search

tomas789 / kitti2bag

Convert KITTI dataset to ROS bag file the easy way!
MIT License
720 stars 261 forks source link

Velodyne-only odometry type support #40

Open alexandrx opened 5 years ago

alexandrx commented 5 years ago

Added support for velodyne-only odometry type. It will generate a rosbag file with pointcloud-only topic with timestamp, and the bag filename will be kitti_data_odometry_velo_sequence_XX.bag for the selected sequence number XX.

valgur commented 5 years ago

Including Velodyne data in the odom bag output is definitely a good idea. I think a common logic between raw and odom datasetes to select the types of data (velodyne, mono/rgb images, imu+gps) to include or exclude might be a better idea than creating a separate 'odom_velo' type, though?