ubunut20.4 ros-noetic

 kitti数下载

http://www.cvlibs.net/datasets/kitti/raw_data.php

2011_09_26_drive_0005_sync
├── 2011_09_26
│   ├── 2011_09_26_drive_0005_sync
│   ├── calib_cam_to_cam.txt
│   ├── calib_imu_to_velo.txt
│   └── calib_velo_to_cam.txt
└── kitti_2011_09_26_drive_0005_synced.bag

cd 2011_09_26_drive_0005_sync
kitti2bag -t 2011_09_26 -r 0005 raw_synced .

kitti2bag

https://github.com/tomas789/kitti2bag/

安装和转换

安装ros（提示tf error）

安装opencv-python

要安装到系统环境的python环境下，不要安装在anaconda环境下

pip install kitti2bag

再次转换：

kitti2bag -t 2011_09_26 -r 0005 raw_synced .

发生报错：

Could not load module 'pykitti'. Please run pip install pykitti

实际pykitti已经安装。输入以下，可以显示缺失的库，安装即可

python
import pykitti

Failed to find match for field intensity

whereis kitti2bag
 
# kitti2bag: /home/qqq/.local/bin/kitti2bag
 
gedit /home/qqq/.local/bin/kitti2bag

#修改前
        fields = [PointField('x', 0, PointField.FLOAT32, 1),
                  PointField('y', 4, PointField.FLOAT32, 1),
                  PointField('z', 8, PointField.FLOAT32, 1),
                  PointField('i', 12, PointField.FLOAT32, 1)]
 
修改后
        fields = [PointField('x', 0, PointField.FLOAT32, 1),
                  PointField('y', 4, PointField.FLOAT32, 1),
                  PointField('z', 8, PointField.FLOAT32, 1),
                  PointField('intensity', 12, PointField.FLOAT32, 1)]