and converting it to a ROS bag. Also allows a library for direct access to poses, velodyne scans, and images. 

## Rosbag converter usage example

```

rosrun kitti_to_rosbag kitti_rosbag_converter calibration_path dataset_path output_path

```

(No trailing slashes).

```

rosrun kitti_to_rosbag kitti_rosbag_converter ~/data/kitti/2011_09_26 ~/data/kitti/2011_09_26/2011_09_26_drive_0035_sync ~/data/kitti/2011_09_26/2011_09_26_drive_0035_sync/testbag.bag

```

## Library API Example

```C++

#include 

#include "kitti_to_rosbag/kitti_parser.h"

int main(int argc, char** argv) {

  google::InitGoogleLogging(argv[0]);

  google::ParseCommandLineFlags(&argc, &argv, false);

  

  const std::string calibration_path = "/Users/helen/data/kitti/2011_09_26";

  const std::string dataset_path =

      "/Users/helen/data/kitti/2011_09_26/2011_09_26_drive_0035_sync";

  kitti::KittiParser parser(calibration_path, dataset_path, true);

  parser.loadCalibration();

  parser.loadTimestampMaps();

  uint64_t timestamp;

  kitti::Transformation pose;

  parser.getPoseAtEntry(0, &timestamp, &pose);

  std::cout << "Timestamp: " << timestamp << " Pose: " << pose << std::endl;

  pcl::PointCloud ptcloud;

  parser.getPointcloudAtEntry(0, &timestamp, &ptcloud);

  std::cout << "Timestamp: " << timestamp << " Num points: " << ptcloud.size()

            << std::endl;

  cv::Mat image;

  parser.getImageAtEntry(0, 3, &timestamp, &image);

  cv::imshow("Display window", image);

  cv::waitKey(0);

  return 0;

}

  

```