Ubuntu下安裝配置OpenNI, OpenCV 步驟

費了老大半天工夫，總算在Linux下把OpenNI和OPenCV配置好了，網上對Linux下OpenNI的配置方法講的很少，而尋找使用OpenNI進行開發的方法更是像大海撈針……連手冊里都只字不提，翻了好的資料才算搞定。閑話少說，總結在這和大家一起分享。
一、OPenNI篇
1.軟件下載：
(1)OpenNI：aspx">http://www.openni.org/Downloads/OpenNIModules.aspx
　　選擇“OpenNI Binaries”->“Unstable”->“...for ubuntu...”，點擊“Download”。
　　下載完成后解壓，cd進入解壓后的路徑：$ ./install.sh（不記得要不要加sudo了，試一試吧）
(2)SensorKinect：
　　命令：$git clone https://github.com/avin2/SensorKinect.git
　　如果沒有安裝git，則sudo apt-get install之～
　　過程比較慢，結束后會在當前路徑出現一個文件夾SensorKinect，cd進SensorKinect/Platform/Linux/CreateRedist，之后$ ./RedistMaker，這時在上層目錄Linux下出現Redist文件夾。此時網上說進該目錄$ ./install.sh，但實際上還要進一層目錄才有instal.sh文件。但是貌似執行這個需要root權限，我不知道怎么弄，$sudo su后也不行，最后發現還是Redist文件夾里面有一個Final文件夾，里面有一個壓縮包Sensor-Bin-Linux-x86-v5.0.5.1.tar.bz2，我索性把它拷出來，解壓縮后進去 （…/SensorKinect/Platform/Linux/CreateRedist/Sensor-Bin-Linux-x86-v5.0.5.1/），在里面$./install.sh，竟然就可以了。順便說一下，可能在這些過程中輸入$ ./install.sh 會提示沒有命令之類的，可以在install.sh文件上右擊->屬性->權限，選中“允許以程序執行文件”，就可以了。
　　這時可以到在OpenNI-Bin-XXXX/Samples/Bin/x86-Release目錄中測試：$ ./NiViewer，有可能提示沒有什么庫之類的，試著裝一下：$sudo apt-get install libusb-1.0-0-dev freeglut3-dev，之后應該就可以運行了，就可以看到期待已久的畫面嘍。如果這時候提示說Failed to set USB interface!或者Open failed: The network connection has been closed!，在命令行里運行：
　　$sudo rmmod gspca_kinect
　　這是因為Ubuntu可能自帶了kinect驅動gspca_kinect，二者有沖突。貌似每次重啟電腦后都需要執行一下這句才行。
　　這部分主要參考了https://github.com/avin2/SensorKinect里面講的可能和實際不太一樣，嘗試著來吧。
(2)NITE：http://www.openni.org/Downloads/OpenNIModules.aspx
　　選擇“OpenNI Compliant Middleware Binaries”->“Unstable”->“...Ubuntu...”，下載就好了。
　　下載完成后解壓，進入目錄$ ./install.sh即可。
2.開發環境配置
　　我選用的是eclipse-cdt進行開發，網上僅有的可憐的一點資料講的是用codeblocks進行開發，其實都是差不多的。這里以eclipse為例介紹一下吧。
　　新建一個空的或helloworld工程，如kinectOpenNI，在左側的project exploer中右擊kinectOpenNI，點properties，在對話框中選擇C/C++ Build->settings->GCC C++ Compiler(如果用C寫就選GCC C Compiler)->Directories，在右側Include paths(-l)里點右邊綠色加號，添加兩個路徑/usr/include/ni和/usr/include/nite，然后再選擇GCC C++ Linker->Libraries，在Libraries (-l)中添加OpenNI，glut，XnVNite，注意XnVNite可能有版本號，要到你的/usr/lib目錄下看一看，有個文件叫libXnVNite_XXXX.so之類的，我的是libXnVNite_1_5_0.so，所以我填的是XnVNite_1_5_0，反正就是隨機應變吧，填不對的話它會報錯說找不到庫。由于這幾個庫都是在系統/usr/lib/目錄下的，因此不用添加Library search path (-L)。
　　到此為止你的工程應該可以編譯了。試試這段樣例：(注意該一下里面xml文件的路徑。樣例是直接從安裝包里找到的。當然，記得連上你的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", 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", strError);
return (rc);
}
else if (rc != XN_STATUS_OK)
{
printf("Open failed: %s", 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!");
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");
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
　　雖然已經可以用OpenGL了，但是OpenCV還是很不錯的，也配一下吧。
1.軟件下載
(1)裝一下這些吧：
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都是必須的，其他的都不確定啦，保險起見都裝一下吧～
(2)下載最新版本OpenCV：http://sourceforge.net/projects/opencvlibrary/files/
　　解壓，生成目錄如OpenCV-2.3.1，在它旁邊新建一個目錄，如OpenCV-2.3.1-build。這時打開cmake-gui圖形界面，應該可以在主菜單的“編程”項中找到。在上面的Source和Build欄中分別填上OpenCV-2.3.1和OpenCV-2.3.1-build的完整路徑。點下面的Config，如果窗口內容變紅，再點一次，知道不紅為止，這時點Generate即可。命令行cd進OpenCV-2.3.1-build，$make然后$sudo make install，此時OpenCV應該就被安裝在/usr/local/下面了。
2.建立工程
　　使用eclipse建立新工程，如testOpenCV在左側的project exploer中右擊testOpenCV，點properties，在對話框中選擇C/C++ Build->settings->GCC C++ Compiler(如果用C寫就選GCC C Compiler)->Directories，在右側Include paths(-l)里點右邊綠色加號，添加路徑/usr/local/include/opencv，然后再選擇GCC C++ Linker->Libraries，在Libraries (-l)中添加opencv_core，opencv_highgui，如果需要其他庫也依次添加。庫的路徑是/usr/local/lib，因此要添加Library search path (-L)：/usr/local/lib。
　　還要給系統添加一下環境變量。我是試了好幾種方法，也不知道最后是那個生效了：
　　命令行里依次輸入（就是新建個文件，添上一行/usr/local/lib，也可以用gedit來做）：
sudo vi /etc/ld.so.conf.d/opencv.conf
G
o
/usr/local/lib
<Esc>
:wq!
類似地，打開文件/etc/bash.bashrc，在最后添加兩行：
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH
然后在命令行輸入：
sudo ldconfig -v
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
重啟，然后應該就可以編譯運行了，如果配置不好的話可能會報錯說沒有libopencv_core.so文件之類的。如果還是不行，就在看看其他帖子吧，不同人情況不一yang，我是深深地感受到了。
　　好了，看看能不能運行吧：
測試程序：
#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;
}
其中圖片路徑在與工程中該cpp文件一致，或者取個絕對路徑吧。
如果一切安好，那就恭喜啦。

有了OpenNI和OpenCV，就安心開發你有意思的Kinect應用吧～

作者：韶子 博客地址：http://sunshy.cnblogs.com/　

生活不易，碼農辛苦
如果您覺得本網站對您的學習有所幫助,可以手機掃描二維碼進行捐贈