ubuntu 14.04 +Kinect+ openNI+ openCV+ Sensorkinect 配置 +获取深度图像及相关问题

1. 最初参考的是：http://blog.csdn.net/u011700636/article/details/41493645的教程过程，但是其中遇到诸多问题，主要是来自于git包的问题，好像是相互不兼容的问题，安装SensorKinect的时候老是报错，把openni和sensorKinect都换成Unstable都不行。

2. Nite用于提取图下功能SKETEON，暂不需要，跳过不装没有问题！！

3. 配置中 openNI+ openCV+ Sensorkinect是相互依赖的，因此opencv最后配置，如果以前配置过opencv，应该重新编译配置一边，添加openNI的选项，无法获取图像报错：

 VideoCapture capture(CV_CAP_OPENNI) 不能取得数据

4. USB 1.0或者2.0没有区别，均可以获取信号。

5. 基本依赖库的安装:首先安装，为了避免之后安装中的大量错误。
sudo apt-get install git-core cmake freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev doxygen graphviz mono-complete

6.关于kinect配置和调试的文章： http://wiki.opencv.org.cn/index.php/%E5%9F%BA%E4%BA%8EKinect-OpenNI-OpenCV-OpenGL%E7%9A%84%E7%8E%AF%E5%A2%83%E4%B8%89%E7%BB%B4%E9%87%8D%E6%9E%84

========================

6. 使用以下方法通过安装：http://blog.csdn.net/u013453604/article/details/48013959

以下转载：

一、前言

先说一下博主的运行环境：
Ubuntu kylin14.04
kinect第一代
另外还要注意的是openni、NITE、Sensor这三个包的版本必须匹配才能正常运行，我的版本分别是：
OpenNI-Bin-Dev-Linux-x64-v1.5.7.10.tar
NITE-Bin-Linux-x64-v1.5.2.23.tar
SensorKinect093-Bin-Linux-x64-v5.1.2.1
可以在我的网盘下载：http://pan.baidu.com/s/1hqHB10w 提取密码：wrmn
本文地址：http://blog.csdn.net/u013453604/article/details/48013959

【重要】
这三个软件包的安装要注意顺序：先安装openni，再安装Sensor，最后安装NITE。
另外可以带-u参数卸载这些软件包重新安装$ sudo ./install.sh -u，但是NITE里有专门的uninstall.sh可以运行它来卸载。

二、安装OpenNI

下载OpenNI-Bin-Dev-Linux-x64-v1.5.7.10.tar解压得到OpenNI-Bin-Dev-Linux-x64-v1.5.7.10文件夹，我把这三个包都放在home下面的software目录下

<code class="hljs lasso has-numbering"></code><pre name="code" class="prettyprint"><code class="hljs lasso has-numbering">$ cd /home/siat/software/OpenNI<span class="hljs-attribute">-Bin</span><span class="hljs-attribute">-Dev</span><span class="hljs-attribute">-Linux</span><span class="hljs-attribute">-x64</span><span class="hljs-attribute">-v1</span><span class="hljs-number">.5</span><span class="hljs-number">.7</span><span class="hljs-number">.10</span>
$ sudo <span class="hljs-built_in">.</span>/install<span class="hljs-built_in">.</span>sh</code>

如果显示如下

<code class="hljs lasso has-numbering">Installing OpenNI
<span class="hljs-subst">****************************</span>

copying shared libraries<span class="hljs-attribute">...</span>OK
copying executables<span class="hljs-attribute">...</span>OK
copying include files<span class="hljs-attribute">...</span>OK
creating database directory<span class="hljs-attribute">...</span>OK
registering module <span class="hljs-string">'libnimMockNodes.so'</span><span class="hljs-attribute">...</span>OK
registering module <span class="hljs-string">'libnimCodecs.so'</span><span class="hljs-attribute">...</span>OK
registering module <span class="hljs-string">'libnimRecorder.so'</span><span class="hljs-attribute">...</span>OK
creating java bindings directory<span class="hljs-attribute">...</span>OK
Installing java bindings<span class="hljs-attribute">...</span>OK

<span class="hljs-subst">***</span> DONE <span class="hljs-subst">***</span></code>

则安装成功

三、安装Sensor

下载SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2解压得到SensorKinect093-Bin-Linux-x64-v5.1.2.1文件夹放到software下面

