使用kinect v1 RGBDSLAMv2_getrgbdsensor:19:requires kinect v1 sdk and enable-CSDN博客

本文链接：https://blog.csdn.net/fantasysolo/article/details/80348764

这篇博客详细介绍了如何在Ubuntu系统中将Kinect V1与RGBDSLAMv2集成，包括安装OpenNI Sensor、ROS的freenect包、rgbdslamv2和g2o。在编译过程中遇到了C++11标准支持、g2o依赖安装、bash解析问题以及OpenCV和PCL的源码安装问题，通过查阅和参考多个博客解决了这些问题，但最终仍未能成功启动RGBDSLAMv2。

摘要由CSDN通过智能技术生成

1、安装需要OpenNI Sensor：参考blog https://blog.csdn.net/u013453604/article/details/48013959

2、安装ROS的freenect包：https://www.ncnynl.com/archives/201703/1438.html

连接kinect，启动rviz查看结果：

roslaunch freenect_launch freenect-registered-xyzrgb.launch

roslaunch freenect_launch freenect.launch

rosrun image_view image_view image:=/camera/rgb/image_color

3、安装rgbdslamv2，g2o，g2o有作者自己的版本，作者的安装说明：

1. Put RGBDSLAMv2 in a catkin workspace: See [the catkin tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace)
for details. Use git to clone this repository into your workspace's "src/" directory. Or download RGBDSLAMv2 as an [archive](http://codeload.github.com/felixendres/rgbdslam_v2/zip/kinetic) and extract it to "src/".
2. Download my [g2o fork|https://github.com/felixendres/g2o], put it in some other directory.
Build and install. Export the environment variable `$G2O_DIR` to the installation directory to
let rgbdslam_v2 know where to find it (see Installation from Scratch for an example).
2. Use rosdep (i.e. "rosdep install rgbdslam") to install missing
dependencies. For details see http://wiki.ros.org/ROS/Tutorials/rosdep
4. To build RGBDSLAMv2 go to your catkin workspace and execute "catkin_make".

If you get an error about the missing siftgpu library, execute "catkin_make" again.

rgbdslamv2: https://www.ncnynl.com/archives/201708/1931.html

在此之前，需安装g2o： https://blog.csdn.net/zhuquan945/article/details/52894528

error This file requires compiler and library support for the ISO C++ 2011 standard. This support is currently experimental, and must be enabled with the -std=c++11 or -std=gnu++11 compiler options.
当使用CMAKE编译工程时，出现这个错误，解决办法：

在工程主目录的CMakeLists.txt中添加如下，可以编译成功：

SET( CMAKE_CXX_FLAGS "-std=c++11 -O3")

安装g2o需安装依赖项sudo apt-get install cmake libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-dev

编译G2O还有错误，参考的blog：https://blog.csdn.net/u013004597/article/details/52496995

ubuntu系统shell 中source: not found错误 :https://blog.csdn.net/buynow123/article/details/51774018

错误： shell脚本中含有source命令运行时提示 source: not found
测试：
运行 ls -l /bin/sh 后显示/bin/sh -> dash
这说明是用dash来进行解析的。
解决方案：
命令行执行：dpkg-reconfigure dash（需要root权限）
在界面中选择no
再运行ls -l /bin/sh 后显示/bin/sh -> bash
最后测试shell脚本，可以正常使用！

仍然无法启动。按照作者的installation脚本安装。

参考blog中的内容: http://www.cnblogs.com/gaoxiang12/p/4462518.html

从源码安装 OpenCV, PCL

http://blog.sciencenet.cn/blog-571755-694742.html

安装opencv2.4.1时，编译遇到问题：

make[2]: *** [modules/highgui/CMakeFiles/opencv_highgui.dir/src/cap_ffmpeg.o] Error 1

make[1]: *** [modules/highgui/CMakeFiles/opencv_highgui.dir/all] Error 2

make: *** [all] Error 2

解决办法：https://blog.csdn.net/fantasysolo/article/details/80365772