编译安装PCL点云库，Kinect2驱动,乐视Astra相机驱动

╰半夏微凉° 2023-03-03 11:16 9阅读 0赞

#                                         编译安装PCL点云库 #

安装方法一

3d点云安装

apt-cache cearch pcl

![20201101152359161.png][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70][]

安装

sudo apt install 上面查出来的

![20201101152627859.png][]

## opencv不建议用以上方法因为需要 安装 opencv\_contrib ##

![20201101153003172.png][]

## 安装方法二 ##

## 官网及文档 ##

源码官网：https://github.com/PointCloudLibrary/pcl

摄像头端口

ll /dev/video*

## 安装方式 ##

**方式一**：编译源码安装（最稳妥）

**1.准备编译环境及工具**

sudo apt-get update
    sudo apt-get install git build-essential linux-libc-dev
    sudo apt-get install cmake cmake-gui 
    sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
    sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
    sudo apt-get install libpcap-dev
    sudo apt-get install libflann1.9 libflann-dev
    sudo apt-get install libeigen3-dev
    sudo apt-get install libboost-all-dev
    sudo apt-get install vtk6 libvtk6.3 libvtk6-dev libvtk6.3-qt libvtk6-qt-dev 
    sudo apt-get install libqhull* libgtest-dev
    sudo apt-get install freeglut3-dev pkg-config
    sudo apt-get install libxmu-dev libxi-dev 
    sudo apt-get install mono-complete
    sudo apt-get install libopenni-dev libopenni2-dev
    sudo apt install pcl-tools
    # sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre

**2.编译PCL（PointCloudLibrary）**

下载源码：

git clone https://gitee.com/mirrors/pcl.git

3.进入下载后的pcl目录，创建并进入release目录，执行编译：

cd pcl
    # 切换到指定版本v1.9.1再编译
    非git下载可以不用执行这行
    git checkout pcl-1.9.1 
    # 创建目录
    进入源码目录，在源码目录下
    mkdir release
    # 进入目录
    cd release
    
    # 配置cmake 不执行这行，执行下面一行
    cmake -DCMAKE_BUILD_TYPE=None \
          -DCMAKE_INSTALL_PREFIX=/usr/local \
          -DBUILD_GPU=ON \
          -DBUILD_apps=ON \
          -DBUILD_examples=ON ..
    
    # 配置cmake 控制台命令
    cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=~/pcl_env -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON ..
    
    # 进行编译
    make -j8

**安装**

sudo make install
    
    未安装在这个/usr/local目录下的，安装成功后做一个软链接，方便导库
    sudo ln -s ~/pcl_env /usr/local/share/pcl_env

**工程引入库**

CMakeLists.txt

cmake_minimum_required(VERSION 3.16)
    project(pcl1)
    
    set(CMAKE_CXX_STANDARD 14)
    
    # 设置输出根目录为build/Debug
    set(OUTPUT_DIRECTORY_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/build/${CMAKE_BUILD_TYPE})
    # 设置可执行程序输出到build/Debug/bin目录
    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${OUTPUT_DIRECTORY_ROOT}/bin" CACHE PATH "Runtime directory" FORCE)
    # 设置库文件输出到build/Debug/lib目录
    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${OUTPUT_DIRECTORY_ROOT}/lib" CACHE PATH "Library directory" FORCE)
    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${OUTPUT_DIRECTORY_ROOT}/lib" CACHE PATH "Archive directory" FORCE)
    
    
    
    find_package(PCL REQUIRED)
    # 包含头文件目录
    include_directories(${PCL_INCLUDE_DIRS})
    # 设置依赖库链接目录
    link_directories(${PCL_LIBRARY_DIRS})
    # 添加预处理器和编译器标记
    add_definitions(${PCL_DEFINITIONS})
    
    add_executable(pcl1 main.cpp)
    target_link_libraries(pcl1 ${PCL_LIBRARIES})

1.  **测试**

测试是否成功，打开窗口看到logo点云即为成功安装

在release目录执行以下命令，弹出窗口点云就算成功

pcl_viewer ../test/pcl_logo.pcd

**方式二**：在线安装（100M下载，释放后1G）

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
    sudo apt-get update
    sudo apt-get install libpcl-dev  # 或 libpcl-all

## 问题及处理 ##

### **问题：没有pcl\_viewer** ###

*  解决：

> 说明编译的时候，cmake参数有误，或install有问题，可以检查参数后重新执行cmake make
> 
> 或通过以下命令安装 `bash sudo apt install pcl-tools`

### **问题：加载pcd文件异常**[¶][Link 1] ###

描述：执行`pcl::io::loadPCDFile<PointType>("./assets/xxxx.pcd", *cloud) == -1)`，控制台报错

Process finished with exit code 139 (interrupted by signal 11: SIGSEGV)

