记录Kinect V1与V2在Ubuntu16.04下的配置过程以及在ros下的骨骼检测追踪

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本文详细记录了KinectV1与V2在Ubuntu16.04下的配置流程，包括libfreenect2、OpenNI、SensorKinect、NITE的安装，以及在ROS环境下骨骼检测的实现过程。解决了多个常见问题，如NiViewer2的缺失、opencv版本冲突等。

记录Kinect V1与V2在Ubuntu16.04下的配置过程以及在ros下的骨骼检测追踪

Kinect V2
Kinect V1

Kinect V2

install the OpenNI

$ git clone https://github.com/OpenNI/OpenNI.git
$ cd OpenNI/Platform/Linux/CreateRedist/
$ chmod +x RedistMaker
$ ./RedistMaker
$ cd ../Redist/OpenNI-Bin-Dev-Linux-x64.../
$ sudo ./install.sh

显示应如下：

Installing OpenNI
****************************

copying shared libraries...OK
copying executables...OK
copying include files...OK
creating database directory...OK
registering module 'libnimMockNodes.so'...OK
registering module 'libnimCodecs.so'...OK
registering module 'libnimRecorder.so'...OK
creating java bindings directory...OK
Installing java bindings...OK

*** DONE ***

测试NiViewer

$ cd OpenNI
$ ./Platform/Linux/Bin/x64-Release/NiViewer

如果之前在libfreenect2的安装中没有make install-openni2可能会报错，报错如下：

SimpleViewer: Device open failed:   
    DeviceOpen using default: no devices found

在执行$ ./RedistMaker过程中可能会报下面的错误，解决方法如下：

/bin/sh: 1: javac: not found
$ sudo apt install openjdk-8-jdk
sh: 1: doxygen: not found
$ sudo apt install doxygen

install the SensorKinect

$ git clone git://github.com/avin2/SensorKinect.git
$ cd SensorKinect/Platform/Linux/CreateRedist/
$ chmod +x RedistMaker
$ ./RedistMaker
在SensorKinect的Bin目录下解压出Sensor-Bin-Linux-x64...
$ cd ./Bin/Sensor-Bin-Linux-x64...
$ chmod +x install.sh
$ sudo ./install.sh

显示应如下：

Installing PrimeSense Sensor
****************************

creating config dir /usr/etc/primesense...\OK
copying shared libraries...OK
copying executables...OK
registering module 'libXnDeviceSensorV2KM.so' with OpenNI...OK
registering module 'libXnDeviceFile.so' with OpenNI...OK
copying server config file...OK
setting uid of server...OK
creating server logs dir...OK
installing usb rules...OK
installing modprobe blacklist...OK

*** DONE ***

ROS包

kinectV2 ros驱动

$ 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" -Dfreenect2_DIR=path_to_freenect2/lib/cmake/freenect2
__NOTE:the <path_to_freenect2>is the '$HOME/Projects/freenect2' just setting before building the libfreenect2__

有许多未引用的错误

viewer.cpp:(.text._ZN8Receiver11imageViewerEv[_ZN8Receiver11imageViewerEv]+0xae2): undefined reference to `cv::String::deallocate()'
viewer.cpp:(.text._ZN8Receiver11imageViewerEv[_ZN8Receiver11imageViewerEv]+0xb16): undefined reference to `cv::String::deallocate()'
viewer.cpp:(.text._ZN8Receiver11imageViewerEv[_ZN8Receiver11imageViewerEv]+0xb4b): undefined reference to `cv::String::deallocate()'
collect2: error: ld returned 1 exit status

解决方案：

sudo apt-get install ros-indigo-opencv3（optional）
后删掉ros_ws中的build与devel，重新catkin_make,发现编译通过

这里可能会出现一个问题：
执行命令：

$ roslaunch kinect2_bridge kinect_bridge.launch
报错：
[ERROR] [1453460840.163354866]: Failed to load nodelet [/kinect2_bridge] of type [kinect2_bridge/kinect2_bridge_nodelet]: Could not find library corresponding to plugin kinect2_bridge/kinect2_bridge_nodelet. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[FATAL] [1453460840.163649816]: Service call failed!
等一系列错误代码

或

rosrun kinect_bridge kinect_bridge
报错：
segmentation fault (core dumped)

解决方案
这是因为我配置的opencv的版本是3.3.1，而iai_kinect2是基于opencv2.4.9的。解决方法：在Ubuntu下安装opencv2.4.9，使之与高版本的opencv共存。

kinectV2 骨骼检测

还未配置（待续…）

Kinect V1

install the libfreenect

$ git clone https://github.com/OpenKinect/libfreenect
$ cd libfreenect
$ mkdir build
$ cd build
$ cmake -L .. # -L lists all the project options
$ make

install the OpenNI

install the SensorKinect

install the Nite

需要注意的是，上面安装Kinect V2的NiTE版本是2.2,但在这里需要安装1.5.2.21版本以上的，但不能是2的驱动，具体原因是ros包中的需求，将在后面提到。
我安装的是1.5.2.23版本的。
可以通过下面的链接下载: http://pan.baidu.com/s/1hqHB10w 提取密码：wrmn

