Convert KITTI autonomous driving datasets into ROS bag files for easy playback and integration.
kitti2bag is a conversion tool that transforms the KITTI autonomous driving dataset into ROS bag files. It solves the problem of integrating KITTI's rich sensor data—including cameras, LiDAR, GPS, and IMU—into the ROS ecosystem, enabling playback and algorithm testing without custom data handling.
Autonomous driving researchers, robotics engineers, and computer vision developers who use ROS and need to work with the KITTI dataset for simulation, testing, or development.
Developers choose kitti2bag for its simplicity, reliability, and comprehensive sensor support, offering a hassle-free alternative to manual conversion or unstable playback tools while ensuring full compatibility with ROS tools.
Convert KITTI dataset to ROS bag file the easy way!
Open-Awesome is built by the community, for the community. Submit a project, suggest an awesome list, or help improve the catalog on GitHub.
Exports all key sensors—cameras, LiDAR, IMU, GPS—into proper ROS topics, as shown in the example output with topics like /kitti/velo/pointcloud and /kitti/oxts/imu.
Offers a straightforward command-line interface with progress feedback and a pre-built Docker image for dependency-free execution, making installation and use hassle-free.
Supports conversion of KITTI odometry datasets in addition to raw synchronized data, expanding utility for localization and SLAM research.
Actively encourages contributions via PRs and has a Gitter channel for support, indicating ongoing engagement and potential for feature additions.
The README admits missing features like URDF support, tracklet handling, and unsynced data conversion, limiting its utility for some KITTI dataset variants.
Relies on community contributions with the original maintainer being less active, which can lead to slower bug fixes and feature updates, as noted in the collaboration section.
Requires ROS installation or Docker with ROS, adding complexity for users who only need the data in other formats or ecosystems, and it doesn't support non-ROS outputs.