KinectV2在Ubuntu16.04上的使用

1.安装驱动

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

2.安装依赖项

sudo apt-get install build-essential cmake pkg-config
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libturbojpeg libjpeg-turbo8-dev
sudo apt-get install libglfw3-dev
sudo apt-get install libopenni2-dev//还有一些是可选的，具体上github上看
sudo apt-get install beignet-dev

3.编译

mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/  #修改了原来的安装位置
make
sudo make install  
sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

4.运行

./bin/Protonect  #重新接入之后运行测试，断电
sudo apt-get install openni2-utils && sudo make install-openni2 && NiViewer2 #可选测试

5.结果

 6.卸载

sudo rm -rf /usr/local/include/libfreenect2
cd /usr/local/lib
sudo rm -rf libfreenect2.so libfreenect2.so.0.2 libfreenect2.so.0.2.0
cd OpenNI2/Drivers
sudo rm -rf libfreenect2-openni2.so  libfreenect2-openni2.so.0

 7.在ROS上运行

mkdir catkin_ws
cd catkin_ws
mkdir src
cd ~/catkin_ws/src/
git clone https://github.com/code-iai/iai_kinect2.git
cd iai_kinect2
rosdep install -r --from-paths .
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release"
rospack profile

8.运行

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

9.重新打开一个终端

cd ~/catkin_ws
source devel/setup.bash
rosrun kinect2_viewer kinect2_viewer