<code class="hljs lasso has-numbering">$ cd /home/siat/software/Sensor<span class="hljs-attribute">-Bin</span><span class="hljs-attribute">-Linux</span><span class="hljs-attribute">-x64</span><span class="hljs-attribute">-v5</span><span class="hljs-number">.1</span><span class="hljs-number">.2</span><span class="hljs-number">.1</span>
$ sudo <span class="hljs-built_in">.</span>/install<span class="hljs-built_in">.</span>sh</code>

如果显示如下

<code class="hljs lasso has-numbering">Installing PrimeSense Sensor
<span class="hljs-subst">****************************</span>

creating config dir /usr/etc/primesense<span class="hljs-attribute">...</span>OK
copying shared libraries<span class="hljs-attribute">...</span>OK
copying executables<span class="hljs-attribute">...</span>OK
registering module <span class="hljs-string">'libXnDeviceSensorV2KM.so'</span> <span class="hljs-keyword">with</span> OpenNI<span class="hljs-attribute">...</span>OK
registering module <span class="hljs-string">'libXnDeviceFile.so'</span> <span class="hljs-keyword">with</span> OpenNI<span class="hljs-attribute">...</span>OK
copying server config file<span class="hljs-attribute">...</span>OK
setting uid of server<span class="hljs-attribute">...</span>OK
creating server logs dir<span class="hljs-attribute">...</span>OK
installing usb rules<span class="hljs-attribute">...</span>OK
installing modprobe blacklist<span class="hljs-attribute">...</span>OK

<span class="hljs-subst">***</span> DONE <span class="hljs-subst">***</span></code>

则安装成功

四、安装NITE

下载NITE-Bin-Linux-x64-v1.5.2.23.tar解压得到NITE-Bin-Linux-x64-v1.5.2.23文件夹放在software下面

<code class="hljs lasso has-numbering">$ cd /home/siat/software/NITE<span class="hljs-attribute">-Bin</span><span class="hljs-attribute">-Linux</span><span class="hljs-attribute">-x64</span><span class="hljs-attribute">-v1</span><span class="hljs-number">.5</span><span class="hljs-number">.2</span><span class="hljs-number">.23</span>
$ sudo <span class="hljs-built_in">.</span>/install<span class="hljs-built_in">.</span>sh</code>

如果显示如下：

<code class="hljs r has-numbering">Installing NITE
***************

Copying shared libraries... OK
Copying includes... OK
Installing java bindings... OK
Installing module <span class="hljs-string">'Features_1_3_0'</span><span class="hljs-keyword">...</span>
Registering module <span class="hljs-string">'libXnVFeatures_1_3_0.so'</span><span class="hljs-keyword">...</span> OK
Installing module <span class="hljs-string">'Features_1_3_1'</span><span class="hljs-keyword">...</span>
Registering module <span class="hljs-string">'libXnVFeatures_1_3_1.so'</span><span class="hljs-keyword">...</span> OK
Installing module <span class="hljs-string">'Features_1_4_1'</span><span class="hljs-keyword">...</span>
Registering module <span class="hljs-string">'libXnVFeatures_1_4_1.so'</span><span class="hljs-keyword">...</span> OK
Installing module <span class="hljs-string">'Features_1_4_2'</span><span class="hljs-keyword">...</span>
Registering module <span class="hljs-string">'libXnVFeatures_1_4_2.so'</span><span class="hljs-keyword">...</span> OK
Installing module <span class="hljs-string">'Features_1_5_2'</span><span class="hljs-keyword">...</span>
Registering module <span class="hljs-string">'libXnVFeatures_1_5_2.so'</span><span class="hljs-keyword">...</span> OK
Copying XnVSceneServer... OK
Installing module <span class="hljs-string">'Features_1_5_2'</span>
registering module <span class="hljs-string">'libXnVHandGenerator_1_3_0.so'</span>...OK
Installing module <span class="hljs-string">'Features_1_5_2'</span>
registering module <span class="hljs-string">'libXnVHandGenerator_1_3_1.so'</span>...OK
Installing module <span class="hljs-string">'Features_1_5_2'</span>
registering module <span class="hljs-string">'libXnVHandGenerator_1_4_1.so'</span>...OK
Installing module <span class="hljs-string">'Features_1_5_2'</span>
registering module <span class="hljs-string">'libXnVHandGenerator_1_4_2.so'</span>...OK
Installing module <span class="hljs-string">'Features_1_5_2'</span>
registering module <span class="hljs-string">'libXnVHandGenerator_1_5_2.so'</span>...OK
Adding license.. OK

