請各位注意是kinect V2，kinect有兩個版本，V1和V2

一、安裝

1、Download libfreenect2 source

git clone [email protected].com:DongdongBai/libfreenect2.git
cd libfreenect2

2、Download upgrade deb files

cd depends; ./download_debs_trusty.sh

3、Install build tools

sudo apt-get install build-essential cmake pkg-config
 

4、先安裝Nvidia顯示卡驅動和cuda，然後原始碼編譯Opencv（本步驟的順序不可以顛倒，因為Opencv在編譯時會查詢顯示卡驅動的版本（是使用整合顯示卡還是獨立顯示卡呢，以及獨立顯示卡驅動的版本），如果先裝Opencv，則Opencv會使用系統的預設的繼承顯示卡驅動，後面安裝Nvidia驅動將導致Opencv無法正常使用）

5、Install libusb. The version must be >= 1.0.20.

sudo dpkg -i debs/libusb*deb

6、Install TurboJPEG

sudo apt-get install libturbojpeg libjpeg-turbo8
 
-dev

7、 Install OpenGL

sudo dpkg -i debs/libglfw3*deb
sudo apt-get install -f
sudo apt-get install libgl1-mesa-dri-lts-vivid

如果最後一步出現依賴錯誤,直接忽略,無需做任何處理

8、Build

cd ..
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2 -DENABLE_CXX11=ON
make
make install

9、執行Cmake時出現

CMake Warning at CMakeLists.txt:405 (ADD_LIBRARY):
  Cannot generate a safe runtime search path for target freenect2 because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libOpenCL.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/cuda-7.5/lib64

  Some of these libraries may not be found correctly.


CMake Warning at CMakeLists.txt:451 (ADD_LIBRARY):
  Cannot generate a safe runtime search path for target freenect2-openni2
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libOpenCL.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/cuda-7.5/lib64

  Some of these libraries may not be found correctly.


CMake Warning at examples/CMakeLists.txt:76 (ADD_EXECUTABLE):
  Cannot generate a safe runtime search path for target Protonect because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libOpenCL.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /usr/local/cuda-7.5/lib64

  Some of these libraries may not be found correctly.

解決方法：在專案的cmake_modules資料夾中的FindOpenCL.cmake中新增下面兩句話即可（本教程中clone原始碼的CMakeLists.txt已經做了更改，不回出現上述問題，請放心使用）:

SET(OpenCL_INCLUDE_DIR /usr/local/cuda/include/ )
SET(OpenCL_LIBRARY  /usr/local/cuda-7.5/lib64/libOpenCL.so)

10、編譯時如果出現以下錯誤：

/usr/lib/gcc/x86_64-linux-gnu/4.8/include/stddef.h(432): error: identifier "nullptr" is undefined

/usr/lib/gcc/x86_64-linux-gnu/4.8/include/stddef.h(432): error: expected a ";"

/usr/include/x86_64-linux-gnu/c++/4.8/bits/c++config.h(190): error: expected a ";"

/usr/include/c++/4.8/exception(63): error: expected a ";"

/usr/include/c++/4.8/exception(68): error: expected a ";"

/usr/include/c++/4.8/exception(76): error: expected a ";"

/usr/include/c++/4.8/exception(83): error: expected a ";"

/usr/include/c++/4.8/exception(93): error: expected a "{"

/usr/include/c++/4.8/bits/exception_ptr.h(64): error: function "std::current_exception" returns incomplete type "std::__exception_ptr::exception_ptr"

/usr/include/c++/4.8/bits/exception_ptr.h(64): error: expected a "{"

/usr/include/c++/4.8/bits/exception_ptr.h(79): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(81): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(82): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(84): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(86): error: declaration is incompatible with previous "std::current_exception"
(64): here

/usr/include/c++/4.8/bits/exception_ptr.h(86): error: use of a local type to declare a function

/usr/include/c++/4.8/bits/exception_ptr.h(86): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(87): error: use of a local type to declare a function

