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Test REMODE
Download the test dataset
cd $MY_WORKSPACE/rpg_open_remode
wget http://rpg.ifi.uzh.ch/datasets/remode_test_data.zip
unzip remode_test_data.zip
Specify the path to the test data by setting the environment variable
export RMD_TEST_DATA_PATH=$MY_WORKSPACE/rpg_open_remode/test_data
If you built without catkin, just execute
cd $MY_WORKSPACE/rpg_open_remode/bin
./all_tests
If you built the ROS node, then the tests can be run by executing
rosrun rpg_open_remode all_tests
In case you did not build the ROS node, just execute the following:
cd $MY_WORKSPACE/rpg_open_remode/bin
./dataset_main
For the ROS build, a launch file is provided to start the REMODE ROS node. Update your ROS package path and launch the REMODE node:
source $MY_CATKIN_WORKSPACE/devel/setup.zsh
roslaunch rpg_open_remode dataset.launch
The REMODE node publishes the resulting depthmap as a 32FC1 image. You can visualize it by running image_view and subscribing to the remode/depth topic:
rosrun image_view image_view image:=/remode/depth
A point cloud is also published for every reference frame. You can visualize it in RVIZ, by subscribing to the topic remode/pointcloud. The file open_remode.rviz is a simple RVIZ configuration. Run RVIZ as follows:
rosrun rviz rviz -d $MY_CATKIN_WORKSPACE/src/rpg_open_remode/open_remode.rviz
A node is provided to publish the test dataset. Run it by executing
rosrun rpg_open_remode dataset_publisher
The topic /remode/convergence shows the convergence status for the reference image: blue pixels identify converged measurements. You can display it by executing
rosrun image_view image_view image:=/remode/convergence