1.升級cmake

// Download and extract cmake 3.14.5 mkdir ~/temp cd ~/temp wget https://cmake.org/files/v3.14/cmake-3.14.5.tar.gz tar -xzvf cmake-3.14.5.tar.gz cd cmake-3.14.5/ //Install extracted source ./bootstrap make -j4 sudo make install cmake --versionsudo apt-get install jack-tools

2.安裝ninja

sudo apt install ninja-build

3.下載sdk

// 下載Azure Kinect release、1.1.1 版 gitclone -b v1.1.1 https://github.com/microsoft/Azure-Kinect-Sensor-SDK.git

下載relaese 1.1.1是因為目前官方還未提供libdepthengine.so.2.0庫文件。
libdepthengine.so.1.0下載地址：
https://download.csdn.net/download/weixin_41628710/11484674
下載libdepthengine.so.1.0后， 放置/usr/lib/x86_64-linux-gnu/文件夾中
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4.編譯安裝

mkdir build && cd build cmake .. -GNinja ninja sudo ninja install

?5.編譯完成開啟k4aviewer無法獲取深度視頻流，可嘗試以下解決方案

sudo add-apt-repository ppa:ubuntu-toolchain-r/test sudo apt-get update sudo apt-get install gcc-4.9 sudo apt-get upgrade libstdc++6

下載relaese 1.1.1是因為目前官方還未提供libdepthengine.so.2.0庫文件。
libdepthengine.so.1.0下載地址：
https://download.csdn.net/download/weixin_41628710/11484674
下載libdepthengine.so.1.0后， 放置/usr/lib/x86_64-linux-gnu/文件夾中

2下載libdepthengine.so.文件

下載地址為：

https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/

想要去掉管理員權限也能啟動：
進入Azure Kinect sdk 源碼根目錄中 scripts 文件夾,復制99-k4a.rules文件至/etc/udev/rules.d/

sudo ./script/bootstrap-ubuntu.sh. 確保這些依賴都成功安裝.

另一種方法是，直接在https://github.com/lemenkov/libyuv.gitgit clone下來，并將clone下來的libyuv文件夾改名為src，放到extern/libyuv/里。

然后在。gitmodules刪除libyuv的下載

6.測試

在build文件下

sudo ./bin/k4aviewer

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7.c++ 代碼獲取

#include <stdio.h> #include <stdlib.h> #include <k4a/k4a.h> #include <opencv2/opencv.hpp>int main(int argc, char **argv) {int returnCode = 1;k4a_device_t device = NULL;const int32_t TIMEOUT_IN_MS = 1000;int captureFrameCount;k4a_capture_t capture = NULL;std::cout<<"d1"<<std::endl;uint32_t device_count = k4a_device_get_installed_count();if (device_count == 0){printf("No K4A devices found\n");return 0;}if (K4A_RESULT_SUCCEEDED != k4a_device_open(K4A_DEVICE_DEFAULT, &device)){printf("Failed to open device\n");return 0;}std::cout<<"d2"<<std::endl;k4a_device_configuration_t config = K4A_DEVICE_CONFIG_INIT_DISABLE_ALL;config.color_format = K4A_IMAGE_FORMAT_COLOR_MJPG;config.color_resolution = K4A_COLOR_RESOLUTION_2160P;config.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;config.camera_fps = K4A_FRAMES_PER_SECOND_30;if (K4A_RESULT_SUCCEEDED != k4a_device_start_cameras(device, &config)){printf("Failed to start device\n");return 0;}cv::Mat cv_rgbImage_with_alpha;cv::Mat cv_rgbImage_no_alpha,cv_irImage_8U,cv_depth_8U;std::cout<<"d3"<<std::endl;while (1){k4a_image_t depthImage = NULL, colorImage = NULL, irImage = NULL;switch (k4a_device_get_capture(device, &capture, TIMEOUT_IN_MS)){case K4A_WAIT_RESULT_SUCCEEDED:break;case K4A_WAIT_RESULT_TIMEOUT:printf("Timed out waiting for a capture");continue;break;case K4A_WAIT_RESULT_FAILED:printf("Failed to read a capture");goto Exit;}// std::cout<<"d3"<<std::endl;cv::Mat color;colorImage = k4a_capture_get_color_image(capture);// if(colorImage)// {// std::cout<<"d5"<<std::endl;// int width = k4a_image_get_width_pixels(colorImage);// int height = k4a_image_get_height_pixels(colorImage);// color = cv::Mat(cv::Size(width, height), CV_8UC4);// memcpy(color.data, (void*)k4a_image_get_buffer(colorImage), width * height * 4);// std::cout<<"dd"<<std::endl;// }cv::Mat depth;depthImage = k4a_capture_get_depth_image(capture);if (depthImage){int width = k4a_image_get_width_pixels(depthImage);int height = k4a_image_get_height_pixels(depthImage);depth = cv::Mat(cv::Size(width, height), CV_16UC1);memcpy(depth.data, (void*)k4a_image_get_buffer(depthImage), width * height * sizeof(int16_t));depth.convertTo(cv_depth_8U, CV_8U, 100 );cv::imshow("depth",cv_depth_8U);}cv::Mat IR_left, IR_right;irImage = k4a_capture_get_ir_image(capture);if (irImage != NULL){//std::cout<<"d5"<<std::endl;int width = k4a_image_get_width_pixels(irImage);int height = k4a_image_get_height_pixels(irImage);cv::Mat IR_left = cv::Mat(cv::Size(width, height), CV_16UC1);memcpy(IR_left.data, (void*)k4a_image_get_buffer(irImage), width * height * sizeof(int16_t));//cv::Mat cv_irImage = cv::Mat(height, width, CV_16U, (void*)k4a_image_get_buffer(irImage), width * height * sizeof(int16_t));IR_left.convertTo(cv_irImage_8U, CV_8U, 1 );cv::imshow("iii",cv_irImage_8U);if(cv::waitKey(10)==27)break;}if (colorImage)k4a_image_release(colorImage);if (depthImage)k4a_image_release(depthImage);if(irImage)k4a_image_release(irImage);if(capture)k4a_capture_release(capture);cv::waitKey(2);}returnCode = 0; Exit: if (device != NULL){k4a_device_close(device);}return returnCode; }

cmakelists.txt

cmake_minimum_required(VERSION 2.8) set(k4a_DIR /usr/local/lib/cmake) project(WDKinectDKDemo)find_package(k4a REQUIRED)find_package(OpenCV REQUIRED)include_directories( ${CMAKE_CURRENT_LIST_DIR} ) include_directories( ${OpenCV_INCLUDE_DIRS} )add_executable(azureCapture main_demo_Linux.cpp )target_link_libraries(azureCapture PRIVATE k4a::k4a ${OpenCV_LIBS})set(CMAKE_CXX_FLAGS "-std=c++11") set(CMAKE_CXX_STANDARD_REQUIRED TRUE)

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