Table of Contents

Kinect and other rgbd-cameras

All the rgb-d cameras we have in the lab

Kinect v1 : Kinect 360

Libraries to use the kinect :

Kinect v2 : Kinect One

There is a current installation of Kinect for Windows SDK on the computer DELL.

References

Install on Linux

These instructions have not been successfully tested yet

Kinect Skeletal tracking

Bone rotation is stored in a bone’s child joint. For example, the rotation of the left hip bone is stored in the Hip Left joint. In the hierarchical definition, the rotation of the Hip Center joint provides the absolute orientation of the player in camera space coordinates. This assumes that the player object space has the origin at the Hip Center joint, the y-axis is upright, the x-axis is to the left, and the z-axis faces the camera.

https://msdn.microsoft.com/en-us/library/hh973073.aspx

x-tion

https://www.asus.com/3D-Sensor/Xtion_PRO_LIVE/

Comparison

SR300

https://www.intel.fr/content/www/fr/fr/products/sku/92329/intel-realsense-camera-sr300/specifications.html

This paragraph explains how to install the legacy SR300 on recent Linux systems.

  1. The “native” backend is a Linux kernel driver. It is therefore very dependent on the kernel to run (the latest one (I wrote this in Sept. 2025) is for Linux 6.8.0, the one for legacy Realsense devices is for Linux 4.4)
  2. The “libuvc” backend uses the standard uvc+hid kernel drivers and does the job in userland via the standard libuvc library. It is possibly less efficient (latency), but it is much more flexible and mostly independent of Linux kernel version.

So, the idea is to compile librealsense v2.50.0 with the libuvc backend. The following is freely adapted from libuvc_installation.sh (https://github.com/IntelRealSense/librealsense/blob/master/scripts/libuvc_installation.sh#L35-L39)

    wget https://github.com/IntelRealSense/librealsense/archive/refs/tags/v2.50.0.tar.gz
    tar xvf v2.50.0.tar.gz
    cd ./librealsense-2.50.0
 
    sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ 
    sudo udevadm control --reload-rules && sudo udevadm trigger 
 
    sudo apt-get install -y git cmake libssl-dev freeglut3-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
    mkdir build && cd build
    cmake ../ -DFORCE_LIBUVC=true -DCMAKE_BUILD_TYPE=release
    make -j2
    sudo make install
    rs-enumerate-devices 
    realsense-viewer