# image2rosbag_KITTIodometry

**Repository Path**: crystal-721/image2rosbag_KITTIodometry

## Basic Information

- **Project Name**: image2rosbag_KITTIodometry
- **Description**: 将kitti的数据转为rosbag.
- **Primary Language**: Python
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 8
- **Created**: 2023-12-21
- **Last Updated**: 2023-12-21

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

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:
http://git.oschina.net/taiping.z.git/image2rosbag_KITTIodometry

###1. 在KITTI网页下载[odometry dataset (grayscale, 22GB)](http://www.cvlibs.net/datasets/kitti/eval_odometry.php), 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```.