ROS：kinect2的安装与使用

Kinect2是一款深度摄像机，能够采集包含深度的图像信息，常用于SLAM和物体识别等操作

我们假设已经搭建了工作空间catkin_ws

1.操作系统

Ubuntu 16.04
ROS Kinect

2.硬件要求

USB3.0
USB2.0
Kinect V2

3.驱动节点

3.1 kinect2节点配置——libfreenect2

3.1.1下载libfreenect2

进入catkin的src终端输入

$git clone https://github.com/OpenKinect/libfreenect2.git
$cd libfreenect2

3.1.2安装编译工具

$sudo apt-get install build-essential cmake pkg-config

3.1.3安装libusb

$sudo apt-get install libusb-1.0-0-dev

3.1.4安装TurboJPEG

$sudo apt-get install libturbojpeg libjpeg-turbo8-dev

3.1.5安装OpenGL

$sudo apt-get install libglfw3-dev

3.1.6安装OpenCL(Intel GPU)

$sudo apt-get install beignet-dev

3.1.7安装VAAPI

$sudo apt-get install libva-dev libjpeg-dev

3.1.8安装OpenNI2

$sudo apt-get install libopenni2-dev

3.1.9编译并测试

$cd ..
$mkdir build && cd build
$cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2
$make
$make install
$sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

#在libfreenect2的build文件夹中打开终端
$./bin/Protonect  #运行demo程序

3.2 kinect2节点配置——iai-kinect2

同样进入catkin_ws的src终端输入

3.2.1下载安装iai-kinect2

$git clone https://github.com/code-iai/iai_kinect2.git
$cd iai_kinect2
$rosdep install -r --from-paths .
$cd ~/catkin_ws
$catkin_make -DCMAKE_BUILD_TYPE="Release"

4.测试Kinect2

#先启动一个roscore
$roslaunch kinect2_bridge kinect2_bridge.launch
$rosrun kinect2_viewer kinect2_viewer sd cloud