This is the ROS package of generating depth ground truth images from RGBD images and LiDAR point clouds.
To use this package, you need to install the following packages:
And prepare according mapping data using the above packages and save them in the corresponding folders. To generate depth ground truth images, you need to run the following commands:
./gen_depth_dataset ../../../src/DepthMaker/config/hku_campus_seq_00.yaml
./gen_depth_dataset ../../../src/DepthMaker/config/hkust_campus_seq_00.yaml
./gen_depth_dataset ../../../src/DepthMaker/config/hkust_campus_seq_01.yaml
./gen_depth_dataset ../../../src/DepthMaker/config/hkust_campus_seq_02.yaml
./gen_depth_dataset ../../../src/DepthMaker/config/project_2022-11-12-23-13-10.yaml
./gen_depth_dataset ../../../src/DepthMaker/config/project_2022-11-12-23-44-15.yaml
./gen_depth_dataset ../../../src/DepthMaker/config/project_2022-11-18-00-02-32.yaml