简介：介绍银牛微电子 3D 机器视觉R132相机 在EHub_tx1_tx2_E100载板，TX1核心模块环境（Ubuntu18.04）下测试ROS驱动，打开摄像头图像和查看深度图和点云图，本文的前提条件是你的TX1里已经安装了ROS版本：Melodic。关于测试硬件EHub_tx1_tx2_E100载板请查看：EdgeBox_EHub_tx1_tx2_E100 开发板评测_机器人虎哥的博客-CSDN博客
大家好，我是虎哥，最近都在看如何更好的实现机器人的避障，补死角的方案，查阅了好几款深度相机的方案，正好手里还有之前采购的银牛 的R132模组，有感于网上对于上手就可以简单玩起来的说明比较少，所以总结一下自己的简单测试经验，分享给大家。
官网入口是：模组-银牛微电子（无锡）有限责任公司 官网资料有限。
目录
一、 银牛 “R132“ 深度相机
1.1 关键参数：
二、WIN 下测试流程
2.1 驱动安装：
1、安装驱动 步骤
2.2 SDK及 Inuview工具 安装
2.3 Inuview工具 测试相机
1、活动流选择显示深度数据：
2、活动流选择显示RGB数据：
3、活动流选择显示IMU数据：
三、ROS 下测试流程
4.1 拷贝代码
4.2 插入模组USB至板子
4.3 安装官方程序
4.4 测试启动
4.5 RVIZ 显示IMU数据
4.6 rqt_image_view RGB、红外、深度图
4.7 RVIZ RGB、红外、深度图
四. 只启动相机驱动的LAUNCH修改
修改
主要配置
■ 基于IR主动有源立体深度传感器
■ 0.2-4米深度测量范围
■ 宽视场角（88°x 58°FoV）
■ RGB 摄像头传感器，与深度传感器对齐
■ 采用Inuitive的NU4000多核计算机视觉与三维图像处理器
■ 经过详尽的内外参标定的机载惯性测量单元（IMU）
■ 功率低、体积小
■ 高速USB-Type C主机接口（USB 3.0）
■ 高速MIPI CSI 2.0主机接口
■ 支持Windows、Linux和Android OSs 操作系统
■ 可在所有照明条件下工作（从夜晚到白昼）
■ 应用程序接口，使应用层的设计变得更容易
详细手册获取网站入口：客户支持-银牛微电子（无锡）有限责任公司
需要资料和对应软件，需要联系厂家直接要就可以。首先在WIN端测试，需要安装驱动程序。R132是一种即插即用的USB装置，包含一个专用的驱动程序。
没安装驱动程序前，将R132的USB口接入测试电脑：
双击InuDriver_3.0.7.0-1.09_Setup_X64进行驱动安装。
一路默认next即可。
安装完毕后，即可以再自己电脑设备管理器看到设备了。
可以参考文档：腾讯文档
双击InuDev_Pro_4.16.0006.30_X64进行工具安装
然后一路NEXT就可以。
支持工具软件安装完毕。
打开InuView工具
验证位于窗口右上角的USB连接器图标是否为蓝色。
蓝色USB图标:模组已连接并正在运行
灰色USB图标:模组未连接或未激活
默认显示红外数据，我们通过活动窗口流选择可以显示不同通道的数据：
#解压包
unzip Linux-arm64-Ubuntu18.04-ros.zip
官方目录中有安装步骤，要先执行了:
#插入模组：
1，sudo dpkg -i inudev-simplified_4.16.0006.30_arm64.deb
2，sudo dpkg -i ros-melodic-inudev-ros-nodelet_1.0.18-0bionic_arm64.deb
3，export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/Inuitive/InuDev/lib
4，roslaunch /opt/ros/melodic/share/inudev_ros_nodelet/launch/inudev_ros_nodelet.launch
cd ~/Inuchip_ws/Linux-arm64-Ubuntu18.04-ros
sudo dpkg -i inudev-simplified_4.16.0006.30_arm64.deb
sudo dpkg -i ros-melodic-inudev-ros-nodelet_1.0.18-0bionic_arm64.deb
需要显示器界面支持，我使用nomachine 链接我的板子的。
#设置库应用路径
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/Inuitive/InuDev/lib
#启动传感器测试驱动
roslaunch /opt/ros/melodic/share/inudev_ros_nodelet/launch/inudev_ros_nodelet.launch
启动之后，会弹出3个窗口，这个应该是官方为了方便测试所留的。可以全部3个窗口都关掉，不影响后续测试。
这个页面，官方预留的可以用来可视化调整一些参数看。可以全部3个窗口都关掉，不影响后续测试。
关掉不影响后续测试。
新开一个终端：
rosnode list
/inudev_ros_nodelet
/link_broadcaster
/nodelet_manager
/rosout
/rqt_console
/rqt_reconfigure
rostopic list
/camera/aligned_depth_to_color/image_raw
/camera/aligned_depth_to_color/image_raw/compressed
/camera/aligned_depth_to_color/image_raw/compressed/parameter_descriptions
/camera/aligned_depth_to_color/image_raw/compressed/parameter_updates
/camera/aligned_depth_to_color/image_raw/compressedDepth
/camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_descriptions
/camera/aligned_depth_to_color/image_raw/compressedDepth/parameter_updates
/camera/aligned_depth_to_color/image_raw/theora
/camera/aligned_depth_to_color/image_raw/theora/parameter_descriptions
/camera/aligned_depth_to_color/image_raw/theora/parameter_updates
/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
/depth/depth2pc
/disparity/sensor_msgs/Image/Video/disparity
