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Use a dataset with ROS

asked 2015-03-19 20:38:25 -0500

lilouch gravatar image

Hi,

I would like to use the KITTI dataset with ROS which include 22 stereo sequences, saved in loss less png format and also 3D points. (so monocular view and stereo view with depth)

I found how to read video from camera but i didn't know how to read pictures/videos from computer in order to use algorithm on it ? Indeed, i don't have a robot from now and i want to test algorithms on the dataset.

Do i need to use OpenCV to do that ?

Can you please help me ?

Thank

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answered 2015-03-19 21:35:18 -0500

ahendrix gravatar image

updated 2015-03-20 00:35:35 -0500

ROS only provides tools for working with ROS bag files.

If you want to use someone else's data set, you'll probably need to write a custom reader for their dataset (this will not be related to rosbag in any way). You can also do some searching online to see if anyone else has written a ROS library for reading this dataset.

OpenCV provides some good functions for loading individual images. If you're dealing with a lot of images, you may want to look for a filesystem library for locating the path to those images before you load them. boost::filesystem is good for this, but it can be a bit difficult to get started.

A quick google search turns up a ROS package which appears to be able to play back the KITTI dataset: https://github.com/iralabdisco/kitti_...

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Okey i got it. I'll check on the internet. But if i would like to do a custom reader, is it complicated to do it ? Especially with bag file ?

So OpenCv is not obviously the right solution for now, i think.

lilouch gravatar image lilouch  ( 2015-03-19 23:50:59 -0500 )edit

I'm confused; is your dataset in PNG files or bag files?

ahendrix gravatar image ahendrix  ( 2015-03-20 00:29:25 -0500 )edit

Sorry, actually there in the dataset there are a folder with .png files and another one with .bin file I check on the internet and i didn't find something interesting...

lilouch gravatar image lilouch  ( 2015-03-20 01:42:05 -0500 )edit

i've also seen the github but the problem is that it's doesn't work and don't read sequence of .png files So what do i need to do ? Use opencv to load a sequence of images ?

lilouch gravatar image lilouch  ( 2015-03-20 02:54:34 -0500 )edit

Hrm... it looks like that package can't read the images from the KITTI dataset. Yes, you should use OpenCV to read the images manually.

ahendrix gravatar image ahendrix  ( 2015-03-20 05:51:40 -0500 )edit

Okey i'm going to try. Thank

lilouch gravatar image lilouch  ( 2015-03-22 19:55:36 -0500 )edit
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answered 2018-10-16 07:49:10 -0500

You can have a look at my comphrensive GitHub repository that explains how to do it:

https://github.com/appinho/SARosPerce...

Also feel free to send me an email if you have any questions! Happy to help!

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Asked: 2015-03-19 20:38:25 -0500

Seen: 1,728 times

Last updated: Mar 20 '15