[安装配置] TX2上利用Kinect v1录制'TUM'数据集

本文主要是介绍[安装配置] TX2上利用Kinect v1录制'TUM'数据集，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

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 sysrgb_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 etimestr = "%.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.pngcv2.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 etimestr = "%.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.pngcv2.imwrite(depth_path + image_name, cv_image)  #保存；if __name__ == '__main__':#rospy.init_node(PKG)try:image_creator = ImageCreator()except rospy.ROSInterruptException:pass