data_collection.py

# -*- coding: utf-8 -*-

import rospy
import cv2
import os
import time
from sensor_msgs.msg import JointState, Image
from cv_bridge import CvBridge

# �Զ������ݽṹ
class DataCollection:
    def __init__(self):
        self.joint_states = None
        self.image = None
        self.joint_states_frame_id = None
        self.image_frame_id = None

# ȫ�ֱ���
data_collection = DataCollection()
bridge = CvBridge()
frame_id = 0


# �����ļ���
def create_data_folder():
    # ��ȡ��ǰʱ�䣬��ʽΪYYYYMMDD_HHMMSS
    current_time = time.strftime("%Y%m%d_%H%M%S")
    folder_name = f"{current_time}_data"
    # �����ļ���
    os.makedirs(folder_name, exist_ok=True)
    return folder_name

def joint_states_callback(msg):
    global data_collection,frame_id
    data_collection.joint_states = msg.position
    data_collection.joint_states_frame_id = frame_id


def image_callback(msg):
    global data_collection,frame_id
    try:
        # ��ROSͼ����Ϣת��ΪOpenCVͼ��
        cv_image = bridge.imgmsg_to_cv2(msg, "bgr8")
        data_collection.image = cv_image
        data_collection.image_frame_id = frame_id
    except Exception as e:
        rospy.logerr(e)

def collect_data(folder_path):
    global data_collection,frame_id
    fps = 10
    fourcc = cv2.VideoWriter_fourcc(*'mp4v')  # Codec for MP4
    out = cv2.VideoWriter(os.path.join(folder_path, f"out.mp4"), fourcc, fps, (640, 480))  # Adjust resolutio
    rate = rospy.Rate(10)  # 10Hz
    while not rospy.is_shutdown():
        if data_collection.joint_states is not None and data_collection.image is not None:
            # �������ݵ��ļ�
            timestamp = time.strftime("%Y%m%d-%H%M%S")
            joint_states_filename = os.path.join(folder_path, f"joint_states.txt")
            image_filename = os.path.join(folder_path, f"image_{timestamp}.png")

            # ����JointStates
            with open(joint_states_filename, 'a') as f:
                f.write(f"Frame ID: {data_collection.joint_states_frame_id}\n")
                f.write(f"Joint Positions: {data_collection.joint_states}\n")

            # ����ͼ��
            out.write(data_collection.image)
            frame_id += 1
            rospy.loginfo(f"Data saved to {joint_states_filename} and {image_filename}")

            # ��������
            data_collection = DataCollection()

        rate.sleep()

if __name__ == '__main__':
    rospy.init_node('data_collection_node', anonymous=True)

    # �����ļ���
    folder_path = create_data_folder()
    rospy.loginfo(f"Data will be saved to: {folder_path}")

    # ���Ļ���
    rospy.Subscriber("/Arm_2_JointStates", JointState, joint_states_callback)
    rospy.Subscriber("/usb_cam/image_raw", Image, image_callback)

    # ��ʼ�ռ�����
    collect_data(folder_path)