Install Astra camera¶
Homepage: https://orbbec3d.com/
Spec¶
Spec/Device |
Astra |
Astra Mini |
Astra S |
Astra Mini S |
Astra Pro |
---|---|---|---|---|---|
Optimized Range |
0.6 - 5.0m |
0.6 - 5.0m |
0.4 - 2.0m |
0.35 - 1.0m |
0.6 - 5.0m |
RGB Image Size |
HD (10FPS)
VGA (30FPS)
QVGA (30FPS)
|
HD (10FPS)
VGA (30FPS)
QVGA (30FPS)
|
HD (10FPS)
VGA (30FPS)
QVGA (30FPS)
|
HD (10FPS)
VGA (30FPS)
QVGA (30FPS)
|
HD (30FPS)
VGA (30FPS)
QVGA (30FPS)
|
Depth Image Size |
VGA (30FPS)
QVGA (30FPS)
|
VGA (30FPS)
QVGA (30FPS)
|
VGA (30FPS)
QVGA (30FPS)
|
VGA (30FPS)
QVGA (30FPS)
|
VGA (30FPS)
QVGA (30FPS)
|
Field of View |
60° horiz
49.5° vert
73° diagonal
|
60° horiz
49.5° vert
73° diagonal
|
60° horiz
49.5° vert
73° diagonal
|
Install SDK && Try Sample¶
cd ~/Downloads
# this can be broken
# wget "https://www.dropbox.com/sh/p2uowlt3swdrfno/AACfEbv7ejIU-4FHy4Fyi0ZWa?dl=1" -O Tools_SDK_OpenNI.zip
sudo pip install gdown
gdown "https://drive.google.com/uc?id=0B9P1L--7Wd2vSktrZXFYMEZOWXM" -O Tools_SDK_OpenNI.zip
mkdir ~/Downloads/Tools_SDK_OpenNI
cd ~/Downloads/Tools_SDK_OpenNI
unzip ~/Downloads/Tools_SDK_OpenNI.zip
cd 2-Linux
tar zxvf OpenNI-Linux-x64-2.2-0118.tgz
cd OpenNI-Linux-x64-2.2
sudo ./install.sh
cd ~/Downloads/Tools_SDK_OpenNI/2-Linux/OpenNI-Linux-x64-2.2/Samples/Bin
./SimpleViewer # This should open a viewer for depth image
Use Astra camera with openni2_camera
ROS package¶
sudo apt-get install ros-$ROS_DISTRO-openni2-camera ros-$ROS_DISTRO-openni2-launch
cd ~/Downloads/Tools_SDK_OpenNI/2-Linux/OpenNI-Linux-x64-2.2/Samples/Bin
sudo cp libOpenNI2.so /usr/lib/libOpenNI2.so
sudo cp OpenNI2/Drivers/* /usr/lib/OpenNI2/Drivers/
Then, edit /usr/lib/pkgconfig/libopenni2.pc
to be like below:
prefix=/usr
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir=${prefix}/include/openni2
Name: OpenNI2
Description: A general purpose driver for all OpenNI cameras.
Version: 2.2.0.3
Cflags: -I${includedir}
Libs: -L${libdir} -lOpenNI2 -L${libdir}/OpenNI2/Drivers -lDummyDevice -lOniFile -lORBBEC -lPS1080 -lPSLink
cd <your catkin workspace>/src
# if you do not initialize wstools
# wstool init .
wstool set ros-drivers/openni2_camera https://github.com/ros-drivers/openni2_camera.git --git -v indigo-devel -y -u
cd ros-drivers/openni2_camera
source /opt/ros/$ROS_DISTRO/setup.bash
catkin bt
source <your catkin workspace>/devel/setup.bash
roslaunch openni2_launch openni2.launch
Topics per Devices¶
Below are tested with roslaunch openni2_launch openni2.launch
.
Topics/Device |
Astra |
Astra S |
Astra Pro |
Astra Mini S |
---|---|---|---|---|
/camera/rgb/image_raw |
o |
o |
? |
o |
/camera/depth/image_raw |
o |
o |
? |
o |
/camera/depth/points |
o |
o |
? |
o |
/camera/depth_registered/image_raw |
o |
o |
? |
o |
/camera/depth_registered/points |
x |
o |
? |
o |