使用知乎提供的添加IMU约束的kitti_to_bag文件:
如何在kitti raw data上跑起vins-mono
工具:
https://github.com/PetWorm/kitti_to_rosbag_for_vio
1、安装依赖项:
添加链接描述
git clone https://github.com/ethz-asl/glog_catkin.git
git clone https://github.com/ethz-asl/gflags_catkin.git
git clone https://github.com/ethz-asl/minkindr.git
git clone https://github.com/ethz-asl/minkindr_ros.git
git clone https://github.com/ethz-asl/eigen_catkin.git
git clone https://github.com/ethz-asl/eigen_checks.git
git clone https://github.com/ethz-asl/numpy_eigen.git
git clone https://github.com/ethz-asl/minkindr.git
2、注意事项:
kitti_to_rosbag安装使用
3、最后运行,得到bag文件:
roscore
source devel/setup.bash
rosrun kitti_to_rosbag kitti_rosbag_converter ~/2011_10_03 ~/2011_10_03/2011_10_03_drive_0042_sync ~/2011_10_03/2011_10_03_drive_0042_sync/kitti.bag
4、检查生成的bag文件时间有没有问题:
rosbag info kitti.bag
roslaunch export.launch //提取图像
5、之后查看图像,可以复制到制定文件夹:
cd ~/.ros
ls
mv ~/.ros/*.jpg /home/dyt/2011_10_03/image
> <launch>
> <node pkg="rosbag" type="play" name="rosbag" args="-d 2 /home/dyt/2011_10_03/2011_10_03_drive_0042_sync/kitti.bag"/>
<node name="extract" pkg="image_view" type="extract_images" respawn="false" output="screen" cwd="ROS_HOME">
<remap from="image" to="/cam00/image_raw"/>
</node>
</launch>
出现问题:
读取bag存在问题,读出数据不连续!!!目前还未解决