Multi-sensor fusion positioning (4-filter-based fusion method) IMU frequency of kitti dataset is changed to 100HZ
This blog post refers to the github of GEYAO God.
In addition, GEYAO God also gave a link to download the 100HZ data set on Weiyun.
I made a data set based on GEYAO God, Baidu cloud download
link: https://pan.baidu.com/s/18XaZfkjf_WbI6rWl807Szg
Extraction code: yrzr
Go to kitti's official website to download the extract data set of 2011_10_03_drive_0027 (the original sync data set is a data set that removes camera distortion, but the IMU release frequency is only 10HZ, which is obviously not sufficient for multi-sensor fusion processing. The extract data set is raw_data and the IMU frequency is 100HZ. But the camera is not distorted)
Kitti official website to download the extract data set of 2011_10_03_drive_0027
Website: http://www.cvlibs.net/datasets/kitti/raw_data.php?type=residential
After decompression
Refer to GEYTAO's github
to rename the oxts in extract.zip to oxts_extract and copy to the sync file directory.
Rename the oxts in sync to oxts_sync
Fix timestamp exception
The new scripts.py source code comes from GEYTAO's github and
put it under the path /2011_10_03.
Note that it is run with python2
python2 scripts.py -i 2011_10_03_drive_0027_sync
Generated oxts file
Modify the source code of kitti2bag
The source code of the new kitti2bag.py is from GYTAO's github and
placed in the same path as /2011_10_03
Note to use python2 to run
python2 kitti2bag.py -t 2011_10_03 -r 0027 raw_synced
Start generating bag files
Improve the accuracy of lidar-IMU-GNSS registration to facilitate evo accuracy evaluation
According to GEYAO
Download the rosbag_filter_gui tool to easily delete topics
Enter your workspace, compile and run
git clone https://github.com/AtsushiSakai/rosbag_filter_gui.git
Download pyqt4
sudo apt install pyqt4
run
python2 rosbag_filter_gui.py
Delete /tf_static, /tf in sync.bag
Select synced.bag
select the topics that need to be
kept generate synced_filtered.bag and
click ok to convert
after finishing! ! !
View the info of synced_filter.bag processed by rosbag filter
rosbag info synced_filtered.bag
You can see that there are no two topics /tf_static, /tf
path: synced_filtered.bag
version: 2.0
duration: 7:50s (470s)
start: Oct 03 2011 12:55:34.93 (1317617734.93)
end: Oct 03 2011 13:03:25.83 (1317618205.83)
size: 24.0 GB
messages: 54528
compression: none [18177/18177 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]
topics: /kitti/camera_color_left/camera_info 4544 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_left/image_raw 4544 msgs : sensor_msgs/Image
/kitti/camera_color_right/camera_info 4544 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_right/image_raw 4544 msgs : sensor_msgs/Image
/kitti/camera_gray_left/camera_info 4544 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_left/image_raw 4544 msgs : sensor_msgs/Image
/kitti/camera_gray_right/camera_info 4544 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_right/image_raw 4544 msgs : sensor_msgs/Image
/kitti/oxts/gps/fix 4544 msgs : sensor_msgs/NavSatFix
/kitti/oxts/gps/vel 4544 msgs : geometry_msgs/TwistStamped
/kitti/oxts/imu 4544 msgs : sensor_msgs/Imu
/kitti/velo/pointcloud 4544 msgs : sensor_msgs/PointCloud2
Deal with extract.bag
Keep the topic and
view the info of extracted_filtered.bag processed by rosbag filter
rosbag info extracted_filtered.bag
extract.bag only has 5 topics left
path: extracted_filtered.bag
version: 2.0
duration: 7:51s (471s)
start: Oct 03 2011 12:55:34.48 (1317617734.48)
end: Oct 03 2011 13:03:26.01 (1317618206.01)
size: 65.4 MB
messages: 229130
compression: none [84/84 chunks]
types: geometry_msgs/TwistStamped [98d34b0043a2093cf9d9345ab6eef12e]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
topics: /kitti/oxts/gps/fix 45826 msgs : sensor_msgs/NavSatFix
/kitti/oxts/gps/vel 45826 msgs : geometry_msgs/TwistStamped
/kitti/oxts/imu 45826 msgs : sensor_msgs/Imu
/tf 45826 msgs : tf2_msgs/TFMessage
/tf_static 45826 msgs : tf2_msgs/TFMessage
Rename topic
rosrun rosbag topic_renamer.py /kitti/oxts/imu extracted_filtered.bag /kitti/oxts/imu/extract extracted_filtered2.bag
