Revision history [back]

The problem is that the "sync" dataset doesn't have exactly the same stamps for left and right images. You may copy the stamps from one timestamps.txt to all others so that the image/camera_info contained in the generated bag have the same stamps. Otherwise, we should set approx_sync to true. I recommend to use rtabmap.launch directly. Example for stereo:

$ roslaunch rtabmap_ros rtabmap.launch stereo:="true" left_image_topic:=/kitti/camera_color_left/image_raw right_image_topic:=/kitti/camera_color_right/image_raw left_camera_info_topic:=/kitti/camera_color_left/camera_info right_camera_info_topic:=/kitti/camera_color_right/camera_info rtabmap_args:="--delete_db_on_start" approx_sync:=true use_sim_time:=true frame_id:=base_link

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag

Bonus: you can also record the velodyne clouds at the same time:

$ roslaunch rtabmap_ros rtabmap.launch stereo:="true" left_image_topic:=/kitti/camera_color_left/image_raw right_image_topic:=/kitti/camera_color_right/image_raw left_camera_info_topic:=/kitti/camera_color_left/camera_info right_camera_info_topic:=/kitti/camera_color_right/camera_info rtabmap_args:="--delete_db_on_start" approx_sync:=true use_sim_time:=true frame_id:=base_link rgbd_sync:=true approx_rgbd_sync:=true subscribe_scan_cloud:=true scan_cloud_topic:=/kitti/velo/pointcloud

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag

cheers,
Mathieu

The problem is that the "sync" dataset doesn't have exactly the same stamps for left and right images. You may copy the stamps from one timestamps.txt to all others so that the image/camera_info contained in the generated bag have the same stamps. stamps (if so, use approx_sync:=true and approx_rgbd_sync:=false in examples below). Otherwise, we should set approx_sync to true. I recommend to use rtabmap.launch directly. Example for stereo:

$ roslaunch rtabmap_ros rtabmap.launch \
   stereo:="true" \
   left_image_topic:=/kitti/camera_color_left/image_raw \
   right_image_topic:=/kitti/camera_color_right/image_raw \
   left_camera_info_topic:=/kitti/camera_color_left/camera_info \
   right_camera_info_topic:=/kitti/camera_color_right/camera_info \
   rtabmap_args:="--delete_db_on_start" \
   approx_sync:=true use_sim_time:=true \
   use_sim_time:=true\
   frame_id:=base_link

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag

BonusVelodyne: you can also record the velodyne clouds at the same time:

$ roslaunch rtabmap_ros rtabmap.launch \
   stereo:="true" \
   left_image_topic:=/kitti/camera_color_left/image_raw \
   right_image_topic:=/kitti/camera_color_right/image_raw \
   left_camera_info_topic:=/kitti/camera_color_left/camera_info \
   right_camera_info_topic:=/kitti/camera_color_right/camera_info \
   rtabmap_args:="--delete_db_on_start" \
   approx_sync:=true \
   use_sim_time:=true \
   frame_id:=base_link \
   rgbd_sync:=true \
   approx_rgbd_sync:=true \
   subscribe_scan_cloud:=true \
   scan_cloud_topic:=/kitti/velo/pointcloud

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag

IMU, Ground truth and GPS First we need to modify TF /world -> /base_link in the bag to /world -> /base_link_gt. This can be done with a script like this (called filterTF.py):

import rosbag
from tf.msg import tfMessage
with rosbag.Bag('kitti_2011_09_26_drive_0001_synced_out.bag', 'w') as outbag:
    for topic, msg, t in rosbag.Bag('kitti_2011_09_26_drive_0001_synced.bag').read_messages():
        if topic == "/tf" and msg.transforms:
            newList = [];
            for m in msg.transforms:
                if m.header.frame_id == "world":
                    m.child_frame_id = "base_link_gt"
                newList.append(m)
            if len(newList)>0:
                msg.transforms = newList
                outbag.write(topic, msg, t)
        else:
            outbag.write(topic, msg, t)

Then:

