ubuntu16.04 + astra相机自制TUM数据集

1 astra相机驱动安装

1-1 驱动安装

sudo apt-get install ros-kinetic-astra-camera
sudo apt-get install ros-kinetic-astra-launch

1-2 usb权限

lsusb

cd /etc/udev/rules.d/
sudo touch astra.rules
sudo gedit astra.rules

添加以下内容:

SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"

重新加载rule文件 执行完重新插拔usb

sudo service udev reload 
sudo service udev restart

1-3 astra运行

1-3-1 启动astra

sudo -s
roslaunch astra_launch astra.launch

查看发布的信息列表

rostopic list
*** /camera/rgb/image_raw
*** /camera/depth/image_raw

1-3-2 相机发布图像

安装image_view：

sudo apt-get install ros-kinectic-image-view

***深度图
rosrun image_view image_view image:=/camera/depth/image_raw
***彩色图
rosrun image_view image_view image:=/camera/rgb/image_raw

2 TUM数据集制作

2-1 创建工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

cd ~/catkin_ws/
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

2-2 编译源码

2-2-1 下载

cd ~/catkin_ws/src
git clone https://github.com/MRwangmaomao/KinectV2_dataset_make
***只保留dataset_make文件夹

2-2-2 修改

*** 保存位置 ***
保存的文件夹下要创建rgb和depth文件夹

*** 订阅的话题修改 ***

2-2-3 编译运行

cd ~/catkin_ws/
catkin_make

启动astra相机

sudo -s
roslaunch astra_launch astra.launch

启动图像采集

rosrun dataset_make get_image_node

2-3 保存图片存在色差

在保存前对图像的RGB通道进行变换

cv::cvtColor(image_rgb, image_rgb, cv::COLOR_RGB2BGR);

3 参考文章

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