在繼上一篇《基于qualcomm平臺的kinect教程一之windows配置篇》，本文我們接著來介紹基于qualcomm的android平臺上搭建kinect的運(yùn)行環(huán)境。

一、總述

本教程是基于qualcomm的android平臺搭建kinect的運(yùn)行環(huán)境，我們采用的是：OpenFramework+OpenNI+Kinect of android，其中Kinect of android是OpenFramework源碼里的一個子項目；下面是具體的搭建步驟。

二、硬件環(huán)境：Dragonboard 410c + Kinect

圖1 Dragonboard 410c

圖2 Kinect傳感器

三、軟件環(huán)境

OpenFramework+OpenNI+Kinect of android，其中Kinect of android是OpenFramework源碼里的一個子項目，我的編譯環(huán)境是64位的ubuntu，下面詳細(xì)地介紹各部分的搭建。

1.OpenNI

1.1. 搭建 OpenNI 2.2：

1.1.1下載 android ndk編譯工具：

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.從git上 下載OpenNI2.2：

cd $HOME/work

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

cd OpenNI2

# 手動修改 PS1080.ini 路徑

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路徑

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 編譯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

# 把以下幾個重要的庫文件push到 Android目錄下

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/

# 檢測OpenNI 的運(yùn)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.下載openframework源碼，并建立編譯環(huán)境，具體可參照http://openframeworks.cc/setup/android-eclipse/進(jìn)行下載配置。

2.2.下載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設(shè)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設(shè)置OpenNI include的library fie 和make file

修改 “l(fā)ibs/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

3.android應(yīng)用

大家可以通過http://www.hirotakaster.com/download/androidOpenNIExample.tar.gz下載最新的應(yīng)用測試工程并驗證結(jié)果。