• Thiemo Wiedemeyer <[email protected]>, Institute for Artificial Intelligence, University of Bremen

This is a collection of tools and libraries for a ROS Interface to the Kinect One (Kinect v2).

It contains:

• a calibration tool for calibrating the IR sensor of the Kinect One to the RGB sensor
• a library for depth registration with OpenCL support
• the bridge between libfreenect2 and ROS
• a viewer for the images / point clouds

• ROS Hydro/Indigo
• OpenCV
• PCL
• Eigen (optional)
• OpenCL (optional)
• libfreenect2 (either directly from this fork or with the changes of this pull-request and this pull-request.)

1. Install the dependencies. Note that a modified version of libfreenect2 is needed
2. Clone this repository into your catkin workspace.
3. Build it.
4. Connect your sensor and run kinect2_bridge.
5. Calibrate your sensor using the kinect2_calibration. Further details
6. Add the calibration files to the kinect2_bridge/data/<serialnumber> folder. Further details
7. Restart kinect2_bridge and view the results using rosrun registration_viewer viewer -kinect2 -cloud.

To gain access to the Kinect One for non root users you have to add a rule to the udev rules.

1. Create a file named 90-kinect2.rules in /etc/udev/rules.d/.
2. Write the following lines into that file:

# 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"

3. Check if the idProduct of your sensor is in the list. If not just add another line with the idProduct of your sensor. You can obtain it by running dmesg | grep "045e".
4. Reconnect the sensor and you should be able to access it.

Here are some screenshots from our toolkit: