ROS下使用乐视RGB-D深度相机显示图像和点云
- 1. 正常安装
- 1.1 安装依赖
- 1.2 建立工作空间
- 1.3 克隆代码
- 1.4 Create astra udev rule
- 1.5 编译源码包
- 1.6 修改astrapro.launch
- 1.7 启动
- 1.8 显示深度图和RGB图
- 2. 使用点云数据
- 2.1 新建rviz文件
- 2.2 编辑rviz文件
- 2.3 在rviz中显示点云
- 2.4 显示彩色点云
最近调了一下很久之前买的乐视遗产系列——三合一体感相机（某宝100多块钱的RGB-D相机，实际也是奥比中光的 Astra Pro，学生党福利），赶紧记录一下，以防过两天忘了。
官方资料： Github 官方SDK ROS wiki
1. 正常安装
1.1 安装依赖
代码语言：javascript复制sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros1.2 建立工作空间
代码语言：javascript复制mkdir -p ~/rgbd_ws/src
cd ~/rgbd_ws/
catkin_make
source devel/setup.bash1.3 克隆代码
代码语言：javascript复制cd ~/rgbd_ws/src
git clone https://github.com/orbbec/ros_astra_camera1.4 Create astra udev rule
代码语言：javascript复制roscd astra_camera
sudo sh ./scripts/create_udev_rules1.5 编译源码包
代码语言：javascript复制cd ~/rgbd_ws
catkin_make --pkg astra_camera1.6 修改astrapro.launch
首先查看相机接口：
代码语言：javascript复制lsusb其中：
Bus 001 Device 019: ID 2bc5:0502 # RGB模块 Bus 001 Device 018: ID 2bc5:0403 # 深度模块
修改Astrapro.launch
代码语言：javascript复制cd ~/cd rgbd_ws/src/ros_astra_camera/launch/
gedit astrapro.launch将 0x0501 改为上面的 0x0502
1.7 启动
代码语言：javascript复制 source ~/rgbd_ws/devel/setup.bash
roslaunch astra_camera astrapro.launch打开新终端，启动rviz
代码语言：javascript复制rosrun rviz rviz1.8 显示深度图和RGB图
Rviz中点击左下角Add
依次进行以下操作：Add -> By topic -> 选择对应的image即可
2. 使用点云数据
2.1 新建rviz文件
代码语言：javascript复制cd ~/rgbd_ws/src
mkdir rviz
cd rviz
touch depth_camera.rviz2.2 编辑rviz文件
使用gedit编辑rviz文件
代码语言：javascript复制cd ~/rgbd_ws/src/rviz
sudo gedit depth_camera.rviz填写代码如下
代码语言：javascript复制Panels:
- Class: rviz/Displays
Help Height: 88
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /PointCloud21
Splitter Ratio: 0.5
Tree Height: 453
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 159; 147; 147
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XZ
Plane Cell Count: 10
Reference Frame: camera_depth_optical_frame
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 8.875
Min Value: 1.28500009
Value: true
Axis: X
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.00999999978
Style: Squares
Topic: /camera/depth/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: camera_depth_frame
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 7.51409006
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 2.80641723
Y: -0.0263374168
Z: -0.295807391
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.305203468
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.89040422
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 744
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000025efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025e000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001a9000001430000000000000000000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003efc0100000002fb0000000800540069006d00650100000000000005150000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003a50000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1301
X: 65
Y: 242.3 在rviz中显示点云
按照上节方法打开深度相机和rviz
左上角：File -> Open config，打开刚刚新建的rviz文件即可
2.4 显示彩色点云
彩色点云我没有去做，可以参考这个：乐视体感astra pro深度摄像头在ros系统获取 深度图像 彩色图像 无色彩点云数据 彩色点云数据
参考博文： 淘宝便宜的那个奥比中光摄像头（astra pro）在ubuntu16.04下Ros（kinectic）中使用说明 在rviz中使用Astra pro深度相机的点云数据
