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Xavier入门教程软件篇-安装freenect

Xavier入门教程软件篇-安装freenect

说明:

  • 介绍如何在xavier中安装freenect
  • 环境:jetpack4.2.3

步骤:

  • 下载编译libfreenect
$ mkdir ~/tools/
$ cd ~/tools/
$ git clone https://github.com/ros-drivers/libfreenect.git
$ cd libfreenect
$ mkdir build
$ cd build
$ cmake -L ..
$ make
  • 或者apt安装
sudo apt-get install libfreenect0.5 libfreenect-*
  • 下载编译freenect_stack
$ mkdir ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-drivers/freenect_stack.git 
$ cd ~/catkin_ws/
$ catkin_make
  • 测试
$ source ~/catkin_ws/devel/setup.bash
$ roslaunch freenect_launch freenect.launch
  • 查看图像
$ rosrun image_view image_view image:=/camera/rgb/image_color

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