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
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:
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-2.1.0-x64/Include directory 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.
To print a list of available options (help):
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
disable skeleton tracking
--minConfidence x (double)
set minimum confidence required. Default is 0.6
Doesn't start the user tracker.
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, 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 ...
- 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