kitti数据集转为bag包

将kitti数据转为bag文件：

sudo pip install kitti2bag

解压：

unzip 2011_09_28_drive_0021_sync.zip
unzip 2011_09_28_calib.zip

执行：

kitti2bag -t 2011_09_28 -r 0021 raw_synced .

就会生成：

Exporting static transformations
Exporting time dependent transformations
Exporting IMU
Exporting camera 0
100% (209 of 209) |########################################| Elapsed Time: 0:00:26 Time:  0:00:26
Exporting camera 1
100% (209 of 209) |########################################| Elapsed Time: 0:00:46 Time:  0:00:46
Exporting camera 2
100% (209 of 209) |########################################| Elapsed Time: 0:01:07 Time:  0:01:07
Exporting camera 3
100% (209 of 209) |########################################| Elapsed Time: 0:01:04 Time:  0:01:04
Exporting velodyne data
100% (209 of 209) |########################################| Elapsed Time: 0:05:14 Time:  0:05:14
## OVERVIEW ##
path:        kitti_2011_09_28_drive_0021_synced.bag
version:     2.0
duration:    21.6s
start:       Sep 28 2011 12:39:24.63 (1317184764.63)
end:         Sep 28 2011 12:39:46.19 (1317184786.19)
size:        1.1 GB
messages:    2926
compression: none [836/836 chunks]
types:       geometry_msgs/TwistStamped [98d34b0043a2093cf9d9345ab6eef12e]
             sensor_msgs/CameraInfo     [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image          [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/Imu            [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/NavSatFix      [2d3a8cd499b9b4a0249fb98fd05cfa48]
             sensor_msgs/PointCloud2    [1158d486dd51d683ce2f1be655c3c181]
             tf2_msgs/TFMessage         [94810edda583a504dfda3829e70d7eec]
topics:      /kitti/camera_color_left/camera_info    209 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_color_left/image_raw      209 msgs    : sensor_msgs/Image         
             /kitti/camera_color_right/camera_info   209 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_color_right/image_raw     209 msgs    : sensor_msgs/Image         
             /kitti/camera_gray_left/camera_info     209 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_gray_left/image_raw       209 msgs    : sensor_msgs/Image         
             /kitti/camera_gray_right/camera_info    209 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_gray_right/image_raw      209 msgs    : sensor_msgs/Image         
             /kitti/oxts/gps/fix                     209 msgs    : sensor_msgs/NavSatFix     
             /kitti/oxts/gps/vel                     209 msgs    : geometry_msgs/TwistStamped
             /kitti/oxts/imu                         209 msgs    : sensor_msgs/Imu           
             /kitti/velo/pointcloud                  209 msgs    : sensor_msgs/PointCloud2   
             /tf                                     209 msgs    : tf2_msgs/TFMessage        
             /tf_static                              209 msgs    : tf2_msgs/TFMessage