$ cd NITE-Bin-Dev-Linux-x64-v1.5.2.23
$ sudo ./install.sh

ROS包

Kinect V1 驱动

使用openni_launch
$ sudo apt-get install ros-kinetic-openni-camera ros-kinetic-openni-launch

(使用freenect_launch不报错)
$ sudo apt-get install ros-kinetic-freenect-camera ros-kinetic-freenect-stack ros-kinetic-freenect-launch
$ roslaunch freenect_launch freenect.launch

BUT!
$ roslaunch openni_launch openni.launch后运行中的错误如下：

Warning: USB events thread - failed to set priority. This might cause loss of data...
[ INFO] [1543141015.998271459]: Number devices connected: 2
[ INFO] [1543141016.099558181]: 1. device on bus 001:15 is a SensorKinect (2ae) from PrimeSense (45e) with serial id '0'
[ INFO] [1543141016.099633610]: 2. device on bus 001:15 is a SensorV2 (2ae) from PrimeSense (45e) with serial id 'A00364A05003107A'
[ INFO] [1543141016.100583768]: Searching for device with index = 1
[camera/camera_nodelet_manager-2] process has died [pid 19127, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/lesleybinglei/.ros/log/3a69c930-f09b-11e8-b898-30b49eb249b5/camera-camera_nodelet_manager-2.log].
log file: /home/lesleybinglei/.ros/log/3a69c930-f09b-11e8-b898-30b49eb249b5/camera-camera_nodelet_manager-2*.log

Solution:

$ cd /your/path/to/SensorKinect/Bin/Sensor-Bin-Linux-x64-v...
$ sudo ./install.sh -u

Uninstalling PrimeSense Sensor
******************************

unregistering module 'libXnDeviceSensorV2KM.so' from OpenNI...OK
unregistering module 'libXnDeviceFile.so' from OpenNI...OK
removing shared libraries...OK
removing executables...OK
removing config dir...OK
removing usb rules...OK
removing modprobe blacklist...OK

*** DONE ***

and the $ roslaunch openni_launch openni.launch is OK!!!

you can get the pic by:

$ rosrun image_view image_view image:=/camera/depth/image
$ rosrun rviz rviz
$ rosrun rqt_image_view rqt_image_view

Kinect V1 骨骼检测

openni_tracker
$ rosrun openni_tracker openni_tracker
However, there is a problem.

[ERROR] [1543142140.496686826]: NITE is likely missing: Please install NITE >= 1.5.2.21. Check the readme for download ![1](/assets/1.jpg)information. Error Info: User generator failed: Can't create any node of the requested type!

出现这个问题的原因是NiTE版本不匹配，你可能没有安装NiTE或安装版本过低，也有可能是安装的是Kinect V2的NiTE版本，解决办法在Kinect V1的NiTE安装中

接下来可以在rivz中显示骨骼图

$ rosrun rivz rivz

1.在Rviz中，把Global Options > Fixed Frame 改成openni_depth_optical_frame;
2.”Add”（左下角），选择PointCloud2。
把 PointCloud2 >Topic改成/openni/depth_registered/points。
3.点击”Add”，选择TF（在列表的最下面）。
4.站在kinect前面，摆出“投降”姿势(进行calibration)，稍等一会，跟踪到的各个节点就出来了。

skeleton_markers使用

$ cd ros_ws/src
$ git clone -b https://github.com/pirobot/skeleton_markers.git
$ cd ../..
$ catkin_make
$ roslaunch skeleton_markers markers_from_tf.launch
$ rosrun rviz rviz -d `rospack find skeleton_markers`/markers_from_tf.rviz

如果可以正常显示骨骼图就完成了。

使用skeleton_markers publish and subscribe 3d坐标

$ roslaunch openni_launch openni.launch
$ rosrun skeleton_markers skeleton_tracker 或 roslaunch skeleton_markers skeleton.launch
$ rosrun skeleton_markers skeleton_subscriber.py 
# 接收节点的测试，其中position是3d坐标，orientation包含x,y,z,w，confidence是置信度
# 骨骼节点的顺序为head, neck, torso, left_shoulder, left_elbow, left_hand, right_shoulder, right_elbow, 
# right_hand, left_hip, left_knee, left_foot, right_hip, right_knee, right_foot

skeleton_subscriber.py参考了/nodes/markers_from_skeleton_msg.py
运行截图如下：