内参获取 1.安装ROS https://blog.csdn.net/sinat_34130812/article/details/81666728 https://blog.csdn.net/jinking01/article/details/79387639 2.Xtion相机标定 https://blog.csdn.net/weixin_41054584/article/details/83002813 3.OpenNI2安装 https://github.com/OpenKinect/libfreenect2