1.升级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.安装ninja

sudo apt install ninja-build

3.下载sdk

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

下载relaese 1.1.1是因为目前官方还未提供libdepthengine.so.2.0库文件。
libdepthengine.so.1.0下载地址：
https://download.csdn.net/download/weixin_41628710/11484674
下载libdepthengine.so.1.0后，放置/usr/lib/x86_64-linux-gnu/文件夹中

4.编译安装

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

5.编译完成开启k4aviewer无法获取深度视频流，可尝试以下解决方案

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

2下载libdepthengine.so.文件

下载地址为：

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

想要去掉管理员权限也能启动：
进入Azure Kinect sdk 源码根目录中 scripts 文件夹,复制99-k4a.rules文件至/etc/udev/rules.d/

sudo ./script/bootstrap-ubuntu.sh. 确保这些依赖都成功安装.

另一种方法是，直接在https://github.com/lemenkov/libyuv.gitgit clone下来，并将clone下来的libyuv文件夹改名为src，放到extern/libyuv/里。

然后在。gitmodules删除libyuv的下载

6.测试

在build文件下

sudo ./bin/k4aviewer

7.c++ 代码获取

#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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2下载libdepthengine.so.文件

7.c++ 代码获取

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