Convert KITTI raw data set to .bag form on Ubuntu20.04 system

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1. Download the KITTI dataset

Official website: The KITTI Vision Benchmark Suite

It is recommended to climb over the wall

2. Convert KITTI data to ROS bag file

The conversion is done with an open source tool kitti2bag, which can be installed via pip.

Ubuntu20.04 basically installs python3, so pip is not used, pip3 is used

1. Upgrade numpy

sudo pip3 install -U numpy

2. Install kitti2bag

sudo pip3 install kitti2bag

3. Convert files

The downloaded KITTI dataset file directory format is as follows:

In the upper directory of the "2011_10_03" folder (ie: under the 2011_10_03_calib file here), open the terminal and enter:

kitti2bag -t 2011_10_03 -r 0042 raw_synced

Note the filename of your own file

After execution, a file "kitti_2011_10_03_drive_0042_synced.bag" will be generated, which is the bag file generated using the KITTI dataset.