Testing environment: Ubuntu 10.10 64bit
This tutorial on ROS.org provides an excellent walkthrough http://www.ros.org/wiki/kinect/Tutorials/Getting%20Started
Caveats: to launch the visualization at the last step, it seems the configuration file has to be “/tmp/kinect.vcg” exactly. I have changed to other location with the same file name, it turned out not to work, even the launch command has been changed accordingly.
[Update: Feb 25 2011]
Later on I figured out that Openni.org also provides a nice interface package for Kinect on Linux machines. Here are the steps I followed that verified to work (mostly inspired by this post for Windows).
Download and install the necessary driver from SensorKinect. There are stable (master) and unstable distributions available, and the stable version is recommended (the unstable version doesn’t compile on my Linux even with all dependencies settled). In the unzipped folder, find Platform > Linux-x86 > CreateRedist, and run the script ./RedistMaker. In Platform > Linux-x86 > Redist, run sudo ./install.sh.
Install the lastest LibUSB.
- Download and install Openni, PrimeSense Nite, and Primesensor in order. After downloading from the three links, respectively. One needs to unzip the compressed packages,
and in each package, install the package by running sudo ./install.(ba)sh.
- Test the demo samples. In OpenNi > Samples > Bin > Release, run ./NiViewer to get realtime scene and depth map viewing.