1、主要任务
主要工作分别是安装libfreenect2,和iai_kinect2。前者是kinect在ubuntu系统中需要的驱动,后者是连接ros系统和kinect的bridge。
2、安装libfreenect2
- 创建工作区并编译
mkdir -p ~/catkin_ws/src/
cd ~/catkin_ws/
catkin_make
- 下载源码
cd src
git clone https://github.com/OpenKinect/libfreenect2.git
- 安装依赖包
cd libfreenect2
sudo apt-get install build-essential cmake pkg-config
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libturbojpeg libjpeg-turbo8-dev
sudo apt-get install libglfw3-dev
sudo apt-get install beignet-dev
sudo apt-get install libva-dev libjpeg-dev
sudo apt-get install libopenni2-dev
- 编译并安装
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2 -DENABLE_CXX11=ON
make
make install
- 设置udev规则