/usr/include/c++/4.8/bits/exception_ptr.h(90): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(92): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(95): error: incomplete type is not allowed

/usr/include/c++/4.8/bits/exception_ptr.h(95): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(116): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(126): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(143): error: use of a local type to declare a function

/usr/include/c++/4.8/bits/exception_ptr.h(144): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(147): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(152): error: use of a local type to declare a function

/usr/include/c++/4.8/bits/exception_ptr.h(153): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(156): error: use of a local type to declare a function

/usr/include/c++/4.8/bits/exception_ptr.h(157): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(160): error: use of a local type to declare a function

/usr/include/c++/4.8/bits/exception_ptr.h(161): error: expected a ";"

/usr/include/c++/4.8/bits/exception_ptr.h(169): error: expected a ";"

/usr/include/c++/4.8/bits/nested_exception.h(57): error: incomplete type is not allowed

/usr/include/c++/4.8/bits/nested_exception.h(60): error: expected a ";"

/usr/include/c++/4.8/bits/nested_exception.h(66): error: expected a ";"

/usr/include/c++/4.8/bits/nested_exception.h(70): error: identifier "rethrow_exception" is undefined

/usr/include/c++/4.8/bits/nested_exception.h(73): error: function "std::nested_exception::nested_ptr" returns incomplete type "std::__exception_ptr::exception_ptr"

/usr/include/c++/4.8/new(95): error: expected a "{"

/usr/include/c++/4.8/new(110): error: identifier "__p" is undefined

/usr/include/c++/4.8/new(111): error: expected a "{"

/usr/include/c++/4.8/new(115): error: expected a "{"

/usr/include/c++/4.8/new(116): error: expected a "{"

/usr/local/cuda-7.5/include/common_functions.h(102): warning: exception specification is incompatible with that of previous function "operator new[](std::size_t, void *)"
/usr/include/c++/4.8/new(111): here

/usr/local/cuda-7.5/include/common_functions.h(103): warning: exception specification is incompatible with that of previous function "operator delete(void *, void *)"
/usr/include/c++/4.8/new(115): here

/usr/local/cuda-7.5/include/common_functions.h(104): warning: exception specification is incompatible with that of previous function "operator delete[](void *, void *)"
/usr/include/c++/4.8/new(116): here

/usr/include/c++/4.8/bits/cpp_type_traits.h(184): error: identifier "char16_t" is undefined

/usr/include/c++/4.8/bits/cpp_type_traits.h(191): error: identifier "char32_t" is undefined

/usr/include/c++/4.8/bits/cpp_type_traits.h(191): error: class "std::__is_integer<<error-type>>" has already been defined

/usr/include/c++/4.8/bits/cpp_type_traits.h(314): error: namespace "std::__gnu_cxx" has no member "__normal_iterator"

/usr/include/c++/4.8/bits/cpp_type_traits.h(314): error: expected a ">"

/usr/include/c++/4.8/cmath(80): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(80): error: expected a ";"

/usr/include/c++/4.8/cmath(105): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(105): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(105): error: expected a ";"

/usr/include/c++/4.8/cmath(124): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(124): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(124): error: expected a ";"

/usr/include/c++/4.8/cmath(143): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(143): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(143): error: expected a ";"

/usr/include/c++/4.8/cmath(162): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(162): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(162): error: expected a ";"

/usr/include/c++/4.8/cmath(183): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(183): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(183): error: expected a ";"

/usr/include/c++/4.8/cmath(202): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(202): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(202): error: expected a ";"

/usr/include/c++/4.8/cmath(221): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(221): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(221): error: expected a ";"

/usr/include/c++/4.8/cmath(240): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(240): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(240): error: expected a ";"

/usr/include/c++/4.8/cmath(259): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(259): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(259): error: expected a ";"

/usr/include/c++/4.8/cmath(278): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(278): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(278): error: expected a ";"

