ECE497 Notes on Kinect

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thumb‎ Embedded Linux Class by Mark A. Yoder

Microsoft's Kinect sensor has created great interest in the Beagle Community.

Here are notes on installing the third party drivers from Omek.


I got the 4 files from here. Here's the files I have

host$ ls -sh
total 65M
4.0K beagle-omek
 54M beckon-image-2.4.16175.tar.gz
4.0K Beckon-SDK-2.4.16236
 11M beckon-sdk-2.4.16236.tar.gz
4.0K create_sd.txt
1.1M omek beckon sdk, ti dm3730 edition -- developer guide.pdf
4.0K readme
4.0K UsersGuide


I'm getting this error.

host$  sudo bash /dev/mmcblk0 beagle-omek/
Using image beagle-omek/
using device /dev/mmcblk0
You are about to totaly erase the device, are you sure (yes/no) ?yes
1024+0 records in
1024+0 records out
1048576 bytes (1.0 MB) copied, 0.382056 s, 2.7 MB/s
Disk /dev/mmcblk0 doesn't contain a valid partition table
DISK SIZE - 8010072064 bytes
Checking that no-one is using this disk right now ...

Disk /dev/mmcblk0: 973 cylinders, 255 heads, 63 sectors/track

sfdisk: ERROR: sector 0 does not have an msdos signature
 /dev/mmcblk0: unrecognized partition table type
Old situation:
No partitions found
New situation:
Units = cylinders of 8225280 bytes, blocks of 1024 bytes, counting from 0

   Device Boot Start     End   #cyls    #blocks   Id  System
/dev/mmcblk0p1   *      0+      8       9-     72261    c  W95 FAT32 (LBA)
/dev/mmcblk0p2          9     972     964    7743330   83  Linux
/dev/mmcblk0p3          0       -       0          0    0  Empty
/dev/mmcblk0p4          0       -       0          0    0  Empty
Successfully wrote the new partition table

Re-reading the partition table ...

If you created or changed a DOS partition, /dev/foo7, say, then use dd(1)
to zero the first 512 bytes:  dd if=/dev/zero of=/dev/foo7 bs=512 count=1
(See fdisk(8).)
done partitioning.
Cant find boot partition  /dev/mmcblk01
Cant find rootfs partition in  /dev/mmcblk02
mount: special device /dev/mmcblk01 does not exist
Failed to mount /dev/mmcblk01.

The problem is it's looking for /dev/mmcblk01 and on my Ubuntu 10.4 it appears at /dev/mmcblk0p1.

I modified to add the p and after a little fussing it worked!


It booted up and runs fine. There is no X windows, rather the one demo uses QT embedded. QT embedded writes straight to the framebuffer and doesn't need X.


I'm now in the process of seeing if I can copy the demos over to an SD card that I've been doing other development on. My SD isn't set up for QT embedded, so I'm trying:

beagle$ opkg update
beagle$ opgk install qt4-embedded-tools  # 5   minutes
beagle$ opgk install qt4-embedded-static # 2.5 minutes
beagle$ opgk install qt4-embedded-fonts  # 2.5 minutes

These times running on a rather slow network at home. I don't know if the 'static' needs to be installed.

Next I went to the SD that was working with the Kinect and copied /usr/lib/libOpenNI.* to /usr/lib on the target SD card. I now get the following error.

beagle$ ./QtTracking -qws
Error creating sensor.
Failed to initialize tracking !

I'm guess I don't have the DSP stuff setup right.

This might help with the openNI port.

thumb‎ Embedded Linux Class by Mark A. Yoder