rgbd_dataset playback working

.gitignore

@@ -2,20 +2,21 @@
 *.slo
 *.lo
 *.o
-*.obj
 
 # Compiled Dynamic libraries
 *.so
 *.dylib
-*.dll
 
 # Compiled Static libraries
 *.lai
 *.la
 *.a
-*.lib
 
-# Executables
-*.exe
-*.out
-*.app
+# Bag files and datasets
+/data/rgbd_dataset/datasets/*
+
+# Stuff that isn't ready yet
+
+
+/docs/CMakeLists.txt
+/docs/Doxyfile.in

CMakeLists.txt

@@ -0,0 +1,148 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(lara_rgbd)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp rospy cv_bridge pcl_ros sensor_msgs std_msgs)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+find_package(PCL REQUIRED)
+find_package(OpenCV REQUIRED)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+#######################################
+## Declare ROS messages and services ##
+#######################################
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES lara_rgbd
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS} 
+  ${PCL_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(lara_rgbd
+#   src/${PROJECT_NAME}/lara_rgbd.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(lara_rgbd_node src/lara_rgbd_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(lara_rgbd_node lara_rgbd_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(lara_rgbd_node
+#   ${catkin_LIBRARIES}
+# )
+
+#add_executable(hs_sensor_processor src/SensorProcessor/SensorProcessor.cpp)
+#target_link_libraries(hs_sensor_processor ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
+
+#add_executable(hs_map_manager src/MapManager/MapManager.cpp)
+#target_link_libraries(hs_map_manager ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
+
+#add_executable(hs_state_estimator src/StateEstimator/StateEstimator.cpp src/Filter/Filter.cpp src/Model/Motion/MotionModel.cpp src/Model/Measurement/MeasurementModel.cpp)
+#target_link_libraries(hs_state_estimator ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
+
+#add_executable(hs_cloud_saver src/Utilities/CloudSaver.cpp)
+#target_link_libraries(hs_cloud_saver ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS lara_rgbd lara_rgbd_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_lara_rgbd.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

data/rgbd_dataset/download_benchmark_data.urls

@@ -0,0 +1,61 @@
+# use this file with wget: "wget -i <thisfile>" to download required benchmark data
+
+# Category: Testing and Debugging #
+
+## tgz files ##
+
+http://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_xyz.tgz
+http://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_rpy.tgz
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_xyz.tgz
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_rpy.tgz
+
+## bag files ##
+
+http://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_xyz.bag
+http://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_rpy.bag
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_xyz.bag
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_rpy.bag
+
+## ground truth ##
+
+http://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_xyz-groundtruth.txt
+http://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_rpy-groundtruth.txt
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_xyz-groundtruth.txt
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_rpy-groundtruth.txt
+
+## external videos ##
+
+http://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_xyz-external.avi
+http://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_rpy-external.avi
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_xyz-external.avi
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_rpy-external.avi
+
+# Category: Robot SLAM #
+
+## tgz files ##
+
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_360.tgz
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_slam.tgz
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_slam2.tgz
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_slam3.tgz
+
+## bag files ##
+
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_360.bag
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_slam.bag
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_slam2.bag
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_slam3.bag
+
+## ground truth ##
+
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_360-groundtruth.txt
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_slam-groundtruth.txt
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_slam2-groundtruth.txt
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_slam3-groundtruth.txt
+
+## external videos ##
+
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_360-external.avi
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_slam-external.avi
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_slam2-external.avi
+http://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_pioneer_slam3-external.avi

data/rgbd_dataset/download_benchmark_files.sh

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+#!/bin/bash
+FILE=`readlink -f $0`
+DIR=`dirname $FILE`
+if pushd $DIR; then
+  wget -c -P datasets -i download_benchmark_data.urls
+fi
+popd > /dev/null