*  解决：

> 此时，很可能是eigen3有问题，从此处下载离线版eigen3库
> 
>     http://bitbucket.org/eigen/eigen/get/3.2.0.tar.bz2

http://eigen.tuxfamily.org/index.php?title=Main\_Page 在该网站中，可以下载任意版本对应的文件，本例下载了Eigen 3.2.0. tar.bz2 格式压缩文件。 文件名：eigen-eigen-ffa86ffb5570.tar.bz2

执行如下操作：

1.  卸载原有eigen3：

sudo apt-get remove libeigen3-dev --purge

1.  重装eigen3

>     # 解压
>     tar -jxvf eigen3_3.2.0.orig.tar.bz2
>     # 重命名
>     mv eigen-eigen-ffa86ffb5570/ eigen3
>     # 复制到/usr/local/include/
>     sudo cp -r eigen3 /usr/local/include/eigen3
>     # 复制到/usr/include/
>     sudo cp -r eigen3 /usr/include/eigen3
> 
>

### 问题：`metslib` cmake 错误[¶][Link 2] ###

>     no metslib found.

*  解决：

>     wget https://www.coin-or.org/download/source/metslib/metslib-0.5.3.tgz
>     tar xzvf metslib-0.5.3.tgz
>     cd metslib-0.5.3
>     ./configure
>     make 
>     sudo make install

### 问题：`libpq.so`和`libvtkIO.so`错误[¶][Link 3] ###

[ 13%] Built target pcl_pcd_convert_NaN_nan
    [ 13%] Linking CXX executable ../../bin/pcl_pcd_introduce_nan
    //usr/lib/x86_64-linux-gnu/libpq.so.5: undefined reference to `SSL_get_peer_certificate@OPENSSL_1.0.0'
    /usr/lib/libvtkIO.so.5.10.1: undefined reference to `TIFFReadDirectory@LIBTIFF_4.0'
    //usr/lib/x86_64-linux-gnu/libpq.so.5: undefined reference to `CRYPTO_num_locks@OPENSSL_1.0.0'
    //usr/lib/x86_64-linux-gnu/libpq.so.5: undefined reference to `SSL_get_current_compression@OPENSSL_1.0.0'
    //usr/lib/x86_64-linux-gnu/libpq.so.5: undefined reference to `SSL_CTX_free@OPENSSL_1.0.0'

*  解决：

sudo apt-get remove libpq5
    sudo apt-get install libpq-dev

### 问题：make时`libproj.so`[¶][Link 4] ###

make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libproj.so', needed by 'lib/libpcl_io.so.1.9.1.99'。 停止。CMakeFiles/Makefile2:499: recipe for target 'io/CMakeFiles/pcl_io.dir/all' failed

*  解决：

> 建立软连接, 终端中输入:
> 
>     sudo ln -s /usr/lib/x86_64-linux-gnu/libproj.so.9 /usr/lib/x86_64-linux-gnu/libproj.so
> 
>

### 问题：`libpng16.so`错误[¶][Link 5] ###

//home/ty/anaconda3/lib/libpng16.so.16: undefined reference to `inflateValidate@ZLIB_1.2.9'
    collect2: error: ld returned 1 exit status
    src/CMakeFiles/pcl_test.dir/build.make:253: recipe for target '../build/debug/bin/pcl_test' failed
    make[3]: *** [../build/debug/bin/pcl_test] Error 1

*  解决：

> cd /usr/lib/x86\_64-linux-gnu  
> sudo ln -sf ~/anaconda/lib/libpng16.so.16 libpng16.so.16  
> cd /usr/lib/  
> sudo ln -sf ~/anaconda/lib/libpng16.so.16 libpng16.so.16  
> sudo ldconfig

或

conda remove libpng
    sudo apt-get install libpng16-16 --reinstall

实在不行编译安装源码：

>     wget https://download.sourceforge.net/libpng/libpng-1.6.37.tar.gz
>     tar -zxvf libpng-1.6.37.tar.gz
>     cd libpng-1.6.37/
>     ./configure --prefix=/usr/local/
>     sudo make && make install

### 问题：`/usr/bin/ld: cannot find -lxxx`[¶][Link 6] ###

*  以`` `/usr/bin/ld: cannot find -lvtkproj4``为例
 *  解决：

> **原因1**：libvtkproj4.so的链接不正确或没有链接，注意规则是libxxx.so
> 
>

cd /usr/lib
    ll | grep -i vtkproj4
    # 输出
    lrwxrwxrwx   1 root root       21 4月   5  2016 libvtkproj4.so.5.10 -> libvtkproj4.so.5.10.1
    -rw-r--r--   1 root root   312320 4月   5  2016 libvtkproj4.so.5.10.1

说明没有libvtkproj4.so链接，则执行以下命令即可：

sudo ln -s libvtkproj4.so.5.10 libvtkproj4.so

**原因2**：系统缺少对应的so库，即/usr/lib下找不到类似的so

则进行搜索并安装

sudo apt-cache search libvtkproj4-dev
    sudo apt-get install libvtkproj4-dev

\--------------------------------------------------------------------------------------------------------------------------------------------------------------

