cd libfreenect2
cd depends; ./download_debs_trusty.sh
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 libva-dev libjpeg-dev
sudo apt-get install libopenni2-dev

cd ..
mkdir build
cd ./build
cmake ..  -DENABLE_CXX11=ON
make -j4
sudo make install

# /usr/local/

catkin_make

roslaunch kinect2_bridge kinect2_bridge.launch

sudo apt install ocl-icd-dev

cmake .. -DENABLE_CXX11=ON -DENABLE_OPENCL=OFF -DENABLE_CUDA=OFF -DENABLE_TEGRAJPEG=OFF

cd /etc/udev/rules.d
sudo gedit 90-kinect2.rules

# ATTR{product}=="Kinect2"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02c4", MODE="0666"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d8", MODE="0666"
SUBSYSTEM=="usb", ATTR{idVendor}=="045e", ATTR{idProduct}=="02d9", MODE="0666"

dmesg | grep "045e"

roscore
rosrun kinect2_bridge kinect2_bridge _reg_method:=cpu _depth_method:=opengl
# 颜色和深度数据混合
rosrun kinect2_viewer kinect2_viewer
# 只有深度数据
rosrun kinect2_viewer kinect2_viewer ir

roslaunch kinect2_bridge kinect2_bridge

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 libopenni2-dev
sudo apt-get install libva-dev libjpeg-dev
sudo apt-get install beignet-dev
sudo apt-get install nvidia-modprobe opencl-headers