基于libfreenect2 &ROS 下的iai_kinect2 实现kinectV2的图像获取和保存 【ubuntu18.04】

主要参考博客

使用iai_kinect2:

https://blog.csdn.net/sunbibei/article/details/51594824

在ubuntu18.04上安装ROS：

https://blog.csdn.net/qq_16481211/article/details/81137830

 

1.安装ROS

可以参照官网安装 (http://wiki.ros.org/melodic/Installation/Ubuntu)

在ubuntu18.04版本上只能安装 ROS Melodic

#Setup your sources.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
#Setup your keys
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
#installation
sudo apt update
#recommand
sudo apt install ros-melodic-desktop-full     
#other options can see the websitehttp://wiki.ros.org/melodic/Installation/Ubuntu
#initialize rosdep
sudo rosdep init
rosdep update
#environment setup
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

庆幸装下来没有什么问题

2.安装libfreenect2

参考github上的安装说明，我删除了一些18.04用不到的语句，有需要的话可以直接去看原说明文档

• Download libfreenect2 source

  git clone https://github.com/OpenKinect/libfreenect2.git
  cd libfreenect2
  

• (Ubuntu 14.04 only) Download upgrade deb files

  cd depends; ./download_debs_trusty.sh
  

• Install build tools

  sudo apt-get install build-essential cmake pkg-config
  

• Install libusb. The version must be >= 1.0.20.

sudo apt-get install libusb-1.0-0-dev

• Install TurboJPEG

 sudo apt