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ROS_KITTI_Writer

A ROS package for synchronizing different sensors data from lidar,camera,GPS/IMU and saving them according to KITTI Raw Dataset format.

Overview

Due to the popularity of the KITTI Dataset, there are many tools to parse or visualize the KITTI Dataset. And it is convinient for us to focu on our own perception algorithm developement.

Therefore, how about saving our own data according to KITTI Dataset format? If so, we can extend the KITTI Dataset by use the existing tools to parse and visualize our own capturing data.

This repository aims to subscribe offline rosbag files and save the correspoing data into KITTI Raw Dataset.

Features

  • Synchronizing different messages
  • Create KITTI Raw Dataset format folders automatically
  • Save timestamps to nanoseconds

Usages

Please use roslaunch file to run the code.

Before you execute, please ensure the directory argument has been set to a valid path in your computer, and also specify the left_camera_topic and velo_topic name.

$ rosbag play [your_offline_rosbag]
$ roslaunch ros_kitti_writer kitti_writer_standalone.launch

TODO

  • add save oxts data
  • improve saveVelodyne function
  • add calibration related files