Difference between revisions of "OpenNI2"

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The OpenNI2 device driver for YARP exposes streams of data (color and depth videos, skeleton user tracking) from RGB-D sensors, including: Asus Xtion Pro, Kinect v1. Kinect v2 will be supported in the future (using libfreenect and the OpenNI2-freenect bridge).
+
The OpenNI2 device driver for YARP exposes streams of data (color and depth videos, skeleton user tracking) from RGB-D sensors, including: Asus Xtion Pro, Kinect v1 and Kinect v2 (soon).
  
 
Note: other projects with similar purposes exist:
 
Note: other projects with similar purposes exist:
# https://github.com/robotology/kinect-wrapper, based on OpenNI version 1 or Microsoft Kinect SDK;
+
# [http://www.yarp.it/classyarp_1_1dev_1_1depthCameraDriver.html YARP depthCamera plugin], based on OpenNI 2;
 +
# https://github.com/robotology/kinect-wrapper, based on OpenNI 1 or Microsoft Kinect SDK;
 
# [http://wiki.icub.org/yarpdoc/group__kinect__openni.html Kinect YARP device driver], also based on OpenNI 1.
 
# [http://wiki.icub.org/yarpdoc/group__kinect__openni.html Kinect YARP device driver], also based on OpenNI 1.
  
 
= Installation =
 
= Installation =
  
This driver was tested on Debian Jessie (testing), Ubuntu 12.04+ and Mac OS X 10.8.4+.
+
This driver was tested on Debian Jessie (stable), Ubuntu 12.04+ and macOS 10.8.4+.
  
 
== Dependencies ==
 
== Dependencies ==
  
 
For Debian and Ubuntu, install the following dependencies:
 
For Debian and Ubuntu, install the following dependencies:
  sudo apt-get install g++ python libusb-1.0-0-dev libudev-dev freeglut3-dev doxygen graphviz
+
  sudo apt-get install g++ python libusb-1.0-0-dev libudev-dev freeglut3-dev doxygen graphviz libxmu-dev libxi-dev
Also, you must have installed a Java SDK.
+
Also, you must have installed a Java SDK (Oracle recommended).
  
Debian Wheezy (stable) is not supported by OpenNI2, due to glibc version being < 2.14.
+
Debian Wheezy (oldstable) is not supported by OpenNI2, due to glibc version being < 2.14.
  
For MacOS X, the above packages are either preinstalled or available through Homebrew.
+
For macOS, the above packages are either preinstalled or available through Homebrew.
  
Next, install OpenNI2 (from zip packages or from GitHub source - see http://structure.io/openni) and NiTE2.
+
== OpenNI2 ==
  
For Mac OS X, OpenNI2 is also available through Homebrew.
+
Install OpenNI2 (from zip packages or from GitHub source - see http://structure.io/openni) and NiTE2.
 +
 
 +
For macOS, OpenNI2 is also available through Homebrew.
  
 
== Environment variables ==
 
== Environment variables ==
  
Next, you need to set four new environment variables in your system, typically in your .bashrc:
+
Follow the installation instructions for OpenNI2 and NiTE2 by running the respective install.sh scripts. These scripts will create two files called OpenNIDevEnvironment and NiTEDevEnvironment. To copy their content permanently into your .bashrc, do:
OPENNI2_INCLUDE
 
OPENNI2_REDIST
 
NITE2_INCLUDE
 
NITE2_REDIST64 or NITE2_REDIST
 
 
 
=== If you have downloaded the packages ===
 
 
 
Source the environment files (obtained from the zip packages instructions) by copying their content permanently into your .bashrc. From your OpenNI2 directory:
 
 
  cat OpenNIDevEnvironment >> ~/.bashrc
 
  cat OpenNIDevEnvironment >> ~/.bashrc
 
And from your NiTE2 directory:
 
 
  cat NiTEDevEnvironment >> ~/.bashrc
 
  cat NiTEDevEnvironment >> ~/.bashrc
  
=== If you have compiled from GitHub sources ===
+
At the end of this process, you will have these environment variables:
 
