How to produce .bag file from KITTI raw data ?

ethz-asl / segmap

A map representation based on 3D segments

BSD 3-Clause "New" or "Revised" License

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How to produce .bag file from KITTI raw data ? #100

Closed Oofs closed 5 years ago

Oofs commented 5 years ago

Hi SegMap team,

Could you please share the scripts to create the bag file from raw data of KITTI ? like yours:
2011_09_30_drive_18.bag 2011_10_03_drive_27.bag I want to test segmap on the other sequence of KITTI to evaluate the performance. Also, I notice that there are 2 topics named /pose_imu and /transform_imu in your demo bag file, are they indispensable ?

Sincerely, Claude

smauq commented 5 years ago

Sorry for the late answer, but there's a few tools out there for this. For example https://github.com/ethz-asl/kitti_to_rosbag https://github.com/tomas789/kitti2bag

As for the IMU, we don't use one.

Oofs commented 5 years ago

I have figured it out. Thanks anyway!

david-villagra commented 4 years ago

Hi, I was having the same question. How did you convert the raw data from the KITTI dataset into a pose_imu and transform_imu? Are you implementing an odometry algorithm to get pose from the IMU raw measurements? Thanks!