在rviz中画出自己的车辆无非就是加载出网上下载的dae车辆模型
在rviz中画出中照相机的视野主要是利用ros提供的画线工具画出照相机的视角范围
这一节的kitti.py将拆分为三个py文件,增强py文件的可读性和简洁性
其中pyc文件是写完py文件之后保存之后自动生成的
1、kitti.py
#!/usr/bin/env python
import os
from data_utils import *
from publish_utils import *
DATA_PATH = "/home/ros/dianyun/2011_09_26_drive_0005_sync/2011_09_26/2011_09_26_drive_0005_sync"
if __name__ == "__main__":
frame =0
rospy.init_node("kitti_node",anonymous=True)
cam_pub = rospy.Publisher("kitti_cam",Image,queue_size=10)
pcl_pub = rospy.Publisher("kitti_point_cloud", PointCloud2, queue_size=10)
ego_pub = rospy.Publisher("kitti_ego_car", Marker, queue_size=10)
model_pub = rospy.Publisher("kitti_car_model", Marker, queue_size=10)