Baxter实战（五）安装openNI2，NiTE-2并实现kinect 2实现动作跟随

Kinect v1

1.安装OpenNI

cd
git clone https://github.com/OpenNI/OpenNI.git
cd OpenNI/Platform/Linux/CreateRedist/
chmod +x RedistMaker
./RedistMaker
cd ../Redist/OpenNI-Bin-Dev-Linux-x64-v1.5.7.10/
sudo ./install.sh

2.安装SensorKinect：

cd
git clone git://github.com/avin2/SensorKinect.git
cd SensorKinect/Platform/Linux/CreateRedist/
chmod +x RedistMaker
./RedistMaker
在SensorKinect的Bin目录下解压出Sensor-Bin-Linux-x64...
cd ~/SensorKinect/Bin/Sensor-Bin-Linux-x64-v5.1.2.1
chmod +x install.sh
sudo ./install.sh

3.安装Nite

cd NITE-Bin-Dev-Linux-x64-v1.5.2.23
sudo ./install.sh

ROS组件：

在安装了所有次要库之后，我们可以安装OpenNI使用所需的ros-core-.。但是我们必须删除之前的一个库，否则会出现一些问题：

sudo apt-get remove libopenni-sensor-pointclouds0

4.安装ROS-Kinect-driver

sudo apt-get install ros-indigo-openni-launch
sudo apt-get install ros-indigo-openni-camera
# 移除
sudo apt-get remove ros-indigo-openni-launch
sudo apt-get remove ros-indigo-openni-camera

5.安装openni_tracker到工作空间下：

cd ~/ros_ws/src
git clone https://github.com/ros-drivers/openni_tracker.git 
cd ..
catkin_make

6.测试：

Terminal_1:

roslaunch openni_launch openni.launch

Terminal_2:

rosrun openni_tracker openni_tracker

Terminal_3:

rosrun rviz rviz

Kinect v2

1.NiViewer2

cd ~/libfreenect2/build
sudo apt-get install openni2-utils
cmake ..
make && sudo make install (optional)
sudo make install-openni2
NiViewer2

在Baxter实战（四）里面我有安装OpenNI，网上也有别的安装方式参考安装OpenNI,https://structure.io/openni

cd 
cd OpenNI-Linux-x64-2.2/
sudo ./install.sh

生成的环境变量拷到.bashrc

cd ~

sudo gedit .bashrc

4.下载NiTE-2.0.0并解压：链接：https://pan.baidu.com/s/1NZkCL6--MfZORBQu9rTqUw 提取码：46pg

cd NiTE-2.0.0
sudo ./install.sh
生成NiTedevEnvironment文件，生成的环境变量拷到.bashrc 
gedit ./Samples/Bin/OpenNI.ini
加上一句Repository=/usr/lib/OpenNI2/Drivers(就是安装openni2生成的driver路径)
#################
[Drivers]
Repository=/usr/lib/OpenNI2/Drivers
#################
cd ./Samples/Bin 
./UserViewer

关键的一步，我当时运行UserViewer也是打不开设备，所以才想到这一步的，cd到NiTE-2.0.0/Samples/Bin/下，看到有一个libOpenNI2.so,这是安装包自带的一个当然不行，于是我把OpenNI-Linux-x86-2.2/Redist下的libopenNI.so考过来replace掉原来的那个文件，在进到NiTE-2.0.0/Samples/Bin/下跑UserViewer时出现了想要的深度图，在前面移动一下还有Tracking的标签。

这一步运行成功之后不要做ros的同学到这里就可以了。

5.ROS组件：

在安装了所有次要库之后，我们可以安装OpenNI使用所需的ros-core-.。但是我们必须删除之前的一个库，否则会出现一些问题：

sudo apt-get remove libopenni-sensor-pointclouds0

6.安装ROS-Kinect-driver

sudo apt-get install ros-indigo-openni2-launch
sudo apt-get install ros-indigo-openni2-camera
# 移除
sudo apt-get remove ros-indigo-openni2-launch
sudo apt-get remove ros-indigo-openni2-camera

7.安装openni_tracker到工作空间下：

cd ~/ros_ws/src
git clone https://github.com/ros-drivers/openni2_tracker.git 
cd ..
catkin_make

报错：

Could not find a package configuration file provided by "orocos_kdl" with
any of the following names:

orocos_kdlConfig.cmake
orocos_kdl-config.cmake

将openni2_tracker下面CMakeLists.txt文件中下面这个命令

find_package(catkin REQUIRED COMPONENTS orocos_kdl )

改为：

find_package(catkin REQUIRED COMPONENTS )
find_package(orocos_kdl REQUIRED)

8.测试：

Terminal_1:

roslaunch openni2_launch openni2.launch

报错：Unsupported IR video mode - Resolution: 640x480@30Hz Format: Gray16,这个没有关系，只是表示当前的这个不支持color和ir图像模式，出现这个提示正常。

Terminal_2:这个~/NiTE-2.0.0/Redist终端目录下面执行

rosrun openni2_tracker openni2_tracker

Terminal_3:

rosrun rviz rviz

显示：

再打开终端运行：

rosrun kinect_based_arm_tracking tf_listen_v8_puber.py

发现坐标变换这个包没有写。凉凉。

https://github.com/birlrobotics/birl_baxter_demos/tree/master/kinect_based_arm_tracking