Ubuntu安装与配置OpenNI2

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已于 2022-12-22 11:01:37 修改

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文章标签： ubuntu linux

于 2020-05-28 10:34:40 首次发布

本文链接：https://blog.csdn.net/weixin_42898354/article/details/94437490

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Ubuntu安装与配置OpenNI2

由于工作原因，需要在UbunTu上使用orbbec Astra s 摄像头。该摄像头是openni驱动的，所以需要安装OpenNI2。

安装openni2有两种方式，如果需要用到openni源码就通过方式一安装，如果只是调用openni接口可通过命令行二进制安装

安装OpenNI2

方法一：源码安装

下载openni2

先装其所需要得依赖

sudo apt-get install -y g++ python libusb-1.0-0-dev freeglut3-dev doxygen graphviz
sudo apt-get install libudev-dev

然后在github上下载openni2的源码，其地址路径为：https://github.com/OpenNI/OpenNI2
下载完后就进行安装了，但在安装之前需要将OpenNI2/ThirdParty/PSCommon/BuildSystem/CommonCppMakefile 中的第74行的G++编译选项-Werror去掉：
CFLAGS += -Werror在这句前加 #或者删除掉这句话

 git clone https://github.com/OpenNI/OpenNI2 
 cd OpenNI2
 make

编译过程中的报错与解决方法

问题一：
报错信息：

> make[1]: 进入目录“/home/xj/ubuntu/OpenNI2/ThirdParty/PSCommon/XnLib/Source”
> 	/usr/include/x86_64-linux-gnu/bits/string_fortified.h:106:34: error:
> ‘char* __builtin_strncpy(char*, const char*, long unsigned int)’
> specified bound 256 equals destination size
> [-Werror=stringop-truncation]   106 |   return __builtin___strncpy_chk
> (__dest, __src, __len, __bos (__dest));

解决办法：
vim /home/{USER}/OpenNI2/ThirdParty/PSCommon/XnLib/Source/Makefile 【USER替换为自己的OpenNI2路径】
添加 “-Wno-error=stringop-truncation”

vim /home/{USER}/OpenNI2/ThirdParty/PSCommon/XnLib/Source/Makefile
CFLAGS += -Wall -Wno-error=stringop-truncation

问题二：

	make[1]: 进入目录“/home/xj/ubuntu/OpenNI2/Source/Drivers/PS1080”
	/usr/include/x86_64-linux-gnu/bits/string_fortified.h:106:34: error: ‘char* __builtin_strncpy(char*, const char*, long unsigned int)’ specified bound 200 equals destination size [-Werror=stringop-truncation]
  106 |   return __builtin___strncpy_chk (__dest, __src, __len, __bos (__dest));

解决办法：
打开 /home/{USER}/OpenNI2/Source/Drivers/PS1080/Makefile【USER替换为自己的OpenNI2路径】
添加 “-Wno-error=array-bounds -Wno-error=address”

vim /home/{USER}/OpenNI2/Source/Drivers/PS1080/Makefile
CFLAGS += -Wall -Wno-error=stringop-truncation -Wno-error=array-bounds -Wno-error=address

问题三：

	Formats/XnFormatsMirror.cpp:46:11: error: array subscript -1 is outside array bounds of ‘XnUInt8 [5760]’ {aka ‘unsigned char [5760]’} [-Werror=array-bounds]
   46 |  XnUInt8* pDestEnd = &pLineBuffer[0] - 1;
      |           ^~~~~~~~
Formats/XnFormatsMirror.cpp:42:10: note: while referencing ‘pLineBuffer’
   42 |  XnUInt8 pLineBuffer[XN_MIRROR_MAX_LINE_SIZE];
      |          ^~~~~~~~~~~
Formats/XnFormatsMirror.cpp: In function ‘XnStatus XnMirrorTwoBytePixels(XnUChar*, XnUInt32, XnUInt32)’:
Formats/XnFormatsMirror.cpp:79:12: error: array subscript -1 is outside array bounds of ‘XnUInt16 [5760]’ {aka ‘short unsigned int [5760]’} [-Werror=array-bounds]
   79 |  XnUInt16* pDestEnd = &pLineBuffer[0] - 1;
      |            ^~~~~~~~
Formats/XnFormatsMirror.cpp:75:11: note: while referencing ‘pLineBuffer’
   75 |  XnUInt16 pLineBuffer[XN_MIRROR_MAX_LINE_SIZE];
      |           ^~~~~~~~~~~
Formats/XnFormatsMirror.cpp: In function ‘XnStatus XnMirrorThreeBytePixels(XnUChar*, XnUInt32, XnUInt32)’:
Formats/XnFormatsMirror.cpp:115:11: error: array subscript -1 is outside array bounds of ‘XnUInt8 [5760]’ {aka ‘unsigned char [5760]’} [-Werror=array-bounds]
  115 |  XnUInt8* pDestEnd = &pLineBuffer[0] - 1;
      |           ^~~~~~~~
Formats/XnFormatsMirror.cpp:111:10: note: while referencing ‘pLineBuffer’
  111 |  XnUInt8 pLineBuffer[XN_MIRROR_MAX_LINE_SIZE];
      |          ^~~~~~~~~~~
cc1plus: all warnings being treated as errors

