Rosbag converter for Karlsruhe Stereo Video Sequences + rough GPS Poses / by Jeffrey Johnson

The current software release includes a data set converter has been added to the sequence_to_bag package that will take data sets from the Karlsruhe Stereo Video Sequences + rough GPS Poses collection and convert them to bag files:

Release 10: https://is.gd/oyaqum

Updated package

The sequence_to_bag package has been updated to include a karlsruhe_dataset command for converting data sets from this collection. More information about the new command, is provided in the README. The data sets include stereo image sequences, camera calibration, and odometric and GPS poses over time. The converter records all of this information to topics specified by the user and allows the data to be played back and used on a ROS graph. For example, the stereo_image_proc package can be used to generate disparity maps from the image sequence. Running the node with default settings produces:

Left camera image

Left camera image

Right camera image

Right camera image

Disparity image

Disparity image