Difference between revisions of "OpenNI2"

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  // cp -R $NITE2_REDIST/NiTE2 .
 
  // cp -R $NITE2_REDIST/NiTE2 .
 
and call the yarpdev command from the yarp_openni2_root directory.
 
and call the yarpdev command from the yarp_openni2_root directory.
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== Kinect support ==
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 +
TODO
  
 
= Usage =
 
= Usage =

Revision as of 21:52, 30 November 2014

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).

Note: other projects with similar purposes exist:

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

Installation

This driver was tested on Debian Jessie (testing), Ubuntu 12.04+ and Mac OS X 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

Also, you must have installed a Java SDK.

Debian Wheezy (stable) 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.

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

For Mac OS X, OpenNI2 is also available through Homebrew.

Environment variables

Next, you need to set four new environment variables in your system, typically in your .bashrc:

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

And from your NiTE2 directory:

cat NiTEDevEnvironment >> ~/.bashrc

If you have compiled from GitHub sources

Manually set the following in your .bashrc:

OPENNI2_INCLUDE: full path to OpenNI2/Include
OPENNI2_REDIST: full path to OpenNI2/x64-Release or OpenNI2/x86-Release
// NITE2 variables are set from binary packages, see previous step

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

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

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.

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:

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.

If you have not 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 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.

Kinect support

TODO

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)
--noCameras Disable camera output, while keeping user skeleton enabled. Useful to reduce CPU load. off (i.e., cameras on)
--noMirror 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. 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