AZURE kinect 深度相机配置ubuntu16.04

1.升级cmake

// Download and extract cmake 3.14.5
mkdir ~/temp
cd ~/temp
wget https://cmake.org/files/v3.14/cmake-3.14.5.tar.gz
tar -xzvf cmake-3.14.5.tar.gz
cd cmake-3.14.5/
//Install extracted source
./bootstrap
make -j4
sudo make install
cmake --version

sudo apt-get install jack-tools

2.安装ninja

sudo apt install ninja-build 

3.下载sdk

// 下载Azure Kinect release、1.1.1 版
gitclone -b v1.1.1 https://github.com/microsoft/Azure-Kinect-Sensor-SDK.git

下载relaese 1.1.1是因为目前官方还未提供libdepthengine.so.2.0库文件。
libdepthengine.so.1.0下载地址：
https://download.csdn.net/download/weixin_41628710/11484674
下载libdepthengine.so.1.0后， 放置/usr/lib/x86_64-linux-gnu/文件夹中
 

4.编译安装

mkdir build && cd build
cmake .. -GNinja
ninja
sudo ninja install

 5.编译完成开启k4aviewer无法获取深度视频流，可尝试以下解决方案

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install gcc-4.9
sudo apt-get upgrade libstdc++6

下载relaese 1.1.1是因为目前官方还未提供libdepthengine.so.2.0库文件。
libdepthengine.so.1.0下载地址：
https://download.csdn.net/download/weixin_41628710/11484674
下载libdepthengine.so.1.0后， 放置/usr/lib/x86_64-linux-gnu/文件夹中

2下载libdepthengine.so.文件

下载地址为：

https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/

想要去掉管理员权限也能启动：
进入Azure Kinect sdk 源码根目录中 scripts 文件夹,复制99-k4a.rules文件至/etc/udev/rules.d/

sudo ./script/bootstrap-ubuntu.sh. 确保这些依赖都成功安装.

另一种方法是，直接在https://github.com/lemenkov/libyuv.gitgit clone下来，并将clone下来的libyuv文件夹改名为src，放到extern/libyuv/里。

然后在。gitmodules删除libyuv的下载

6.测试

在build文件下

sudo ./bin/k4aviewer

 

7.c++ 代码获取

#include 
#include 
#include 
#include 

int main(int argc, char **argv)
{
    int returnCode = 1;
    k4a_device_t device = NULL;
    const int32_t TIMEOUT_IN_MS = 1000;
    int captureFrameCount;
    k4a_capture_t capture = NULL;

  

   std::cout<<"d1"<

cmakelists.txt

cmake_minimum_required(VERSION 2.8)
set(k4a_DIR /usr/local/lib/cmake) 

project(WDKinectDKDemo)

find_package(k4a REQUIRED)

find_package(OpenCV REQUIRED)
 

include_directories( ${CMAKE_CURRENT_LIST_DIR} )
include_directories( ${OpenCV_INCLUDE_DIRS} )
 

add_executable(
	azureCapture 
	main_demo_Linux.cpp 
)

target_link_libraries(azureCapture PRIVATE k4a::k4a ${OpenCV_LIBS})
 
 

set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)