SurfaceBook + Ubuntu16.04 安装 Kinect V2 & libfreenect2pclgrabber
#0. 第0定律？github网址和相关blog地址
Surfacebook + Kinect V2 + Ubuntu 16.04
官方的github写的很全，步骤都很细，直接看着做就好了
https://github.com/OpenKinect/libfreenect2
绝大部分的blog都只是梗概一下而已，这个写的比较新，我是看着这个的做的（里面的参考也总结了一些有用的blog的链接）
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#1. 按照官方的github安装驱动
git clone https://github.com/OpenKinect/libfreenect2.git
//关于配置环境，在#2有大概的步骤（可能不全），具体请跟着github里面的提示做
cd libfreenect2
mkdir build
cd build
cmake ..
make -j7
sudo make install#2. 关于环境配置
//libusb
sudo apt-add-repository ppa:floe/libusb
sudo apt-get update
sudo apt-get install libusb-1.0-0-dev
//TurboJPEG
sudo apt-get install libturbojpeg libjpeg-turbo8-dev
//opencl
sudo apt-get install nvidia-modprobe opencl-headers ocl-icd-dev
[
]()#3. 重新插上Kinect V2 然后运行之
cd ~/Downloads/libfreenect2/build
./bin/Protonect#4. My trouble_shooting （一帆风顺的话我都不会写了）
a. 关于编译
编译时候确实遇到过小问题，但目前的blog都有解决办法，也就轻松解决了
b. 关于运行 ./Protonect
这个遇到个问题，undefined symbol: libusb_get_version , 弄了很久很久 {acknowledgement: 感谢霞姐群哥的帮忙解决}
//报错如下
alvin@alvin-Surface-Book:~/libfreenect2/build$ ./bin/Protonect gl
Version: 0.2.0
Environment variables: LOGFILE=<protonect.log>
Usage: ./bin/Protonect [-gpu=<id>] [gl | cl | clkde | cuda | cudakde | cpu] [<device serial>]
[-noviewer] [-norgb | -nodepth] [-help] [-version]
[-frames <number of frames to process>]
To pause and unpause: pkill -USR1 Protonect
./bin/Protonect: symbol lookup error: /home/alvin/libfreenect2/build/lib/libfreenect2.so.0.2: undefined symbol: libusb_get_version原因大概是动态库出了问题，libusb这个在我系统有，在opt文件夹也有，使用的时候本来是去系统下的结果用了opt文件夹下的了，所以gg了？
解决办法大概就是删除掉重复的那个libusb
cd /opt/mvIMPACT_Acquire/ ， cd lib ，cd x86_64 ， 然后 rm libusb-1.0.so.0.0.0 ， 回去libfreenect2文件夹删除build，重新创建build，make一下，搞定。
iai-kinect2源码安装与测试（转）
- 新建一个catkin_ws工作空间，编译安装iai-kinect2
mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
git clone https://github.com/code-iai/iai_kinect2.git
cd iai_kinect2
rosdep install -r --from-paths .
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release"
rospack profile- 测试是否安装成功
roslaunch kinect2_bridge kinect2_bridge.launch若出现错误，则：
是因为在.bashrc文件中要添加如下代码，并且要注释掉原来的rgbdslam_catkin_ws的那行代码
在~/.bashrc中添加
source /home/yuanlibin/rgbdslam_catkin_ws/devel/setup.bash
source /home/yuanlibin/catkin_ws/devel/setup.bash
3. 最后测试
roslaunch kinect2_bridge kinect2_bridge.launch再打开一个终端：
rosrun kinect2_viewer kinect2_viewer测试成功。
此时，可以按空格或者s键单张采集彩色图、深度图及其对应的点云图图像。
如果要连续采集图像，请参考博文：<>
Libfreenect2pclgrabber 安装
https://github.com/giacomodabisias/libfreenect2pclgrabber
安装这个要先安装好PCL，具体参考
<>
安装流程
git clone https://github.com/giacomodabisias/libfreenect2pclgrabber.git
/***
If you have issues with multiple kinects execute "echo 64 > /sys/module/usbcore/parameters/usbfs_memory_mb". If this works you can apply this patch permanently as follows:
Open the /etc/default/grub file in any text editor. Find and replace: GRUB_CMDLINE_LINUX_DEFAULT="quiet splash" with this:
GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore.usbfs_memory_mb=1000"
Update grub with these settings: $ sudo update-grub
***/
cd ~/libfreenect2pclgrabber
mkdir build
cd build
cmake ..
sudo make
sudo make install
// REMEMBER TO EXECUTE sudo make install in the libfreenect2 build folder to copy all files in /usr/local
cd libfreenect2 所在的文件夹
cd build
sudo make install安装完可以测试一下
我个人安装的时候遇到了提示找不到pclconfig，eigen等等之类的cmake文件，大概如下
Building CXX object CMakeFiles/MultiKinect2Grabber.dir/multi_test.cpp.o
/home/alvin/libfreenect2pclgrabber/multi_test.cpp: In function ‘int main(int, char**)’:
/home/alvin/libfreenect2pclgrabber/multi_test.cpp:122:28: error: ‘class K2G’ has no member named ‘getCloud’
clouds[i] = kinects[i]->getCloud();
^
/home/alvin/libfreenect2pclgrabber/multi_test.cpp:148:30: error: ‘class K2G’ has no member named ‘updateCloud’
clouds[i] = kinects[i]->updateCloud(clouds[i]);
^
CMakeFiles/MultiKinect2Grabber.dir/build.make:62: recipe for target 'CMakeFiles/MultiKinect2Grabber.dir/multi_test.cpp.o' failed
make[2]: *** [CMakeFiles/MultiKinect2Grabber.dir/multi_test.cpp.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/MultiKinect2Grabber.dir/all' failed
make[1]: *** [CMakeFiles/MultiKinect2Grabber.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
解决办法就是重装pcl，有可能当初安装pcl的姿势不太对导致的...尴尬...