ubuntu16.04安装kinect V2驱动及相机标定
kinect V2相机驱动官方地址:https://github.com/OpenKinect/libfreenect2
下载libfreenect2
git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2
安装编译环境
安装必备环境
编译工具
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
所需要的依赖统一安装：
sudo apt-get install build-essential cmake pkg-config libusb-1.0-0-dev libturbojpeg libjpeg-turbo8-dev libglfw3-dev
#安装可选依赖
OpenCL
sudo apt-get install beignet-dev
CUDA
VAAPI
sudo apt-get install libva-dev libjpeg-dev
OpenNI2
sudo apt-get install libopenni2-dev
编译配置
编译
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2
make
make install
# -DCMAKE_INSTALL_PREFIX指定安装的路径
设置设备访问规则
sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/
调试
./bin/Protonect
调试过程中，检查相机usb是否是连接的是3.0
标定
1. Ros工作空间搭建
新建workspace
2. 下载编译kinect2驱动节点
cd src
下载源码
git clone https://github.com/code-iai/iai_kinect2.git
安装kinect2 所需要的依赖
cd iai_kinect2
rosdep install -r --from-paths
编译节点
catkin_make
测试连接
#1. 开启kinect2_bridge
roslaunch kinect2_bridge kinect2_bridge.launch
#2. 启动kinect2_viewer
rosrun kinect2_viewer kinect2_viewer
可以通过rosrun kinect2_viewer kinect2_viewer --help进行查看可配置的参数。
#Kinect2驱动通讯
#查看kinect2驱动发布的数据
rostopic list
输出结果如下：
/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
kinect2 相机是通过topic来传递数据的。在topic中会发现大量的topic信息。
hd,qhd,sd分别代表分辨率。
#调试显示相机图像
rosrun image_view image_view image:=/kinect2/hd/image_color
#相机标定
启动kinect2_brige
rosrun kinect2_bridge kinect2_bridge _fps_limit:=2
_fps_limit:=2设置相机每秒2帧进行采样。
启动时查看启动日志得到设备序列.
创建采样的文件夹
mkdir ~/kinect_cal_data
cd ~/kinect_cal_data
彩图采样
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
将标定结果存储到指定目录
来到kinect2_bridge/data目录下
roscd kinect2_bridge/data
mkdir 设备串口名称
设备串口名称是在 kinect2_bridge启动时日志中会打印出来的
拷贝标定的结果配置文件
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 .