Users:

by "config file" I mean config.py

0. set up hardware and go to the exp folder

1.in the terminal, call

source goto_table_dome.sh table_dome source source_this.py

to come to this folder 2. Open another window running "roscore" * if it says there is already some running roscore, then don't run it

3. Open another terminal, do:

source /home/zhouxian/catkin_ws/devel/setup.bash roslaunch realsense2_camera rs_aligned_depth_multiple_cameras.launch camera1:=camera1 serial_nocamera1:=836612072253 camera2:=camera2 serial_nocamera2:=838212071161 camera3:=camera3 serial_nocamera3:=838212071165 camera4:=camera4 serial_nocamera4:=831612072676 camera5:=camera5 serial_nocamera5:=826212070528 camera6:=camera6 serial_nocamera6:=838212071158

make sure you get some yellow messages saying [WARN][...]Hardware x, Error if you can something white, please unplug the camera usb and insert again

1. Calibrate checkerboard calibrate 0. source /home/zhouxian/kalibr_workspace/devel/setup.bash

   1. python3 user_scripts/checkerboard_calibrate.py a. There will be a countdown. b. Start recording once the countdown is finished 5,4,3,2,1

      c. End recording until the terminal prints "finish anytime you want" with ctrl-c d. follow the instruction in the end of the message, by

      • adding checkboard_record_name to config, and
      • running kalibr_calibrate_cameras command

   note: this one giveS me the CamX_T_CamY

   2. After finish it, place the yaml to your target folder: checkerboard_data_root/checkerboard_record_name in config.py cd /home/zhouxian/data/TableDome/cam_calibrate/TableDome_you_exp_name and add your yml file to config: checkboard_yml=

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Artag_calibration 0. put the ar tag on the table (with the correct orientation)

1. python3 user_scripts/calibrate.py

note: this will create a folder ~/data/TableDome/record_name and store artag_T_cam and camera intrinsics under ar_tag folder

2. Record 0. put away the ar tag

   1. remember to put your record name and artag_folder in the config.py file

   2. python3 user_scripts/record.py

   3. kill the process with ctrl-c once you want to finish recording

   4. If you want to record without recalibrate, keep the same ar_tag_folder in config.py, and change your record name to record_name=""

3. Check your record

4. rqt_bag /home/zhouxian/data/TableDome/YOUR_RECORD_NAME/CalibData.bag

5. Pack tfrecords:

6. python3 user_scripts/dump.py

7. python packtf.py

Note: save bag into image/depth, then pack everything with packtf.py

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==========extra===============

1. visualize your point cloud with python user_scripts/visual.py

Trouble shooting:

1. Unable to register with master node make sure you have another window running "roscore"

Note: todo:

1. if you use wait_for_message, you don't need the subscriber

2. color and depth path should be /colorData/Cam%d/cam_camera%d_%d_color.npy /depthData/Cam%d/cam_camera%d_%d_depth.npy