openni、Sensor、NITE(可选)这三个包的版本必须匹配才能正常运行
主要参考
①https://www.20papercups.net/programming/kinect-on-ubuntu-with-openni/
②https://blog.csdn.net/u011092188/article/details/54861591
③https://blog.csdn.net/sinat_39411798/article/details/80606204?utm_source=blogxgwz0
第三篇主要是讲参照第二篇安装过程中遇到的问题
ubuntu 下的kinect1的驱动我知道的有两种方式:
1 openNI+sensor+NITE(可选)
2 openNI2+libFreenect
链接①中使用的是第一种方法
一、安装依赖项
1. sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-8-jdk
2. sudo apt-get install doxygen graphviz mono-complete
二、OPENNI
1. git clone https://github.com/OpenNI/OpenNI.git
2. cd OpenNI
3. git checkout Unstable-1.5.4.0
4. cd Platform/Linux/CreateRedist
5. chmod +x RedistMaker
6. ./RedistMaker
7. cd ../Redist/OpenNI-Bin-Dev-Linux-[xxx] (根据Redist文件夹下的实际名称来where [xxx] is your architecture and this particular OpenNI release)
8. sudo ./install.sh
三、Kinect Sensor Module
1. 先进入home目录
2. git clone https://github.com/avin2/SensorKinect
3. cd SensorKinect
4. cd Platform/Linux/CreateRedist
5. chmod +x RedistMaker
6. ./RedistMaker
7. cd ../Redist/Sensor-Bin-Linux-[xxx] (where [xxx] is your architecture and this particular OpenNI release)
8. chmod +x install.sh
9. sudo ./install.sh
四、验证
连接Kinect
1. cd OpenNI/Platform/Linux/Bin/x64-Release 此文件夹的名称每台电脑都不一样,大概按照这个去找
2. ./Sample-NiSimpleViewer
如果正确的话,会出现 yellow-black depth image
五、设置环境变量
如果使用Kinect作为3D传感器就设置一下TURTLEBOT_3D_SENSOR
$ echo "export TURTLEBOT_3D_SENSOR=kinect" >> ~/turtlebot/devel/setup.sh
$ source ~/turtlebot/devel/setup.bash
六. 卸载
如果想卸载这两个或三个软件包只要同样运行./install.sh 带上参数-u 即可
sudo ./install.sh -u