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RGB-D Data Processing

Tools to process RGB-D data collected from the Helhest robot equipped with Luxonis OAK depth cameras.

Data

The data sequences are available at the subtdata:/data/disparity-refinement containing:

  • disparity maps,
  • depth images,
  • point clouds,
  • rectified left and right colored (grayscale) images,
  • calibration files (extrinsics and intrinsics).

Please, put the downloaded data into the rgbd_proc/data folder.

Installation

The package is organized as a ROS 2 package and can be installed using the following commands:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone git@github.com:ctu-vras/rgbd_proc.git
cd ~/ros2_ws/
rosdep install --from-path src --ignore-src -r
colcon build --symlink-install --packages-select rgbd_proc

Usage

Make sure to adjust the paths and data topics.

  • To view the RGB-D data from a bag file in RViz:

    ros2 launch rgbd_proc helhest_play.launch.py bag_path:=/path/to/bag rviz:=true
    
  • To save depth images, corresponding point clouds and colored images, and calibration (extrinsics and intrinsics) from a bag file:

    ros2 launch rgbd_proc save_data.launch.xml bag_path:=/path/to/bag output_path:=/path/to/save/data
    

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Tools to process RGB-D data

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