费了老大半天工夫，总算在Linux下把OpenNI和OPenCV配置好了，网上对Linux下OpenNI的配置方法讲的很少，而寻找使用OpenNI进行开发的方法更是像大海捞针……连手册里都只字不提，翻了好的资料才算搞定。闲话少说，总结在这和大家一起分享。 
一、OPenNI篇 
1.软件下载： 
(1)OpenNI：aspx">http://www.openni.org/Downloads/OpenNIModules.aspx 
　　选择“OpenNI Binaries”->“Unstable”->“...for ubuntu...”，点击“Download”。 
　　下载完成后解压，cd进入解压后的路径：$ ./install.sh（不记得要不要加sudo了，试一试吧） 
(2)SensorKinect： 
　　命令：$git clone https://github.com/avin2/SensorKinect.git 
　　如果没有安装git，则sudo apt-get install之～ 
　　过程比较慢，结束后会在当前路径出现一个文件夹SensorKinect，cd进SensorKinect/Platform/Linux/CreateRedist，之后$ ./RedistMaker，这时在上层目录Linux下出现Redist文件夹。此时网上说进该目录$ ./install.sh，但实际上还要进一层目录才有instal.sh文件。但是貌似执行这个需要root权限，我不知道怎么弄，$sudo su后也不行，最后发现还是Redist文件夹里面有一个Final文件夹，里面有一个压缩包Sensor-Bin-Linux-x86-v5.0.5.1.tar.bz2，我索性把它拷出来，解压缩后进去 （…/SensorKinect/Platform/Linux/CreateRedist/Sensor-Bin-Linux-x86-v5.0.5.1/），在里面$./install.sh，竟然就可以了。顺便说一下，可能在这些过程中输入$ ./install.sh 会提示没有命令之类的，可以在install.sh文件上右击->属性->权限，选中“允许以程序执行文件”，就可以了。 
　　这时可以到在OpenNI-Bin-XXXX/Samples/Bin/x86-Release目录中测试：$ ./NiViewer，有可能提示没有什么库之类的，试着装一下：$sudo apt-get install libusb-1.0-0-dev freeglut3-dev，之后应该就可以运行了，就可以看到期待已久的画面喽。如果这时候提示说Failed to set USB interface!或者Open failed: The network connection has been closed!，在命令行里运行： 
　　$sudo rmmod gspca_kinect 
　　这是因为Ubuntu可能自带了kinect驱动gspca_kinect，二者有冲突。貌似每次重启电脑后都需要执行一下这句才行。 
　　这部分主要参考了https://github.com/avin2/SensorKinect里面讲的可能和实际不太一样，尝试着来吧。 
(2)NITE：http://www.openni.org/Downloads/OpenNIModules.aspx 
　　选择“OpenNI Compliant Middleware Binaries”->“Unstable”->“...Ubuntu...”，下载就好了。 
　　下载完成后解压，进入目录$ ./install.sh即可。 
2.开发环境配置 
　　我选用的是eclipse-cdt进行开发，网上仅有的可怜的一点资料讲的是用codeblocks进行开发，其实都是差不多的。这里以eclipse为例介绍一下吧。 
　　新建一个空的或helloworld工程，如kinectOpenNI，在左侧的project exploer中右击kinectOpenNI，点properties，在对话框中选择C/C++ Build->settings->GCC C++ Compiler(如果用C写就选GCC C Compiler)->Directories，在右侧Include paths(-l)里点右边绿色加号，添加两个路径/usr/include/ni和/usr/include/nite，然后再选择GCC C++ Linker->Libraries，在Libraries (-l)中添加OpenNI，glut，XnVNite，注意XnVNite可能有版本号，要到你的/usr/lib目录下看一看，有个文件叫libXnVNite_XXXX.so之类的，我的是libXnVNite_1_5_0.so，所以我填的是XnVNite_1_5_0，反正就是随机应变吧，填不对的话它会报错说找不到库。由于这几个库都是在系统/usr/lib/目录下的，因此不用添加Library search path (-L)。 
　　到此为止你的工程应该可以编译了。试试这段样例：(注意该一下里面xml文件的路径。样例是直接从安装包里找到的。当然，记得连上你的Kinect) 
View Code 
/**************************************************************************** 
* * 
* OpenNI 1.x Alpha * 
* Copyright (C) 2011 PrimeSense Ltd. * 
* * 
* This file is part of OpenNI. * 
* * 
* OpenNI is free software: you can redistribute it and/or modify * 
* it under the terms of the GNU Lesser General Public License as published * 
* by the Free Software Foundation, either version 3 of the License, or * 
* (at your option) any later version. * 
* * 
* OpenNI is distributed in the hope that it will be useful, * 
* but WITHOUT ANY WARRANTY; without even the implied warranty of * 
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 
* GNU Lesser General Public License for more details. * 
* * 
* You should have received a copy of the GNU Lesser General Public License * 
* along with OpenNI. If not, see <http://www.gnu.org/licenses/>. * 
* * 
****************************************************************************/ 
//--------------------------------------------------------------------------- 
// Includes 
//--------------------------------------------------------------------------- 
#include <XnOS.h> 
#if (XN_PLATFORM == XN_PLATFORM_MACOSX) 
#include <GLUT/glut.h> 
#else 
#include <GL/glut.h> 
#endif 
#include <math.h> 

