Turtlebot3入门教程-硬件-RealSense
Turtlebot3入门教程-硬件-RealSense
说明:
- 介绍waffle上使用的深度相机Intel® RealSense™ R200
概述:
- 英特尔®RealSense™是实现基于手势的人机交互技术平台。
- 它由一系列消费级3D摄像机和一个易于使用的机器感知库组成。
- 英特尔RealSense摄像头®™R200是USB3设备,可提供的颜色,深度,和红外视频流。
- turtlebot3 waffle采用英特尔®RealSense™R200实现SLAM和导航
- 它也用于各种应用,如手势识别、目标识别和基于三维深度信息技术场景识别。
- 技术规格:
Items | Specifications |
---|---|
RGB Video Resolution | 1920 x 1280, 2M |
IR Depth Resolution | 640 x 480, VGA |
Laser Projector | Class 1 IR Laser Projector (IEC 60825-1:2007 Edition 2) |
Frame Rate | 30 fps (RGB), 60 fps (IR depth) |
FOV (Field-of-View) | 77° (RGB), 70° (IR depth), Diagonal Field of View |
Range | 0.3m ~ 4.0m |
Operating Supply Voltage | 5V (via USB port) |
USB Port | USB 3.0 |
Dimensions | 101.56mm length x 9.55mm height x 3.8mm width |
Mass | Under 35g |
- 最小的系统要求:
Items | Specifications |
---|---|
Processors | 4th Generation and future Intel® Core™ processors |
Disk Storage | 1GB |
Memory | 2GB |
Interface | USB 3.0 |
Operating System for SDK |
Ubuntu 14.04 and 16.04 LTS (GCC 4.9 toolchain) |
Windows 8.1 and Windows 10 (Visual Studio 2015 Update 2) | |
Mac OS X 10.7+ (Clang toolchain) | |
Ostro |
- 演示:
用户指南:
Intel® RealSense™ packages适合 Intel® RealSense™ R200, F200, SR300 and ZR300 cameras
依赖包:
Package | Description |
---|---|
librealsense | Underlying library driver for communicating with Intel® RealSense™ camera |
realsense_camera | ROS Intel® RealSense™ camera node for publishing camera |
- 安装驱动
sudo apt-get install ros-kinetic-librealsense
sudo apt-get install ros-kinetic-realsense-camera
- 运行:
roslaunch realsense_camera r200_nodelet_default.launch
- 查看数据
rqt_image_view
参考:
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