安装设备 PrimeSense 1.09_openni2

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