双目相机---realsense_d435 与astra(奥比中光)性能测试

  astra

realsense-d435

 

安装步骤

1. install ros


2. Install dependences
   首先添加ros的官方源,最好添加ros的安装界面上的那个

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

然后: 
    sudo apt-get install ros-$ROS_DISTRO-rgbd-launch

    sudo apt-get install ros-$ROS_DISTRO-libuvc

    sudo apt-get install ros-$ROS_DISTRO-libuvc-camera

    sudo apt-get install ros-$ROS_DISTRO-libuvc-ros
   

3. 下载源码
    ```sh
    cd ~/catkin_ws/src
    git clone https://github.com/orbbec/ros_astra_camera
    ```

4. 在系统中添加udev rule文件

 
    roscd astra_camera
    ./scripts/create_udev_rules(打开create_udev_rules,执行语句即可)

6. 编译代码

Prepare Linux Backend and the Dev. Environment:

  1. 首先拔下所有的realsnese连接

  2. 安装依赖
    sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev

    • Ubuntu 16:
      sudo apt-get install libglfw3-dev

    • Ubuntu 18:
      sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev

  1. Run Intel Realsense permissions script from librealsense root directory:
    ./scripts/setup_udev_rules.sh

Building librealsense2 SDK

  • 在librealsense文件夹内:  mkdir build && cd build

  • Run CMake:

    • cmake ../ - The default build is set to produce the core shared object and unit-tests binaries in Debug mode. Use -DCMAKE_BUILD_TYPE=Release to build with optimizations.
    • cmake ../ -DBUILD_EXAMPLES=true - Builds librealsense along with the demos and tutorials
    • cmake ../ -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false - For systems without OpenGL or X11 build only textual examples

  • 编译并安装

    sudo make uninstall && make clean && make && sudo make install

启动 roslaunch astra_camera astra.launch roslauch realsense2_camera rgbd.launch
硬件要求 usb2.0 必须usb3.0才可以
topic /camera/depth_registered/points或/camera/depth/points /camera/depth_registered/points或/camera/depth/points
TF camera_link--->camera_rgb_optical_frame camera_link--->camera_color_optical_frame
使用感受 细节不如realsense多,但较为稳定,cpu占用较小 数据丰富,但对供电有要求,usb供电不足可能导致数据读取失败,CPU占用也较大
posted @ 2020-07-28 20:56  StayAliveGirl  阅读(1686)  评论(0编辑  收藏  举报