rosrun rosbag topic_renamer.py /kitti/oxts/gps/fix extracted_filtered2.bag /kitti/oxts/gps/fix/extract extracted_filtered3.bag
rosrun rosbag topic_renamer.py /kitti/oxts/gps/vel extracted_filtered3.bag /kitti/oxts/gps/vel/extract extracted_filtered4.bag
rosbag info extracted_filtered.bag
path: extracted_filtered4.bag
version: 2.0
duration: 7:51s (471s)
start: Oct 03 2011 12:55:34.48 (1317617734.48)
end: Oct 03 2011 13:03:26.01 (1317618206.01)
size: 65.4 MB
messages: 229130
compression: none [84/84 chunks]
types: geometry_msgs/TwistStamped [98d34b0043a2093cf9d9345ab6eef12e]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
topics: /kitti/oxts/gps/fix/extract 45826 msgs : sensor_msgs/NavSatFix
/kitti/oxts/gps/vel/extract 45826 msgs : geometry_msgs/TwistStamped
/kitti/oxts/imu/extract 45826 msgs : sensor_msgs/Imu
/tf 45826 msgs : tf2_msgs/TFMessage
/tf_static 45826 msgs : tf2_msgs/TFMessage
Use merge_bags.py to merge extracted_filtered4.bag and sync_filtered.bag
Use GEYAO's scripts/merge_bags.py
Combine two bags
python2 merge_bags.py 2011_10_03_filtered.bag synced_filtered.bag extracted_filtered4.bag
You're done
path: 2011_10_03_filtered.bag
version: 2.0
duration: 7:51s (471s)
start: Oct 03 2011 12:55:34.93 (1317617734.93)
end: Oct 03 2011 13:03:26.01 (1317618206.01)
size: 24.1 GB
messages: 283658
compression: none [18260/18260 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/camera_color_left/camera_info 4544 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_left/image_raw 4544 msgs : sensor_msgs/Image
/kitti/camera_color_right/camera_info 4544 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_right/image_raw 4544 msgs : sensor_msgs/Image
/kitti/camera_gray_left/camera_info 4544 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_left/image_raw 4544 msgs : sensor_msgs/Image
/kitti/camera_gray_right/camera_info 4544 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_right/image_raw 4544 msgs : sensor_msgs/Image
/kitti/oxts/gps/fix 4544 msgs : sensor_msgs/NavSatFix
/kitti/oxts/gps/fix/extract 45826 msgs : sensor_msgs/NavSatFix
/kitti/oxts/gps/vel 4544 msgs : geometry_msgs/TwistStamped
/kitti/oxts/gps/vel/extract 45826 msgs : geometry_msgs/TwistStamped
/kitti/oxts/imu 4544 msgs : sensor_msgs/Imu
/kitti/oxts/imu/extract 45826 msgs : sensor_msgs/Imu
/kitti/velo/pointcloud 4544 msgs : sensor_msgs/PointCloud2
/tf 45826 msgs : tf2_msgs/TFMessage
/tf_static 45826 msgs : tf2_msgs/TFMessage
Check topic posting frequency
10HZ release
rostopic hz /kitti/oxts/imu
subscribed to [/kitti/oxts/imu]
average rate: 17.196
min: 0.012s max: 0.109s std dev: 0.04000s window: 10
average rate: 12.273
min: 0.012s max: 0.111s std dev: 0.03687s window: 19
average rate: 11.220
min: 0.012s max: 0.122s std dev: 0.03196s window: 29
average rate: 10.823
min: 0.012s max: 0.122s std dev: 0.02874s window: 38
average rate: 10.523
min: 0.012s max: 0.122s std dev: 0.02669s window: 48
average rate: 10.355
min: 0.012s max: 0.122s std dev: 0.02485s window: 58
average rate: 10.259
min: 0.012s max: 0.122s std dev: 0.02354s window: 67
^Caverage rate: 10.252
min: 0.012s max: 0.122s std dev: 0.02337s window: 68
100HZ release
rostopic hz /kitti/oxts/imu/extract
subscribed to [/kitti/oxts/imu/extract]
average rate: 100.007
min: 0.008s max: 0.012s std dev: 0.00036s window: 95
average rate: 100.011
min: 0.008s max: 0.012s std dev: 0.00030s window: 195
average rate: 100.015
min: 0.008s max: 0.012s std dev: 0.00029s window: 295
average rate: 100.013
min: 0.008s max: 0.012s std dev: 0.00028s window: 396
average rate: 100.010
min: 0.008s max: 0.012s std dev: 0.00025s window: 496
average rate: 100.011
min: 0.008s max: 0.012s std dev: 0.00024s window: 596
average rate: 100.009
min: 0.008s max: 0.012s std dev: 0.00027s window: 696
average rate: 100.013
min: 0.007s max: 0.013s std dev: 0.00029s window: 796
average rate: 100.011
min: 0.007s max: 0.013s std dev: 0.00029s window: 896
average rate: 100.006
min: 0.007s max: 0.013s std dev: 0.00030s window: 996
average rate: 100.011
min: 0.007s max: 0.013s std dev: 0.00030s window: 1096
^Caverage rate: 100.011
min: 0.007s max: 0.013s std dev: 0.00030s window: 1111