ROS机器人Diego 1#制作（九）视觉系统之使用Xtion发布点云数据

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要做到机器人的SLAM自适应导航，最基本的要有激光雷达数据或者点云数据，但激光雷达目前价格太高，在淘宝上便宜的也要将近3000块，实在是太贵了，另外可替代的方法是用具有深度摄像机作为传感器发布点云数据，一般用的比较多的是微软的Kinect，或者华硕的Xtion。目前Kinect已经有2.0版本，而且二手的价格也比较便宜，但Kinect2.0支持的USB3.0接口，树莓派USB接口都是2.0的，无奈只能放弃Kinect2.0，Kinect1.0笔者曾经有过一台，影像中感觉体积太大。考虑再三后最终决定使用Xtion，赶紧到淘宝上找，发现价格不便宜，后来发现乐视电视配的第一代体感摄像头，完全是OEM的Xtion，关键是价格要比Xtion便宜好几百，果断进了一台LeTV Xtion，货到后发现装上效果还不错，先上张图：

一、安装：
1.安装OpenNI包

sudo apt-get install ros-kinetic-openni-camera
sudo apt-get install ros-kinetic-openni-launch

2.安装Xtion的新版驱动（现在买到的都是新版本的）

sudo apt-get install libopenni-sensor-primesense0

3.启动openni节点（先要在其他终端中启动roscore）

roslaunch openni_launch openni.launch

启动成功后终端应该显示如下信息

这里的警告信息可以忽略，不影响使用
4.查看摄像头的所生成的影像

rosrun image_view disparity_view image:=/camera/depth/disparity 

也可以通过rviz来查看生成的影像，执行如下命令

rosrun rviz rviz

二、生成点云数据，参考了两篇文档
OpenNI本身就已经有点云数据了，这篇文章完全是看了前辈的文章，就想把这些优秀的代码整合到ROS中来
官方文档http://wiki.ros.org/navigation/Tutorials/RobotSetup/Sensors
古月居的http://blog.csdn.net/hcx25909/article/details/8654684

1.源代码

#include <ros/ros.h>
#include <sensor_msgs/PointCloud.h>
#include <XnCppWrapper.h>
#include <iostream>
#include <iomanip>
#include <vector>

using namespace xn; 
using namespace std; 

struct SColorPoint3D  
{  
    float  X;  
    float  Y;  
    float  Z;  
    float  R;  
    float  G;  
    float  B;  
  
    SColorPoint3D( XnPoint3D pos, XnRGB24Pixel color )  
    {  
      X = pos.X;  
      Y = pos.Y;  
      Z = pos.Z;  
      R = (float)color.nRed / 255;  
      G = (float)color.nGreen / 255;  
      B = (float)color.nBlue / 255;  
    }  
};  

void GeneratePointCloud( DepthGenerator& rDepthGen,  
                         const XnDepthPixel* pDepth,  
                         const XnRGB24Pixel* pImage,  
                         vector<SColorPoint3D>& vPointCloud )  
{  
    // number of point is the number of 2D image pixel  
    DepthMetaData mDepthMD;  
    rDepthGen.GetMetaData( mDepthMD );  
    unsigned int uPointNum = mDepthMD.FullXRes() * mDepthMD.FullYRes();  
  
    // build the data structure for convert  
    XnPoint3D* pDepthPointSet = new XnPoint3D[ uPointNum ];  
    unsigned int i, j, idxShift, idx;  
    for( j = 0; j < mDepthMD.FullYRes(); ++j )  
    {  
        idxShift = j * mDepthMD.FullXRes();  
        for( i = 0; i < mDepthMD.FullXRes(); ++i )  
        {  
            idx = idxShift + i;  
            pDepthPointSet[idx].X = i;  
            pDepthPointSet[idx].Y = j;  
            pDepthPointSet[idx].Z = pDepth[idx];  
        }  
    }  
  
    // un-project points to real world  
    XnPoint3D* p3DPointSet = new XnPoint3D[ uPointNum ];  
    rDepthGen.ConvertProjectiveToRealWorld( uPointNum, pDepthPointSet, p3DPointSet );  
    delete[] pDepthPointSet;  
  
