LIPSedge AT
- Introduction
- Environment Setup
- Run Example Program
- Develop for PC Application
- Develop for ARM Platform Application
LIPS is a leading company in Taiwan specialized in Time-of-Flight (ToF) and Stereo vision technology including middleware and hardware ranging from consumer to industrial products such as 3D Scanning, 3D Surveillance, Gaming, Smart TVs, Biometric Recognition, Robotics,…etc. We have two different model for different user. See more introduction in
This Wiki is for the user who
- Already has a LIPS 3D camera, LIPSedge AT, on hand and want to run example program.
- OR want to develop application with LIPS 3D depth camera.
- The target platform is Linux
- Develop application with OpenNI 1.5
If you don't have one and are interesting with it, please contact with us by e-mail info@lips-hci.com
Note If you are the user of LIPSedge DL, please see the LIPSedge DL wiki page.
This section describes how to connect the LIPSedge AT and use it.
Users can use terminal interface to operate Linux of LIPSedge AT via the UART-USB port on it.
- Connect UART-USB in LIPSedge AT with PC-USB port
Not on the SW1 and SW3: make sure the switches SW1 and SW3 are in the off status.
- Connect LIPSedge AT to the ethernet which is under DHCP service.
- Use terminal tool, like TeraTerm, to connect LIPSedge AT Linux console.
UART Setup is 115200 and 8n1 as the following picture.
- Login into Linux in LIPSedge AT. If you need the login account and password, please contact with us by info@lips-hci.com.
-
Use ifconfig to check IP address of LIPSedge AT.
-
To change IP address, e.g. 192.168.0.10, use ifconfig command:
root@cyclon5:~# ifconfig eth0 192.168.0.10 netmask 255.255.255.0
- You can do any operation on it just like using common Linux-like system
- Use FTP client, like Filezilla, to connet the FTP server on LIPSedge AT. If you need the login account and password, please contact with us by info@lips-hci.com.
Before do that, you should get the IP address first. See Terminal connection via UART-USB.
- Send file into LIPSedge AT via FTP.
NiRecorder is a sample program to record depth data and RGB data into a .oni file. It record 100 frames in every executing. For developer, it is a easy way to verify sensor work or not. You can execute the command:
./NiRecorder
Note: The NiRecorder should run on LIPSedge AT.
Then you can get a recording.oni file in the same directory. The recording.oni can be playbacked by NiViewer.exe in Windows/Linux.
Before running NiUDPServer on LIPSedge AT, the LIPSedge AT need connect via ethernet to the client, which should be a PC and ready to run "UDP receiver". And you must exactly know client's IP address. For example, if client's IP address is 192.168.1.2, you need execute the command:
./NiUDPServer 192.168.1.2
Note: The NiUDPServer should run on LIPSedge AT.
For running NiUDPClient on PC, you need pre-install OpenCV. And you also need to know server's IP address. For example, server's IP address is 192.168.1.10:
./NiUDPClient 192.168.1.10
- Ubuntu 14.04 or later
Makesure all needed tool for the following installation can be found. You can run apt update and upgrade first.
sudo apt-get update
sudo apt-get upgrade
OpenCV is a famous computer vision library that LIPS SDK need.
- Install required packages for building OpenCV 2.
sudo apt-get install cmake pkg-config libgtk2.0-dev
-
Download OpenCV 2.4.11 Linux version source code from here.
-
Extract and enter OpenCV root folder, for example
cd ~/opencv-2.4.11
- Create a folder for cmake and change directory to it, for example,
mkdir build && cd build
- Enter following command to generate cmake files
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
- Once generation is done, enter make command to start the build
make
- Then, install OpenCV to your system, administrator permission may required.
sudo make install
sudo apt-get install git-core
Download the project into the SDK folder via Git clone form this repository.
git clone https://github.com/lips-hci/openni_linux.git LIPS_Sample
cd LIPS_Sample/NiUDPClient
CXX=g++ make
You can base the samples we provided to develop your own application. What you need to know to edit Makefile are:
- Append the source files' name to SRC
- According the path related to SDK, modify the CPPFLAGS and LDFLAGS appropriately. i.e., you man need to add -I and -L to the correct location.
- You can also use Clang to compile your application by change CXX from g++ to clang.
Since LIPSedge AT is ARM-based CPU architecture platform, we suggest to use [docker] (https://www.docker.com/) to develop the application to save the time of establishing a cross-compile OpenNI-installed environment. Developers could pull the image from Docker Hub by following command
docker pull lips/aarch32_openni
Be noted, please install QEMU to emulate ARM CPU architecture on your work station, like the commands below:
apt-get install qemu qemu-user-static binfmt-support
update-binfmts --enable qemu-arm
Then you could use 'docker run' command to launch the container
docker run -it -v /usr/bin/qemu-arm-static:/usr/bin/qemu-arm-static lips/aarch32_openni /bin/bash
Please refer the section "Download LIPS Sample Code" to download sample code from github, and modify the compile flags defined in Makefile, i.e., modify CPPFLAGS and LDFLAGS from
-I../../Include
-L../../Lib
to
-I/usr/include/ni
-L/usr/lib
Then compile the source in the same way
CXX=g++ make
cd LIPS_Sample/NiRecorder
CXX=g++ make
cd LIPS_Sample/NiUDPServer
CXX=g++ make