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

Install Anaconda and MATLAB.
Clone this repository to your local laptop.

Setup Python environment in Anaconda Prompt:

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

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
Activate conda env:
```
activate datacol
```
Unzip downloaded Python SDK and follow README.txt "1.1 Installation for Windows".
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

Activate conda env:
```
activate datacol
```
Run script:
```
python run_datacol.py
```
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
......
```
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
```