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:&＃61;(in_base_topic) compressed out:&＃61;(out_base_topic)


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