 
Manually set the following in your .bashrc:
 
 
  OPENNI2_INCLUDE: full path to OpenNI2/Include
 
  OPENNI2_INCLUDE: full path to OpenNI2/Include
  OPENNI2_REDIST: full path to OpenNI2/x64-Release or OpenNI2/x86-Release
+
  OPENNI2_REDIST: full path to OpenNI2/''arch''-Release  
  // NITE2 variables are set from binary packages, see previous step
+
NITE2_INCLUDE: full path to NiTE-''OS''-''arch''-2.x
 +
  NITE2_REDIST64 or NITE2_REDIST: full path to NiTE-''OS''-''arch''-2.x/Redist
 +
where ''OS'' = Linux, ''arch'' = x64 or x86.
  
 
== Enabling OpenNI2 YARP driver ==
 
== Enabling OpenNI2 YARP driver ==
Line 52: Line 45:
 
  ENABLE_yarpmod_OpenNI2DeviceServer ON
 
  ENABLE_yarpmod_OpenNI2DeviceServer ON
 
  ENABLE_yarpmod_OpenNI2DeviceClient ON
 
  ENABLE_yarpmod_OpenNI2DeviceClient ON
 
We recommend that you also turn on RPATH (not strictly necessary, but useful to avoid cumbersome file copying of driver files - see next section). In CMake, press t to toggle advanced options, then set:
 
INSTALL_WITH_RPATH ON
 
 
If your environment variables were defined correctly, the following settings will be automatically taken care of by CMake:
 
NITE2_INCLUDE_LOCAL: full path to NiTE-2.x.x/Include directory
 
NITE2_LIBRARY: full path to libNiTE2.so
 
OPENNI2_INCLUDE_LOCAL: full path to OpenNI-2.x.x-arch/Include directory (arch is x64 or x86)
 
OPENNI2_LIBRARY: full path to libOpenNI2.so
 
  
 
== Finalizing the installation ==
 
== Finalizing the installation ==
  
These final steps are necessary to not incur in runtime errors like ''Couldn't create user tracker''. If you use RPATH (recommended option), you need to copy and configure one file. If you do not use RPATH, you need to copy two directories. Details follow.
+
These final steps are necessary to not incur in runtime errors like ''Couldn't create user tracker''.
 
 
=== If you have set RPATH in the previous step ===
 
  
In this case, the OpenNI2 YARP driver must always be called from a directory that contains a copy (or symbolic link) of the NiTE.ini file from the stock NiTE2 distribution, properly configured. To prepare such a setup, do something along these lines:
+
The OpenNI2 YARP driver must always be called from a directory that contains a copy (or symbolic link) of the NiTE.ini file from the stock NiTE2 distribution, properly configured. To prepare such a setup, do something along these lines:
 
  mkdir ~/yarp_openni2_root
 
  mkdir ~/yarp_openni2_root
 
  cd ~/yarp_openni2_root
 
  cd ~/yarp_openni2_root
Line 79: Line 61:
 
Now you're ready to call the yarpdev command from the yarp_openni2_root directory.
 
Now you're ready to call the yarpdev command from the yarp_openni2_root directory.
  
=== If you have not set RPATH in the previous step ===
+
= Support for different RGB-D cameras =
  
In this case, the OpenNI2 YARP driver must always be called from a directory that contains a copy (or symbolic link) of the stock OpenNI2 and NiTE2 'Drivers' directories. To prepare such a setup, do something along these lines:
+
== PrimeSense-compatible sensors ==
mkdir ~/yarp_openni2_root
+
 
cd ~/yarp_openni2_root
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These sensors (Asus Xtion, Carmine) work out of the box with the driver.
cp -R $OPENNI2_REDIST/OpenNI2 .
+
 
cp -R $NITE2_REDIST64/NiTE2 .
+
== Kinect v1 ==
// or if you have the 32-bit version:
+
 
// cp -R $NITE2_REDIST/NiTE2 .
+
Install [https://github.com/OpenKinect/libfreenect libfreenect], including the OpenNI2-freenect bridge. Then copy (or create a symbolic link of) libFreenectDriver.so inside yarp_openni2_root/OpenNI2/Drivers.
and call the yarpdev command from the yarp_openni2_root directory.
+
 
 +
== Kinect v2 ==
 +
 
 +
Support coming soon.
  
