SASensorProcessing

ROS node to create pointcloud out of stereo images and complete sparse pointclouds from the KITTI Vision Benchmark Suite

Demos

Stereo Vision

<p align="center"> <img src="./docs/videos/stereo_vision.gif"> </p>

Depth Completion

<p align="center"> <img src="./docs/videos/depth_completion.gif"> </p>

Run

roslaunch sensor_processing stereo_vision.launch home_dir:=YOUR_HOME_DIRECTORY scenario:=0060
roslaunch sensor_processing depth_completion.launch home_dir:=YOUR_HOME_DIRECTORY scenario:=0060

Background & Set up

This is a side project of my main project: https://github.com/appinho/SARosPerceptionKitti
Orientate yourself there to set up the project and acquire the data.

To run it use the following commands:

cd ~/catkin_ws/src
git clone https://github.com/appinho/SASensorProcessing.git
cd ~/catkin_ws
catkin_make
source devel/setup.bash

Sources

• ROS Image processing wiki
• Depth completion paper