kinectV2
- roslaunch kinect2_bridge kinect2_bridge.launch
- 可以选择深度图像的获取方式和registration方式
- rosrun kinect2_bridge kinect2_bridge _depth_method:=<opengl|opencl|cpu> _reg_method:=<cpu|opencl>
- 可以查看点云或者图像,提供了三种对准的图像格式,hd(1920x1080),qhd (960x540),sd (512x424)
- rosrun kinect2_viewer kinect2_viewer kinect2 sd cloud
- rosrun kinect2_viewer kinect2_viewer kinect2 sd image
- 提示:如果想要取得更好的效果,记得按照iai_kinect2校准教程https://github.com/code-iai/iai_kinect2/tree/master/kinect2_calibration#calibrating-the-kinect-one 校准自己的相机参数哦!
ubuntu 16.04 kienect2 的使用安装
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1、首先安装libfreenect2
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git clone https://github.com/OpenKinect/libfreenect2.git
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cd libfreenect2
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sudo apt-get install build-essential cmake pkg-config libusb-1.0-0-dev libturbojpeg libjpeg-turbo8-dev
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sudo apt-get install libglfw3-dev libopenni2-dev
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mkdir build && cd build
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cmake … -DENABLE_CXX11=ON
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make
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sudo make install
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sudo cp …/platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/
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./bin/Protonect [gl | cuda | cpu]
在ros 中使用kimet
- cd ~/catkin_ws/src/
- git clone https://github.com/code-iai/iai_kinect2.git
- cd iai_kinect2
- rosdep install -r --from-paths .
- cd ~/catkin_ws
- catkin_make -DCMAKE_BUILD_TYPE=“Release”
- roslaunch kinect2_bridge kinect2_bridge.launch
- rosrun image_view image_view image:=/kinect2/hd/image_color