 
= Usage =
 
= Usage =
Line 118: Line 103:
 
|  0 (i.e., 320x240 @ 30fps)
 
|  0 (i.e., 320x240 @ 30fps)
 
|-
 
|-
|  --noCameras
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|  --noRGB
|  Disable camera output, while keeping user skeleton enabled. Useful to reduce CPU load.
+
|  Disable color (RGB) camera, while keeping depth sensor and user skeleton enabled. Useful for RGB-less sensors and to reduce CPU load.
|  off (i.e., cameras on)
+
|  off (i.e., RGB on)
 
|-
 
|-
|  --noMirror
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|  --noRGBMirror
|  Disable mirroring. Mirroring causes the video stream to appear as if seen in a mirror, i.e., the image is transformed by reflecting all pixels across the vertical axis.
+
|  Disable mirroring for the color (RGB) stream. Mirroring causes the stream to appear as if seen in a mirror, i.e., the image is transformed by reflecting all pixels across the vertical axis.
 +
|  off (i.e., mirroring on)
 +
|-
 +
|  --noDepthMirror
 +
|  Disable mirroring for the depth stream. Mirroring causes the depth to appear as if seen in a mirror, i.e., the image is transformed by reflecting all pixels across the vertical axis.
 
|  off (i.e., mirroring on)
 
|  off (i.e., mirroring on)
 
|-
 
|-
Line 179: Line 168:
  
 
where
 
where
* the part between "[POS]" and "orientationConfidence" is repeated as many times as the number of skeleton joints (15: HEAD NECK LEFT_SHOULDER RIGHT_SHOULDER LEFT_ELBOW RIGHT_ELBOW LEFT_HAND RIGHT_HAND TORSO LEFT_HIP RIGHT_HIP LEFT_KNEE RIGHT_KNEE LEFT_FOOT RIGHT_FOOT)
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* the part between "[POS]" and "orientationConfidence" is repeated as many times as the number of skeleton joints (15): HEAD NECK LEFT_SHOULDER RIGHT_SHOULDER LEFT_ELBOW RIGHT_ELBOW LEFT_HAND RIGHT_HAND TORSO LEFT_HIP RIGHT_HIP LEFT_KNEE RIGHT_KNEE LEFT_FOOT RIGHT_FOOT
 
* the position is expressed in 3D Cartesian coordinates
 
* the position is expressed in 3D Cartesian coordinates
 
* the orientation is expressed in four-dimensional quaternions
 
* the orientation is expressed in four-dimensional quaternions
Line 188: Line 177:
  
 
tbc
 
tbc
 +
 +
= Advanced options =
 +
 +
In case you do not want to use RPATH, toggle CMAKE_SKIP_INSTALL_RPATH to ON in YARP. With this setting, the YARP OpenNI2 driver must always be called from a directory that contains a copy (or symbolic link) of the stock OpenNI2 and NiTE2 'Drivers' directories. To prepare such a setup, do something along these lines:
 +
mkdir ~/yarp_openni2_root
 +
cd ~/yarp_openni2_root
 +
cp -R $OPENNI2_REDIST/OpenNI2 .
 +
cp -R $NITE2_REDIST64/NiTE2 .
 +
// or if you have the 32-bit version:
 +
// cp -R $NITE2_REDIST/NiTE2 .
 +
and call the yarpdev command from the yarp_openni2_root directory.
 +
 +
= Troubleshooting for macOS =
 +
 +
Due to a combination of changes in the handling of RPATHs in macOS 10.10 Yosemite and CMake 3, the following is needed (once) before running the device:
 +
 +
cd $NITE2_REDIST64
 +
install_name_tool -id $PWD/libNiTE2.dylib libNiTE2.dylib
 +
install_name_tool -change libOpenNI2.dylib /usr/local/lib/ni2/libOpenNI2.dylib libNiTE2.dylib