#include <XnCppWrapper.h> 
using namespace xn; 

//--------------------------------------------------------------------------- 
// Defines 
//--------------------------------------------------------------------------- 
#define SAMPLE_XML_PATH "/home/iotuyrfviloh/Softwares/OpenNI-Bin-Dev-Linux-x86-v1.4.0.2/Samples/Config/SamplesConfig.xml" 

#define GL_WIN_SIZE_X 1280 
#define GL_WIN_SIZE_Y 1024 

#define DISPLAY_MODE_OVERLAY 1 
#define DISPLAY_MODE_DEPTH 2 
#define DISPLAY_MODE_IMAGE 3 
#define DEFAULT_DISPLAY_MODE DISPLAY_MODE_DEPTH 

#define MAX_DEPTH 10000 

//--------------------------------------------------------------------------- 
// Globals 
//--------------------------------------------------------------------------- 
float g_pDepthHist[MAX_DEPTH]; 
XnRGB24Pixel* g_pTexMap = NULL; 
unsigned int g_nTexMapX = 0; 
unsigned int g_nTexMapY = 0; 

unsigned int g_nViewState = DEFAULT_DISPLAY_MODE; 

Context g_context; 
ScriptNode g_scriptNode; 
DepthGenerator g_depth; 
ImageGenerator g_image; 
DepthMetaData g_depthMD; 
ImageMetaData g_imageMD; 

//--------------------------------------------------------------------------- 
// Code 
//--------------------------------------------------------------------------- 

void glutIdle (void) 
{ 
// Display the frame 
glutPostRedisplay(); 
} 

void glutDisplay (void) 
{ 
XnStatus rc = XN_STATUS_OK; 

// Read a new frame 
rc = g_context.WaitAnyUpdateAll(); 
if (rc != XN_STATUS_OK) 
{ 
printf("Read failed: %s\n", xnGetStatusString(rc)); 
return; 
} 

g_depth.GetMetaData(g_depthMD); 
g_image.GetMetaData(g_imageMD); 

const XnDepthPixel* pDepth = g_depthMD.Data(); 
const XnUInt8* pImage = g_imageMD.Data(); 

unsigned int nImageScale = GL_WIN_SIZE_X / g_depthMD.FullXRes(); 

// Copied from SimpleViewer 
// Clear the OpenGL buffers 
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 

// Setup the OpenGL viewpoint 
glMatrixMode(GL_PROJECTION); 
glPushMatrix(); 
glLoadIdentity(); 
glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -1.0, 1.0); 

// Calculate the accumulative histogram (the yellow display...) 
xnOSMemSet(g_pDepthHist, 0, MAX_DEPTH*sizeof(float)); 

unsigned int nNumberOfPoints = 0; 
for (XnUInt y = 0; y < g_depthMD.YRes(); ++y) 
{ 
for (XnUInt x = 0; x < g_depthMD.XRes(); ++x, ++pDepth) 
{ 
if (*pDepth != 0) 
{ 
g_pDepthHist[*pDepth]++; 
nNumberOfPoints++; 
} 
} 
} 
for (int nIndex=1; nIndex<MAX_DEPTH; nIndex++) 
{ 
g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1]; 
} 
if (nNumberOfPoints) 
{ 
for (int nIndex=1; nIndex<MAX_DEPTH; nIndex++) 
{ 
g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints))); 
} 
} 

xnOSMemSet(g_pTexMap, 0, g_nTexMapX*g_nTexMapY*sizeof(XnRGB24Pixel)); 

