From f58d3126f4853d8e60e5c772ba25f7b2adcbf7af Mon Sep 17 00:00:00 2001 From: Fausto Tapia Date: Wed, 24 Mar 2021 17:46:49 +0100 Subject: [PATCH 1/2] .load_calib(), .load_timestamps() and .load_poses() are done inside the pykitti.odom() constructor. They break the code here as the methods now have a leading underscore eg ._load_calib() --- kitti2bag/kitti2bag.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/kitti2bag/kitti2bag.py b/kitti2bag/kitti2bag.py index ea0e81a..2bd398a 100755 --- a/kitti2bag/kitti2bag.py +++ b/kitti2bag/kitti2bag.py @@ -359,9 +359,6 @@ def run_kitti2bag(): if not os.path.exists(kitti.sequence_path): print('Path {} does not exists. Exiting.'.format(kitti.sequence_path)) sys.exit(1) - - kitti.load_calib() - kitti.load_timestamps() if len(kitti.timestamps) == 0: print('Dataset is empty? Exiting.') @@ -369,7 +366,6 @@ def run_kitti2bag(): if args.sequence in odometry_sequences[:11]: print("Odometry dataset sequence {} has ground truth information (poses).".format(args.sequence)) - kitti.load_poses() try: util = pykitti.utils.read_calib_file(os.path.join(args.dir,'sequences',args.sequence, 'calib.txt')) From ac1a60748f4466fa001f406029a6e47160badb34 Mon Sep 17 00:00:00 2001 From: Fausto Tapia Date: Thu, 25 Mar 2021 12:12:22 +0100 Subject: [PATCH 2/2] Changed .T_w_cam0 member variable to .poses as in latest version --- kitti2bag/kitti2bag.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kitti2bag/kitti2bag.py b/kitti2bag/kitti2bag.py index 2bd398a..39f0dad 100755 --- a/kitti2bag/kitti2bag.py +++ b/kitti2bag/kitti2bag.py @@ -76,7 +76,7 @@ def save_dynamic_tf(bag, kitti, kitti_type, initial_time): elif kitti_type.find("odom") != -1: timestamps = map(lambda x: initial_time + x.total_seconds(), kitti.timestamps) - for timestamp, tf_matrix in zip(timestamps, kitti.T_w_cam0): + for timestamp, tf_matrix in zip(timestamps, kitti.poses): tf_msg = TFMessage() tf_stamped = TransformStamped() tf_stamped.header.stamp = rospy.Time.from_sec(timestamp)