kinect/asus xtion with ROS fuerte in debian

• Get the openni_camera and openni_launch ros packages:

env_ros_fuerte
roslocate info --distro=fuerte openni_launch | rosws merge -
roslocate info --distro=fuerte openni_camera | rosws merge -
rosws update
env_ros_fuerte

• If the first two commands give an error you can try the following instead:

env_ros_fuerte
rosws set openni_launch --hg `roslocate uri --distro=fuerte openni_launch`
rosws set openni_camera --hg `roslocate uri --distro=fuerte openni_camera`
rosws update
env_ros_fuerte

• Install some dependencies:

sudo apt-get install libusb-1.0-0-dev freeglut3-dev openjdk-7-jdk openjdk-7-jre doxygen graphviz-dev  libcppunit-dev libvtk5-dev libvtk5-qt4-dev libgtest-dev libqhull-dev

• Edit ~/local/src/ros-fuerte/image_pipeline/depth_image_proc/manifest.xml, remove pcl dependency:

  <depend package="pcl"/>

• We have to fix a little bug in openni_camera:

roscd openni_camera

• Edit the file CMakeLists.txt and replace the line:

pkg_check_modules(OPENNI libopenni)

with:

pkg_check_modules(OPENNI openni-dev)

• Compile openni_camera package

rosmake openni_camera

• Compile image_view:

rosmake image_view

• Get and compile pcl for ros:

cd ~/local/src/ros-dependencies/
git clone https://github.com/ros-gbp/pcl-fuerte-release.git
#git clone https://github.com/wg-debs/pcl.git
cd pcl-fuerte-release
git checkout debian/fuerte/pcl
mkdir build
cd build
ccmake ../ -DCMAKE_INSTALL_PREFIX=${HOME}/local/DIR/pcl-ros

• In the configuration please activate options: USE_ROS and BUILD_visualization and set the CMAKE_INSTALL_PREFIX to /home/usuario/local/DIR/pcl-wg
• Then in file ~/local/src/ros-dependencies/pcl-fuerte-release/tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter.hpp, change all ocurrences of genAliasTable with this->genAliasTable
• In file ~/local/src/ros-dependencies/pcl-fuerte-release/tracking/include/pcl/tracking/impl/particle_filter_omp.hpp, change all ocurrences of computeTransformedPointCloudWithNormal with this->computeTransformedPointCloudWithNormal, cropInputPointCloud with this->cropInputPointCloud, testChangeDetection with this->testChangeDetection and computeTransformedPointCloudWithoutNormal with this->computeTransformedPointCloudWithoutNormal
• In file ~/local/src/ros-dependencies/pcl-fuerte-release/tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp, change all ocurrences of computeTransformedPointCloudWithNormal with this->computeTransformedPointCloudWithNormal, testChangeDetection with this->testChangeDetection and cropInputPointCloud with this->cropInputPointCloud and computeTransformedPointCloudWithoutNormal with this->computeTransformedPointCloudWithoutNormal

make -j10
make install
cd ~/local/DIR
xstow pcl-ros

• Aditionally, before compiling you could edit file cmake/pcl_find_sse.cmake and disable the lines of native gcc compilation to allow for distributed compilation to work.

• Lets compile openni_launch

rosmake openni_launch

• Now lets test it!
• Run a roscore.

roscore

• In a new console run:

roslaunch openni_launch openni.launch

• In another console run rviz
• Set the fixed frame (top left of rviz window) to /camera_depth_optical_frame
• Add a PointCloud2 display, and set the topic to /camera/depth/points

Result:

• To view the disparity image:

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

• To register the point cloud (rgb+depth):

rosrun dynamic_reconfigure reconfigure_gui

• Select /camera/driver and enable the depth_registration
• Change your PointCloud2 topic to /camera/depth_registered/points
• Set Color Transformer to RGB8

• To view the registered disparity image:

rosrun image_view disparity_view image:=/camera/depth_registered/disparity

• The rgb image:

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

http://www.ros.org/wiki/openni_launch/Tutorials/ExtrinsicCalibration