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：

yuanlibin@yuanlibin:~/libfreenect2/build$ ./bin/Protonect

Version: 0.2.

Environment variables: LOGFILE=<protonect.log>

Usage: ./bin/Protonect [-gpu=<id>] [gl | cl | clkde | cuda | cudakde | cpu] [<device serial>]

        [-noviewer] [-norgb | -nodepth] [-help] [-version]

        [-frames <number of frames to process>]

To pause and unpause: pkill -USR1 Protonect

[Info] [Freenect2Impl] enumerating devices...

[Info] [Freenect2Impl]  usb devices connected

[Error] [Freenect2Impl] failed to open Kinect v2: @: LIBUSB_ERROR_ACCESS Access denied (insufficient permissions)

[Info] [Freenect2Impl] found  devices

no device connected!

yuanlibin@yuanlibin:~/libfreenect2/build$ sudo ./bin/Protonect

Version: 0.2.

Environment variables: LOGFILE=<protonect.log>

Usage: ./bin/Protonect [-gpu=<id>] [gl | cl | clkde | cuda | cudakde | cpu] [<device serial>]

        [-noviewer] [-norgb | -nodepth] [-help] [-version]

        [-frames <number of frames to process>]

To pause and unpause: pkill -USR1 Protonect

[Info] [Freenect2Impl] enumerating devices...

[Info] [Freenect2Impl]  usb devices connected

[Info] [Freenect2Impl] found valid Kinect v2 @: with serial

[Info] [Freenect2Impl] found  devices

[Info] [Freenect2DeviceImpl] opening...

[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: * ir: **

[Info] [Freenect2DeviceImpl] opened

[Info] [Freenect2DeviceImpl] starting...

[Debug] [Freenect2DeviceImpl] status 0x090000:

[Debug] [Freenect2DeviceImpl] status 0x090000:

[Info] [Freenect2DeviceImpl] submitting rgb transfers...

[Info] [Freenect2DeviceImpl] submitting depth transfers...

[Info] [Freenect2DeviceImpl] started

device serial:

device firmware: 2.3.3913.0

[Debug] [DepthPacketStreamParser] not all subsequences received

[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]  packets were lost

[Info] [OpenGLDepthPacketProcessor] avg. time: .45557ms -> ~.905Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .7065ms -> ~.9972Hz

[Debug] [DepthPacketStreamParser] skipping depth packet

[Info] [DepthPacketStreamParser]  packets were lost

[Info] [OpenGLDepthPacketProcessor] avg. time: .00361ms -> ~.783Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .0946ms -> ~.9491Hz

[Debug] [DepthPacketStreamParser] skipping depth packet

[Info] [DepthPacketStreamParser]  packets were lost

[Info] [OpenGLDepthPacketProcessor] avg. time: .18776ms -> ~.609Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .1463ms -> ~.6897Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .06018ms -> ~.621Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .4458ms -> ~.2242Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .03082ms -> ~.775Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .595ms -> ~.5168Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .10736ms -> ~.796Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .1131ms -> ~.1676Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .05573ms -> ~.795Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .2058ms -> ~.3937Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .19326ms -> ~.557Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .9728ms -> ~.5675Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .41113ms -> ~.804Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .4546ms -> ~.1822Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .85608ms -> ~.763Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .8185ms -> ~.4832Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .48623ms -> ~.173Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .9838ms -> ~.7385Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .83449ms -> ~.683Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .2176ms -> ~.7133Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .5814ms -> ~.3453Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .1936ms -> ~.817Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .2376ms -> ~.9869Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .3206ms -> ~.2715Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .45ms -> ~.6942Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .2756ms -> ~.4638Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .9264ms -> ~.741Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .1589ms -> ~.9679Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .85152ms -> ~.507Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .096ms -> ~.2426Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .81726ms -> ~.861Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .9504ms -> ~.8881Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .81506ms -> ~.884Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .9432ms -> ~.9201Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .83013ms -> ~.728Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .9232ms -> ~.0098Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .37377ms -> ~.616Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .6522ms -> ~.2493Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .17901ms -> ~.295Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .5835ms -> ~.5707Hz

[Info] [OpenGLDepthPacketProcessor] avg. time: .17929ms -> ~.289Hz

[Info] [TurboJpegRgbPacketProcessor] avg. time: .2584ms -> ~.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

