小觅相机使用记录

安装环境 运行历程

ROS与深度相机入门教程-在ROS使用小觅深度相机 https://www.ncnynl.com/archives/201910/3435.html

ros安装

rosdep init ROS安装问题解决方案 rosdep init ROS安装问题解决方案 - 古月居
 

官方SDK说明

SDK 样例 — MYNT EYE D SDK 1.8.0 文档

ubuntu20.04安装

sdk安装

Ubuntu18.04安装小觅双目深度相机SDK——MYNT-EYE-D-SDK_wowbing2的博客-CSDN博客

其实这个博客也不能解决问题，只是提供了一个思路修改pcl库

最后编译没有成功

因为不用点云所以，我删除了samples的cmakelists里面pcl的部分，只是使用相机和深度部分

ros编译

解决roslunch的问题

sudo apt-get install ros-noetic-roslaunch

解决could not find a package configuration file provided by "image_transport" wit

sudo apt-get install ros-melodic-move-base-msgs#这句话可能是没有用的
sudo apt-get install ros-noetic-compressed-image-transport

Could not find a package configuration file provided by "nodelet" with any
  of the following names:      

sudo apt-get install ros-noetic-nodelet

缺少tdf模块

sudo apt-get install ros-noetic-tf2-*

安装rivz

fatal error: visualization_msgs/Marker.h: 没有那个文件或目录

sudo apt-get install ros-noetic-rviz

bag包录制

测试ROS例程

• 启动roscore

roscore

• 启动RViz

source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d display.launch

• 启动相机节点

 source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d mynteye.launch

https://mp.csdn.net/mp_blog/creation/editor/115916013

 录bag包

rostopic list

rosbag record -a

订阅部分节点

rosbag record /mynteye/left/image_color/compressed /mynteye/right/image_color /compressed 

/mynteye/depth/image_raw/compressed

bag包录一分钟5g，sdk录一分钟860m

rosbag play [name]

SDK采集数据代码（自己修改后的）

// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <iostream>

#include <opencv2/highgui/highgui.hpp>

#include "mynteyed/camera.h"
#include "mynteyed/utils.h"

#include "util/cam_utils.h"
#include "util/counter.h"
#include "util/cv_painter.h"
//test
#include <string>     // std::string, std::to_string
MYNTEYE_USE_NAMESPACE

int main(int argc, char const* argv[]) {
  Camera cam;
  DeviceInfo dev_info;
  if (!util::select(cam, &dev_info)) {
    return 1;
  }
  util::print_stream_infos(cam, dev_info.index);

  std::cout << "Open device: " << dev_info.index << ", "
      << dev_info.name << std::endl << std::endl;

  OpenParams params(dev_info.index);
  {
    // Framerate: 30(default), [0,60], [30](STREAM_2560x720)
    params.framerate = 30;

    // Device mode, default DEVICE_ALL
    //   DEVICE_COLOR: IMAGE_LEFT_COLOR ✓ IMAGE_RIGHT_COLOR ? IMAGE_DEPTH x
    //   DEVICE_DEPTH: IMAGE_LEFT_COLOR x IMAGE_RIGHT_COLOR x IMAGE_DEPTH ✓
    //   DEVICE_ALL:   IMAGE_LEFT_COLOR ✓ IMAGE_RIGHT_COLOR ? IMAGE_DEPTH ✓
    // Note: ✓: available, x: unavailable, ?: depends on #stream_mode
    // params.dev_mode = DeviceMode::DEVICE_ALL;

    // Color mode: raw(default), rectified
    // params.color_mode = ColorMode::COLOR_RECTIFIED;

    // Stream mode: left color only
    // params.stream_mode = StreamMode::STREAM_640x480;  // vga
    // params.stream_mode = StreamMode::STREAM_1280x720;  // hd
    // Stream mode: left+right color
    // params.stream_mode = StreamMode::STREAM_1280x480;  // vga
    params.stream_mode = StreamMode::STREAM_2560x720;  // hd

    // Auto-exposure: true(default), false
    // params.state_ae = false;

    // Auto-white balance: true(default), false
    // params.state_awb = false;

    // IR Depth Only: true, false(default)
    // Note: IR Depth Only mode support frame rate between 15fps and 30fps.
    //     When dev_mode != DeviceMode::DEVICE_ALL,
    //       IR Depth Only mode not be supported.
    //     When stream_mode == StreamMode::STREAM_2560x720,
    //       frame rate only be 15fps in this mode.
    //     When frame rate less than 15fps or greater than 30fps,
    //       IR Depth Only mode will be not available.
    // params.ir_depth_only = true;