# 01-编译安装Kinect2驱动 #

## 下载源码 ##

git clone https://gitee.com/Ausar/libfreenect2.git
    # github源码在 https://github.com/OpenKinect/libfreenect2
    cd libfreenect2

## 初始化环境 ##

*  安装编译工具

*      sudo apt-get install build-essential cmake pkg-config
        sudo apt-get install libusb-1.0-0-dev
        sudo apt-get install libturbojpeg libjpeg-turbo8-dev
        sudo apt-get install libglfw3-dev
        sudo apt-get install beignet-dev
        sudo apt-get install libturbojpeg0-dev

## 编译 ##

在libfreenect2目录中执行：

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

用这个安装在home下

mkdir build && cd build
    cmake .. -DCMAKE_INSTALL_PREFIX=~/freenect2
    make -j8
    make install

## cmake .. -DCMAKE\_INSTALL\_PREFIX=~/freenect2 出现以下问题： ##

Could NOT find TurboJPEG (missing: TurboJPEG_INCLUDE_DIRS TURBOJPEG_WORKS)
    Call Stack (most recent call first):
    ******************************************
    -- Configuring incomplete, errors occurred!
    See also "/home/sk/libfreenect2/build/CMakeFiles/CMakeOutput.log"

## 解决： ##

sudo apt-get install libturbojpeg0-dev

## 然后删除 build 重新cmake； ##

# #

## 配置 ##

配置udev规则以获取访问设备的权限：

sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

随后拔插设备

## 测试 ##

*  运行测试程序:  `./bin/Protonect`

## 其他 ##

在安装kinect驱动时，如果libusb有问题，需要指定版本，其安装如下，

sudo apt-add-repository ppa:floe/libusb 
    sudo apt-get update
    sudo apt-get install libusb-1.0-0-dev

\----------------------------------------------------------------------------------------------------------------------------------------------------------

# Astra奥比中光相机驱动&SDK[¶][Link 7] #

Astra（orbbec奥比中光）乐视相机相关驱动，本教程针对`Windows`和`Ubuntu14.04=Ubuntu18.04`系统版本

官网链接：https://orbbec3d.com/develop/

该深度相机是乐视与奥比中光合作的体感相机，对标微软Kinect,可用于三维重建，SLAM学习，也可以作为免驱UVC摄像头体感摄像头使用

相机参数：

## Linux环境[¶][Link 8] ##

### 依赖环境[¶][Link 9] ###

sudo apt-get install build-essential freeglut3 freeglut3-dev
    sudo apt-get install libsfml-dev

### 相机SDK&Samples[¶][Link 10] ###

*  执行环境安装

tar -zxvf AstraSDK-v2.0.18-05cfa52534-20191108T074013Z-ubuntu1604.tar.gz
    cd AstraSDK-v2.0.18-05cfa52534-20191108T074013Z-Linux/install
    sudo sh ./install.sh

> 输出结果包含以下两行，注意把倒数第二个路径里的install删掉：
> 
> export ASTRA\_SDK\_INCLUDE=/home/ty/Lesson/GrabObject/astra/AstraSDK-v2.0.18-05cfa52534-20191108T074013Z-Linux/install/include export ASTRA\_SDK\_LIB=/home/ty/Lesson/GrabObject/astra/AstraSDK-v2.0.18-05cfa52534-20191108T074013Z-Linux/install/lib
> 
> 删掉install之后：
> 
> export ASTRA\_SDK\_INCLUDE=/home/ty/Lesson/GrabObject/astra/AstraSDK-v2.0.18-05cfa52534-20191108T074013Z-Linux/include export ASTRA\_SDK\_LIB=/home/ty/Lesson/GrabObject/astra/AstraSDK-v2.0.18-05cfa52534-20191108T074013Z-Linux/lib

*  将输出结果复制到`~/.bashrc`尾部

gedit ~/.bashrc

*  使之生效

source ~/.bashrc

**Samples目录中即是示例程序，需要依赖include和lib目录**

### OpenNI相机测试工具[¶][Link 11] ###

*  安装OpenNI

unzip OpenNI_2.3.0.55.zip
    cd OpenNI_2.3.0.55/Linux/OpenNI-Linux-x64-2.3.0.55
    chmod +x install.sh
    sudo ./install.sh

*  重新拔插设备
 *  初始化OpenNI环境

source OpenNIDevEnvironment

*  编译运行

cd Samples/SimpleViewer
    make
    cd Bin/x64-Release
    ./SimpleViewer

## Windows环境[¶][Link 12] ##

### 方式一：[¶][Link 13] ###

安装驱动，运行OpenNI测试Demo

*  相机驱动：
    
    http://dl.orbbec3d.com/dist/drivers/win32/astra-win32-driver-4.3.0.10.exe

*  OpenNI：
    
    http://dl.orbbec3d.com/dist/openni2/OpenNI\_2.3.0.63.zip

首先双击安装相机驱动，`astra-win32-driver-4.3.0.10.exe`，然后解压OpenNI开发包，将相机插上USB口（建议使用USB3.0的插口），双击打开`打开Astra OpenNI2 Development Instruction(x64)_V1.3\Tools\OBNiViewer`目录下的OBNiViewer应用程序即可

