kissmonx/librekinect

Depth data from a kinect sensor! Small and fast kernel driver. Also for embedded devices like the raspberry pi!

Description

Small and fast kernel driver.

Gives you the depth data from kinect sensors.

Also runs on embedded devices like the raspberry pi.

Install

PC

make
make load

raspberry pi

make
make load

On PC for raspberry pi:

make arm
scp * pi@pi:
ssh pi@pi
make load

Environment

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.

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.

Example for Ubuntu 14.04

sudo apt-get install git build-essential

git clone https://github.com/xxorde/librekinect.git
cd librekinect

make
make load

Example for the raspberry pi

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

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:

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'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.