Ubuntu16.04 使用Kinect V2运行Elasticfusion

首先，安装库依赖项。安装命令如下

sudo apt-get install -y cmake-qt-gui git build-essential libusb-1.0-0-dev libudev-dev openjdk-7-jdk freeglut3-dev libglew-dev

cuda-7-5  libsuitesparse-dev libeigen3-dev zlib1g-dev libjpeg-dev

（其中cuda的安装可以根据自己的显卡型号安装适合自己的版本，这里安装的是cuda-7-5）

其次，安装OpenNI2以及libfreenect2和Pangolin

OpenNI2

     git clone https://github.com/occipital/OpenNI2  //下载源码

     cd OpenNI2

     mkdir build

     cd build 

     make -j8

  libfreenect2  

git clone https://github.com/OpenKinect/libfreenect2.git  //下载源码

sudo apt-get install build-essential cmake pkg-config libturbojpeg libjpeg-turbo8-dev mesa-common-dev freeglut3-dev libxrandr-dev libxi-dev         //安装依赖项

sudo apt-add-repository ppa:floe/libusb

sudo apt-get update

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

sudo apt-get install libglfw3-dev     //安装GLFW3

//编译如下

cd libfreenect2

mkdir build

cd build

cmake .. -DBUILD_OPENNI2_DRIVER=ON

make 

sudo make install

sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

测试  ./bin/Protonect

 

若测试没有问题，在此路径下执行如下操作：

sudo apt-get install openni2-utils

sudo make install-openni2

NiViewer2

Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.gitcd Pangolin
mkdir build
cd build
cmake ../ -DAVFORMAT_INCLUDE_DIR="" -DCPP11_NO_BOOST=ON
make -j8
 

编译ElasticFusion

git clone https://github.com/mp3guy/ElasticFusion.git     //下载源码

 

cd ElasticFusion

cd Core
mkdir build
cd build
cmake ../src
make -j8
cd ../../GPUTest
mkdir build
cd build
cmake ../src
make -j8
cd ../../GUI
mkdir build
cd build
cmake ../src
make -j8

 

运行GUI过程遇到的问题：

1.需要将MainController.cpp中第37行Resolution::getInstance(640, 480);改为Resolution::getInstance(512, 424);

2.连接了Kinect V2但显示找不到设备。解决方法：将libfreenect2/build/lib中的libfreenect2-openni2.so 和 libfreenect2-openni2.so.0放置在OpenNI2/Bin/x64-Release/OpenNI2/Drivers中

 

参考教程：

https://blog.csdn.net/jthree2012/article/details/80837661

https://blog.csdn.net/D206_hero/article/details/78985859

http://www.cnblogs.com/hitcm/p/5118196.html

https://blog.csdn.net/oliongs/article/details/82698342