Convert KITTI dataset to ROS bag file the easy way!
Help me make this feature rich and complete. Just fork this repo, implement new features (very easy in this case) and make pull request.
Feature request list:
- make URDF of a car so transformations between frames are easily done by ROS itself.
- deal with tracklets
- support for unsynced+unrectified version
- provide documentation via ROS wiki
- allow conversion of datasets (like odometry and so on)
- provide simple GUI
Thanks to the work of @jnitsch, kitti2bag can now export velodyne laser data and dynamic tf transformations. Thank you!
It is very easy! Just run
pip install kitti2bagOne example is better then thousand words so here it is
$ wget http://kitti.is.tue.mpg.de/kitti/raw_data/2011_09_26_drive_0002/2011_09_26_drive_0002_sync.zip
$ wget http://kitti.is.tue.mpg.de/kitti/raw_data/2011_09_26_calib.zip
$ unzip 2011_09_26_drive_0002_sync.zip
$ unzip 2011_09_26_calib.zip
$ kitti2bag 2011_09_26 0002
Loading OXTS data from 2011_09_26_drive_0002_sync...
Found 77 OXTS measurements...
done.
Loading OXTS timestamps from 2011_09_26_drive_0002_sync...
Found 77 timestamps...
done.
Exporting transformations
Exporting IMU
Exporting camera 0
Exporting camera 1
Exporting camera 2
Exporting camera 3
Exporting velodyne data
## OVERVIEW ##
path: kitti_2011_09_26_drive_0002_sync.bag
version: 2.0
duration: 7.8s
start: Sep 26 2011 13:02:44.33 (1317034964.33)
end: Sep 26 2011 13:02:52.16 (1317034972.16)
size: 417.2 MB
messages: 847
compression: none [308/308 chunks]
types: sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
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_right/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_right/image_raw 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_right/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_right/image_raw 77 msgs : sensor_msgs/Image
/kitti/oxts/imu 77 msgs : sensor_msgs/Imu
/kitti/velo/pointcloud 77 msgs : sensor_msgs/PointCloud2
/tf_static 77 msgs : tf2_msgs/TFMessageThat'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 page.
I appreciate pull requests with bug fixes and new features. You you want to help with something please use GitHub issue tracker.
- pykitti is very simple library for dealing with KITTI dataset in python.
- kitti_player allows to play dataset directly. No bag file needed. I found difficult to get it work. Some bug fixed can be found in my fork of kitti_player but still not good enough.