一、 Opencv
这个网上有很多教程，
1. 安装依赖包和预备环境
- $sudo apt-get install build-essential
- $sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
- $sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
2.从官网下载opencv3.1源码，并解压
3.创建编译目录，编译
- $cd ~/opencv-3.1.0
- $mkdir release
- $cd release
- $cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..
- $make
- $sudo make install
4.测试opencv
- $mkdir ~/opencv-lena
- $cd ~/opencv-lena
- $gedit DisplayImage.cpp
- #include <stdio.h>
- #include <opencv2/opencv.hpp>
- using namespace cv;
- int main(int argc, char** argv )
- {
- if ( argc != 2 )
- {
- printf("usage: DisplayImage.out <Image_Path>\n");
- return -1;
- }
- Mat image;
- image = imread( argv[1], 1 );
- if ( !image.data )
- {
- printf("No image data \n");
- return -1;
- }
- namedWindow("Display Image", WINDOW_AUTOSIZE );
- imshow("Display Image", image);
- waitKey(0);
- return 0;
- }
创建cmakelist编译文件
- cmake_minimum_required(VERSION 2.8)
- project( DisplayImage )
- find_package( OpenCV REQUIRED )
- add_executable( DisplayImage DisplayImage.cpp )
- target_link_libraries( DisplayImage ${OpenCV_LIBS} )
执行：
- $cd ~/opencv-lena
- $cmake .
- $make
- $./DisplayImage lena.jpg
至此opencv配置完毕
二、openni2.0
以下内容是我在youtube上看到的视频：
https://www.youtube.com/watch?v=Bn9WqbYtNBw
1.安装 OpenNI2依赖项
- $sudo apt-get install -y g++ python libusb-1.0-0-dev freeglut3-dev doxygen graphviz
- $sudo apt-get install libudev-dev
2.从github将openni2源码clone下来
- $git clone https://github.com/occipital/OpenNI2.git
- $cd OpenNI2
3.修改两处配置Platform.Arm和CommonCppMakefile，适用于arm设备
- $gedit ThirdParty/PSCommon/BuildSystem/Platform.Arm
Change:
CFLAGS+= -march=armv7-a -mtune=cortex-a9 -mfpu=neon -mfloat-abi=softfp#-mcpu=cortex-a8
to:
CFLAGS+= -march=armv7-a -mtune=cortex-a15 -mfpu=neon-vfpv4 -mfloat-abi=hard
- $gedit ThirdParty/PSCommon/BuildSystem/CommonCppMakefile
---OpenNI2-2.2.0.30/ThirdParty/PSCommon/BuildSystem/CommonCppMakefile.old2014-03-28 19:09:11.572263107 -0700
+++OpenNI2-2.2.0.30/ThirdParty/PSCommon/BuildSystem/CommonCppMakefile 2014-03-2819:09:55.600261937 -0700
@@-95,6 +95,9 @@
OUTPUT_NAME= $(EXE_NAME)
# Wewant the executables to look for the .so's locally first:
LDFLAGS+= -Wl,-rpath ./
+ifneq ("$(OSTYPE)","Darwin")
+LDFLAGS += -lpthread
+endif
OUTPUT_COMMAND= $(CXX) -o $(OUTPUT_FILE) $(OBJ_FILES) $(LDFLAGS)
endif
ifneq "$(SLIB_NAME)" ""
4.修改makefile，增加sample，即在makefile文件末尾添加：
- core_samples: $(CORE_SAMPLES)
- tools: $(ALL_TOOLS)
5.编译
- $make
- $make core_samples # this probably isn't necessary, they should already be built
- $GLUT_SUPPORTED=1 make tools#GLUT_SUPPORTED tells the make to compile NiViewer for OpenGL
6.安装libfreenect，否则无法驱动primesensor
安装依赖项
- $sudo apt-get install cmake freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev –y
下载源码并编译
- $ git clone git://github.com/OpenKinect/libfreenect.git
- $ cd libfreenect
- $ mkdir build
- $ cd build
- $ cmake ..
- $ make
- $ sudo make install
- # Build the OpenNI2 driver
- $ cmake .. -DBUILD_OPENNI2_DRIVER=ON
- $ make
将libfreenect的so拷贝到OpenNI的驱动文件夹下
- $ Repository=../../Bin/Arm-Release/OpenNI2/Drivers
- $ cp -L lib/OpenNI2-FreenectDriver/libFreenectDriver* ${Repository}
设置使用传感器的权限
- $ sudo usermod -a -G video Ubuntu
7. 回到 openni2 目录，将头文件和 so 文件拷贝到 /usr 目录下
- $ sudo cp -r Include /usr/include/openni2
- $ sudo cp -r Bin/Arm-Release/OpenNI2 /usr/lib/
- $ sudo cp Bin/Arm-Release/libOpenNI2.* /usr/lib/
8. 创建 packageconfig 文件
- # this will enable ubuntu to find the location of the drivers, libraries and include files.
