Play with sample Rosbag
Video Reference (< 5 min)
We have simple 5 steps to run our software with sample rosbag file after you issue the license.
Step 1.Download the sample rosbag file
If you does not have sample folder in seoulrobotics folder, you should download the sample rosbag file.
Please run the ./download_sample.sh in sensr_i folder to download the sample file.
After you run the script I mentioned above, you can see the sample rosbag file in the samples folder in the seoulrobotics folder.
Step 2.Create the project file
You can see the New Project button when you open the SENSR. You can make the new project. it will make more easier to handle the software.
Step 3. Add the rosbag file & topic name
Add the Rosbag file you want to play in our software.
And add the topic name in the SENSR to receive the pointcloud.
You can find the topic name with rosbag info <<rosbag file name>> command.
Step 4. Set the preset file
There are three types of the preset in SENSR. The sample rosbag file should be in indoor site so I set the Indoor preset.
- Preset
- indoor : This preset just classify the pedstrain.
- outdoor : This preset classify the pedstrain , car and cyclist.
- outdoor_gpu : This preset has more higher-order model. so it has more accuracy than outdoor preset. but it must turn on the gpu option.
Step 5. Ground aligment.
Our SENSR need to set the Ground. Because It works on the assumption that the ground set well. Click the ground aligment button in tool menu in above window. And choose the three different ground points. After that, you can click the apply button. And then you can see that all Points is located over 0 of the z axis.
Step 6. Calibration.
This process make the one map with different lidars by overlapping the same area.
Step 7. Runtime
If you follow every step, you finish setting to run the software with sample rosbag. You can click the runtime button and you can see our software classify the pedstrains.