Aruco_ws

A dataset creator for wifi recording project

developed by M-R-Vulcan Team

Getting started:

• clone this repository
• cd ~/Aruco_ws/src/aruco_tf/src/src/
• pip3 install -r requirements.txt

Run the bash script:

• ./aruco_script.sh < room number >

  for example: "./aruco_script.sh 1"

aruco_script.sh:

• change the following parameters:

  #folder that contains the scripts from this repository:

  • SCRIPTS_PATH="/home/USER/Aruco_ws/src/aruco_tf/src/src"

  #folder that contains the launchfiles:

  • LAUNCH_FILE_PATH="/home/USER/Aruco_ws/src/aruco_tf/src/launch"

  #folder that contains the recordings - with movement:

  • RESULTS_FOLDER_PATH="/home/USER/recording-results/With_Movement/"

  #folder that contains the recordings - baseline:

  • BASELINE_FOLDER_PATH="/home/USER/recording-results/Baseline/"

  #temporary folder

  • TEMP_FOLDER_PATH="/home/USER/temp"

  #aruco ids that were used in the recording

  • FLOOR_ARUCO_IDS=()
  • HUMAN_ARUCO_IDS=()

Display the csv files using Plotly:

• run the script "plot_data.py"

RVIZ Display configuration:

• Add TF
• change Global Frame > room_link

DatasetFix script:

• after getting the csv files from aruco_script.sh its suggested to run "datasetFix.py".

  how to use:

  1. change the main_dir_path to the folder that contains all of the rooms(need to have a csv file called "dataset_room_X_pcap_X.csv" and a yaml file for the specific room)
  2. run the script(python3), enter the room number and pcap number of the specific '.csv' file.
  3. the script will fix:
     • one place labels(for example: "walking", "walking", "sitting", "DO_NOT_USE" -> change "sitting"->"DO_NOT_USE")
     • replace all "DO_NOT_USE" labels to "Nan" -> changes the xyz to "Nan" as well, in most of the cases it solves the next step.
     • read the yaml file and return to the user all the points that are out of the room(if there are any).
     • replace all the points where the "z" is higher than 1.64 to "Nan" (usually happens in the ending of a movement)
     • creates a new csv file under the name of the csv that used and renames the used csv to _old.csv

Record ROS and display frames

• $ rosrun tf view_frames
• $ evince frames.pdf