Ubuntu下安装配置OpenNI, OpenCV

http://www.cnblogs.com/sunshy/archive/2011/11/30/2268370.html

费了老大半天工夫，总算在Linux下把OpenNI和OPenCV配置好了，网上对Linux下OpenNI的配置方法讲的很少，而寻找使用OpenNI进行开发的方法更是像大海捞针……连手册里都只字不提，翻了好的资料才算搞定。闲话少说，总结在这和大家一起分享。
一、OPenNI篇
1.软件下载：
(1)OpenNI：aspx">http://www.openni.org/Downloads/OpenNIModules.aspx
　　选择“OpenNI Binaries”->“Unstable”->“...for ubuntu...”，点击“Download”。
　　下载完成后解压，cd进入解压后的路径：$ ./install.sh（不记得要不要加sudo了，试一试吧）
(2)SensorKinect：
　　命令：$git clone https://github.com/avin2/SensorKinect.git
　　如果没有安装git，则sudo apt-get install之～
　　过程比较慢，结束后会在当前路径出现一个文件夹SensorKinect，cd进SensorKinect/Platform/Linux/CreateRedist，之后$ ./RedistMaker，这时在上层目录Linux下出现Redist文件夹。此时网上说进该目录$ ./install.sh，但实际上还要进一层目录才有instal.sh文件。但是貌似执行这个需要root权限，我不知道怎么弄，$sudo su后也不行，最后发现还是Redist文件夹里面有一个Final文件夹，里面有一个压缩包Sensor-Bin-Linux-x86-v5.0.5.1.tar.bz2，我索性把它拷出来，解压缩后进去 （…/SensorKinect/Platform/Linux/CreateRedist/Sensor-Bin-Linux-x86-v5.0.5.1/），在里面$./install.sh，竟然就可以了。顺便说一下，可能在这些过程中输入$ ./install.sh 会提示没有命令之类的，可以在install.sh文件上右击->属性->权限，选中“允许以程序执行文件”，就可以了。
　　这时可以到在OpenNI-Bin-XXXX/Samples/Bin/x86-Release目录中测试：$ ./NiViewer，有可能提示没有什么库之类的，试着装一下：$sudo apt-get install libusb-1.0-0-dev freeglut3-dev，之后应该就可以运行了，就可以看到期待已久的画面喽。如果这时候提示说Failed to set USB interface!或者Open failed: The network connection has been closed!，在命令行里运行：
　　$sudo rmmod gspca_kinect
　　这是因为Ubuntu可能自带了kinect驱动gspca_kinect，二者有冲突。貌似每次重启电脑后都需要执行一下这句才行。
　　这部分主要参考了https://github.com/avin2/SensorKinect里面讲的可能和实际不太一样，尝试着来吧。
(2)NITE：http://www.openni.org/Downloads/OpenNIModules.aspx
　　选择“OpenNI Compliant Middleware Binaries”->“Unstable”->“...Ubuntu...”，下载就好了。
　　下载完成后解压，进入目录$ ./install.sh即可。
2.开发环境配置
　　我选用的是eclipse-cdt进行开发，网上仅有的可怜的一点资料讲的是用codeblocks进行开发，其实都是差不多的。这里以eclipse为例介绍一下吧。
　　新建一个空的或helloworld工程，如kinectOpenNI，在左侧的project exploer中右击kinectOpenNI，点properties，在对话框中选择C/C++ Build->settings->GCC C++ Compiler(如果用C写就选GCC C Compiler)->Directories，在右侧Include paths(-l)里点右边绿色加号，添加两个路径/usr/include/ni和/usr/include/nite，然后再选择GCC C++ Linker->Libraries，在Libraries (-l)中添加OpenNI，glut，XnVNite，注意XnVNite可能有版本号，要到你的/usr/lib目录下看一看，有个文件叫libXnVNite_XXXX.so之类的，我的是libXnVNite_1_5_0.so，所以我填的是XnVNite_1_5_0，反正就是随机应变吧，填不对的话它会报错说找不到库。由于这几个库都是在系统/usr/lib/目录下的，因此不用添加Library search path (-L)。
　　到此为止你的工程应该可以编译了。试试这段样例：(注意该一下里面xml文件的路径。样例是直接从安装包里找到的。当然，记得连上你的Kinect)
  View Code
/****************************************************************************
*                                                                           *
*  OpenNI 1.x Alpha                                                         *
*  Copyright (C) 2011 PrimeSense Ltd.                                       *
*                                                                           *
*  This file is part of OpenNI.                                             *
*                                                                           *
*  OpenNI is free software: you can redistribute it and/or modify           *
*  it under the terms of the GNU Lesser General Public License as published *
*  by the Free Software Foundation, either version 3 of the License, or     *
*  (at your option) any later version.                                      *
*                                                                           *
*  OpenNI is distributed in the hope that it will be useful,                *
*  but WITHOUT ANY WARRANTY; without even the implied warranty of           *
*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
*  GNU Lesser General Public License for more details.                      *
*                                                                           *
*  You should have received a copy of the GNU Lesser General Public License *
*  along with OpenNI. If not, see <http://www.gnu.org/licenses/>.           *
*                                                                           *
****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <XnOS.h>
#if (XN_PLATFORM == XN_PLATFORM_MACOSX)
    #include <GLUT/glut.h>
#else
    #include <GL/glut.h>
#endif
#include <math.h>

