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_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.
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.
echo options gspca_kinect depth_mode=1 > /etc/modprobe.d/kinect-depth.conf
rmmod gspca_kinect modprobe gspca_kinect depth_mode=1
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.
make make load
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.
make arm scp * pi@pi: ssh pi@pi make load
sudo apt-get install git build-essential git clone https://github.com/xxorde/librekinect.git cd librekinect make make load
This should continue to work as long as Raspbian uses a kernel older than 3.17.
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
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
If you have a faster way, let me know!
After loading the modules you should have a new
you can use like a web cam.
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.
But it's not! Try it!
Check your Kinect power supply. It needs additional 12V.
Maybe it takes to much from the Raspberry Pi's 5V too, try an active USB hub.
Check if you have the needed tools (gcc ect.)
Do you have the kernel sources? Are they at the right place?
Is the kernel compatible to the sources you use? Compile a kernel and load it.