add kitti_helper and other changes

HKUST-Aerial-Robotics · Mar 7, 2019 · 94ee325 · 94ee325
1 parent 19d38f9
commit 94ee325
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Showing 11 changed files with 954 additions and 11 deletions.
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1 @@
+.vscode/
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -11,8 +11,12 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   roscpp
   rospy
+  rosbag
   std_msgs
-  tf)
+  image_transport
+  cv_bridge
+  tf
+)
 
 #find_package(Eigen3 REQUIRED)
 find_package(PCL REQUIRED)
@@ -23,7 +27,8 @@ include_directories(
   include
 	${catkin_INCLUDE_DIRS} 
 	${PCL_INCLUDE_DIRS}
-  ${CERES_INCLUDE_DIRS})
+  ${CERES_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS})
 
 catkin_package(
   CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs
@@ -41,6 +46,9 @@ target_link_libraries(laserOdometry ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES
 add_executable(laserMapping src/laserMapping.cpp)
 target_link_libraries(laserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})
 
+add_executable(kittiHelper src/kittiHelper.cpp)
+target_link_libraries(kittiHelper ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS})
+
 
 
 
diff --git a/README.md b/README.md
@@ -5,7 +5,7 @@
 A-LOAM is an Advanced implenmentation of LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), which uses Eigen and Ceres to Solver to simplify code structure. This code is modified from [LOAM_NOTED](https://github.com/cuitaixiang/LOAM_NOTED).
 
 
-**Authors:** [Tong Qin](http://www.qintonguav.com), [Shaozu Cao](https://github.com/shaozu/LOAM_NOTED), and [Shaojie Shen](http://www.ece.ust.hk/ece.php/profile/facultydetail/eeshaojie) from the [Aerial Robotics Group](http://uav.ust.hk/), [HKUST](https://www.ust.hk/)
+**Authors:** [Tong Qin](http://www.qintonguav.com), [Shaozu Cao](https://github.com/shaozu), and [Shaojie Shen](http://www.ece.ust.hk/ece.php/profile/facultydetail/eeshaojie) from the [Aerial Robotics Group](http://uav.ust.hk/), [HKUST](https://www.ust.hk/)
 
 
 ## 1. Prerequisites
@@ -42,10 +42,10 @@ Download [NSH indoor outdoor](https://drive.google.com/file/d/1s05tBQOLNEDDurlg4
 
 
 ## 4. KITTI Example (Velodyne HDL-64)
-Download [KITTI Odometry dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) to YOUR_DATASET_FOLDER, and convert it into ROS bag. We take sequences 00 for example. [00](download link)
+Download [KITTI Odometry dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) to YOUR_DATASET_FOLDER and set the `dataset_folder` and `sequence_number` parameters in `kitti_helper.launch` file. Note you also convert KITTI dataset to bag file for easy use by setting proper parameters in `kitti_helper.launch`. 
 
 ```
     roslaunch loam_velodyne loam_velodyne_64.launch
-    rosbag play YOUR_DATASET_FOLDER/00.bag
+    roslaunch loam_velodyne kitti_helper.launch
 ```
 
diff --git a/launch/kitti_helper.launch b/launch/kitti_helper.launch
@@ -0,0 +1,11 @@
+<launch>
+
+
+    <node name="loam_velodyne" pkg="loam_velodyne" type="kittiHelper" output="screen"> 
+        <param name="dataset_folder" type="string" value="/data/KITTI/odometry/" />
+        <param name="sequence_number" type="string" value="00" />
+        <param name="to_bag" type="bool" value="false" />
+        <param name="output_bag_file" type="string" value="/tmp/kitti.bag" /> <!-- replace with your output folder -->
+        <param name="publish_delay" type="int" value="1" />
+    </node>
+</launch>
diff --git a/launch/loam_velodyne_16.launch b/launch/loam_velodyne_16.launch
@@ -18,9 +18,9 @@
 
     <node pkg="loam_velodyne" type="laserMapping" name="laserMapping" output="screen" />
 
-    <arg name="rviz" default="true" />
+    <arg name="rviz" default="false" />
     <group if="$(arg rviz)">
-        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_velodyne)/rviz_cfg/loam_velodyne.rviz" />
+        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_velodyne)/rviz_cfg/loam_velodyne_16.rviz" />
     </group>
 
 </launch>
diff --git a/launch/loam_velodyne_64.launch b/launch/loam_velodyne_64.launch
@@ -18,9 +18,9 @@
 
     <node pkg="loam_velodyne" type="laserMapping" name="laserMapping" output="screen" />
 
-    <arg name="rviz" default="true" />
+    <arg name="rviz" default="false" />
     <group if="$(arg rviz)">
-        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_velodyne)/rviz_cfg/loam_velodyne.rviz" />
+        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_velodyne)/rviz_cfg/loam_velodyne_64.rviz" />
     </group>
 
 </launch>
diff --git a/package.xml b/package.xml
@@ -21,17 +21,21 @@
   <build_depend>nav_msgs</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>  
+  <build_depend>rosbag</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>tf</build_depend>
+  <build_depend>image_transport</build_depend>
 
   <run_depend>geometry_msgs</run_depend>
   <run_depend>nav_msgs</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>rospy</run_depend>
   <run_depend>std_msgs</run_depend>
+  <run_depend>rosbag</run_depend>
   <run_depend>tf</run_depend>
+  <run_depend>image_transport</run_depend>
 
   <export>
   </export>

diff --git a/rviz_cfg/loam_velodyne.rviz → rviz_cfg/loam_velodyne_16.rviz b/rviz_cfg/loam_velodyne.rviz → rviz_cfg/loam_velodyne_16.rviz