How to run kitti Dataset about kiss-icp

[nachovizzo]

@jeychandar so, this is NOT a ROS1 bagfile, I just downloaded and run:

$ kiss_icp_pipeline 2011_09_30_drive_0028.bag --topic /points_raw --visualize

It's working:

But I'm not sure why you want to use that particular bagfile, there is no timestamp information, which means that you won't be able to "deskew" the pointclouds. I recommend using the KITTI dataloader instead.

These are the poses obtained by KISS-ICP, without deskewing:

2011_09_30_drive_0028_poses_kitti.txt

[jeychandar]

@jeychandar so, this is NOT a ROS1 bagfile, I just downloaded and run:

$ kiss_icp_pipeline 2011_09_30_drive_0028.bag --topic /points_raw --visualize

It's working:

But I'm not sure why you want to use that particular bagfile, there is no timestamp information, which means that you won't be able to "deskew" the pointclouds. I recommend using the KITTI dataloader instead.

These are the poses obtained by KISS-ICP, without deskewing:

2011_09_30_drive_0028_poses_kitti.txt

I am happy that it is working and thanks for sharing the output.The problem that I am facing is I am not able to visualize.I didn't noticed that this particular bag doesn't have timestamp sorry for that.I used kitti dataloder also but still showing the same error sir.

[jeychandar]

kiss_icp_pipeline /home/praveen/Downloads/2011_09_30_drive_0028.bag --topic /points_raw --visualize
I worked the following command and I am not able to visualize the output like you. It shows the error like

[nachovizzo]

This looks unrelated to kiss-icp. The error says **ImportError: cannot import name 'Log' from 'rosgraph_msgs.msg' **

You can google and check realted issues like ros/ros_comm_msgs#13

[jeychandar]

Yes Sir I have checked. But this error came up with kiss_icp/ datasets/rosbag.py line 57. The bag automatically closes. I have tried with other datasets too still throwing the same error.

[nachovizzo]

Yes, but the import error is outside kiss-icp. Please try this in a dockerize environment, so I can reproduce the error, otherwise there is nothing I can do from my side.

[jeychandar]

I am able to run successfully. It creates results folder inside that it generated npy format and text format and config file. Is there any command line to view the poses it generated.

[nachovizzo]

Great news!

Then you can use evo_traj t plot the trajectory, pip install evo and then you can run something like this

evo_traj kitti results/latest/*.txt -p --plot_mod=xy

[jeychandar]

Great it works.Actually I didn't use docker environment.The file which is created using ros1bag and I tried to run in ros2. So went back to his studies LIO-SAM and got some ideas about the dynamic bridge and ran your command.It works perfectly.Thank you for your guidance Sir :).