Kinect for Xbox One (v2) + Ubuntu 14.04 +ros

　　Kinect for Xbox One (v2) uses time flight technology to greatly improve the performance of deep images, compared to the Kinect for Xbox v1, which acquires depth through structured light. The original image color image provided by the Kinect for Xbox (v1) is 640x480, and the depth map is in the range, and under Ubuntu, you just need to install the Openni to get the registered color map and depth map. While the Kinect for Xbox One (v2) original color image is 1920x1080, the depth image is 512x424. Currently under Ubuntu has not been like a better driver, get registered images generally through LIBFREENECT2 (HTTPS://GITHUB.COM/OPENKINECT/LIBFREENECT2) and Iai_kinect2 ( HTTPS://GITHUB.COM/CODE-IAI/IAI_KINECT2) reads the data under Ros. OK, no more wordy, let's start the installation.

• Download Libfreenect2 Driver

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

Cdlibfreenect2

• Download the upgrade Deb file

　　　　cd depends

　　　　./download_debs_trusty.sh

• Download tool

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

• Installing LIBUSB

　　　　sudo apt-add-repository ppa:floe/libusb

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

• Installing Turbojpeg

　　　　sudo apt-get install libturbojpeg Libjpeg-turbo8-dev

• Installing OpenGL

　　　　sudo dpkg-i debs/libglfw3*deb; sudo apt-get install-f; sudo apt-get install Libgl1-mesa-dri-lts-vividfreeglut3-dev libxrandr-dev libxi-dev

• Installs OpenCL (recommended installation, because the IAI_KINECT2 default OpenCL does registration, speed steady 30Hz. CPU words I try is 2-3hz), I use the NVIDIA graphics card, just say N card opencl installation. Driver is the first, the more convenient way is to Setting->software & updates->additional drivers Choose Nvidia latest version352 driver, install the application is good.

sudo apt-get install nvidia-modprobe opencl-headers ocl-icd-dev  

I am going to download ocl-icd-2.2.4, and install it, otherwise there will be warning prompt version low

• Install Openni2 (optional)

　　　　sudo apt-get install openni2-utils && sudo make install-openni2 && NiViewer2

• Compiling Libfreenect2

　　　　cd ..

　　　　mkdir build && cd build

　　　　cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2

　　　　make make install

• Get device Udev Permissions

　　　　sudo cp. /platform/linux/udev/90-kinect2.rules/etc/udev/rules.d/

• Test drive is installed.

　　　　sudo chmod +x./bin/protonect

　　　./bin/protonect CPU

./bin/protonect GL

./bin/protonect CL

If the operation is successful, then congratulations, the driver installation is good!

• Ros under Iai_kinect2 installation

　　　　cd ~/catkin_ws/src/

　　　　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"

• After the installation, put your Kinect for Xbox One on usb3.0 and test it.

　　　　roslaunch kinect2_bridge kinect2_bridge.launch

You can also choose the depth map to get the way and registration way:

　　　　Rosrun Kinect2_bridge Kinect2_bridge _depth_method:=<opengl|opencl|cpu> _reg_method:=<cpu|opencl>

• Open a terminal, view the point cloud or image, he offers three aligned image formats HD (1920x1080), qHD (960x540), SD (512x424):

　　　　Rosrun kinect2_viewer kinect2_viewer kinect2 SD Cloud

Rosrun kinect2_viewer kinect2_viewer kinect2 SD image

Tip: If you want to get better results, remember to follow the Iai_kinect2 calibration tutorial https://github.com/code-iai/iai_kinect2/tree/master/kinect2_calibration# Calibrating-the-kinect-one Calibrate your camera parameters Oh!

Kinect for Xbox One (v2) + Ubuntu 14.04 +ros