ubuntu16.04 使用kinectv2跑Elasticfusion

Posted 2021-02-15 panandying

 

1.安装openni2

参考：https://blog.csdn.net/D206_hero/article/details/78985859?utm_source=blogxgwz3

 sudo apt-add-repository ppa:deb-rob/ros-trusty && sudo apt-get update
 sudo apt-get install libopenni2-dev

2.安装libfreenect2

参考：http://www.cnblogs.com/hitcm/p/5118196.html

注意：按照上面链接中的方法编译成功，测试./bin/Protonect,如果没问题，则按照下面方法重新编译一遍：

cmake .. -DBUILD_OPENNI2_DRIVER=ON
make
sudo make install
sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/
测试： ./bin/Protonect

如果按照上面语句直接编译，可能会出现以下错误：

[Debug] [DepthPacketStreamParser] not all subsequences received 0
[Debug] [DepthPacketStreamParser] not all subsequences received 1020
[Debug] [RgbPacketStreamParser] skipping rgb packet!
[Debug] [RgbPacketStreamParser] skipping rgb packet!
[Debug] [RgbPacketStreamParser] skipping rgb packet!
The viewer is turned off. Received 100 frames. Ctrl-C to stop.
The viewer is turned off. Received 200 frames. Ctrl-C to stop.
The viewer is turned off. Received 300 frames. Ctrl-C to stop.
[Debug] [RgbPacketStreamParser] skipping rgb packet!
The viewer is turned off. Received 400 frames. Ctrl-C to stop.
The viewer is turned off. Received 500 frames. Ctrl-C to stop.
The viewer is turned off. Received 600 frames. Ctrl-C to stop.
The viewer is turned off. Received 700 frames. Ctrl-C to stop.
The viewer is turned off. Received 800 frames. Ctrl-C to stop.
The viewer is turned off. Received 900 frames. Ctrl-C to stop.
The viewer is turned off. Received 1000 frames. Ctrl-C to stop.

如果没有问题，则在此路径下执行如下操作：

sudo apt-get install openni2-utils
sudo make install-openni2
NiViewer2

如果能显示图像，则可以编译Elasticfusion.

3.编译Elasticfusion

编译Core:

git clone https://github.com/mp3guy/ElasticFusion.git
cd ElasticFusion
cd Core
mkdir build && cd build
cmake ../src/
make
sudo make install
sudo ldconfig

编译GPUTest：

cd ../../GPUTest
mkdir build && cd build
cmake ../src/
make 
sudo ldconfig

编译GUI：

cd ../../GUI
mkdir build && cd build
cmake ../src/
make 
sudo make install
sudo ldconfig

注：跑kinect2时，将MainController.cpp第37行的Resolution::getInstance(640, 480)改为Resolution::getInstance(512, 424)

否则可能会出现以下错误:

ElasticFusion: /home/slam/ElasticFusion/GUI/src/Tools/OpenNI2Interface.cpp:119: 
OpenNI2Interface::OpenNI2Interface(int, int, int): Assertion `findMode(width, height, fps) && "Sorry, mode not supported!"‘ failed.

总之，非常的玄学。。。。。。