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image2rosbag_KITTIodometry

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利用python将kitti的数据转为rosbag, 仅测试于grayscale数据集,测试过程如下. python代码请见: http://git.oschina.net/taiping.z.git/image2rosbag_KITTIodometry

1. 在KITTI网页下载odometry dataset (grayscale, 22GB), 并解压.

2. 指定image路径, 生成的bag名,时间戳路径, 然后运行.

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. 查看rosbag,并测试结果

查看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

在ORBSLAM2上测试

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

注意此处我们已经将rostopic设置为了camera/image_raw.