tx2 install openNI2 for astra

Posted 2020-12-26 hiram-zhang

1.配置usb接口信息

$> cd  /etc/udev/rules.d/
$> sudo gedit 56-orbbec.rules

Copy the following lines:

SUBSYSTEM=="usb", ATTR{idProduct}=="0400", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0402", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0403", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0404", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0405", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0406", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0407", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0408", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="0409", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
SUBSYSTEM=="usb", ATTR{idProduct}=="040a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"

Restart the udev system service:

$> sudo service udev reload
$> sudo service udev restart

Unplug the camera and plug it again.



2.运行下列命令

# To run visual samples(e.g., SimpleViewer), you will need freeglut3 header and libaries, please install:

$ sudo apt-get install build-essential freeglut3 freeglut3-dev

#check udev version, Orbbec Driver need libudev.so.1, if can‘t find it, can make symbolic link from libudev.so.x.x,
#which usually locate in /lib/aarch64-linux-gnu/ or /lib/i386-linux-gnu

$ldconfig -p | grep libudev.so.1
$cd /lib/aarch64-linux-gnu/
$sudo ln -s libudev.so.x.x.x libudev.so.1


3.拷贝到对应文件夹并解压缩：
下载 astra安装包：OpenNI-Linux-Arm64-2.3
http://pan.baidu.com/s/li5nGnml  密码:ep

# run install.sh to generate OpenNIDevEnvironment, which contains OpenNI development environment

$ sudo ./install.sh
 
# please replug in the device for usb-register
# add environment variables

$ source OpenNIDevEnvironment
$ cat OpenNIDevEnvironment >> ~/.bashrc
$ source ~/.bashrc

# build sample(e.g., SimpleViewer)
$ cd Samples/SimpleViewer
$ make
# run sample
# connect sensor
$ cd Bin/x64-Release
$ ./SimpleViewer

# now you should be able to see a GUI window showing the depth stream video