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