The Nvblox Realsense Example dataset is a collection of sequences stored in rosbags, a ROS 2 native format used for message data including time unsynchronized 4 RealSense cameras captures from a robot. The dataset can be loaded and played back into an application running a ROS graph of nodes for testing and performance benchmarking of image processing, perception and localization. Each sequence consists of a single sequence in a scene, providing a small diversity of data across the collection of sequences in this dataset.
The sequences contained in this dataset contain the following topics:
| Sequence | Topics Provided | Message Type |
|---|---|---|
| galileo_static_3_2 | /camera1/color/camera_info /camera0/imu /camera0/depth/camera_info /camera0/infra1/camera_info /camera2/color/camera_info /camera2/color/image_raw /camera0/color/image_raw /camera0/infra2/camera_info /camera0/realsense_splitter_node/output/depth /tf_static /camera1/color/image_raw /camera1/depth/camera_info /camera3/color/camera_info /camera3/depth/camera_info /camera0/realsense_splitter_node/output/infra_1 /camera0/realsense_splitter_node/output/infra_2 /camera1/depth/image_rect_raw /camera3/depth/image_rect_raw /camera3/color/image_raw /camera2/depth/image_rect_raw /camera0/color/camera_info /camera2/depth/camera_info |
sensor_msgs/msg/CameraInfo sensor_msgs/msg/Imu sensor_msgs/msg/CameraInfo sensor_msgs/msg/CameraInfo sensor_msgs/msg/CameraInfo sensor_msgs/msg/Image sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo sensor_msgs/msg/Image tf2_msgs/msg/TFMessage sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo sensor_msgs/msg/CameraInfo sensor_msgs/msg/CameraInfo sensor_msgs/msg/Image sensor_msgs/msg/Image sensor_msgs/msg/Image sensor_msgs/msg/Image sensor_msgs/msg/Image sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo sensor_msgs/msg/CameraInfo |
| galileo_people_3_2 | /camera1/color/camera_info /camera0/imu /camera0/depth/camera_info /camera0/infra1/camera_info /camera2/color/camera_info /camera2/color/image_raw /camera0/color/image_raw /camera0/infra2/camera_info /camera0/realsense_splitter_node/output/depth /tf_static /camera1/color/image_raw /camera1/depth/camera_info /camera3/color/camera_info /camera3/depth/camera_info /camera0/realsense_splitter_node/output/infra_1 /camera0/realsense_splitter_node/output/infra_2 /camera1/depth/image_rect_raw /camera3/depth/image_rect_raw /camera3/color/image_raw /camera2/depth/image_rect_raw /camera0/color/camera_info /camera2/depth/camera_info |
sensor_msgs/msg/CameraInfo sensor_msgs/msg/Imu sensor_msgs/msg/CameraInfo sensor_msgs/msg/CameraInfo sensor_msgs/msg/CameraInfo sensor_msgs/msg/Image sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo sensor_msgs/msg/Image tf2_msgs/msg/TFMessage sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo sensor_msgs/msg/CameraInfo sensor_msgs/msg/CameraInfo sensor_msgs/msg/Image sensor_msgs/msg/Image sensor_msgs/msg/Image sensor_msgs/msg/Image sensor_msgs/msg/Image sensor_msgs/msg/Image sensor_msgs/msg/CameraInfo sensor_msgs/msg/CameraInfo |
A MD5 checksum of each rosbag is provided to verify the dataset sequence used in testing or benchmarking matches, to detect inconsistencies in input data, and to provide a method to confirm that the same input dataset sequence is used when comparing independent results.
| Sequence | Checksum | Size |
|---|---|---|
| galileo_static_3_2 | 22b236d3af4d4e7c46b1ee591ce2d5a1 | 4.2GB |
| galileo_people_3_2 | 78b09cc0a3bddabc3bbc94a812d24142 | 4.4GB |
Download the dataset to your local system, and playback the rosbag for test or Nvblox examples.
ros2 bag play path/to/rs_galileo_sequence
For more information about using this dataset for Nvblox Examples, see isaac_ros_nvblox.
This dataset is licensed under Creative Commons - Attribution 4.0 International.
This dataset consists of captures in NVIDIA’s facilities in the United States. Persons in the datasets have consented to use of their images.
This dataset is not sufficiently diverse to be representative of the public in general.