接上一篇文章Kintinuous的编译:
https://blog.csdn.net/qq_40178878/article/details/108651614
https://blog.csdn.net/lzRush/article/details/89153473
一: 安装 Kinect的驱动 libfreenect2:
参考:https://www.ncnynl.com/archives/201703/1439.html
安装 libfreenect 的前提是 opencv 和 OpenNI2已经安装,上一篇博客 Kintinuous 编译已经完成
(1)安装依赖:
sudo apt-get install build-essential cmake pkg-config libturbojpeg libjpeg-turbo8-dev mesa-common-dev freeglut3-dev libxrandr-dev libxi-dev
(2)下载:
cd ~
git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2
cd depends; ./download_debs_trusty.sh
(3)安装其他支持:
sudo dpkg -i debs/libusb*deb
sudo apt-get install libturbojpeg libjpeg-turbo8-dev
sudo apt-get install libglfw3-dev
- 如果上面安装不了,使用如下方法:
cd libfreenect2/depends
sh install_ubuntu.sh
sudo dpkg -i libglfw3*_3.0.4-1_*.deb
安装openGL和openCL:
sudo dpkg -i debs/libglfw3*deb
sudo apt-get install -f
sudo apt-get install libgl1-mesa-dri-lts-vivid
sudo apt-add-repository ppa:floe/beignet
sudo apt-get update
sudo apt-get install beignet-dev
sudo dpkg -i debs/ocl-icd*deb
sudo apt-get update忽略问题不大
(4)编译libfreenect2:
cd ~/libfreenect2
mkdir build && cd build
cmake .. -Dfreenect2_DIR=$HOME/freenect2/lib/cmake/freenect2 -DBUILD_OPENNI2_DRIVER=ON
make
sudo make install
注意 cmake 区别,这里需要打开openni2:
cmake .. -DBUILD_OPENNI2_DRIVER=ON
(5)建立别名(需要插上kinect V2)
cd ~/libfreenect2
sudo cp platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/
- 重插kinect2,即可识别。
- 运行kinect2
cd ~/libfreenect2/build
./bin/Protonect
二: 运行kintinuous:
~/libfreenect2/build/lib$ sudo cp -L libfreenect2-openni2.so.0 /usr/lib/OpenNI2/Drivers
将libfreenect2-openni2.so和libfreenect2-openni2.so.0 (找不到位置可以在搜索框进行搜索 libfreenect2-openni2.so)
复制到
/usr/lib/OpenNI2/Drivers
如果你的Kintinuous是直接通过build.sh安装,那么将上面两个动态库复制到/deps/OpenNI2/Bin/x64-Release/OpenNI2/Driver
目录下就行了。
一般启动方式为:sudo ./Kintinuous (如果不以root方式启动的话,可能不能正常运行)
~/Kintinuous-master/build$ sudo ./Kintinuous