Unity3D based RGBD mapping using ROS data stream

Getting started

1. Clone the repository
   git clone github.com/tomhruby1/UnityRGBDmapping --recurse-submodules
2. install ROS - tested on Ubuntu 20.04 + ROS Noetic
3. install rosbridge package http://wiki.ros.org/rosbridge_suite
4. Download TUM RGBD dataset .bag file for experiments - https://vision.in.tum.de/data/datasets/rgbd-dataset/download
5. Create a Unity scene and add necessary components to hierarchy:
   1. ROSInitializer, CloudBuffer, VoxelMap, Integrator
   2. VoxelMapShading, and pointcloud object for visualization (if setup in CloudBuffer) requires MeshFilter and MeshRenderer components

Run it

1. launch ROS core: roscore
2. launch ROS bridge:
   roslaunch rosbridge_server rosbridge_websocket.launch
3. run the downloaded dataset with provided .launch file:
   roslaunch tum_rgbd_to_pcd.launch [bag_file_path]
4. run the unity scene