*** DONE ***</code>

则安装成功

五、运行示例

连上kinect的数据线

<code class="hljs lasso has-numbering">$ cd ~/software/OpenNI<span class="hljs-attribute">-Bin</span><span class="hljs-attribute">-Dev</span><span class="hljs-attribute">-Linux</span><span class="hljs-attribute">-x64</span><span class="hljs-attribute">-v1</span><span class="hljs-number">.5</span><span class="hljs-number">.7</span><span class="hljs-number">.10</span>/Samples/Bin/x64<span class="hljs-attribute">-Release</span>
$ <span class="hljs-built_in">.</span>/NiViewer </code>

如果出现kinect画面则配置成功

如果想卸载这三个软件包只要同样运行./install.sh 带上参数-u 即可

<code class="hljs bash has-numbering">$ <span class="hljs-built_in">sudo</span> ./install.sh -u</code>

六、问题

1、注意如果出现：

<code class="hljs vbnet has-numbering">One <span class="hljs-keyword">or</span> more <span class="hljs-keyword">of</span> the following nodes could <span class="hljs-keyword">not</span> be enumerated:

Device: PrimeSense/SensorV2/<span class="hljs-number">5.1</span><span class="hljs-number">.6</span><span class="hljs-number">.6</span>: The device <span class="hljs-keyword">is</span> <span class="hljs-keyword">not</span> connected!
Device: PrimeSense/SensorV2/<span class="hljs-number">5.1</span><span class="hljs-number">.0</span><span class="hljs-number">.41</span>: The device <span class="hljs-keyword">is</span> <span class="hljs-keyword">not</span> connected!
Device: PrimeSense/SensorV2/<span class="hljs-number">5.1</span><span class="hljs-number">.6</span><span class="hljs-number">.6</span>: The device <span class="hljs-keyword">is</span> <span class="hljs-keyword">not</span> connected!
Device: PrimeSense/SensorV2/<span class="hljs-number">5.1</span><span class="hljs-number">.0</span><span class="hljs-number">.41</span>: The device <span class="hljs-keyword">is</span> <span class="hljs-keyword">not</span> connected!

Press any <span class="hljs-keyword">key</span> <span class="hljs-keyword">to</span> <span class="hljs-keyword">continue</span> . . .</code>

这样的问题有可能是这三个包版本不匹配，我这里的三个包亲测是可用的。但是Sensor如果是5.1.6.6版本则出现上面报错。

—-2015.10.19
之前安装好了驱动可以正常运行的，今天运行openni的节点却发现不能正常打开Kinect了，报错如下：

<code class="hljs http has-numbering"><span class="hljs-attribute">Device</span>: <span class="hljs-string">PrimeSense/SensorV2/5.1.0.41: The device is not connected!</span></code>

于是我重新做了一遍步骤四

<code class="hljs lasso has-numbering">$ cd /home/siat/software/Sensor<span class="hljs-attribute">-Bin</span><span class="hljs-attribute">-Linux</span><span class="hljs-attribute">-x64</span><span class="hljs-attribute">-v5</span><span class="hljs-number">.1</span><span class="hljs-number">.2</span><span class="hljs-number">.1</span>
$ sudo <span class="hljs-built_in">.</span>/install<span class="hljs-built_in">.</span>sh</code>

再次运行示例程序成功启动Kinect

—-2016.06.13
我尝试用32位版本的驱动来启动xtion，还是提示连不上设备，当我重新编译上面三个64位驱动运行NiViewr的时候出现如下提示：

<code class="hljs vbnet has-numbering">One <span class="hljs-keyword">or</span> more <span class="hljs-keyword">of</span> the following nodes could <span class="hljs-keyword">not</span> be enumerated:

