OS：官方固件 Xubuntu 16.04

1 准备 Preparation

1.1) Install libfreenect

Note:

libfreenect for Kinect Xbox 360
libfreenect2 for Kinect Xbox One

download latest code, instead of latest release v0.5.5

$ git clone https://github.com/OpenKinect/libfreenect.git
$ cd libfreenect/

fix issue with OpenCV, in line 173

$ vi OpenNI2-FreenectDriver/src/DepthStream.hpp

case XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE: // unsigned long long or unsigned int (for OpenNI2/OpenCV)
if (*pDataSize != sizeof(unsigned long long) && *pDataSize != sizeof(unsigned int))
{
LogError("Unexpected size for XN_STREAM_PROPERTY_ZERO_PLANE_DISTANCE");
return ONI_STATUS_ERROR;
} else {
if (*pDataSize != sizeof(unsigned long long)) {
(static_cast<unsigned long long>(data)) = ZERO_PLANE_DISTANCE_VAL;
} else {
(static_cast<unsigned int>(data)) = (unsigned int) ZERO_PLANE_DISTANCE_VAL;
}
}
return ONI_STATUS_OK;

build

$ mkdir build
$ cd build
$ cmake -DBUILD_OPENNI2_DRIVER=ON ..
$ make

preview

$ ./bin/freenect-glview

1.2) Install OpenNI

download this, aarch64 platform support

$ git clone -b develop https://github.com/joinAero/OpenNI2.git
$ cd OpenNI2/

deps

$ sudo apt-get install libudev-dev

or, all

$ sudo apt-get install
g++
python
libusb-1.0-0-dev
libudev-dev
openjdk-6-jdk
freeglut3-dev
doxygen
graphviz

build

$ make

setup

$ echo "export OPENNI2_INCLUDE=pwd/Include" >> ~/.bashrc
$ echo "export OPENNI2_REDIST=pwd/Bin/AArch64-Release" >> ~/.bashrc

Then, copy the freenect driver to OpenNI2 driver repository:

$ cd libfreenect/build/
$ cd lib/OpenNI2-FreenectDriver/

$ export FREENECT_DRIVER_LIB=libFreenectDriver.so
export FREENECT_DRIVER_REAL_LIB=(python - <<'EOF'
import os
lib = os.environ['FREENECT_DRIVER_LIB']
while os.path.islink(lib):
lib = os.readlink(lib)
print(lib)
EOF
)
ln -sf `pwd`/FREENECT_DRIVER_REAL_LIB OPENNI2_REDIST/OpenNI2/Drivers/FREENECT_DRIVER_LIB

1.3) Build OpenCV with OpenNI

请参阅这篇：Firefly-RK3399 上编译安装 OpenCV 3
$ cd opencv/
$ mkdir build
$ cd build/

export PY_NAME=(python -c 'from sys import version_info as v; print("python%d.%d" % v[:2])')
export PY_NUMPY_DIR=(python -c 'import os.path, numpy.core; print(os.path.dirname(numpy.core.file))')

$ cmake -DCMAKE_BUILD_TYPE=RELEASE
-DCMAKE_INSTALL_PREFIX=/usr/local
-DPYTHON2_EXECUTABLE=$(which python)
-DPYTHON_INCLUDE_DIR=/usr/include/$PY_NAME
-DPYTHON_INCLUDE_DIR2=/usr/include/aarch64-linux-gnu/$PY_NAME
-DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/lib$PY_NAME.so
-DPYTHON2_NUMPY_INCLUDE_DIRS=/usr/lib/$PY_NAME/dist-packages/numpy/core/include/
-DWITH_OPENNI2=ON
-DBUILD_DOCS=OFF
-DBUILD_EXAMPLES=OFF
-DBUILD_TESTS=OFF
-DBUILD_PERF_TESTS=OFF
-DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules
..

make -j(nproc --all)
$ sudo make install

2 使用 Usage

kinect.cc:

#include "camera.hpp"

int main(int argc, char const *argv[]) {
Camera cam(cv::CAP_OPENNI2);
if (!cam.IsOpened()) {
std::cerr << "ERROR: Open camera failed" << std::endl;
return 1;
}
std::cout << "\033[1;32mPress ESC/Q to terminate\033[0m\n\n";

double min, max;
cv::Mat adjmap, colormap;
cam.Capture([&](const cv::Mat& frame, const cv::Mat& depthmap) {
cv::minMaxIdx(depthmap, &min, &max);
const float scale = 255 / (max-min);
depthmap.convertTo(adjmap, CV_8UC1, scale, -min*scale);

//applyColorMap(adjmap, colormap, cv::COLORMAP_AUTUMN);

cam.DrawInfo(frame);
cam.DrawInfo(adjmap);
cv::imshow("frame", frame);
cv::imshow("depthmap", adjmap);

const int key = cv::waitKey(10);
return !(key == 27 || key == 'q' || key == 'Q'); // ESC/Q
});

return 0;
}

完整的 C++ 代码见这，Python 代码见这。

3 结束 Finally

步骤 1.1：

• 直接安装 libfreenect 使用时，没有 OpenNI2 驱动，需要自己编译。
• 自己编译 libfreenect 时，请使用最新代码。当前 Release v0.5.5 未支持好 aarch64 。
• 自己编译 libfreenect 时，如果要结合 OpenCV 使用，得做个修正。

步骤 1.2：

• 直接安装 OpenNI2 使用时，运行时没能找到 Kinect ，也可能我没插好。
• 使用官方 OpenNI2 ARM 版本时，报不兼容的错误，与 aarch64 是有冲突的。
• 自己编译 OpenNI2 时， aarch64 平台未支持好， fork 了个版本。

Python 代码：

• 同时获取图像和深度时，图像是有问题的，见此 Issue 。

原作者：eevee