ROS indigo下Kinect v1的驅動安裝與調試

本文簡要敘述了在ROS indigo版本下Kinect v1的驅動安裝與調試過程。

1. 實驗環境

（1）硬件：  台式機和Kinect v1。

台式機配置：

Intel(R)Core(TM)i5-6500 CPU @ 3.20GHz 3.20GHz；
RAM: 16.0GB；
GPU: NVIDIA GeForce GTX 1060 6GB。

（2）軟件：Ubuntu 14.04 + ROS indigo。

2. 安裝ROS軟件包

以下2種方式，任選一種安裝，或者全部安裝，選擇一種運行也可。

（1）openni_launch

sudo apt-get install ros-indigo-openni-camera
sudo apt-get install ros-indigo-openni-launch
rosstack profile
rospack profile

（2）freenect_launch

sudo apt-get install ros-indigo-freenect-camera ros-indigo-freenect-stack ros-indigo-freenect-launch

或者直接一條命令將兩種方式同時安裝：

sudo apt-get install ros-indigo-openni-* ros-indigo-openni2-* ros-indigo-freenect-*

3. 測試Kinect v1設備

方式1:

終端1:

roslaunch openni_launch openni.launch

yuanlibin@yuanlibin:~$ roslaunch openni_launch openni.launch
... logging to /home/yuanlibin/.ros/log/7e08363e-2be5-11e8-b5a2-1c1b0d61bf22/roslaunch-yuanlibin-9290.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://yuanlibin:37483/

SUMMARY
========

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_rectify_depth/interpolation: 0
 * /camera/depth_registered_rectify_depth/interpolation: 0
 * /camera/disparity_depth/max_range: 4.0
 * /camera/disparity_depth/min_range: 0.5
 * /camera/disparity_registered_hw/max_range: 4.0
 * /camera/disparity_registered_hw/min_range: 0.5
 * /camera/disparity_registered_sw/max_range: 4.0
 * /camera/disparity_registered_sw/min_range: 0.5
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: False
 * /camera/driver/device_id: #1
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_hw_metric_rect (nodelet/nodelet)
    depth_registered_metric (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    depth_registered_sw_metric_rect (nodelet/nodelet)
    disparity_depth (nodelet/nodelet)
    disparity_registered_hw (nodelet/nodelet)
    disparity_registered_sw (nodelet/nodelet)
    driver (nodelet/nodelet)
    ir_rectify_ir (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
    rgb_debayer (nodelet/nodelet)
    rgb_rectify_color (nodelet/nodelet)
    rgb_rectify_mono (nodelet/nodelet)
  /
    camera_base_link (tf/static_transform_publisher)
    camera_base_link1 (tf/static_transform_publisher)
    camera_base_link2 (tf/static_transform_publisher)
    camera_base_link3 (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [9302]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7e08363e-2be5-11e8-b5a2-1c1b0d61bf22
process[rosout-1]: started with pid [9315]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [9325]
process[camera/driver-3]: started with pid [9333]
process[camera/rgb_debayer-4]: started with pid [9334]
process[camera/rgb_rectify_mono-5]: started with pid [9335]
process[camera/rgb_rectify_color-6]: started with pid [9337]
process[camera/ir_rectify_ir-7]: started with pid [9338]
process[camera/depth_rectify_depth-8]: started with pid [9339]
process[camera/depth_metric_rect-9]: started with pid [9355]
process[camera/depth_metric-10]: started with pid [9362]
process[camera/depth_points-11]: started with pid [9364]
process[camera/register_depth_rgb-12]: started with pid [9375]
process[camera/points_xyzrgb_sw_registered-13]: started with pid [9397]
process[camera/depth_registered_sw_metric_rect-14]: started with pid [9414]
process[camera/depth_registered_rectify_depth-15]: started with pid [9424]
[ INFO] [1521512530.084412228]: Initializing nodelet with 4 worker threads.
process[camera/points_xyzrgb_hw_registered-16]: started with pid [9444]
process[camera/depth_registered_hw_metric_rect-17]: started with pid [9449]
process[camera/depth_registered_metric-18]: started with pid [9470]
process[camera/disparity_depth-19]: started with pid [9488]
process[camera/disparity_registered_sw-20]: started with pid [9498]
process[camera/disparity_registered_hw-21]: started with pid [9520]
process[camera_base_link-22]: started with pid [9524]
process[camera_base_link1-23]: started with pid [9539]
process[camera_base_link2-24]: started with pid [9556]
process[camera_base_link3-25]: started with pid [9563]
Warning: USB events thread - failed to set priority. This might cause loss of data...
Warning: USB events thread - failed to set priority. This might cause loss of data...
[ INFO] [1521512530.991225346]: Number devices connected: 1
[ INFO] [1521512530.991443026]: 1. device on bus 001:08 is a SensorKinect (2ae) from PrimeSense (45e) with serial id '0000000000000000'
[ INFO] [1521512530.993391990]: Searching for device with index = 1
[ INFO] [1521512532.075612809]: Opened 'SensorKinect' on bus 1:8 with serial number '0000000000000000'
[ INFO] [1521512532.160335981]: rgb_frame_id = 'camera_rgb_optical_frame' 
[ INFO] [1521512532.160547264]: depth_frame_id = 'camera_depth_optical_frame' 
[ WARN] [1521512532.167038548]: Camera calibration file /home/yuanlibin/.ros/camera_info/rgb_0000000000000000.yaml not found.
[ WARN] [1521512532.167074136]: Using default parameters for RGB camera calibration.
[ WARN] [1521512532.167101562]: Camera calibration file /home/yuanlibin/.ros/camera_info/depth_0000000000000000.yaml not found.
[ WARN] [1521512532.167119680]: Using default parameters for IR camera calibration.

