环境:ubuntu16.06 ROS kinetic / ubuntu14.04 ROS indigo
摄像头: Kinect v1 / kinect v2 / realsense
ORK是object recognition kitchen的简称,开源的物体辨识库。ORK包含LINE-MOD算法 / tabletop算法 / TOP算法 / transparent object算法
参考链接:
kinect V2安装教程:https://www.ncnynl.com/archives/201703/1439.html
kinect V2修改教程:https://blog.youkuaiyun.com/u012057432/article/details/84068928
ork官网:http://wg-perception.github.io/object_recognition_core/
realsense修改教程:https://blog.youkuaiyun.com/weixin_40799950/article/details/81911877
目录
一. Kinect V1安装
1. 安装freenect_camera功能包(启动Kinect v1驱动的ROS launch)
$ sudo apt-get install ros-kinect-freenect-*
2. 安装驱动
$ git clone https://github.com/avin2/SensorKinect.git
$ cd Sensor/Bin
$ tar xvf SensorKinect093-Bin-Linux-x86-v5.1.2.1.tar.bz2
$ sudo ./install.sh
3. 测试
启动驱动
$ roslaunch freenect_launch freenect.launch
方法一 rviz显示
$ rosrun rviz rviz
方法二 rqt_image_view 订阅相关话题,例如/camera/rgb/image_color
$ rqt_image_view
方法三 直接开启节点,订阅相关话题
$ rosrun image_view image_view image:=/camera/rgb/image_color
二. Kinect V2安装
1. 无ROS驱动安装
1)安装其他依赖:
$ sudo apt-get install build-essential cmake pkg-config libturbojpeg libjpeg-turbo8-dev mesa-common-dev freeglut3-dev libxrandr-dev libxi-dev
2)下载libfreenect2驱动:
$ cd ~
$ git clone https://github.com/OpenKinect/libfreenect2.git
$ cd libfreenect2
$ cd depends; ./download_debs_trusty.sh
3)安装libusb
$ sudo dpkg -i debs/libusb*deb
4)安装 TurboJPEG
$ sudo apt-get install libturbojpeg libjpeg-turbo8-dev
5)安装GLFW3
$ sudo apt-get ins