Device: PrimeSense/SensorKinect/<span class="hljs-number">5.1</span><span class="hljs-number">.2</span><span class="hljs-number">.1</span>: The device <span class="hljs-keyword">is</span> <span class="hljs-keyword">not</span> connected!
Device: PrimeSense/SensorV2/<span class="hljs-number">5.1</span><span class="hljs-number">.0</span><span class="hljs-number">.41</span>: The device <span class="hljs-keyword">is</span> <span class="hljs-keyword">not</span> connected!
Device: PrimeSense/SensorKinect/<span class="hljs-number">5.1</span><span class="hljs-number">.2</span><span class="hljs-number">.1</span>: The device <span class="hljs-keyword">is</span> <span class="hljs-keyword">not</span> connected!
Device: PrimeSense/SensorV2/<span class="hljs-number">5.1</span><span class="hljs-number">.0</span><span class="hljs-number">.41</span>: The device <span class="hljs-keyword">is</span> <span class="hljs-keyword">not</span> connected!

Press any <span class="hljs-keyword">key</span> <span class="hljs-keyword">to</span> <span class="hljs-keyword">continue</span> . . .</code>

我用./install.sh -u 卸载Openni和Sensor，用./uninstall.sh 卸载NITE，然后重新到原64位Sensor驱动下运行./install.sh 之后正常使用NiViewr开启kinect。

2、注意openni2和NITE2版本的包现在只能用于xtion，kinect只能使用版本1的驱动
3、查看版本

<code class="hljs brainfuck has-numbering"><span class="hljs-comment">$</span> <span class="hljs-comment">pkg</span><span class="hljs-literal">-</span><span class="hljs-comment">config</span> <span class="hljs-literal">-</span><span class="hljs-literal">-</span><span class="hljs-comment">modversion</span> <span class="hljs-comment">opencv</span></code>

会显示版本号，比如

<code class="hljs  has-numbering">2.4.11</code>

可以将opencv替换为其他包名字，用Tab键补全以避免名字出错

4、用apt-get方式安装的一些包
kinect用的freenect：

<code class="hljs lasso has-numbering">$ sudo apt<span class="hljs-attribute">-get</span> install ros<span class="hljs-attribute">-indigo</span><span class="hljs-attribute">-freenect</span><span class="hljs-attribute">-launch</span>
$ sudo apt<span class="hljs-attribute">-get</span> install ros<span class="hljs-attribute">-indigo</span><span class="hljs-attribute">-freenect</span><span class="hljs-attribute">-camera</span>
$ sudo apt<span class="hljs-attribute">-get</span> install ros<span class="hljs-attribute">-indigo</span><span class="hljs-attribute">-freenect</span><span class="hljs-attribute">-stack</span></code>

xtion用的openni：

<code class="hljs lasso has-numbering">$ sudo apt<span class="hljs-attribute">-get</span> install ros<span class="hljs-attribute">-indigo</span><span class="hljs-attribute">-openni</span><span class="hljs-attribute">-camera</span>
$ sudo apt<span class="hljs-attribute">-get</span> install ros<span class="hljs-attribute">-indigo</span><span class="hljs-attribute">-openni</span><span class="hljs-attribute">-launch</span>
上面如果不行请使用下面的驱动
$ sudo apt<span class="hljs-attribute">-get</span> install ros<span class="hljs-attribute">-indigo</span><span class="hljs-attribute">-openni2</span><span class="hljs-attribute">-camera</span>
$ sudo apt<span class="hljs-attribute">-get</span> install ros<span class="hljs-attribute">-indigo</span><span class="hljs-attribute">-openni2</span><span class="hljs-attribute">-launch</span></code>

5、关于kinect和xtion切换的问题
openni默认的设备是kinect，如果你用的是kinect，装完上面的驱动之后运行NiViewer可以正常使用
但是如果你使用的设备是xtion，直接运行NiViewer会出现如下报错

<code class="hljs vbnet has-numbering">Open failed: USB <span class="hljs-keyword">interface</span> <span class="hljs-keyword">is</span> <span class="hljs-keyword">not</span> supported!</code>

