def main(): turtle = Turtlebot(pc=True, depth=True) K = turtle.get_depth_K() #Init map init_map() while not turtle.is_shutting_down(): # Process depth image to pointcloud depth = turtle.get_depth_image() if depth is None: print("Depth image is None") continue # Pointcloud pcl = image2cloud(depth, K, True) fit_pointcloud(pcl) move = True turtle.reset_odometry() move.rotate(turtle, 3.14, verbose=True) move.translate(turtle, 2, verbose=True) print("Back in main") break
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