Interfacing SceneNN and ROS

Tools for working with the SceneNN dataset and converting it to a ROS bag.

How to use these tools

1. Follow the instructions in the scenenn repository and download the SceneNN data. Your scenenn_data folder structure should be at the end as follows:

   scenenn_data
   ├── 123
   │   ├── depth
   │   │   ├── depth00001.png
   │   │   ├── ...
   │   ├── image
   │   │   ├── image00001.png
   │   │   ├── ...
   │   ├── mask
   │   │   ├── mask00001.png
   │   │   ├── ...
   │   ├── timestamp.txt
   │   ├── trajectory.log
   │   ├── ...
   └── intrinsic
       ├──  asus.ini
       ├──  kinect2.ini
   

2. Clone this repository to the src folder of your catkin workspace, build your workspace and source it.

   cd <catkin_ws>/src
   git clone [email protected]:ethz-asl/scenenn_ros_tools.git
   catkin build
   source <catkin_ws>/devel/setup.bash

3. Make the Python script executable and run it as a ROS node to write the SceneNN data to a rosbag.

   cd scenenn_ros_tools && chmod +x nodes/scenenn_to_rosbag.py
   rosrun scenenn_ros_tools scenenn_to_rosbag.py -scenenn_data_folder PATH/TO/scenenn_data -scene_id SCENE_ID -to_frame TO_FRAME -frame_step FRAME_STEP -output_bag OUTPUT_BAG

   For example:

   rosrun scenenn_ros_tools scenenn_to_rosbag.py -scenenn_data_folder ../../../scenenn/download/scenenn_data/ -scene_id 066 -frame_step 1 -output_bag scenenn_066.bag