1.git
git clone -b v1.2.0 https://github.com/microsoft/Azure-Kinect-Sensor-SDK.git mkdir kinect_ws/src && cd kinect_ws/src git clone https://github.com/RoseFlunder/Azure_Kinect_ROS_Driver.git
2.dependence
sudo cp ./libdepthengine.so.2.0 /usr/lib/x86_64-linux-gnu/ sudo ./Azure-Kinect-Sensor-SDK/scripts/bootstrap-ubuntu.sh sudo apt-get install gcc-4.9 sudo apt-get upgrade libstdc++6
3.cmske -v >3.9
4.build
cd build cmake .. -GNinja ninja sudo ninja install
5.without root
sudo cp scripts/99-k4a.rules /etc/udev/rules.d/
**CMake Error: CMake was unable to find a build program corresponding to “Ninja”. **
install ninja
> sudo apt-get install re2c
> git clone https://github.com/ninja-build/ninja.git
> cd ninja
> ./configure.py --bootstrap
> sudo cp ./ninja /usr/bin
> ninjia --version >> 1.10.1.git
Cloning into 'extern/azure_c_shared/src'...
fatal: BUG: initial ref transaction called with existing refs
fatal: clone of 'https://github.com/Azure/azure-c-shared-utility.git' into submodule path 'extern/azur
e_c_shared/src' failed
CMake Error at extern/CMakeLists.txt:22 (message):
git submodule update failed:
> cd extern/azure_c_shared
> git clone https://github.com/Azure/azure-c-shared-utility.git
> cd extern/libuv
> git clone https://github.com/lemenkov/libyuv
> mv libuv src
k4aviewer: error while loading shared libraries: libk4a.so.1.2: cannot open shared object file: No such file or directory sudo ln -s /usr/local/lib/libk4a.so.1.2 /usr/lib/libk4a.so.1.2
kinect_ws/src/Azure_Kinect_ROS_Driver mkdir ext/sdk/
ERROR： k4a_ros_device.h:166:8: error: ‘atomic_int64_t’ in namespace ‘std’ does not name a type std::atomic_int64_t last_capture_time_usec_;
line:165
// Last capture timestamp for synchronizing playback capture and imu thread
std::atomic<int64_t> last_capture_time_usec_;
// Last imu timestamp for synchronizing playback capture and imu thread
std::atomic<uint64_t> last_imu_time_usec_;
std::atomic<bool> imu_stream_end_of_file_;
https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/
libk4a1.2 k4a1.2-dev/ 文件下载下来并解压，
在sdk中放入三个文件夹：bin、include、lib，位置关系如下：
.\ext\sdk\
bin\
include\
lib\
其中，
bin文件夹: 把编译SDK时build文件夹里面的那个bin文件夹拷贝过来
include文件夹：SDK源码里的include文件夹和从-dev.deb文件里提取出的include文件夹合并，拷贝过来
lib文件夹：从deb文件里提取出的两个lib文件夹合并，拷贝过来