1.安装openni2
参考：https://blog.****.net/D206_hero/article/details/78985859?utm_source=blogxgwz3
sudo apt-add-repository ppa:deb-rob/ros-trusty && sudo apt-get update
sudo apt-get install libopenni2-dev
2.安装libfreenect2
参考：http://www.cnblogs.com/hitcm/p/5118196.html
注意：按照上面链接中的方法编译成功，测试./bin/Protonect,如果没问题，则按照下面方法重新编译一遍：
cmake .. -DBUILD_OPENNI2_DRIVER=ON
make
sudo make install
sudo cp ../platform/linux/udev/-kinect2.rules /etc/udev/rules.d/
测试： ./bin/Protonect
如果按照上面语句直接编译，可能会出现以下错误：
[Debug] [DepthPacketStreamParser] not all subsequences received
[Debug] [DepthPacketStreamParser] not all subsequences received
[Debug] [RgbPacketStreamParser] skipping rgb packet!
[Debug] [RgbPacketStreamParser] skipping rgb packet!
[Debug] [RgbPacketStreamParser] skipping rgb packet!
The viewer is turned off. Received frames. Ctrl-C to stop.
The viewer is turned off. Received frames. Ctrl-C to stop.
The viewer is turned off. Received frames. Ctrl-C to stop.
[Debug] [RgbPacketStreamParser] skipping rgb packet!
The viewer is turned off. Received frames. Ctrl-C to stop.
The viewer is turned off. Received frames. Ctrl-C to stop.
The viewer is turned off. Received frames. Ctrl-C to stop.
The viewer is turned off. Received frames. Ctrl-C to stop.
The viewer is turned off. Received frames. Ctrl-C to stop.
The viewer is turned off. Received frames. Ctrl-C to stop.
The viewer is turned off. Received frames. Ctrl-C to stop.
如果没有问题，则在此路径下执行如下操作：
sudo apt-get install openni2-utils
sudo make install-openni2
NiViewer2
如果能显示图像，则可以编译Elasticfusion.
3.编译Elasticfusion
编译Core:
git clone https://github.com/mp3guy/ElasticFusion.git
cd ElasticFusion
cd Core
mkdir build && cd build
cmake ../src/
make
sudo make install
sudo ldconfig
编译GPUTest：
cd ../../GPUTest
mkdir build && cd build
cmake ../src/
make
sudo ldconfig
编译GUI：
cd ../../GUI
mkdir build && cd build
cmake ../src/
make
sudo make install
sudo ldconfig
注：跑kinect2时，将MainController.cpp第37行的Resolution::getInstance(640, 480)改为Resolution::getInstance(512, 424)
否则可能会出现以下错误:
ElasticFusion: /home/slam/ElasticFusion/GUI/src/Tools/OpenNI2Interface.cpp::
OpenNI2Interface::OpenNI2Interface(int, int, int): Assertion `findMode(width, height, fps) && "Sorry, mode not supported!"' failed.
总之，非常的玄学。。。。。。