- $ sudo gedit /usr/lib/pkgconfig/libopenni2.pc
- and fill it with this:
- prefix=/usr
- exec_prefix=${prefix}
- libdir=${exec_prefix}/lib
- includedir=${prefix}/include/openni2
- Name: OpenNI2
- Description: A general purpose driver for all OpenNI cameras.
- Version: 2.2.0.0
- Cflags: -I${includedir}
- Libs: -L${libdir} -lOpenNI2 -L${libdir}/OpenNI2/Drivers -lDummyDevice -lOniFile -lPS1080.so
检验：
- # To make sure it is correctly found, run
- $ pkg-config --modversion libopenni2
- # which should give the same version as defined in the file above (2.2.0.0)
最后一步：
- # Linux has used the udev system to handle devices such as USB connected peripherals.
- $ cd Packaging/Linux
- $ sudo cp primesense-usb.rules /etc/udev/rules.d/557-primesense-usb.rules
翻译的如果卡不懂和其他注意事项，
请直接看：http://jetsonhacks.com/2014/08/28/building-openni2-structure-sensor/
运行结果：
三、PCL安装
参考：
http://larrylisky.com/2014/03/03/installing-pcl-on-ubuntu/
安装依赖环境
- sudo apt-get install g++
- sudo apt-get install cmake cmake-gui
- sudo apt-get install doxygen
- sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
- sudo apt-get install libflann1 libflann-dev
- sudo apt-get install libeigen3-dev
- sudo apt-get install libboost-all-dev
- sudo apt-get install libvtk5.8-qt4 libvtk5.8 libvtk5-dev
- sudo apt-get install libqhull*
- sudo apt-get install libusb-dev
- sudo apt-get install libgtest-dev
- sudo apt-get install git-core freeglut3-dev pkg-config
- sudo apt-get install build-essential libxmu-dev libxi-dev
- sudo apt-get install libusb-1.0-0-dev graphviz mono-complete
- sudo apt-get install qt-sdk openjdk-7-jdk openjdk-7-jre
- sudo apt-get install phonon-backend-gstreamer
- sudo apt-get install phonon-backend-vlc
从github上下载pcl最新版本并编译
- $git clone https://github.com/PointCloudLibrary/pcl.git pcl-trunk ln -s pcl-trunk pcl(我是直接下载了压缩包，解压的，不然太慢了)
- $mkdir release
- $cd release
- $cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..
- $make
- $sudo make install
至此完成安装，但是是VTK有问题的，留着下次解决---->这么解决：
大家如何cmake时，发现有类似The imported target "vtk***" reference the file "/usr/bin/vtk**"的错误，需要安装如下两个东西：
- sudo apt-get install libvtk-java
- sudo apt-get install python-vtk
然后再重新编译，时间非常久
- cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..
- make
- make install
编译完成后，执行他的pcd_viewer，结果如下：
- #include <pcl/visualization/cloud_viewer.h>
- #include <iostream>
- #include <pcl/io/io.h>
- #include <pcl/io/pcd_io.h>
- using namespace std;
- using namespace pcl;
- int main ()
- {
- pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
- if(pcl::io::loadPCDFile<pcl::PointXYZRGB>("color_5.pcd",*cloud)==-1)//*打开点云文件
- {
- PCL_ERROR("Couldn't read file test_pcd.pcd\n");
- return(-1);
- }
- std::cout<<"Loaded "<<cloud->width*cloud->height<<" data points from test_pcd.pcd with the following fields: "<<std::endl;
- pcl::visualization::CloudViewer viewer("My First Cloud Viewer");
- viewer.showCloud(cloud);
- while(!viewer.wasStopped())
- {
- }
- }
CMakeLists.txt
- cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
- project(cloud_viewer)
- find_package(PCL 1.8 REQUIRED)
- include_directories(${PCL_INCLUDE_DIRS})
- link_directories(${PCL_LIBRARY_DIRS})
- add_definitions(${PCL_DEFINITIONS})
- add_executable (cloud_viewer test.cpp)
- target_link_libraries (cloud_viewer ${PCL_LIBRARIES})
四、最后再给出三个库同时使用的情形：
CMakeLists.txt
- # This CmakeLists include both OpenNI and OpenCV Libraries
- cmake_minimum_required(VERSION 2.8)
- project( TestOpenNI )
- # OpenCV
- find_package( OpenCV REQUIRED )
- include_directories( ${OpenCV_INCLUDE_DIRS} )
