kitti2bag

Step1 Download Data

Download raw data from KITTI, for example

$ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0093/2011_09_26_drive_0093_sync.zip
$ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_calib.zip
$ unzip 2011_09_26_drive_0093_sync.zip
$ unzip 2011_09_26_calib.zip

Then you shall see your folder structured as:

├── 2011_09_26_drive_0093_sync
│   ├── image_00
│   │   ├── data
│   │   └── timestamps.txt
│   ├── image_01
│   │   ├── data
│   │   └── timestamps.txt
│   ├── image_02
│   │   ├── data
│   │   └── timestamps.txt
│   ├── image_03
│   │   ├── data
│   │   └── timestamps.txt
│   ├── oxts
│   │   ├── data
│   │   ├── dataformat.txt
│   │   └── timestamps.txt
│   └── velodyne_points
│       ├── data
│       ├── timestamps_end.txt
│       ├── timestamps_start.txt
│       └── timestamps.txt
├── calib_cam_to_cam.txt
├── calib_imu_to_velo.txt
└── calib_velo_to_cam.txt

Step2 Build Docker Image

First of all, clone this repo:

git clone git@github.com:KleinYuan/kitti2bag.git

Then, build the docker image:

docker build -t kitti2bag .

Step3 Spin up a Container and EXE Shell

Imagine you download your data under /foo/, then create a folder named as ${year}_${month}_${day}.

Taking the 2011_09_26_drive_0093_sync above as an exmaple, you shall put those files under: /foo/2011_09_26

docker run -it  \
 -v /foo:/data \
 -v ${PWD}/kitti2bag:/kitti2bag/kitti2bag \
 kitti2bag bash

And then you will be in the shell and if you do ls, you shall see:

root@8d9c20c69c15:/data# ls
2011_09_26

Step4 Run the Conversion

source "/opt/ros/$ROS_DISTRO/setup.bash"
python /kitti2bag/kitti2bag/kitti2bag.py run_kitti2bag \
--kitti_type raw_synced \
--data_dir /data \
--date 2011_09_26 \
--drive d0093

And you shall see the following logs:

Exporting static transformations
Exporting time dependent transformations
Exporting IMU
Exporting camera 0
100% (433 of 433) |#######################################################################################################################################| Elapsed Time: 0:00:01 Time:  0:00:01
Exporting camera 1
100% (433 of 433) |#######################################################################################################################################| Elapsed Time: 0:00:01 Time:  0:00:01
Exporting camera 2
100% (433 of 433) |#######################################################################################################################################| Elapsed Time: 0:00:04 Time:  0:00:04
Exporting camera 3
100% (433 of 433) |#######################################################################################################################################| Elapsed Time: 0:00:03 Time:  0:00:03
Exporting velodyne data
100% (433 of 433) |#######################################################################################################################################| Elapsed Time: 0:01:18 Time:  0:01:18
## OVERVIEW ##
path:        kitti_2011_09_26_drive_0093_synced.bag
version:     2.0
duration:    44.7s
start:       Sep 26 2011 15:18:33.02 (1317050313.02)
end:         Sep 26 2011 15:19:17.72 (1317050357.72)
size:        2.3 GB
messages:    6062
compression: none [1732/1732 chunks]
types:       geometry_msgs/TwistStamped [98d34b0043a2093cf9d9345ab6eef12e]
             sensor_msgs/CameraInfo     [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image          [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/Imu            [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/NavSatFix      [2d3a8cd499b9b4a0249fb98fd05cfa48]
             sensor_msgs/PointCloud2    [1158d486dd51d683ce2f1be655c3c181]
             tf2_msgs/TFMessage         [94810edda583a504dfda3829e70d7eec]
topics:      /kitti/oxts/gps/fix                          433 msgs    : sensor_msgs/NavSatFix     
             /kitti/oxts/gps/vel                          433 msgs    : geometry_msgs/TwistStamped
             /kitti/oxts/imu                              433 msgs    : sensor_msgs/Imu           
             /sensor/camera/color/left/camera_info        433 msgs    : sensor_msgs/CameraInfo    
             /sensor/camera/color/left/image_rect         433 msgs    : sensor_msgs/Image         
             /sensor/camera/color/right/camera_info       433 msgs    : sensor_msgs/CameraInfo    
             /sensor/camera/color/right/image_rect        433 msgs    : sensor_msgs/Image         
             /sensor/camera/grayscale/left/camera_info    433 msgs    : sensor_msgs/CameraInfo    
             /sensor/camera/grayscale/left/image_rect     433 msgs    : sensor_msgs/Image         
             /sensor/camera/grayscale/right/camera_info   433 msgs    : sensor_msgs/CameraInfo    
             /sensor/camera/grayscale/right/image_rect    433 msgs    : sensor_msgs/Image         
             /sensor/velodyne/cloud_euclidean             433 msgs    : sensor_msgs/PointCloud2   
             /tf                                          433 msgs    : tf2_msgs/TFMessage        
             /tf_static                                   433 msgs    : tf2_msgs/TFMessage

And then you will see a bag named as kitti_2011_09_26_drive_0093_synced.bag lying there.

Step5 Change the Code

Sometimes, you wanna change the rule of the conversion, namely, editing the code in kitti2bag.py, then you can just edit it and then run the same

python /kitti2bag/kitti2bag/kitti2bag.py run_kitti2bag \
--kitti_type raw_synced \
--data_dir /data \
--date 2011_09_26 \
--drive d0093

And do the conversion again!

The main difference from this code and the original one is that I replaced the args/egg with python-fire, so that you can just use the script as a command line tool.