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

sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros

1.2 建立工作空间

mkdir -p ~/rgbd_ws/src
cd ~/rgbd_ws/
catkin_make
source devel/setup.bash

1.3 克隆代码

cd ~/rgbd_ws/src
git clone https://github.com/orbbec/ros_astra_camera

1.4 Create astra udev rule

roscd astra_camera
sudo sh ./scripts/create_udev_rules

1.5 编译源码包

cd ~/rgbd_ws
catkin_make --pkg astra_camera

1.6 修改astrapro.launch

首先查看相机接口：

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

cd  ~/cd rgbd_ws/src/ros_astra_camera/launch/
gedit astrapro.launch

将 0x0501 改为上面的 0x0502

1.7 启动

 source ~/rgbd_ws/devel/setup.bashroslaunch astra_camera astrapro.launch

打开新终端，启动rviz

rosrun rviz rviz

1.8 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

cd ~/rgbd_ws/src
mkdir rviz
cd rviz
touch depth_camera.rviz

2.2 编辑rviz文件

使用gedit编辑rviz文件

cd ~/rgbd_ws/src/rviz
sudo gedit depth_camera.rviz

填写代码如下

Panels:- Class: rviz/DisplaysHelp Height: 88Name: DisplaysProperty Tree Widget:Expanded:- /Global Options1- /Status1- /Grid1- /PointCloud21Splitter Ratio: 0.5Tree Height: 453- Class: rviz/SelectionName: Selection- Class: rviz/Tool PropertiesExpanded:- /2D Pose Estimate1- /2D Nav Goal1- /Publish Point1Name: Tool PropertiesSplitter Ratio: 0.588679016- Class: rviz/ViewsExpanded:- /Current View1Name: ViewsSplitter Ratio: 0.5- Class: rviz/TimeExperimental: falseName: TimeSyncMode: 0SyncSource: PointCloud2
Visualization Manager:Class: ""Displays:- Alpha: 0.5Cell Size: 1Class: rviz/GridColor: 159; 147; 147Enabled: trueLine Style:Line Width: 0.0299999993Value: LinesName: GridNormal Cell Count: 0Offset:X: 0Y: 0Z: 0Plane: XZPlane Cell Count: 10Reference Frame: camera_depth_optical_frameValue: true- Alpha: 1Autocompute Intensity Bounds: trueAutocompute Value Bounds:Max Value: 8.875Min Value: 1.28500009Value: trueAxis: XChannel Name: intensityClass: rviz/PointCloud2Color: 255; 255; 255Color Transformer: AxisColorDecay Time: 0Enabled: trueInvert Rainbow: falseMax Color: 255; 255; 255Max Intensity: 4096Min Color: 0; 0; 0Min Intensity: 0Name: PointCloud2Position Transformer: XYZQueue Size: 10Selectable: trueSize (Pixels): 3Size (m): 0.00999999978Style: SquaresTopic: /camera/depth/pointsUnreliable: falseUse Fixed Frame: trueUse rainbow: trueValue: trueEnabled: trueGlobal Options:Background Color: 48; 48; 48Default Light: trueFixed Frame: camera_depth_frameFrame Rate: 30Name: rootTools:- Class: rviz/InteractHide Inactive Objects: true- Class: rviz/MoveCamera- Class: rviz/Select- Class: rviz/FocusCamera- Class: rviz/Measure- Class: rviz/SetInitialPoseTopic: /initialpose- Class: rviz/SetGoalTopic: /move_base_simple/goal- Class: rviz/PublishPointSingle click: trueTopic: /clicked_pointValue: trueViews:Current:Class: rviz/OrbitDistance: 7.51409006Enable Stereo Rendering:Stereo Eye Separation: 0.0599999987Stereo Focal Distance: 1Swap Stereo Eyes: falseValue: falseFocal Point:X: 2.80641723Y: -0.0263374168Z: -0.295807391Focal Shape Fixed Size: trueFocal Shape Size: 0.0500000007Invert Z Axis: falseName: Current ViewNear Clip Distance: 0.00999999978Pitch: 0.305203468Target Frame: <Fixed Frame>Value: Orbit (rviz)Yaw: 3.89040422Saved: ~
Window Geometry:Displays:collapsed: falseHeight: 744Hide Left Dock: falseHide Right Dock: trueQMainWindow State: 000000ff00000000fd00000004000000000000016a0000025efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025e000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001a9000001430000000000000000000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003efc0100000002fb0000000800540069006d00650100000000000005150000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003a50000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000Selection:collapsed: falseTime:collapsed: falseTool Properties:collapsed: falseViews:collapsed: trueWidth: 1301X: 65Y: 24

2.3 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

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