#include <XnCppWrapper.h>
using namespace xn;

//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
#define SAMPLE_XML_PATH "/home/iotuyrfviloh/Softwares/OpenNI-Bin-Dev-Linux-x86-v1.4.0.2/Samples/Config/SamplesConfig.xml"

#define GL_WIN_SIZE_X 1280
#define GL_WIN_SIZE_Y 1024

#define DISPLAY_MODE_OVERLAY    1
#define DISPLAY_MODE_DEPTH        2
#define DISPLAY_MODE_IMAGE        3
#define DEFAULT_DISPLAY_MODE    DISPLAY_MODE_DEPTH

#define MAX_DEPTH 10000

//---------------------------------------------------------------------------
// Globals
//---------------------------------------------------------------------------
float g_pDepthHist[MAX_DEPTH];
XnRGB24Pixel* g_pTexMap = NULL;
unsigned int g_nTexMapX = 0;
unsigned int g_nTexMapY = 0;

unsigned int g_nViewState = DEFAULT_DISPLAY_MODE;

Context g_context;
ScriptNode g_scriptNode;
DepthGenerator g_depth;
ImageGenerator g_image;
DepthMetaData g_depthMD;
ImageMetaData g_imageMD;

//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------

void glutIdle (void)
{
    // Display the frame
    glutPostRedisplay();
}

void glutDisplay (void)
{
    XnStatus rc = XN_STATUS_OK;

    // Read a new frame
    rc = g_context.WaitAnyUpdateAll();
    if (rc != XN_STATUS_OK)
    {
        printf("Read failed: %s\n", xnGetStatusString(rc));
        return;
    }

    g_depth.GetMetaData(g_depthMD);
    g_image.GetMetaData(g_imageMD);

    const XnDepthPixel* pDepth = g_depthMD.Data();
    const XnUInt8* pImage = g_imageMD.Data();

    unsigned int nImageScale = GL_WIN_SIZE_X / g_depthMD.FullXRes();

    // Copied from SimpleViewer
    // Clear the OpenGL buffers
    glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

    // Setup the OpenGL viewpoint
    glMatrixMode(GL_PROJECTION);
    glPushMatrix();
    glLoadIdentity();
    glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -1.0, 1.0);

    // Calculate the accumulative histogram (the yellow display...)
    xnOSMemSet(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));

    unsigned int nNumberOfPoints = 0;
    for (XnUInt y = 0; y < g_depthMD.YRes(); ++y)
    {
        for (XnUInt x = 0; x < g_depthMD.XRes(); ++x, ++pDepth)
        {
            if (*pDepth != 0)
            {
                g_pDepthHist[*pDepth]++;
                nNumberOfPoints++;
            }
        }
    }
    for (int nIndex=1; nIndex<MAX_DEPTH; nIndex++)
    {
        g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
    }
    if (nNumberOfPoints)
    {
        for (int nIndex=1; nIndex<MAX_DEPTH; nIndex++)
        {
            g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints)));
        }
    }

    xnOSMemSet(g_pTexMap, 0, g_nTexMapX*g_nTexMapY*sizeof(XnRGB24Pixel));

    // check if we need to draw image frame to texture
    if (g_nViewState == DISPLAY_MODE_OVERLAY ||
        g_nViewState == DISPLAY_MODE_IMAGE)
    {
        const XnRGB24Pixel* pImageRow = g_imageMD.RGB24Data();
        XnRGB24Pixel* pTexRow = g_pTexMap + g_imageMD.YOffset() * g_nTexMapX;

        for (XnUInt y = 0; y < g_imageMD.YRes(); ++y)
        {
            const XnRGB24Pixel* pImage = pImageRow;
            XnRGB24Pixel* pTex = pTexRow + g_imageMD.XOffset();

            for (XnUInt x = 0; x < g_imageMD.XRes(); ++x, ++pImage, ++pTex)
            {
                *pTex = *pImage;
            }

            pImageRow += g_imageMD.XRes();
            pTexRow += g_nTexMapX;
        }
    }

