zfzhong / cr-data-collector

Camera-Radar Data Collection Tools

Camera/Radar Data Collection Tools

This is a repository for Camera/Radar data collection tools, including operating the sensors, image/radar data preprocessing, sensor calibration.

Installation

1. Install Anaconda and MATLAB.
2. Clone this repository to your local laptop.
3. Setup Python environment in Anaconda Prompt:

   cd cr-data-collector
   conda create --name datacol --file requirements.txt
   

4. Download Spinnaker Python SDK
   1. Download Spinnaker Python SDK: https://www.flir.com/products/spinnaker-sdk/
   2. DOWNLOAD NOW => DOWNLOAD FROM BOX => Windows => Latest Python Spinnaker => x86: spinnaker_python-1.23.0.27-cp36-cp36m-win32.zip / x64: spinnaker_python-1.23.0.27-cp36-cp36m-win_amd64.zip
5. Activate conda env:

   activate datacol
   

6. Unzip downloaded Python SDK and follow README.txt "1.1 Installation for Windows".
7. Install MATLAB Engine API for Python by following the instruction: https://www.mathworks.com/help/matlab/matlab_external/install-the-matlab-engine-for-python.html

Run data collector

1. Activate conda env:

   activate datacol
   

2. Run script:

   python run_datacol.py
   

3. Set configurations:

   There are several configurations need to be set as follows. If you input nothing, it will use the default values.

   • Base directory: the place to store collected data. Default to be D:\RawData.
   • Sequence number: the number of sequences to be collected. Default to be 1. (if == 1, sequence name is needed; else, use onrd_xxx)
   • Sequence name: the name of the current sequence. Does not have default value.
   • Frame rate: the frame rate of the camera. Default to be 30 FPS.
   • Number of images: the number of images need to be collected in this sequence. Default to be 30.

   Here is an example output of running this script:

   (datacol) D:\data-collection-tools\cr-data-collector>python run_datacol.py
   Enter base directory (default='D:\RawData'):
   Enter sequence number (default=1): 3
   Enter frame rate (default=30):
   Enter number of images (default=30):
   Input configurations:
           Base Directory:          D:\RawData\2019_06_26
           Sequence Number:         3
           Sequence Name:           ['2019_06_26_onrd012', '2019_06_26_onrd013', '2019_06_26_onrd014']
           Framerate:               30
           Image Number:            30
   
   Are the above configurations correct? (y/n) y
   ......
   

4. When all the configurations are set, press enter to start recording.

Camera Calibration

We use ROS to calibrate our camera(s).

ROS Kinetic installation instructions can be found here: http://wiki.ros.org/kinetic/Installation.

After install ROS, download Spinnaker SDK for our BlackFly S Cameras: http://wiki.ros.org/spinnaker_sdk_camera_driver. Follow the instructions to install drivers and run camera.

Steps for monocular camera calibration

• Refer to http://wiki.ros.org/camera_calibration for the details first.
• Start ROS server:

  roscore
  

• Start camera acquisition:

  roslaunch spinnaker_camera_driver camera.launch
  

• Run camera calibration:

  rosrun camera_calibration cameracalibrator.py --size 8x6 \\
      --square 0.033 image:=/camera/image_raw camera:=/camera
  

• Move camera around the checkerboard to collect enough images and click "Calibrate" button.
• After calibration finished, click "Save" button.
• Copy calibration results to a desired destination:

  cp /tmp/calibrationdata.tar.gz /mnt/nas_crdataset/
  

Steps for stereo camera calibration

• Refer to http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration for the details first.
• Start ROS server:

  roscore
  

• Start camera acquisition:

  roslaunch spinnaker_camera_driver stereo.launch
  

• Run camera calibration:

  rosrun camera_calibration cameracalibrator.py --approximate 0.1 \\ 
      --size 8x6 --square 0.033 right:=/stereo/right/image_raw \\
      left:=/stereo/left/image_raw right_camera:=/stereo/right \\
      left_camera:=/stereo/left
  

• Move camera around the checkerboard to collect enough images and click "Calibrate" button.
• After calibration finished, click "Save" button.
• Copy calibration results to a desired destination:

  cp /tmp/calibrationdata.tar.gz /mnt/nas_crdataset/