wp3_compressor

ROS node for compressing and transmitting 3D sensor data on an NVIDIA Jetson TX2. The work is based on the Point Cloud Library's octree compressor.

Keywords: ROS, RGB-D, compression

License

The source code is released under a BSD 3-Clause license.

Author: Joacim Dybedal
Affiliation: SFI Offshore Mechatronics, University of Agder
Maintainer: Joacim Dybedal, joacim.dybedald@uia.no

The wp3_compressor package has been tested under ROS Kinetic Kame and Ubuntu 16.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Publications

If you use this work in an academic context, please cite the following publication:

• J. Dybedal, A. Aalerud, and G. Hovland, “Embedded Processing and Compression of 3D Sensor Data for Large Scale Industrial Environments,”. Sensors, vol. 19, no. 3, p. 636, Feb. 2019.

    @article{Dybedal2019,
            author = {Dybedal, Joacim and Aalerud, Atle and Hovland, Geir},
            title = {{Embedded Processing and Compression of 3D Sensor Data for Large Scale Industrial Environments}},
            doi = {10.3390/s19030636},
            journal = {Sensors},
            month = {feb},
            number = {3},
            pages = {636},
            publisher = {Multidisciplinary Digital Publishing Institute},
            volume = {19},
            year = {2019}
    }
  

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• Point Cloud Library

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/SFI-Mechatronics/wp3_compressor.git
cd ../
catkin_make

Usage

The compressor can be started by using the .launch files found in the launch/ folder. These contain parameters such as topic names, sensor name and resolution.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.