Latest revision as of 17:23, 7 April 2017

The OpenNI2 device driver for YARP exposes streams of data (color and depth videos, skeleton user tracking) from RGB-D sensors, including: Asus Xtion Pro, Kinect v1 and Kinect v2 (soon).

Note: other projects with similar purposes exist:

  1. YARP depthCamera plugin, based on OpenNI 2;
  2. https://github.com/robotology/kinect-wrapper, based on OpenNI 1 or Microsoft Kinect SDK;
  3. Kinect YARP device driver, also based on OpenNI 1.

Installation

This driver was tested on Debian Jessie (stable), Ubuntu 12.04+ and macOS 10.8.4+.

Dependencies

For Debian and Ubuntu, install the following dependencies:

sudo apt-get install g++ python libusb-1.0-0-dev libudev-dev freeglut3-dev doxygen graphviz libxmu-dev libxi-dev

Also, you must have installed a Java SDK (Oracle recommended).

Debian Wheezy (oldstable) is not supported by OpenNI2, due to glibc version being < 2.14.

For macOS, the above packages are either preinstalled or available through Homebrew.

OpenNI2

Install OpenNI2 (from zip packages or from GitHub source - see http://structure.io/openni) and NiTE2.

For macOS, OpenNI2 is also available through Homebrew.

Environment variables

Follow the installation instructions for OpenNI2 and NiTE2 by running the respective install.sh scripts. These scripts will create two files called OpenNIDevEnvironment and NiTEDevEnvironment. To copy their content permanently into your .bashrc, do:

cat OpenNIDevEnvironment >> ~/.bashrc
cat NiTEDevEnvironment >> ~/.bashrc

At the end of this process, you will have these environment variables:

OPENNI2_INCLUDE: full path to OpenNI2/Include
OPENNI2_REDIST: full path to OpenNI2/arch-Release 
NITE2_INCLUDE: full path to NiTE-OS-arch-2.x
NITE2_REDIST64 or NITE2_REDIST: full path to NiTE-OS-arch-2.x/Redist

where OS = Linux, arch = x64 or x86.

Enabling OpenNI2 YARP driver

In the CMake configuration for YARP, set the following:

CREATE_DEVICE_LIBRARY_MODULES ON
ENABLE_yarpmod_OpenNI2DeviceServer ON
ENABLE_yarpmod_OpenNI2DeviceClient ON

Finalizing the installation

These final steps are necessary to not incur in runtime errors like Couldn't create user tracker.

The OpenNI2 YARP driver must always be called from a directory that contains a copy (or symbolic link) of the NiTE.ini file from the stock NiTE2 distribution, properly configured. To prepare such a setup, do something along these lines:

mkdir ~/yarp_openni2_root
cd ~/yarp_openni2_root
cp $NITE2_REDIST64/NiTE.ini .
// or if you have the 32-bit version:
// cp $NITE2_REDIST/NiTE.ini .

Edit NiTE.ini, setting DataDir to be the full path to $NITE2_REDIST64/NiTE2 (or $NITE2_REDIST/NiTE2).

Now you're ready to call the yarpdev command from the yarp_openni2_root directory.

Support for different RGB-D cameras

PrimeSense-compatible sensors

These sensors (Asus Xtion, Carmine) work out of the box with the driver.

Kinect v1

Install libfreenect, including the OpenNI2-freenect bridge. Then copy (or create a symbolic link of) libFreenectDriver.so inside yarp_openni2_root/OpenNI2/Drivers.

Kinect v2

Support coming soon.

