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depthimage_creater's Introduction

DepthImage Creater

By integration the data of LiDAR and Depth Camera, create Depth Image for Depth Estimation Dataset.

Reauirement

How to Use

Rosbag record

roscd depthimage_creater/scripts/bagrec
./run_savedata_joy.sh
./bag_rec_savedata_joy.sh

bag data is saved at here. depthimage_creater_20181013.bag depthimage_creater_20181024.bag depthimage_creater_indoor_20190104.bag

Object Detection

roslaunch depthimage_creater object_detection.launch
roscd depthimage_creater/scripts/bagrec
./bag_rec_map.sh

bag data name is . 20181018-sadakuni.bag 20181024-rm_human.bag

Create Map

Require data

  • nav_msgs/Odometry /odom
  • sensor_msgs/Imu /imu/data
  • sensor_msgs/PointCloud2 /cluster/human/removed
  • sensor_msgs/PointCloud2 /cloud/lcl

Normal Estimation for Map data

roslaunch depthimage_creater normal_estimation_for_map.launch

Data Saver

roscore
rosparam set use_sim_time true
roslaunch kari_complement add_height.launch
roslaunch depthimage_creater data_saver.launch
roslaunch depthimage_creater bag.launch

Upsampling

roslaunch depthimage_creater polygon_mesh.launch
pcl_vtk2ply map.vtk map.ply
pcl_mesh_sampleing map.ply map_meshsample.pcd -n_sample 10000000 -leaf_size 0.0001

DepthImage Creater

roslaunch depthimage_creater depthimage_creater.launch

depthimage_creater's People

Contributors

sadaku1993 avatar

Forkers

xiaohedu

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