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tomas789 / kitti2bag

Convert KITTI dataset to ROS bag file the easy way!
MIT License
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{raw_synced,odom_color,odom_gray} #55

Closed Juuustin closed 4 years ago

Juuustin commented 4 years ago

Would it be possible to just transform odometry dataset (velodyne laser data, 80 GB) into .bag file? There are 3 parameters to select: {raw_synced,odom_color,odom_gray} , but I have no idea which one to choose if I just want to save laser point into .bag. Any suggestions?

ulterzlw commented 4 years ago

If you don't mind, try my fork. Please follow the How to install it? & How to run it? to make it work.

Juuustin commented 4 years ago

If you don't mind, try my fork. Please follow the How to install it? & How to run it? to make it work.

I tried your fork, this is an error when I run kitti2bag -s 04 odom ./dataset/ it is said that kitti2bag: error: argument kitti_type: invalid choice: 'odom' (choose from 'raw_synced', 'odom_color', 'odom_gray') So is it possible to select lidar points only?

ulterzlw commented 4 years ago

the reason is kitti2bag cmd still links to the old scripts installed by pip. you could try pip uninstall kitti2bag or use /usr/local/bin/kitti2bag instead. The bag will contain lidar and image both. arguments {raw_sync} for raw_sync data, and {odom} for odometry data.

ulterzlw commented 4 years ago

if you really want a bag containing only lidar points, use rosbag filter to split the generated bag.