openni+linux+arm,Jetson tk1 安装OpenNI 1 +Xtion Pro +NiTE

参考：

http://blog.csdn.net/xiabodan/article/details/44496871

序：

由于第三方库 NiTE2.0 不支持 arm 架构的处理器，因此需要安装OpenNI 1.x +NiTE 1.x 版本

1. 安装OpenNI 1.x

1.1 准备工作

sudo apt-get update

sudo apt-get install git g++ python libusb-1.0-0-dev freeglut3-dev openjdk-6-jdk doxygen graphviz

1.2 下载稳定版本的OpenNI和PrimeSense

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)

1.3 修改文件

cd OpenNI/Platform/Linux/Build/Common

gedit Platform.Arm

将

CFLAGS += -march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=softfp #-mcpu=cortex-a8

_to

改为：

CFLAGS += -march=armv7-a -mtune=cortex-a15 -mfpu=neon-vfpv4 -mfloat-abi=hard

保存

1.4. 安装

cd ~/OpenNI/Platform/Linux/CreateRedist/

./RedistMaker.Arm

cd ~/OpenNI/Platform/Linux/Redist/OpenNI-Bin-Dev-Linux-Arm-v1.5.2.23

sudo ./install.sh

OK,OpenNI 1.x 安装完毕

2. Xtion Pro 驱动安装

2.1 修改文件

cd ~/Sensor/Platform/Linux/Build/Common/ (xtion)

gedit Platform.Arm

cd ~/SensorKinect/Platform/Linux/Build/Common/ (kinect)

gedit Platform.Arm

将

CFLAGS += -march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=softfp #-mcpu=cortex-a8

改为：

CFLAGS += -march=armv7-a -mtune=cortex-a15 -mfpu=neon-vfpv4 -mfloat-abi=hard

2.2 开始安装

cd ~/Sensor/Platform/Linux/CreateRedist/

./RedistMaker Arm

cd ~/Sensor/Platform/Linux/Redist/Sensor-Bin-Linux-Arm-v5.1.0.41

sudo ./install.sh

2.3 运行例子

cd ~/OpenNI/Platform/Linux/Bin/Arm-Release

sudo ./Sample-NiCRead

sudo ./Sample-NiBackRecorder time 1 depth vga

sudo ./Sample-NiSimpleRead

OK，完工！