### 方式二：[¶][Link 14] ###

在VS下运行Demo

*  Orbbec Astra SDK：
    
    http://dl.orbbec3d.com/dist/astra/v2.0.18/AstraSDK-v2.0.18-05cfa52534-20191108T075451Z-vs2015-win64.zip

*  使用Windows的AstraSDK需要安装微软的Visual Studio
    
    https://www.microsoft.com/en-us/download/details.aspx?id=48145

将`AstraSDK-v2.0.18-05cfa52534-20191108T075451Z-vs2015-win64.zip`解压后，从VS打开`OrbbecStreamSample`示例程序，运行main.cpp即可

# make报错 #

Makefile:28: *** OPENNI2_INCLUDE is not defined. Please define it or 'source' the OpenNIDevEnvironment file from the installation。 停止。

解决：

在这个/home/sk/Astra/OpenNI\_2.3.0.63/Linux/OpenNI-Linux-x64-2.3.0.63目录下执行

source OpenNIDevEnvironment

在这个/home/sk/Astra/OpenNI\_2.3.0.63/Linux/OpenNI-Linux-x64-2.3.0.63/Samples/SimpleViewer目录下执行

make

## 启动相机报错： ##

## Error - expect color and depth to be in same resolution: D: 640x400, C: 640x480 ##

在奥比中光上下载的最新版的OpenNI版的linux版本中出现Error - expect color and depth to be in same resolution: D: 640x400, C: 640x480 这个错误是因为其OpenNI的设备驱动那里设置读取图像和读取深度图的尺度出现了错误。

解决办法看这篇博客：

[https://blog.csdn.net/weixin\_42587961/article/details/94359768][https_blog.csdn.net_weixin_42587961_article_details_94359768]

打开相机

/home/sk/Astra/OpenNI\_2.3.0.63/Linux/OpenNI-Linux-x64-2.3.0.63/Samples/SimpleViewer/Bin/x64-Release

./SimpleViewer

./home/sk/Astra/OpenNI\_2.3.0.63/Linux/OpenNI-Linux-x64-2.3.0.63/Samples/SimpleViewer/Bin/x64-Releas/SimpleViewer

\----------------------------------------------------------------------------------------------------------------------------------

##                                              导 Kinect2库,opencv库,pcl库 ##

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 1][]

**Findfreenect2.cmake**   \[Kinect2\]

# 查找依赖库
    FIND_LIBRARY(freenect2_LIBRARY freenect2
            PATHS ~/freenect2/lib
            NO_DEFAULT_PATH
            )
    SET(freenect2_LIBRARIES ${freenect2_LIBRARY} pthread)
    
    # 查找路径
    FIND_PATH(freenect2_INCLUDE_DIR libfreenect2/libfreenect2.hpp
            PATHS ~/freenect2/include
            NO_DEFAULT_PATH
            )
    SET(freenect2_INCLUDE_DIRS ${freenect2_INCLUDE_DIR})

FindOpenCV.cmake   \[OpenCV\]

# once done, this will define
    #OpenCV_FOUND        -  whether there is OpenCV in the prebuilt libraries
    #OpenCV_INCLUDE_DIRS -  include directories for OpenCV
    #OpenCV_LIBRARY_DIRS -  library directories for OpenCV
    #OpenCV_LIBRARIES    -  link this to use OpenCV
    
    set(OpenCV_DIR ~/3rdparty/OpenCV-3.4.9)
    
    unset(OpenCV_FOUND)
    
    MESSAGE(STATUS "OpenCV_DIR TEST  ${PREBUILT_DIR}")
    
    set(OpenCV_INCLUDE_DIRS "${OpenCV_DIR}/include" "${OpenCV_DIR}/include/opencv")
    set(OpenCV_LIB_COMPONENTS opencv_core;opencv_ml;opencv_calib3d;opencv_highgui;opencv_superres;opencv_photo;
            opencv_imgcodecs;opencv_features2d;opencv_viz;opencv_flann;opencv_shape;opencv_stitching;opencv_dnn;
            opencv_videostab;opencv_imgproc;opencv_objdetect;opencv_video;opencv_videoio;opencv_reg;opencv_aruco;
            opencv_dpm;opencv_xobjdetect;opencv_xfeatures2d;opencv_surface_matching;opencv_plot;opencv_hfs;
            opencv_tracking;opencv_rgbd;opencv_text;opencv_dnn_objdetect;opencv_face;opencv_optflow;opencv_bgsegm;
            opencv_bioinspired;opencv_ximgproc;opencv_saliency;opencv_freetype;opencv_stereo;opencv_img_hash;
            opencv_fuzzy;opencv_ccalib;opencv_line_descriptor;opencv_hdf;opencv_datasets;opencv_phase_unwrapping;
            opencv_xphoto;opencv_structured_light)
    
    find_path(OpenCV_INCLUDE_DIRS NAMES opencv.h HINTS ${OpenCV_DIR}/include NO_SYSTEM_ENVIRONMENT_PATH)
    
    set(OpenCV_LIBRARY_DIRS ${OpenCV_DIR}/lib)
    
