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基于Dragonboard 410c开发板android平台上搭建kinect运行环境

时间:02-27 来源:互联网 点击:

在继上一篇《基于qualcomm平台的kinect教程一之windows配置篇》,本文我们接着来介绍基于qualcomm的android平台上搭建kinect的运行环境。

一、总述

本教程是基于qualcomm的android平台搭建kinect的运行环境,我们采用的是:OpenFramework+OpenNI+Kinect of android,其中Kinect of android是OpenFramework源码里的一个子项目;下面是具体的搭建步骤。

二、硬件环境:Dragonboard 410c + Kinect

图1 Dragonboard 410c

图2 Kinect传感器

三、软件环境

OpenFramework+OpenNI+Kinect of android,其中Kinect of android是OpenFramework源码里的一个子项目,我的编译环境是64位的ubuntu,下面详细地介绍各部分的搭建。

1.OpenNI

1.1. 搭建 OpenNI 2.2:

1.1.1下载 android ndk编译工具:

cd $HOME

mkdir work

cd work

wget http://dl.google.com/android/ndk/android-ndk-r8e-linux-x86_64.tar.bz2

tar -jxvf android-ndk-r8e-darwin-x86_64.tar.bz2

1.1.2.从git上 下载OpenNI2.2:

cd $HOME/work

git clone https://github.com/OpenNI/OpenNI2.git

cd OpenNI2

# 手动修改 PS1080.ini 路径

vi ./Source/Drivers/PS1080/Sensor/XnSensor.cpp

#define XN_GLOBAL_CONFIG_FILE_NAME "PS1080.ini" -> #define XN_GLOBAL_CONFIG_FILE_NAME "/system/lib/PS1080.ini"

#修改OpenNI.ini路径

vi 。/Source/Core/OniContext.cpp

staTIc const char* ONI_CONFIGURATION_FILE = "OpenNI.ini"->staTIc const char* ONI_CONFIGURATION_FILE = "/system/lib/OpenNI.ini";

static const char* ONI_DEFAULT_DRIVERS_REPOSITORY = "OpenNI2" XN_FILE_DIR_SEP "Drivers"- >static const char* ONI_DEFAULT_DRIVERS_REPOSITORY = "/system/lib/";

1.1.3 编译OpenNI2.2:

cd Packaging

python ReleaseVersion.py android

cd Final

tar -xvf OpenNI-android-2.2.tar

cd OpenNI-android-2.2

ls

EventBasedRead OpenNI.ini SimpleRead libOpenNI2.so libPSLink.so

MultipleStreamRead PS1080.ini libOniFile.so libPS1080.so libusb.so

# 把以下几个重要的库文件push到 Android目录下

adb push OpenNI.ini /system/lib/

adb push PS1080.ini /system/lib/

adb push libOpenNI2.so /system/lib/

adb push libPS1080.so /system/lib/

adb push libusb.so /system/lib/

adb push libOniFile.so /system/lib/

adb push libPSLink.so /system/lib/

adb push SimpleRead /system/lib/

# 检测OpenNI 的运行:

adb shell

cd /system/lib/

SimpleRead

./SimpleRead

[00000000] 585

[00033369] 585

[00066738] 584

[00100107] 584

[00133477] 584

[00166846] 584

[00200215] 584

[00233584] 583

[00266954] 583

……

2.OpenFramework 8.1

2.1.下载openframework源码,并建立编译环境,具体可参照http://openframeworks.cc/setup/android-eclipse/进行下载配置。

2.2.下载android NDK

cd $HOME/work

wget http://dl.google.com/android/ndk/android-ndk-r9d-darwin-x86_64.tar.bz2

tar -jxvf android-ndk-r8d-darwin-x86_64.tar.bz2

2.2设置OpenFramework的paths.make

vi libs/openFrameworksCompiled/project/android/paths.make

SDK_ROOT=$HOME/work/

NDK_ROOT=$HOME/work/android-ndk-r9d

2.3设置OpenNI include的library fie 和make file

修改 "libs/openFrameworksCompiled/project/android/config.android.default.mk"文件

ABIS_TO_COMPILE_RELEASE = armv5 armv7 neon — > ABIS_TO_COMPILE_RELEASE = armv5 armv7 neon x86

< PLATFORM_LDFLAGS += –sysroot=$(SYSROOT) -nostdlib -L"$(NDK_ROOT)/sources/cxx-stl/gnu-libstdc++/$(GCC_VERSION)/libs/$(ABI_PATH)" -L$HOME/work/OpenNI2/Packaging/Final/OpenNI-android-2.2 — > PLATFORM_LDFLAGS += –sysroot=$(SYSROOT) -nostdlib -L"$(NDK_ROOT)/sources/cxx-stl/gnu-libstdc++/$(GCC_VERSION)/libs/$(ABI_PATH)"

PLATFORM_HEADER_SEARCH_PATHS += "$HOME/work/OpenNI2/Include"

PLATFORM_LIBRARIES += OpenNI2

PLATFORM_LIBRARIES += OniFile

PLATFORM_LIBRARIES += PS1080

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