ROS openni2 wrapper for LIPSedge DL/M3 ToF cameras

In this page we provided examples using LIPSedge DL/M3 camera.

Contact LIPS for more LIPSedge camera support or check our wrapper for ROS2 LIPSedge-ros2.

1. Install the pre-required ROS packages

Install ROS according to the version of Ubuntu: http://wiki.ros.org/ROS/Installation

2. Install openni2 packages for Ubuntu

Make sure you have openni2 package installed

$ sudo apt-get install libopenni2-0 libopenni2-dev

3. Download and install LIPS SDK with ROS support

Download link: LIPS SDK (openni2)

NOTE:

• system requirement: Ubuntu 18.04/16.04 or later (currently only 64-bit version is supported)

Then install it to your system.

For example:

• Run install.sh and it will install libraries to system automatically.

$ tar -xzf LIPS-Linux-x64-OpenNI2.2.tar.gz
$ cd LIPS-Linux-x64-OpenNI2.2
$ ./install.sh

NOTE: LIPS SDK package may require OpenCV, please refer this Wiki page.

• Install OpenCV 3.4.1 (sources 3.4.1.zip).

*You can install OpenCV 3.4.1 via running provided script opencv3.4.1_installation_in_linux.sh

4. Download openni2 wrapper source

This wrapper is modified to add support for video mode QQQVGA (80x60@30Hz).

You have to rebuild and install it on your ROS

$ mkdir -p ~/LIPSToF_ws/src
$ cd ~/LIPSToF_ws/src
$ catkin_init_workspace
$ git clone https://github.com/lips-hci/openni2_camera

5. Build and launch services

• For LIPSedge DL ToF camera

$ cd ~/LIPSToF_ws
$ ln -s src/openni2_camera/run_DL.sh .
$ ./run_DL.sh

• For LIPSedge M3 ToF camera

$ cd ~/LIPSToF_ws
$ ln -s src/openni2_camera/run_M3.sh .
$ ./run_M3.sh

6. Launch viewer to check depth/ir/rgb images

Make sure LIPSedge ToF camera is already connected to your host PC.

$ cd ~/LIPSToF_ws
$ ln -s src/openni2_camera/view.sh .
$ ./view.sh

• Select topic /camera/depth/image in rqt

• Select topic /camera/rgb/image_raw in rqt

NOTE: If you have problem with running rqt, try using image_view

• To view Depth image

$ rosrun image_view image_view image:=/camera/depth/image

• To view IR image

$ rosrun image_view image_view image:=/camera/ir/image

• To view RGB image

$ rosrun image_view image_view image:=/camera/rgb/image_raw