odroid平台——ASUS Xtion Pro Live + Openni + ROS搭建（Xu4升级版）
之前的文章写了基于odroid-xu3的Xtion+ROS搭建方法，由于xu3停产了，只能换用xu4，但是换的过程中发现xu4没有usb2.0，只有usb3.0，但是很遗憾Xtion官方版本不支持usb3.0。经过不断的尝试，发现其他搭建方法与xu3相同，只是需要对xtion固件本身进行修改，添加usb3.0的支持。
在Windows中进行操作，插入Xtion。
下载Xtion固件升级包xtion usb update，解压。
链接再贴一遍
https://github.com/nh2/asus-xtion-fix/blob/master/FW579-RD1081-112v2.zip进入文件夹UsbUpdate，在cmd中运行!Update-RD108x!.bat
得到如下的结果则升级完成，现在在odroid-xu4下面可以使用openni_launch啦：
G:\xtion\UsbUpdate>"!Update-RD108x!.bat"
UsbUpdate V1.0.4
406 INFO New log started on 2014-02-14 18:20:53
687 INFO OpenNI version is 1.5.4 (Build 0)-Win32 (May 20 2012 00:23:
47)
891 INFO --- Filter Info --- Minimum Severity: NONE
1024 VERBOSE Searching for .\\XnDevice*.dll...
1159 VERBOSE Trying to load a device 'XnDeviceSensorV2.dll'...
1900 INFO device 'XnDeviceSensorV2.dll' loaded.
2096 VERBOSE Initializing device sensor...
2338 INFO Setting Device.ResetSensorOnStartup to 0...
2397 INFO Property Device.ResetSensorOnStartup was changed to 0.
2442 INFO Device.ResetSensorOnStartup was successfully set.
4365 VERBOSE Connecting to USB device...
5854 VERBOSE Trying to open sensor '\\?\usb#vid_1d27&pid_0600#6&109c578c
&0&1#{c3b5f022-5a42-1980-1909-ea72095601b1}'...
6224 VERBOSE USB Driver Version is: 3.1.2.0
6285 VERBOSE USB Driver Current Alt Setting is: 0
6328 VERBOSE Trying to open endpoint 0x4 for control out (for old firmwa
res)...
6397 INFO Connected to USB device
6441 INFO Property Device.USBPath was changed to \\?\usb#vid_1d27&pid
_0600#6&109c578c&0&1#{c3b5f022-5a42-1980-1909-ea72095601b1}.
9910 VERBOSE Getting hardware versions...
28229 INFO Hardware versions: FW=5.3.26 (9) HW=5 Chip=2 Sensor=0 SYS=1
4
59482 WARNING Received NACK: 2
60844 VERBOSE Getting the fixed params...
75870 VERBOSE Sensor serial number: 1205220596
76062 VERBOSE Getting algorithm params 0x7 for resolution 0 and fps 0....
91073 VERBOSE Property Firmware.ReferenceResolution was changed to 2.
91284 VERBOSE Reading all params from firmware...
98206 VERBOSE Property Firmware.DepthWhiteBalance (45) was changed to 1.
107586 VERBOSE Property Firmware.DepthHoleFilter (22) was changed to 1.
112206 VERBOSE Property Firmware.DepthGain (21) was changed to 42.
123837 VERBOSE Property Firmware.DepthFormat (18) was changed to 1.
141580 VERBOSE Property Firmware.ImageQuality (16) was changed to 3.
142955 VERBOSE Property Firmware.ImageSharpness (76) was changed to 50.
143084 VERBOSE Firmware params were updated.
143259 VERBOSE Getting Cmos 0 VBlanking...
144456 INFO Cmos 0 VBlanking: 9
144646 INFO Property Device.PhysicalDeviceName was changed to PrimeSens
e RD1.08x.
144711 INFO Property Device.VendorSpecificData was changed to PS1080SOC
.
144797 INFO Property Device.ID was changed to 1205220596.
145265 INFO Device sensor initialized
146009 INFO >>>>>> Running the special init function InitRepairFW5327Zo
neB!
147866 INFO *** Going to clear the upgrade area...
149878 INFO *** Min upgrade area offset: 0x25000
151104 INFO *** Max upgrade area offset: 0x3c9c0
152446 VERBOSE Getting file list
199834 VERBOSE Getting file list
246586 INFO *** Upgrade area is clear!
247039 INFO *** There are 13 files to upload!
247442 INFO *** Uploading file #1:
250146 INFO >>>>>> Running the special function UpgradeSensorID1!
251259 INFO Updated DeviceName to: PrimeSense RD1.08x
252614 INFO Updated VendorSpecific to: PS1080SOC
254080 INFO Updated SerialNumber to: 1205220596
256043 INFO Temp file name: C:\Users\niklas\AppData\Local\Temp\39C5.tmp
257481 INFO >>>>>> Done! Update was successfuly handled!
258625 INFO >>>>>> File Name: C:\Users\niklas\AppData\Local\Temp\39C5.t
mp, Offset: 0x25000, SensorSpecific:0
260695 INFO Setting Device.FlashFile...
261883 INFO Upload file C:\Users\niklas\AppData\Local\Temp\39C5.tmp (of
fset 151552)