$ python filterTF.py

$ roslaunch rtabmap_ros rtabmap.launch \
   stereo:="true" \
   left_image_topic:=/kitti/camera_color_left/image_raw \
   right_image_topic:=/kitti/camera_color_right/image_raw \
   left_camera_info_topic:=/kitti/camera_color_left/camera_info \
   right_camera_info_topic:=/kitti/camera_color_right/camera_info \
   rtabmap_args:="--delete_db_on_start" \
   approx_sync:=true \
   use_sim_time:=true \
   frame_id:=base_link \
   rgbd_sync:=false \
   approx_rgbd_sync:=false \
   subscribe_scan_cloud:=true \
   scan_cloud_topic:=/kitti/velo/pointcloud \
   imu_topic:=/kitti/oxts/imu \
   gps_topic:=/kitti/oxts/gps/fix \
   wait_imu_to_init:=true \
   ground_truth_frame_id:=world \
   ground_truth_base_frame_id:=base_link_gt

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced_out.bag

cheers,
Mathieu

The problem is that the "sync" dataset doesn't have exactly the same stamps for left and right images. You may copy the stamps from one timestamps.txt to all others so that the image/camera_info contained in the generated bag have the same stamps (if so, use approx_sync:=true and approx_rgbd_sync:=false in examples below). Otherwise, we should set approx_sync to true. I recommend to use rtabmap.launch directly. Example for stereo:

$ roslaunch rtabmap_ros rtabmap.launch \
   stereo:="true" \
   left_image_topic:=/kitti/camera_color_left/image_raw \
   right_image_topic:=/kitti/camera_color_right/image_raw \
   left_camera_info_topic:=/kitti/camera_color_left/camera_info \
   right_camera_info_topic:=/kitti/camera_color_right/camera_info \
   rtabmap_args:="--delete_db_on_start" rtabmap_args:="--delete_db_on_start --Grid/CellSize 0.3 --Grid/ClusterRadius 1" \
   approx_sync:=true \
   use_sim_time:=true\
   frame_id:=base_link

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag

Velodyne: you can also record the velodyne clouds at the same time:

$ roslaunch rtabmap_ros rtabmap.launch \
   stereo:="true" \
   left_image_topic:=/kitti/camera_color_left/image_raw \
   right_image_topic:=/kitti/camera_color_right/image_raw \
   left_camera_info_topic:=/kitti/camera_color_left/camera_info \
   right_camera_info_topic:=/kitti/camera_color_right/camera_info \
   rtabmap_args:="--delete_db_on_start" rtabmap_args:="--delete_db_on_start --Grid/CellSize 0.3 --Grid/ClusterRadius 1" \
   approx_sync:=true \
   use_sim_time:=true \
   frame_id:=base_link \
   rgbd_sync:=true \
   approx_rgbd_sync:=true \
   subscribe_scan_cloud:=true \
   scan_cloud_topic:=/kitti/velo/pointcloud

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag

IMU, Ground truth and GPS First we need to modify TF /world -> /base_link in the bag to /world -> /base_link_gt. This can be done with a script like this (called filterTF.py):

import rosbag
from tf.msg import tfMessage
with rosbag.Bag('kitti_2011_09_26_drive_0001_synced_out.bag', 'w') as outbag:
    for topic, msg, t in rosbag.Bag('kitti_2011_09_26_drive_0001_synced.bag').read_messages():
        if topic == "/tf" and msg.transforms:
            newList = [];
            for m in msg.transforms:
                if m.header.frame_id == "world":
                    m.child_frame_id = "base_link_gt"
                newList.append(m)
            if len(newList)>0:
                msg.transforms = newList
                outbag.write(topic, msg, t)
        else:
            outbag.write(topic, msg, t)

Then:

