KITTI_odometry

• KITTI data set handling tools (for odometry)

• LiDAR to Img projection
• Make color map

• KITTI Car Configuration

• KITTI data set Configuration

KITTI
├── data_odometry_velodyne
│   └── dataset
│       └── sequences
│           └── 00 ~ 21
│               └── label
│               └── velodyne
│                   └── .bin
│
├── data_odometry_poses
│   └── dataset
│       └── poses
│          └── 00~10.txt
│
├── data_odometry_gray
│   └── dataset
│       └── sequences
│           └── 00 ~ 21
│               └── image0
│               └── image1
│                   └── .png
│
├── data_odometry_color
│   └── dataset
│       └── sequences
│           └── 00 ~ 21
│               └── image2
│               └── image3
│                   └── .png
│
├── data_odometry_calib
│   └── dataset
│       └── sequences
│           └── 00 ~ 21
│               └── calib.txt
│               └── times.txt
└──

How to build

git clone https://gitlab.mobiltech.io/mgkim/kitti_odometry
mkdir build
cd build
cmake ..
make -j4

How to use

ex) ./kittiOdometry '/home/mobiltech/Desktop/Data-ssd/kitti' 00

 - n, m : Previous, Next image
 - s : Map save
 - Esc : Exit

Result

• 00_image_projection

• 00_intensity_map

• 00_color_map

• 00_color_part