录制数据集的代码.zip

# Exp-Dataset 录制数据集的代码 ## 1. 录数据流程 ### 1.1 检查相机输出是否正常 ```shell # 1. 编译, launch文件和深度图滤波已经在代码中修改 cd xx/ git clone https://github.com/JeffYoung17/MYNT-EYE-D-SDK.git ./ make init make ros source xx/MYNT-EYE-D-SDK/wrappers/ros/devel/setup.sh or setup.zsh # 2. 查看图像是否正常 roslaunch mynteye_wrapper_d display.launch ``` ### 1.2 检查机器人控制是否正常 ```shell # 1. 上电开机, 直接遥控器控制 /mecanum_base lsusb ls -l /dev|grep ttyUSB # 2. 编译 cd xx/ git clone https://github.com/JeffYoung17/Exp-Dataset.git ./ cd Exp-Dataset/wrappers/ros/ catkin_make -j8 source xx/Exp-Dataset/wrappers/ros/devel/setup.sh or setup.zsh # 3. 启动机器人ros驱动 roslaunch robot_odom core.launch rqt_graph / rostopic list / rostopic hz xxx # 检查话题是否正确发布 ``` ### 1.3 录制数据 ```shell # 1. 启动接收IMU和编码器, 发布odom坐标系到base_footprint坐标系的odom话题,但是不广播二者间的TF. # TF: # (1) map -> odom -> mynteye_link_frame -> ... # (2) odom -> base_footprint roslaunch robot_odom core.launch # 2. 启动相机, 发布图像话题 roslaunch mynteye_wrapper_d mynteye.launch # 3. 启动rtabmap_ros, 得到视觉里程计topic(坐标系和自车坐标系朝向一致) # 如果图像时间戳硬同步 approx_sync:=false # 如果图像时间戳不同步 approx_sync:=true roslaunch rtabmap_ros rtabmap.launch \ rtabmap_args:="--delete_db_on_start" \ depth_topic:=/mynteye/depth/image_raw \ rgb_topic:=/mynteye/left/image_color \ camera_info_topic:=/mynteye/left/camera_info approx_sync:=true \ frame_id:=mynteye_link_frame # 4. 启动ekf定位 roslaunch robot_odom ekf.launch # 5. 启动record节点记录数据 /test下创建rgb和depth两个文件夹 rosrun record record_node /home/fqy/data/test/ ``` ## Appendix: 小觅相机的ros话题的消息格式和编码类型 ```shell topic: /mynteye/left/image_color type: sensor_msgs/Image encoding: "bgr8" topic: /mynteye/left/image_mono type: sensor_msgs/Image encoding: "mono8" topic: /mynteye/depth/image_raw type: sensor_msgs/Image encoding: "mono16" ``` ```shell /camera_mesh /camera_mesh_array /clicked_point /initialpose /move_base_simple/goal /mynteye/depth/camera_info /mynteye/depth/image_raw /mynteye/depth/image_raw/compressed /mynteye/depth/image_raw/compressed/parameter_descriptions /mynteye/depth/image_raw/compressed/parameter_updates /mynteye/depth/image_raw/compressedDepth /mynteye/depth/image_raw/compressedDepth/parameter_descriptions /mynteye/depth/image_raw/compressedDepth/parameter_updates /mynteye/depth/image_raw/theora /mynteye/depth/image_raw/theora/parameter_descriptions /mynteye/depth/image_raw/theora/parameter_updates /mynteye/imu/data_raw /mynteye/imu/data_raw_processed /mynteye/left/camera_info /mynteye/left/image_color /mynteye/left/image_color/compressed /mynteye/left/image_color/compressed/parameter_descriptions /mynteye/left/image_color/compressed/parameter_updates /mynteye/left/image_color/theora /mynteye/left/image_color/theora/parameter_descriptions /mynteye/left/image_color/theora/parameter_updates /mynteye/left/image_mono /mynteye/left/image_mono/compressed /mynteye/left/image_mono/compressed/parameter_descriptions /mynteye/left/image_mono/compressed/parameter_updates /mynteye/left/image_mono/theora /mynteye/left/image_mono/theora/parameter_descriptions /mynteye/left/image_mono/theora/parameter_updates /mynteye/points/data_raw /mynteye/right/camera_info /mynteye/right/image_color /mynteye/right/image_color/compressed /mynteye/right/image_color/compressed/parameter_descriptions /mynteye/right/image_color/compressed/parameter_updates /mynteye/right/image_color/theora /mynteye/right/image_color/theora/parameter_descriptions /mynteye/right/image_color/theora/parameter_updates /mynteye/right/image_mono /mynteye/right/image_mono/compressed /mynteye/right/image_mono/compressed/parameter_descriptions /mynteye/right/image_mono/compressed/parameter_updates /mynteye/right/image_mono/theora /mynteye/right/image_mono/theora/parameter_descriptions /mynteye/right/image_mono/theora/parameter_updates /mynteye/temp/data_raw ```