leofansq / tools_rosbag2kitti Goto Github PK

Conversion from ROSBAG (.bag) to image (.png) and points cloud (.bin), including ROSBAG decoding, pcd2bin and file directory extraction.

License: MIT License

CMake 52.99% C++ 44.99% Python 2.02%

kitti ros tools pcd bin pcd2bin

tools_rosbag2kitti's Introduction

About

2D images and 3D points cloud are the two most commonly used data of intelligent vehicles, which are usually recorded in ROSBAG format via the ROS system in actual engineering practice. However, the visual and LiDAR data in the public dataset (e.g. KITTI) for research are saved as .png and .bin files respectively. To bridge the gap between engineering and research, this repository provides a tool to get .png and .bin from .bag.

How to use

(1) Decode ROSABG

The recorded ROSBAG are firstly decoded into .png for image and .pcd for points cloud.

Build the project in the ROS workspace
```
 cd catkin_ws
 catkin_make
```
[Optional] Setup the parameters in map_generation_node.cpp to achieve the rotation and translation of the coordinate system.

All parameters for the rotation are angular and the clockwise is positive.

Decode ROSBAG to .png and .pcd, the results are saved in output.

 # 1st terminal for ROS core
 roscore
 # 2nd terminal for decoding node
 ./devel/lib/obstacle_detection/map_generate
 # 3rd terminal for ROSBAG playing, 0.1 means 0.1 times speed
 rosbag play xxx.bag -r 0.1

The actual play speed of ROSBAG is determined by the IO performance. Please adjust the speed to ensure the timestamps are within +/- 50 ms.

(2) Convert .pcd to .bin

The points cloud is further converted from .pcd to .bin.

Build the project

 mkdir CMakeFile
 cd CMakeFile
 cmake ..
 make

Setup: Move the .pcd files to pcd, and set the path in pcd2bin.cpp.
Convertion
```
 cd CMakeFile
 ./pcd2bin
```
The results are saved in bin.

(3) Create file list

Generate the list of the subset files for training or validation, e.g. train.txt and val.txt in KITTI.

Get the file list

 cd bin
 ls -1 | grep ".bin$" > list.txt
 python get_list.py

The results are saved in bin named files_list.txt.

tools_rosbag2kitti's People

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godgang4885 wulifa ruozhengu neophack longruidong hqss enginbozkurt kevindu1 imiuru06 eblainey heikoe 2019-paper-fun imdsafi09 youngjoo-kim arvindchandran lyy15871794839 arghyachatterjee calc-lab qqsskk josepht1962 yukaryote wangboru1223 niqbal996 jhlee0513 superdesigners usmankhujaev fellen88 arkinrc woogie-boogie aroncao49 chinitaberrio hwan0806 nerovalerius gongchengwang hoangduyloc objectunderstanding andrewbarker0621 duduzai2019 prasham2181 rnri eugenebak yongseop tshiamor henryhongw tommy-l516 kim-hyunse

tools_rosbag2kitti's Issues

How to make your own labels, such as trash cans, pedestrians, bicycles, etc.

i want to train own data,How to make your own labels, such as trash cans, pedestrians, bicycles, etc.

Using my own data

Hello, I want to create data using 3 Lidars and use your program. There are bin files and png files that I made.

But, how can I create a txt file to go into the Calib folder?

There are other github packages that calibrate Lidar and Camera.
However, I cannot fully understand the details of 000000.txt,
and I cannot calibrate because I cannot create my own txt file that plays the exact same role as the txt file in the Calib folder.

1. If you know the contents of 000000.txt, can you tell me?
2. Can I create a txt file with my camera and Lidars?

Segmentation fault (core dumped)

when i run ":~/Tools_RosBag2KITTI/pcd2bin/CMakeFile# ./pcd2bin "it throws the mistake as follows:
"""
Segmentation fault (core dumped)
"""
the filename of .pcd files is "000000i.pcd"

Could you help me?
thank you very much!

front and back view of pointcloud from lidar

somehow my pointclouds are mixed between front and back view if i put the yaw angle to 180 degree

The files timestamps.txt

How can I generate timestamps.txt ??

Regarding Lidar, in the "data" folder are the .bin files generated by Tools_RosBag2KITTI

Hello! catkin_make

I ran this code , but it didn't work.
and Could you please complement your code In readme.
I got so confused about your code.

Why does Pcd2Bin.cpp only read and write cloud->points[i].x&intensity?

On line 41 of the Pcd2Bin.cpp, It seems you are only reading the x and intensity values. What about y and z values?
bin_file.write((char*)&cloud->points[i].x,3sizeof(float));
bin_file.write((char)&cloud->points[i].intensity,sizeof(float));

Regarding multiple images with single lidar

Hello, I have a rosbag file with 1 lidar sequence and 3 image sequences (front, left and right). How can I handle this situation ?

No file created

Hi, when I run my bag file no output is created. The bag file only includes the point clouds and no camera footage.
Is it necessary, that the bag file also includes camera footage to convert the bag to a pcd?

Thank you in advance!

Noetic support?

Any plans for ROS Noetic support?

get no .png file

Hello

I used velodyne and zed camera and made rosbag file.

When I run './devel/lib/obstacle_detection/map_generate', I just only get .pcd files.

There were no Error message, so I don't know how to solve it.

The settings were as follows.

sub_lidar = nh.subscribe("/velodyne_points", 1000, &MapGenerationNode::lidarCallback, this);
ros::param::set("~image_transport", "compressed");
sub_camera = it.subscribe("/zedm/zed_node/rgb/image_rect_color", 1000, &MapGenerationNode::cameraCallback, this);

Thanks in advance.

Lidar bin files are named -1 lesser than the number of PNG-files

why is it so?

because of this -1 at the end

sprintf(s, "/home/s/output/png/%06lld.png", lidar_index-1);

cmake error

I have encountered with the error:
CMake Error at CMakeLists.txt:1:
Parse error. Expected a command name, got unquoted argument with text
"/opt/ros/melodic/share/catkin/cmake/toplevel.cmake".

-- Configuring incomplete, errors occurred!
maybe you can give me some advice?