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ROS indigo下Kinect v2的驱动安装与调试

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ROS indigo下Kinect v2的驱动安装与调试

一、libfreenect2源码安装与测试

github地址：https://github.com/OpenKinect/libfreenect2

最终测试终端显示如下：

复制代码 
    Protonect
    Version: 0.20
    Environment variables: LOGFILE
    Usage: .]
        [version]
        []
    To pause and unpause: pkill USR1 Protonect
    [Info] [Freenect2Impl] enumerating devices...
    [Info] [Freenect2Impl] 6 usb devices connected
    [Error] [Freenect2Impl] failed to open Kinect v2: @25 LIBUSB_ERROR_ACCESS Access denied (insufficient permissions)
    [Info] [Freenect2Impl] found 0 devices
    no device connected
    yuanlibin@yuanlibin:Protonect
    Version: 0.20
    Environment variables: LOGFILE
    Usage: .]
        [version]
        []
    To pause and unpause: pkill USR1 Protonect
    [Info] [Freenect2Impl] enumerating devices...
    [Info] [Freenect2Impl] 6 usb devices connected
    [Info] [Freenect2Impl] found valid Kinect v2 @25003254763247
    [Info] [Freenect2Impl] found 1 devices
    [Info] [Freenect2DeviceImpl] opening...
    [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 201638460833792
    [Info] [Freenect2DeviceImpl] opened
    [Info] [Freenect2DeviceImpl] starting...
    [Debug] [Freenect2DeviceImpl] status 0x0900009729
    [Debug] [Freenect2DeviceImpl] status 0x0900009731
    [Info] [Freenect2DeviceImpl] submitting rgb transfers...
    [Info] [Freenect2DeviceImpl] submitting depth transfers...
    [Info] [Freenect2DeviceImpl] started
    device serial: 003254763247
    device firmware: 2.33913.0
    [Debug] [DepthPacketStreamParser] not all subsequences received 0
    [Debug] [DepthPacketStreamParser] skipping depth packet
    [Debug] [DepthPacketStreamParser] skipping depth packet
    [Debug] [DepthPacketStreamParser] skipping depth packet
    [Debug] [DepthPacketStreamParser] skipping depth packet
    [Debug] [RgbPacketStreamParser] skipping rgb packet
    [Info] [DepthPacketStreamParser] 4 packets were lost
    [Info] [OpenGLDepthPacketProcessor] avg. time: 6154.905Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1467.9972Hz
    [Debug] [DepthPacketStreamParser] skipping depth packet
    [Info] [DepthPacketStreamParser] 1 packets were lost
    [Info] [OpenGLDepthPacketProcessor] avg. time: 7142.783Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1470.9491Hz
    [Debug] [DepthPacketStreamParser] skipping depth packet
    [Info] [DepthPacketStreamParser] 1 packets were lost
    [Info] [OpenGLDepthPacketProcessor] avg. time: 6161.609Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1470.6897Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 5197.621Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1469.2242Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 5198.775Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1468.5168Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 5195.796Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1566.1676Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 5197.795Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1470.3937Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 5192.557Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1371.5675Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 5184.804Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1469.1822Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 5170.763Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1467.4832Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 6154.173Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1466.7385Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 9101.683Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1565.7133Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 1186.3453Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1565.817Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 1188.9869Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1565.2715Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 1095.6942Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1565.4638Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 9100.741Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1565.9679Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 9101.507Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1566.2426Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 9101.861Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1466.8881Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 9101.884Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1466.9201Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 9101.728Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1467.0098Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 7135.616Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1468.2493Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 7139.295Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1468.5707Hz
    [Info] [OpenGLDepthPacketProcessor] avg. time: 7139.289Hz
    [Info] [TurboJpegRgbPacketProcessor] avg. time: 1565.5379Hz
    [Info] [Freenect2DeviceImpl] stopping...
    [Info] [Freenect2DeviceImpl] canceling rgb transfers...
    [Info] [Freenect2DeviceImpl] canceling depth transfers...
    [Info] [Freenect2DeviceImpl] stopped
    [Info] [Freenect2DeviceImpl] closing...
    [Info] [Freenect2DeviceImpl] releasing usb interfaces...
    [Info] [Freenect2DeviceImpl] deallocating usb transfer pools...
    [Info] [Freenect2DeviceImpl] closing usb device...
    [Info] [Freenect2DeviceImpl] closed
    [Info] [Freenect2DeviceImpl] closing...
    [Info] [Freenect2DeviceImpl] already closed, doing nothing

View Code

二、iai-kinect2源码安装与测试

github地址：https://github.com/code-iai/iai_kinect2

说明：

在安装依赖项中需要opencv2.4.,不能用opencv3.。

测试过程中先默认路径安装了opencv2.4.9，然后安装iai-kinect2，可以正常运行。但是指定路径安装了opencv3.1.0就无法运行了。

但是在默认路径安装了opencv2.4.9后，先指定路径安装了opencv3.1.0，最后安装iai-kinect2，是可以正常运行的。

1. 新建一个catkin_ws工作空间，编译安装iai-kinect2

复制代码 
    mkdir catkin_ws
    cd catkin_ws
    mkdir src
    cd src  
    git clone https://github.com/code-iai/iai_kinect2.git  
      
      
     _cd ~/catkin_ws  
    _ ____catkin_make -DCMAKE_BUILD_TYPE="Release"  
    _________rospack profile_____

2. 测试是否安装成功

复制代码

若出现以下错误：

复制代码 
484561710'/kinect2_points_xyzrgb_qhd` of type `depth_image_proc/point_cloud_xyzrgb` to manager `kinect2'
    [FATAL] [1479522843.485011986'/kinect2_points_xyzrgb_sd` of type `depth_image_proc/point_cloud_xyzrgb` to manager `kinect2'
    [FATAL] [1479522843.485174496'/kinect2_bridge` of type `kinect2_bridge/kinect2_bridge_nodelet` to manager `kinect2'
    [kinect22141311196362.log].
    log file: 96362.log
    [kinect2_bridge31413825596363.log].
    log file: 96363.log
    [kinect2_bridge3] restarting process
    process[kinect2_bridge314349]
    [ INFO] [1479522843.775811528kinect2_bridge_nodelet to manager kinect2 with the following remappings:
    [ INFO] [1479522843.77770497645567], waiting...
    [kinect2_points_xyzrgb_sd41413925596364.log].
    log file: 96364.log
    [kinect2_points_xyzrgb_qhd51414025596365.log].
    log file: 96365.log
    [kinect2_points_xyzrgb_sd4] restarting process
    process[kinect2_points_xyzrgb_sd414368]
    [kinect2_points_xyzrgb_qhd5] restarting process
    process[kinect2_points_xyzrgb_qhd514369]
    [kinect2_points_xyzrgb_hd6] process has finished cleanly
    log file: 96366.log
    [kinect2_points_xyzrgb_hd6] restarting process
    process[kinect2_points_xyzrgb_hd615202

View Code

是因为在.bashrc文件中要添加如下代码，并且要注释掉原来的rgbdslam_catkin_ws的那行代码

复制代码 
    setup.bash
    source

最后测试

终端1

复制代码

终端2

复制代码

测试成功。

此时，可以按空格或者s键单张采集彩色图、深度图及其对应的点云图图像。

如果要连续采集图像，请参考博文：<>

转载于:https://www.cnblogs.com/yuanlibin/p/8549970.html

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