KinectV2测试物体识别linemod算法 Ubuntu16 ROS-kinetic

1、在ros indigo下安装kinect2的驱动libfreenect时，经常会安装不成功，出现GLFW65505之类的报错，主要是因为opengl的版本太低；所以使用Kinect2建议在ROS-kinetic下安装并驱动（Ubuntu16.04） 

2、用到的网址

http://blog.csdn.net/sunbibei/article/details/51594824                                 kinetic2驱动安装   libfreenect+iai

https://github.com/code-iai/iai_kinect2/issues/153

https://blog.techbridge.cc/2016/05/14/ros-object-recognition-kitchen/      ORK安装，最后detection_ros_ork命令上面的命令要修改

http://wg-perception.github.io/ork_tutorials/tutorial03/tutorial.html           ORK官网

https://github.com/wg-perception/linemod/issues/28                                   由于kinect2特殊的分辨率导致linemod检测失败的解决方法

3、终端输入

cd kinect_ws
source devel/setup.bash
roslaunch kinect2_bridge kinect2_bridge.launch

rviz 

cd ork_ws
source devel/setup.bash
rosrun topic_tools relay /kinect2/qhd/image_depth_rect /camera/depth_registered/image_raw

rosrun topic_tools relay /kinect2/qhd/image_color_rect /camera/rgb/image_rect_color

rosrun topic_tools relay /kinect2/qhd/camera_info /camera/rgb/camera_info

rosrun topic_tools relay /kinect2/qhd/camera_info /camera/depth_registered/camera_info

rosrun topic_tools relay /kinect2/qhd/points /camera/depth_registered/points

rosrun tf static_transform_publisher 0 0 0 0 0 0 kinect2_ir_opticalrame camera_depth_optical_frame 40

rosrun object_recognition_core detection -c  `rospack find object_recognition_linemod`/conf/detection.ros.ork

linemod算法配置记录