Make your data with Kinect
2011. May. 24
Jiseob Kim, Eun-Sol Kim
rosbag
• Tools for recording from and playing back to ROS topi
cs
rosbag record rosout tf cmd_vel
• Recording from topics
• Record all topics
• Play back contents
rosbag record -a
rosbag play <my_file.bag>
• There are many options which can help your project2
– http://www.ros.org/wiki/rosbag/Commandline
rosbag -h
Practice for project2
• Make your data
– Project2 Track A: Image data
– Project2 Track B: Motion data
• You should use the Kinect for data capture
• You should use ‘rosbag’
Make an Image Dataset
• Take a picture with Kinect
• Change
– color image to gray scale image
– image size: 20ⅹ20
– One image has 400 feature values
Make a Motion Dataset
• Start openni_tracker
• Record human motions from Kinect
– record ‘tf’ and ‘camera/rgb’
• Features for motion dataset
– 15 joint angles
– Each joint has 4 angle values (x,y,z,w)
• rotation values not a translation
– One motion has 60 feature values
• Tips
– Use ‘echo’ and ‘redirection’ to change the recordingfile
format (ex. .bag-> .txt)
– Because .bag is difficult to deal with other text editor
Make an .arff file
@RELATION <dataset name>
@ATTRIBUTE
@ATTRIBUTE
@ATTRIBUTE
@ATTRIBUTE
…..
@ATTRIBUTE
@DATA
1,2,3,1, apple
3,2,0,1, book
……
<feature1
<feature2
<feature3
<feature4
name>
name>
name>
name>
<feature1
<feature2
<feature3
<feature4
type>
type>
type>
type>
Header
class <classes name>
Data
( feature values + class )
Schedule for project2
• May. 29
– TA will give you kinect and Linux machine
– Specification document for project 2 will be
uploaded
• (Jun. 5: Final Exam)
• Jun. 12
– Poster presentation
• Jun. 14
– Deadline of a report for project2