StrayVisualizer

A set of scripts to work with data collected using Stray Scanner.

Usage

To access the data from your device, see this wiki entry.

Installing Dependencies

Install dependencies with pip -r requirements.txt.

Example Datasets

If you don't have your own dataset, you can download one of these example datasets:

wget https://stray-data.nyc3.digitaloceanspaces.com/datasets/dinosaur.tar.gz
tar -xvf dinosaur.tar.gz
python stray_visualize.py dinosaur/

Visualizing the data

Run python stray_visualize.py <path-to-dataset>.

Available command line options are:

• --point-clouds shows pointclouds.
• --confidence=<value> there are three levels of confidence for the depth outputs: 0, 1 and 2. Higher is more confident. Only points having confidence higher or equal to the given value are shown.
• --frames shows the camera pose coordinate frames.
• --every=<n> determines how often the coordinate frame is drawn. Default is to draw every 60th frame.
• --trajectory shows a black line for the trajectory of the camera.
• --integrate will run the data through the Open3D RGB-D integration pipeline and visualize the resulting mesh.
• --voxel-size=<size> sets the voxel size in meters for RGB-D integration.
• --mesh-filename save the mesh from RGB-D integration into the given file. Defaults to no mesh saved.

Creating a Video From the Depth Maps

python make_video.py <dataset-path> will combine depth maps into a video. It will create a file depth_video.mp4 inside the dataset folder.

Converting to a ROS bag

python create_rosbag.py <scan_folder> --out ros.bag will create a rosbag from your scene. This has to be done with your ROS distribution sourced, as it requires some ros packages, such as sensor_msgs, cv_bridge and rosbag.

Reporting Issues

If you find any issues with this project or bugs in the Stray Scanner app, you can open an issue on this repository.

Related Projects

PyojinKim created a set of helpful scripts to work with data collected with the App in Matlab.