Ubuntu 18.04 安装iai_kinect2遇到的问题

运行环境为：Ubuntu 18.04 Ros melodic

一、所需环境

libfreenect2，下载安装教程https://github.com/OpenKinect/libfreenect2

对于git clone因为网络问题用不了的同学，建议windows下载了以后把u盘拷进ubuntu系统。

二、安装libfreenect2

1. 下载u盘文件https://github.com/OpenKinect/libfreenect2

https://github.com/code-iai/iai_kinect2

2. 拷进/home/用户名/工作空间/src文件夹

3.解压libfreenect2的压缩包，并把文件夹改名为libfreenect2

4.cd /home/用户名/工作空间/src/libfreenect2

5.安装build tools（已经有了就跳过）sudo apt-get install build-essential cmake pkg-config

6.安装libusb（同理） sudo apt-get install libusb-1.0-0-dev

7.安装turboJPEG        sudo apt-get install libturbojpeg0-dev

8.安装OpenGL          sudo apt-get install libglfw3-dev

至此，必要的依赖安装完毕，可以继续安装步骤

9.cd ..

保证自己在libfreenect2的根目录底下

10. mkdir build && cd build

cmake .. -DCMAKE_INSTALL_PREFIX=/home/用户名/freenect2      (你打算把freenect2文件夹放的地址)

make

sudo make install

安装完毕，测试：

cd ~/工作空间/src/libfreenect2/build/bin

./Protonect

看看有没有出现四张图片

三、运行./Protonect报错

failed to compile vertex shader!
0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

failed to compile fragment shader!
0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

failed to link shader program!
error: linking with uncompiled/unspecialized shadererror: linking with uncompiled/unspecialized shader
failed to compile vertex shader!
0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

failed to compile fragment shader!
0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

failed to link shader program!
error: linking with uncompiled/unspecialized shadererror: linking with uncompiled/unspecialized shader

解决办法：由于这个软件最近的更新是在好多年前了，所以当时支持的OpenGl版本没有这么新。但是其实3.3版本运行是没有问题的，因此，在运行./Protonect之前，先终端运行

export MESA_GL_VERSION_OVERRIDE=3.3

即可。

为了避免每次启动都需要运行一遍代码，进行如下操作：

1. 文件目录打开主目录

2. ctrl+H显示隐藏文件

3. 双击.bashrc

4.文件最后添加export MESA_GL_VERSION_OVERRIDE=3.3

 

四、不建议安装依赖Opencl

官方安装教程里写：install Opencl(optional)

但是如果不install CUDA(optional)的话基本会报错

想要安装CUDA必须要安装NVIDIA显卡驱动。但是在Ubuntu系统中安装显卡驱动非常容易把系统搞崩掉，然后就开不了机，非常麻烦。建议不需要用ubuntu跑pytorch等机器学习算法的同学就别折腾了。真的想安装的话请仔细按照官方教程对应版本安装正确，然后做好系统崩溃的准备

五、安装iai_kinect2

官方安装教程https://github.com/code-iai/iai_kinect2

1. 解压iai_kinect2文件到/home/用户名/工作空间/src，并更改名称为iai_kinect2

2. cd ~/工作空间/src/iai_kinect2

rosdep install -r --from-paths .

报错说Cannot locate rosdep definition for [kinect2_bridge]...是没关系的，只要保证基础的rosdep update能正常运行就可以

cd ~/工作空间

catkin_make -Dfreenect2_DIR=path_to_freenect2/home/用户名/freenect2 -DCMAKE_BUILD_TYPE=''Release''

path_to_freenect2后面填你安装libfreenect2的时候cmake的地址

3. 由于本文没有安装opencl所以需要修改launch文件，不然会报错，因为默认会使用opencl。

如果报错如下，则都是这个问题

[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Error] [DepthPacketStreamParser] Packet buffer is NULL
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
[Info] [OpenCLDepthPacketProcessorImpl] building OpenCL program...
[Error] [OpenCLDepthPacketProcessorImpl] program = cl::Program(context, source, &err): -34
[ WARN] [1669112719.835973091]: [Kinect2Bridge::initCalibration] using sensor defaults for color intrinsic parameters.
[ WARN] [1669112719.836011857]: [Kinect2Bridge::initCalibration] using sensor defaults for ir intrinsic parameters.
[ WARN] [1669112719.836024210]: [Kinect2Bridge::initCalibration] using defaults for rotation and translation.
[ WARN] [1669112719.836036329]: [Kinect2Bridge::initCalibration] using defaults for depth shift.
[ INFO] [1669112719.927726400]: [DepthRegistration::New] Using OpenCL registration method!
[ INFO] [1669112719.927769985]: [DepthRegistration::New] Using OpenCL registration method!
[ERROR] [1669112719.943127018]: [DepthRegistrationOpenCL::init] [depth_registration_opencl.cpp](180) cl::Platform::get(&platforms) failed: -1001
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] releasing usb interfaces...
[Info] [Freenect2DeviceImpl] deallocating usb transfer pools...
[Info] [Freenect2DeviceImpl] closing usb device...
[Info] [Freenect2DeviceImpl] closed
[ERROR] [1669112719.943487276]: [Kinect2Bridge::start] Initialization failed!
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] already closed, doing nothing
[Error] [OpenCLAllocator] queue.enqueueUnmapMemObject(b->buffer, b->data, NULL, &event): -36
[Error] [OpenCLAllocator] queue.enqueueUnmapMemObject(b->buffer, b->data, NULL, &event): -36
[Error] [OpenCLAllocator] queue.enqueueUnmapMemObject(b->buffer, b->data, NULL, &event): -36
[FATAL] [1669112720.045885313]: Failed to load nodelet '/kinect2_bridge` of type `kinect2_bridge/kinect2_bridge_nodelet` to manager `kinect2'
[kinect2_bridge-2] process has died [pid 14981, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load kinect2_bridge/kinect2_bridge_nodelet kinect2 __name:=kinect2_bridge __log:=/home/wyf/.ros/log/953c25e6-6a41-11ed-876a-0c9d925c2b6a/kinect2_bridge-2.log].
log file: /home/wyf/.ros/log/953c25e6-6a41-11ed-876a-0c9d925c2b6a/kinect2_bridge-2*.log

 4. 首先确认./Protonect gl

和./Protonect cpu命令全都能正常显示四张图片

 

 如果有哪个不能显示，请检查libfreenect2的安装问题

5.  打开~/工作空间/src/iai_kinect2/kinect2_bridge/launch/kinect2_bridge.launch文件，把depth_method那一行改为''opengl''；把reg_method那一行改为''cpu''

 6. 运行roscore

开新终端，运行roslaunch kinect2_bridge kinect2_bridge.launch

正常来说应该显示waitting for client to connect并且没有报错

新终端运行rosrun kinect2_viewer kinect2_viewer

 因为没有标定，所以点云是错位的。正常显示点云即说明安装成功