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