https://github.com/mayankm96/extract_zed_data
A ROS Package to save data published using the Zed ROS Wrapper for dataset creation
https://github.com/mayankm96/extract_zed_data
artifical-intelligense dataset ros zed-camera
Last synced: about 1 year ago
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A ROS Package to save data published using the Zed ROS Wrapper for dataset creation
- Host: GitHub
- URL: https://github.com/mayankm96/extract_zed_data
- Owner: Mayankm96
- License: bsd-3-clause
- Created: 2017-12-31T05:29:11.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2018-08-18T11:42:41.000Z (almost 8 years ago)
- Last Synced: 2025-04-06T21:24:34.618Z (about 1 year ago)
- Topics: artifical-intelligense, dataset, ros, zed-camera
- Language: C++
- Homepage:
- Size: 18.6 KB
- Stars: 5
- Watchers: 3
- Forks: 4
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.md
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README
# extract_zed_data
## Overview
This is a ROS package for saving the data published using the [zed-ros-wrapper](https://github.com/stereolabs/zed-ros-wrapper). The package is meant for creating real world datasets using the Zed Camera. It saves the stereo images and depth images along with the respecitive camera parameters into a directory specified by the user.
The `extract_zed_data` package has been tested under [ROS](http://www.ros.org) Kinetic and Ubuntu 16.04. The source code is released under a [BSD 3-Clause license](LICENSE.md).
**Author: Mayank Mittal
Maintainer: Mayank Mittal, mayankm.iitk@gmail.com**
## Installation
### Building from Source
#### Dependencies
- [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics),
- Following ROS Packages: [cv_bridge](http://wiki.ros.org/cv_bridge), [image_transport](http://wiki.ros.org/image_transport), [message_filters](http://wiki.ros.org/message_filters), [camera_calibration_parsers](http://wiki.ros.org/camera_calibration_parsers)
#### Building
To build from source, clone the latest version from this repository into your catkin workspace and compile the package using
```
cd catkin_ws/src
git clone https://github.com/Mayankm96/extract_zed_data.git
cd ../
catkin_make
```
## Usage
To save the data directly by reading the ROS bag run:
```
roslaunch extract_zed_data extract_rosbag_zed.launch
```
To save the data published from the zed-ros-wrapper run:
```
roslaunch extract_zed_data extract_topic_zed.launch
```
## Nodes
### extract_rosbag_zed
Reads all the messages present in the specified ROS bag and saves them into a folder.
### extract_topic_zed
Reads the messages being published using the zed-ros-wrapper and saves them into a folder.
#### Subscribed Topics
* **`/zed/left/image_rect_color/compressed`** ([sensor_msgs/CompressedImage])
The left camera images in compressed form.
* **`/zed/right/image_rect_color/compressed`** ([sensor_msgs/CompressedImage])
The right camera images in compressed form.
* **`/zed/depth/depth_registered`** ([sensor_msgs/Image])
The depth camera images which can be in `32FC1` or `16UC1` encodings.
* **`/zed/left/camera_info`** ([sensor_msgs/CameraInfo])
The left camera paramters.
* **`/zed/right/camera_info`** ([sensor_msgs/CameraInfo])
The right camera paramters.
* **`/zed/depth/camera_info`** ([sensor_msgs/CameraInfo])
The depth camera paramters.
## Bugs & Feature Requests
Please report bugs and request features using the [Issue Tracker](https://github.com/Mayankm96/extract_zed_data/issues).
[sensor_msgs/CompressedImage]: http://docs.ros.org/api/sensor_msgs/html/msg/CompressedImage.html
[sensor_msgs/Image]: http://docs.ros.org/api/sensor_msgs/html/msg/Image.html
[sensor_msgs/CameraInfo]: http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html