Official address of kinect V2 camera driver: https://github.com/OpenKinect/libfreenect2
Download libfreenect2
git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2
Install the compilation environment
Installation prerequisite environment
Compilation tool
sudo apt-get install build-essential cmake pkg-config
libusb
sudo apt-get install libusb-1.0-0-dev
TurboJPEG
sudo apt-get install libturbojpeg libjpeg-turbo8-dev
OpenGL
sudo apt-get install libglfw3-dev
The required dependencies are installed in a unified manner:
sudo apt-get install build-essential cmake pkg-config libusb-1.0-0-dev libturbojpeg libjpeg-turbo8-dev libglfw3-dev
#Install optional dependency
OpenCL
sudo apt-get install beignet-dev
MIRACLES
VAAPI
sudo apt-get install libva-dev libjpeg-dev
OpenNI2
sudo apt-get install libopenni2-dev
Compile configuration
Compile
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2
make
make install
# -DCMAKE_INSTALL_PREFIX指定安装的路径
Set device access rules
sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/
debugging
./bin/Protonect
During debugging, check whether the camera usb is connected to 3.0
Calibration
1. Ros workspace construction
New workspace
2. Download and compile the kinect2 driver node
cd src
download source code
git clone https://github.com/code-iai/iai_kinect2.git
Dependencies needed to install kinect2
cd iai_kinect2
rosdep install -r --from-paths
Compile node
catkin_make
Test connection
#1. Open kinect2_bridge
roslaunch kinect2_bridge kinect2_bridge.launch
#2. Start kinect2_viewer
rosrun kinect2_viewer kinect2_viewer
You can view the configurable parameters through rosrun kinect2_viewer kinect2_viewer --help.
#Kinect2 Drive Communication
# View the data released by the kinect2 driver and the output result of the
rostopic list
is as follows:
/kinect2/bond
/kinect2/hd/camera_info
/kinect2/hd/image_color
/kinect2/hd/image_color/compressed
/kinect2/hd/image_color_rect
/kinect2/hd/image_color_rect/compressed
/kinect2/hd/image_depth_rect
/kinect2/hd/image_depth_rect/compressed
/kinect2/hd/image_mono
/kinect2/hd/image_mono/compressed
/kinect2/hd/image_mono_rect
/kinect2/hd/image_mono_rect/compressed
/kinect2/hd/points
/kinect2/qhd/camera_info
/kinect2/qhd/image_color
/kinect2/qhd/image_color/compressed
/kinect2/qhd/image_color_rect
/kinect2/qhd/image_color_rect/compressed
/kinect2/qhd/image_depth_rect
/kinect2/qhd/image_depth_rect/compressed
/kinect2/qhd/image_mono
/kinect2/qhd/image_mono/compressed
/kinect2/qhd/image_mono_rect
/kinect2/qhd/image_mono_rect/compressed
/kinect2/qhd/points
/kinect2/sd/camera_info
/kinect2/sd/image_color_rect
/kinect2/sd/image_color_rect/compressed
/kinect2/sd/image_depth
/kinect2/sd/image_depth/compressed
/kinect2/sd/image_depth_rect
/kinect2/sd/image_depth_rect/compressed
/kinect2/sd/image_ir
/kinect2/sd/image_ir/compressed
/kinect2/sd/image_ir_rect
/kinect2/sd/image_ir_rect/compressed
/kinect2/sd/points
The kinect2 camera transmits data through topics. A lot of topic information will be found in topic.
hd, qhd, sd stand for resolution respectively.
#Debug display camera image
rosrun image_view image_view image:=/kinect2/hd/image_color
#Camera calibration start kinect2_brige
rosrun kinect2_bridge kinect2_bridge _fps_limit:=2
_fps_limit:=2 Set the camera to sample at 2 frames per second.
View the startup log at startup to get the device sequence.
Create sampled folders
mkdir ~/kinect_cal_data
cd ~/kinect_cal_data
Color image sampling
rosrun kinect2_calibration kinect2_calibration chess6x9x0.02 record color
chess6x9x0.02: chess为标定板，格式为widthxheightxsize.
width为标定板宽度方向的标定点个数。
height为标定板高度方向的标定点个数。
size为标定方格的宽度，单位为米。
彩图标定
rosrun kinect2_calibration kinect2_calibration chess6x9x0.02 calibrate color
红外图采样
rosrun kinect2_calibration kinect2_calibration chess6x9x0.02 record ir
红外图标定
rosrun kinect2_calibration kinect2_calibration chess6x9x0.02 calibrate ir
同步采样
rosrun kinect2_calibration kinect2_calibration chess6x9x0.02 record sync
同步标定
rosrun kinect2_calibration kinect2_calibration chess6x9x0.02 calibrate sync
深度标定
rosrun kinect2_calibration kinect2_calibration chess6x9x0.02 calibrate depth
Store the calibration results in the specified directory
Go to the kinect2_bridge/data directory
roscd kinect2_bridge/data
mkdir 设备串口名称
The device serial port name is printed in the log when kinect2_bridge starts
Copy the calibration result configuration file
cp ~/kinect_cal_data/calib_color.yaml .
cp ~/kinect_cal_data/calib_depth.yaml .
cp ~/kinect_cal_data/calib_ir.yaml .
cp ~/kinect_cal_data/calib_pose.yaml .