kinect V1在linux下的驱动有几种安装方式,这里记录一下我的安装过程。
kinect V1驱动安装
参考:https://www.20papercups.net/programming/kinect-on-ubuntu-with-openni/
https://www.cnblogs.com/sincere-diligence/p/9322313.html
1.安装必须的依赖
sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-7-jdk
sudo apt-get install doxygen graphviz mono-complete
2.安装OpenNI 1.5.4
git clone https://github.com/OpenNI/OpenNI.git
cd OpenNI
git checkout Unstable-1.5.4.0
cd Platform/Linux/CreateRedist
chmod +x RedistMaker
./RedistMaker
cd ../Redist/OpenNI-Bin-Dev-Linux-[xxx] (where [xxx] is your architecture and this particular OpenNI release)
sudo ./install.sh
3.安装Kinect Sensor Module
git clone https://github.com/avin2/SensorKinect
cd SensorKinect
cd Platform/Linux/CreateRedist
chmod +x RedistMaker
./RedistMaker
cd ../Redist/Sensor-Bin-Linux-[xxx] (where [xxx] is your architecture and this particular OpenNI release)
chmod +x install.sh
sudo ./install.sh
4.测试OpenNI Samples
cd OpenNI/Platform/Linux/Bin/Release
./Sample-NiSimpleViewer
5.安装ros下kinect驱动
sudo apt install ros-kinetic-openni-camera
sudo apt install ros-kinetic-openni-launch
rosstack profile
rospack profile
sudo apt install ros-kinetic-freenect-camera ros-kinetic-freenect-stack ros-kinetic-freenect-launch
启动相机:roslaunch openni_launch openni.launch
然后打开rviz,在rviz中可以看到画面说明安装成功。
接下来就可以愉快的进行开发了。