Realscense2的可乐模型识别

修改ork_linemod下的detection.ros.ork文件
将source1部分改为:
(注意不是中文字符的引号)
source1:
type: RosKinect
module: ‘object_recognition_ros.io’
parameters:
rgb_frame_id: ‘camera_color_optical_frame’
rgb_image_topic: ‘/camera/color/image_raw’
rgb_camera_info: ‘/camera/color/camera_info’
depth_frame_id: ‘camera_depth_optical_frame’
depth_image_topic: ‘/camera/depth/image_rect_raw’
depth_camera_info: ‘/camera/depth/camera_info’

分别运行下列指令
~$ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
~$ rosrun topic_tools relay /camera/depth/image_rect_raw /camera/depth/image
~$ rosrun object_recognition_core detection -c rospack find object_recognition_linemod/conf/detection.ros.ork
~$ roslaunch robot_vision ork_rviz.launch

节点运行图
Realscense2的可乐模型识别_第1张图片
话题列表 (Intel Realsense2 )camera:
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/extrinsics/depth_to_color
/camera/extrinsics/depth_to_infra1
/camera/extrinsics/depth_to_infra2
/camera/infra1/camera_info
/camera/infra1/image_rect_raw
/camera/infra1/image_rect_raw/compressed
/camera/infra1/image_rect_raw/compressed/parameter_descriptions
/camera/infra1/image_rect_raw/compressed/parameter_updates
/camera/infra1/image_rect_raw/compressedDepth
/camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra1/image_rect_raw/compressedDepth/parameter_updates
/camera/infra1/image_rect_raw/theora
/camera/infra1/image_rect_raw/theora/parameter_descriptions
/camera/infra1/image_rect_raw/theora/parameter_updates
/camera/infra2/camera_info
/camera/infra2/image_rect_raw
/camera/infra2/image_rect_raw/compressed
/camera/infra2/image_rect_raw/compressed/parameter_descriptions
/camera/infra2/image_rect_raw/compressed/parameter_updates
/camera/infra2/image_rect_raw/compressedDepth
/camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra2/image_rect_raw/compressedDepth/parameter_updates
/camera/infra2/image_rect_raw/theora
/camera/infra2/image_rect_raw/theora/parameter_descriptions
/camera/infra2/image_rect_raw/theora/parameter_updates
/camera/pointcloud/parameter_descriptions
/camera/pointcloud/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates
/diagnostics
/rosout
/rosout_agg
/statistics
/tf_static

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