ROS openni 2.0 wrapper for LIPSedge DL/M3 ToF cameras
1. Install the pre-required ROS packages
Install ROS according to the version of Ubuntu: http://wiki.ros.org/ROS/Installation
2. Install openni2 packages for Ubuntu
Make sure you have openni2 package installed
$ sudo apt-get install libopenni2-0 libopenni2-dev
3. Download and install LIPS SDK with ROS support
Download link: LIPS SDK (openni2)
NOTE:
- system requirement: Ubuntu 18.04/16.04 or later (currently only 64-bit version is supported)
Then install it to your system.
For example:
- Run install.sh and it will install libraries to system automatically.
$ tar -xzf LIPS-Linux-x64-OpenNI2.2.tar.gz
$ cd LIPS-Linux-x64-OpenNI2.2
$ ./install.sh
NOTE: LIPS SDK package requires OpenCV, please refer this Wiki page.
- Install OpenCV 3.4.1 (sources 3.4.1.zip).
*You can install OpenCV 3.4.1 via running provided script opencv3.4.1_installation_in_linux.sh
4. Download openni 2.0 wrapper source
This wrapper is modified to add support for video mode QQQVGA (80x60@30Hz).
You have to rebuild and install it on your ROS
$ mkdir -p ~/LIPSToF_ws/src
$ cd ~/LIPSToF_ws/src
$ catkin_init_workspace
$ git clone https://github.com/lips-hci/openni2_camera
5. Build and launch services
- For LIPSedge DL ToF camera
$ cd ~/LIPSToF_ws
$ ln -s src/openni2_camera/run_DL.sh .
$ ./run_DL.sh
- For LIPSedge M3 ToF camera
$ cd ~/LIPSToF_ws
$ ln -s src/openni2_camera/run_M3.sh .
$ ./run_M3.sh
6. Launch viewer to check depth/ir/rgb images
Make sure LIPSedge ToF camera is already connected to your host PC.
$ cd ~/LIPSToF_ws
$ ln -s src/openni2_camera/view.sh .
$ ./view.sh
- Select topic /camera/depth/image in rqt
- Select topic /camera/rgb/image_raw in rqt
NOTE: If you have problem with running rqt, try using image_view
- To view Depth image
$ rosrun image_view image_view image:=/camera/depth/image
- To view IR image
$ rosrun image_view image_view image:=/camera/ir/image
- To view RGB image
$ rosrun image_view image_view image:=/camera/rgb/image_raw