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A collection of ROS packages for LMB software; DispNet(1+3), FlowNet2, etc.

License: Other

CMake 7.90% C++ 92.10%

trimbot2020 ros dispnet flownet

ros-packages's Introduction

ROS-packages

A collection of ROS packages for LMB software

License

Non-commercial, for research purposes only.

Contents

Most packages in this repository are neural networks based on the Caffe library. Use our modified legacy Caffe code.

Disparity

LMB_dispnet runs DispNet disparity estimation networks -- mostly the newer versions.
LMB_disparity_view converts the outputs of LMB_dispnet into displayable images.

Optical flow

LMB_flownet and LMB_flow_view do the same thing as LMB_dispnet and LMB_disparity_view (see above), but for optical flow.

Scene flow

LMB_sceneflow runs LMB_dispnet and LMB_flownet nodes for scene flow (= dense 3D motion vectors) estimation.
LMB_sceneflow_vis contains various visualizations for scene flow.

Data input

LMB_generic_images_feeder is a simple node that reads loose collections of image files and produces ROS image topics.

Installation

Get additional binary package with pretrained network weights from LMB
Build using catkin (tested with ROS Kinetic)

Author: Nikolaus Mayer, 2019

This repository does not accept pull requests.

The software in this repository is part of the Horizon2020 project Trimbot2020.

ros-packages's People

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tykurtz arqam-ai

ros-packages's Issues

Problem with the visualization of the FlowNet2 output

I have installed the all the packages of the repo and i try to run the test of the flownet.
I run the generic image feeder with the basic data from the FlyingThings3D dataset and the i run the lmb_flownet flownet.launch file.
The NN runs properly but i have problem with the visualization of the outputs.
The rostopics are being published properly and the /flownet_vis topic also.
But the image of the output is distorted.

I cannot understand why this happens. I tried both the sintel and middlebury as viz_type.
However the visualization output is not even close on the expected output.

What do you think is the problem?
Did i do something wrong on the catkin_make and roslaunch procedure or something else.
This also happens when i use my own kind of data.
Also i want to note that i have succesfully used the flownet2 pytorch github repo from NVIDIA but it's an offline run and i used your repo in order to implement it in ROS/Gazebo.
I am looking forward for your reply and help.
Thank you in advance for the time.

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