双目相机---realsense_d435 与astra(奥比中光)性能测试
astra |
realsense-d435
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安装步骤 |
1. install ros
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-libuvc sudo apt-get install ros-$ROS_DISTRO-libuvc-camera sudo apt-get install ros-$ROS_DISTRO-libuvc-ros |
Prepare Linux Backend and the Dev. Environment:
Building librealsense2 SDK
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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 |