Usage

To print a list of all available options (help):

yarpdev --device OpenNI2DeviceServer --verbose

General options:

option description default
--name Set port prefix. /OpenNI2
--printVideoModes Print supported video modes.
--depthVideoMode Set depth camera video mode. 0 (i.e., 320x240 @ 30fps)
--colorVideoMode Set color (RGB) camera video mode. 0 (i.e., 320x240 @ 30fps)
--noRGB Disable color (RGB) camera, while keeping depth sensor and user skeleton enabled. Useful for RGB-less sensors and to reduce CPU load. off (i.e., RGB on)
--noRGBMirror Disable mirroring for the color (RGB) stream. Mirroring causes the stream to appear as if seen in a mirror, i.e., the image is transformed by reflecting all pixels across the vertical axis. off (i.e., mirroring on)
--noDepthMirror Disable mirroring for the depth stream. Mirroring causes the depth to appear as if seen in a mirror, i.e., the image is transformed by reflecting all pixels across the vertical axis. off (i.e., mirroring on)
--noUserTracking Disable skeleton user tracking. Useful to reduce CPU load. off (i.e., user tracking on)
--minConfidence x (double) Set minimum confidence required by skeleton user tracking. 0.6
--syncFrames Keep color and depth frames always in temporal sync. off
--imageRegistration Align color and depth video streams. This computation is performed on the sensor hardware. off

Other options related to recording and playback:

option description default
--record filename.oni Record (save) to the specified oni file.
--playback filename.oni Playback the specified oni file.
--loop Force the playback to loop. off (i.e., playback stops after one run)

Note: in playback, options like --depthVideoMode and --colorVideoMode are ignored.

Output and data format

The driver opens these ports:

  • [portPrefix]/userSkeleton:o - userSkeleton detection port (only opened if user detection is on)
  • [portPrefix]/depthFrame:o - depth frame port
  • [portPrefix]/imageFrame:o - rgb camera frame port

imageFrame:o and depthFrame:o stream YARP images (PixelRGB and PixelMono16, respectively), and if connected to a yarpview, the video is available.

During tracking, userTracker:o contains YARP Bottles in the following format:

([USER] userID) [POS] (x y z) positionConfidence [ORI] (w x y z) orientationConfidence ...

where

  • the part between "[POS]" and "orientationConfidence" is repeated as many times as the number of skeleton joints (15): HEAD NECK LEFT_SHOULDER RIGHT_SHOULDER LEFT_ELBOW RIGHT_ELBOW LEFT_HAND RIGHT_HAND TORSO LEFT_HIP RIGHT_HIP LEFT_KNEE RIGHT_KNEE LEFT_FOOT RIGHT_FOOT
  • the position is expressed in 3D Cartesian coordinates
  • the orientation is expressed in four-dimensional quaternions

Using the driver from an application

Refer to http://wiki.icub.org/yarpdoc/IOpenNI2DeviceDriver_8h_source.html

tbc

Advanced options

In case you do not want to use RPATH, toggle CMAKE_SKIP_INSTALL_RPATH to ON in YARP. With this setting, the YARP OpenNI2 driver must always be called from a directory that contains a copy (or symbolic link) of the stock OpenNI2 and NiTE2 'Drivers' directories. To prepare such a setup, do something along these lines:

mkdir ~/yarp_openni2_root
cd ~/yarp_openni2_root
cp -R $OPENNI2_REDIST/OpenNI2 .
cp -R $NITE2_REDIST64/NiTE2 .
// or if you have the 32-bit version:
// cp -R $NITE2_REDIST/NiTE2 .

and call the yarpdev command from the yarp_openni2_root directory.

Troubleshooting for macOS

Due to a combination of changes in the handling of RPATHs in macOS 10.10 Yosemite and CMake 3, the following is needed (once) before running the device:

cd $NITE2_REDIST64
install_name_tool -id $PWD/libNiTE2.dylib libNiTE2.dylib
install_name_tool -change libOpenNI2.dylib /usr/local/lib/ni2/libOpenNI2.dylib libNiTE2.dylib