kitti2bag

1.准备文件
2011_09_30_calib.zip
2011_09_30_drive_0016_extract.zip
2011_09_30_drive_0016_sync.zip
kitti2bag.py
kitti所有相关文件可私信我发送链接
2.新建文件夹2011_09_30_calib,将上述文件解压并按照以下层级组合

![请添加图片描述](https://img-blog.csdnimg.cn/d217edbdd7724770a66aa8c15db38810.png

3.在2011_09_30_calib文件夹下打开终端，执行

python kitti2bag.py -t 2011_09_30 -r 0016 raw_synced

结果：

the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
Exporting IMU Raw
Exporting camera 0
100% (279 of 279) |#######################| Elapsed Time: 0:00:01 Time:  0:00:01
Exporting velodyne data
100% (279 of 279) |#######################| Elapsed Time: 0:00:54 Time:  0:00:54
## OVERVIEW ##
path:        kitti_2011_09_30_drive_0016_synced.bag
version:     2.0
duration:    29.4s
start:       Sep 30 2011 11:50:39.90 (1317354639.90)
end:         Sep 30 2011 11:51:09.29 (1317354669.29)
size:        725.1 MB
messages:    7329
compression: none [421/421 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:      /gps/fix                               279 msgs    : sensor_msgs/NavSatFix     
             /gps/vel                               279 msgs    : geometry_msgs/TwistStamped
             /imu_correct                          2967 msgs    : sensor_msgs/Imu           
             /imu_raw                              2967 msgs    : sensor_msgs/Imu           
             /kitti/camera_gray_left/camera_info    279 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_gray_left/image_raw      279 msgs    : sensor_msgs/Image