[安装配置] TX2上利用Kinect v1录制'TUM'数据集

环境设置

• 安装驱动

$ sudo apt-get install  ros-indigo-freenect-*
$ rospack profile

• 设置环境变量

echo $TURTLEBOT_3D_SENSOR
#Output: kinect

如果你看到一个3D传感器，例如asus_xtion_pro，您将需要设置环境变量的默认值，修改和重新启动终端：

echo "export TURTLEBOT_3D_SENSOR=kinect" >> .bashrc

如果是asus_xtion_pro相机，设置为asus_xtion_pro。

• 启动相机

在Turtlebot终端执行：

roslaunch turtlebot_bringup minimal.launch

在Turtlebot终端，新开终端，输入

#针对Microsoft Kinect:
$ roslaunch freenect_launch freenect-registered-xyzrgb.launch （新版本）
$ roslaunch openni_launch openni.launch (或旧版本)

#针对Asus Xtion, Xtion Pro, or Primesense 1.08/1.09 cameras:
$ roslaunch openni2_launch openni2.launch depth_registration:=true

• 测试相机

图像，在工作站打开终端执行：

$ rosrun image_view image_view image:=/camera/rgb/image_color
$ rosrun image_view image_view image:=/camera/depth_registered/image_raw

• 问题

1. 出问题：Kinect的USB链接自动掉线

sudo bash -c 'echo -1 > /sys/module/usbcore/parameters/autosuspend'
lsusb

录制rosbag

rosrun rosbag record /camera/rgb/image_color /camera/depth_registered/image_raw

rosbag保存图片

# coding:utf-8
#!/usr/bin/python
 
# Extract images from a bag file.
 
#PKG = 'beginner_tutorials'
import roslib;   #roslib.load_manifest(PKG)
import rosbag
import rospy
import cv2
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from cv_bridge import CvBridgeError
 
# Reading bag filename from command line or roslaunch parameter.
#import os
#import sys
 
rgb_path = '/home/nvidia/ttttt/rgb/'
depth_path= '/home/nvidia/ttttt/depth/'
 
class ImageCreator():
 
 
    def __init__(self):
        self.bridge = CvBridge()
        with rosbag.Bag('/home/nvidia/ttttt/2019-05-10-09-00-55.bag', 'r') as bag:  #要读取的bag文件；
            for topic,msg,t in bag.read_messages():
                #print(t)
                if topic == "/camera/rgb/image_color": #图像的topic；
                        try:
                            cv_image = self.bridge.imgmsg_to_cv2(msg,"bgr8")
                        except CvBridgeError as e:
                            print e
                        timestr = "%.6f" %  msg.header.stamp.to_sec()
                        #%.6f表示小数点后带有6位，可根据精确度需要修改；
                        image_name = timestr+ ".png" #图像命名：时间戳.png
                        cv2.imwrite(rgb_path + image_name, cv_image)  #保存；
                elif topic == "/camera/depth_registered/image_raw": #图像的topic；
                        try:
                            cv_image = self.bridge.imgmsg_to_cv2(msg,"16UC1")
                        except CvBridgeError as e:
                            print e
                        timestr = "%.6f" %  msg.header.stamp.to_sec()
                        #%.6f表示小数点后带有6位，可根据精确度需要修改；
                        image_name = timestr+ ".png" #图像命名：时间戳.png
                        cv2.imwrite(depth_path + image_name, cv_image)  #保存；
 
if __name__ == '__main__':
 
    #rospy.init_node(PKG)
 
    try:
        image_creator = ImageCreator()
    except rospy.ROSInterruptException:
        pass