aruco_tag_saver

save ground truth with aruco tag (kinect, meta ports)

USAGE

Looking for a ROS version?

please check aruco_tag_saver_ros

Aruco

1. see /tags, 466.jpg is for reference on the table
2. see /tags/DICT_6X6_250, 3, 4, 5 are for end-effector, as shown in this
3. see /tags/DICT_5X5_250, 5x5_1000-7_8_9_10 are for target object

using tcp/ip

1. run script

git clone https://github.com/ivalab/aruco_tag_saver.git
cd aruco_tag_saver
python camera_demo_arucoTag_5X5_250.py.py

2. default port is 2328

using Kinect

1. install libfreenect for kinect (warning: never do upgrade)
2. calibrate kinect
3. run script

git clone https://github.com/ivalab/aruco_tag_saver.git
cd aruco_tag_saver
python camera_demo_arucoTag_kinect.py

4. press s to save rgb/depth/rawDepth images
5. press t or g to tilt up or down kinect
6. 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'

change tilt range for kinect

1. tilt.c:

#define MAX_TILT_ANGLE 91
#define MIN_TILT_ANGLE (-91)

2. 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++;
	}

3. remove libfreenect.so and libfreenect_sync.so under /usr/lib/x86_64-linux-gnu/
4. make and make install libfreenect.so and libfreenect_sync.so and load libraries
5. run Cython setup.py to generate module and link to new .so