https://github.com/engcang/oakd-ros-simple
OAK-D (OpenCV AI Kit camera) ROS simple codes with C++
https://github.com/engcang/oakd-ros-simple
opencv ros
Last synced: 3 months ago
JSON representation
OAK-D (OpenCV AI Kit camera) ROS simple codes with C++
- Host: GitHub
- URL: https://github.com/engcang/oakd-ros-simple
- Owner: engcang
- License: bsd-3-clause
- Created: 2021-09-03T17:38:25.000Z (almost 5 years ago)
- Default Branch: main
- Last Pushed: 2024-01-12T19:13:27.000Z (over 2 years ago)
- Last Synced: 2025-06-04T19:30:45.536Z (about 1 year ago)
- Topics: opencv, ros
- Language: C++
- Homepage:
- Size: 10.7 MB
- Stars: 40
- Watchers: 2
- Forks: 10
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# OAK-D ROS Simple
+ OAK-D (OpenCV AI Kit camera) ROS simple codes with C++ for myself
+ Edited the original `depthai-ros-examples` repo from official manufacturer - [link](https://github.com/luxonis/depthai-ros-examples)
+ Supports: OAK-D, OAK-D Lite, OAK-D PRO
### Check the result video
#### Video1: [OAKD, OAKD-Lite, D435i](https://youtu.be/0Wla_efIOn0)
#### Video2: [OAKD-PRO, OAKD-Lite, D435i](https://youtu.be/t-4HMUlV5pQ)
#### Video3: [OAK-D Pro depth after filter parameters got tuned](https://youtu.be/I4n7haVlMug)
## Dependencies
+ `pcl`
+ `OpenCV`, `cv_bridge`: manual install? refer here [`OpenCV`](https://github.com/engcang/vins-application#-opencv-with-cuda-necessary-for-gpu-version-1), [`cv_bridge`](https://github.com/engcang/vins-application#-cv_bridge-with-built-opencv-necessary-for-whom-built-opencv-manually-from-above)
+ `usb-1.0-0-dev`
~~~shell
$ sudo apt install libusb-1.0-0-dev
~~~
## How to install
+ Git clone and install `depthai-core` first
```shell
$ cd ~//src
$ git clone --recursive git@github.com:engcang/oakd-ros-simple
$ rm -r ~/.hunter
$ cd oakd-ros-simple/depthai-core
$ mkdir build && cd build
$ cmake .. -DBUILD_SHARED_LIBS=ON
$ make install
$ echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules \n
$ sudo udevadm control --reload-rules && sudo udevadm trigger
```
+ Build this repo
```shell
$ cd ~/your_workspace (check directory)
$ catkin build -Ddepthai_DIR=/src/oakd-ros-simple/depthai-core/build/install/lib/cmake/depthai
or
$ catkin config -Ddepthai_DIR=/src/oakd-ros-simple/depthai-core/build/install/lib/cmake/depthai
$ catkin build
```
## How to run
+ Change the parameters in the `.launch` file.
~~~shell
$ roscore
$ roscd oakd_ros && rviz -d rviz.rviz
$ roslaunch oakd_ros main.launch
~~~