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
The source code is released under a BSD 3-Clause license.
Author: Joacim Dybedal
Affiliation: SFI Offshore Mechatronics, University of Agder
Maintainer: Joacim Dybedal, joacim.dybedald@uia.no
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.
If you use this work in an academic context, please cite the following publication:
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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} }
- Robot Operating System (ROS) (middleware for robotics),
- Point Cloud Library
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
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.
Please report bugs and request features using the Issue Tracker.