/features/camera/fisheye/features
/imu/sensor_msgs/Imu
/inudev_ros_nodelet/parameter_descriptions
/inudev_ros_nodelet/parameter_updates
/nav_msgs/sensor_msgs/Path
/nodelet_manager/bond
/pointcloud/sensor/PointCloud2
/rosout
/rosout_agg
/sensor_msgs/Image/Fisheye
/sensor_msgs/Image/Fisheye/compressed
/sensor_msgs/Image/Fisheye/compressed/parameter_descriptions
/sensor_msgs/Image/Fisheye/compressed/parameter_updates
/sensor_msgs/Image/Fisheye/compressedDepth
/sensor_msgs/Image/Fisheye/compressedDepth/parameter_descriptions
/sensor_msgs/Image/Fisheye/compressedDepth/parameter_updates
/sensor_msgs/Image/Fisheye/theora
/sensor_msgs/Image/Fisheye/theora/parameter_descriptions
/sensor_msgs/Image/Fisheye/theora/parameter_updates
/sensor_msgs/Image/Video/left/camera_info
/sensor_msgs/Image/Video/left/image
/sensor_msgs/Image/Video/right/camera_info
/sensor_msgs/Image/Video/right/image
/sensor_msgs/Image/camera_info
/tf
/vision_msgs/vision_msgs/Detections# 如果刚才没有关相机节点，下面可以跳过，如果已经关闭，记得开一个终端，打开相机节点
#设置库应用路径
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/Inuitive/InuDev/lib
#启动传感器测试驱动
roslaunch /opt/ros/melodic/share/inudev_ros_nodelet/launch/inudev_ros_nodelet.launch
在一个新的终端，可以看到IMU话题和数据 
# 新开一个节点，打开RVIZ
rosrun rviz rviz
Rviz中点击左下角Add添加rviz_imu_plugin,可以看见有坐标系出现，如果没有需要安装 （sudo apt-get install ros-melodic-imu-tools 安装imu功能包）
这个时候你再动相机，圆锥箭头就开始动了。
可以保留这个RVIZ配置：
上面已经打开了测试节点，此处行开一个终端，启动rqt_image_view
rosrun rqt_image_view rqt_image_view RGB图：
红外图：
一看深度信息图，就会报错：
暂时没有搞清楚怎么回事。
# 如果刚才没有关相机节点，下面可以跳过，如果已经关闭，记得开一个终端，打开相机节点
#设置库应用路径
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/Inuitive/InuDev/lib
#启动传感器测试驱动
roslaunch /opt/ros/melodic/share/inudev_ros_nodelet/launch/inudev_ros_nodelet.launch# 新开一个节点，打开RVIZ
rosrun rviz rviz
测试过程中记录了一下CPU的占用情况
每次启动官方的脚本文件，都需要进行关闭那些窗口的操作，实际我们使用，应该也很少开启那些窗口，我们可以选择自己写一个脚本本间来实现。
#启动传感器测试驱动
roslaunch /opt/ros/melodic/share/inudev_ros_nodelet/launch/inudev_ros_nodelet.launch
launch/inudev_ros_nodelet.launch 文件的原始内容：
<launch>
<arg name="Service_ID" default="" />
<arg name="tf_prefix" default="" />
<arg name="stereo_namespace" default="stereo" />
<arg name="xyz_namespace" default="cloudify" />
<arg name="manager" default="nodelet_manager" />
<!-- "screen" or "log" -->
<arg name="output" default="log" />
<arg name="verbose" default="true" />
<arg name="run_stereo_image_proc" default="0" />
<arg name="run_disparity_to_depth" default="0" />
<!-- controls display of InuSW vide/disparity output -->
<arg name="run_image_view_video" default="0" />
<!-- controls display of ROS video->disparity processing display -->
<arg name="run_image_view_disparity" default="0" />
<arg name="run_image_view_depth" default="0" />
<arg name="run_image_view_fisheye" default="0" />
<arg name="run_image_view_RGB" default="0" />
<arg name="run_rqt_image_view" default="0" />
<arg name="run_rviz" default="0" />
<arg name="run_depth2xyz" default="0" />
<arg name="run_configure" default="1" />
<!-- controls loading disparity processing as nodelet (this now works) -->
<arg name="disparity_nodelet" default="0" />
