Odometry dataset support

Hey, I added support for odometry datasets and changed few things. This is my first pull request ever, so excuse any silly things I might have done. I tried to keep the original style and functions as much as possible.

So the highlights;

The original argument handling was tailored for raw datasets only. I imported argparse to create a nicer command line interface. I changed the way kitti2bag accepts arguments to be able to select different dataset types.

The new command line interface is as follows;


usage: kitti2bag [-h] [-t DATE] [-r DRIVE]
                [-s {00,01,02,03,04,05,06,07,08,09,10,11,12,13,14,15,16,17,18,19,20,21}]
                {raw_synced,odom_color,odom_gray} [dir]

Convert KITTI dataset to ROS bag file the easy way!

positional arguments: {raw_synced,odom_color,odom_gray} KITTI dataset type dir base directory of the dataset, if no directory passed the deafult is current working directory

optional arguments: -h, --help show this help message and exit -t DATE, --date DATE date of the raw dataset (i.e. 2011_09_26), option is only for RAW datasets. -r DRIVE, --drive DRIVE drive number of the raw dataset (i.e. 0001), option is only for RAW datasets. -s {00,01,02,03,04,05,06,07,08,09,10,11,12,13,14,15,16,17,18,19,20,21}, --sequence {00,01,02,03,04,05,06,07,08,09,10,11,12,13,14,15,16,17,18,19,20,21} sequence of the odometry dataset (between 00 - 21), option is only for ODOMETRY datasets.


So for example to convert a raw dataset;

kitti2bag raw_synced -t 2011_09_26 -r 0002

or

kitti2bag raw_synced <directory that contains 2011_09_26/> -t 2011_09_26 -r 0002


And for a gray scale odometry dataset;

kitti2bag odom_gray -s 00



* Both color and gray odometry datasets are supported. The stereo images and dynamic tf are being exported. 
* The accepted types right now are `raw_synced`, `odom_color` and `odom_gray`.

tomas789 / kitti2bag

Odometry dataset support #5