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odom_velo #28

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odom_velo #28

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68 changes: 43 additions & 25 deletions bin/kitti2bag
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Original file line number Diff line number Diff line change
Expand Up @@ -152,20 +152,26 @@ def save_camera_data(bag, kitti_type, kitti, util, bridge, camera, camera_frame_
bag.write(topic + topic_ext, image_message, t = image_message.header.stamp)
bag.write(topic + '/camera_info', calib, t = calib.header.stamp)

def save_velo_data(bag, kitti, velo_frame_id, topic):
def save_velo_data(bag, kitti_type, kitti, velo_frame_id, topic, initial_time):
print("Exporting velodyne data")
velo_path = os.path.join(kitti.data_path, 'velodyne_points')
velo_data_dir = os.path.join(velo_path, 'data')
velo_filenames = sorted(os.listdir(velo_data_dir))
with open(os.path.join(velo_path, 'timestamps.txt')) as f:
lines = f.readlines()
velo_datetimes = []
for line in lines:
if len(line) == 1:
continue
dt = datetime.strptime(line[:-4], '%Y-%m-%d %H:%M:%S.%f')
velo_datetimes.append(dt)

if kitti_type.find("raw") != -1:
velo_path = os.path.join(kitti.data_path, 'velodyne_points')
velo_data_dir = os.path.join(velo_path, 'data')
velo_filenames = sorted(os.listdir(velo_data_dir))
with open(os.path.join(velo_path, 'timestamps.txt')) as f:
lines = f.readlines()
velo_datetimes = []
for line in lines:
if len(line) == 1:
continue
dt = datetime.strptime(line[:-4], '%Y-%m-%d %H:%M:%S.%f')
velo_datetimes.append(dt)

elif kitti_type.find("odom") != -1:
velo_data_dir = os.path.join(kitti.sequence_path, 'velodyne')
velo_filenames = sorted(os.listdir(velo_data_dir))
velo_datetimes = map(lambda x: initial_time + x.total_seconds(), kitti.timestamps)

iterable = zip(velo_datetimes, velo_filenames)
bar = progressbar.ProgressBar()
for dt, filename in bar(iterable):
Expand All @@ -180,7 +186,10 @@ def save_velo_data(bag, kitti, velo_frame_id, topic):
# create header
header = Header()
header.frame_id = velo_frame_id
header.stamp = rospy.Time.from_sec(float(datetime.strftime(dt, "%s.%f")))
if kitti_type.find("raw") != -1:
header.stamp = rospy.Time.from_sec(float(datetime.strftime(dt, "%s.%f")))
elif kitti_type.find("odom") != -1:
header.stamp = rospy.Time.from_sec(dt)

# fill pcl msg
fields = [PointField('x', 0, PointField.FLOAT32, 1),
Expand Down Expand Up @@ -262,7 +271,7 @@ def main():

parser = argparse.ArgumentParser(description = "Convert KITTI dataset to ROS bag file the easy way!")
# Accepted argument values
kitti_types = ["raw_synced", "odom_color", "odom_gray"]
kitti_types = ["raw_synced", "odom_color", "odom_gray", "odom_velo"]
odometry_sequences = []
for s in range(22):
odometry_sequences.append(str(s).zfill(2))
Expand Down Expand Up @@ -340,7 +349,7 @@ def main():
save_gps_vel_data(bag, kitti, imu_frame_id, gps_vel_topic)
for camera in cameras:
save_camera_data(bag, args.kitti_type, kitti, util, bridge, camera=camera[0], camera_frame_id=camera[1], topic=camera[2], initial_time=None)
save_velo_data(bag, kitti, velo_frame_id, velo_topic)
save_velo_data(bag, args.kitti_type, kitti, velo_frame_id, velo_topic, initial_time=None)

finally:
print("## OVERVIEW ##")
Expand All @@ -351,7 +360,7 @@ def main():

if args.sequence == None:
print("Sequence option is not given. It is mandatory for odometry dataset.")
print("Usage for odometry dataset: kitti2bag {odom_color, odom_gray} [dir] -s <sequence>")
print("Usage for odometry dataset: kitti2bag {odom_color, odom_gray, odom_velo} [dir] -s <sequence>")
sys.exit(1)

bag = rosbag.Bag("kitti_data_odometry_{}_sequence_{}.bag".format(args.kitti_type[5:],args.sequence), 'w', compression=compression)
Expand All @@ -360,17 +369,21 @@ def main():
if not os.path.exists(kitti.sequence_path):
print('Path {} does not exists. Exiting.'.format(kitti.sequence_path))
sys.exit(1)

kitti.load_calib()
kitti.load_timestamps()

## Actually you don't need to call load_xxx in newer pykitti
#if args.kitti_type.find("gray") != -1 or args.kitti_type.find("color") != -1:
# kitti.load_calib()
#
#kitti.load_timestamps()

if len(kitti.timestamps) == 0:
print('Dataset is empty? Exiting.')
sys.exit(1)

if args.sequence in odometry_sequences[:11]:
print("Odometry dataset sequence {} has ground truth information (poses).".format(args.sequence))
kitti.load_poses()
## Actually you don't need to call load_xxx in newer pykitti
#kitti.load_poses()

try:
util = pykitti.utils.read_calib_file(os.path.join(args.dir,'sequences',args.sequence, 'calib.txt'))
Expand All @@ -380,10 +393,15 @@ def main():
used_cameras = cameras[:2]
elif args.kitti_type.find("color") != -1:
used_cameras = cameras[-2:]

save_dynamic_tf(bag, kitti, args.kitti_type, initial_time=current_epoch)
for camera in used_cameras:
save_camera_data(bag, args.kitti_type, kitti, util, bridge, camera=camera[0], camera_frame_id=camera[1], topic=camera[2], initial_time=current_epoch)

if args.kitti_type.find("gray") != -1 or args.kitti_type.find("color") != -1:
save_dynamic_tf(bag, kitti, args.kitti_type, initial_time=current_epoch)
for camera in used_cameras:
save_camera_data(bag, args.kitti_type, kitti, util, bridge, camera=camera[0], camera_frame_id=camera[1], topic=camera[2], initial_time=current_epoch)
elif args.kitti_type.find("velo") != -1:
velo_frame_id = 'velo_link'
velo_topic = '/kitti/velo'
save_velo_data(bag, args.kitti_type, kitti, velo_frame_id, velo_topic, initial_time=current_epoch)

finally:
print("## OVERVIEW ##")
Expand Down