ROS package to publish stereo images from MPI Sintel Stereo Training Data.
- Docker
- Docker Compose
$ git clone https://github.com/ActiveIntelligentSystemsLab/sintel_stereo_publisher
$ cd sintel_stereo_publisher
$ xhost +local:root
$ sudo docker-compose up
Then a image viewer window opens.
Publish stereo images from MPI Sintel Stereo Training Data.
-
~left/image_rect_color
(sensor_msgs/Image) -
~left/camera_info
(sensor_msgs/CameraInfo) -
~right/image_rect_color
(sensor_msgs/Image) -
~right/camera_info
(sensor_msgs/CameraInfo) -
~sintel_info
(sintel_stereo_publisher/SintelInfo)Used to obtain frame number which is associated to image by timestamp.
Also it contains information of published sequence.
-
~start_publish
(std_srvs/Empty)Start publish topics when
~pause
param is true.
-
~dataset_directory
(string, default: None)Root directory of MPI Sintel Stereo Training Data. Under the root directory, there should be
training
andsdk
directories.If this is not set, the node just exits with error.
-
~publish_rate
(double, default: 24.0)Published frames per second.
-
~sequence_name
(string, default: "alley_1")Name of sequence directory which you want to publish.
There are sequence directories under
_dataset_directory/training/
. -
~camera_param_file
(string, default: None)Path of a file which contain camera parameters. Used to publish CameraInfo.
The file is contained in MPI Sintel Depth Training Data and has
.cam
extension.If this is not set, the node just exits with error.
-
~loop
(bool, default: false)If publish of all frames in a sequence is finished, back to start and continue publishing.
-
~render_pass
(string, default: "clean")Choose render pass from "clean" and "final".
See MPI Sintel Dataset's paper to know about "render pass".
-
~pause
(bool, default: "false")Start in pause mode. Publish don't start until
~start_publish
service is called.