Ubuntu20.04下测试Orbbec Astra Pro

首先下载SDK

可在https://developer.orbbec.com.cn/develop.html或https://orbbec3d.com/develop/下载Astra SDK和OpenNI SDK

我下载的是这两个：OpenNI-Linux-x64-2.3.0.65.rar 和 AstraSDK-v2.1.1-24f74b8b15-20200426T012326Z-Linux-aarch64.tar.gz

大致流程：

~/***$ ls
    AstraSDK  OpenNI.rar  AstraSDK.tar.gz  OpenNI

# 安装AstraSDK

~/***$ cd AstraSDK/
~/***/AstraSDK$ ls
    bin  include  install  java  lib  LICENSE.txt  README.txt  samples
~/***/AstraSDK$ cd install/
~/***/AstraSDK/install$ ls
    install.sh  orbbec-usb.rules
~/***/AstraSDK/install$ ./install.sh 
    
    Installer requires root, escalating via sudo.
    [sudo] usr 的密码： 
    Linux installer script for Astra SDK

    Installing rules for orbbec devices into /etc/udev/rules.d/
    Done.

    NOTES:
    We suggest adding the following lines to your .bash_profile or .bashrc
    export ASTRA_SDK_INCLUDE=/home/xsl/Disk2/WorkSpace/Code/Orbbec/AstraSDK/install/include
    export ASTRA_SDK_LIB=/home/xsl/Disk2/WorkSpace/Code/Orbbec/AstraSDK/install/lib
    
~/***/AstraSDK/install$ sudo gedit ~/.bashrc
    # 在.bashrc中添加上面的两个export，注意路径中的install，需要改正
    export ASTRA_SDK_INCLUDE=/home/xsl/Disk2/WorkSpace/Code/Orbbec/AstraSDK/include
    export ASTRA_SDK_LIB=/home/xsl/Disk2/WorkSpace/Code/Orbbec/AstraSDK/lib
    # 保存，source刷新
~/***/AstraSDK/install$ source ~/.bashrc
~/***/AstraSDK/install$ cd ../../ 

# 安装OpenNI

~/***$ cd OpenNI/
~/***/OpenNI$ ls
CHANGES.txt  Include  install.sh  LICENSE  NOTICE  OpenNIDevEnvironment  orbbec-usb.rules  README  Redist  ReleaseNotes.txt  Samples  Tools
~/***/OpenNI$ sudo ./install.sh 
~/***/OpenNI$ source OpenNIDevEnvironment 

# 测试SimpleViewer

~/***/OpenNI$ cd Samples/SimpleViewer
~/***/OpenNI/Samples/SimpleViewer$ make
    g++ -MD -MP -MT "./Bin/Intermediate/x64-Release/SimpleViewer/Viewer.d Bin/Intermediate/x64-Release/SimpleViewer/Viewer.o" -c -msse3 -DUNIX -DGLX_GLXEXT_LEGACY -Wall -O2 -DNDEBUG -I../../Include -I../../ThirdParty/GL/ -I../Common -I/home/xsl/Disk2/WorkSpace/Code/Orbbec/OpenNI/Include  -fPIC -fvisibility=hidden -Werror -o Bin/Intermediate/x64-Release/SimpleViewer/Viewer.o Viewer.cpp
    g++ -MD -MP -MT "./Bin/Intermediate/x64-Release/SimpleViewer/main.d Bin/Intermediate/x64-Release/SimpleViewer/main.o" -c -msse3 -DUNIX -DGLX_GLXEXT_LEGACY -Wall -O2 -DNDEBUG -I../../Include -I../../ThirdParty/GL/ -I../Common -I/home/xsl/Disk2/WorkSpace/Code/Orbbec/OpenNI/Include  -fPIC -fvisibility=hidden -Werror -o Bin/Intermediate/x64-Release/SimpleViewer/main.o main.cpp
    cp -R /home/xsl/Disk2/WorkSpace/Code/Orbbec/OpenNI/Redist/* Bin/x64-Release
    g++ -o Bin/x64-Release/SimpleViewer ./Bin/Intermediate/x64-Release/SimpleViewer/Viewer.o ./Bin/Intermediate/x64-Release/SimpleViewer/main.o  -LBin/x64-Release -lglut -lGL -lOpenNI2 -Wl,-rpath ./
~/***/OpenNI/Samples/SimpleViewer$ cd Bin/x64-Release/
~/***/OpenNI/Samples/SimpleViewer/Bin/x64-Release$ ls
    libDepthUtils.a  libOpenNI2.so  libSonixCamera.a  OpenNI2  OpenNI.ini  SimpleViewer
~/***/OpenNI/Samples/SimpleViewer/Bin/x64-Release$ ./SimpleViewer 

OpenNI目录Tools下有个NiViewer，可以尝试运行下，在界面上右键鼠标或Shift+?，有很多功能。

编译的时候遇到下面的错误

/usr/include/x86_64-linux-gnu/bits/string_fortified.h:106:34: error:

大致查了下，切换成低版本的编译器即可，之前我有写过这方面的博客：Ubuntu20.04终端安装、切换低版本gcc/g++