微軟深度相機Kinect安裝教程見Ubuntu 16.04下Kinect XBOX 360驅動安裝與骨骼跟蹤教程
準備
基於Ubuntu 16.04,首先安裝ROS Kinetic
注:若爲其他版本的Ubuntu和ROS,只需修改版本名即可
安裝依賴項
sudo apt-get install ros-kinetic-rgbd-launch ros-kinetic-openni2-camera ros-kinetic-openni2-launch
安裝rqt包以及其他相關包
sudo apt-get install ros-kinetic-rqt ros-kinetic-rqt-common-plugins ros-kinetic-rqt-robot-plugins
打開終端(Ctrl+Alt+t)
roscore
打開另一個終端(Ctrl+Alt+t)
roslaunch openni2_launch openni2.launch
新開一個終端 (Ctrl+Alt+t)
rqt
在“rqt”窗口中選擇 “Plugins” -> “Visualization” -> “Image View“
在選擇框中選取你想看的圖像類型,不過,不能同時打開IR流和深度流。
OpenNI2安裝
下載OpenNI2,解壓
安裝依賴項
sudo apt-get install g++
sudo apt-get install python
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libudev-dev
sudo apt-get install openjdk-8-jre
sudo apt-get install openjdk-8-jdk
sudo apt-get install freeglut3-dev
sudo apt-get install doxygen
sudo apt-get install graphviz
編譯
cd OpenNI2
make
測試
cd OpenNI2/Bin/x64-Release
./NiViewer
NiTE2安裝
下載NiTE2,解壓
cd NiTE-Linux-x64-2.2
sudo ./install.sh
gedit OpenNI.ini
#末尾添加:
Repository=/usr/lib/OpenNI2/Drivers
測試
cd NiTE-Linux-x64-2.2/Samples/Bin/
./UserViewer
附
Xtion2驅動安裝與骨骼跟蹤
sudo ./install.sh
#限制帶寬(注:每次開機都需重新輸入)
sudo rmmod uvcvideo
sudo modprobe uvcvideo quirks=640