<!-- controls disabling loading of unused image transports. -->
<arg name="disable_unused_transports" default="1" />
<!-- =================================== NO CONFIGURATION OPTIOS BELOW THIS POINT =================================== -->
<rosparam file="$(find inudev_ros_nodelet)/cfg/InuRosParams$(arg Service_ID).yaml" />
<!-- Topic remapping according to service ID -->
<remap from="/camera/aligned_depth_to_color/image_raw" to="/camera/aligned_depth_to_color/image_raw$(arg Service_ID)" />
<remap from="/camera/color/image_raw" to="/camera/color/image_raw$(arg Service_ID)" />
<remap from="/sensor_msgs/Image/Video/right/image" to="/sensor_msgs/Image/Video/right/image$(arg Service_ID)" />
<remap from="/sensor_msgs/Image/Video/left/image" to="/sensor_msgs/Image/Video/left/image$(arg Service_ID)" />
<remap from="/sensor_msgs/Image/Video/disparity" to="/sensor_msgs/Image/Video/disparity2$(arg Service_ID)" />
<remap from="/sensor/PointCloud" to="/sensor/PointCloud$(arg Service_ID)" />
<remap from="/sensor_msgs/Image/Fisheye" to="/sensor_msgs/Image/Fisheye$(arg Service_ID)" />
<remap from="/sensor_msgs/Path" to="/sensor_msgs/Path$(arg Service_ID)" />
<remap from="/sensor_msgs/Imu" to="/sensor_msgs/Imu$(arg Service_ID)" />
<remap from="/vision_msgs/Detections" to="/vision_msgs/Detections$(arg Service_ID)" />
<remap from="/camera/fisheye/features" to="/camera/fisheye/features$(arg Service_ID)" />
<group if="$(arg disable_unused_transports)" >
<include file="$(find inudev_ros_nodelet)/launch/inudev_ros_nodelet_transport_disable.launch" ns="sensor_msgs/Image/Depth" />
<include file="$(find inudev_ros_nodelet)/launch/inudev_ros_nodelet_transport_disable.launch" ns="sensor_msgs/Image/Webcam" />
<include file="$(find inudev_ros_nodelet)/launch/inudev_ros_nodelet_all_transports_disable.launch" >
<arg name="side" value="left" />
</include>
<include file="$(find inudev_ros_nodelet)/launch/inudev_ros_nodelet_all_transports_disable.launch" >
<arg name="side" value="right" />
</include>
</group>
<!-- create a console if output is *not* screen -->
<node if="$(eval arg('output')!='screen')" pkg="rqt_console" type="rqt_console" name="rqt_console" />
<!-- nodelet manager -->
<node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="$(arg output)" />
<!-- this is Inuitive's ROS nodelet -->
<node pkg="nodelet" type="nodelet" name="inudev_ros_nodelet$(arg Service_ID)" args="load inudev_ros_nodelet/CInuDevRosNodelet $(arg manager) TEST" output="$(arg output)" required="true">
<param name="verbose" value="false" />
<param name="log_pointcloud" value="false" />
</node>
<!-- view ROS info -->
<node pkg="rqt_gui" type="rqt_gui" name="rqt_gui" />
<!-- Static Transform Publisher -->
<node pkg="tf" type="static_transform_publisher" name="link_broadcaster$(arg Service_ID)" args="0.0 0.0 0.0 0 0 0 /map /camera_link$(arg Service_ID) 100" />
<node if="$(arg run_rqt_image_view)" pkg="rqt_image_view" type="rqt_image_view" name="rqt_image_view" output="$(arg output)" />
<!-- display InuSW disparity output -->
