kinect stuff v1

server/tools/kinect-probe/README.md

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+# kinect probe
+
+This is a standalone Kinect v1/libfreenect probe. It does not load the rover
+server, does not open sockets, and does not keep running after the capture
+attempt finishes.
+
+Build it:
+
+```bash
+cd server/tools/kinect-probe
+make
+```
+
+Run it:
+
+```bash
+./kinect_probe
+```
+
+By default it writes into `./kinect-probe-output`:
+
+- `kinect-color.ppm`: raw RGB color frame
+- `kinect-depth.pgm`: registered 16-bit depth frame
+- `kinect-status.json`: startup/capture timings and frame counters
+
+You can choose a different output directory:
+
+```bash
+./kinect_probe /tmp/kinect-probe
+```
+
+The probe prints every important libfreenect startup step to stderr so failures
+show the exact point where the native path diverges from `freenect-regview`.