雙目相機---realsense_d435 與astra(奧比中光)性能測試

	astra	realsense-d435
安裝步驟	1. install ros 2. Install dependences    首先添加ros的官方源，最好添加ros的安裝界面上的那個 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 然后：      sudo apt-get install ros-$ROS_DISTRO-rgbd-launch     sudo apt-get install ros-$ROS_DISTRO-libuvc     sudo apt-get install ros-$ROS_DISTRO-libuvc-camera     sudo apt-get install ros-$ROS_DISTRO-libuvc-ros     3. 下載源碼     ```sh     cd ~/catkin_ws/src     git clone https://github.com/orbbec/ros_astra_camera     ``` 4. 在系統中添加udev rule文件       roscd astra_camera     ./scripts/create_udev_rules（打開create_udev_rules，執行語句即可） 6. 編譯代碼	Prepare Linux Backend and the Dev. Environment: 首先拔下所有的realsnese連接 安裝依賴 sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev Ubuntu 16: sudo apt-get install libglfw3-dev Ubuntu 18: sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev Run Intel Realsense permissions script from librealsense root directory: ./scripts/setup_udev_rules.sh Building librealsense2 SDK 在librealsense文件夾內：  mkdir build && cd build Run CMake: cmake ../ - The default build is set to produce the core shared object and unit-tests binaries in Debug mode. Use -DCMAKE_BUILD_TYPE=Release to build with optimizations. cmake ../ -DBUILD_EXAMPLES=true - Builds librealsense along with the demos and tutorials cmake ../ -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false - For systems without OpenGL or X11 build only textual examples 編譯並安裝 sudo make uninstall && make clean && make && sudo make install
啟動	roslaunch astra_camera astra.launch	roslauch realsense2_camera rgbd.launch
硬件要求	usb2.0	必須usb3.0才可以
topic	/camera/depth_registered/points或/camera/depth/points	/camera/depth_registered/points或/camera/depth/points
TF	camera_link--->camera_rgb_optical_frame	camera_link--->camera_color_optical_frame
使用感受	細節不如realsense多，但較為穩定，cpu占用較小	數據豐富，但對供電有要求，usb供電不足可能導致數據讀取失敗，CPU占用也較大