解决办法：
OpenNI2/ThirdParty/PSCommon/BuildSystem/CommonCppMakefile 中的第76行的G++编译选项-Werror去掉
CFLAGS += -Werror在这句前加 #或者删除掉这句话

vim /home/{USER}/OpenNI2/ThirdParty/PSCommon/BuildSystem/CommonCppMakefile
#CFLAGS += -Werror

问题四：

/bin/sh: 1: javac: not found

解决办法：
将OpenNI2/Makefile中的java的编译项全部加#注释掉【我这边目前用不到JAVA这一块所以屏蔽掉了，后续有空在解决这个问题】

问题五：

	../../../ThirdParty/GL/glh/glh_linear.h:80:63: error: no match for ‘operator>’ (operand types are ‘const std::error_code’ and ‘float’)
   80 | #define     equivalent(a,b)     (((a < b + GLH_EPSILON) && (a > b - GLH_EPSILON)) ? true : false)

解决办法：
打开OpenNI2/ThirdParty/GL/glh/glh_linear.h文件，将文件中的equivalent全部改为is_equivalent。

vim /home/(USER)/OpenNI2/ThirdParty/GL/glh/glh_linear.h

问题六：

	make[1]: 进入目录“/home/xj/ubuntu/OpenNI2/Source/Tools/NiViewer”
	/usr/bin/ld: ../../../ThirdParty/PSCommon/XnLib/Bin/x64-Release/libXnLib.a(XnLinuxMutex.o): undefined reference to symbol 'pthread_mutex_timedlock@@GLIBC_2.2.5'
/usr/bin/ld: /lib/x86_64-linux-gnu/libpthread.so.0: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status

解决办法：
打开/home/(USER)/ubuntu/OpenNI2/Source/Tools/NiViewer/Makefile【USER替换为自己的OpenNI2路径】
在第27行“USED_LIBS”后边加入pthread库

vim /home/xj/ubuntu/OpenNI2/Source/Tools/NiViewer/Makefile USED_LIBS
+= glut GL pthread

再次make编译

编译安装完成后通过下面的命令查看是否安装成功

pkg-config --modversion libopenni2

xj@hy:~/Work/work_ws$ pkg-config --modversion libopenni2
2.2.0.3
xj@hy:~/Work/work_ws$

方法二：命令行二进制安装

安装相关依赖库

sudo apt-get install -y g++ python libusb-1.0-0-dev freeglut3-dev doxygen graphviz
sudo apt-get install libudev-dev

查询当前软件源中支持的openni2；如果没找到，则是源问题，重新更换源；

apt-cache search openni2

xj@hy:~/Work/work_ws$ apt-cache search openni2
libopenni2-0 - framework for sensor-based 'Natural Interaction'
libopenni2-dev - headers for OpenNI 'Natural Interaction' frameworks
openni2-doc - developer documentation for OpenNI frameworks
openni2-utils - debug and test utilities OpenNI2 framework
ros-noetic-openni2-camera - Drivers for the Asus Xtion and Primesense Devices.
ros-noetic-openni2-camera-dbgsym - debug symbols for ros-noetic-openni2-camera
ros-noetic-openni2-launch - Launch files to start the openni2_camera drivers using rgbd_launch.

安装openni2

sudo apt-get install libopenni2-dev

编译安装完成后通过下面的命令查看是否安装成功

pkg-config --modversion libopenni2

xj@hy:~/Work/work_ws$ pkg-config --modversion libopenni2
2.2.0.3
xj@hy:~/Work/work_ws$

配置OpenNI2

安装完成后，进行测试，在终端中运行NiViewer2:
DeviceOpen using default: no devices found
进行配置OpenNI2
由于使用的是orbbec的摄像头，需要将orbbec的文件拷贝到OpenNI2的Drivers里
注：{orbbec}：这里需要修改为自己存放奥比中光SDK的位置

sudo cp 558-orbbec-usb.rules /etc/udev/rules.d/
sudo cp {orbbec}/Redist/OpenNI2/Drivers /usr/lib/OpenNI2/Drivers
sudo cp {orbbec}/Redist/libOpenNI2.* /usr/lib/
sudo cp -r Include /usr/include/openni2

更改rules文件需要重启

相关参考链接
https://blog.csdn.net/linmingan/article/details/80245025
https://blog.csdn.net/Stackingrule/article/details/90724621
https://tvheadend.org/issues/6173
https://blog.csdn.net/llm_hao/article/details/124279032?spm=1001.2101.3001.6661.1&utm_medium=distribute.pc_relevant_t0.none-task-blog-2_defaultCTRLIST_{default-1-124279032-blog-113791634.pc_relevant_multi_platform_whitelistv1&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-2}default_CTRLISTdefault-1-124279032-blog-113791634.pc_relevant_multi_platform_whitelistv1
https://blog.csdn.net/Stackingrule/article/details/90724621