微软深度相机Kinect安装教程见Ubuntu 16.04下Kinect XBOX 360驱动安装与骨骼跟踪教程
准备
基于Ubuntu 16.04,首先安装ROS Kinetic
注:若为其他版本的Ubuntu和ROS,只需修改版本名即可
安装依赖项
sudo apt-get install ros-kinetic-rgbd-launch ros-kinetic-openni2-camera ros-kinetic-openni2-launch
安装rqt包以及其他相关包
sudo apt-get install ros-kinetic-rqt ros-kinetic-rqt-common-plugins ros-kinetic-rqt-robot-plugins
打开终端(Ctrl+Alt+t)
roscore
打开另一个终端(Ctrl+Alt+t)
roslaunch openni2_launch openni2.launch
新开一个终端 (Ctrl+Alt+t)
rqt
在“rqt”窗口中选择 “Plugins” -> “Visualization” -> “Image View“
在选择框中选取你想看的图像类型,不过,不能同时打开IR流和深度流。
OpenNI2安装
下载OpenNI2,解压
安装依赖项
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
编译
cd OpenNI2
make
测试
cd OpenNI2/Bin/x64-Release
./NiViewer
NiTE2安装
下载NiTE2,解压
cd NiTE-Linux-x64-2.2
sudo ./install.sh
gedit OpenNI.ini
#末尾添加:
Repository=/usr/lib/OpenNI2/Drivers
测试
cd NiTE-Linux-x64-2.2/Samples/Bin/
./UserViewer
附
Xtion2驱动安装与骨骼跟踪
sudo ./install.sh
#限制带宽(注:每次开机都需重新输入)
sudo rmmod uvcvideo
sudo modprobe uvcvideo quirks=640