<node if="$(arg run_image_view_video)" pkg="image_view" type="stereo_view" name="image_view" args="_approximate_sync:=True" output="$(arg output)">
<param name="~window_name" value="Video" />
<remap from="stereo" to="/sensor_msgs/Image/Video" />
<param name="queue_size" value="5" />
</node>
<!-- Display of ROS video->disparity processing output -->
<node if="$(arg run_image_view_disparity)" pkg="image_view" type="stereo_view" name="disparity_view" output="$(arg output)">
<param name="~window_name" value="Disparity" />
<remap from="stereo" to="$(arg stereo_namespace)" />
<remap from="image" to="image_color" />
</node>
<node if="$(arg run_image_view_depth)" pkg="image_view" type="image_view" name="depth_view" respawn="true" respawn_delay="30" output="$(arg output)">
<param name="~window_name" value="Depth" />
<remap from="image" to="/sensor_msgs/Image/Depth" />
</node>
<node if="$(arg run_image_view_fisheye)" pkg="image_view" type="image_view" name="fisheye_view" respawn="true" respawn_delay="30" output="$(arg output)">
<param name="~window_name" value="Fisheye" />
<remap from="image" to="/sensor_msgs/Image/Fisheye" />
</node>
<node if="$(arg run_image_view_RGB)" pkg="image_view" type="image_view" name="RGB_view" respawn="true" respawn_delay="30" output="$(arg output)">
<param name="~window_name" value="RGB" />
<remap from="image" to="/camera/color/image_raw" />
</node>
<node if="$(arg run_depth2xyz)" pkg="nodelet" type="nodelet" name="cloudify" args="load depth_image_proc/point_cloud_xyz $(arg manager)" output="$(arg output)">
<remap from="sensor_msgs/Image" to="/sensor_msgs/Image/Depth" />
<remap from="sensor_msgs/CameraInfo" to="/sensor_msgs/Image/camera_info" />
</node>
<node if="$(arg run_rviz)" pkg="rviz" type="rviz" name="rviz" />
<group if="$(arg run_stereo_image_proc)" >
<!--
video to disparity processing
We repawn, as stereo_image_proc will exit if the topics it expects are not being published. Note it will
also not publish on its own, anless it's topics are subscribed to.
-->
<remap from="/$(arg stereo_namespace)/left/image_raw" to="/sensor_msgs/Image/Video/left/image" />
<remap from="/$(arg stereo_namespace)/right/image_raw" to="/sensor_msgs/Image/Video/right/image" />
<remap from="/$(arg stereo_namespace)/left/camera_info" to="/sensor_msgs/Image/Video/left/camera_info" />
<remap from="/$(arg stereo_namespace)/right/camera_info" to="/sensor_msgs/Image/Video/right/camera_info" />
<!--
stereo image processing
-->
<node unless="$(arg disparity_nodelet)" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc" output="$(arg output)" ns="$(arg stereo_namespace)" respawn="true" respawn_delay="30" />
<node if="$(arg disparity_nodelet)" pkg="nodelet" type="nodelet" name="stereo_image_proc" output="$(arg output)" ns="$(arg stereo_namespace)" respawn="true" respawn_delay="30" args="load stereo_image_proc/disparity $(arg manager) --bond" />
</group>
<node if="$(arg run_configure)" pkg="rqt_reconfigure" type="rqt_reconfigure" name="rqt_reconfigure" />
</launch>
修改后，启动试试：
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