/usr/include/c++/4.8/cmath(297): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(297): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(297): error: expected a ";"

/usr/include/c++/4.8/cmath(328): error: "constexpr" is not a function or static data member

/usr/include/c++/4.8/cmath(337): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(337): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(337): error: expected a ";"

/usr/include/c++/4.8/cmath(356): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(356): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(356): error: expected a ";"

/usr/include/c++/4.8/cmath(375): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(375): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(375): error: expected a ";"

/usr/include/c++/4.8/cmath(406): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(406): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(406): error: expected a ";"

/usr/include/c++/4.8/cmath(443): error: inline specifier allowed on function declarations only

/usr/include/c++/4.8/cmath(443): error: variable "std::constexpr" has already been defined

/usr/include/c++/4.8/cmath(443): error: expected a ";"

Error limit reached.
100 errors detected in the compilation of "/tmp/tmpxft_00001206_00000000-7_cuda_kde_depth_packet_processor.cpp1.ii".
Compilation terminated.
CMake Error at cuda_compile_generated_cuda_kde_depth_packet_processor.cu.o.cmake:264 (message):
  Error generating file
  /home/bdd/libfreenect2-master/build/CMakeFiles/cuda_compile.dir/src/./cuda_compile_generated_cuda_kde_depth_packet_processor.cu.o


make[2]: *** [CMakeFiles/cuda_compile.dir/src/./cuda_compile_generated_cuda_kde_depth_packet_processor.cu.o] Error 1
make[1]: *** [CMakeFiles/freenect2.dir/all] Error 2
make: *** [all] Error 2

將專案中的cuda關閉即可,即將CMakeLists.txt中的第35行的OPTION(ENABLE_CUDA “Enable CUDA support” ON)的ON改為OFF即可（本教程中clone原始碼的CMakeLists.txt已經做了更改，不回出現上述問題，請放心使用）。

二、驗證安裝是否成功及問題解決方法

在build下面有個bin資料夾，放置生成的輸出檔案，插上kinect，然後執行。此時黃燈變成白色的，表示有驅動。注意：只能用於USB3的介面，好在臺式機和筆記本都有3.0的口。

./bin/Protonect gl
./bin/Protonect cl
./bin/Protonect cpu

但是如果提示許可權不夠，failed to open Kinect V2 Access denied，設定執行：sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/, 然後重新插拔Kinect2.

Ros介面安裝

1、對於已經安裝了Ros Indigo的Ubuntu14.04來說，使用下面的命令

cd ~/catkin_ws/src/
git clone [email protected]:DongdongBai/iai_kinect2.git
cd iai_kinect2
sudo rosdep install -r --from-paths .
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release"
rospack profile

注意：針對於上述命令中最後一行指令， 需要說明的是， 如果前面libfreenect2你安裝的位置不是$HOME/freenect2或/usr/local這兩個標準路徑下下， 需要提供引數指定libfreenect2所在路徑:

catkin_make -Dfreenect2_DIR=path_to_freenect2/lib/cmake/freenect2 -DCMAKE_BUILD_TYPE="Release"

2、sudo rosdep install -r –from-paths . 出現如下問題：

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies (ROS distro is not set. Make sure `ROS_DISTRO` environment variable is set, or use `--rosdistro` option to specify the distro, e.g. `--rosdistro indigo`):
kinect2_viewer: Cannot locate rosdep definition for [cv_bridge]
kinect2_registration: Cannot locate rosdep definition for [cv_bridge]
kinect2_bridge: Cannot locate rosdep definition for [cv_bridge]
kinect2_calibration: Cannot locate rosdep definition for [cv_bridge]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

這個問題是正常情況，不是錯誤，請大家直接忽視!

3、接下來可以測試了。

roslaunch kinect2_bridge kinect2_bridge.launch

然後重新開一個新的終端

rosrun kinect2_viewer kinect2_viewer

顯示如下圖所示。Good Luck and enjoy it!