    FOREACH(cvcomponent ${OpenCV_LIB_COMPONENTS})
      find_library(lib_${cvcomponent} NAMES ${cvcomponent} HINTS ${OpenCV_DIR}/lib NO_DEFAULT_PATH)
    
      set(OpenCV_LIBRARIES ${OpenCV_LIBRARIES};${lib_${cvcomponent}})
    ENDFOREACH()
    
    set(OpenCV_LIBS ${OpenCV_LIBRARIES})
    
    set(OpenCV_INCLUDE_DIRS ${OpenCV_INCLUDE_DIRS};${OpenCV_INCLUDE_DIRS}/opencv)
    
    if (OpenCV_INCLUDE_DIRS AND OpenCV_LIBRARIES)
      set(OpenCV_FOUND TRUE)
    endif (OpenCV_INCLUDE_DIRS AND OpenCV_LIBRARIES)
    
    if (OpenCV_FOUND)
      if (NOT OpenCV_FIND_QUIETLY)
        message(STATUS "Found OpenCV: ${OpenCV_LIBRARIES}")
      endif (NOT OpenCV_FIND_QUIETLY)
    else(OpenCV_FOUND)
      if (OpenCV_FIND_REQUIRED)
        message(FATAL_ERROR "Could not find the OpenCV library")
      endif ()
    endif (OpenCV_FOUND)

CMakeLists.txt

cmake_minimum_required(VERSION 3.16)
    project(kinect2demo)
    
    set(CMAKE_CXX_STANDARD 14)
    
    set(OUTPUT_DIRECTORY_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/build/debug)
    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${OUTPUT_DIRECTORY_ROOT}/bin" CACHE PATH "Runtime directory" FORCE)
    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${OUTPUT_DIRECTORY_ROOT}/lib" CACHE PATH "Library directory" FORCE)
    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${OUTPUT_DIRECTORY_ROOT}/lib" CACHE PATH "Archive directory" FORCE)
    
    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_SOURCE_DIR}/cmake)
    #set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ~/3rdparty/OpenCV-3.4.9/share/OpenCV)
    
    # -------------------------------------------------- 2
    find_package(freenect2 REQUIRED)
    find_package(OpenCV REQUIRED)
    find_package(PCL REQUIRED)
    
    include_directories(${freenect2_INCLUDE_DIR})
    include_directories(${OpenCV_INCLUDE_DIRS})
    include_directories(${PCL_INCLUDE_DIRS})
    
    link_directories(${OpenCV_LIBRARY_DIRS})
    link_directories(${PCL_LIBRARY_DIRS})
    
    add_definitions(${PCL_DEFINITIONS})
    
    add_subdirectory(src)
    add_subdirectory(src/camera)
    
    
    add_executable(kinect2demo main.cpp)

=============================================================================================

Astra奥比中光相机封装好的工具类

/home/sk/workspas/HandEyeCalibration/cmake/FindAstra.cmake

set(Astra_DIR ${PREBUILD_DIR}/astra)
    
    # 声明头文件h所在目录
    set(ASTRA_INCLUDE_DIRS ${Astra_DIR}/include)
    
    # 声明so库文件所在目录
    set(ASTRA_LINK_DIRS ${Astra_DIR}/lib)
    
    # libastra.so, libastra_core.so ...
    set(ASTRA_LIBRARIES astra;astra_core;astra_core_api;pthread)

/home/sk/workspas/HandEyeCalibration/src/camera/CMakeLists.txt

add_library(kinect_camera KinectCamera.cpp KinectCamera.h)
    target_link_libraries(kinect_camera ${OpenCV_LIBRARIES} ${freenect2_LIBRARIES})
    
    set(ASTRA_CAMERA_SOURCES AstraCamera.cpp AstraCamera.h)
    
    add_library(astra_camera ${ASTRA_CAMERA_SOURCES} )
    target_link_libraries(astra_camera ${ASTRA_LIBRARIES})
    
    add_executable(AstraMain AstraMain.cpp )
    target_link_libraries(AstraMain ${ASTRA_LIBRARIES} ${OpenCV_LIBRARIES} astra_camera)

/home/sk/workspas/HandEyeCalibration/CMakeLists.txt

cmake_minimum_required(VERSION 3.14)
    project(HandEyeCalibration)
    
    set(CMAKE_CXX_STANDARD 14)
    
    set(OUTPUT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/build)
    set(PREBUILD_DIR ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty)
    
    # 配置依赖目录及程序输出目录
    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${OUTPUT_DIR}/bin" CACHE PATH "Runtime directory" FORCE)
    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${OUTPUT_DIR}/lib" CACHE PATH "Library directory" FORCE)
    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${OUTPUT_DIR}/lib" CACHE PATH "Archive directory" FORCE)
    