// check if we need to draw image frame to texture 
if (g_nViewState == DISPLAY_MODE_OVERLAY || 
g_nViewState == DISPLAY_MODE_IMAGE) 
{ 
const XnRGB24Pixel* pImageRow = g_imageMD.RGB24Data(); 
XnRGB24Pixel* pTexRow = g_pTexMap + g_imageMD.YOffset() * g_nTexMapX; 

for (XnUInt y = 0; y < g_imageMD.YRes(); ++y) 
{ 
const XnRGB24Pixel* pImage = pImageRow; 
XnRGB24Pixel* pTex = pTexRow + g_imageMD.XOffset(); 

for (XnUInt x = 0; x < g_imageMD.XRes(); ++x, ++pImage, ++pTex) 
{ 
*pTex = *pImage; 
} 

pImageRow += g_imageMD.XRes(); 
pTexRow += g_nTexMapX; 
} 
} 

// check if we need to draw depth frame to texture 
if (g_nViewState == DISPLAY_MODE_OVERLAY || 
g_nViewState == DISPLAY_MODE_DEPTH) 
{ 
const XnDepthPixel* pDepthRow = g_depthMD.Data(); 
XnRGB24Pixel* pTexRow = g_pTexMap + g_depthMD.YOffset() * g_nTexMapX; 

for (XnUInt y = 0; y < g_depthMD.YRes(); ++y) 
{ 
const XnDepthPixel* pDepth = pDepthRow; 
XnRGB24Pixel* pTex = pTexRow + g_depthMD.XOffset(); 

for (XnUInt x = 0; x < g_depthMD.XRes(); ++x, ++pDepth, ++pTex) 
{ 
if (*pDepth != 0) 
{ 
int nHistValue = g_pDepthHist[*pDepth]; 
pTex->nRed = nHistValue; 
pTex->nGreen = nHistValue; 
pTex->nBlue = 0; 
} 
} 

pDepthRow += g_depthMD.XRes(); 
pTexRow += g_nTexMapX; 
} 
} 

// Create the OpenGL texture map 
glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE); 
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR); 
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); 
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, g_nTexMapX, g_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, g_pTexMap); 

// Display the OpenGL texture map 
glColor4f(1,1,1,1); 

glBegin(GL_QUADS); 

int nXRes = g_depthMD.FullXRes(); 
int nYRes = g_depthMD.FullYRes(); 

// upper left 
glTexCoord2f(0, 0); 
glVertex2f(0, 0); 
// upper right 
glTexCoord2f((float)nXRes/(float)g_nTexMapX, 0); 
glVertex2f(GL_WIN_SIZE_X, 0); 
// bottom right 
glTexCoord2f((float)nXRes/(float)g_nTexMapX, (float)nYRes/(float)g_nTexMapY); 
glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y); 
// bottom left 
glTexCoord2f(0, (float)nYRes/(float)g_nTexMapY); 
glVertex2f(0, GL_WIN_SIZE_Y); 

glEnd(); 

// Swap the OpenGL display buffers 
glutSwapBuffers(); 
} 

void glutKeyboard (unsigned char key, int x, int y) 
{ 
switch (key) 
{ 
case 27: 
exit (1); 
case '1': 
g_nViewState = DISPLAY_MODE_OVERLAY; 
g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image); 
break; 
case '2': 
g_nViewState = DISPLAY_MODE_DEPTH; 
g_depth.GetAlternativeViewPointCap().ResetViewPoint(); 
break; 
case '3': 
g_nViewState = DISPLAY_MODE_IMAGE; 
g_depth.GetAlternativeViewPointCap().ResetViewPoint(); 
break; 
case 'm': 
g_context.SetGlobalMirror(!g_context.GetGlobalMirror()); 
break; 
} 
} 

int main(int argc, char* argv[]) 
{ 
XnStatus rc; 

EnumerationErrors errors; 
rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors); 
if (rc == XN_STATUS_NO_NODE_PRESENT) 
{ 
XnChar strError[1024]; 
errors.ToString(strError, 1024); 
printf("%s\n", strError); 
return (rc); 
} 
else if (rc != XN_STATUS_OK) 
{ 
printf("Open failed: %s\n", xnGetStatusString(rc)); 
return (rc); 
} 

rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth); 
if (rc != XN_STATUS_OK) 
{ 
printf("No depth node exists! Check your XML."); 
return 1; 
} 

rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image); 
if (rc != XN_STATUS_OK) 
{ 
printf("No image node exists! Check your XML."); 
return 1; 
} 

g_depth.GetMetaData(g_depthMD); 
g_image.GetMetaData(g_imageMD); 

// Hybrid mode isn't supported in this sample 
if (g_imageMD.FullXRes() != g_depthMD.FullXRes() || g_imageMD.FullYRes() != g_depthMD.FullYRes()) 
{ 
printf ("The device depth and image resolution must be equal!\n"); 
return 1; 
} 

// RGB is the only image format supported. 
if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24) 
{ 
printf("The device image format must be RGB24\n"); 
return 1; 
} 

// Texture map init 
g_nTexMapX = (((unsigned short)(g_depthMD.FullXRes()-1) / 512) + 1) * 512; 
g_nTexMapY = (((unsigned short)(g_depthMD.FullYRes()-1) / 512) + 1) * 512; 
g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel)); 

