libfreenect2驱动安装:
下载libfreenect2 驱动
$ git clone https://github.com/OpenKinect/libfreenect2.git
$ cd libfreenect2
下载升级deb文件
$ cd depends
$ ./download_debs_trusty.sh
下载工具
$ sudo apt-get install build-essential cmake pkg-config
安装libusb
$ sudo apt-get install libusb-1.0-0-dev
安装TurboJPEG
$ sudo apt-get install libturbojpeg libjpeg-turbo8-dev
安装OpenGL
$ sudo dpkg -i debs/libglfw3*deb; sudo apt-get install -f; sudo apt-get install libgl1-mesa-dri-lts-vivid freeglut3-dev libxrandr-dev libxi-dev
安装openni2
$ sudo apt-get install openni2-utils && sudo make install-openni2 && NiViewer2
编译libfreenect2
$ cd ..
$ mkdir build && cd build
$ cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2
$ make
$ sudo make install
获得设备udev权限
$ sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/
然后插拔Kinect2,尝试运行Dmeo程序:
$ ./bin/Protonect
运行成功,则驱动安装完成。
安装iai_kinect2 (ROS)
ROS下iai_kinect2安装
$ 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"
编译结束,不报错的话,还要记得source对应的目录,具体操作如下:
1,打开.bashrc
文件,命令是:
$ gedit ~/.bashrc
2,在.bashrc
内容最后添加以下内容:
$ source ~/catkin_ws/devel/setup.bash
调用摄像头
安装结束,把你的kinect for xbox one 连上usb3.0 测试一下吧
$ roslaunch kinect2_bridge kinect2_bridge.launch
再开一个终端,查看点云或者图像,他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 #打开点云
rosrun kinect2_viewer kinect2_viewer kinect2 sd image #打开图像
参考:
https://www.cnblogs.com/kunyuanjushi/p/5204436.html
https://blog.csdn.net/qq_33835307/article/details/81272377