树莓派+opencv+xtion/kinect

1. 安装xtion/kinect 驱动

1.1. 安装支持库

sudo apt-get updatesudo apt-get install g++ python libusb-1.0-0-dev freeglut3-devsudo apt-get install doxygen graphviz mono-completesudo apt-get install openjdk-7-jdk

1.2. 下载驱动

git clone https://github.com/OpenNI/OpenNI.git
git clone git://github.com/avin2/SensorKinect.git （如果你的是kinect 下载此项）
git clone https://github.com/PrimeSense/Sensor.git （如果你的是xtion下载此项）
分别修改OpenNI 和Sensor
两个文件夹下的Platform.Arm 文件，将其中的
-mfloat-abi=softfp 改为 -mfloat-abi=hard
操作如下图

最后到 software/OpenNI/Platform/Linux/Bin/Arm-Release目录执行（其中的software为自己建立的文件夹）

cd ~/software/OpenNI/Platform/Linux/Bin/Arm-Releasesudo ./Sample-NiCRead

执行完毕，如果遇到 usb transfer timeout 的情况，则是树莓派的usb供电不足，不能启动xtion/kinect

解决方法：

cd /bootsudo vim config.txt

在最后一行加入
max_usb_current=1
重启

2. 安装opencv

sudo apt-get install libcv-dev

安装中如果遇到 Failed to fetch http://xxx.deb, 如下图所示的情况

解决方法：
执行：
1. wget http://xxx.deb
2. sudo dpkg -i xxx.deb
3. 重新执行

sudo apt-get install libcv-dev

3. 使用opencv+openni 读取xtion的数据（彩色图和深度图）

新建loadimage.cpp

#include <stdlib.h>   #include <iostream>   #include <string>   #include <XnCppWrapper.h>   #include <opencv2/core/core.hpp>#include <opencv2/highgui/highgui.hpp>#include <opencv2/imgproc/imgproc.hpp>   using namespace std;  using namespace cv;  void CheckOpenNIError( XnStatus result, string status )  {       if( result != XN_STATUS_OK )           cerr << status << " Error: " << xnGetStatusString( result ) << endl;  }  int main( int argc, char** argv )  {      XnStatus result = XN_STATUS_OK;        xn::DepthMetaData depthMD;      xn::ImageMetaData imageMD;      namedWindow("depth",1);      namedWindow("image",1);      char key=0;      // context        xn::Context context;       result = context.Init();       CheckOpenNIError( result, "initialize context" );        // creategenerator         xn::DepthGenerator depthGenerator;        result = depthGenerator.Create( context );       CheckOpenNIError( result, "Create depth generator" );        xn::ImageGenerator imageGenerator;      result = imageGenerator.Create( context );       CheckOpenNIError( result, "Create image generator" );        //map mode         XnMapOutputMode mapMode;       mapMode.nXRes = 640;        mapMode.nYRes = 480;       mapMode.nFPS = 30;       result = depthGenerator.SetMapOutputMode( mapMode );        result = imageGenerator.SetMapOutputMode( mapMode );        depthGenerator.GetAlternativeViewPointCap().SetViewPoint( imageGenerator );       result = context.StartGeneratingAll();        Mat cvDepthImg;    Mat cvBGRImg;    context.WaitAndUpdateAll( );    while( (key!=27) && !(result = context.WaitNoneUpdateAll( )))       {            //get meta data           depthGenerator.GetMetaData(depthMD);           imageGenerator.GetMetaData(imageMD);          //OpenCV output Mat cvDepthRawImg(depthMD.FullYRes(),  depthMD.FullXRes(), CV_16UC1, (char *)depthMD.Data());          cvDepthRawImg.convertTo(cvDepthImg, CV_8U, 255.0/(depthMD.ZRes()));  imshow("depth", cvDepthImg);Mat cvRGBImg(imageMD.FullYRes(), imageMD.FullXRes(), CV_8UC3, (char *)imageMD.Data());  cvtColor(cvRGBImg, cvBGRImg, CV_RGB2BGR);          imshow("image", cvBGRImg);         key=cvWaitKey(20);      }      //destroy       destroyWindow("depth");      destroyWindow("image");      context.StopGeneratingAll();      context.Release();      return 0;  }

新建makefile

CC = g++TARGET = loadimageexport CPLUS_INCLUDE_PATH=$CPLUS_INCLUDE_PATH:/usr/include/niSRCS = loadimage.cppOBJS = $(SRCS:.cpp=.o)# 库文件DLIBS = -lopencv_core -lopencv_imgproc -lopencv_highgui -lOpenNI# 链接可执行文件$(TARGET):$(OBJS)    $(CC) -o $@ $^ $(DLIBS)clean:    rm -rf $(TARGET) $(OBJS)# 编译规则 $@代表目标文件 $<代表第一个依赖文件%.o:%.cpp    $(CC) -o $@ -c $<

执行
make