extract_zed_data

Overview

This is a ROS package for saving the data published using the 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 Kinetic and Ubuntu 16.04. The source code is released under a BSD 3-Clause license.

Author: Mayank Mittal
Maintainer: Mayank Mittal, [email protected]

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• Following ROS Packages: cv_bridge, image_transport, message_filters, 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.