Ubuntu14.04下搭建Kinect V2的环境以及出现的问题解决方案

请各位注意是kinect V2，kinect有两个版本，V1和V2

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一、安装

1、Download libfreenect2 source

git clone git@github.com:DongdongBai/libfreenect2.git
cd libfreenect2

2、Download upgrade deb files

cd depends; ./download_debs_trusty.sh

3、Install build tools

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

4、先安装Nvidia显卡驱动和cuda，然后源码编译Opencv（本步骤的顺序不可以颠倒，因为Opencv在编译时会查找显卡驱动的版本（是使用集成显卡还是独立显卡呢，以及独立显卡驱动的版本），如果先装Opencv，则Opencv会使用系统的默认的继承显卡驱动，后面安装Nvidia驱动将导致Opencv无法正常使用）

5、Install libusb. The version must be >= 1.0.20.

sudo dpkg -i debs/libusb*deb

6、Install TurboJPEG

sudo apt-get install libturbojpeg libjpeg-turbo8-dev

7、 Install OpenGL

sudo dpkg -i debs/libglfw3*deb
sudo apt-get install -f
sudo apt-get install libgl1-mesa-dri-lts-vivid

如果最后一步出现依赖错误,直接忽略,无需做任何处理

8、Build

cd ..
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2 -DENABLE_CXX11=ON
make
make install

9、执行Cmake时出现

CMake Warning at CMakeLists.txt:405 (ADD_LIBRARY):
  Cannot generate a safe runtime search path for target freenect2 because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libOpenCL.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/cuda-7.5/lib64

  Some of these libraries may not be found correctly.


CMake Warning at CMakeLists.txt:451 (ADD_LIBRARY):
  Cannot generate a safe runtime search path for target freenect2-openni2
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libOpenCL.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/cuda-7.5/lib64

  Some of these libraries may not be found correctly.


CMake Warning at examples/CMakeLists.txt:76 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target Protonect because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libOpenCL.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/cuda-7.5/lib64

  Some of these libraries may not be found correctly.

解决方法：在项目的cmake_modules文件夹中的FindOpenCL.cmake中添加下面两句话即可（本教程中clone源代码的CMakeLists.txt已经做了更改，不回出现上述问题，请放心使用）:

SET(OpenCL_INCLUDE_DIR /usr/local/cuda/include/ )
SET(OpenCL_LIBRARY  /usr/local/cuda-7.5/lib64/libOpenCL.so)

10、编译时如果出现以下错误：

/usr/lib/gcc/x86_64-linux-gnu/4.8/include/stddef.h(432): error: identifier "nullptr" is undefined

/usr/lib/gcc/x86_64-linux-gnu/4.8/include/stddef.h(432): error: expected a ";"

/usr/include/x86_64-linux-gnu/c++/4.8/bits/c++config.h(190): error: expected a ";"

/usr/include/c++/4.8/exception(63): error: expected a ";"

/usr/include/c++/4.8/exception(68): error: expected a ";"

/usr/include/c++/4.8/exception(76): error: expected a ";"

/usr/include/c++/4.8/exception(83): error: expected a ";"

/usr/include/c++/4