scripts

Important scripts for data capture and data processing with Kinect v1

Kinect v1 driver script

Setup instructions

• The following are the instructions to install the dependency - libfreenect

1. Install cython

sudo apt-get install cython3

2. Build and install libfreenect

git clone https://github.com/OpenKinect/libfreenect
cd libfreenect
mkdir build
cd build
cmake .. -L -DBUILD_PYTHON3=ON -DPython3_EXACTVERSION=3.8.10 -DCYTHON_EXECUTABLE=/usr/bin/cython3
make
sudo make install

3. Add environment variables to bashrc

sudo vim ~/.bashrc
export LD_PRELOAD="/usr/local/lib/libfreenect.so"
source ~/.bashrc

4. Add the following udev rules to /etc/udev/rules.d/51-kinect.rules

sudo adduser $USER video
sudo vim /etc/udev/rules.d/51-kinect.rules

# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02b0", MODE="0666"
# ATTR{product}=="Xbox NUI Audio"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ad", MODE="0666"
# ATTR{product}=="Xbox NUI Camera"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02ae", MODE="0666"
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02c2", MODE="0666"
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02be", MODE="0666"
# ATTR{product}=="Xbox NUI Motor"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02bf", MODE="0666"

5. Add the following udev rules to /etc/udev/rules.d/66-kinect.rules

sudo vim /etc/udev/rules.d/66-kinect.rules

SYSFS{idVendor}=="045e", SYSFS{idProduct}=="02ae", MODE="0660",GROUP="video"
SYSFS{idVendor}=="045e", SYSFS{idProduct}=="02ad", MODE="0660",GROUP="video"
SYSFS{idVendor}=="045e", SYSFS{idProduct}=="02b0", MODE="0660",GROUP="video"

6. Install python wrappers for libfreenect

cd wrappers/python
python3 setup.py install

7. To check if the Kinect v1 is detected, run the following command and the following result must be the output of the command

lsusb | grep Xbox
Bus 001 Device 021: ID 045e:02ae Microsoft Corp. Xbox NUI Camera
Bus 001 Device 019: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor
Bus 001 Device 020: ID 045e:02ad Microsoft Corp. Xbox NUI Audio

Other dependencies

• The other python dependencies can be found in requirements.txt

Script usage

• The script capture_images.py can be used to capture RGB and depth images with kinect v1.
• This script can be used only on Linux environment with the above mentioned dependencies.
• To list all the commandline options, run the following command

source ~/.bashrc
python3 capture_images.py --help

• To capture data with kinect v1, run

source ~/.bashrc
python3 capture_images.py

• Use Ctrl + C to stop the script.

RGB and Depth data processing

Convert depth images from pickled numpy array to EXR format

• Use the script convert_depth_images.py for processing depth images. It can be used in the following way to list possible commandline options

python3 convert_depth_images.py --help

• Use the script convert_color_images.py for processing color images. It can be used in the following way to list possible commandline options

python3 convert_color_images.py --help

• The notebook visualize_kinect_rgbd_data.ipynb can be used for visualizing the RGB and depth data collected with the kinect v1 camera.