How to convert odometry datasets?

Question

How to convert odometry datasets?

SakuraMemoryKnight opened this issue 4 years ago · comments

SakuraMemoryKnight commented 4 years ago

Hi,in Readme introduction,it said "Thanks to @emreay-, this tool can now convert odometry datasets too." but What are the specific instructions for executing this method？Could anyone help me?Thank you.

ulterzlw · Answer 1 · Fri Dec 20 2019 09:21:56 GMT+0800 (China Standard Time)

Hi, please refer to #18

SakuraMemoryKnight · Answer 2 · Mon Dec 23 2019 10:26:35 GMT+0800 (China Standard Time)

@ulterzlw Thank you,but i want to convert odometry images and lidar pointcloud datasets to rosbag.In fact,now I have got the image.bag and velo_pointcloud.bag,but their time are not synchronous,maybe Simultaneous conversion is an effective method, I'm going to give it a try.

ulterzlw · Answer 3 · Mon Dec 23 2019 17:19:57 GMT+0800 (China Standard Time)

@zcg3648806 If you don't mind, you can try my fork. Please follow the How to install it? & How to run it? instruction to make it work.

SakuraMemoryKnight · Answer 4 · Thu Jan 02 2020 08:44:48 GMT+0800 (China Standard Time)

@ulterzlw Thank you, I'll try it. Happy new year!

Nedim Hadžić · Answer 5 · Tue Jun 28 2022 22:56:16 GMT+0800 (China Standard Time)

Any follow-up on this one? I tried this fork https://github.com/ulterzlw/kitti2bag, but I am still getting:

File "/usr/local/lib/python3.8/dist-packages/pykitti-0.3.1-py3.8.egg/pykitti/odometry.py", line 39, in __init__
  File "/usr/local/lib/python3.8/dist-packages/pykitti-0.3.1-py3.8.egg/pykitti/odometry.py", line 175, in _load_calib
KeyError: 'Tr'

ulterzlw · Answer 6 · Tue Jan 03 2023 22:40:54 GMT+0800 (China Standard Time)

Hi @nedo99 try to uninstall pykitti pip uninstall pykitti and then install it from source.
And I uploaded a docker image. It is recommended to use docker.