Download the KITTI data set and convert it into rosbag package, kitti2bag usage tutorial (full version)

16904429:

1. Download the KITTI data set

1. Official website download (Science Internet)

Official website: http://www.cvlibs.net/datasets/kitti/raw_data.php
Download synced+rectified data and calibration files

2. Thunder download

The data sets of sequences 00 to 10 are organized here.
Reference link:
Correspondence between kitti data set Raw Data and 00-10 Ground Truth. The

following are arranged in order, which are the sequences 00 to 10. After downloading, there is a compressed package at the end of sync.zip.

https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_10_03_drive_0027/2011_10_03_drive_0027_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_10_03_drive_0042/2011_10_03_drive_0042_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_10_03_drive_0034/2011_10_03_drive_0034_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0067/2011_09_26_drive_0067_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0018/2011_09_30_drive_0018_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0020/2011_09_30_drive_0020_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0027/2011_09_30_drive_0027_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0028/2011_09_30_drive_0028_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0033/2011_09_30_drive_0033_sync.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0034/2011_09_30_drive_0034_sync.zip

The following is the calibration file

https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_calib.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_calib.zip
https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_10_03_calib.zip

2. Convert the KITTI data set into rosbag package

1.Install kitti2bag

pip install kitti2bag

2. Preliminary preparation, folder placement (here, the serial number 01, 2011_10_03_drive_0042_sync.zip data set is used as an example)
first create a new KITTI folder, create a new 01 folder in the new KITTI folder, and download the 2011_10_03_drive_0042_sync.zip data set. Unzip it to the 01 folder
, then unzip the downloaded 2011_10_03_calib.zip file, and copy the three txt files to the following location
: /home/yjf/KITTI/01/2011_10_03_drive_0042_sync/2011_10_03
Then you can use the kitti2bag tool to copy KITTI Convert the data set into a rosbag package.
Switch to the directory where the 2011_10_03 folder is located.
Path: /home/yjf/KITTI/01/2011_10_03_drive_0042_sync
and execute the kitti2bag command.

kitti2bag -t 2011_10_03 -r 0042 raw_synced

Note: 0042 is the number of drives. Note that
after the drive conversion of the data set you downloaded is completed, you can see that the bag is generated in the current directory.