    // build point cloud  
    for( i = 0; i < uPointNum; ++ i )  
    {  
        // skip the depth 0 points  
        if( p3DPointSet[i].Z == 0 )  
            continue;  
  
        vPointCloud.push_back( SColorPoint3D( p3DPointSet[i], pImage[i] ) );  
    }  
    delete[] p3DPointSet;  
}  


int main(int argc, char** argv){
  ros::init(argc, argv, "point_cloud_publisher");

  ros::NodeHandle n;
  ros::Publisher cloud_pub = n.advertise<sensor_msgs::PointCloud>("cloud", 50);

  unsigned int num_points = 100;

  int count = 0;
  ros::Rate r(1.0);
  
  /
  XnStatus eResult = XN_STATUS_OK;  
  int i = 0;  
    
  // init  
  Context mContext;  
  eResult = mContext.Init();    
  
  DepthGenerator mDepthGenerator;  
  eResult = mDepthGenerator.Create(mContext);  
  ImageGenerator mImageGenerator;  
  eResult = mImageGenerator.Create(mContext);  
  
  // set output mode  
  XnMapOutputMode mapMode;  
  mapMode.nXRes = XN_VGA_X_RES;  
  mapMode.nYRes = XN_VGA_Y_RES;  
  mapMode.nFPS  = 30;  
  eResult = mDepthGenerator.SetMapOutputMode(mapMode);  
  eResult = mImageGenerator.SetMapOutputMode(mapMode);  
  
  // start generating    
  eResult = mContext.StartGeneratingAll();  
  // read data  
  vector<SColorPoint3D> vPointCloud; 
  /
  
  
  while(n.ok()){
	  
	eResult = mContext.WaitNoneUpdateAll();  
    // get the depth map  
    const XnDepthPixel*  pDepthMap = mDepthGenerator.GetDepthMap();  
  
    // get the image map  
    const XnRGB24Pixel*  pImageMap = mImageGenerator.GetRGB24ImageMap();  
  
    // generate point cloud  
    vPointCloud.clear();  
    GeneratePointCloud(mDepthGenerator, pDepthMap, pImageMap, vPointCloud );  
    
    // print point cloud  
    cout.flags(ios::left);    //Left-aligned  
    cout << "Point number: " << vPointCloud.size() << endl; 
    
    num_points=vPointCloud.size();
	  
    sensor_msgs::PointCloud cloud;
    cloud.header.stamp = ros::Time::now();
    cloud.header.frame_id = "sensor_frame";

    cloud.points.resize(num_points);

    //we'll also add an intensity channel to the cloud
    cloud.channels.resize(3);
    cloud.channels[0].name = "R";
    cloud.channels[0].values.resize(num_points);
    cloud.channels[1].name = "G";
    cloud.channels[1].values.resize(num_points);
    cloud.channels[2].name = "G";
    cloud.channels[2].values.resize(num_points);

    //generate some fake data for our point cloud
    for(unsigned int i = 0; i < num_points; ++i){
      cloud.points[i].x = vPointCloud[i].X;
      cloud.points[i].y = vPointCloud[i].Y;
      cloud.points[i].z = vPointCloud[i].Z;
      cloud.channels[0].values[i] = vPointCloud[i].R;
      cloud.channels[1].values[i] = vPointCloud[i].G;
      cloud.channels[2].values[i] = vPointCloud[i].B;
    }

    cloud_pub.publish(cloud);
    ++count;
    r.sleep();
  }
  return 0;
}

2.另外在包目录下的CMakeLists.txt文件中有两处修改，否则编译会出错
增加openni的引用路径

include_directories ("/usr/include/ni/")

增加新的可执行文件说明

add_executable(XtionPointCloud src/XtionPointCloud.cpp)
target_link_libraries(XtionPointCloud ${catkin_LIBRARIES})
target_link_libraries(XtionPointCloud OpenNI)

修改保存后在~/catkin_ws下执行编译命令

catkin_make

3.启动XtionPointCloud节点

rosrun diego_nav XtionPointCloud

打开另外一个终端查看发布的点云数据

rostopic echo /cloud

这时候就会看到一屏一屏的数据

树莓派处理其点云数据还是很吃力的，这个时候树莓派的系统资源使用情况：

4个CPU的使用都在50%以上
内存使用接近90%