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Physical setup for collecting tod_training data?

asked 2011-03-23 02:48:10 -0600

Julius gravatar image

I wonder how to collect tod_training data? From a previous question I know that we should be able use

roslaunch tod_training record_openni.launch bag:=pwd/awesome.bag interval:=0.5

Unfortunately, the tutorial about recording a training bag is empty. I wonder how to setup our environment. We need fiducial markers rigidly attached to a rotating table and in between these markers, we place an object, correct? Is it enough to create a setup as shown on the picture?

image description

(image showing part of the sample training bags found in the base-creation tutorial)

  • Must the print size of the fiducial markers have a certain size?
  • Are there any crucial aspects I have to be aware of in my preparation?

As collection of training data can be time-consuming and needs hardware, I want to make sure we're on the right track before starting the attempt.

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answered 2011-03-23 05:13:53 -0600

updated 2011-03-23 05:14:45 -0600

We need fiducial markers rigidly attached to a rotating table and in between these markers, we place an object, correct?

Yes.

Is it enough to create a setup as shown on the picture?

Yes.

Must the print size of the fiducial markers have a certain size?

No. You can use different markers (different cells count, size, etc). But you should change fiducial configuration file (fiducial.yaml) for your markers.

Are there any crucial aspects I have to be aware of in my preparation?

I think no. You should only write bag file with object rotation.

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Alexander, our understanding is that ./bin/fiducial program in pkg fiducial generates that fiducial.yaml file. However, the question is how do we get in the description of 2 checkerboards as done in the following file: http://vault.willowgarage.com/wgdata1/vol1/tod_kinect_bags/training/fiducial.yml?
dejanpan gravatar image dejanpan  ( 2011-04-04 03:46:34 -0600 )edit

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Asked: 2011-03-23 02:48:10 -0600

Seen: 242 times

Last updated: Mar 23 '11