- MESSAGE(STATUS "The Opencv's include directory is:" ${OpenCV_INCLUDE_DIRS})
- #OpenNI
- FIND_PATH(OpenNI2_INCLUDE_DIRS OpenNI.h HINTS $ENV{OPENNI2_INCLUDE} PATH_SUFFIXES openni2)
- FIND_LIBRARY(OpenNI2_LIBRARY NAMES OpenNI2 HINTS $ENV{OPENNI2_LIB} $ENV{OPENNI2_REDIST})
- include_directories( ${OpenNI2_INCLUDE_DIRS} )
- IF (OpenNI2_INCLUDE_DIRS AND OpenNI2_LIBRARY)
- SET(OpenNI2_FOUND TRUE)
- ENDIF (OpenNI2_INCLUDE_DIRS AND OpenNI2_LIBRARY)
- IF (OpenNI2_FOUND)
- # show which OpenNI2 was found only if not quiet
- SET(OpenNI2_LIBRARIES ${OpenNI2_LIBRARY})
- MESSAGE(STATUS "Found OpenNI2: ${OpenNI2_LIBRARIES}")
- ELSE (OpenNI2_FOUND)
- # fatal error if OpenNI2 is required but not found
- IF (OpenNI2_FIND_REQUIRED)
- MESSAGE(FATAL_ERROR "Could not find OpenNI2. Environment variables OPENNI2_INCLUDE (directory containing OpenNI.h) and OPENNI2_LIB (directory containing OpenNI2 library) could bet set.")
- ENDIF (OpenNI2_FIND_REQUIRED)
- ENDIF (OpenNI2_FOUND)
- #set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
- #set (OPENNI_H /usr/include/openni2/OpenNI.h)
- # ---------------------------------------------------------
- #PCL
- find_package(PCL 1.8 REQUIRED)
- include_directories(${PCL_INCLUDE_DIRS})
- link_directories(${PCL_LIBRARY_DIRS})
- add_definitions(${PCL_DEFINITIONS})
- add_executable(TestOpenNI test.cpp)
- target_link_libraries(TestOpenNI ${OpenNI2_LIBRARIES} ${OpenCV_LIBS} ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})
- #include <pcl/io/pcd_io.h>
- #include <pcl/io/ply_io.h>
- #include <pcl/point_types.h>
- // 标准库头文件
- #include <iostream>
- #include <string>
- #include <vector>
- // OpenCV头文件
- #include <opencv2/photo.hpp>
- #include <opencv2/highgui.hpp>
- // OpenNI头文件
- #include <OpenNI.h>
- typedef unsigned char uint8_t;
- // namespace
- using namespace std;
- using namespace openni;
- using namespace cv;
- using namespace pcl;
- void CheckOpenNIError( Status result, string status )
- {
- if( result != STATUS_OK )
- cerr << status << " Error: " << OpenNI::getExtendedError() << endl;
- }
- int main( int argc, char **argv )
- {
- Status result = STATUS_OK;
- int i,j;
- float x=0.0,y=0.0,z=0.0,xx=0.0;
- //IplImage *test,*test2;
- IplImage *test2;
- char filename[20] = {0};
- //point cloud
- PointCloud<PointXYZ> cloud;
- PointCloud<PointXYZRGB> color_cloud;
- //opencv image
- Mat cvBGRImg;
- Mat cvDepthImg;
- //OpenNI2 image
- VideoFrameRef oniDepthImg;
- VideoFrameRef oniColorImg;
- namedWindow("depth");
- namedWindow("image");
- char key=0;
- // 初始化OpenNI
- result = OpenNI::initialize();
- CheckOpenNIError( result, "initialize context" );
- // open device
- Device device;
- result = device.open( openni::ANY_DEVICE );
- CheckOpenNIError( result, "open device" );
- // create depth stream
- VideoStream oniDepthStream;
- result = oniDepthStream.create( device, openni::SENSOR_DEPTH );
- CheckOpenNIError( result, "create depth stream" );
- // set depth video mode
- VideoMode modeDepth;
- modeDepth.setResolution( 640, 480 );
- modeDepth.setFps( 30 );
- modeDepth.setPixelFormat( PIXEL_FORMAT_DEPTH_1_MM );
- oniDepthStream.setVideoMode(modeDepth);
- // start depth stream
- result = oniDepthStream.start();
- CheckOpenNIError( result, "start depth stream" );
- // create color stream
- VideoStream oniColorStream;
- result = oniColorStream.create( device, openni::SENSOR_COLOR );
- CheckOpenNIError( result, "create color stream" );
- // set color video mode
- VideoMode modeColor;
- modeColor.setResolution( 640, 480 );
