How to build with catkin:
$ cd ~/catkin_ws/src/
$ git clone [email protected]:AbnerCSZ/lidar2rosbag_KITTI.git
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ~/catkin_ws/devel/setup.bash
Running:
rosrun lidar2rosbag lidar2rosbag KITTI_input_dir output_name
Please confirm that the input path contains the file times.txt
and the folder velodyne
.
└── dataset
└── sequences
└── 04
├── calib.txt
├── image_0 [271 entries exceeds filelimit, not opening dir]
├── image_1 [271 entries exceeds filelimit, not opening dir]
├── times.txt
└── velodyne [271 entries exceeds filelimit, not opening dir]
For example:
rosrun lidar2rosbag lidar2rosbag /data/KITTI/dataset/sequences/04/ 04
or
rosrun lidar2rosbag lidar2rosbag /data/KITTI/dataset/sequences/01/ bag01
and so on...
如果遇到LZ4_stream_t, LZ4_streamDecode_t build error错误 可以通过下面链接中的方法解决 ethz-asl/lidar_align#16 (comment)