KITTI数据集测试 - 1 从KITTI数据到rosbag

KITTI image 序列转为rosbag 文件

利用python将kitti的数据转为rosbag, 仅测试于grayscale数据集,测试过程如下.
python代码请见:
https://gitee.com/zengtaiping/image2rosbag_KITTIodometry

###1. 在KITTI网页下载odometry dataset (grayscale, 22GB), 并解压.

###2. 指定image路径, 生成的bag名,时间戳路径, 然后运行.

python img2bag_kitti_odo.py /your directory/KITTI/dataset/sequences/00/image_0 kitti_00_l.bag /your directory/KITTI/dataset/sequences/00/times.txt

###3. 查看rosbag,并测试结果
查看rosbag

rosbag info image_0 kitti_00_l.bag
--------
path:        kitti_00_l.bag
version:     2.0
duration:    7:50s (470s)
start:       Jan 01 1970 08:00:00.00 (0.00)
end:         Jan 01 1970 08:07:50.58 (470.58)
size:        2.0 GB
messages:    4541
compression: none [2271/2271 chunks]
types:       sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
topics:      camera/image_raw   4541 msgs    : sensor_msgs/Image

在ORBSLAM2上测试

rosbag play --pause kitti_00_l.bag
rosrun ORB_SLAM2 Mono Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml 

注意此处我们已经将rostopic设置为了camera/image_raw.

update Sep.23 2017

4. image to compressed image

压缩图片以便存储

 rosrun image_transport republish raw in:=(in_base_topic) compressed out:=(out_base_topic) 

image_transport republic 压缩或者解压视频信息存储在rosbag.