[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 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