    # 给当前cmake的查找路径添加一个额外的目录
    #set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ~/3rdparty/OpenCV-3.4.9/share/OpenCV)
    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_SOURCE_DIR}/cmake)
    
    # OpenCV
    find_package(OpenCV REQUIRED)
    # Kinect2 - freenect2
    find_package(freenect2 REQUIRED)
    # Aubo
    find_package(AuBo REQUIRED)
    # Astra
    find_package(Astra REQUIRED) # FindXXX.cmake XXXConfig.cmake
    
    # include dir
    include_directories(${OpenCV_INCLUDE_DIRS})
    include_directories(${freenect2_INCLUDE_DIRS})
    include_directories(${AuBo_INCLUDE_DIRS})
    include_directories(/usr/include/eigen3)
    include_directories(${PREBUILD_DIR}/astra/common)
    include_directories(${ASTRA_INCLUDE_DIRS})
    
    # library dir
    link_directories(${OpenCV_LIBRARY_DIRS})
    link_directories(${AuBo_LINK_DIRS})
    link_directories(${ASTRA_LINK_DIRS})
    
    # config
    #线程
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -lpthread -Wl,--no-as-needed  -g3 -Wall")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
    
    # subdir
    add_subdirectory(src/robot)
    add_subdirectory(src/tinyxml)
    add_subdirectory(src/utils)
    add_subdirectory(src/camera)
    add_subdirectory(src/test)
    add_subdirectory(src)
    
    #MESSAGE(STATUS "OpenCV: " ${OpenCV_VERSION} " OpenCV_PATH: " ${OpenCV_INSTALL_PATH})
    add_executable(HandEyeCalibration main.cpp)

/home/sk/workspas/HandEyeCalibration/src/camera/AstraCamera.cpp

//
    // Created by ty on 20-7-2.
    //
    
    #include "AstraCamera.h"
    #include <key_handler.h>
    
    AstraCamera::AstraCamera() {
    
    }
    function<void(cv::Mat &, cv::Mat &)> astra_data_callback;
    
    class SampleFrameListener : public astra::FrameListener {
    private:
        using buffer_ptr = std::unique_ptr<astra::RgbPixel[]>;
        using buffer_depth_ptr = std::unique_ptr<int16_t[]>;
        buffer_ptr buffer_;
        buffer_depth_ptr buffer_depth_;
        int lastWidth_{};
        int lastHeight_{};
        int lastWidth_depth_{};
        int lastHeight_depth_{};
    
    public:
    
        void on_frame_ready(astra::StreamReader &reader,
                            astra::Frame &frame) override {
            shared_ptr<cv::Mat> img = nullptr, depth = nullptr;
    
            const astra::ColorFrame colorFrame = frame.get<astra::ColorFrame>();
            get_color(colorFrame, img);
    
            const astra::DepthFrame depthFrame = frame.get<astra::DepthFrame>();
            auto depthStream = reader.stream<astra::DepthStream>();
            get_depth(depthFrame, depthStream.coordinateMapper(), depth);
    
            astra_data_callback(*img, *depth);
        }
    
        void get_color(const astra::ColorFrame &colorFrame, shared_ptr<cv::Mat> &img) {
    
            if (colorFrame.is_valid()) {
                int width = colorFrame.width();
                int height = colorFrame.height();
                // cout << "宽度:" << width << "---高度:" << height << endl;
    
                if (width != lastWidth_ || height != lastHeight_) {
                    buffer_ = buffer_ptr(new astra::RgbPixel[colorFrame.length()]);
                    lastWidth_ = width;
                    lastHeight_ = height;
                }
                colorFrame.copy_to(buffer_.get());
    
    //            int frameIndex = colorFrame.frame_index();
    //            size_t index = ((width * (height / 2.0f)) + (width / 2.0f));
    //            cout << "index为：" << index << endl;
    //            astra::RgbPixel middle = buffer_[index];
    
    //            std::cout << "color frameIndex: " << frameIndex
    //                      << " r: " << static_cast<int>(middle.r)
    //                      << " g: " << static_cast<int>(middle.g)
    //                      << " b: " << static_cast<int>(middle.b)
    //                      << " width: " << width << " height: " << height << std::endl;
    
                // 将buffer_ptr 中astra::RgbPixel[]数据类型转成Mat
    //            shared_ptr<cv::Mat> img = new shared_ptr<cv::Mat>(new cv::Mat(height, width, CV_8UC3, cv::Scalar::all(0)));
                img = std::make_shared<cv::Mat>(height, width, CV_8UC3, cv::Scalar::all(0));
                for (int i = 0; i < height; ++i) {
                    for (int j = 0; j < width; ++j) {
                        img->at<cv::Vec3b>(i, j)[0] = buffer_[i * width + j].b;
                        img->at<cv::Vec3b>(i, j)[1] = buffer_[i * width + j].g;
                        img->at<cv::Vec3b>(i, j)[2] = buffer_[i * width + j].r;
                    }
                }
    
                cv::flip(*img, *img, 0);
    
