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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.
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Converted 0 entries into a rosbag #9

Open superify opened 6 years ago

superify commented 6 years ago

Hi, I am trying to convert a kitti dataset including velodyne points data to ros bag file. but i got nothing described as below.Please help me.Looking forward to your reply. ~/new$ rosrun kitti_to_rosbag kitti_rosbag_converter ~/2011_09_30 ~/2011_09_30/2011_09_30_drive_0018_sync ~/2011_09_30/2011_09_30_drive_0018_sync/testbag.bag Transform T_vel_imu: 0.999998 0.000755307 -0.00203583 -0.808676 -0.000785403 0.99989 -0.014823 0.319556 0.00202441 0.0148245 0.999888 -0.799723 0 0 0 1 Header: calib_time Header: corner_dist Header: S_00 Header: K_00 Header: D_00 Header: R_00 Header: T_00 Header: S_rect_00 S_rect header: S_rect_00 substring: 00 Index: 0 Image size: 1226 370 Header: R_rect_00 R_rect header: R_rect_00 substring: 00 Header: P_rect_00 P_rect header: P_rect_00 substring: 00 Projection mat: 707.091 0 601.887 0 0 707.091 183.11 0 0 0 1 0 Header: S_01 Header: K_01 Header: D_01 Header: R_01 Header: T_01 Header: S_rect_01 S_rect header: S_rect_01 substring: 01 Index: 1 Image size: 1226 370 Header: R_rect_01 R_rect header: R_rect_01 substring: 01 Header: P_rect_01 P_rect header: P_rect_01 substring: 01 Projection mat: 707.091 0 601.887 -379.815 0 707.091 183.11 0 0 0 1 0 Header: S_02 Header: K_02 Header: D_02 Header: R_02 Header: T_02 Header: S_rect_02 S_rect header: S_rect_02 substring: 02 Index: 2 Image size: 1226 370 Header: R_rect_02 R_rect header: R_rect_02 substring: 02 Header: P_rect_02 P_rect header: P_rect_02 substring: 02 Projection mat: 707.091 0 601.887 46.8878 0 707.091 183.11 0.11786 0 0 1 0.00620322 Header: S_03 Header: K_03 Header: D_03 Header: R_03 Header: T_03 Header: S_rect_03 S_rect header: S_rect_03 substring: 03 Index: 3 Image size: 1226 370 Header: R_rect_03 R_rect header: R_rect_03 substring: 03 Header: P_rect_03 P_rect header: P_rect_03 substring: 03 Projection mat: 707.091 0 601.887 -333.46 0 707.091 183.11 1.93013 0 0 1 0.0033185 Timestamps: 1317354879239671138 1317355166873855198 Timestmap map for pose: 0 1317354879239671138 1 1317354879339674871 2 1317354879449844116 3 1317354879549899805 4 1317354879649661572 5 1317354879759723721 6 1317354879859652224 7 1317354879969841973 8 1317354880069681926 9 1317354880179646560 10 1317354880279638825 11 1317354880379646169 12 1317354880489718145 13 1317354880589646284 14 1317354880699630353 15 1317354880799641771 16 1317354880899650506 17 1317354881009691427 18 1317354881109602236 19 1317354881219625026 20 1317354881319646878 21 1317354881429598862 22 1317354881529654388 23 1317354881629602010 24 1317354881739624119 25 1317354881839613629 26 1317354881949679793 27 1317354882049709093 28 1317354882159648197 29 1317354882259575648 30 1317354882359594370 31 1317354882469732926 32 1317354882569617745 33 1317354882679593681 34 1317354882779612005 35 1317354882889604160 36 1317354882989826886 37 1317354883089577182 38 1317354883199584692 39 1317354883299561752 40 1317354883409585864 41 1317354883509616690 42 1317354883609577215 43 1317354883719604098 44 1317354883819547273 45 1317354883929576174 46 1317354884029738174 47 1317354884139570174 48 1317354884239552444 49 1317354884339576167 50 1317354884449598788 51 1317354884549600814 52 1317354884659543630 53 1317354884759555797 54 1317354884869722257 55 1317354884969673069 56 1317354885069590001 57 1317354885179550864 58 1317354885279773518 59 1317354885389531990 60 1317354885489764990 ......ignored...... 2701 1317355160623931357 2702 1317355160733926111 2703 1317355160833929352 2704 1317355160944105079 2705 1317355161043945401 2706 1317355161154005567 2707 1317355161253894662 2708 1317355161353904540 2709 1317355161464013409 2710 1317355161563973835 2711 1317355161673916462 2712 1317355161773937290 2713 1317355161883923168 2714 1317355161984014987 2715 1317355162083903899 2716 1317355162193907629 2717 1317355162293872327 2718 1317355162403946763 2719 1317355162503930638 2720 1317355162603873968 2721 1317355162713964033 2722 1317355162813877667 2723 1317355162923859411 2724 1317355163024061443 2725 1317355163133890790 2726 1317355163233896092 2727 1317355163333891659 2728 1317355163444061508 2729 1317355163544051407 2730 1317355163653854740 2731 1317355163753851389 2732 1317355163853887192 2733 1317355163964019863 2734 1317355164063900658 2735 1317355164173855766 2736 1317355164273899339 2737 1317355164373840151 2738 1317355164484069158 2739 1317355164583839695 2740 1317355164693841145 2741 1317355164793823284 2742 1317355164903861714 2743 1317355165004056429 2744 1317355165103814526 2745 1317355165213816778 2746 1317355165313846051 2747 1317355165423832648 2748 1317355165523898867 2749 1317355165623843882 2750 1317355165733841017 2751 1317355165833902978 2752 1317355165944063182 2753 1317355166043879561 2754 1317355166143857794 2755 1317355166253838553 2756 1317355166353796730 2757 1317355166463955177 2758 1317355166563847756 2759 1317355166673922370 2760 1317355166773808392 2761 1317355166873855198 Timestamps: 1317354879232045294 1317355166873161582 Timestamps: 1317354879236475648 1317355166877463552 Timestamps: 1317354879236453632 1317355166877464320 Timestamps: 1317354879230314752 1317355166871328000 Timestamps: 1317354879229829120 1317355166870839040 Converted 0 entries into a rosbag.

