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Installing Microsoft Kinect 360 (Model 1410) in Jetson Nano

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  1. Check if Kinect is detected \
$ lsusb
  1. Install libfreenect, freeglut & libxmu
$ git clone https://github.com/OpenKinect/libfreenect.git
$ sudo apt-get install git cmake build-essential libusb-1.0-0-dev freeglut3-dev libxmu-dev libxi-dev
  1. Build using cmake
$ cd libfreenect/
$ mkdir build
$ cd build
$ cmake ..
$ make -j4
  1. make install
$ sudo make install
$ sudo ldconfig /usr/local/lib
  1. RGB with Depth Overlay
$ freenect-regview
  1. Kinect built-in Audio
$ cd ~/libfreenect/src
$ python fwfetcher.py
$ mkdir ~/.libfreenect
$ cp audios.bin ~/.libfreenect/audios.bin
$ sudo freenect-micview
  1. Visualize audio input waves
$ sudo freenect-glview
  1. Build freenect driver
$ cd ~/catkin_ws/src/
$ git clone https://github.com/ros-drivers/freenect_stack.git
$ cd ..
$ catkin_make
$ cd
  1. You might come across this error- Resource not found: rgbd_launch
$ sudo apt-get install ros-melodic-rgbd-launch
$ roslaunch freenect_launch freenect.launch
  1. Open rviz and visualize pointcloud
$ rviz

Select
Fixed Frame= camera_link
PointCloud2 topic= /camera/depth_registered/points