Dataset tools for working with the KITTI dataset raw data ( http://www.cvlibs.net/datasets/kitti/raw_data.php ) and converting it to a ROS bag. Also allows a library for direct access to poses, velodyne scans, and images.
rosrun kitti_to_rosbag kitti_rosbag_converter calibration_path dataset_path output_path sequence_num
for example:
rosrun kitti_to_rosbag kitti_rosbag_converter /media/yihang/LYH/kitti_tracking/data_tracking_calib/training/calib /media/yihang/LYH/kitti_tracking/data_tracking_dataset/training /media/yihang/LYH/kitti_tracking/data_tracking_dataset/training/bag/0000.bag 0000
Use the generated bag to run fastlio and log the sequence_num.txt and put it in dataset_path/pose_lio for next static tracking remove, then
rosrun kitti_to_rosbag kitti_static_filter dataset_path calibration_path sequence_num
for example:
rosrun kitti_to_rosbag kitti_static_filter /media/yihang/LYH/kitti_tracking/data_tracking_dataset/training /media/yihang/LYH/kitti_tracking/data_tracking_calib/training/calib 0000
Then generate a label_dyn file which only contains dynamic trackings