HIKROBOT ROS
杭州海康机器人技术有限公司
深度相机MV-EB435i“悉灵”是一款低成本，小体积，配置全面的立体相机，凭借硬件级的深度图像处理方案，相机可在高性能输出的同时维持低功耗的水平。本例为悉灵相机在ros上的集成。
安装引导
mkdir -p ~/ros_ws/src
cd ~/ros_ws/src
git clone https://github.com/Nick-the-remaker/Hikrobot_ros.git
cd ~/ros_ws
catkin_make
sudo su
source devel/setup.bash编译过程中可能会遇到本机没有相关ros安装包的情况，可以使用命令 sudo apt-get install ros-$ROS_DISTRO-功能包来安装。 例如，sudo apt-get install ros-melodic-pcl-conversions
依赖项
- cv_bridge
- OpenCV
- image_transport
- PCL
- tf2
使用说明
本例提供四个示例程序
1. 基本信息发布。包含彩色图，深度图，相机信息，左右红外相机图，点云发布。
cd ros_ws
source devel/setup.bash
roslaunch hikrobot_ros base_rgbd.launch2.ROS-OpenCV图像处理界面示例，使用cvui开发悉灵相机UI界面，拥有多窗口显示，自定义窗口，鼠标交互等功能。
roslaunch hikrobot_ros with_opencv.launch3.相机位姿发布，集成apriltags-cpp，在rviz中察看发布的相机位姿。 apriltag原作者： Edwin Olson ebolson@umich.edu C++端口和修改：Matt Zucker mzucker1@swarthmore.edu
roslaunch hikrobot_ros cam_pose.launch4.深度图映射到RGB图，在rviz中查看映射后的点云。
roslaunch hikrobot_ros aligned_depth.launch发布话题
四个示例程序中所有发布话题：
- /camera/color/image_raw
- /camera/color/camera_info
- /camera/depth/image_rect_raw
- /camera/depth/rendered_depth
- /camera/depth/camera_info
- /camera/infra_left/image_rect_raw
- /camera/infra_right/image_rect_raw
- point_cloud
- aligned_point_cloud
- TF
launch文件参数
- image_width: 图像宽，1280或640
- image_height: 图像高，720或360
- exposure: 曝光，范围10-33333
- gain: 增益，范围0-19.99630
- enable_laser: 是否启用激光投射器
- enable_color: 是否发布彩色图
- enable_depth: 是否发布深度图
- enable_infra: 是否发布红外图
- enable_pointcloud: 是否发布点云
- color_info: 彩色相机参数文件路径
- depth_info: 深度相机参数文件路径
HIKROBOT ROS
HangZhou Hikrobot Technology Co., Ltd.
MV-EB435i 'Xiling' is a low-cost, small volume, fully configured stereo camera. This camera can maintain a low-power level while maintaining high-performance output with the hardware level depth image processing scheme. This example is the integration of Xiling on ROS.
Installation Instructions
mkdir -p ~/ros_ws/src
cd ~/ros_ws/src
git clone https://github.com/Nick-the-remaker/Hikrobot_ros.git
cd ~/ros_ws
catkin_make
sudo su
source devel/setup.basherrors may occur if lack of necessary ros packages while compiling, try this command to install: sudo apt-get install ros-ROS_DISTRO-packages e.g. sudo apt-get install ros-melodic-pcl-conversions
Dependence
- cv_bridge
- OpenCV
- image_transport
- PCL
- tf2
Usage
These are four examples for using MV-EB435i.
1. publish basic topics, including color image, depth image, infra image, and point cloud.
cd ros_ws
source devel/setup.bash
roslaunch hikrobot_ros base_rgbd.launch2.OpenCV image-processing interface, develop the UI interface of Xiling camera based on cvui, which has the functions of multi-window display, custom window, mouse interaction and so on.
roslaunch hikrobot_ros with_opencv.launch3.publish camera pose, view the published camera pose in rviz with apriltags. apriltag original author： Edwin Olson ebolson@umich.edu C++ port and modifications：Matt Zucker mzucker1@swarthmore.edu
roslaunch hikrobot_ros cam_pose.launch4.depth image map to color image, view the mappped point cloud in rviz.
roslaunch hikrobot_ros aligned_depth.launchPublish Topics
These are all published topics from four examples.
- /camera/color/image_raw
- /camera/color/camera_info
- /camera/depth/image_rect_raw
- /camera/depth/rendered_depth
- /camera/depth/camera_info
- /camera/infra_left/image_rect_raw
- /camera/infra_right/image_rect_raw
- point_cloud
- aligned_point_cloud
- TF
Launch parameters
- image_width: the width of color/depth image, 1280 | 640
- image_height: the height of color/depth image, 720 | 360
- exposure: exposure time, range from 10-33333
- gain: the gain of the camera, range from 0-19.99630
- enable_laser: choose whether to enable laser projector
- enable_color: choose whether to allow publishing color image
- enable_depth: choose whether to allow publishing depth image
- enable_infra: choose whether to allow publishing infra image
- enable_pointcloud: choose whether to allow publishing point cloud
- color_info: path to color image camera info
- depth_info: path to depth image camera info