blender_rgbd_ros

This package is used to convert depth and rgb images, rendered in Blender, to point cloud data. The BlenderToRGBD plugin is used to generate rgb and depth images while rendering an animation. The folder structure for this package is assumed to be the same as generated by the Blender plugin.

1. Running the code

To run the node for loading and publishing camera parameters, depth images and rgb images, type:

roslaunch blender_rgbd_ros depth_and_rgb_pub.launch

To convert images to the point cloud data, install and run the depth_image_proc pipeline launch file with:

roslaunch blender_rgbd_ros depth_image_proc_pipeline.launch

2. Nodes

2.1 depth_rgb_pub.py

2.1.1 Subscribed topics

None so far

2.1.2 Published topics

depth/image_raw (sensor_msgs/Image)
  uint16 depth image.

depth/camera_info (sensor_msgs/CameraInfo)
  Camera info for depth image.

color/image_raw (sensor_msgs/Image)
  Color image.

color/camera_info (sensor_msgs/CameraInfo)
  Camera info for color image.

camera/ground_truth_pose (geometry_msgs/PoseStamped)
  Camera ground truth position and orientation.

2.1.3 Services

start_image_publishing (std_srvs/Trigger)
  Triggers one loop of publishing images.

set_loop_flag (std_srvs/SetBool)
  True: publishes images continuously. False: waits for triggering one loop of publishing images.

2.1.4 Parameters

rate (int)
  Loop rate in Hz.

loop_images (bool)
  Flag for looping images. Can be changed through set_loop_flag service.

images_directory (string)
  Path to the directory containing ground truth, depth and rgb images.

Depth image parameters

depth_image/scale (int)
  Image scale as set in Blender plugin.

depth_image/noise_type (string)
  Noise type applied to the depth image. Can be gauss, poisson, salt_pepper, speckle. Use none for not applying noise.

depth_image/noise/gauss/mean (float)
  Mean value for gaussian noise.

depth_image/noise/gauss/variance (float)
  Variance for gaussian noise.

depth_image/noise/salt_pepper/ratio (float)
  Ratio between salt and pepper.

depth_image/noise/salt_pepper/amount (float)
  Intensity of salt and pepper noise. Bigger number means greater noise.

depth_image/noise/poisson/gain (float)
  Poisson noise gain.

depth_image/noise/speckle/gain (float)
  Speckle noise gain.

Camera info

camera_info/frame_id (string)
  Frame id of the camera.

camera_info/sensor_width (float)
  Sensor width in mm.

camera_info/focus (float)
  Focal length in mm.

camera_info/width (int)
  Image width in pixels.

camera_info/height (int)
  Image height in pixels.

camera_info/distortion_model (string)
  Distortion model used to rectify image.