我尝试在 ARM 板(Pandaboard)上运行 Asus xtion,并且我已经安装并使用了 openni 提供的示例(例如 NiSimpleRead)。为了让这些示例在此平台上运行,需要进行一些调整,其中之一是将 UsbInterface 手动设置为同步(在 GlobalDefaults.ini 中)。但之后一切都很顺利
现在我想使用PCL(基于openni)来抓取一些帧,但PCL不起作用。我相信 pcl 尝试自行设置 USB 接口(它可能使用 XnUSBLinux.cpp 进行通用)并尝试绕过 GlobalDefaults.ini,分别不使用我手动设置的 USB 接口。
我的问题是我是否可以将设备的 USB 接口选项设置为全局同步?或者我如何更改 XnUSBLinux.cpp 以使其运行。
这是 lsusb -v 的输出(简化为 asus 设备部分)并显示两个操作选项(批量和等时)
Bus 001 Device 006: ID 1d27:0600
Device Descriptor:
bLength 18
bDescriptorType 1
bcdUSB 2.00
bDeviceClass 0 (Defined at Interface level)
bDeviceSubClass 0
bDeviceProtocol 0
bMaxPacketSize0 64
idVendor 0x1d27
idProduct 0x0600
bcdDevice 0.01
iManufacturer 2 PrimeSense
iProduct 1 PrimeSense Device
iSerial 0
bNumConfigurations 1
Configuration Descriptor:
bLength 9
bDescriptorType 2
wTotalLength 69
bNumInterfaces 1
bConfigurationValue 1
iConfiguration 0
bmAttributes 0x80
(Bus Powered)
MaxPower 500mA
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 0
bAlternateSetting 0
bNumEndpoints 3
bInterfaceClass 255 Vendor Specific Class
bInterfaceSubClass 0
bInterfaceProtocol 0
iInterface 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x81 EP 1 IN
bmAttributes 1
Transfer Type Isochronous
Synch Type None
Usage Type Data
wMaxPacketSize 0x0b70 2x 880 bytes
bInterval 1
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x82 EP 2 IN
bmAttributes 1
Transfer Type Isochronous
Synch Type None
Usage Type Data
wMaxPacketSize 0x135c 3x 860 bytes
bInterval 1
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x83 EP 3 IN
bmAttributes 1
Transfer Type Isochronous
Synch Type None
Usage Type Data
wMaxPacketSize 0x1040 3x 64 bytes
bInterval 1
Interface Descriptor:
bLength 9
bDescriptorType 4
bInterfaceNumber 0
bAlternateSetting 1
bNumEndpoints 3
bInterfaceClass 255 Vendor Specific Class
bInterfaceSubClass 0
bInterfaceProtocol 0
iInterface 0
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x81 EP 1 IN
bmAttributes 2
Transfer Type Bulk
Synch Type None
Usage Type Data
wMaxPacketSize 0x0200 1x 512 bytes
bInterval 1
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x82 EP 2 IN
bmAttributes 2
Transfer Type Bulk
Synch Type None
Usage Type Data
wMaxPacketSize 0x0200 1x 512 bytes
bInterval 1
Endpoint Descriptor:
bLength 7
bDescriptorType 5
bEndpointAddress 0x83 EP 3 IN
bmAttributes 2
Transfer Type Bulk
Synch Type None
Usage Type Data
wMaxPacketSize 0x0200 1x 512 bytes
bInterval 1
Device Qualifier (for other device speed):
bLength 10
bDescriptorType 6
bcdUSB 2.00
bDeviceClass 0 (Defined at Interface level)
bDeviceSubClass 0
bDeviceProtocol 0
bMaxPacketSize0 64
bNumConfigurations 1
Device Status: 0x0000
(Bus Powered)
如果您能帮助我手动设置一个选项,那就太好了。
None
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