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| Kinect on Ubuntu with OpenNI(经测试是成功的（2017-05）) |
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KinectonUbuntuwithOpenNI
UPDATE?October?2015:VerifiedworkinginUbuntu14.04LTSand15.04!
I’vespentallthismorningtryingtotalktotheMicrosoftKinectusingOpenNI.Asitturnsout,theprocessisnotexceptionallydifficult,it’sjusttheredoesn’tseemtobeanyuptodatedocumentationongettingitallworking.So,thispostshouldfillthevoid.IdescribehowtogetaccesstotheKinectworkingusingUbuntu12.04LTS,OpenNI1.5.4,andNITE1.5.2.
Pleasenotethatsincewritingthistutorial,wenowhaveOpenNIandNITE2.0,andPrimeSensehavebeenboughtbyApple.Thistutorialdoesnotworkwithversions2(though1.5worksjustfine),andthereistalkofApplestoppingpublicaccesstoNITE.
TotalktotheKinect,therearetwobasicparts:OpenNIitself,andaSensormodulethatisactuallyresponsibleforcommunicatingwiththehardware.Then,ifyouneedit,thereisNITE,whichisanothermoduleforOpenNIthatdoesskeletaltracking,gestures,andstuff.DependingonhowyouplanonusingthedatafromtheKinect,youmaynotneedNITEatall.
Step1:Prerequisites
Weneedtoinstallabunchofpackagesforallthistowork.Thankfully,thereadmefileincludedwithOpenNIlistsallthese.However,tomakelifeeasier,thisis(asofwriting)whatyouneedtoinstall,inadditiontoallthedevelopmentpackagesyou(hopefully)alreadyhave.Shell
sudoapt-getinstallgitbuild-essentialpythonlibusb-1.0-0-devfreeglut3-devopenjdk-7-jdk
1 sudoapt-getinstallgitbuild-essentialpythonlibusb-1.0-0-devfreeglut3-devopenjdk-7-jdk
Therearealsosomeoptionalpackagesthatyoucaninstall,dependingonwhetheryouwantdocumentation,Monobindings,etc.Notethatonearlierversionstheinstallfailedifyoudidn’thavedoxygeninstalled,eventhoughitislistedasoptional.Shell
sudoapt-getinstalldoxygengraphvizmono-complete
1 sudoapt-getinstalldoxygengraphvizmono-complete
Step2:OpenNI1.5.4
OpenNIisaframeworkforworkingwithwhattheyarecallingnaturalinteractiondevices.Anyway,thisishowitisinstalled:
CheckoutfromGit
OpenNIishostedonGithub,socheckingitoutissimple:Shell
gitclonehttps://github.com/OpenNI/OpenNI.git
1 gitclonehttps://github.com/OpenNI/OpenNI.git
ThefirstthingwewilldoischeckouttheUnstable1.5.4tag.Ifyoudon’tdothis,thentheSensorKinectlibrarywon’tcompileinStep3.Fromthere,changeintothePlatform/Linux-x86/CreateRedistdirectory,andruntheRedistMakerscript.Notethateventhoughthedirectoryisnamedx86,thissamedirectorybuilds64bitversionsjustfine.So,don’tfretifyou’reon64bitLinux.Shell
cdOpenNIgitcheckoutUnstable-1.5.4.0cdPlatform/Linux/CreateRedistchmod+xRedistMaker./RedistMaker
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5 cdOpenNI
gitcheckoutUnstable-1.5.4.0
cdPlatform/Linux/CreateRedist
chmod+xRedistMaker
./RedistMaker
TheRedistMakerscriptwillcompileeverythingforyou.YouthenneedtochangeintotheRedistdirectoryandruntheinstallscripttoinstallthesoftwareonyoursystem.Shell
cd../Redist/OpenNI-Bin-Dev-Linux-[xxx](where[xxx]isyourarchitectureandthisparticularOpenNIrelease)sudo./install.sh
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2 cd../Redist/OpenNI-Bin-Dev-Linux-[xxx]??(where[xxx]isyourarchitectureandthisparticularOpenNIrelease)
sudo./install.sh
Step3:KinectSensorModule
OpenNIdoesn’tactuallyprovideanythingfortalkingtothehardware,itismorejustaframeworkforworkingwithdifferentsensorsanddevices.YouneedtoinstallaSensormoduleforactuallydoingthehardwareinterfacing.ThinkofanOpenNIsensormoduleasadevicedriverforthehardware.You’llalsonoteontheOpenNIwebsitethattheyhaveaSensormodulethatyoucandownload.Don’tdothisthough,becausethatsensormoduledoesn’ttalktotheKinect.Ilovehowwelldocumentedallthisis,don’tyou?
ThesensormoduleyouwantisalsoonGitHub,butfromadifferentuser.So,wecancheckoutthecode.Wealsoneedtogetthekinectbranch,notmaster.Shell
gitclonehttps://github.com/avin2/SensorKinectcdSensorKinect
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2 gitclonehttps://github.com/avin2/SensorKinect
cdSensorKinect
TheinstallprocessforthesensorisprettymuchthesameasforOpenNIitself:Shell
cdPlatform/Linux/CreateRedistchmod+xRedistMaker./RedistMakercd../Redist/Sensor-Bin-Linux-[xxx](where[xxx]isyourarchitectureandthisparticularOpenNIrelease)chmod+xinstall.shsudo./install.sh
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6 cdPlatform/Linux/CreateRedist
chmod+xRedistMaker
./RedistMaker
cd../Redist/Sensor-Bin-Linux-[xxx](where[xxx]isyourarchitectureandthisparticularOpenNIrelease)
chmod+xinstall.sh
sudo./install.sh
OnUbuntu,regularusersareonlygivenreadpermissiontounknownUSBdevices.Theinstallscriptputsinsomeudevrulestofixthis,butifyoufindthatnoneofthesamplesworkunlessyourunthemasroot,tryunpluggingandpluggingtheKinectbackinagain,tomakethenewrulesapply.
Step4:TesttheOpenNISamples
Atthispoint,youhaveenoughinstalledtogetdatafromtheKinect.TheeasiestwaytoverifythisistorunoneoftheOpenNIsamples.Shell
cdOpenNI/Platform/Linux-x86/Bin/Release./Sample-NiSimpleViewer
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2 cdOpenNI/Platform/Linux-x86/Bin/Release
./Sample-NiSimpleViewer
Youshouldseeayellow-blackdepthimage.Atthispoint,you’releftwith(optionally)installingthehigherlevelNITEmodule.
Step5:InstallNITE1.5(optional)
Firstly,youneedtoobtainNITE1.5.2.GotothefollowinglinkanddownloadNITE1.5.2foryourplatform..
http://www.openni.org/openni-sdk/openni-sdk-history-2/
Extractthearchive,andruntheinstaller:Shell
sudo./install.sh
1 sudo./install.sh
Atsomepoint,youmaybeaskedforalicensekey.AworkinglicensekeycanbefoundjustaboutanywhereontheInternet.Idon’tthinkPrimeSensecare,ormaybethisisanon-commerciallicenseorsomething.Butwhatever,justcopythatlicenseintotheconsole,includingtheequalssignattheend,andNITEwillinstalljustfine.
Conclusion
Afterfollowingthesesteps,youwillbeabletowriteprogramsthatusetheMicrosoftKinectthroughOpenNIandNITEmiddleware.Ihopethishelpssomeone,becauseIspentalotoftimescrewingaroundthismorningtryingtogetitalltowork.LikeIsaid,theprocessisprettystraightforward,itjusthasn’tbeenwrittendowninoneplace(orIsuckatgoogle).
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