Kinect
device
/etc/udev/rules.d/90-kinect2.rules
# ATTR{product}=="Kinect2" SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02c4", MODE="0666" SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d8", MODE="0666" SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d9", MODE="0666"
sudo udevadm control --reload
On Ubuntu avoid autosuspend of USB. Add usbcore.autosuspend=-1 to grub options
# check with grep . /sys/bus/usb/devices/*/power/autosuspend
To connect kinect I have to use proper USB 3.0 chipset like this
USB controller: Renesas Technology Corp. uPD720201 USB 3.0 Host Controller
OpenCL
sudo apt-get install beignet beignet-dev opencl-headers
libfreenect2 for CUDA
git clone https://github.com/xlz/libfreenect2.git sudo apt-get install -y build-essential libturbojpeg libtool autoconf libudev-dev cmake mesa-common-dev freeglut3-dev libxrandr-dev doxygen libxi-dev libjpeg-turbo8-dev cd libfreenect2/depends cp -r $path_of_gstjpeg_src/nv_headers . sh install_ubuntu.sh sudo ln -s /usr/lib/arm-linux-gnueabihf/libturbojpeg.so.0.0.0 /usr/lib/arm-linux-gnueabihf/libturbojpeg.so cd ../examples/protonect/ mkdir build && cd build cmake .. make ../bin/Protonect
MAX_ISO_BUFFER_LENGTH in usbfs.h caused issues. In the published version, the size is 49152 * 128, the mPCIe card/Jetson didn't like that, but works when the size is 49152.
libfreenect2
cd /lab/kinect sudo apt-get install -y build-essential libturbojpeg libtool autoconf libudev-dev cmake \ freeglut3-dev libxrandr-dev doxygen libxi-dev libopencv-dev sudo ln -s /usr/lib/x86_64-linux-gnu/libturbojpeg.so.0 /usr/lib/x86_64-linux-gnu/libturbojpeg.so git clone https://github.com/OpenKinect/libfreenect2 cd libfreenect2/depends ./install_ubuntu.sh cd ../examples/protonect cmake -DENABLE_CXX11=ON make && sudo make install
Patch to avoid black screen
For example in Protonect.cpp:
add an include after line 37
#include <libfreenect2/packet_pipeline.h>
change line 61 from
libfreenect2::Freenect2Device *dev = freenect2.openDefaultDevice();
to
libfreenect2::Freenect2Device *dev = freenect2.openDefaultDevice(new libfreenect2::CpuPacketPipeline());
References
ROS
Ubuntu 14.04
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list' wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add - sudo apt-get update
sudo apt-get install ros-indigo-desktop-full
initialization
sudo rosdep init rosdep update
activate on working shell
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc source ~/.bashrc
create workspace
mkdir -p /lab/catkin_ws/src cd /lab/catkin_ws/src catkin_init_workspace cd .. catkin_make
iai_kinect2
cd /lab/catkin_ws/src git clone https://github.com/code-iai/iai_kinect2.git cd iai_kinect2 rosdep install -r --from-paths . cd /lab/catkin_ws catkin_make -DCMAKE_BUILD_TYPE="Release"