ROS indigo下Kinect v2的驱动安装与调试

ROS indigo下Kinect v2的驱动安装与调试

一、libfreenect2源码安装与测试

github地址：https://github.com/OpenKinect/libfreenect2

最终测试终端显示如下：

yuanlibin@yuanlibin:~/libfreenect2/build$ ./bin/Protonect
Version: 0.2.0
Environment variables: LOGFILE=<protonect.log>
Usage: ./bin/Protonect [-gpu=<id>] [gl | cl | clkde | cuda | cudakde | cpu] [<device serial>]
        [-noviewer] [-norgb | -nodepth] [-help] [-version]
        [-frames <number of frames to process>]
To pause and unpause: pkill -USR1 Protonect
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 6 usb devices connected
[Error] [Freenect2Impl] failed to open Kinect v2: @2:5 LIBUSB_ERROR_ACCESS Access denied (insufficient permissions)
[Info] [Freenect2Impl] found 0 devices
no device connected!
yuanlibin@yuanlibin:~/libfreenect2/build$ sudo ./bin/Protonect
Version: 0.2.0
Environment variables: LOGFILE=<protonect.log>
Usage: ./bin/Protonect [-gpu=<id>] [gl | cl | clkde | cuda | cudakde | cpu] [<device serial>]
        [-noviewer] [-norgb | -nodepth] [-help] [-version]
        [-frames <number of frames to process>]
To pause and unpause: pkill -USR1 Protonect
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 6 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @2:5 with serial 003254763247
[Info] [Freenect2Impl] found 1 devices
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
[Info] [Freenect2DeviceImpl] opened
[Info] [Freenect2DeviceImpl] starting...
[Debug] [Freenect2DeviceImpl] status 0x090000: 9729
[Debug] [Freenect2DeviceImpl] status 0x090000: 9731
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
device serial: 003254763247
device firmware: 2.3.3913.0
[Debug] [DepthPacketStreamParser] not all subsequences received 0
[Debug] [DepthPacketStreamParser] skipping depth packet
[Debug] [Dep