diff --git a/source/conf.json b/source/conf.json
index 7363512..d8c7678 100644
--- a/source/conf.json
+++ b/source/conf.json
@@ -60,7 +60,7 @@
"name": "清点 - 台式 Mini 计算机 （已停产）",
"uri": "version_two/user_guide/quick_start/mini_old"
}
- ],
+ ]
},
{
"name": "组装测试",
@@ -140,6 +140,20 @@
"uri": "version_two/network/keyboard-plugin"
}
]
+ },
+
+ {
+ "name": "Kinect V2使用手册",
+ "items": [
+ {
+ "name": "简介",
+ "uri": "version_two/Kinect/introduce"
+ },
+ {
+ "name": "使用",
+ "uri": "version_two/Kinect/open"
+ }
+ ]
}
]
},
@@ -166,7 +180,7 @@
"name": "其他",
"uri": "common/q_a/doc4"
}
- ],
+ ]
},
{
"name": "安装操作系统",
diff --git a/source/version_two/kintect/imgs/RGB- picture01.png b/source/version_two/kintect/imgs/RGB- picture01.png
new file mode 100644
index 0000000..1309b9f
Binary files /dev/null and b/source/version_two/kintect/imgs/RGB- picture01.png differ
diff --git a/source/version_two/kintect/imgs/kinect-01.png b/source/version_two/kintect/imgs/kinect-01.png
new file mode 100644
index 0000000..e9c92ee
Binary files /dev/null and b/source/version_two/kintect/imgs/kinect-01.png differ
diff --git a/source/version_two/kintect/imgs/picture1.png b/source/version_two/kintect/imgs/picture1.png
new file mode 100644
index 0000000..5e67955
Binary files /dev/null and b/source/version_two/kintect/imgs/picture1.png differ
diff --git a/source/version_two/kintect/imgs/picture2.png b/source/version_two/kintect/imgs/picture2.png
new file mode 100644
index 0000000..fb77757
Binary files /dev/null and b/source/version_two/kintect/imgs/picture2.png differ
diff --git a/source/version_two/kintect/imgs/picture3.png b/source/version_two/kintect/imgs/picture3.png
new file mode 100644
index 0000000..f4ba7cb
Binary files /dev/null and b/source/version_two/kintect/imgs/picture3.png differ
diff --git a/source/version_two/kintect/imgs/picture4.png b/source/version_two/kintect/imgs/picture4.png
new file mode 100644
index 0000000..3818482
Binary files /dev/null and b/source/version_two/kintect/imgs/picture4.png differ
diff --git a/source/version_two/kintect/imgs/picture5.png b/source/version_two/kintect/imgs/picture5.png
new file mode 100644
index 0000000..7f21130
Binary files /dev/null and b/source/version_two/kintect/imgs/picture5.png differ
diff --git a/source/version_two/kintect/imgs/picture6.png b/source/version_two/kintect/imgs/picture6.png
new file mode 100644
index 0000000..4ffad19
Binary files /dev/null and b/source/version_two/kintect/imgs/picture6.png differ
diff --git a/source/version_two/kintect/imgs/picture7.png b/source/version_two/kintect/imgs/picture7.png
new file mode 100644
index 0000000..280f08c
Binary files /dev/null and b/source/version_two/kintect/imgs/picture7.png differ
diff --git a/source/version_two/kintect/imgs/structure-chart01.png b/source/version_two/kintect/imgs/structure-chart01.png
new file mode 100644
index 0000000..a143630
Binary files /dev/null and b/source/version_two/kintect/imgs/structure-chart01.png differ
diff --git a/source/version_two/kintect/imgs/structure-chart02.png b/source/version_two/kintect/imgs/structure-chart02.png
new file mode 100644
index 0000000..9f5567f
Binary files /dev/null and b/source/version_two/kintect/imgs/structure-chart02.png differ
diff --git a/source/version_two/kintect/introduce.md b/source/version_two/kintect/introduce.md
new file mode 100644
index 0000000..a624f7e
--- /dev/null
+++ b/source/version_two/kintect/introduce.md
@@ -0,0 +1,48 @@
+# 简介
+
+
+## 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。
+
+
+
+## 结构图
+
+
+
+
+
+## 基本参数
+
+* 尺寸
+* 彩色影像
+* 深度影像
+* 红外线影像
+* FOV
+
+| 项目 | 规格 |
+| ------------------- | --------------- |
+| 尺寸 | 24.9cm x 6.6cm x 6.7cm |
+| 彩色影像 |1920 x 1080 @ 30 / 15 FPS（根据环境亮度） |
+| 深度影像 | 512 x 424 @ 30 FPS、16bit 距离值（mm）、可侦测范围0.5 ~ 4.5 m|
+| 红外线影像 | 512 x 424 @ 30 FPS、16bit 强度值 |
+| FOV | 70°x 60° |
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/source/version_two/kintect/open.md b/source/version_two/kintect/open.md
new file mode 100644
index 0000000..2b2d018
--- /dev/null
+++ b/source/version_two/kintect/open.md
@@ -0,0 +1,90 @@
+# 启动Kinect ROS驱动
+
+步骤：
+* 1.进入工作空间
+* 方法：在终端执行cd catkin_ws
+* 2.配置环境变量
+* 方法：在终端执行source devel/setup.bash
+* 3.启动驱动
+* 方法：在终端执行roslaunch kinect2_bridge kinect2_bridge.launch
+
+
+
+
+# 查看Kinect RGB图像
+
+前提：启动Kinect ROS驱动
+
+步骤：
+
+1.进入工作空间
+方法：在终端执行cd catkin_ws
+2.配置环境变量
+方法：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】
+
+
+
+2.点击弹窗中【by topic】- 打开【/kinect2/sd/points】- 选择PointCloud2 -【ok】
+
+
+
+3.复制【kinect2_ir_optical_frame】到Global options->Fixed Frame，替换【map】
+
+
+
+
+
+# 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
+
+
+
+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
+
+
+
+# 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
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+