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

mkdir catkin_ws

cd catkin_ws

mkdir src

cd 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"
rospack profile

2. 测试是否安装成功

roslaunch kinect2_bridge kinect2_bridge.launch

若出现以下错误：

[FATAL] [1479522843.484561710]: Failed to load nodelet '/kinect2_points_xyzrgb_qhd` of type `depth_image_proc/point_cloud_xyzrgb` to manager `kinect2'

[FATAL] [1479522843.485011986]: Failed to load nodelet '/kinect2_points_xyzrgb_sd` of type `depth_image_proc/point_cloud_xyzrgb` to manager `kinect2'

[FATAL] [1479522843.485174496]: Failed to load nodelet '/kinect2_bridge` of type `kinect2_bridge/kinect2_bridge_nodelet` to manager `kinect2'

[kinect2-] process has died [pid , exit code -, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=kinect2 __log:=/home/yuanlibin/.ros/log/a0154834-ae00-11e6--1c1b0d61bf22/kinect2-.log].

log file: /home/yuanlibin/.ros/log/a0154834-ae00-11e6--1c1b0d61bf22/kinect2-*.log

[kinect2_bridge-] process has died [pid , exit code , cmd /opt/ros/indigo/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 __name:=kinect2_bridge __log:=/home/yuanlibin/.ros/log/a0154834-ae00-11e6--1c1b0d61bf22/kinect2_bridge-.log].

log file: /home/yuanlibin/.ros/log/a0154834-ae00-11e6--1c1b0d61bf22/kinect2_bridge-*.log

[kinect2_bridge-] restarting process

process[kinect2_bridge-]: started with pid []

[ INFO] [1479522843.775811528]: Loading nodelet /kinect2_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect2 with the following remappings:

[ INFO] [1479522843.777704976]: waitForService: Service [/kinect2/load_nodelet] could not connect to host [yuanlibin:], waiting...

[kinect2_points_xyzrgb_sd-] process has died [pid , exit code , cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb kinect2 rgb/camera_info:=kinect2/sd/camera_info rgb/image_rect_color:=kinect2/sd/image_color_rect depth_registered/image_rect:=kinect2/sd/image_depth_rect depth_registered/points:=kinect2/sd/points __name:=kinect2_points_xyzrgb_sd __log:=/home/yuanlibin/.ros/log/a0154834-ae00-11e6--1c1b0d61bf22/kinect2_points_xyzrgb_sd-.log].

log file: /home/yuanlibin/.ros/log/a0154834-ae00-11e6--1c1b0d61bf22/kinect2_points_xyzrgb_sd-*.log

[kinect2_points_xyzrgb_qhd-] process has died [pid , exit code , cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb kinect2 rgb/camera_info:=kinect2/qhd/camera_info rgb/image_rect_color:=kinect2/qhd/image_color_rect depth_registered/image_rect:=kinect2/qhd/image_depth_rect depth_registered/points:=kinect2/qhd/points __name:=kinect2_points_xyzrgb_qhd __log:=/home/yuanlibin/.ros/log/a0154834-ae00-11e6--1c1b0d61bf22/kinect2_points_xyzrgb_qhd-.log].

log file: /home/yuanlibin/.ros/log/a0154834-ae00-11e6--1c1b0d61bf22/kinect2_points_xyzrgb_qhd-*.log

[kinect2_points_xyzrgb_sd-] restarting process

process[kinect2_points_xyzrgb_sd-]: started with pid []

[kinect2_points_xyzrgb_qhd-] restarting process

process[kinect2_points_xyzrgb_qhd-]: started with pid []

[kinect2_points_xyzrgb_hd-] process has finished cleanly

log file: /home/yuanlibin/.ros/log/a0154834-ae00-11e6--1c1b0d61bf22/kinect2_points_xyzrgb_hd-*.log

[kinect2_points_xyzrgb_hd-] restarting process

process[kinect2_points_xyzrgb_hd-]: started with pid []

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

#source /home/yuanlibin/rgbdslam_catkin_ws/devel/setup.bash

source /home/yuanlibin/catkin_ws/devel/setup.bash

最后测试

终端1

roslaunch kinect2_bridge kinect2_bridge.launch

终端2

rosrun kinect2_viewer kinect2_viewer

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：http://blog.csdn.net/sunbibei/article/details/51594824

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