    // check if we need to draw depth frame to texture
    if (g_nViewState == DISPLAY_MODE_OVERLAY ||
        g_nViewState == DISPLAY_MODE_DEPTH)
    {
        const XnDepthPixel* pDepthRow = g_depthMD.Data();
        XnRGB24Pixel* pTexRow = g_pTexMap + g_depthMD.YOffset() * g_nTexMapX;

        for (XnUInt y = 0; y < g_depthMD.YRes(); ++y)
        {
            const XnDepthPixel* pDepth = pDepthRow;
            XnRGB24Pixel* pTex = pTexRow + g_depthMD.XOffset();

            for (XnUInt x = 0; x < g_depthMD.XRes(); ++x, ++pDepth, ++pTex)
            {
                if (*pDepth != 0)
                {
                    int nHistValue = g_pDepthHist[*pDepth];
                    pTex->nRed = nHistValue;
                    pTex->nGreen = nHistValue;
                    pTex->nBlue = 0;
                }
            }

            pDepthRow += g_depthMD.XRes();
            pTexRow += g_nTexMapX;
        }
    }

    // Create the OpenGL texture map
    glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, g_nTexMapX, g_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, g_pTexMap);

    // Display the OpenGL texture map
    glColor4f(1,1,1,1);

    glBegin(GL_QUADS);

    int nXRes = g_depthMD.FullXRes();
    int nYRes = g_depthMD.FullYRes();

    // upper left
    glTexCoord2f(0, 0);
    glVertex2f(0, 0);
    // upper right
    glTexCoord2f((float)nXRes/(float)g_nTexMapX, 0);
    glVertex2f(GL_WIN_SIZE_X, 0);
    // bottom right
    glTexCoord2f((float)nXRes/(float)g_nTexMapX, (float)nYRes/(float)g_nTexMapY);
    glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
    // bottom left
    glTexCoord2f(0, (float)nYRes/(float)g_nTexMapY);
    glVertex2f(0, GL_WIN_SIZE_Y);

    glEnd();

    // Swap the OpenGL display buffers
    glutSwapBuffers();
}

void glutKeyboard (unsigned char key, int x, int y)
{
    switch (key)
    {
        case 27:
            exit (1);
        case '1':
            g_nViewState = DISPLAY_MODE_OVERLAY;
            g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image);
            break;
        case '2':
            g_nViewState = DISPLAY_MODE_DEPTH;
            g_depth.GetAlternativeViewPointCap().ResetViewPoint();
            break;
        case '3':
            g_nViewState = DISPLAY_MODE_IMAGE;
            g_depth.GetAlternativeViewPointCap().ResetViewPoint();
            break;
        case 'm':
            g_context.SetGlobalMirror(!g_context.GetGlobalMirror());
            break;
    }
}

int main(int argc, char* argv[])
{
    XnStatus rc;

    EnumerationErrors errors;
    rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors);
    if (rc == XN_STATUS_NO_NODE_PRESENT)
    {
        XnChar strError[1024];
        errors.ToString(strError, 1024);
        printf("%s\n", strError);
        return (rc);
    }
    else if (rc != XN_STATUS_OK)
    {
        printf("Open failed: %s\n", xnGetStatusString(rc));
        return (rc);
    }

    rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
    if (rc != XN_STATUS_OK)
    {
        printf("No depth node exists! Check your XML.");
        return 1;
    }

    rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
    if (rc != XN_STATUS_OK)
    {
        printf("No image node exists! Check your XML.");
        return 1;
    }

    g_depth.GetMetaData(g_depthMD);
    g_image.GetMetaData(g_imageMD);

    // Hybrid mode isn't supported in this sample
    if (g_imageMD.FullXRes() != g_depthMD.FullXRes() || g_imageMD.FullYRes() != g_depthMD.FullYRes())
    {
        printf ("The device depth and image resolution must be equal!\n");
        return 1;
    }

    // RGB is the only image format supported.
    if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
    {
        printf("The device image format must be RGB24\n");
        return 1;
    }

    // Texture map init
    g_nTexMapX = (((unsigned short)(g_depthMD.FullXRes()-1) / 512) + 1) * 512;
    g_nTexMapY = (((unsigned short)(g_depthMD.FullYRes()-1) / 512) + 1) * 512;
    g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel));

