Kinect v1 安装驱动
$ sudo apt-get install ros-indigo-freenect-*
$ rospack profile
或
$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-drivers/freenect_stack.git
$ cd ~/catkin_ws/
$ catkin_make
$ rospack profile
测试使用
- 新终端,执行roscore
$ roscore
- 新终端,执行freenect
$ roslaunch freenect_launch freenect-registered-xyzrgb.launch
- 新终端,执行image_view
$ rosrun image_view image_view image:=/camera/rgb/image_color
二、安装rgbdslam功能包
在工作空间中下载代码并解压:
wget -q http://github.com/felixendres/rgbdslam_v2/archive/indigo.zip
unzip -q indigo.zip
然后回到catkin_ws的目录下,安装依赖:
rosdep install rgbdslam
rosdep update
依赖包安装完成后,就可以开始编译了:
catkin_make
三、开始3D建模
先把kinect运行起来,然后开始建模。
roslaunch freenect_launch freenect.launch
roslaunch rgbdslam rgbdslam.launch
按空格键可以停止或者开始建模。
参考资料:https://www.ncnynl.com/archives/201703/1438.html
http://www.guyuehome.com/860