終端2:

rosrun rqt_image_view rqt_image_view

如下圖所示：

方式2:

終端1:

roslaunch freenect_launch freenect-registered-xyzrgb.launch

yuanlibin@yuanlibin:~$ roslaunch freenect_launch freenect-registered-xyzrgb.launch
... logging to /home/yuanlibin/.ros/log/4f23a262-2be6-11e8-90ab-1c1b0d61bf22/roslaunch-yuanlibin-12979.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://yuanlibin:38951/

SUMMARY
========

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads: 4
 * /camera/depth_registered_rectify_depth/interpolation: 0
 * /camera/driver/data_skip: 0
 * /camera/driver/debug: False
 * /camera/driver/depth_camera_info_url: 
 * /camera/driver/depth_frame_id: camera_depth_opti...
 * /camera/driver/depth_registration: True
 * /camera/driver/device_id: #1
 * /camera/driver/diagnostics_max_frequency: 30.0
 * /camera/driver/diagnostics_min_frequency: 30.0
 * /camera/driver/diagnostics_tolerance: 0.05
 * /camera/driver/diagnostics_window_time: 5.0
 * /camera/driver/enable_depth_diagnostics: False
 * /camera/driver/enable_ir_diagnostics: False
 * /camera/driver/enable_rgb_diagnostics: False
 * /camera/driver/rgb_camera_info_url: 
 * /camera/driver/rgb_frame_id: camera_rgb_optica...
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_registered_hw_metric_rect (nodelet/nodelet)
    depth_registered_metric (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    rgb_debayer (nodelet/nodelet)
    rgb_rectify_color (nodelet/nodelet)
    rgb_rectify_mono (nodelet/nodelet)
  /
    camera_base_link (tf/static_transform_publisher)
    camera_base_link1 (tf/static_transform_publisher)
    camera_base_link2 (tf/static_transform_publisher)
    camera_base_link3 (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [12992]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4f23a262-2be6-11e8-90ab-1c1b0d61bf22
process[rosout-1]: started with pid [13005]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [13016]
process[camera/driver-3]: started with pid [13022]
process[camera/rgb_debayer-4]: started with pid [13024]
process[camera/rgb_rectify_mono-5]: started with pid [13025]
process[camera/rgb_rectify_color-6]: started with pid [13026]
process[camera/depth_registered_rectify_depth-7]: started with pid [13037]
process[camera/points_xyzrgb_hw_registered-8]: started with pid [13042]
process[camera/depth_registered_hw_metric_rect-9]: started with pid [13043]
process[camera/depth_registered_metric-10]: started with pid [13046]
process[camera_base_link-11]: started with pid [13047]
process[camera_base_link1-12]: started with pid [13048]
process[camera_base_link2-13]: started with pid [13053]
process[camera_base_link3-14]: started with pid [13055]
[ INFO] [1521512880.894225759]: Initializing nodelet with 4 worker threads.
[ INFO] [1521512881.035164983]: Number devices connected: 1
[ INFO] [1521512881.035200471]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'B70773103929441B'
[ INFO] [1521512881.035586547]: Searching for device with index = 1
[ INFO] [1521512886.486004198]: Starting a 3s RGB and Depth stream flush.
[ INFO] [1521512886.486190837]: Opened 'Xbox NUI Camera' on bus 0:0 with serial number 'B70773103929441B'
[ WARN] [1521512886.495869607]: Could not find any compatible image output mode for 1. Falling back to default image output mode 1.
[ WARN] [1521512886.495915261]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1.
[ INFO] [1521512886.503091540]: rgb_frame_id = 'camera_rgb_optical_frame' 
[ INFO] [1521512886.503133073]: depth_frame_id = 'camera_depth_optical_frame' 
[ WARN] [1521512886.516610578]: Camera calibration file /home/yuanlibin/.ros/camera_info/rgb_B70773103929441B.yaml not found.
[ WARN] [1521512886.516673295]: Using default parameters for RGB camera calibration.
[ WARN] [1521512886.516711780]: Camera calibration file /home/yuanlibin/.ros/camera_info/depth_B70773103929441B.yaml not found.
[ WARN] [1521512886.516746978]: Using default parameters for IR camera calibration.
[ INFO] [1521512889.945930001]: Stopping device RGB and Depth stream flush.

終端2:

rosrun rqt_image_view rqt_image_view

如下圖所示：

終端2或者用命令(=后面是發布的主題，可以用rostopic list命令查看)

rosrun image_view image_view image:=/camera/rgb/image_color

查看彩色圖像如下圖所示：

rosrun image_view image_view image:=/camera/depth_regisred/image

查看深度圖像如下圖所示：

終端2或者用命令

rosrun rviz rviz

點擊add，選擇類型camera。添加成功后選擇camera菜單下的Iamge Topic選項，選擇主題/camera/rgb/image_color或者/camera/depth_registered/image查看彩色圖像和深度圖像。

彩色圖像如下圖所示：

 

還可以查看點雲：點擊add添加PointCloud2類型，修改“topic”，如下圖所示：

 

ubuntu系統下雖然都可以查看彩色圖像和深度圖像，但是無法保存其成對的原始數據，關於Kinect v1彩色和深度圖像對的采集步驟詳見：

Kinect v1 (Microsoft Kinect for Windows v1 )彩色和深度圖像對的采集步驟

參考文獻：http://blog.csdn.net/x_r_su/article/details/52904113