$ python filterTF.py

$ roslaunch rtabmap_ros rtabmap.launch \
   stereo:="true" \
   left_image_topic:=/kitti/camera_color_left/image_raw \
   right_image_topic:=/kitti/camera_color_right/image_raw \
   left_camera_info_topic:=/kitti/camera_color_left/camera_info \
   right_camera_info_topic:=/kitti/camera_color_right/camera_info \
   rtabmap_args:="--delete_db_on_start" rtabmap_args:="--delete_db_on_start --Grid/CellSize 0.3 --Grid/ClusterRadius 1" \
   approx_sync:=true \
   use_sim_time:=true \
   frame_id:=base_link \
   rgbd_sync:=false \
   approx_rgbd_sync:=false \
   subscribe_scan_cloud:=true \
   scan_cloud_topic:=/kitti/velo/pointcloud \
   imu_topic:=/kitti/oxts/imu \
   gps_topic:=/kitti/oxts/gps/fix \
   wait_imu_to_init:=true \
   ground_truth_frame_id:=world \
   ground_truth_base_frame_id:=base_link_gt

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced_out.bag

cheers,
Mathieu

The problem is that the "sync" dataset doesn't have exactly the same stamps for left and right images. You may copy the stamps from one timestamps.txt to all others so that the image/camera_info contained in the generated bag have the same stamps (if so, use approx_sync:=true and approx_rgbd_sync:=false in examples below). Otherwise, we should set approx_sync to true. I recommend to use rtabmap.launch directly. Example for stereo:

$ roslaunch rtabmap_ros rtabmap.launch \
   stereo:="true" \
   left_image_topic:=/kitti/camera_color_left/image_raw \
   right_image_topic:=/kitti/camera_color_right/image_raw \
   left_camera_info_topic:=/kitti/camera_color_left/camera_info \
   right_camera_info_topic:=/kitti/camera_color_right/camera_info \
   rtabmap_args:="--delete_db_on_start --Grid/CellSize 0.3 --Grid/ClusterRadius 1" \
   approx_sync:=true \
   use_sim_time:=true\
   frame_id:=base_link

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag

Velodyne: you can also record the velodyne clouds at the same time:

$ roslaunch rtabmap_ros rtabmap.launch \
   stereo:="true" \
   left_image_topic:=/kitti/camera_color_left/image_raw \
   right_image_topic:=/kitti/camera_color_right/image_raw \
   left_camera_info_topic:=/kitti/camera_color_left/camera_info \
   right_camera_info_topic:=/kitti/camera_color_right/camera_info \
   rtabmap_args:="--delete_db_on_start --Grid/CellSize 0.3 --Grid/ClusterRadius 1" \
   approx_sync:=true \
   use_sim_time:=true \
   frame_id:=base_link \
   rgbd_sync:=true \
   approx_rgbd_sync:=true \
   subscribe_scan_cloud:=true \
   scan_cloud_topic:=/kitti/velo/pointcloud

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag

IMU, Ground truth and GPS First we need to modify TF /world -> /base_link in the bag to /world -> /base_link_gt. This can be done with a script like this (called filterTF.py):

import rosbag
from tf.msg import tfMessage
with rosbag.Bag('kitti_2011_09_26_drive_0001_synced_out.bag', 'w') as outbag:
    for topic, msg, t in rosbag.Bag('kitti_2011_09_26_drive_0001_synced.bag').read_messages():
        if topic == "/tf" and msg.transforms:
            newList = [];
            for m in msg.transforms:
                if m.header.frame_id == "world":
                    m.child_frame_id = "base_link_gt"
                newList.append(m)
            if len(newList)>0:
                msg.transforms = newList
                outbag.write(topic, msg, t)
        else:
            outbag.write(topic, msg, t)

Then:

$ python filterTF.py

$ roslaunch rtabmap_ros rtabmap.launch \
   stereo:="true" \
   left_image_topic:=/kitti/camera_color_left/image_raw \
   right_image_topic:=/kitti/camera_color_right/image_raw \
   left_camera_info_topic:=/kitti/camera_color_left/camera_info \
   right_camera_info_topic:=/kitti/camera_color_right/camera_info \
   rtabmap_args:="--delete_db_on_start --Grid/CellSize 0.3 --Grid/ClusterRadius 1" 1 --Optimizer/GravitySigma 0.3" \
   approx_sync:=true \
   use_sim_time:=true \
   frame_id:=base_link \
   rgbd_sync:=false \
   approx_rgbd_sync:=false \
   subscribe_scan_cloud:=true \
   scan_cloud_topic:=/kitti/velo/pointcloud \
   imu_topic:=/kitti/oxts/imu \
   gps_topic:=/kitti/oxts/gps/fix \
   wait_imu_to_init:=true \
   ground_truth_frame_id:=world \
   ground_truth_base_frame_id:=base_link_gt

