kinectv1驱动安装及相机标定

v1设备出现“no devices connected”

大多数情况是因为senerKinect没有安装，按照链接里面的指导安装就可以了。参考：https://blog.csdn.net/sunyoop/article/details/78563278

1. 安装OpenNI

源码网址：https://github.com/OpenNI/OpenNI
首先安装JDK6
官方网址https://www.oracle.com/java/technologies/javase-java-archive-javase6-downloads.html
安装步骤参考https://www.cnblogs.com/multhree/p/11696084.html

sudo apt-get install doxygen
git clone https://github.com/OpenNI/OpenNI openni
Go into the directory: "Platform/Linux/CreateRedist".
Run the script: "./RedistMaker".
Go into the directory: "Platform/Linux/Redist".
Run the script: "sudo ./install.sh"

报错 jar: command not found
参考https://www.cnblogs.com/kangping/p/7149684.html
手动建立软链接

cd /usr/bin/
ln -s -f jdk安装路径/jdkxxx/bin/jar

2. 安装SensorKinect

参考https://blog.csdn.net/sunyoop/article/details/78517247?locationNum=8&fps=1

git clone https://github.com/ph4m/SensorKinect.git
cd SensorKinect
git checkout unstable
cd Platform/Linux/CreateRedist/
chmod +x RedistMaker
./RedistMaker
cd ../Redist/Sensor-Bin-Linux-x64-v5.1.2.1/
chmod +x install.sh
sudo ./install.sh

3. 安装ROS_kinetic

安装标定功能包 camera_calibration

sudo apt-get install ros-kinect-camera-calibration

参考：http://wiki.ros.org/kinetic/Installation/Ubuntu设置前面的变量
安装：参考https://blog.csdn.net/puqian13/article/details/100521968

sudo apt-get install ros-kinetic-freenect-camera ros-kinetic-freenect-stack ros-kinetic-freenect-launch
rospack profile  

安装rqt-image-view显示图像

sudo apt-get install ros-kinetic-rqt-image-view

运行相机以及显示：（两个终端）

roslaunch freenect_launch freenect.launch
rosrun rqt_image_view rqt_image_view

标定参考
https://blog.csdn.net/x_r_su/article/details/52904113
https://blog.csdn.net/yldmkx/article/details/99762360
https://blog.csdn.net/qq_44725448/article/details/108560844
https://www.guyuehome.com/7917

rosdep init 或者rosdep update 连接错误的解决办法
参考https://community.bwbot.org/topic/811/rosdep-init-%E6%88%96%E8%80%85rosdep-update-%E8%BF%9E%E6%8E%A5%E9%94%99%E8%AF%AF%E7%9A%84%E8%A7%A3%E5%86%B3%E5%8A%9E%E6%B3%95