- modeColor.setFps( 30 );
- modeColor.setPixelFormat( PIXEL_FORMAT_RGB888 );
- oniColorStream.setVideoMode( modeColor);
- // start color stream
- result = oniColorStream.start();
- CheckOpenNIError( result, "start color stream" );
- int count = 0;
- while(true)
- {
- // read frame
- if( oniColorStream.readFrame( &oniColorImg ) == STATUS_OK )
- {
- // convert data into OpenCV type
- Mat cvRGBImg( oniColorImg.getHeight(), oniColorImg.getWidth(), CV_8UC3, (void*)oniColorImg.getData() );
- cvtColor( cvRGBImg, cvBGRImg, CV_RGB2BGR );
- imshow( "image", cvBGRImg );
- }
- if( oniDepthStream.readFrame( &oniDepthImg ) == STATUS_OK )
- {
- Mat cvRawImg16U( oniDepthImg.getHeight(), oniDepthImg.getWidth(), CV_16UC1, (void*)oniDepthImg.getData() );
- cvRawImg16U.convertTo( cvDepthImg, CV_8U, 255.0/(oniDepthStream.getMaxPixelValue()));
- imshow( "depth", cvDepthImg );
- }
- char input = waitKey(1);
- // quit
- if( input == 'q' )
- break;
- // capture depth and color data
- if( input == 'c' )
- {
- //get data
- DepthPixel *pDepth = (DepthPixel*)oniDepthImg.getData();
- //create point cloud
- cloud.width = oniDepthImg.getWidth();
- cloud.height = oniDepthImg.getHeight();
- cloud.is_dense = false;
- cloud.points.resize(cloud.width * cloud.height);
- color_cloud.width = oniDepthImg.getWidth();
- color_cloud.height = oniDepthImg.getHeight();
- color_cloud.is_dense = false;
- color_cloud.points.resize(color_cloud.width * color_cloud.height);
- //test = cvCreateImage(cvSize(cloud.width,cloud.height),IPL_DEPTH_8U,3);
- IplImage temp11 = (IplImage)cvBGRImg;
- //test2 = &IplImage(cvBGRImg);
- test2 = &temp11;
- for(i=0;i<oniDepthImg.getHeight();i++)
- {
- for(j=0;j<oniDepthImg.getWidth();j++)
- {
- float k = i;
- float m = j;
- xx = pDepth[i*oniDepthImg.getWidth()+j];
- CoordinateConverter::convertDepthToWorld (oniDepthStream,m,k,xx,&x,&y,&z);
- cloud[i*cloud.width+j].x = x/1000;
- cloud[i*cloud.width+j].y = y/1000;
- cloud[i*cloud.width+j].z = z/1000;
- color_cloud[i*cloud.width+j].x = x/1000;
- color_cloud[i*cloud.width+j].y = y/1000;
- color_cloud[i*cloud.width+j].z = z/1000;
- color_cloud[i*cloud.width+j].b = (uint8_t)test2->imageData[i*test2->widthStep+j*3+0];
- color_cloud[i*cloud.width+j].g = (uint8_t)test2->imageData[i*test2->widthStep+j*3+1];
- color_cloud[i*cloud.width+j].r = (uint8_t)test2->imageData[i*test2->widthStep+j*3+2];
- /* test->imageData[i*test->widthStep+j*3+0] = test2->imageData[i*test2->widthStep+j*3+0];
- test->imageData[i*test->widthStep+j*3+1] = test2->imageData[i*test2->widthStep+j*3+1];
- test->imageData[i*test->widthStep+j*3+2] = test2->imageData[i*test2->widthStep+j*3+2];*/
- }
- }
- //cvSaveImage("test.jpg",test);
- //pcl::io::savePLYFileBinary("test_plyc.ply",cloud);
- cout<<"the "<<count<<" is saved"<<endl;
- sprintf(filename,"./data/%d.pcd",count);
- pcl::io::savePCDFileBinaryCompressed(filename,cloud);
- cerr<<"Saved "<<cloud.points.size()<<" data points to xyz pcd."<<endl;
- sprintf(filename,"./data/color_%d.pcd",count);
- pcl::io::savePCDFileBinaryCompressed(filename,color_cloud);
- cerr<<"Saved "<<color_cloud.points.size()<<" data points to xyzrgb pcd."<<endl;
- sprintf(filename,"./data/color_%d.jpg",count);
- imwrite(filename,cvBGRImg);
- sprintf(filename,"./data/depth_%d.jpg",count++);
- imwrite(filename,cvDepthImg);
- /*for(size_t i=0;i<cloud.points.size();++i)
- cerr<<" "<<cloud.points[i].x<<" "<<cloud.points[i].y<<" "<<cloud.points[i].z<<endl;*/
- }
- }
- }
运行结果：
键盘输入c抓取数据，按q退出
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