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced_out.bag

cheers,
Mathieu

The problem is that the "sync" dataset doesn't have exactly the same stamps for left and right images. You may copy the stamps from one timestamps.txt to all others so that the image/camera_info contained in the generated bag have the same stamps (if so, use approx_sync:=trueapprox_sync:=false and approx_rgbd_sync:=false in examples below). Otherwise, we should set approx_sync to true. I recommend to use rtabmap.launch directly. Example for stereo:

$ roslaunch rtabmap_ros rtabmap.launch \
   stereo:="true" \
   left_image_topic:=/kitti/camera_color_left/image_raw \
   right_image_topic:=/kitti/camera_color_right/image_raw \
   left_camera_info_topic:=/kitti/camera_color_left/camera_info \
   right_camera_info_topic:=/kitti/camera_color_right/camera_info \
   rtabmap_args:="--delete_db_on_start --Grid/CellSize 0.3 --Grid/ClusterRadius 1" \
   approx_sync:=true \
   use_sim_time:=true\
   frame_id:=base_link

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag

Velodyne: you can also record the velodyne clouds at the same time:

$ roslaunch rtabmap_ros rtabmap.launch \
   stereo:="true" \
   left_image_topic:=/kitti/camera_color_left/image_raw \
   right_image_topic:=/kitti/camera_color_right/image_raw \
   left_camera_info_topic:=/kitti/camera_color_left/camera_info \
   right_camera_info_topic:=/kitti/camera_color_right/camera_info \
   rtabmap_args:="--delete_db_on_start --Grid/CellSize 0.3 --Grid/ClusterRadius 1" \
   approx_sync:=true \
   use_sim_time:=true \
   frame_id:=base_link \
   rgbd_sync:=true \
   approx_rgbd_sync:=true \
   subscribe_scan_cloud:=true \
   scan_cloud_topic:=/kitti/velo/pointcloud

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced.bag

IMU, Ground truth and GPS First we need to modify TF /world -> /base_link in the bag to /world -> /base_link_gt. This can be done with a script like this (called filterTF.py):

import rosbag
from tf.msg import tfMessage
with rosbag.Bag('kitti_2011_09_26_drive_0001_synced_out.bag', 'w') as outbag:
    for topic, msg, t in rosbag.Bag('kitti_2011_09_26_drive_0001_synced.bag').read_messages():
        if topic == "/tf" and msg.transforms:
            newList = [];
            for m in msg.transforms:
                if m.header.frame_id == "world":
                    m.child_frame_id = "base_link_gt"
                newList.append(m)
            if len(newList)>0:
                msg.transforms = newList
                outbag.write(topic, msg, t)
        else:
            outbag.write(topic, msg, t)

Then:

$ python filterTF.py

$ roslaunch rtabmap_ros rtabmap.launch \
   stereo:="true" \
   left_image_topic:=/kitti/camera_color_left/image_raw \
   right_image_topic:=/kitti/camera_color_right/image_raw \
   left_camera_info_topic:=/kitti/camera_color_left/camera_info \
   right_camera_info_topic:=/kitti/camera_color_right/camera_info \
   rtabmap_args:="--delete_db_on_start --Grid/CellSize 0.3 --Grid/ClusterRadius 1 --Optimizer/GravitySigma 0.3" \
   approx_sync:=true \
   use_sim_time:=true \
   frame_id:=base_link \
   rgbd_sync:=false \
   approx_rgbd_sync:=false \
   subscribe_scan_cloud:=true \
   scan_cloud_topic:=/kitti/velo/pointcloud \
   imu_topic:=/kitti/oxts/imu \
   gps_topic:=/kitti/oxts/gps/fix \
   wait_imu_to_init:=true \
   ground_truth_frame_id:=world \
   ground_truth_base_frame_id:=base_link_gt

$ rosbag play --clock kitti_2011_09_26_drive_0001_synced_out.bag

cheers,
Mathieu