Kinect-ASUS-Xtion-Pro-Live-Calibration-Tutorials

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Preparation

Installation

• Enter the following codes in your terminal

sudo apt-get install ros-indigo-openni-camera
sudo apt-get install ros-indigo-openni-launch

If you are using Asus Xtion Pro Live:

Modify GlobalDefaults.ini

sudo gedit /etc/openni/GlobalDefaults.ini

then uncomment the line: ;UsbInterface=2 (just delete the ; symbol)

If you are using kinect v1.0:

mkdir ~/kinectdriver 
cd ~/kinectdriver 
git clone https://github.com/avin2/SensorKinect 
cd SensorKinect/Bin/
tar xvjf SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2
cd Sensor-Bin-Linux-x64-v5.1.2.1/
sudo ./install.sh

Test your Kinect(Asus Xtion Pro Live) with ROS

• To view the rgb image:

roslaunch openni_launch openni.launch
rosrun image_view image_view image:=/camera/rgb/image_raw

• To visualize the depth_registered point clouds:

roslaunch openni_launch openni.launch depth_registration:=true
rosrun rviz rviz

See kienct calibration.pdf to view the tutorial of how to calibrate kinect. And note that these codes have been tested on OpenCV 2.4.