docker下kitti2bag的安装与使用

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已于 2023-04-11 18:51:55 修改

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分类专栏： SLAM同步定位与建图文章标签： docker 容器 c++ 人工智能

于 2023-04-11 18:50:09 首次发布

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本文介绍了在Ubuntu系统中，由于kitti2bag在ROS环境下编译失败，作者选择使用Docker来创建ROSbag文件。通过拉取和尝试不同的docker镜像，解决了版本冲突和文件路径问题，最终成功制作了rosbag，并在ROS环境中使用rviz查看了效果。过程中遇到了numpy版本冲突和数据集目录结构的调整问题。

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因kitti2bag在ROS环境下编译失败，选择使用docker实现。

我的系统环境是ubuntu。

1、安装docker

2、下载kitti的raw data数据集和对应的标定文件

csdn上有网盘的下载连接

3、docker镜像

3.1 拉取官方的镜像

docker pull tomas789/kitti2bag

然后创建容器并制作bag。

docker run -v /home/myabc/2011_10_03_drive_0047_sync:/data -it tomas789/kitti2bag -t 2011_10_03 -r 0102 raw_synced

此时报错：

~$ docker run -v /home/myabc/2011_10_03_drive_0047_sync:/data -it tomas789/kitti2bag -t 2011_10_03 -r 0102 raw_synced
Traceback (most recent call last):
File "/usr/local/bin/kitti2bag", line 5, in <module>
    from pkg_resources import load_entry_point
File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2927, in <module>
    @_call_aside
File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2913, in _call_aside
    f(*args, **kwargs)
File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2940, in _initialize_master_working_set
    working_set = WorkingSet._build_master()
File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 637, in _build_master
    return cls._build_from_requirements(__requires__)
File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 650, in _build_from_requirements
    dists = ws.resolve(reqs, Environment())
File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 834, in resolve
    raise VersionConflict(dist, req).with_context(dependent_req)
pkg_resources.ContextualVersionConflict: (numpy 1.11.0 (/usr/lib/python2.7/dist-packages), Requirement.parse('numpy>=1.12.0'), set(['pandas']))

失败，查询解决方案未果，放弃该方案。

3.2 下载新镜像

docker pull tyoung96/kitti2bag:latest

创建容器并制作rosbag，

docker run -v /home/myabc/2011_10_03_drive_0047_sync:/data -it tyoung96/kitti2bag -t 2011_10_03 -r 0102 raw_synced

此时报错：

:~$ docker run -v /home/myabc/2011_10_03_drive_0047_sync:/data -it tyoung96/kitti2bag -t 2011_10_03 -r 0102 raw_synced
Traceback (most recent call last):
File "/usr/local/bin/kitti2bag", line 9, in <module>
    load_entry_point('kitti2bag', 'console_scripts', 'kitti2bag')()
File "/kitti2bag/kitti2bag/__main__.py", line 5, in main
    run_kitti2bag()
File "/kitti2bag/kitti2bag/kitti2bag.py", line 317, in run_kitti2bag
    kitti = pykitti.raw(args.dir, args.date, args.drive)
File "/usr/local/lib/python2.7/dist-packages/pykitti/raw.py", line 34, in __init__
    self._load_calib()
File "/usr/local/lib/python2.7/dist-packages/pykitti/raw.py", line 232, in _load_calib
    data['T_velo_imu'] = self._load_calib_rigid('calib_imu_to_velo.txt')
File "/usr/local/lib/python2.7/dist-packages/pykitti/raw.py", line 147, in _load_calib_rigid
    data = utils.read_calib_file(filepath)
File "/usr/local/lib/python2.7/dist-packages/pykitti/utils.py", line 72, in read_calib_file
    with open(filepath, 'r') as f:
IOError: [Errno 2] No such file or directory: '/data/2011_10_03/calib_imu_to_velo.txt'

报错，最后一行提示，没有 '/data/2011_10_03/calib_imu_to_velo.txt'，但是我下了，可能是文件放置目录不对，重新调整。

调整后再次尝试：

:~$ docker run -v /home/myabc/2011_10_03_drive_0047_sync:/data -it tyoung96/kitti2bag -t 2011_10_03 -r 0102 raw_synced
Traceback (most recent call last):
File "/usr/local/bin/kitti2bag", line 9, in <module>
    load_entry_point('kitti2bag', 'console_scripts', 'kitti2bag')()
File "/kitti2bag/kitti2bag/__main__.py", line 5, in main
    run_kitti2bag()
File "/kitti2bag/kitti2bag/kitti2bag.py", line 317, in run_kitti2bag
    kitti = pykitti.raw(args.dir, args.date, args.drive)
File "/usr/local/lib/python2.7/dist-packages/pykitti/raw.py", line 35, in __init__
    self._load_timestamps()
File "/usr/local/lib/python2.7/dist-packages/pykitti/raw.py", line 253, in _load_timestamps
    with open(timestamp_file, 'r') as f:
IOError: [Errno 2] No such file or directory: '/data/2011_10_03/2011_10_03_drive_0102_sync/oxts/timestamps.txt'

还是报错，最后一行提示，没有'/data/2011_10_03/2011_10_03_drive_0102_sync/oxts/timestamps.txt'，可能是文件放置目录不对，调整。

调整好后，再次尝试，成功，

制作完成。

文件的目录放置经验同网上其他教程。

我的目录：