Comments (6)
Hi @imdsafi09, please refer to this example that I compiled to you and other users on how to consume the range image and convert into a point cloud using ros+python. For C++ you can refer to the driver code and see how the point cloud is being composed.
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@imdsafi09 you are asking for very specific interactions with the software which is a little beyond the scope of this GitHub issues portal.
In any case, if you are interested in processing the signal image then all you need to change from the example I shared with you is to create another subscription to the /signal_image
topic and do your computer vision tasks against it. However, in order to merge the results with the point cloud you will also need the need the values from the range image at the same time. This adds a bit of complexity to the problem, still you can achieve by utilizing ROS's message filters mechanism which allows you to combine multiple topics into one callback. Then you can process both images in the same callback and then rely on the example I provided to generate the altered point cloud.
I am not sure if you are aware of ouster-yolov5-demo which provides starter materials on how to process the sensor generate output as 2D images and also update the output.
Hope this helps.
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Hi @imdsafi09, are you looking for a C++ or python implementation?
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Hi @Samahu,
Thank you for your response. I would prefer Python but C++ will work equally, and if you can provide integration with ROS2 it will make my job much easier.
regards,
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Hi, @Samahu,
Thank you for your quick response. However, I want to perform a specific vision task on a signal image, such as object detection, and then project the results into a point cloud coordinate to be visible on top of the point cloud. Please guide me through how I can use your developed scripts to solve this problem.
Regards,
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Thank you for all the insightful suggestions. I am already following ouster-yolov5-demo
and trying to do precisely the same thing but with a "/signal_image" topic rather than a range image. However, I will look into it further, as you suggested.
Regards,
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Related Issues (20)
- Trouble with launching the nodes through driver.launch and sensor.launch HOT 5
- Failed to load nodelet '/ouster/os_driver` of type `ouster_ros/OusterDriver` to manager `os_nodelet_mgr' HOT 1
- 't' (timestamp for point) field is all zero
- Reconnection to sensor HOT 2
- Replaying a converted pcap file does not send messages to the expected topic HOT 1
- [ROS2] Launching nodes when the lidar is not yet powered HOT 2
- Failed to run /ouster/os_driver HOT 1
- How to read data(point cloud) from ouster rosbag file(.db3)? HOT 1
- /scan topic inverted from expected rotational direction
- Having trouble launching the sensor's driver in docker and getting messages HOT 11
- camera_info for images
- Bond Broken playing bag files Orin Nano Ubuntu 20.04 HOT 2
- Ros2 humble node not found error HOT 5
- OS0 /ouster/points low frequency with rmw_fastrtps_cpp HOT 4
- CycloneDDS results in 0s in point cloud HOT 4
- OS1 ROS not reading new messages after 1.5-2 hours of running HOT 9
- 't' timestamp field content is not plausible HOT 1
- Bug with Ouster in ROS Noetic HOT 3
- "DROPPING PACKET" and "70% full, THROTTLING" HOT 5
- NIR field in point-cloud message HOT 1
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