    // Infrared intensity: 0(default), [0,10]
    params.ir_intensity = 4;

    // Colour depth image, default 5000. [0, 16384]
    params.colour_depth_value = 5000;
  }

  // Enable what process logics
  // cam.EnableProcessMode(ProcessMode::PROC_IMU_ALL);

  // Enable image infos
  cam.EnableImageInfo(true);

  cam.Open(params);

  std::cout << std::endl;
  if (!cam.IsOpened()) {
    std::cerr << "Error: Open camera failed" << std::endl;
    return 1;
  }
  std::cout << "Open device success" << std::endl << std::endl;

  std::cout << "Press ESC/Q on Windows to terminate" << std::endl;

  bool is_left_ok = cam.IsStreamDataEnabled(ImageType::IMAGE_LEFT_COLOR);
  bool is_right_ok = cam.IsStreamDataEnabled(ImageType::IMAGE_RIGHT_COLOR);
  bool is_depth_ok = cam.IsStreamDataEnabled(ImageType::IMAGE_DEPTH);

  if (is_left_ok) cv::namedWindow("left color");
  if (is_right_ok) cv::namedWindow("right color");
  if (is_depth_ok) cv::namedWindow("depth");

  CVPainter painter;
  util::Counter counter(params.framerate);

  int nPic_count = 0;// 测试用的图片计数变量
  std::string sPic_count;//计数 string 用于生成文件名
  std::string sFilename;//文件名
  std::string sFolderPath = "./test1/"; //主目录
  std::string sFileLeft = "left/"; //左图目录
  std::string sFileRight = "right/"; //右图目录
  std::string sFileDepth = "depth/"; //深度图目录
// 创建文件夹
  std::string command;
  command = "mkdir -p " + sFolderPath + sFileLeft;
  system(command.c_str());

  command = "mkdir -p " + sFolderPath + sFileRight;
  system(command.c_str());

  command = "mkdir -p " + sFolderPath + sFileDepth;
  system(command.c_str());
//目录创建完成
    for (;;) {
    cam.WaitForStream();
    auto allow_count = false;

    if (is_left_ok) {
      auto left_color = cam.GetStreamData(ImageType::IMAGE_LEFT_COLOR);
      if (left_color.img) {
        allow_count = true;
        cv::Mat left = left_color.img->To(ImageFormat::COLOR_BGR)->ToMat();
          //test
          sPic_count = std::to_string(nPic_count);
          sFilename = sFolderPath + sFileLeft + sPic_count + ".jpg";
          cv::imwrite(sFilename,left);
          //test
        painter.DrawSize(left, CVPainter::TOP_LEFT);
        painter.DrawStreamData(left, left_color, CVPainter::TOP_RIGHT);
        painter.DrawInformation(left, util::to_string(counter.fps()),
            CVPainter::BOTTOM_RIGHT);
        cv::imshow("left color", left);

      }
    }

    if (is_right_ok) {
      auto right_color = cam.GetStreamData(ImageType::IMAGE_RIGHT_COLOR);
      if (right_color.img) {
        allow_count = true;
        cv::Mat right = right_color.img->To(ImageFormat::COLOR_BGR)->ToMat();
          //test
          sPic_count = std::to_string(nPic_count);
          sFilename = sFolderPath + sFileRight + sPic_count + ".jpg";
          cv::imwrite(sFilename,right);
          //test
        painter.DrawSize(right, CVPainter::TOP_LEFT);
        painter.DrawStreamData(right, right_color, CVPainter::TOP_RIGHT);
        cv::imshow("right color", right);

      }
    }

    if (is_depth_ok) {
      auto image_depth = cam.GetStreamData(ImageType::IMAGE_DEPTH);
      if (image_depth.img) {
        allow_count = true;
        cv::Mat depth;
        depth = image_depth.img->ToMat();
          //test
          sPic_count = std::to_string(nPic_count);
          sFilename = sFolderPath + sFileDepth  + sPic_count + ".jpg";
          cv::imwrite(sFilename,depth);
          //test
        painter.DrawSize(depth, CVPainter::TOP_LEFT);
        painter.DrawStreamData(depth, image_depth, CVPainter::TOP_RIGHT);
        cv::imshow("depth", depth);

      }
    }
    //test
      nPic_count++;
    //test
    if (allow_count == true) {
      counter.Update();
    }

    char key = static_cast<char>(cv::waitKey(1));
    if (key == 27 || key == 'q' || key == 'Q') {  // ESC/Q
      break;
    }
  }

  cam.Close();

  return 0;
}