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https://github.com/xxorde/librekinect
Depth data from a kinect sensor! Small and fast kernel driver. Also for embedded devices like the raspberry pi!
https://github.com/xxorde/librekinect
Last synced: 18 days ago
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Depth data from a kinect sensor! Small and fast kernel driver. Also for embedded devices like the raspberry pi!
- Host: GitHub
- URL: https://github.com/xxorde/librekinect
- Owner: xxorde
- Created: 2014-04-14T23:09:39.000Z (over 10 years ago)
- Default Branch: master
- Last Pushed: 2017-04-05T07:02:46.000Z (over 7 years ago)
- Last Synced: 2024-07-31T22:54:25.030Z (3 months ago)
- Language: C
- Homepage:
- Size: 33.2 KB
- Stars: 407
- Watchers: 55
- Forks: 68
- Open Issues: 26
-
Metadata Files:
- Readme: readme.md
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README
Description
===========
Small and fast Linux kernel driver for getting depth data from the
Kinect sensor.
Also runs on embedded devices like the Raspberry Pi.
This is a fork for the standard Linux kernel modules `gspca_main` and
`gspca_kinect`, based on upstream Linux kernel commit
[6c94e14e7f802011afc1018fc8529e66f40866b9][]. The standard driver
provides camera (color) information, this one provides depth
information. They cannot both be used at the same time.
[6c94e14e7f802011afc1018fc8529e66f40866b9]: https://github.com/torvalds/linux/commit/6c94e14e7f802011afc1018fc8529e66f40866b9
Install (for Linux kernel 3.17+)
================================
As of Linux 3.17, this has been merged into the standard Kinect driver
(`gspca_kinect`); it is already installed.
The the version in Linux 3.17 can either be in color mode or depth
mode. This is controlled by the `depth_mode` command-line argument,
`depth_mode=0` for camera, `depth_mode=1` for depth. You can add this
as a kernel command-line argument in the bootloader configuration, in
`/etc/modprobe.d/`, or after boot using modprobe.
/etc/modprobe.d/
----------------
```Bash
echo options gspca_kinect depth_mode=1 > /etc/modprobe.d/kinect-depth.conf
```
modprobe
--------
```Bash
rmmod gspca_kinect
modprobe gspca_kinect depth_mode=1
```
Install (for Linux kernel <3.17)
================================
Compile and run the same hardware
---------------------------------
If you compile the code on the device you want to use it on, you need
the kernel source installed and some basic setup. Just search for a
guide to compile kernel modules on your OS.
```Bash
make
make load
```
Cross compile for ARM (compile on PC, run on Raspberry Pi)
----------------------------------------------------------
If you want to compile it for a different architecture (PC to Pi) you
also need a cross compiler. Look for a guide to cross compile a
kernel and modules for a Pi.
```Bash
make arm
scp * pi@pi:
ssh pi@pi
make load
```
Example for Ubuntu 14.04
------------------------
```Bash
sudo apt-get install git build-essential
git clone https://github.com/xxorde/librekinect.git
cd librekinect
make
make load
```
Example for Raspbian
--------------------
This should continue to work as long as Raspbian uses a kernel older
than 3.17.
```Bash
sudo -s
apt-get install build-essential bc ncurses-dev tmux git
tmux
cd /usr/src/
# find out which kernel you are using – in my case 3.12.20+
uname -r
# get the source – in my case 3.12.y (change if needed)
wget https://github.com/raspberrypi/linux/archive/rpi-3.12.y.tar.gz
tar xfvz rpi-3.12.y.tar.gz
mv linux-rpi-3.12.y linux
ln -s /usr/src/linux /lib/modules/$(uname -r)/build
ln -s /usr/src/linux /lib/modules/$(uname -r)/source
cd /usr/src/linux
make mrproper
# If using Kernel >= 4.x.x execute:
sudo modprobe configs
# get your config
gzip -dc /proc/config.gz > .config
# building, that is going to take a while!
make
make modules_prepare
make modules_install
# copy the new kernel image
cp /usr/src/linux/arch/arm/boot/zImage /boot/linux-3.12.y
# choose it
echo "kernel=linux-3.12.y" >> /boot/config.txt
reboot
```
after reboot
```Bash
git clone https://github.com/xxorde/librekinect.git
cd librekinect
make
make load
```
That worked on my Pi with the current version of Raspbian. It will
take some time, if you loose the connection use `tmux attach`.
If you have a faster way, let me know!
Usage
=====
After loading the modules you should have a new `/dev/videoX` which
you can use like a web cam.
For example:
```Bash
camorama -d /dev/video0
vlc v4l:///dev/video0
```
This is the standard in linux. You can use it with virtually every
program or library, for example OpenCV.
This looks complicated!
=======================
But it's not! Try it!
Troubleshooting
===============
I have a /dev/video0 but I do not get data
------------------------------------------
1. Check your Kinect power supply. It needs additional 12V.
2. Maybe it takes to much from the Raspberry Pi's 5V too, try an
active USB hub.
"make" fails
-------------
1. Check if you have the needed tools (gcc ect.)
2. Do you have the kernel sources? Are they at the right place?
"make load" fails
------------------
Is the kernel compatible to the sources you use? Compile a kernel and load it.