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.
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.
Next, install OpenNI2 and NiTE2 according to the latest official instructions at http://www.openni.org
Source the environment files (obtained from the previous step) by copying their content permanently into your .bashrc. From your OpenNI2 directory:
cat OpenNIDevEnvironment >> ~/.bashrc
And from your NiTE2 directory:
cat NiTEDevEnvironment >> ~/.bashrc
Source the variables to make the change effective (or logout and login again):
At the end of this process, you should have four new environment variables defined in your system:
OPENNI2_INCLUDE OPENNI2_REDIST NITE2_INCLUDE NITE2_REDIST64 or NITE2_REDIST
Enable devices SET OpenNI2DeviceServer to ON set OpenNI2DeviceClient to ON
set INSTALL_WITH_RPATH to ON
Print a short driver manual:
yarpdev --device OpenNI2DeviceServer --verbose
Playbacks the specified oni file.
Forces the playback to loop. If not used, the playback will stop after one run.
records to the specified oni file
chenge default port prefix (default=/OpenNI2)
use only user tracker
--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: