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KinectVision3rdPartySoftware  
This contains an overview of the 3rd party software used for Vision
Updated May 2, 2013 by saund...@gmail.com

Introduction

OpenNI+SensorKinect+OpenCV are the 3rd party software components for the Kinect Vision Processing.

Prerequisites

sudo apt-get update
sudo apt-get install git-core cmake-gui build-essential default-jdk doxygen
sudo apt-get install freeglut3-dev libusb-1.0.0-dev libgtk2.0-dev libqt4-dev libflann-dev libeigen3-dev

OpenNI

download

mkdir ~/kinect
cd ~/kinect
git clone git://github.com/OpenNI/OpenNI.git
cd ~/kinect/OpenNI
git checkout unstable

fixes (Only on pandaboard)

cd ~/kinect/OpenNI/Platform/Linux/Build/Common
  • Edit the Platform.Arm file to remove the -mfloat-abi=softfp option

build

cd ~/kinect/OpenNI/Platform/Linux/CreateRedist
./RedistMaker.Arm

install

cd ~/kinect/OpenNI/Platform/Linux/Redist/OpenNI-Bin-Dev-Linux-Arm-v1.5.4.0
sudo ./install.sh

SensorKinect

download

cd ~/kinect
git clone git://github.com/avin2/SensorKinect.git

fixes (Only for pandaboard)

cd ~/kinect/SensorKinect/Platform/Linux/Build/Common
  • Edit the Platform.Arm file to remove the -mfloat-abi=softfp option and change mtune to cortex-a9 (pandaboard es "-mtune=cortex-a9")

build

cd ~/kinect/SensorKinect/Platform/Linux/CreateRedist
./RedistMaker

config

cd ~/kinect/SensorKinect/Platform/Linux/Redist/Sensor-Bin-Linux-Arm-v5.1.2.1
  • Edit Config/GlobalDefaultsKinect.ini and change ;UsbInterface=2 to UsbInterface=1

install

sudo ./install.sh

Testing OpenNI + SensorKinect

cd ~/kinect/OpenNI/Platform/Linux/Redist/OpenNI-Bin-Dev-Linux-Arm-v1.5.4.0
cd Samples/Bin/Arm-Release
./Sample-NiSimpleRead

OpenCV

Download

http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/

cd ~/kinect
tar -xvf ~/Downloads/OpenCV-2.4.3.tar.bz2

Build

cd ~/kinect/OpenCV-2.4.3/
mkdir build
cd build
cmake-gui ..

Using Cmake gui

Select 'WITH_OPENNI' and 'WITH_QT'

Then click the Configure button and then the Generate Button.

Installation

Go to the directory that contains the binaries after running the cmake gui. Run make, and then sudo make install

make
sudo make install

OpenCV + OpenNI Example

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(openni_capture)

find_package(OpenCV)

include_directories(${OpenCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
add_definitions(${OpenCV_DEFINITIONS})

add_executable (openni_capture openni_capture.cpp)
target_link_libraries (openni_capture ${OpenCV_LIBRARIES})
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