from turtlebot import Turtlebot
import numpy as np
turtle = Turtlebot(pc=True, rgb=True, depth=True)
while not turtle.is_shutting_down():
depth = turtle.get_depth_image()
rgb = turtle.get_rgb_image()
point_cloud = turtle.get_point_cloud()
rgb_K = turtle.get_rgb_K()
depth_K = turtle.get_depth_K()
if rgb is None:
continue
if depth is None:
continue
if point_cloud is None:
continue
if rgb_K is None:
continue
if depth_K is None:
continue
np.save('exports/depth.npy', depth)
np.save('exports/rgb.npy', rgb)
np.save('exports/point_cloud.npy', point_cloud)
np.save('exports/rgb_K.npy', rgb_K)
np.save('exports/depth_K.npy', depth_K)
exit(0)
from turtlebot import Turtlebot, sleep
import numpy as np
from scipy.io import savemat
from datetime import datetime
# initialize turlebot
turtle = Turtlebot(rgb=True, depth=True, pc=True)
# sleep 2 set to receive images
sleep(2)
# get K, images, and point cloud
data = dict()
data['K_rgb'] = turtle.get_rgb_K()
data['K_depth'] = turtle.get_depth_K()
data['image_rgb'] = turtle.get_rgb_image()
data['image_depth'] = turtle.get_depth_image()
data['point_cloud'] = turtle.get_point_cloud()
# save data to .mat file
filename = datetime.today().strftime("%Y-%m-%d-%H-%M-%S") + ".mat"
savemat(filename, data)
print "Data saved in " + filename
