乐视三合一体感深度相机AstraPro图像获取流程【必看】

1、下载ros包或者自己去github
可以通过网盘分享的文件：【代码.zip】
链接: https://pan.baidu.com/s/1I-SaCt2Bj7-AG_QjgxiGTQ?pwd=3e5u 提取码: 3e5u
–来自百度网盘超级会员v4的分享

git clone https://github.com/orbbec/ros_astra_camera.git
git clone https://github.com/libuvc/libuvc.git

2、安装依赖

sudo apt install libgflags-dev ros-$ROS_DISTRO-image-geometry ros-$ROS_DISTRO-camera-info-manager \
ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher libgoogle-glog-dev libusb-1.0-0-dev libeigen3-dev \
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs libdw-dev

(1)、在openNI驱动包中进行下列操作

cd OpenNI-Linux-x64-2.3
sudo chmod a+x install.sh
sudo ./install.sh

插拔摄像头之后

source OpenNIDevEnvironment

编译

cd Samples/SimpleViewer
make

连接设备，执行示例

cd Bin/x64-Release
./SimpleViewer

此时可以看到深度图像

假如没有图像，确认已重新插拔。再不行执行命令

sudo apt-get install build-essential freeglut3 freeglut3-dev
ldconfig -p | grep libudev.so.1
cd /lib/x86_64-linux-gnu
sudo ln -s libudev.so.x.x.x libudev.so.1

(2)、在libuvc驱动包中进行下列操作

cd libuvc
mkdir build && cd build
cmake .. && make -j 
sudo make install
sudo cp /usr/include/libusb-1.0/libusb.h  /usr/local/include/libuvc/
sudo ldconfig

3、创建ros工作区

mkdir -p ~/ros_ws/src

• 将开头下载的src包ros_astra_camera放入工作区

 cd ~/ros_ws/src

• Build

cd ~/ros_ws
sudo apt install ros-melodic-backward-ros
catkin_make

• 安装udev

cd ~/ros_ws
source ./devel/setup.bash
roscd astra_camera
./scripts/create_udev_rules
sudo udevadm control --reload && sudo  udevadm trigger

• 编辑source ~/.bashrc

echo "source ~/ros_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

4、打开相机

• 深度图大小640*480
• 修改astra_pro.launch文件
  

lsusb 

会得到usb列表

其中0502是彩色图的usb接口，0403是深度图接口。

• 打开terminal 1

source ./devel/setup.bash 
roslaunch astra_camera astra_pro.launch

• 打开terminal 2

source ./devel/setup.bash
rviz

添加image，topic是/image_raw
添加pointcloud2，topic是/camera/depth/points
可以看到图像和点云，记得把fixed_frame设置成camera

后续都是参数调整，可以不看
5、参数设置
rosrun rqt_reconfigure rqt_reconfigure

• 选择topics / services/ parameters
  rostopic list
  rosservice list
  rosparam list
• 相机的 extrinsic parameter
  rostopic echo /camera/extrinsic/depth_to_color
• 获得相机参数
  rosservice call /camera/get_camera_params “{}”
  设置曝光

1. 打开ir流。默认ir_exposure是3000，uvc_exposure是157。
2. 设置曝光值
   rosservice call /camera/set_uvc_auto_exposure ‘{data: false}’
   rosservice call /camera/set_ir_auto_exposure “{data: false}”
   rosservice call /camera/set_ir_exposure “{data: 3000}”
   rosservice call /camera/set_uvc_exposure “{data: 157}”
   rosservice call /camera/get_ir_exposure “{}”
   rosservice call /camera/get_uvc_exposure “{}”
   设置增益
3. 打开ir流。默认ir_gain是2000，uvc_gain是0。
4. 设置增益值
   Get Gain
   rosservice call /camera/get_ir_gain ‘{}’ # OpenNI camera
   rosservice call /camera/get_uvc_gain “{}” # UVC camera
   rosservice call /camera/set_ir_gain “{data: 2000}”
   roservice call /camera/set_uvc_gain “{data: 0}”