1 Open Xiaomi Camera (install the camera SDK, follow the official website to install)
make init
make ros
Note that I found a bug that my camera could not start in ROS, and finally changed to a usb port , because if my computer has two USB ports, it seems that it usually only reads data from the first one, so the camera cannot be started.
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d display.launch
2 View topics
rostopic list
The red circles are the specified topics that need to be recorded, corresponding to the depth map and color map of the Mimi camera respectively
3 Record topic
Record the bag whose bag name is sequences, and specify the topic as ** /mynteye/left/image_color and /mynteye/depth/image_raw**
rosbag record -o sequences /mynteye/left/image_color /mynteye/depth/image_raw
Press and hold Ctrl+C to end the recording, and you will see a bag file named Sequence generated in the directory
4 topic playback
rosbag play sequences_2021-12-06-22-34-44.bag
roscore
rviz
Open the Rviz subscription topic, and you can see the recorded image just now
5 BUG records
When I record with the camera, I should change the resolution to 640 480 in the launch file. Otherwise, relying on the code that generates the data set to forcibly convert it to 640 480 will lead to incorrect internal parameters.