            }
        }
    
        void get_depth(const astra::DepthFrame &depthFrame,
                       const astra::CoordinateMapper &mapper, shared_ptr<cv::Mat> &depthMat) {
            if (depthFrame.is_valid()) {
                int width = depthFrame.width();
                int height = depthFrame.height();
                int frameIndex = depthFrame.frame_index();
    
                //determine if buffer needs to be reallocated
                if (width != lastWidth_depth_ || height != lastHeight_depth_) {
                    buffer_depth_ = buffer_depth_ptr(new int16_t[depthFrame.length()]);
                    lastWidth_depth_ = width;
                    lastHeight_depth_ = height;
    
                }
                depthFrame.copy_to(buffer_depth_.get());
    
    //            float x = width / 2.0f + 10;
    //            float y = height / 2.0f + 10;
    //            size_t index = width * y + x;
    //            short middle = buffer_depth_[index];
    
    //            float worldX, worldY, worldZ;
    //            float depthX, depthY, depthZ;
    //            mapper.convert_depth_to_world(x, y, middle, worldX, worldY, worldZ);
    //            mapper.convert_depth_to_world(0, 0, middle, worldX, worldY, worldZ);
    //            mapper.convert_world_to_depth(worldX, worldY, worldZ, depthX, depthY, depthZ);
    
    
                // buffer_depth_ptr 中astra::int16_t[]数据类型转成Mat
                depthMat = std::make_shared<cv::Mat>(height, width, CV_32FC1, cv::Scalar::all(0));
                for (int i = 0; i < height; ++i) {
                    for (int j = 0; j < width; ++j) {
                        short depth = buffer_depth_[i * width + j];
                        if (fpclassify(depth) == FP_INFINITE || fpclassify(depth) == NAN) {
                            depth = 0;
                        }
                        depthMat->at<float>(i, j) = depth;
                    }
                }
    
            }
        }
    };
    
    SampleFrameListener listener;
    astra::StreamReader reader;
    
    int AstraCamera::start(bool getColor, bool getDepth) {
    
    
        //初始化库
        astra::initialize();
    
        set_key_handler();
        astra::StreamSet streamSet;
        reader = streamSet.create_reader();
    
        if (getColor) {
            // 配置并启动Color数据流
            astra::ColorStream colorStream = reader.stream<astra::ColorStream>();
            astra::ImageStreamMode colorMode;
            colorMode.set_width(1280);
            colorMode.set_height(720);
            colorMode.set_pixel_format(astra_pixel_formats::ASTRA_PIXEL_FORMAT_RGB888);
            colorMode.set_fps(30);
            colorStream.set_mode(colorMode);
            colorStream.start();
            std::cout << "colorStream -- hFov: " << colorStream.hFov() << " vFov: " << colorStream.vFov() << std::endl;
        }
    
    
        if (getDepth) {
            // 配置并启动Depth数据流
            auto depthStream = reader.stream<astra::DepthStream>();
            astra::ImageStreamMode depthMode;
            depthMode.set_width(640);
            depthMode.set_height(480);
            depthMode.set_pixel_format(astra_pixel_formats::ASTRA_PIXEL_FORMAT_DEPTH_MM);
            depthMode.set_fps(30);
            depthStream.set_mode(depthMode);
            depthStream.start();
    
            char serialnumber[256];
            depthStream.serial_number(serialnumber, 256);
    
            const astra_conversion_cache_t &data = depthStream.depth_to_world_data();
    
            //16082610454
            // conversion_data.xz: 1.12213 conversion_data.yz: 0.8416 conversion_data.hX: 320 conversion_data.hY: 240 - ty
            std::cout << "depthStream --"
                         " hFov: " << depthStream.hFov() << " vFov: " << depthStream.vFov() <<
                      " serial number: " << serialnumber <<
                      " serial number[0]: " << serialnumber[0] <<
                      " conversion_data.xz: " << data.xzFactor <<
                      " conversion_data.yz: " << data.yzFactor <<
                      " conversion_data.hX: " << data.halfResX <<
                      " conversion_data.hY: " << data.halfResY <<
                      std::endl;
    
        }
    
    
        //监听摄像头画面
        reader.add_listener(listener);
    
        // 循环更新数据
        do {
            astra_update();
        } while (shouldContinue);
    
        // 移除数据监听
        reader.remove_listener(listener);
        astra::terminate();
        return 0;
    }
    
    void AstraCamera::setListener(function<void(cv::Mat &, cv::Mat &)> lis) {
        astra_data_callback = lis;
    }
    
    void AstraCamera::release() {
        shouldContinue = false;
    }
    
    AstraCamera::~AstraCamera() {
        shouldContinue = false;
    }

/home/sk/workspas/HandEyeCalibration/src/camera/AstraCamera.h

//
    // Created by ty on 20-7-2.
    //
    
    #ifndef CALIBRATIONHANDEYE_ASTRACAMERA_H
    #define CALIBRATIONHANDEYE_ASTRACAMERA_H
    
    #include <astra/astra.hpp>
    #include <cstdio>
    
    #include <iostream>
    #include <opencv2/core/core.hpp>
    #include <opencv2/highgui/highgui.hpp>
    #include <sstream>
    #include <cstdlib>
    
    using namespace std;
    using namespace cv;
    
    class AstraCamera {
    
    public:
        AstraCamera();
    
        virtual ~AstraCamera();
    
    public:
    
        virtual int start(bool getColor = true, bool getDepth = true);
    
        void setListener(function<void(cv::Mat&, cv::Mat&)>);
    
        virtual void release();
    
