在OpenNI中使用ARM的Orbbec嵌入式S摄像头

Question

我有一个ARM SoC，我已经连接了一个嵌入式S摄像头。我可以看到摄像头已连接：

$ lsusb
Bus 001 Device 006: ID 2bc5:050b
Bus 001 Device 007: ID 2bc5:060b

我从https://orbbec3d.com/develop/下载了OpenNI_2.3.0.63.zip，然后将OpenNI-Linux-Arm64-2.3.0.63目录复制到我的设备并运行install.sh。现在，当我插入摄像头时，我得到：

[ 5887.390778] hub 1-1:1.0: 2 ports detected
[ 5887.879656] usb 1-1.1: New USB device found, idVendor=2bc5, idProduct=050b
[ 5887.886538] usb 1-1.1: New USB device strings: Mfr=2, Product=1, SerialNumber=3
[ 5887.894193] usb 1-1.1: Product: USB 2.0 Camera
[ 5887.898757] usb 1-1.1: Manufacturer: Sonix Technology Co., Ltd.
[ 5887.904814] usb 1-1.1: SerialNumber: SN0001
[ 5888.232284] usb 1-1.2: New USB device found, idVendor=2bc5, idProduct=060b
[ 5888.239161] usb 1-1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 5888.246856] usb 1-1.2: Product: ORBBEC Depth Sensor
[ 5888.251853] usb 1-1.2: Manufacturer: Orbbec(R)

我交叉编译了一个简单的应用程序：

int main(int argc, char** argv)
{
    const char* deviceURI = openni::ANY_DEVICE;
    Status result = STATUS_OK;
    result = OpenNI::initialize();
    cout << "OpenNI::initialize() = " << result << endl;
    openni::Array<openni::DeviceInfo> deviceList;
    openni::OpenNI::enumerateDevices(&deviceList);
    cout << "OpenNI::enumerateDevices() = " << deviceList.getSize() << endl;
    for (int i = 0; i < deviceList.getSize(); ++i)
    {
        cout << "Device " << deviceList[i].getUri() << " already connected" << endl;
    }

当我第一次运行它时，我得到了：

error while loading shared libraries: libOpenNI2.so: cannot open shared object file: No such file or director

因此，我将libOpenNI2.so复制到/usr/lib。现在，当我运行它时，我得到：

OpenNI::initialize() = 1
OpenNI::enumerateDevices() = 0

为什么看不到摄像机？我还需要做些什么才能让它工作吗？

Answer 1

我使用以下命令打开日志：

OpenNI::setLogMinSeverity(0);
OpenNI::setLogConsoleOutput(true);

我看到了：

 3774       INFO            Log     XnLog.cpp       349     New log started on 2019-11-25 09:57:11
 3864       INFO            Log     XnLog.cpp       322     --- Filter Info --- Minimum Severity: VERBOSE
 4044       VERBOSE         OniContext      OniContext.cpp  165     OpenNI 2.3.0 (Build 63)-Linux-Arm (May 13 2019 17:45:57)
 4089       VERBOSE         OniContext      OniContext.cpp  259     Using '/usr/lib/OpenNI2/Drivers' as driver path
 4112       VERBOSE         OniContext      OniContext.cpp  267     Looking for drivers at '/usr/lib/OpenNI2/Drivers'
 4167       ERROR           OniContext      OniContext.cpp  279     Found no drivers matching '/usr/lib/OpenNI2/Drivers/lib*.so'

因此，我将文件从驱动程序复制到/usr/lib/openni2/ OpenNI-Linux-Arm64-2.3.0.63/Redist/OpenNI2/Drivers/ /。自述文件还说：

*for using with Astra Embedded S/Stereo S, please change the resolution in 'orbbec.ini' to 'Resolution=17' for Depth and IR streams

所以我在/usr/lib/OpenNI2/Drivers/orbbec.ini中对其进行了编辑。现在我明白了：

 3924       INFO            Log     XnLog.cpp       349     New log started on 2019-11-25 10:23:55
 4010       INFO            Log     XnLog.cpp       322     --- Filter Info --- Minimum Severity: VERBOSE
 4185       VERBOSE         OniContext      OniContext.cpp  165     OpenNI 2.3.0 (Build 63)-Linux-Arm (May 13 2019 17:45:57)
 4230       VERBOSE         OniContext      OniContext.cpp  259     Using '/usr/lib/OpenNI2/Drivers' as driver path
 4254       VERBOSE         OniContext      OniContext.cpp  267     Looking for drivers at '/usr/lib/OpenNI2/Drivers'
 4547       VERBOSE         OniContext      OniContext.cpp  309     Loading device driver 'libOniFile.so'...
 4588       WARNING         xnOS    XnLinuxSharedLibs.cpp   107     loading lib from: /usr/lib/OpenNI2/Drivers/libOniFile.so

 6199       VERBOSE         OniContext      OniContext.cpp  309     Loading device driver 'libPSLink.so'...
 6240       WARNING         xnOS    XnLinuxSharedLibs.cpp   107     loading lib from: /usr/lib/OpenNI2/Drivers/libPSLink.so

11412       WARNING         DriverHandler   OniDriverHandler.cpp    85      LibraryHandler: Couldn't find function oniDriverStreamConvertC2DCoordinates in libPSLink.so. Stopping
11539       WARNING         OniContext      OniContext.cpp  313     Couldn't use file 'libPSLink.so' as a device driver
11626       VERBOSE         OniContext      OniContext.cpp  309     Loading device driver 'liborbbec.so'...
11675       WARNING         xnOS    XnLinuxSharedLibs.cpp   107     loading lib from: /usr/lib/OpenNI2/Drivers/liborbbec.so

15571       INFO            Log     XnLog.cpp       349     New log started on 2019-11-25 10:23:55
15615       INFO            Log     XnLog.cpp       322     --- Filter Info --- Minimum Severity: VERBOSE
15645       VERBOSE         xnUSB   XnLinuxUSB.cpp  383     Initializing USB...
19162       INFO            xnUSB   XnLinuxUSB.cpp  412     USB is initialized.
OpenNI::initialize() = 0
OpenNI::enumerateDevices() = 0

这是更好的，但仍然不成功。然后我意识到我在复制驱动文件后没有重新连接摄像头，所以我这样做了，它工作了。