KinectV2驱动安装（OpenNI问题解决）

配置环境
Ubuntu18.04
ros-melodic
Kinect v2

一.安装libfreenect2

安装依赖项

sudo apt-get install build-essential cmake pkg-config libturbojpeg libjpeg-turbo8-dev mesa-common-dev freeglut3-dev libxrandr-dev libxi-dev 

sudo apt-get install libglfw3-dev

sudo apt-get install libopenni2-dev

sudo apt-get install libopenni2-dev

安装libfreenect2

git clone https://github.com/OpenKinect/libfreenect2.git

cd libfreenect2

mkdir build 

cd build

cmake ..

make

sudo make install

设定udev rules:

sudo cp libfreenect2/platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

./bin/Protonect

二.安装OpenNI2

安装依赖

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

apt-cache search openni2

sudo apt-get install libopenni2-dev

pkg-config --modversion libopenni2

三.OpenNI2问题解决

测试NiViewer2时报错：

SimpleViewer: Device open failed:   
    DeviceOpen using default: no devices found

raise OpenNIError(res, msg.strip(), logfile)
openni.utils.OpenNIError: (OniStatus.ONI_STATUS_ERROR, 'DeviceOpen using default: no devices found', None)

解决办法：

$ sudo apt-get install openni2-utils

在freenect2/build目录下

$ sudo make install-openni2
$ NiViewer2