ROS下驱动Intel RealSense深度相机D435i（二）

前言

续上篇介绍Intel 深度摄像头D435i的安装与环境的搭建，现在准备在ROS功能包下驱动Intel D435i，起个抛砖引玉的作用，具体想实现啥功能，就靠大家自行探索啦！

环境配置

ROS环境：Ubuntu18.04 + Melodic
ROS IDE：Qt Creator 4.9.2

功能包建立及C++节点编写

新建个opencv_tutorial功能包，指令如下

mkdir -p opencv_tutorial/src
cd ~/opencv_tutorial
catkin_make

打开Qt工具，选择刚刚创建的opencv_tutorial功能包，在src文件下建立opencv_tutorial文件，如下图示

然后在opencv_tutorial/src的文件夹下创建一个basic_opencv.cpp节点。

为了将opencv库添加到ROS环境里，需要在CMakeLists.txt文件里增加以下内容，改动处见下图标识


编写basic_opencv.cpp节点文件，内容如下

#include <ros/ros.h>
#include<cv_bridge/cv_bridge.h>
#include<opencv2/highgui.hpp>

using namespace cv;
using namespace std;

int main(int argc, char **argv)
{
  ros::init(argc, argv, "basic_opencv");
  ros::NodeHandle nh;

  cout << "OpenCV version :" << CV_VERSION << endl;
  cout << "Major version :" << CV_MAJOR_VERSION << endl;
  ROS_INFO("Hello world!");

  double width;
  double height;
  double exposure;
  double brightness;

  Mat img;

  VideoCapture vc(4);

  width = vc.get(CAP_PROP_FRAME_WIDTH);
  height = vc.get(CAP_PROP_FRAME_HEIGHT);
  exposure = vc.get(CAP_PROP_EXPOSURE);
  brightness = vc.get(CAP_PROP_BRIGHTNESS);
  cout << "width :" << width << endl;
  cout << "height :" << height << endl;
  cout << "exposure :" << exposure << endl;
  cout << "brightness :" << brightness << endl;

  namedWindow("video",1);

  ros::Rate loop_rate(60);

  while (ros::ok()) {
    vc >> img;
    flip(img,img,1);
    imshow("video",img);
    if(waitKey(10)==27) break;
    ros::spinOnce();
    loop_rate.sleep();
}
 return 0;
}

然后在终端把功能包编译，添加到ROS环境里，敲以下指令就可以在框内显示摄像头拍摄到的内容，效果如下

rosrun opencv_tutorial basic_opencv