[ros-users] libfreenect based Kinect driver

Kevin Walchko kevin.walchko at gmail.com
Thu Oct 18 02:15:23 UTC 2012


Have you tried to use kinect4windows with libfreenect yet or is that completely different from the original kinect?


On Oct 17, 2012, at 10:04 PM, K Chen <chk0105 at gmail.com> wrote:

> Thanks for your work and I also encounter the crash problem when I updated to Fuerte under ubuntu 12.04.
> 
> But I am curious whether anyone has the plan to make Kinect4Windows work on ROS? The newly published sensor provides much better color image and have access to camera parameters, which help a lot in object recognition(without additional camera).
> 
> On Wed, Oct 17, 2012 at 6:52 AM, Piyush <piyushk at gmail.com> wrote:
> Hey folks,
> 
> The openni driver for the kinect has had some stability issues over
> the last 6 months. This is now documented through a few threads on
> answers.ros.org and a few bug tickets. I believe some people can still
> run the driver successfully, whereas some cannot (including myself).
> All my machines are setup similarly, and at this time I cannot get the
> OpenNI to work on any of them.
> 
> I have spent a bit of time in the last couple of days throwing
> together a libfreenect based substitute. The main goal while writing
> this driver was to get the driver to have the same API as the openni
> one, allowing transitioning between the 2 drivers with minimum
> modifications. For this reason, I've used the current openni driver as
> a base rather than the now deprecated kinect_camera stack. The driver
> can be found here:
> https://github.com/piyushk/freenect-ros-pkg
> https://raw.github.com/piyushk/freenect-ros-pkg/master/rosinstall/freenect.rosinstall
> 
> The driver works but is quite rough (needs code cleanup and thread
> safety), and a registration issue needs to be solved:
> https://github.com/piyushk/freenect-ros-pkg/issues/
> 
> Is anybody interested in helping me test/maintain/develop this driver
> (I can only test it on 12.04/Fuerte)? I could use a bit of information
> from someone with a working openni driver to solve the registration
> issue above.
> 
> If you want to test the driver above, you need to take the following steps:
> 1) The rosdeps are currently being pushed, so hand install these
> packages if rosdep udpate does not catch them (libxmu-dev libxi-dev)
> 2) Blacklist gspac-kinect module if you have not done so already
>   - Temporarily: sudo modprobe -r gspca_kinect
>   - Permanently: sudo echo "blacklist gspca_kinect" >>
> /etc/modprobe.d/blacklist.conf
> 
> Thanks!
> Piyush
> _______________________________________________
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> 
> 
> 
> -- 
> Regards
> 
> University of Science and Technology of China
> School of Computer Science and Technology
> Multi-Agent System Lab
> 
> K.Chen
> 
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