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https://github.com/christian-rauch/multimotionfusion-data
https://github.com/christian-rauch/multimotionfusion-data
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- Host: GitHub
- URL: https://github.com/christian-rauch/multimotionfusion-data
- Owner: christian-rauch
- Created: 2023-12-29T12:19:42.000Z (11 months ago)
- Default Branch: main
- Last Pushed: 2024-01-02T11:26:16.000Z (11 months ago)
- Last Synced: 2024-04-20T00:53:16.760Z (7 months ago)
- Homepage: https://conferences.inf.ed.ac.uk/MultiMotionFusion/
- Size: 3.91 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models
This repo contains the RGB-D sequences used for the paper ["Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models"](https://doi.org/10.1109/LRA.2022.3200177) in the ROS 1 bag format.
The bag files contain the colour images with intrinsics, the depth images registered to the colour frame and ground truth camera poses:
```
/depth_to_rgb/camera_info : sensor_msgs/CameraInfo
/depth_to_rgb/image_raw/compressed : sensor_msgs/CompressedImage
/depth_to_rgb/image_raw/filtered/compressed : sensor_msgs/CompressedImage
/diagnostics : diagnostic_msgs/DiagnosticArray
/rgb/camera_info : sensor_msgs/CameraInfo
/rgb/image_raw/compressed : sensor_msgs/CompressedImage
/tf : tf2_msgs/TFMessage
/tf_static : tf2_msgs/TFMessage
/vicon/kinect/kinect : geometry_msgs/TransformStamped
/vicon/markers : vicon_bridge/Markers
```
If you use this data, please cite:
```bibtex
@ARTICLE{Rauch2022,
author={Rauch, Christian and Long, Ran and Ivan, Vladimir and Vijayakumar, Sethu},
journal={IEEE Robotics and Automation Letters},
title={Sparse-Dense Motion Modelling and Tracking for Manipulation Without Prior Object Models},
year={2022},
volume={7},
number={4},
pages={11394-11401},
doi={10.1109/LRA.2022.3200177}
}
```
Mirrors:
- https://conferences.inf.ed.ac.uk/MultiMotionFusion
- https://github.com/christian-rauch/MultiMotionFusion-data
- https://gitlab.com/christian-rauch/MultiMotionFusion-data
## Usage
### ROS 1
Use the ROS 1 `rosbag` command-line tool to publish the topics from the bag files:
```sh
rosbag play estimation/nx_estim1_manipulation.bag
```
### ROS 2
Install [`rosbags`](https://gitlab.com/ternaris/rosbags):
```sh
pip3 install rosbags
```
and convert the bag files from ROS 1 to ROS 2:
```sh
find . -type f -name *.bag -exec rosbags-convert "{}" \;
```
Then you can use the ROS 2 command-line tool to publish the topics:
```sh
ros2 bag play estimation/nx_estim1_manipulation
```