mini-kitti-publisher

A very simple KITTI odometry dataset's images and velodyne points publisher

How to use

$ python mini_kitti_publisher.py --dir "...your kitti dataset base directory../sequences/XX"

We note that the directory should form like

| your kitti dataset base dir 
    |-- sequences 
        |-- 00
            |-- image_0
                |-- 000000.png
                |-- 000001.png
                |-- ...
            |-- image_1
                |-- 000000.png
                |-- 000001.png
                |-- ...
            |-- image_2
                |-- 000000.png
                |-- 000001.png
                |-- ...
            |-- image_3
                |-- 000000.png
                |-- 000001.png
                |-- ...
            |-- velodyne
                |-- 000000.bin
                |-- 000001.bin
                |-- ...
        |-- 01
        |-- ...

Termination of the program

• Use ctrl + \ at the terminal.

Tip

If you use my pre-tuned-visualization config file, it is easy to show how the data flow. For example,

$ rviz -d rviz_setting.rviz

and other terminal 
$ rqt --perspective-file rqt_setting.perspective