Kinect1驅動 PCL OpenCV ROS 安裝

1. OpenCV安裝

1）在終端安裝依賴項
sudo apt-get install build-essential libgtk2.0-dev libjpeg-dev libtiff4-dev libjasper-dev libopenexr-dev cmake python-dev python-numpy python-tk libtbb-dev libeigen2-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev libqt4-dev libqt4-opengl-dev sphinx-common texlive-latex-extra libv4l-dev libdc1394-22-dev libavcodec-dev libavformat-dev libswscale-dev
2）從官網下載OpenCV2.4.9，解壓縮，用cmake編譯安裝

mkdir build
cd build
cmake ..
make
sudo make install

 

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2. PCL安裝

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all

 

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3. ROS安裝

參考官網的安裝教程
http://wiki.ros.org/cn/hydro/Installation/Ubuntu

 

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4. kinect V1 + ubuntu

ROS連接openni庫獲取kinect數據（PC端）
http://blog.csdn.net/hcx25909/article/details/8619126

安裝openni等
1）依賴庫
sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-7-jdk
sudo apt-get install doxygen graphviz mono-complete

2）OpenNI 1.5.4

git clone https://github.com/OpenNI/OpenNI.git
cd OpenNI
git checkout Unstable-1.5.4.0
cd Platform/Linux/CreateRedist
chmod +x RedistMaker
./RedistMaker
cd ../Redist/OpenNI-Bin-Dev-Linux-[xxx] ([xxx] is your architecture and this particular OpenNI release，根據實際狀況修改)
sudo ./install.sh

3）Kinect Sensor Module（與openni安裝相似）

git clone https://github.com/avin2/SensorKinect
cd SensorKinect
cd Platform/Linux/CreateRedist
chmod +x RedistMaker
./RedistMaker
cd ../Redist/Sensor-Bin-Linux-[xxx] (where [xxx] is your architecture and this particular OpenNI release)
chmod +x install.sh
sudo ./install.sh

4）測試Openni

cd OpenNI/Platform/Linux-x86/Bin/Release
./Sample-NiSimpleViewer

5）NITE選擇性安裝獲取軟件包，解壓縮，執行sudo ./install.sh