在 Ubuntu 用 OpenNI支持 使用 ASUS Xtion 传感器

在 Ubuntu 用 OpenNI支持 使用 ASUS Xtion Pro Live传感器 Installing the driver for Asus_Xtion_Pro_Live in Ubuntu 12.04

Pre-Reading:

    我们要用ROS来做机器人，同时要用 Asus_Xtion_Pro_Live 这个传感器来获取深度信息和图像信息。首先要安装 Asus_Xtion_Pro_Live 在 Ubuntu 系统中的驱动。

Procedures:

Search online for the .iso disk file carrying the driver for Asus_Xtion_Pro_Live. Like: “V1049_0430”

ASUS Xtion Pro CD Readme file

 OpenNI Framework v1.5.2.23
 Sensor DDK v5.1.0.41
 NITE v1.5.2.21
 USB driver v3.1.3.1

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Required software:

for WinXP:
    Microsoft .NET 3.5: http://www.microsoft.com/en-us/download/details.aspx?id=21

for Linux Ubuntu 10.10:

The installation steps as follows,

1. install OpenNI package

2. install Sensor package

3. install NITE package (Necessary)

Steps for Install and Uninstall in Ubuntu Linux:

Install:
  Unpack » cd into folder » $ sudo ./install.sh

Uninstall:
  $ sudo ./install.sh -u

ps: Please download and install “OpenGL Utility Toolkit” package when you can not execute “NiViewer.exe”.

Testing and Using - 参照 《ROS by Example》来使用和调试

    然后就可以参照 《Ros by Example》来使用和调试。
    ** Start your Asus_Xtion_Pro_Live with ROS and rbx package:

          $ roslaunch rbx1_vision openni_node.launch

    ** Test your Image in ROS:

          $ rosrun image_view image_view image:=/camera/rgb/image_color

    ** You can also test the depth image from your camera using the ROS disparity_view node:

          $ rosrun image_view disparity_view image:=/camera/depth/disparity