README.md

image2rosbag_KITTIodometry

We convert KITTI datasets to a rosbag file in Python. Only grayscale datasets have been tested. Detail information can be found in http://git.oschina.net/taiping.z.git/image2rosbag_KITTIodometry If you don't speak English, please click here.

1. Download KITTI datasetsodometry dataset (grayscale, 22GB), and then unzip

2. Set path image files, rosbag name, times, and then run

python img2bag_kitti_odo.py /your directory/KITTI/dataset/sequences/00/image_0 kitti_00_l.bag /your directory/KITTI/dataset/sequences/00/times.txt

3. Check rosbag

Check rosbag

rosbag info image_0 kitti_00_l.bag
--------
path:        kitti_00_l.bag
version:     2.0
duration:    7:50s (470s)
start:       Jan 01 1970 08:00:00.00 (0.00)
end:         Jan 01 1970 08:07:50.58 (470.58)
size:        2.0 GB
messages:    4541
compression: none [2271/2271 chunks]
types:       sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
topics:      camera/image_raw   4541 msgs    : sensor_msgs/Image

Test on ORBSLAM2

rosbag play --pause kitti_00_l.bag
rosrun ORB_SLAM2 Mono Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml 

Note that we have set rostopic as camera/image_raw.