Original Authors: Willow Garage

Current Author: Kevin Walchko

License: BSD

Language: C++

Website: http://github.com/walchko/kinect

This stack was resurrected from the old kinect tools which used libfreenect.

The required homebrew formulas for OSX can be installed using:

cd kinect/homebrew
brew update
brew install -v ./pcl.rb
brew uninstall libusb
brew install -v ./libusb-freenect.rb
brew install -v ./libfreenect.rb

Note that the USB library used here is not the standard USB library but a patched version specifically used for the Kinect. Also, this library will install over (replace) the standard USB library if you have installed it already. This is why it is uninstalled before installing libusb-freenect.

Current Author: Kevin Walchko

License: BSD

Language: C++

Website: http://github.com/walchko/kinect/kinect_camera

rosrun kinect_camera kinect_node

rosrun kinect_camera kinect_node

RGB Image:

"/camera/rgb/image_raw" Raw RGB image from camera

Depth Image:

"/camera/depth/image_raw" Raw image from depth camera (encoding is mono16)

"/camera/depth/camera_info" Camera information

Accelerometers:

"/camera/imu" The readings from the accelerometers in the connect

• Further clean-up and bring code up to Fuerte API standards
• Add motor control
• Add options for LED control
• Add microphone capability
• Add debugging capability
• Figure out what to do with the included freenect package

Author: Kevin Walchko

License: BSD

Language: C++

Website: http://github.com/walchko/kinect/pcl_view

A Glut window which converts the kinect depth image (uint16_t) into a pcl::PointCloud and displays it in 3D. The window allows the user to rotate and zoom the point cloud.

rosrun viewer pcl_view -c /my/cloud -d /my/image

• c: cloud input
• d: depth image input

rosrun viewer pcl_view -c "/camera/cloud"

• Clean-up code
• Handle coloring the point cloud better - it is messed up currently
• Incorperate the RGB image
• Allow easy incorperation of pcl filters
• More optimizations so it runs better
• Get the cloud size and center the camera on it

Author: Kevin Walchko

License: BSD

Language: C++

Website: http://github.com/walchko/kinect/depth_view

Uses OpenCV to convert the uint16_t image into an image and displays it.

rosrun veiwer depth_view /my/image

rosrun viewer depth_view /camera/image

• Lots

You can run the kinect_node on an OSX machine and then run other nodes in virtualbox. Assuming two machines, OSX and VB (short for Virtualbox, but could also be another real machine running Linux) set them up as follows:

• Before running any ROS nodes, do "export ROS_HOSTNAME=" where you put in the real IP address of your OSX machine.
• Launch roscore and kinect_node (and any other nodes you need)

• Before running any ROS nodes, do "export ROS_MASTER_URI=http://:11311" where is the IP address of your OSX master.

If you have roscore and kinect_node running on OSX, you should be able to do: "rosrun image_view image_view image:=/camera/rgb/image_raw" and see an image from your kinect camera.