安装openni2-camera和openni2-launch
sudo apt-get install ros-hydro-openni2-camera
sudo apt-get install ros-hydro-openni2-launch
安装一些依赖
$ sudo apt-get install git g++ make python libusb-1.0-0-dev libudev-dev pkg-config
下载OpenNI2包
$ git clone https://github.com/OpenNI/OpenNI2 $ cd OpenNI2
编译
$make
安装
cd Packaging/Linux sudo ./install.sh
将library和include拷贝到系统目录中去:
cd OpenNI2 sudo cp -r Include /usr/include/openni2 sudo cp -r Bin/x64-Release/OpenNI2 /usr/lib/ sudo cp Bin/x64-Release/libOpenNI2.* /usr/lib/
新建一个package config文件:
sudo gedit /usr/lib/pkgconfig/libopenni2.pc
修改为如下内容
prefix=/usr exec_prefix=${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
至此,安装结束。可以查看安装的版本:
$ pkg-config --modversion libopenni2
若为 2.2.0.0, 则安装成功。测试 roslaunch openni2_launch openni2.launch