基于kinect深度相机的rtabmap建图
SDK安装配置
下载libfreenect2源码
$ git clone git@github.com:OpenKinect/libfreenect2.git
安装依赖
$ cd libfreenect2
#安装编译工具
$ sudo apt-get install build-essential cmake pkg-config
#安装linusb
$ sudo apt-get install libusb-1.0-0-dev
#安装turboJPEG
$ sudo apt-get install libturbojpeg libjpeg-turbo8-dev
#安装OPENNI2
$ sudo apt-get install libglfw3-dev
#安装OPENCL
$ sudo apt-get install libopenni2-dev
编译构建
$ mkdir build && cd build
# 自动生成makefile
$ cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/