# 9.1.1.1. Astra Pro 3D 攝影機

<div align="left"><img src="https://3058168660-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LkXc5k_SFaP9gK2gsU8%2F-LmD1ww3Q4H3-m9rw1uV%2F-LmD2PIgGVNHJbB3ULeO%2FOpenManipulator_camera_Astra_pro.png?alt=media&#x26;token=b3d1864f-7084-4de6-be27-294060fade29" alt=""></div>

* **Overview**

[**Astra 系列**](https://orbbec3d.com/product-astra/)旨在進一步加強 Orbbec 3D 攝影機與市場上現有 3D 攝影機的市場區別。 Astra 3D 攝影機提供計算機視覺，可實現數十種功能，如人臉識別，手勢識別，人體跟踪，三維測量，環境感知和三維地圖重建。

* **規格**

| Items                                 | Specifications               |
| ------------------------------------- | ---------------------------- |
| RGB Image Resolution and Frame Rate   | 1280 x 720, @30fps           |
| Depth Imgae Resolution and Frame Rate | 640 x 480, @30fps            |
| FOV (Field-of-View)                   | 60°H x 49.5°V x 73°D         |
| Range                                 | 0.6m - 8m                    |
| USB Port                              | USB 2.0                      |
| Dimensions                            | 165mm x 30mm x 40mm          |
| Operating Systems                     | Android/Linux/Windows 7/8/10 |
| SDK                                   | Astra SDK or OpenNI          |
| Microphones                           | 2 (Built - in)               |

* **安裝**

以下指令將安裝相關的 Astra Pro 程式庫。

```
 $ sudo apt-get install ros-kinetic-rgbd-launch ros-kinetic-libuvc-camera
```

```
  $ cd ~/catkin_ws/src
  $ git clone https://github.com/orbbec/ros_astra_camera.git
  $ git clone https://github.com/ROBOTIS-GIT/ros_astra_launch.git
  $ cd ~/catkin_ws && catkin_make
  $ roscd astra_camera && ./scripts/create_udev_rules
```

* **執行**

運行以下指令

```
  $ sudo chmod a+rw /dev/bus/usb/${USB}/${PORT}
  $ roslaunch ros_astra_launch astra_pro.launch
```

你可以使用 RViz 或 image\_view 來驗證驅動程序。您可以從應用程序頂部的下拉選單中選擇與 Astra Pro 相關的數據 topic name。

```
 $ rqt_image_view
```

* **參考資源**
  * [**ORBBEC Astra Pro** ](https://orbbec3d.com/product-astra-pro/)
  * [**Astra Pro ROS package**](https://github.com/orbbec/ros_astra_camera)
