ubuntu16.04安装微软kinect V1驱动

kinect V1在linux下的驱动有几种安装方式，这里记录一下我的安装过程。

kinect V1驱动安装

参考：https://www.20papercups.net/programming/kinect-on-ubuntu-with-openni/
https://www.cnblogs.com/sincere-diligence/p/9322313.html

1.安装必须的依赖

sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-7-jdk
sudo apt-get install doxygen graphviz mono-complete

2.安装OpenNI 1.5.4

git clone https://github.com/OpenNI/OpenNI.git
cd OpenNI
git checkout Unstable-1.5.4.0
cd Platform/Linux/CreateRedist
chmod +x RedistMaker
./RedistMaker
cd ../Redist/OpenNI-Bin-Dev-Linux-[xxx]  (where [xxx] is your architecture and this particular OpenNI release)
sudo ./install.sh

3.安装Kinect Sensor Module

git clone https://github.com/avin2/SensorKinect
cd SensorKinect
cd Platform/Linux/CreateRedist
chmod +x RedistMaker
./RedistMaker
cd ../Redist/Sensor-Bin-Linux-[xxx] (where [xxx] is your architecture and this particular OpenNI release)
chmod +x install.sh
sudo ./install.sh

4.测试OpenNI Samples

cd OpenNI/Platform/Linux/Bin/Release
./Sample-NiSimpleViewer

5.安装ros下kinect驱动

sudo apt install ros-kinetic-openni-camera
sudo apt install ros-kinetic-openni-launch
rosstack profile
rospack profile
sudo apt install ros-kinetic-freenect-camera ros-kinetic-freenect-stack ros-kinetic-freenect-launch

启动相机：roslaunch openni_launch openni.launch
然后打开rviz，在rviz中可以看到画面说明安装成功。

接下来就可以愉快的进行开发了。