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产品介绍 -Kinect v2是微软发布的一款3D体感摄影机，是一种体感交互设备，可以获取物体的深度信息，判断物体的位置，深度检测是Kinect的核心技术，Kinect v2的深度检测用的是TOF（Time Of Light）的方式：通过红外摄像头投射红外线形成反射光，根据光线飞行时间判断物体位置，形成深度图像。 +Kinect v2是微软发布的一款3D体感摄影机，是一种体感交互设备，可以获取物体的深度信息，判断物体的位置，深度检测是Kinect的核心技术，Kinect v2的深度检测用的是TOF（Time Of Light）的方式，通过红外摄像头投射红外线形成反射光，根据光线飞行时间判断物体位置，形成深度图像。 ## 结构图 diff --git a/source/version_two/user_guide/camera/kinect/open.md b/source/version_two/user_guide/camera/kinect/open.md deleted file mode 100644 index 7e48d62..0000000 --- a/source/version_two/user_guide/camera/kinect/open.md +++ /dev/null @@ -1,92 +0,0 @@ -# 启动Kinect ROS驱动 - -步骤： - -1.进入工作空间，打开终端执行 - `cd catkin_ws` -2.配置环境变量，在终端执行 - `source devel/setup.bash` -3.启动驱动，在终端执行 - `roslaunch kinect2_bridge kinect2_bridge.launch` - -![](imgs/kinect-01.png) - -# 查看Kinect RGB图像 - -前提：启动Kinect ROS驱动 - -步骤： - - -1.进入工作空间，打开终端执行 - `cd catkin_ws` -2.配置环境变量，在终端执行 - `source devel/setup.bash` -3.在终端执行命令： - `rosrun image_view image_view image:=/kinect2/sd/image_color` - - - -# 查看Kinect 深度图像 - -前提：启动Kinect ROS驱动 - -步骤： - -1.打开终端，输入rviz后弹出rviz窗口，点击窗口左下角【add】 - -![](imgs/picture1.png) - -2.点击弹窗中【by topic】- 打开【/kinect2/sd/points】- 选择PointCloud2 -【ok】 - -![](imgs/picture2.png) - -3.复制【kinect2_ir_optical_frame】到Global options->Fixed Frame，替换【map】 - -![](imgs/picture3.png) - -![](imgs/picture4.png) - -# 在建图/导航/循迹中打开摄像头（查看周围环境） - -以建图为例： - -步骤： - -1.在建图launch文件里引入深度相机的驱动启动，保存 - -![](imgs/picture5.png) - -2.启动建图 - -rviz里新起一个话题 -方法：点击左下角【add】，选择【topic】，选择【/kinect2/hd/image_color】，下拉下来选最后一个，然后ctrl+s保存 - -![](imgs/picture6.png) - -# 在建图/导航/循迹中显示深度数据 - -步骤： - -以建图为例： - -1.将kinect驱动加载到建图launch文件中（方法同上） - -2.rviz里新起一个话题 -点击左下角【add】，选择【topic】，选择【/kinect2/sd/image_depth】，下拉下来选最后一个，然后ctrl+s保存 - -![](imgs/picture7.png) - - - - - - - - - - - - - - diff --git a/source/version_two/user_guide/camera/kinect/use.md b/source/version_two/user_guide/camera/kinect/use.md new file mode 100644 index 0000000..fe04a28 --- /dev/null +++ b/source/version_two/user_guide/camera/kinect/use.md @@ -0,0 +1,114 @@ +# 使用 + +## 准备 + +1. 连接相机的数据线（插在电脑USB3.0口上）与电源线 +2. 集线器亮起白色指示灯（说明供电正常） + +## 测试 + +进入桌面 测试 - > kinect2测试 + +![](./imgs/kinect1.png) + +## 启动驱动 + +步骤： + +1.进入工作空间，打开终端执行 + `cd catkin_ws` +2.配置环境变量，在终端执行 + `source devel/setup.bash` +3.启动驱动，在终端执行 + `roslaunch kinect2_bridge kinect2_bridge.launch` + +![](imgs/kinect2.png) + +# 查看Kinect RGB图像 + +步骤： + +0.启动驱动 + +1.打开终端，执行 `rviz` ，打开RViz + +2.添加图像话题 +点击左下角 `add`，选择 By topic -> /qhd -> image_color -> Image -> OK ，保存 + +![](imgs/kinect4.png) + + +# 查看Kinect 深度图像 + +步骤： + +0.启动驱动 + +1.打开终端，执行 `rviz` ，打开RViz + +2.添加深度话题 +点击左下角 `add`，选择 By topic -> /qhd -> image_depth -> Image -> OK ，保存 + + +# 在建图/导航/循迹中加入kinect + +步骤： + +以建图为例： + +0.找到launch文件 + +``` +AutolaborOS-2.2.1 及以上系统，文件路径:catkin_ws\src\launch\autolabor_navigation_launch\launch\real_environment + +2.2.1 及以上版本，仅需修改*_base.launch文件 + +![](imgs/kinect6.png) + +AutolaborOS-2.2.1 以下系统，文件路径：catkin_ws\src\launch\autolabor_navigation_launch\launch + +2.2.1 以下版本，需要修改对应应用launch文件 + +![](imgs/kinect5.png) + +OS系统->设置->详细信息可查看系统版本号，如无版本号则为2.2.1以下版本。 + +``` + +1.打开launch文件，以【second_generation_basic_base.launch】为例，右键打开编辑 + +![](imgs/kinect7.png) + + +2.将下面内容粘贴至launch文件中，保存，关闭 + +``` + +``` + +3.启动建图 + +4.添加图像话题 + +点击左下角 `add`，选择 By topic -> /qhd -> image_color -> Image -> OK ，保存 + +5.添加深度话题 + +点击左下角 `add`，选择 By topic -> /qhd -> image_depth -> Image -> OK ，保存 + + +## 话题/Topics + +[话题说明](https://github.com/code-iai/iai_kinect2/blob/master/kinect2_bridge/README.md#topics) + + + + + + + + + + + +