ubuntu20.04安装IAI Kinect2 for OpenCV 4

安装

安装iai_kinect2之前先安装kinect v2的驱动libfreenect2，相关教程看这篇博客
之前写过安装iai_kinect2的教程，但是该库在进行kinect v2标定的时候会出现下面的问题，详情看issue

When I run: rosrun kinect2_calibration kinect2_calibration chess5x7x0.03 calibrate sync, it displays [INFO] [CameraCalibration::calibrateExtrinsics] re-projection error: 6.92399e-310
[INFO] [CameraCalibration::calibrateExtrinsics] Rotation:
[]
[INFO] [CameraCalibration::calibrateExtrinsics] Translation:
[]
[INFO] [CameraCalibration::calibrateExtrinsics] Essential:
[]
[INFO] [CameraCalibration::calibrateExtrinsics] Fundamental:
[]

When I run: rosrun kinect2_calibration kinect2_calibration chess5x7x0.03 calibrate depth
Error:
[INFO] [DepthCalibration::calibrate] frame: ./0000_depth.png
terminate called after throwing an instance of'cv::Exception'
what(): OpenCV(4.2.0) ../modules/calib3d/src/calibration.cpp:259: error: (-5:Bad argument) Input argument is not a valid matrix in function'cvRodrigues2'
Abandoned (core dumped)

该issue中给出能够在opencv4.x成功标定的fork仓库，所以下面直接安装该仓库

cd ~/catkin_ws/src/
git clone https://github.com/paul-shuvo/iai_kinect2_opencv4.git
cd iai_kinect2_opencv4
rosdep install -r --from-paths .
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release" 

编译的时候会报错，下面列出解决办法

错误1：Unable to find either executable ‘empy’ or Python module ‘em’… try installing the package ‘python3-empy’

这是因为catkin找的python版本为anaconda下面的版本，所以需要改为指定采用下面的命令

catkin_make -DCMAKE_BUILD_TYPE="Release"  -DPYTHON_EXECUTABLE=/usr/bin/python3

错误2：pcl_conversions build error: PCL requires C++14 or above

在下面对应的包里面的Cmakelist.txt 的第一行加上set( CMAKE_CXX_STANDARD 14)再重新编译

验证

cd ~/catkin_ws
source devel/setup.bash
roslaunch kinect2_bridge kinect2_bridge.launch

现在就可以成功运行了（如果不成功开一个新窗口运行一下roscore试试？），现在只是搭好桥bridge，还需要通过以下命令看到相机画面

rosrun kinect2_viewer kinect2_viewer kinect2 sd cloud