ubuntu14.04+indigo+primesense+Openni
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安装openni2-camera和openni2-launch
sudo apt-get install ros-indigo-openni2-camera
sudo apt-get install ros-indigo-openni2-launch
安装一些依赖
$ sudo apt-get install git g++ make python libusb-1.0-0-dev libudev-dev pkg-config
下载OpenNI2包
$ git clone https://github.com/occipital/OpenNI2$ cd OpenNI2
编译
$make
安装
cd Packaging/Linuxsudo ./install.sh
将library和include拷贝到系统目录中去:
cd OpenNI2sudo cp -r Include /usr/include/openni2sudo cp -r Bin/x64-Release/OpenNI2 /usr/lib/sudo cp Bin/x64-Release/libOpenNI2.* /usr/lib/
新建一个package config文件:
sudo gedit /usr/lib/pkgconfig/libopenni2.pc
修改为如下内容
prefix=/usrexec_prefix=${prefix}libdir=${exec_prefix}/libincludedir=${prefix}/include/openni2Name: OpenNI2Description: A general purpose driver for all OpenNI cameras.Version: 2.2.0.0Cflags: -I${includedir}Libs: -L${libdir} -lOpenNI2 -L${libdir}/OpenNI2/Drivers -lDummyDevice -lOniFile -lPS1080.so
至此,安装结束。可以查看安装的版本:
$ pkg-config --modversion libopenni2
若为 2.2.0.0, 则安装成功。
测试
roscore
roslaunch openni2_launch openni2.launch
rosrun image_view image_view image:=/camera/rgb/image_raw
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