sfi-mechatronics / wp3_decompressor

ROS node for receiving and decompressing 3D sensor data on compressed by the wp3_compressor node.

wp3_decompressor

ROS node for receiving and decompressing 3D sensor data on compressed by the wp3_compressor node. The work is based on the Point Cloud Library's octree compressor.

Keywords: ROS, RGB-D, decompression

License

The source code is released under a BSD 3-Clause license.

Author: Joacim Dybedal
Affiliation: SFI Offshore Mechatronics, University of Agder
Maintainer: Joacim Dybedal, [email protected]

The wp3_decompressor package has been tested under ROS Kinetic Kame and Ubuntu 16.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Publications

If you use this work in an academic context, please cite the following publication:

• J. Dybedal, A. Aalerud, and G. Hovland, “Embedded Processing and Compression of 3D Sensor Data for Large Scale Industrial Environments,”. Sensors, vol. 19, no. 3, p. 636, Feb. 2019.

    @article{Dybedal2019,
            author = {Dybedal, Joacim and Aalerud, Atle and Hovland, Geir},
            title = {{Embedded Processing and Compression of 3D Sensor Data for Large Scale Industrial Environments}},
            doi = {10.3390/s19030636},
            journal = {Sensors},
            month = {feb},
            number = {3},
            pages = {636},
            publisher = {Multidisciplinary Digital Publishing Institute},
            volume = {19},
            year = {2019}
    }
  

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• Point Cloud Library

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/SFI-Mechatronics/wp3_decompressor.git
cd ../
catkin_make

Usage

The decompressor can be started by using the .launch file found in the launch/ folder. This contains parameters such as sensor name and filter value. The file must be adapted based on the sensors used by the compressor.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.

wp3_decompressor's Issues

Transform cloud

Create an optional transform of the received stream.
For example if received stream is in world frame, it should be possible to transform to sensor frame and vice versa.
This can be solved by using two parameters, received_frame and published_frame