kitti数据集使用笔记
一、kitti数据集的下载
链接: (http://www.cvlibs.net/datasets/kitti/raw_data.php)
进入raw data 下载
二、kitti数据集转PLY文件
利用txt转PLY
matlab:
clear
fileID = fopen('0000000001.txt','r');
formatSpec = '%f';
A = fscanf(fileID,formatSpec);
B=reshape(A,4,[]);
C=B';
C=C*100;
Size=size(C);
intensity = C(:,4);
ply = pointCloud(single(C(:,1:3)),'intensity',single(intensity));
figure
pcshow(ply);
pcwrite(ply,'kitt0.ply','PLYFormat','ascii');
三、kitti转rosbag
官网上有两种方法
安装Kitti2bag
sudo pip install pandas==0.23.0 -i http://pypi.douban.com/simple/ --trusted-host pypi.douban.com
sudo pip install pykitti -i http://pypi.douban.com/simple --trusted-host pypi.douban.com
sudo pip install kitti2bag -i http://pypi.douban.com/simple --trusted-host pypi.douban.com
再运行下面语句即可的得到bag -r 后面的序列需要对应
kitti2bag -t 2011_09_26 -r 0002 raw_synced .
★如果缺少CV_bridge 则输入
sudo apt-get install ros-kinetic-cv-bridge