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utiasSTARS / pykitti

Python tools for working with KITTI data.
MIT License
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How to convert velodyne data to rosbag? #21

Closed AbnerCSZ closed 6 years ago

AbnerCSZ commented 6 years ago

How to convert velodyne data( .bin ) to rosbag? Only need to convert velodyne data, without image data.

Looking forward to any reply

leeclemnet commented 6 years ago

There are a couple of rosbag tools listed on the KITTI website: http://www.cvlibs.net/datasets/kitti/raw_data.php

AbnerCSZ commented 6 years ago

Thanks for your help. I knew some tools listed on this website, such as kitti2bag. And I can use it to convert raw_data to rosbag. But I can not use it to convert only odometry data in this website:http://www.cvlibs.net/datasets/kitti/eval_odometry.php In other words, this tools only can convert data that meets their formatting requirements( format in raw_data . How can I convert odometry sequences in this website to rosbag?

leeclemnet commented 6 years ago

The odometry benchmark training sequences are just subsets of the raw data. The mapping from odometry sequences to raw sequences can be found in the readme.txt file included with the odometry development kit.

Beyond that, I would recommend opening an issue in the kitti2bag repo.