Uses ROS, OpenCamera Sensors remote control API and Twist-n-Sync1 synchronization approach to record synchronized data from heterogenious hardware-software system.
pip install -r requirements.txt
Connect all the sensors needed launch OpenCamera Sensors mobile app and launch
master.py <SMARTPHONE-IP-ADDR>
then follow CLI-prompts to start recording.
<SMARTPHONE-IP-ADDR> is the smartphone IP-address shown as a prompt in OpenCamera Sensors. Computer and smartphone must be connected to the same WiFi-network.
The workflow is the following:
- Waiting for (i) connection with smartphone and (ii) launching ROS
*.launchscript - Obtaining MCU-smartphone clock synchronization by Twist-n-Sync approach
- Start recording. An operator may tap Enter every time when wish to create timestamps for indiactiing some events. This is useful for creating sub-sequences while extracting data by
bag-extractor.
Recorded *.bag will appear in the CLI current directory.
Recorded smartphone video along with metadata should be manually downloaded to the computer.
Use bag-extractor and its instructions.
- If after stopping script by Ctrl+C there message
MASTER MESSAGE: Exitingappears, but CLI doesn't give access to new commands, wait -- probably Azure Kinect sensor consumes time for stopping its processes. - If after stopping script by Ctrl+C there is no message
MASTER MESSAGE: Exiting, but you see last worddone, just tap Enter to get access to CLI. - To avoid problems with Azure, while working by SSH, run
export DISPLAY=:0before starting the script every time connecting via SSH. Automotic user login must be set to ON.
1
@article{faizullin2021twist,
title={Twist-n-Sync: Software Clock Synchronization with Microseconds Accuracy Using MEMS-Gyroscopes},
author={Faizullin, Marsel and Kornilova, Anastasiia and Akhmetyanov, Azat and Ferrer, Gonzalo},
journal={Sensors},
volume={21},
number={1},
pages={68},
year={2021},
publisher={Multidisciplinary Digital Publishing Institute}
}