save ground truth with aruco tag (kinect, meta ports)
please check aruco_tag_saver_ros
- see
/tags,466.jpgis for reference on the table - see
/tags/DICT_6X6_250,3,4,5are for end-effector, as shown in this - see
/tags/DICT_5X5_250,5x5_1000-7_8_9_10are for target object
- run script
git clone https://github.com/ivalab/aruco_tag_saver.git
cd aruco_tag_saver
python camera_demo_arucoTag_5X5_250.py.py
- default port is
2328
- install libfreenect for kinect (warning: never do upgrade)
- calibrate kinect
- run script
git clone https://github.com/ivalab/aruco_tag_saver.git
cd aruco_tag_saver
python camera_demo_arucoTag_kinect.py
- press
sto save rgb/depth/rawDepth images - press
torgto tilt up or down kinect - change the parameters:
# CHANGE-ABLE PARAMETERS
OBJECT_TYPE = "scoop"
CAM_POSE = 0
OBJ_POSE = 0
START_COUNT = 0
tmpPathGT_pose = './data/graspPositions.txt'
tmpPathGT_ar = './data/arucoPositions.txt'
tmpPathGT = './data/graspPoseLabels.txt'
tilt.c:
#define MAX_TILT_ANGLE 91
#define MIN_TILT_ANGLE (-91)
glview.c(optional, only if you want to use this example):
if (key == 'w') {
freenect_angle++;
if (freenect_angle > 30) {
freenect_angle = 30;
}
tilt_changed++;
}
...
if (key == 'x') {
freenect_angle--;
if (freenect_angle < -30) {
freenect_angle = -30;
}
tilt_changed++;
}
- remove
libfreenect.soandlibfreenect_sync.sounder/usr/lib/x86_64-linux-gnu/ - make and make install
libfreenect.soandlibfreenect_sync.soand load libraries - run Cython setup.py to generate module and link to new
.so
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent
