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chickenbestlover
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add fig
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‎fig/data_collection.png

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‎script/README.md

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**change detection dataset collection implemented in Airsim + Unreal Engine + ROS environment.**
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The procedure is summarized in the below figure:
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![fig_main](fig/3d-cd-figure.png)
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![fig_main](fig/data_collection.png)
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## Environment Summary
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‎script/utils/rtabmap.rviz

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Panels:
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- Class: rviz/Displays
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Help Height: 85
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /TF1
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- /TF1/Frames1
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- /Info1
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- /DepthCloud1/Auto Size1
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Splitter Ratio: 0.45277777314186096
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Tree Height: 387
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: Info
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: false
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Normal Cell Count: 0
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Offset:
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: map
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Value: false
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 2.0268399715423584
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Min Value: -1.1264599561691284
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Value: true
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Axis: Z
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Channel Name: rgb
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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Name: PointCloud2
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic: /voxel_cloud
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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camera_depth_frame:
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Value: false
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camera_depth_optical_frame:
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Value: false
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camera_link:
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Value: true
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camera_rgb_frame:
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Value: false
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camera_rgb_optical_frame:
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map:
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odom:
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Marker Alpha: 1
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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map:
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odom:
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camera_link:
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camera_depth_frame:
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camera_depth_optical_frame:
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{}
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camera_rgb_frame:
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camera_rgb_optical_frame:
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{}
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Update Interval: 0
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Image Topic: /camera/rgb/image_rect_color
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Median window: 5
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Name: Image
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Queue Size: 2
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Transport Hint: raw
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Unreliable: false
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rtabmap_ros/MapCloud
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Cloud decimation: 4
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Cloud from scan: false
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Color: 255; 255; 255
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Color Transformer: RGB8
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Download graph: false
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Download map: false
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Download namespace: rtabmap
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Enabled: true
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Filter ceiling (m): 0
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Filter floor (m): 0
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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Name: MapCloud
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Node filtering angle (degrees): 30
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Node filtering radius (m): 0
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Position Transformer: XYZ
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Queue Size: 10
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Use Fixed Frame: true
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Use rainbow: true
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Name: Info
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Topic: /rtabmap/info
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Unreliable: false
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- Alpha: 1
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Class: rtabmap_ros/MapGraph
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Enabled: true
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Global loop closure: 255; 0; 0
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Landmark: 0; 128; 0
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Local loop closure: 255; 255; 0
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Merged neighbor: 255; 170; 0
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Name: MapGraph
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Neighbor: 0; 0; 255
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Queue Size: 10
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Topic: /rtabmap/mapGraph
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Unreliable: false
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User: 255; 0; 0
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Value: true
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Virtual: 255; 0; 255
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- Alpha: 1
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: false
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Name: Map
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Topic: /rtabmap/octomap_grid
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Unreliable: false
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Use Timestamp: false
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Value: false
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Enabled: false
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Max. Height Display: 3.40282347e+38
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Min. Height Display: -3.40282347e+38
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Octomap Topic: /rtabmap/octomap_binary
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Voxel Alpha: 0.5
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Voxel Coloring: Z-Axis
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Voxel Rendering: Occupied Voxels
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: false
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Name: Map
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Topic: /rtabmap/grid_map
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Unreliable: false
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Use Timestamp: false
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Value: false
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- Alpha: 1
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Auto Size:
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Auto Size Factor: 1
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Value: true
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/DepthCloud
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Color: 255; 255; 255
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Color Image Topic: /camera/rgb/image_rect_color
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Color Transformer: RGB8
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Color Transport Hint: raw
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Decay Time: 0
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Depth Map Topic: /camera/depth_registered/image
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Depth Map Transport Hint: raw
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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Name: DepthCloud
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Occlusion Compensation:
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Occlusion Time-Out: 30
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Value: false
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Position Transformer: XYZ
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Queue Size: 5
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Selectable: true
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Size (Pixels): 3
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Topic Filter: true
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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Hide Inactive Objects: true
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Theta std deviation: 0.2617993950843811
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X std deviation: 0.5
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Y std deviation: 0.5
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Topic: /move_base_simple/goal
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Views:
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Class: rviz/Orbit
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Distance: 7.646181583404541
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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Y: -0.21538758277893066
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.41979748010635376
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Target Frame: base_link
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Yaw: 1.5681794881820679
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: true
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Height: 824
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Hide Left Dock: true
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Hide Right Dock: true
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Image:
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collapsed: true
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: true
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Width: 1273
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X: 715
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Y: 184

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