nishida-lab / kinect_bringup

Scripts for kinect v2 in ROS kinetic

kinect_bringup

Requirements

• Ubuntu 16.04
• ROS kinetic (including PCL)
• libfreenect2
• iai_kinect2
• Kinect v2

libfreenect2 installation

$ cd
$ mkdir src
$ cd src
$ git clone https://github.com/OpenKinect/libfreenect2.git
$ cd libfreenect2
$ sudo apt-get install build-essential cmake pkg-config libusb-1.0-0-dev libturbojpeg libjpeg-turbo8-dev libglfw3-dev
$ mkdir build
$ cd build
$ cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/src/freenect2
$ cmake .. -Dfreenect2_DIR=$HOME/src/freenect2/lib/cmake/freenect2
$ make -j8
$ sudo make install
$ sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

Test of kinect v2 via libfreenect2

Connect the kinect to USB3.0 port.

./bin/Protonect

iai_kinect2 installation

$ cd <your_workspace>/src
$ git clone https://github.com/code-iai/iai_kinect2.git
$ cd iai_kinect2
$ rosdep install -r --from-paths .
$ cd ~/catkin_ws
$ catkin build -DCMAKE_BUILD_TYPE=”Release”  -Dfreenect2_DIR=~/src/freenect2/lib/cmake/freenect2

Test of kinect v2 via ROS

Run the streaming script for kinect v2.

$ roslaunch kinect2_bridge kinect2_bridge.launch

pointcloud viewer

$ rosrun kinect2_viewer kinect2_viewer kinect2 sd cloud

image viewer

$ rosrun kinect2_viewer kinect2_viewer kinect2 sd image

Initial build of this repository

$ cd <your_workspace>/src
$ git clone https://github.com/Nishida-Lab/kinect_bringup.git

Specify the location where you installed libfreenect2.

$ catkin build -DCMAKE_BUILD_TYPE=”Release”  -Dfreenect2_DIR=~/src/freenect2/lib/cmake/freenect2

Running single kinect with urdf

$ roscore

$ roslaunch kinect2_bridge kinect2_bridge.launch base_name:=kinect_center

$ roslaunch kinect_bringup kinect_center_streaming.launch

depth_method:=cpu

$ roslaunch kinect2_bridge kinect2_bridge.launch base_name:=kinect_center depth_method:=cpu

intrinsic calibration

https://github.com/code-iai/iai_kinect2/tree/master/kinect2_calibration

extrinsic calibration

$ rosrun kinect_bringup tf_interactive_marker.py world kinect_test 1.4784 0.0693 0.4358 0.046 0.4315 -3.1227