工程（四）——Kitti转bag跑Lego-LOAM

1、下载KITTI RAW数据集

链接：https://pan.baidu.com/s/1kjHSec1N9jAnvSWE9wHwPQ 
提取码：87j4 

2、安装转bag软件

pip install kitti2bag

需要更改kitti2bag点云的强度信息，不然会出现如下情况 

whereis kitti2bag

将i改为intensity

kitti2bag -t 2011_10_03 -r 0027 raw_synced

rosbag play kitti_2011_10_03_drive_0027_synced.bag

3、数据可视化

• RVIZ显示

获取frame_id

rostopic list

rostopic echo /topic |grep frame_id

• RQT显示 

rqt_bag kitti_2011_09_26_drive_0002_synced.bag

4、修改lego_loam代码

GitHub - Mitchell-Lee-93/kitti-lego-loam: Easy description to run and evaluate Lego-LOAM with KITTI-data

extern const int N_SCAN = 64;
extern const int Horizon_SCAN = 1800;
extern const float ang_res_x = 0.2;
extern const float ang_res_y = 0.427;
extern const float ang_bottom = 24.9;
extern const int groundScanInd = 30;

roslaunch lego_loam run.launch
rosbag play *.bag --clock 

5、EV

 GitHub - MichaelGrupp/evo: Python package for the evaluation of odometry and SLAM