运行$ roslaunch openni_launch openni.launch 出现如下报错

<code class="hljs oxygene has-numbering">[ INFO] [<span class="hljs-number">1464612941.306334563</span>]: Initializing nodelet <span class="hljs-keyword">with</span> <span class="hljs-number">4</span> worker threads.
[ INFO] [<span class="hljs-number">1464612947.664521213</span>]: Number devices connected: <span class="hljs-number">1</span>
[ INFO] [<span class="hljs-number">1464612947.666982470</span>]: <span class="hljs-number">1</span>. device <span class="hljs-keyword">on</span> bus <span class="hljs-number">002</span>:<span class="hljs-number">04</span> <span class="hljs-keyword">is</span> a SensorV2 (<span class="hljs-number">601</span>) <span class="hljs-keyword">from</span> PrimeSense (<span class="hljs-number">1</span>d27) <span class="hljs-keyword">with</span> serial id <span class="hljs-string">'1312120224'</span>
[ INFO] [<span class="hljs-number">1464612947.667906288</span>]: Searching <span class="hljs-keyword">for</span> device <span class="hljs-keyword">with</span> <span class="hljs-keyword">index</span> = <span class="hljs-number">1</span>
[ INFO] [<span class="hljs-number">1464612947.670034045</span>]: No <span class="hljs-keyword">matching</span> device found.... waiting <span class="hljs-keyword">for</span> devices. Reason: openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, <span class="hljs-keyword">const</span> xn::NodeInfo&, <span class="hljs-keyword">const</span> xn::NodeInfo&, <span class="hljs-keyword">const</span> xn::NodeInfo&, <span class="hljs-keyword">const</span> xn::NodeInfo&) @ /tmp/binarydeb/ros-indigo-openni-camera-<span class="hljs-number">1.9</span>.<span class="hljs-number">5</span>/src/openni_device.cpp @ <span class="hljs-number">61</span> : creating depth generator failed. Reason: USB <span class="hljs-keyword">interface</span> <span class="hljs-keyword">is</span> <span class="hljs-keyword">not</span> supported!</code><ul class="pre-numbering"><li><span style="font-family: Arial, Helvetica, sans-serif; background-color: rgb(255, 255, 255);">也是</span><code style="background-color: rgb(255, 255, 255);">USB interface is not supported!</code><span style="font-family: Arial, Helvetica, sans-serif; background-color: rgb(255, 255, 255);"> 的问题 </span></li></ul>

解决方案如下：参考博客
修改GlobalDefaults.ini配置文件

<code class="hljs bash has-numbering">$ <span class="hljs-built_in">sudo</span> gedit /etc/openni/GlobalDefaults.ini </code>

将第60行前面的分号去掉（即取消注释）

<code class="hljs fix has-numbering"><span class="hljs-attribute">;UsbInterface</span>=<span class="hljs-string">2</span></code>

再次尝试运行openni.launch 或者NiViewer 就可以用xtion了，如果不行还需要重启一下电脑

---

关于xtion博主还有一个一直很困扰的问题，在刚装系统的电脑上安装上面三个驱动使用xtion很正常，但是在使用了一段时间的电脑上装这三个驱动却一直提示the device is not connected!，试了上面所有的方案都不行，估计是驱动冲突，我卸载了所有openni、nite相关的包重新安装驱动也不行，最后只好无奈的使用微软的Kinect才正常

6、Open failed: Xiron OS failed to wait on event!
运行如下命令：

<code class="hljs bash has-numbering">$ <span class="hljs-built_in">sudo</span> chmod +x /usr/bin/XnSensorServer</code>

7、博主重装了32位ubuntu14.04，然后下载上面三个驱动对应的32位驱动，编译之后可以驱动华硕的xtion pro live，值得注意的是有可能遇到如下问题

<code class="hljs vbnet has-numbering">Open failed: Failed <span class="hljs-keyword">to</span> <span class="hljs-keyword">set</span> USB <span class="hljs-keyword">interface</span>!</code>

这个问题跟前面的类似，需要改GlobalDefaults.ini 文件，但是32位驱动的这个配置文件不在/etc/openni/下了，搜索了一下文件夹找到这个文件原来是在/usr/etc/primesense/

<code class="hljs bash has-numbering">$ <span class="hljs-built_in">sudo</span> gedit /usr/etc/primesense/GlobalDefaults.ini </code>

将第60行前面的分号去掉（即取消注释）

<code class="hljs fix has-numbering"><span class="hljs-attribute">;UsbInterface</span>=<span class="hljs-string">2</span></code>

再次尝试运行openni.launch 或者NiViewer 就可以用xtion了，如果不行还需要重启一下电脑