Difference between revisions of "OpenNI2"

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(yarp openni2 driver manual fixes)
(Installation)
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= Installation =
 
= Installation =
  
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== Dependencies ==
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For Debian and Ubuntu, install the following dependencies:
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sudo apt-get install g++ python libusb-1.0-0-dev libudev-dev freeglut3-dev doxygen graphviz
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Also, you must have installed a Java SDK.
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== OpenNI2 ==
 
== OpenNI2 ==
  

Revision as of 18:19, 13 November 2013

The OpenNI2 device driver for YARP works with PrimeSense compatible RGB-D sensors, including Asus Xtion Pro. Tested on Debian Jessie (testing), Ubuntu 12.04+ and Mac OS X 10.8.4+.

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

Note: Microsoft Kinect sensors are not supported by this driver. However, they are supported by the old Kinect YARP driver, which was based on OpenNI version 1.

Installation

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

Also, you must have installed a Java SDK.

OpenNI2

Download and install:

git clone https://github.com/OpenNI/OpenNI2.git

If you are using Debian testing (jessie), you have to make small changes: 1) pthread 2) comment suppress errors

cd OpenNI2
make
cd Packaging
./Release x64   // or: ./Release x86
cd Final

NiTE2

Download and install NiTE2:

tbc
./install.sh

add source ..../OpenNidev ad source ..../NiTEDev

source ~/.bashrc  // or: logout and login

YARP driver

Enable devices SET OpenNI2DeviceServer to ON set OpenNI2DeviceClient to ON

set INSTALL_WITH_RPATH to ON

Usage

Print a short driver manual:

yarpdev --device OpenNI2DeviceServer --verbose

Available options:

--device

--playback filename.oni

   Playbacks the specified oni file.

--loop

   Forces the playback to loop. If not used, the playback will stop after one run.

--record filename.oni

   records to the specified oni file

--name

   chenge default port prefix (default=/OpenNI2)

--noCameras

   use only user tracker

--noMirror

   disable mirroring

--noUserTracking

--minConfidence x (double)

   set minimum confidence required. Default is 0.6

Doesn't start the user tracker.

--

The driver opens three ports: imageFrame:o depthFrame:o userTracker:o

imageFrame and depthFrame stream YARP images, and if connectd to a yarpview, the video is available. UserTracker outputs bottles in the format:

To use the driver in an application:

tbc