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]
- Robot Operating System (ROS) (middleware for robotics),
- Following ROS Packages: cv_bridge, image_transport, message_filters, camera_calibration_parsers
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
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
Reads all the messages present in the specified ROS bag and saves them into a folder.
Reads the messages being published using the zed-ros-wrapper and saves them into a folder.
-
/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
32FC1or16UC1encodings. -
/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.
Please report bugs and request features using the Issue Tracker.