Myros_tools

Some convenient tools used in ROS. Contents:

• For KITTI
  • Building globalmap with dynamic objects and publishing to rviz and saving.
  • Converting KITTI scans to range images.
  • Adding ring 0-63 information.
• Others
  • Removing dynamic objects using octomap offline.

⚙️ Requirements

• Based on C++17

• ROS (and Eigen, PCL, OpenMP): the all examples in this readme are tested under Ubuntu 20.04 and ROS Noetic.

• Kitti data setups

  • 百度网盘Kitti data 提取码: jbbc

  Car	Settings

⭐️ Example

• Building globalmap with dynamic objects and publishing to rviz and saving.

roslaunch ros_tools play_kitti.launch

Global Map with Dynamic Objects in Red
00	01	02	03	05	04
06	07	08	09	10

• Naive raycasting: Using raycasting methods to remove dynamic objects.(Not upload yet)

  Original map	Raycasting dynamic removal

• kitti2range_image: Convert the kitti velodyne to range images. 貌似kitti数据集的lidar frame 180度左右存在一个严重的噪点数据，从图像中心可以看出来，有一个蓝色近距离点

roslaunch ros_tools range_images.launch

• Adding ring 0-63 information:

• kblistening：Check whether the keyboard is pressed so that the publication of bin can pause like rosbag.

  • requirement:

    sudo apt-get install libncurses5-dev libncursesw5-dev
    target_link_libraries(your_target_name -lncurses)

💬 Tips

• Subscribe to the topic, and save the pointcloud to pcd file.

rosrun pcl_ros pointcloud_to_pcd input:=/point_cloud_topic _prefix:=./pcd_save_path

• mp4 to gif.

ffmpeg -t 60 -ss 00:00:01 -i Screencast_2019-02-13-24.mp4  out.gif
-t 要截取的视频时长
-ss 开始时间
-i 源视频文件
out.gif 为输出文件名

• 转换为range images需要的一些参数：

Reference

Removert: https://github.com/irapkaist/removert

https://github.com/ulterzlw/kitti2map

https://github.com/wangx1996/Semantic-Kitti-Label-Read/blob/main/semantic_kitti/src/semantic_kitti_read.cpp