How to use Astra camera

Note: These files are already installed in the Yahboom image provided by us, you do not need to perform this step.

This course just for learning reference.

Official website link：https://orbbec3d.com/develop/

Astra camera：https://github.com/orbbec/ros_astra_camera

Ordinary camera https://github.com/bosch-ros-pkg/usb_cam.git

Create astra udev rule（Single product depth camera needs to be implemented）


cd ~/astra_ws/src
./create.sh

launch start up command

Launch file	Start the camera model
astra.launch	Astra,Astra S,Astra mini，Astra mini S
astraplus.launch	Astra plus
astrapro.launch	Astra pro
embedded_s.launch	Deeyea
dabai_u3.launch	Dabai
gemini.launch	Gemini

1、SDK usage（Linux）

Operating environment: virtual machine or dual system

1.1、Dependent on the environment


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sudo apt-get install ros-melodic-serial ros-melodic-bfl ros-melodic-mbf-msgs ros-melodic-pointcloud-to-laserscan ros-melodic-rgbd-launch ros-melodic-libuvc-* ros-melodic-uvc-camera ros-melodic-usb-cam ros-melodic-ar-track-alvar ros-melodic-camera-calibration build-essential freeglut3 freeglut3-dev libsfml-dev

1.2、Camera SDK&Samples

The folder name may be different, change it according to your needs.


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tar -zxvf AstraSDK-v2.1.3-Ubuntu18.04-x86_64.tar.gz
cd AstraSDK-v2.1.3-Ubuntu18.04-x86_64.tar.gz/install  #Enter the install folder
sudo sh ./install.sh

The output contains the following two lines.

Note: Delete install in the penultimate path:


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export ASTRA_SDK_INCLUDE=/home/yahboom/astra/AstraSDK-v2.1.3-Ubuntu18.04-x86_64/install/include 
export ASTRA_SDK_LIB=/home/yahboom/astra/AstraSDK-v2.1.3-Ubuntu18.04-x86_64/install/lib

After deleting install:


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export ASTRA_SDK_INCLUDE=/home/yahboom/astra/AstraSDK-v2.1.3-Ubuntu18.04-x86_64/include
export ASTRA_SDK_LIB=/home/yahboom/astra/AstraSDK-v2.1.3-Ubuntu18.04-x86_64/lib

Copy the output to the end of ~/.bashrc


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gedit ~/.bashrc
source ~/.bashrc

The sample program is in the amples directory, which depends on the include and lib directories

SFML effect demonstration

The bin folder is as follows:

Note: You can start by using sudo ./ or ./ in the bin folder. The files with the suffix -SFML will be displayed on the screen; the methods are similar, and other effects can be tested. If it appears in the virtual machine that the startup fails, please try a few more times


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cd ~/AstraSDK-v2.1.3-Ubuntu18.04-x86_64/bin/
./SimpleBodyViewer-SFML   # Bone detection
./SimpleHandViewer-SFML   # Finger follow

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1.3、OpenNI camera test tool

Install OpenNI


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unzip OpenNI_2.3.0.55.zip
cd OpenNI_2.3.0.55/Linux/OpenNI-Linux-x64-2.3.0.55
chmod +x install.sh
sudo ./install.sh

Replug the device Initialize the OpenNI environment


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source OpenNIDevEnvironment

Compile and run


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cd Samples/SimpleViewer
make
cd Bin/x64-Release
./SimpleViewer

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2. Web monitoring

Environment setup


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sudo apt-get install ros-melodic-async-web-server-cpp ros-melodic-web-video-server ros-melodic-usb-cam

Start up camera


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roslaunch astra_camera astrapro.launch    # Astra
roslaunch usb_cam usb_cam-test.launch     # USB

Start up web_video_server


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rosrun web_video_server web_video_server

View


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Local web browser view
http://localhost:8080/
Must be in the same local area network, other devices can view
http://192.168.2.103:8080/
(192.168.2.103 is the IP address of the master)
Note: It is recommended to use Google Chrome or mobile QQ browser, other browsers may not be able to open the image