helenol commented 6 years ago

Hmm unfortunately I can't reproduce this... Can you try running the live node? (git pull first, just updated it) rosrun kitti_to_rosbag kitti_live_node calibration_path dataset_path

You should see some tf transforms output, and some other topics, but perhaps it gives you some more errors about what's going on.

s2p4u7 commented 5 years ago

Hello, I am trying to convert kitti dataset to rosbag.while converting the dataset I am getting a error: stack/package kitti_to_rosbag-master not found.what should I do to convert it without any errors. Thank you.

caioaamaral commented 3 years ago

Hmm unfortunately I can't reproduce this... Can you try running the live node? (git pull first, just updated it) rosrun kitti_to_rosbag kitti_live_node calibration_path dataset_path

You should see some tf transforms output, and some other topics, but perhaps it gives you some more errors about what's going on.

@helenol Got the same problem and the live node does not work either. Currently using the city dataset 2011_09_26_drive_0001:

@caioaamaral:2011_09_26$ rosrun kitti_to_rosbag kitti_live_node calib/ sync-rect_dataset_0001/ 
Transform T_vel_imu:     0.999998  0.000755307  -0.00203583    -0.808676
-0.000785403      0.99989    -0.014823     0.319556
  0.00202441    0.0148245     0.999888    -0.799723
           0            0            0            1
Header: calib_time
Header: corner_dist
Header: S_00
Header: K_00
Header: D_00
Header: R_00
Header: T_00
Header: S_rect_00
S_rect header: S_rect_00 substring: 00
Index: 0
Image size: 1242
 375
Header: R_rect_00
R_rect header: R_rect_00 substring: 00
Header: P_rect_00
P_rect header: P_rect_00 substring: 00
Projection mat:
721.538       0 609.559       0
      0 721.538 172.854       0
      0       0       1       0
Header: S_01
Header: K_01
Header: D_01
Header: R_01
Header: T_01
Header: S_rect_01
S_rect header: S_rect_01 substring: 01
Index: 1
Image size: 1242
 375
Header: R_rect_01
R_rect header: R_rect_01 substring: 01
Header: P_rect_01
P_rect header: P_rect_01 substring: 01
Projection mat:
 721.538        0  609.559 -387.574
       0  721.538  172.854        0
       0        0        1        0
Header: S_02
Header: K_02
Header: D_02
Header: R_02
Header: T_02
Header: S_rect_02
S_rect header: S_rect_02 substring: 02
Index: 2
Image size: 1242
 375
Header: R_rect_02
R_rect header: R_rect_02 substring: 02
Header: P_rect_02
P_rect header: P_rect_02 substring: 02
Projection mat:
   721.538          0    609.559    44.8573
         0    721.538    172.854   0.216379
         0          0          1 0.00274588
Header: S_03
Header: K_03
Header: D_03
Header: R_03
Header: T_03
Header: S_rect_03
S_rect header: S_rect_03 substring: 03
Index: 3
Image size: 1242
 375
Header: R_rect_03
R_rect header: R_rect_03 substring: 03
Header: P_rect_03
P_rect header: P_rect_03 substring: 03
Projection mat:
  721.538         0   609.559  -339.524
        0   721.538   172.854   2.19994
        0         0         1 0.0027299
Timestmap map for pose:
Publish dt ns: 20000000
Current entry: 0

rostopic list does shows some topics, but none of them echos anything

@caioaamaral:~/$ rostopic list
/cam00
/cam00/compressed
/cam00/compressed/parameter_descriptions
/cam00/compressed/parameter_updates
/cam00/compressedDepth
/cam00/compressedDepth/parameter_descriptions
/cam00/compressedDepth/parameter_updates
/cam00/theora
/cam00/theora/parameter_descriptions
/cam00/theora/parameter_updates
/cam01
/cam01/compressed
/cam01/compressed/parameter_descriptions
/cam01/compressed/parameter_updates
/cam01/compressedDepth
/cam01/compressedDepth/parameter_descriptions
/cam01/compressedDepth/parameter_updates
/cam01/theora
/cam01/theora/parameter_descriptions
/cam01/theora/parameter_updates
/cam02
/cam02/compressed
/cam02/compressed/parameter_descriptions
/cam02/compressed/parameter_updates
/cam02/compressedDepth
/cam02/compressedDepth/parameter_descriptions
/cam02/compressedDepth/parameter_updates
/cam02/theora
/cam02/theora/parameter_descriptions
/cam02/theora/parameter_updates
/cam03
/cam03/compressed
/cam03/compressed/parameter_descriptions
/cam03/compressed/parameter_updates
/cam03/compressedDepth
/cam03/compressedDepth/parameter_descriptions
/cam03/compressedDepth/parameter_updates
/cam03/theora
/cam03/theora/parameter_descriptions
/cam03/theora/parameter_updates
/camera_info
/clock
/pose_imu
/rosout
/rosout_agg
/tf
/transform_imu
/velodyne_points
caioaamaral commented 3 years ago 
rosrun kitti_to_rosbag kitti_live_node calib/ sync-rect_dataset_0001/

Never mind, it was my mistake, the proper folder was inside the sync-rect_dataset_0001. Using the right arguments returns me a functional rosbag.