Ubuntu16.04+Kinect-v2+RGBD SLAM V2实现

    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    
    

    sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
    
    
    

    sudo apt-get update
    
    

    sudo apt-get install ros-kinetic-desktop-full
    
    

    apt-cache search ros-kinetic
    
    

    sudo rosdep init
    rosdep update
    
    

    echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
    source ~/.bashrc
    
    

    sudo apt-get install python-rosinstall
    
    

    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/src
    catkin_init_workspace
    
    

    echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc
    source ~/.bashrc
    
    

    source devel/setup.bash
    
    

    cd ~/ThirdParty
    git clone https://github.com/OpenKinect/libfreenect2.git  
    cd libfreenect2 
    
    

    sudo apt-get install build-essential cmake pkg-config libusb-1.0-0-dev libturbojpeg libjpeg-turbo8-dev
    sudo apt-get install libglfw3-dev libopenni2-dev
    
    

    mkdir build && cd build
    cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/  
    make
    sudo make install
    
    

    sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/
    
    

    sudo apt-get install openni2-utils
    sudo make install-openni2
    
    

    ./bin/Protonect
    
    

    cd ~/catkin_ws/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
    
    

    cd ~/catkin_ws
    roscore
    
    

    roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
    
    

    rosrun image_view image_view image:=/kinect2/hd/image_color
    
    

    rosrun kinect2_viewer kinect2_viewer
    
    

    rosrun rqt_image_view rqt_image_view
    
    

    rosrun rviz rviz
    
    

    cd ~/catkin_ws/src
    git clone https://github.com/felixendres/rgbdslam_v2
    
    

    sudo apt-get install cmake libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-dev qt5-qmake
    cd ~/ThirdParty
    git clone https://github.com/felixendres/g2o
    cd g2o
    mkdir build
    cd build
    cmake ..
    make
    sudo make install
    
    
    
![](https://ad.itadn.com/c/weblog/blog-img/images/2025-07-12/xtFG1gLTX3myP4bkjE8BSvqINWfh.png)

    tar -zxvf pcl-pcl-1.8.0.tar.gz
    cd pcl-pcl-1.8.0 && mkdir build && cd build
    cmake ..
    make
    sudo make install
    
    

    cd ~/catkin_ws/src/rgbdslam_v2
    gedit CMakeLists.txt
    
    

    find_package(PCL 1.8 REQUIRED COMPONENTS common io)
    
    

    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
    
    

    cd ~/catkin_ws/src/rgbdslam_v2/external/SiftGPU
    sudo apt-get install libglew-dev
    sudo apt-get install libdevil1c2 libdevil-dev
    make
    
    

    cd ~/catkin_ws
    catkin_make
    
    

    cd ～/catkin_ws/src/rgbdslam_v2/launch
    touch rgbdslam_kinect2.launch
    gedit rgbdslam_kinect2.launch
    
    

    <!-- This file shows the most important parameters in their default settings,
     to make them easily available for beginners.
     The openni driver has to be started seperately, e.g. with "roslaunch openni_launch openni.launch" -->
    <launch> 
    <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="screen"> 
     
    <!-- Input data settings-->
     <param name="config/topic_image_mono"              value="/kinect2/qhd/image_color_rect"/> 
    <param name="config/camera_info_topic"             value="/kinect2/qhd/camera_info"/>
     <param name="config/topic_image_depth"             value="/kinect2/qhd/image_depth_rect"/> 
    <param name="config/topic_points"                  value=""/> <!--if empty, poincloud will be reconstructed from image and depth --> 
     
    <!-- These are the default values of some important parameters --> 
    <param name="config/feature_extractor_type"        value="ORB"/><!-- also available: SIFT, SIFTGPU, SURF, SURF128 (extended SURF), ORB. --> 
    <param name="config/feature_detector_type"         value="ORB"/><!-- also available: SIFT, SURF, GFTT (good features to track), ORB. --> 
    <param name="config/detector_grid_resolution"      value="3"/><!-- detect on a 3x3 grid (to spread ORB keypoints and parallelize SIFT and SURF) --> 
    <param name="config/optimizer_skip_step"           value="15"/><!-- optimize only every n-th frame -->
     <param name="config/cloud_creation_skip_step"      value="2"/>
     
    <!-- subsample the images' pixels (in both, width and height), when creating the cloud (and therefore reduce memory consumption) -->
     <param name="config/backend_solver"                value="csparse"/><!-- pcg is faster and good for continuous online optimization, cholmod and csparse are better for offline optimization (without good initial guess)--> <param name="config/pose_relative_to"              value="first"/><!-- optimize only a subset of the graph: "largest_loop" = Everything from the earliest matched frame to the current one. Use "first" to optimize the full graph, "inaffected" to optimize only the frames that were matched (not those inbetween for loops) --> 
    <param name="config/maximum_depth"           value="2"/> <param name="config/subscriber_queue_size"         value="20"/> 
    <param name="config/min_sampled_candidates"        value="30"/><!-- Frame-to-frame comparisons to random frames (big loop closures) -->
     <param name="config/predecessor_candidates"        value="20"/><!-- Frame-to-frame comparisons to sequential frames--> 
    <param name="config/neighbor_candidates"           value="20"/><!-- Frame-to-frame comparisons to graph neighbor frames--> 
    <param name="config/ransac_iterations"             value="140"/> 
    <param name="config/g2o_transformation_refinement"           value="1"/> 
    <param name="config/icp_method"           value="icp"/> <!-- icp, gicp ... --> <!--
    <param name="config/max_rotation_degree"           value="20"/>
    <param name="config/max_translation_meter"           value="0.5"/>
    <param name="config/min_matches"           value="30"/>   
    <param name="config/min_translation_meter"           value="0.05"/>
    <param name="config/min_rotation_degree"           value="3"/>
    <param name="config/g2o_transformation_refinement"           value="2"/>
    <param name="config/min_rotation_degree"           value="10"/>
    <param name="config/matcher_type"         value="SIFTGPU"/>
     --> 
    </node> 
    </launch>
    
    
    
![](https://ad.itadn.com/c/weblog/blog-img/images/2025-07-12/lyBwS4arEhdQ3M2KVqvjp7LtfUxR.png)

    roslaunch kinect2_bridge kinect2_bridge.launch
    roslaunch rgbdslam_kinect2.launch