Dataset for testing

[manhha1402]

Hi,
Thank you for nice work.
Can you provide the dataset for testing the package or an example (possibly how to test by using a set of RGB-D images)?

[schornakj]

An example that works out-of-the-box is definitely an important feature, and it's a work in progress. We're currently working towards using the yak_ros wrapper node in combination with gl_depth_sim to provide simulated 3D data. If you want to take a look at the current (slightly rough) state of things you can check out my yak_ros feature/add-ros1-demo-node branch.

This approach would also work with a rosbag for recorded images and transform data. A ROS-independent example would be a little further down the road, since our current work has us using this library exclusively within ROS environments.

[Sinchiguano]

Hi,

I am so sorry for this simple question, I tried to compile the yak_ros, but i have problem. It threw me the following message:

--- stderr: yak_ros
:0:1: error: macro names must be identifiers
/home/casch/ros2_ws/src/yak_ros/src/yak_ros2_node.cpp: In constructor ‘Fusion::Fusion(rclcpp::Node::SharedPtr, const kfusion::KinFuParams&, const Affine3f&, std::cxx11::string)’:
/home/casch/ros2_ws/src/yak_ros/src/yak_ros2_node.cpp:120:30: warning: ‘Fusion::params’ will be initialized after [-Wreorder]
const kfusion::KinFuParams params;

Could anyone of you please give me an idea of what it is wrong, I got ROS 2 Dashing distribution installed. The Yak packages compile successfully with some warning but i think it should be fine.

Best regards
Cesar

[manhha1402]

Hi @schornakj
Thank you for considering the example. I think bag file is also a good option. Since I am also working on KinectFusion approach, so it's would be helpful to test the yak package.

[schornakj]

@ipa-mah The yak_ros package now contains a simple demo node that streams simulated depth images of the classic "bunny" mesh. It's not really standalone in the context of the yak library itself, but I think it's a good starting point.