KinectStreamer

Table of Contents

• Description
• Acknowledgements
• Prerequisites
• Building with ROS (catkin)
• Running KinectStreamer

Description

Driver for recording and viewing Kinect v2 streams.

Features

• kinect_recorder -> Recording to disk from Kinect v2 with multiple Kinects
• kinect_viewer -> Viewing binary files written by program with multiple Kinects
• See chapter Running Kinect below for usage

Acknowledgements

• OpenKinect: libfreenect2
  • https://github.com/OpenKinect/libfreenect2
  • 

Prerequisites

Dependencies

sudo apt install git build-essential

sudo apt-get install libgtk-3-dev

git clone https://github.com/morrisfranken/argparse.git ~/argparse

Installing OpenCV (Optional)

# Install a whole bunch of prerequisites
sudo apt install build-essential cmake git pkg-config libgtk-3-dev \
    libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
    libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \
    gfortran openexr libatlas-base-dev python3-dev python3-numpy \
    libtbb2 libtbb-dev libdc1394-22-dev libopenexr-dev \
    libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev

# Install minimal prerequisites (Ubuntu 18.04 as reference)
sudo apt update && sudo apt install -y cmake g++ wget unzip

# Download sources
wget -O opencv.zip https://github.com/opencv/opencv/archive/master.zip

# Unpack sources
unzip opencv.zip

# Create build directory
mkdir -p ~/opencv/build && cd ~/opencv/build

# Configure
cmake  ../../opencv-master

# Build
cmake --build .

Installing libfreenect2

Follow instructions on OpenKinect GitHub https://github.com/OpenKinect/libfreenect2

Installing argparse

Follow instructions from morrisfranken: https://github.com/morrisfranken/argparse

• Essentially, place this respository into your home directory.

Building with ROS (catkin)\

If you haven't already got a ROS Catkin Workspace:

mkdir ~/catkin_ws

cd ~/catkin_ws

mkdir src

git clone https://github.com/uqmvale6/kinect_streamer.git src/kinect_streamer

catkin_make

Setting Up for Running with ROS

cd ~/catkin_ws

source ./devel/setup.sh

Running Kinect Streamer

Recording to Disk

• WARNING: Recommended disk space - ~20 MB per frame (approx 28 FPS)
• Example Space: 1 hour -> 2 TB (for two Kinects running at 30 FPS)

# Usage
roslaunch kinect_streamer_bin kinect_recorder.launch

Viewing from Disk

# Usage
roslaunch kinect_streamer_bin kinect_viewer.launch

Running Demo PointCloud Software

# Usage
roslaunch kinect_streamer_bin kinect_camera.launch