Ubuntu14.04系统下Kinect v2点云图的生成

Kinect v2为深度相机，能够额外得到图像的深度信息。如下图

，最近在Ubuntu14.04系统下，成功连接上了Kinect v2.

 

1 驱动
git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2
sudo apt-get install build-essential cmake pkg-config
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libturbojpeg libjpeg-turbo8-dev
sudo apt-get install libglfw3-dev

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/
插上kinect2
sudo ./bin/Protonect

尽快关闭，否则很有可能死机

2 ros bridge
cd ~/catkin_ws/src/
git clone https://github.com/code-iai