Ubuntu下kinect v2制作数据集

Ubuntu下kinect v2制作数据集

1.下载kinectv2-dataset_make

git clone https://github.com/MRwangmaomao/KinectV2_dataset_make.git

下载后放在catkin_ws/src下面
2.修改保存地址
在深度图像以及RGB图像的保存 get_image.cpp需要修改保存文件的地址：
string save_path = “/home/xxxx/kinectdata”; //根据自己需要修改，这是存储数据集的文件夹的路径,在建立存储数据集kinectdata的文件夹的时候需要在文件夹下建立两文件名为depth、rgb的文件夹，这样才会保存图像文件在这两个文件夹下面。不然就只会生成两个txt文件，而不会保存图像文件。
然后保存，并编译：

cd catkin_ws
catkin_make

3.运行

roslaunch kinect2_bridge kinect2_bridge.launch 

rosrun dataset_make get_image_node

生成数据集

在数据集文件下执行

python associate.py rgb.txt depth.txt >associate.txt

注：首先需要去下载的源代码中将associate.py文件复制到存放数据集的文件中去，与rgb.txt depth.txt在同一文件夹下同级目录中。

associate.py代码如下

#!/usr/bin/python
# -*- coding:utf-8 -*-

# RGB和深图像时间戳对齐
# 再和 groundtruth 相机轨迹对齐
# 用法 python2 associate.py rgb.txt depth.txt > associate.txt
# python associate.py associate.txt groundtruth.txt > associate_with_groundtruth.txt

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# Requirements: 
# sudo apt-get install python-argparse

"""
The Kinect provides the color and depth images in an un-synchronized way. 
This means that the set of time stamps from the color images do not intersect with those of the depth images. 
Therefore, we need some way of associating color images to depth images.

For this purpose, you can use the ''associate.py'' script. 
It reads the time stamps from the rgb.txt file and the depth.txt file, 
and joins them by finding the best matches.

"""

import argparse
import sys
import os
import numpy

# 读取轨迹文件=================
def read_file_list(filename):
    """
    Reads a trajectory from a text file. 
    
    File format:
    The file format is "stamp d1 d2 d3 ...", where stamp denotes the time stamp (to be matched)
    and "d1 d2 d3.." is arbitary data (e.g., a 3D position and 3D orientation) associated to this timestamp. 
    
    Input:
    filename -- File name
    
    Output:
    dict -- dictionary of (stamp,data) tuples
    
    """
    file = open(filename)
    data = file.read()
    lines = data.replace(","," ").replace("\t"," ").split("\n") 
    list = [[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"]
    list = [(float(l[0]),l[1:]) for l in list if len(l)>1]
    return dict(list)

def associate(first_list, second_list,offset,max_difference):
    """
    Associate two dictionaries of (stamp,data). As the time stamps never match exactly, we aim 
    to find the closest match for every input tuple.
    
    Input:
    first_list -- first dictionary of (stamp,data) tuples
    second_list -- second dictionary of (stamp,data) tuples
    offset -- time offset between both dictionaries (e.g., to model the delay between the sensors)
    max_difference -- search radius for candidate generation

    Output:
    matches -- list of matched tuples ((stamp1,data1),(stamp2,data2))
    
    """
    first_keys = first_list.keys()
    second_keys = second_list.keys()
    potential_matches = [(abs(a - (b + offset)), a, b) 
                         for a in first_keys 
                         for b in second_keys 
                         if abs(a - (b + offset)) < max_difference]
    potential_matches.sort()
    matches = []
    for diff, a, b in potential_matches:
        if a in first_keys and b in second_keys:
            first_keys.remove(a)
            second_keys.remove(b)
            matches.append((a, b))
    
    matches.sort()
    return matches

if __name__ == '__main__':
    
    # parse command line
    parser = argparse.ArgumentParser(description='''
    This script takes two data files with timestamps and associates them   
    ''')
    parser.add_argument('first_file', help='first text file (format: timestamp data)')
    parser.add_argument('second_file', help='second text file (format: timestamp data)')
    parser.add_argument('--first_only', help='only output associated lines from first file', action='store_true')
    parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0)
    parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02)
    args = parser.parse_args()
    
    # 读取文件
    first_list = read_file_list(args.first_file)
    second_list = read_file_list(args.second_file)

    matches = associate(first_list, second_list,float(args.offset),float(args.max_difference))    

    if args.first_only:
        for a,b in matches:
            print("%f %s"%(a," ".join(first_list[a])))
    else:
        for a,b in matches:
            print("%f %s %f %s"%(a," ".join(first_list[a]),b-float(args.offset)," ".join(second_list[b])))