1、安装工具
sudo apt-get install vim git cmake
sudo apt-get install gcc g++
2、安装ROS kinetic(选择性安装)
http://wiki.ros.org/cn/kinetic/Installation/Ubuntu
按照以上步骤安装,基本不会有太大问题
3、安装ORB-SLAM2
https://github.com/raulmur/ORB_SLAM2
4 、安装kinect v1驱动 包括: openni、Sensor、NITE(可不安装)
(1)安装openni
安装依赖
sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-8-jdk
sudo apt-get install doxygen graphviz mono-complete
安装openni
$ git clone https://github.com/OpenNI/OpenNI.git
$ cd OpenNI
$ git checkout Unstable-1.5.4.0 -b Unstable-1.5.4.0
$ cd Platform/Linux/CreateRedist
$ chmod +x RedistMake