ThinkPad-T460P 2021-06-07 19:03:16 +08:00
commit 95562307f6
24 changed files with 145 additions and 3 deletions

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"name": "清点 - 台式 Mini 计算机 (已停产)", "name": "清点 - 台式 Mini 计算机 (已停产)",
"uri": "version_two/user_guide/quick_start/mini_old" "uri": "version_two/user_guide/quick_start/mini_old"
} }
], ]
}, },
{ {
"name": "组装测试", "name": "组装测试",
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"uri": "version_two/network/keyboard-plugin" "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"
} }
]
},
] ]
}, },
{ {
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"name": "其他", "name": "其他",
"uri": "common/q_a/doc4" "uri": "common/q_a/doc4"
} }
], ]
}, },
{ {
"name": "操作系统相关", "name": "操作系统相关",

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# 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TOFTime 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
![](imgs/structure-chart01.png)
![](imgs/structure-chart02.png)
## 基本参数
| 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° |

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# 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
![](imgs/structure-chart01.png)
# 查看Kinect RGB图像
<b style="color:red;">前提启动Kinect ROS驱动</b>
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
![](imgs/RGB-picture01.png)
# 查看Kinect 深度图像
<b style="color:red;">前提启动Kinect ROS驱动</b>
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)
<b style="color:red;">以建图为例:</b>
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:
<b style="color:red;">以建图为例:</b>
<b style="color:red;">1.将kinect驱动加载到建图launch文件中方法同上</b>
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)

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