277709 VERBOSE Initialized upload of 302 bytes in 14 ms
278410 VERBOSE Uploaded 302 bytes in 1 ms
293464 INFO Device.FlashFile was successfully set.
293675 INFO >>>>>> Deleting the temp file...
294092 INFO *** Uploading file #2:
294952 INFO >>>>>> File Name: ..\FLA\SensorTecParams.xml.bin.fla, Offse
t: 0x25200, SensorSpecific:1
296619 INFO >>>>>> Skipping a sensor specific file...
298139 INFO *** Uploading file #3:
300222 INFO >>>>>> File Name: ..\FLA\SensorSafetyParams.xml.bin.fla, Of
fset: 0x25230, SensorSpecific:1
301606 INFO >>>>>> Skipping a sensor specific file...
302765 INFO *** Uploading file #4:
303552 INFO >>>>>> File Name: ..\FLA\GainControl.xml.bin.fla, Offset: 0
x25260, SensorSpecific:0
307658 INFO Setting Device.FlashFile...
309165 INFO Upload file ..\FLA\GainControl.xml.bin.fla (offset 152160)
324715 VERBOSE Initialized upload of 120 bytes in 14 ms
325666 VERBOSE Uploaded 120 bytes in 1 ms
340225 INFO Device.FlashFile was successfully set.
340501 INFO *** Uploading file #5:
342377 INFO >>>>>> File Name: ..\FLA\RegistrationParams.xml.bin.fla, Of
fset: 0x25360, SensorSpecific:1
343954 INFO >>>>>> Skipping a sensor specific file...
348400 INFO *** Uploading file #6:
349052 INFO >>>>>> File Name: ..\FLA\AlgorithmParams.xml.bin.fla, Offse
t: 0x25660, SensorSpecific:0
350036 INFO Setting Device.FlashFile...
351408 INFO Upload file ..\FLA\AlgorithmParams.xml.bin.fla (offset 1531
84)
371488 VERBOSE Initialized upload of 736 bytes in 18 ms
377128 VERBOSE Uploaded 736 bytes in 6 ms
386976 INFO Device.FlashFile was successfully set.
387162 INFO *** Uploading file #7:
388451 INFO >>>>>> File Name: ..\FLA\PrimeProcessor.xml.bin.fla, Offset
: 0x25a60, SensorSpecific:0
390128 INFO Setting Device.FlashFile...
391687 INFO Upload file ..\FLA\PrimeProcessor.xml.bin.fla (offset 15420
8)
418278 VERBOSE Initialized upload of 1116 bytes in 27 ms
431563 VERBOSE Uploaded 1116 bytes in 13 ms
449466 INFO Device.FlashFile was successfully set.
449683 INFO *** Uploading file #8:
450841 INFO >>>>>> File Name: ..\FLA\FixedParamsRD108.xml.bin.fla, Offs
et: 0x26060, SensorSpecific:0
452519 INFO Setting Device.FlashFile...
452631 INFO Upload file ..\FLA\FixedParamsRD108.xml.bin.fla (offset 155
744)
480583 VERBOSE Initialized upload of 526 bytes in 26 ms
482880 VERBOSE Uploaded 526 bytes in 2 ms
496137 INFO Device.FlashFile was successfully set.
496359 INFO *** Uploading file #9:
496976 INFO >>>>>> File Name: ..\FLA\ImageCmos.xml.bin.fla, Offset: 0x2
6460, SensorSpecific:0
497258 INFO Setting Device.FlashFile...
499104 INFO Upload file ..\FLA\ImageCmos.xml.bin.fla (offset 156768)
527546 VERBOSE Initialized upload of 1648 bytes in 27 ms
551068 VERBOSE Uploaded 1648 bytes in 24 ms
574095 INFO Device.FlashFile was successfully set.
574296 INFO *** Uploading file #10:
575462 INFO >>>>>> File Name: ..\FLA\DepthCmos.xml.bin.fla, Offset: 0x2
7660, SensorSpecific:0
577068 INFO Setting Device.FlashFile...
578546 INFO Upload file ..\FLA\DepthCmos.xml.bin.fla (offset 161376)
605444 VERBOSE Initialized upload of 240 bytes in 25 ms
605901 VERBOSE Uploaded 240 bytes in 0 ms
620835 INFO Device.FlashFile was successfully set.
621048 INFO *** Uploading file #11:
621716 INFO >>>>>> File Name: ..\FLA\DefaultParams.xml.bin.fla, Offset:
0xfffffff, SensorSpecific:2
621988 INFO >>>>>> Skipping a factory offset specific file...
624212 INFO *** Uploading file #12:
626060 INFO >>>>>> File Name: ..\FLA\BootManager.out.bin.fla, Offset: 0
xfffffff, SensorSpecific:2
630456 INFO >>>>>> Skipping a factory offset specific file...
630571 INFO *** Uploading file #13:
632326 INFO >>>>>> File Name: ..\FLA\source.out.bin.fla, Offset: 0x2796
0, SensorSpecific:0
633427 INFO Setting Device.FlashFile...
634844 INFO Upload file ..\FLA\source.out.bin.fla (offset 162144)
1151167 VERBOSE Initialized upload of 134876 bytes in 515 ms
..........................
3689400 VERBOSE Uploaded 134876 bytes in 2538 ms
4520941 INFO Device.FlashFile was successfully set.
4521092 INFO *** Reseting the sensor...
4521251 INFO Setting Device.Reset to 0...
4521870 VERBOSE Setting mode to 4...
4524998 INFO Device.Reset was successfully set.
4525650 INFO ***************************************
4527030 INFO SUCCESS!
4527087 INFO ***************************************
4528447 VERBOSE Shutting down USB depth read thread...
4530375 VERBOSE Shutting down USB image read thread...
4531575 VERBOSE Device closed successfully
4536534 VERBOSE Shutting down Scheduler thread...
4538833 VERBOSE Shutting down USB depth read thread...
4539396 VERBOSE Shutting down USB image read thread...
4541039 VERBOSE Device closed successfully
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