sintel_stereo_publisher

ROS package to publish stereo images from MPI Sintel Stereo Training Data.

Requirement

• Docker
• Docker Compose

Run with Docker

$ 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.

Node: sintel_stereo_publisher

Publish stereo images from MPI Sintel Stereo Training Data.

Published topics

• ~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.

Services

• ~start_publish (std_srvs/Empty)

  Start publish topics when ~pause param is true.

Parameters

• ~dataset_directory (string, default: None)

  Root directory of MPI Sintel Stereo Training Data. Under the root directory, there should be training and sdk 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.

ROS Message Types

• SintelInfo