convert kitti_raw to rosbag

Install

# install catkin-tools
sudo apt install python-catkin-tools # if your ros distro is new enough to use python3 (since ubuntu 20.04), use python3-catkin-tools instead

# install packages
mkdir -p kitti_to_rosbag_ws/src
cd kitti_to_rosbag_ws/src
git clone https://github.com/ethz-asl/kitti_to_rosbag.git
git clone https://github.com/catkin/catkin_simple.git
git clone https://github.com/ethz-asl/gflags_catkin.git
git clone https://github.com/ethz-asl/glog_catkin.git
git clone https://github.com/ethz-asl/minkindr.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/catkin_boost_python_buildtool.git
git clone https://github.com/ethz-asl/minkindr_ros
git clone https://github.com/ethz-asl/numpy_eigen

# build
cd ..
catkin build --cmake-args -DCMAKE_CXX_STANDARD=14 # you can choose different version, on 20.04, c++14 is needed, prior versions might require c++11                               

Note: you may need to change *image = cv::imread(filename, CV_LOAD_IMAGE_UNCHANGED); into cv::IMREAD_UNCHANGED for newer version of opencv, at kitti_to_rosbag_ws/src/kitti_to_rosbag/kitti_to_rosbag/src/kitti_parser.cpp:497.

Usage

Rosbag converter usage example

rosrun kitti_to_rosbag kitti_rosbag_converter calibration_path dataset_path output_path

(No trailing slashes).

rosrun kitti_to_rosbag kitti_rosbag_converter ~/data/kitti/2011_09_26 ~/data/kitti/2011_09_26/2011_09_26_drive_0035_sync ~/data/kitti/2011_09_26/2011_09_26_drive_0035_sync/testbag.bag

Library API Example

#include <opencv2/highgui/highgui.hpp>

#include "kitti_to_rosbag/kitti_parser.h"

int main(int argc, char** argv) {
  google::InitGoogleLogging(argv[0]);
  google::ParseCommandLineFlags(&argc, &argv, false);
  
  const std::string calibration_path = "/Users/helen/data/kitti/2011_09_26";
  const std::string dataset_path =
      "/Users/helen/data/kitti/2011_09_26/2011_09_26_drive_0035_sync";

  kitti::KittiParser parser(calibration_path, dataset_path, true);

  parser.loadCalibration();
  parser.loadTimestampMaps();

  uint64_t timestamp;
  kitti::Transformation pose;
  parser.getPoseAtEntry(0, &timestamp, &pose);

  std::cout << "Timestamp: " << timestamp << " Pose: " << pose << std::endl;

  pcl::PointCloud<pcl::PointXYZI> ptcloud;
  parser.getPointcloudAtEntry(0, &timestamp, &ptcloud);

  std::cout << "Timestamp: " << timestamp << " Num points: " << ptcloud.size()
            << std::endl;

  cv::Mat image;
  parser.getImageAtEntry(0, 3, &timestamp, &image);

  cv::imshow("Display window", image);
  cv::waitKey(0);

  return 0;
}