Kinect on APF
This article will show you how to get the Kinect driver, released by the project OpenKinect, to run on the APF51 board. The end goal of this page will be a system where the Kinect dumps RGB and depth images to a folder on the device. The images will be in ppm and pgm format and can be viewed on a host PC in GIMP.
I'm pretty new to the Armadeus project association, so if I'm repeating information listed elsewhere or not following the general layout, I apologize on beforehand.
Installing required libusb component to rootfs image
The driver requires the libusb component to be installed on the APF51, luckily this component doesn't need to be cross-compiled but can be installed together with the Linux file system on the board.
On your host-pc go to the armadeus toolchains buildroot
To configure the device for libusb execute
Package selection for target -> Libraries -> Hardware handling --> [*] libusb
You don't need to select libusb-compat.
Exit the menuconfig and save the changes
Build the new image by executing
Move the image to tftpboot
cp apf51-rootfs.ubi /tftpboot/.
Flash the rootfs image to the board
Plug in power to the board, and stop normal booting during the 20s countdown. You will then see Command on APF
Flash the image
# run update_rootfs
Reboot into linux
Compiling the kinect driver
If you don't have cmake already installed, install it (debian) by
sudo apt-get install cmake
Download the Kinect driver to you host PC
cd ~ git clone https://github.com/OpenKinect/libfreenect.git
Make a cmake cross compilation toolchain file, mine looks like this, and is called apf51-crosscompile.cmake
# This one is important SET(CMAKE_SYSTEM_NAME Linux) # This is properly also important SET(CMAKE_SYSTEM_PROCESSOR arm) #this one not so much SET(CMAKE_SYSTEM_VERSION 1) # specify the cross compiler SET(CMAKE_C_COMPILER /home/andersrohde/armadeus/buildroot/output/build/staging_dir/usr/bin/arm-linux-gcc) SET(CMAKE_CXX_COMPILER /home/andersrohde/armadeus/buildroot/output/build/staging_dir/usr/bin/arm-linux-g++) # where is the target environment SET(CMAKE_FIND_ROOT_PATH /home/andersrohde/armadeus/buildroot/output/target) # search for programs in the build host directories #SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) # for libraries and headers in the target directories SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) SET(LIBUSB_1_INCLUDE_DIR /home/andersrohde/armadeus/buildroot/output/build/staging_dir/usr/include/libusb-1.0)
Go into libfreenect folder and edit the CMakeList.txt file. We need to deselect examples because they require OpenGL, and therefore the driver can't compile.
cd libfreenect gedit CMakeList.txt
Configure the options to look like this
OPTION(BUILD_EXAMPLES "Build example programs" OFF) OPTION(BUILD_FAKENECT "Build fakenect mock library" OFF) OPTION(BUILD_C_SYNC "Build c synchronous library" ON) OPTION(BUILD_CPP "Build C++ Library (currently header only)" ON) OPTION(BUILD_CV "Build OpenCV wrapper" OFF) OPTION(BUILD_AS3_SERVER "Build the Actionscript 3 Server Example" OFF) OPTION(BUILD_PYTHON "Build Python extension" OFF)
Create a build directory in the libfreenect folder and go into it
mkdir build cd build
Cross compile the libfreenect with cmake and you cmake file (remember the 2 dots in the end)
cmake -DCMAKE_TOOLCHAIN_FILE=~/apf51-crosscompile.cmake ..
Compile the software
Installing the Kinect driver on the apf51
The kinect driver is installed in the library file libfreenect.so.0.0.1 stored under libfreenect/lib/libfreenect.so.0.0.1. Tranfer this to /tftpboot folder. Make sure you don't just tranfer a link but transfer the real library file.
cp /lib/libfreenect.so.0.0.1 /tftpboot/
Transfer this file to the apf51
# tftp -g -r libfreenect.so.0.0.1 -l /usr/lib/libfreenect.so.0.0.1 18.104.22.168
Link the lib file on the apf51
# cd /usr/lib # ln -s libfreenect.so.0.0.1 libfreenect.so.0.0
Now the Kinect driver is installed but we don't have any software to test it with, since we deselected the examples to make the software compile
Building a test application on the host PC
The record.c application that is one of the examples doesn't require OpenGL to run, and is a good example of a test program.
On you host PC copy the record application to a developement folder.
cd ~ mkdir kinectsoftware cd kinectsoftware cp ~/libfreenect/fakenect/record.c .
Compile the record application using the library file and header file compiled
/armadeus/buildroot/output/build/staging_dir/usr/bin/arm-linux-gcc -o record -I ~/libfreenect/include/ -L ~/libfreenect/build/lib -l freenect record.c
Transfer the record application to the tftpboot folder
cp record /tftpboot/.
Transfering it to the device and testing it
Transfer record to APF51
# tftp -g -r record -l /usr/bin/record 22.214.171.124
Give record executable rights
# cd /usr/bin # chmod a+x record
Create a folder to store the images in
# cd /tmp # mkdir testkinect
Run record app and store the images in testkinect
# record testkinect
After minimum 10-20s stop the application with Ctrl + C.
Now folder testkinect contains accelerometer dumps (*.dump), rgb images (*.ppm) and depth images (*.pgm). Both RGB and depth images can be viewed in default image viewer on ubuntu.