Apollo 5 可以用图片和lida数据生成rosbag包吗？

#1

请问 怎么把 图片和lida数据 转换成 cyber支持的 record 格式？

想跑 perception模块，网上找到一些图片和lida的数据，但是不知道怎么转换成apollo topic支持的格式。

我用 kitti_to_rosbag 试着做了一个rosbag，然后再转成record，结果只生成了一个topic。。。

#2

Apollo 5里面已经不用ros了。但是有工具可以转 rosbag_to_record
如果只是想用数据可以考虑下开源数据集，比如 Apollo Scape.

#3

rosbag_to_record在Apollo 5.5中被取消了，我把它从Apollo 5.0中拷贝到5.5编译，报错：

bazel build modules/data/tools/rosbag_to_record 
INFO: Reading 'startup' options from /apollo/tools/bazel.rc: --batch_cpu_scheduling --host_jvm_args=-XX:-UseParallelGC
INFO: (09-30 02:43:40.290) Found 1 target...
ERROR: (09-30 02:44:42.321) /apollo/modules/data/tools/rosbag_to_record/BUILD:5:1: C++ compilation of rule '//modules/data/tools/rosbag_to_record:rosbag_to_record' failed (Exit 1).
In file included from modules/data/tools/rosbag_to_record/rosbag_to_record.cc:17:0:
external/ros/include/rosbag/bag.h: In member function 'void rosbag::Bag::doWrite(const string&, const ros::Time&, const T&, const boost::shared_ptr<std::map<std::basic_string<char>, std::basic_string<char> > >&, std::string, std::string, std::string)':
external/ros/include/rosbag/bag.h:594:85: error: there are no arguments to 'logDebug' that depend on a template parameter, so a declaration of 'logDebug' must be available [-fpermissive]
         logDebug("  curr_chunk_size=%d (threshold=%d)", chunk_size, chunk_threshold_);
                                                                                     ^
external/ros/include/rosbag/bag.h:594:85: note: (if you use '-fpermissive', G++ will accept your code, but allowing the use of an undeclared name is deprecated)
external/ros/include/rosbag/bag.h: In member function 'void rosbag::Bag::writeMessageDataRecord(uint32_t, const ros::Time&, const T&)':
external/ros/include/rosbag/bag.h:630:114: error: there are no arguments to 'logDebug' that depend on a template parameter, so a declaration of 'logDebug' must be available [-fpermissive]
               (unsigned long long) file_.getOffset(), getChunkOffset(), conn_id, time.sec, time.nsec, msg_ser_len);
                                                                                                                  ^
Target //modules/data/tools/rosbag_to_record:rosbag_to_record failed to build
Use --verbose_failures to see the command lines of failed build steps.
INFO: (09-30 02:44:42.443) Elapsed time: 63.265s, Critical Path: 29.86s

不知道怎么弄，还是只能在Apollo 5.0中编译。

开源数据集可以转成record来测试Apollo吗？

#4

请问Apollo Scape中的数据要怎样去运行呢？ 我看他给的都是单独的格式的，比如点云给的都是pcd格式。请问这种能输入到Apollo仿真平台运行吗？

#5

同问，兄弟知道怎么做了吗

#6

同问同问, 可以用开源数据集制作record来测试Apollo吗? 而不是只使用官方给的record