// OpenGL init 
glutInit(&argc, argv); 
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH); 
glutInitWindowSize(GL_WIN_SIZE_X, GL_WIN_SIZE_Y); 
glutCreateWindow ("OpenNI Simple Viewer"); 
glutFullScreen(); 
glutSetCursor(GLUT_CURSOR_NONE); 

glutKeyboardFunc(glutKeyboard); 
glutDisplayFunc(glutDisplay); 
glutIdleFunc(glutIdle); 

glDisable(GL_DEPTH_TEST); 
glEnable(GL_TEXTURE_2D); 

// Per frame code is in glutDisplay 
glutMainLoop(); 

return 0; 
} 
二、OpenCV篇 
　　虽然已经可以用OpenGL了，但是OpenCV还是很不错的，也配一下吧。 
1.软件下载 
(1)装一下这些吧： 
apt-get install build-essential 
apt-get install cmake cmake-gui 
apt-get install pkg-config 
apt-get install libpng12-0 libpng12-dev libpng++-dev libpng3 
apt-get install libpnglite-dev libpngwriter0-dev libpngwriter0c2 
apt-get install zlib1g-dbg zlib1g zlib1g-dev 
apt-get install libjasper-dev libjasper-runtime libjasper1 
apt-get install pngtools libtiff4-dev libtiff4 libtiffxx0c2 libtiff-tools 
apt-get install libjpeg8 libjpeg8-dev libjpeg8-dbg libjpeg-prog 
apt-get install ffmpeg libavcodec-dev libavcodec52 libavformat52 libavformat-dev 
apt-get install libgstreamer0.10-0-dbg libgstreamer0.10-0 libgstreamer0.10-dev 
apt-get install libxine1-ffmpeg libxine-dev libxine1-bin 
apt-get install libunicap2 libunicap2-dev 
apt-get install libdc1394-22-dev libdc1394-22 libdc1394-utils 
apt-get install swig 
apt-get install libv4l-0 libv4l-dev 
apt-get install python-numpy 
apt-get install libpython2.6 python-dev python2.6-dev 
有些可能你用不到，但是貌似build-essential,cmake,pkg-config都是必须的，其他的都不确定啦，保险起见都装一下吧～ 
(2)下载最新版本OpenCV：http://sourceforge.net/projects/opencvlibrary/files/ 
　　解压，生成目录如OpenCV-2.3.1，在它旁边新建一个目录，如OpenCV-2.3.1-build。这时打开cmake-gui图形界面，应该可以在主菜单的“编程”项中找到。在上面的Source和Build栏中分别填上OpenCV-2.3.1和OpenCV-2.3.1-build的完整路径。点下面的Config，如果窗口内容变红，再点一次，知道不红为止，这时点Generate即可。命令行cd进OpenCV-2.3.1-build，$make然后$sudo make install，此时OpenCV应该就被安装在/usr/local/下面了。 
2.建立工程 
　　使用eclipse建立新工程，如testOpenCV在左侧的project exploer中右击testOpenCV，点properties，在对话框中选择C/C++ Build->settings->GCC C++ Compiler(如果用C写就选GCC C Compiler)->Directories，在右侧Include paths(-l)里点右边绿色加号，添加路径/usr/local/include/opencv，然后再选择GCC C++ Linker->Libraries，在Libraries (-l)中添加opencv_core，opencv_highgui，如果需要其他库也依次添加。库的路径是/usr/local/lib，因此要添加Library search path (-L)：/usr/local/lib。 
　　还要给系统添加一下环境变量。我是试了好几种方法，也不知道最后是那个生效了： 
　　命令行里依次输入（就是新建个文件，添上一行/usr/local/lib，也可以用gedit来做）： 
sudo vi /etc/ld.so.conf.d/opencv.conf 
G 
o 
/usr/local/lib 
<Esc> 
:wq! 
类似地，打开文件/etc/bash.bashrc，在最后添加两行： 
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig 
export PKG_CONFIG_PATH 
然后在命令行输入： 
sudo ldconfig -v 
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH 
重启，然后应该就可以编译运行了，如果配置不好的话可能会报错说没有libopencv_core.so文件之类的。如果还是不行，就在看看其他帖子吧，不同人情况不一yang，我是深深地感受到了。 
　　好了，看看能不能运行吧： 
测试程序： 
#include <iostream> 
#include "cv.h" 
#include <cxcore.h> 
#include <highgui.h> 
using namespace std; 

int main() { 
IplImage *img = cvLoadImage("a.jpg"); 
cvNamedWindow("Image:",1); 
cvShowImage("Image:",img); 
cvWaitKey(); 
cvDestroyWindow("Image:"); 
cvReleaseImage(&img); 
return 0; 
} 
其中图片路径在与工程中该cpp文件一致，或者取个绝对路径吧。 
如果一切安好，那就恭喜啦。

有了OpenNI和OpenCV，就安心开发你有意思的Kinect应用吧～