The story of the sensor (1): LeTV three-in-one camera for sensing RGBD

After seeing LeTV's three-in-one camera development (picking up) notes-what is a bike blog for 100 yuan , I was heartened, so I placed an order with a fish and got the goods in three days. The following is to use it as the RGBD sensor of the robot. The system is: ubuntu 18.04+ros melodic.

• This is LeTV's three-in-one camera, it cost me 145RMB

• Install ROS driver to display depth and color image information

1. Refer to astra_camera to install astra_camera_ros
2. Install uvc_camera to display color pictures

sudo apt-get install ros-melodic-uvc-camera

3. Put the following text at the astra.launchend of the file, note that it is inside... The file is in the launch folder under the workspace where you install astra_camera.

  <node pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera" output="screen">
	<param name="width" type="int" value="320" />
	<param name="height" type="int" value="240" />
	<param name="fps" type="int" value="30" />
	<param name="frame" type="string" value="wide_stereo" />

	<param name="auto_focus" type="bool" value="False" />
	<param name="focus_absolute" type="int" value="0" />
	<!-- other supported params: auto_exposure, exposure_absolute, brightness, power_line_frequency -->

	<param name="device" type="string" value="/dev/video2" /> 
	<param name="camera_info_url" type="string" value="file://$(find uvc_camera)/example.yaml" />
   </node>

4. run

roslaunch astra_camera astra.launch

5. Open rqt display available
   

• Use depth_image_proc to transfer point cloud data to point cloud data and run directly (if depth_image_proc is not installed, install it first)

ROS_NAMESPACE=camera/depth rosrun image_proc image_proc

The point cloud data obtained is shown below.

• At the end, the
  effective distance of the depth map is 0.6-8 meters, and there is basically no depth data under the sun. This price is really conscientious, at least not worse than kinect 1.