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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