zxhou/IMUKin2

IMUKin2: a program for reading IMU (mpu6050) and Kinect v2 synchronously.

IMUKin2

Maintainer

• Zhixing Hou <zxhou@njust.edu.cn>, The Intelligent Machine Research Lab, Nanjing University of Science and Technology.

Description

This is a simple program for reading and saving IMU (mpu6050) as well as Kinect v2 synchronously.

This is based on Kinect2 Viewer contributed by Thiemo Wiedemeyer.

Dependencies

• ROS Kinetic
• OpenCV
• PCL

Installation

1. Install libfreenect2
2. Install iai_kinect2
3. Clone this repository into your catkin workspace and build it.

cd ~/catkin_ws/src/
git clone https://github.com/zxhou/IMUKin2.git
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release"

Usage

1. Check the serial port devices.ls -l /dev/tty*
2. For mpu6050, ttyUSB0 is available. sudo chmod 666 /dev/ttyUSB0 (every time you boot the machine)
3. Run the program

imageIMU [options]
  mode: 'qhd', 'hd', 'sd' or 'ir'
  visualization: 'image', 'cloud' or 'both'
  saving path: ~/dataset/

Example: rosrun imukin2 imukin2 qhd image ~/dataset/

Key bindings

Image Windows:

• ESC, q: Quit.
• b: Save the RGB and depth image sequences into ~/dataset/color and ~/dataset/depth respectively. Save IMU data into ~/dataset/imuData.txt.
• e: Stop saving.