Pointcloud_playground

experimenting with point-clouds to be displayed in rviz

Launch Files

pc2_color_from_image.launch

• uses pc2-from_rgb_image.py to create a point cloud
• takes absolute paths to the depth image and rgb image
• displays the overlay of the two images in rviz

pc2_cube.launch

• uses pc2_cube.py to create a cube of points colored along the x y z axis
• opens an rviz window to display the cube

pc2_from_bag.launch

• plays a bag file like the ones found in the nsh_east dataset
• uses pc2_from_ros.py to overlay the two images
• opens an rviz window to display the new point cloud

pc2_from_image.launch

• takes an absolute path to a depth map image
• uses rviz to display the pointcloud created from the depthmap colored along the x y z axis

Scripts

shared.py

• defines the data in each point (x,y,z, rgb)

reasign_frame_id.py

• take an Image message, change the frame_id field in the header, republish the message

pc2_cube.py

• creates a PointCloud2 message that displays a 3d array of points
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pc2_from_image.py

• given a depth map image create a point cloud from the depth map
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pc2_from_rgb_image.py

• given a depth map image and an rgb image, overlay the two images into a pointcloud
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pc2_from_ros.py

• given a depth image topic and an rgb image topic, overlay the two images into a pointcloud
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Datasets

depth_maps

• contains various depth maps from the internet

middlebury

• https://vision.middlebury.edu/stereo/data/scenes2003/

nsh_east

• https://drive.google.com/file/d/19iRkS9xEVwJXkP0er7KT7YZxsu8fFcmw/view

ros_examples

• http://wiki.ros.org/depth_image_proc

NYU

• https://cs.nyu.edu/~silberman/datasets/nyu_depth_v2.html#raw_parts