How to use Kinect 2.0 RGB-D sensor for complex tasks in Ubuntu 16.04?

In the previous articles, I explained how to configure OpenCV3.4.1kinect for linux driver in Ubuntu16.04, and completed the basic knowledge content based on some OpenCV tutorials, but in the learning process Most of the images used in the experiments come from the Internet or rely on the camera of a computer laptop. In order to complete some more complex tasks, other visual sensors need to be used, so here is a record of Ubuntu16.04 using Kinect2 .0RGB-D sensing content.

1. Driver installation

Kinect2.0 has officially provided ready-made drivers for use in Windows systems, but there is a corresponding SDK that can assist developers in application development. However, in Linux systems, you need to find the corresponding open source driver on Github. code, but for installation and debugging.

The open source driver package for Kinect2.0 is located at:

There are two types of drivers in it, one is libfreenect driver for the first generation Kinect, and the other is libfreenect2 driver for the second generation Kinectkinect for linux driver. In this article, the second generation driver is used. The following content is for the Ubuntu system. If you want to check other systems, you can go to: View the detailed description of the driver package.

1.1Hardware Requirements

Virtualmachineslikelydonotwork,becauseUSB3.0isochronoustransferisquitedelicate.

1.2 Operating System Requirements

Since we only focus on Ubuntu, we only list the requirements for Ubuntu system:

1.3 Optional configuration options 1.4 Install Kinect2.0 driver

<span class="hljs-built_in">cd</span> ~<span class="hljs-comment">#设置克隆目录，当前在Home目录中，也可以设置在其它目录中</span>
git clone https://github.com/OpenKinect/libfreenect2.git
<span class="hljs-built_in">cd</span> libfreenect2

sudo apt<span class="hljs-attribute">-get</span> install build<span class="hljs-attribute">-essential</span> cmake pkg<span class="hljs-attribute">-config</span>

sudo apt<span class="hljs-attribute">-get</span> install libusb<span class="hljs-subst">-</span><span class="hljs-number">1.0</span><span class="hljs-subst">-</span><span class="hljs-number">0</span><span class="hljs-attribute">-dev</span>

sudo apt<span class="hljs-attribute">-get</span> install libturbojpeg libjpeg<span class="hljs-attribute">-turbo8</span><span class="hljs-attribute">-dev</span>

sudo apt<span class="hljs-attribute">-get</span> install libglfw3<span class="hljs-attribute">-dev</span>

sudo apt<span class="hljs-attribute">-get</span> install libopenni2<span class="hljs-attribute">-dev</span>

mkdir build && <span class="hljs-built_in">cd</span> build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/<span class="hljs-comment">#修改了原来的安装位置</span>
make
<span class="hljs-built_in">sudo</span> make install<span class="hljs-comment">#这里直接用root权限安装，如果是普通权限有的时候会出现安装不成功的情况</span>

sudo <span class="hljs-keyword">cp</span> ../platform/linux/udev/<span class="hljs-number">90</span>-kinect2<span class="hljs-preprocessor">.rules</span> /etc/udev/rules<span class="hljs-preprocessor">.d</span>/

./bin/Protonect<span class="hljs-comment">#重新接入之后运行测试</span>
<span class="hljs-built_in">sudo</span> apt-get install openni2-utils && <span class="hljs-built_in">sudo</span> make install-openni2 && NiViewer2 <span class="hljs-comment">#可选测试</span>

During the reconnection process, if you just replug the USB socket, it may not take effect. The safest way is to power off the Kinect and then power it on again. The USB socket does not need to be replugged during the power on and off process. .

1.5 test results

If there are no problems with the linux virtual host in all the above steps, you can get something similar to the following:

运行可选的测试命令也会出现类似的图象，但那种是全屏的，按下ESC就可以退出，就不再放图片了，所以到了这一步linux游戏，驱动包的安装就早已成功了，下边的内容是假如在代码中使用传感获取数据，这一步才是最须要关注的。

2.编程实现

编程实现通过Ubuntu读取Kinect的数据，同样须要利用于驱动包所提供的库函数，下边就详尽解释怎样在程序中实现数据的获取与处理。首先以下为须要包含的头文件：

<span class="hljs-preprocessor">#include </span>
<span class="hljs-preprocessor">#include </span>
<span class="hljs-preprocessor">#include </span>
<span class="hljs-preprocessor">#include </span>
<span class="hljs-preprocessor">#include #用于日志信息，视需求可省略</span>

具体代码的实现参考了以下网址：

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