    };
    
    #endif //CALIBRATIONHANDEYE_ASTRACAMERA_H

/home/sk/workspas/HandEyeCalibration/src/camera/AstraMain.cpp

/**
     * @Author: PoplarTang
     * @CreateTime: 2019-12-16
     * @Description:
     */
    #include "AstraCamera.h"
    
    const int ACTION_ESC = 27;
    const int ACTION_SPACE = 32;
    
    AstraCamera* astraCamera;
    
    void handle_image_data(cv::Mat &rgb, cv::Mat &depth){
        cv::imshow("rgb", rgb);
    //    cv::imshow("depth", depth / 4500);
    
        int key = cv::waitKey(30) & 0xFF;
    
        if (key == ACTION_ESC || key == 'q') {
            astraCamera->release();
            cv::destroyAllWindows();
    
        } else if (key == ACTION_SPACE) {
            std::cout << "------------------- 保存图片和关节" << std::endl;
        }
    }
    
    //astraCamera->setListener([&](cv::Mat& rgb, cv::Mat& depth){
    //cv::imshow("rgb", rgb);
    //cv::imshow("depth", depth / 4500);
    //cv::waitKey(50);
    //});
    
    int main(int argc, char **argv) {
        std::cout << "opencv:" << cv::getVersionString() << std::endl;
        astraCamera = new AstraCamera();
        astraCamera->setListener(&handle_image_data);
        astraCamera->start(true, false);
        return 0;
    }

pcl控制台操作

传入的参数  ./output/table_scene_0_ds.pcd
     控制台命令  ./03-TemplateRtMaker ./output/table_scene_0_ds.pcd
     控制台降采样命令 pcl_voxel_grid table_scene_0_ds.pcd table_scene_0_ds.pcd -leaf   0.003,0.003,0.003
     控制台显示点云图 pcl_viewer table_scene_0_ds.pcd
     控制台显示点云图 pcl_viewer -use_point_picking table_scene_0_ds.pcd    [shift + 鼠标左键可获取点云坐标]
     查看历史操作的命令 history
     /bin pcl_viewer ./data/chef.pcd
     /bin pcl_viewer ./data/rs1.pcd
     /bin pcl_viewer ./data/chef.pcd ./data/rs1.pcd
     /data1  pcl_viewer person.pcd object_template_*pcd
     按 u 标注尺
     按 1 切换颜色
     按 2 x方向颜色
     按 3 y方向颜色
     按 4 z方向颜色

[20201101152359161.png]: /images/20230208/f25c566721d14d2a80d396372d942f5f.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70]: /images/20230208/42415dea9d1f43f580372e6488415939.png
[20201101152627859.png]: /images/20230208/d7422f9b0c884546a6a44050ecbe551f.png
[20201101153003172.png]: /images/20230208/d88c6f63db994c63888e0c32e65ab9f9.png
[Link 1]: http://robot.czxy.com/docs/pcl/env/pcl/#pcd
[Link 2]: http://robot.czxy.com/docs/pcl/env/pcl/#metslib-cmake
[Link 3]: http://robot.czxy.com/docs/pcl/env/pcl/#libpqsolibvtkioso
[Link 4]: http://robot.czxy.com/docs/pcl/env/pcl/#makelibprojso
[Link 5]: http://robot.czxy.com/docs/pcl/env/pcl/#libpng16so
[Link 6]: http://robot.czxy.com/docs/pcl/env/pcl/#usrbinld-cannot-find-lxxx
[Link 7]: http://robot.czxy.com/docs/pcl/env/astra_camera/#astrasdk
[Link 8]: http://robot.czxy.com/docs/pcl/env/astra_camera/#linux
[Link 9]: http://robot.czxy.com/docs/pcl/env/astra_camera/#_1
[Link 10]: http://robot.czxy.com/docs/pcl/env/astra_camera/#sdksamples
[Link 11]: http://robot.czxy.com/docs/pcl/env/astra_camera/#openni
[Link 12]: http://robot.czxy.com/docs/pcl/env/astra_camera/#windows
[Link 13]: http://robot.czxy.com/docs/pcl/env/astra_camera/#_2
[Link 14]: http://robot.czxy.com/docs/pcl/env/astra_camera/#_3
[https_blog.csdn.net_weixin_42587961_article_details_94359768]: https://blog.csdn.net/weixin_42587961/article/details/94359768
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzE1MjA0MTc5_size_16_color_FFFFFF_t_70 1]: /images/20230208/8b08504d70d941658b89953d203d6f21.png