    // OpenGL init
    glutInit(&argc, argv);
    glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
    glutInitWindowSize(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
    glutCreateWindow ("OpenNI Simple Viewer");
    glutFullScreen();
    glutSetCursor(GLUT_CURSOR_NONE);

    glutKeyboardFunc(glutKeyboard);
    glutDisplayFunc(glutDisplay);
    glutIdleFunc(glutIdle);

    glDisable(GL_DEPTH_TEST);
    glEnable(GL_TEXTURE_2D);

    // Per frame code is in glutDisplay
    glutMainLoop();

    return 0;
}
二、OpenCV篇
　　虽然已经可以用OpenGL了，但是OpenCV还是很不错的，也配一下吧。
1.软件下载
(1)装一下这些吧：
apt-get install build-essential
apt-get install cmake cmake-gui
apt-get install pkg-config
apt-get install libpng12-0 libpng12-dev libpng++-dev libpng3
apt-get install libpnglite-dev libpngwriter0-dev libpngwriter0c2
apt-get install zlib1g-dbg zlib1g zlib1g-dev
apt-get install libjasper-dev libjasper-runtime libjasper1
apt-get install pngtools libtiff4-dev libtiff4 libtiffxx0c2 libtiff-tools
apt-get install libjpeg8 libjpeg8-dev libjpeg8-dbg libjpeg-prog
apt-get install ffmpeg libavcodec-dev libavcodec52 libavformat52 libavformat-dev
apt-get install libgstreamer0.10-0-dbg libgstreamer0.10-0  libgstreamer0.10-dev
apt-get install libxine1-ffmpeg  libxine-dev libxine1-bin
apt-get install libunicap2 libunicap2-dev
apt-get install libdc1394-22-dev libdc1394-22 libdc1394-utils
apt-get install swig
apt-get install libv4l-0 libv4l-dev
apt-get install python-numpy
apt-get install libpython2.6 python-dev python2.6-dev
有些可能你用不到，但是貌似build-essential,cmake,pkg-config都是必须的，其他的都不确定啦，保险起见都装一下吧～
(2)下载最新版本OpenCV：http://sourceforge.net/projects/opencvlibrary/files/
　　解压，生成目录如OpenCV-2.3.1，在它旁边新建一个目录，如OpenCV-2.3.1-build。这时打开cmake-gui图形界面，应该可以在主菜单的“编程”项中找到。在上面的Source和Build栏中分别填上OpenCV-2.3.1和OpenCV-2.3.1-build的完整路径。点下面的Config，如果窗口内容变红，再点一次，知道不红为止，这时点Generate即可。命令行cd进OpenCV-2.3.1-build，$make然后$sudo make install，此时OpenCV应该就被安装在/usr/local/下面了。
2.建立工程
　　使用eclipse建立新工程，如testOpenCV在左侧的project exploer中右击testOpenCV，点properties，在对话框中选择C/C++ Build->settings->GCC C++ Compiler(如果用C写就选GCC C Compiler)->Directories，在右侧Include paths(-l)里点右边绿色加号，添加路径/usr/local/include/opencv，然后再选择GCC C++ Linker->Libraries，在Libraries (-l)中添加opencv_core，opencv_highgui，如果需要其他库也依次添加。库的路径是/usr/local/lib，因此要添加Library search path (-L)：/usr/local/lib。
　　还要给系统添加一下环境变量。我是试了好几种方法，也不知道最后是那个生效了：
　　命令行里依次输入（就是新建个文件，添上一行/usr/local/lib，也可以用gedit来做）：
sudo vi /etc/ld.so.conf.d/opencv.conf
G
o
/usr/local/lib
<Esc>
:wq!
类似地，打开文件/etc/bash.bashrc，在最后添加两行：
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH
然后在命令行输入：
sudo ldconfig -v
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
重启，然后应该就可以编译运行了，如果配置不好的话可能会报错说没有libopencv_core.so文件之类的。如果还是不行，就在看看其他帖子吧，不同人情况不一yang，我是深深地感受到了。
　　好了，看看能不能运行吧：
测试程序：
#include <iostream>
#include "cv.h"
#include <cxcore.h>
#include <highgui.h>
using namespace std;

int main() {
    IplImage *img = cvLoadImage("a.jpg");
    cvNamedWindow("Image:",1);
    cvShowImage("Image:",img);
    cvWaitKey();
    cvDestroyWindow("Image:");
    cvReleaseImage(&img);
    return 0;
}
其中图片路径在与工程中该cpp文件一致，或者取个绝对路径吧。
如果一切安好，那就恭喜啦。
　　有了OpenNI和OpenCV，就安心开发你有意思的Kinect应用吧～
 作者 韶子