A set of scripts to work with data collected using Stray Scanner.
To access the data from your device, see this wiki entry.
Install dependencies with pip -r requirements.txt.
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/
Run python stray_visualize.py <path-to-dataset>.
Available command line options are:
--point-cloudsshows 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.--framesshows the camera pose coordinate frames.--every=<n>determines how often the coordinate frame is drawn. Default is to draw every 60th frame.--trajectoryshows a black line for the trajectory of the camera.--integratewill 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-filenamesave the mesh from RGB-D integration into the given file. Defaults to no mesh saved.
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.
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.
If you find any issues with this project or bugs in the Stray Scanner app, you can open an issue on this repository.
PyojinKim created a set of helpful scripts to work with data collected with the App in Matlab.