OpenNI2-Freenect2Driver

[rafapages]

Hi!
Is there already an implementations or are there any plans to implement an OpenNI2-Freenect2Driver?

Thanks!

[floe]

None that I know of. What is the state of OpenNI anyway, after Apple has bought Primesense?

[rafapages]

Occipital is currently maintaining it:

http://structure.io/openni
https://github.com/occipital/OpenNI2

It would be nice to be able to use our code developed with OpenNI2 using K4W2.

Thanks!

[MasWag]

I'm writting it : https://github.com/MasWag/OpenNI2/tree/libfreenect2 and may be send pull request soon(but I think this cannot be merged without switching libfreenect2's support easily).

This requires my https://github.com/MasWag/libfreenect2/tree/sequence or merge #148 to make oni time stamp.
In my environment, I can get depth/color frame , record depth (ir may also work but not tested yet). Color stream's recording is not available because I don't know how to gain time stamp of color frame in libfreenect2.

[ricardborras]

Hi MasWag,

very interesting your work to use OpenNi2 with libfreenect2. However, I have tried your fork of OpenNi2 and says no device connected with a Kinect One (libfreenect2 detects it). I will wait for your pull request!

Thanks

[MasWag]

Hi ricardborras,

Does SimpleRead (sample of OpenNI2 placed at OpenNI2/Bin/x64-Release/SimpleRead) says no device too?
I don't hide libfreenect2's log message. So some log message should appear. Please show me the message.

Best,

[ricardborras]

Hi, find SimpleRead and SimpleViewer output:

rborras@rborras-Toshiba:~/OpenNI2/Bin/x86-Release$ ./SimpleRead
Couldn't open device
DeviceOpen using default: no devices found

rborras@rborras-Toshiba:~/OpenNI2/Bin/x86-Release$ ./SimpleViewer
After initialization:

SimpleViewer: Device open failed:
DeviceOpen using default: no devices found

lsusb pertinent line:
Bus 002 Device 011: ID 045e:02d9 Microsoft Corp.

I don't know if you use OpenGL for OpenNI, but only CpuDepthPacketParser
from Libfreenect2 works for me to get Depth / IR. RGB works ok with any
configuration

Thanks

On Wed, Feb 25, 2015 at 12:19 PM, Masaki Waga notifications@github.com
wrote:

Hi ricardborras,

Does SimpleRead (sample of OpenNI2 placed at
OpenNI2/Bin/x64-Release/SimpleRead) says no device too?
I don't hide libfreenect2's log message. So some log message should
appear. Please show me the message.

Best,

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#168 (comment)
.

Ricard Borràs Navarra

Linkedin: http://www.linkedin.com/in/ricardborras
Twitter: https://twitter.com/RicardBorras

[MasWag]

Hi,

In my environment, root privilege is required to open Kinect. Please try
$ sudo ./SimpleViewer

I'm using OpenCLDepthPacketProcessor and got message like this

$ sudo ./SimpleRead
[sudo] password for MasWag:
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 10 usb devices connected
[Freenect2Impl] found valid Kinect v2 @4:7 with serial 511898342542
[Freenect2Impl] found 1 devices
[OpenCLDepthPacketProcessor::listDevice] devices:
0: NVS 5200M (GPU)[NVIDIA Corporation]
...

If libfreenect2 says Kinect v2 does not find, this is libfreenect2's problem, and vice versa.
If this kind of message does not appear, please confirm libLibfreenect2.so is loaded. You can check it with gdb.(after openni2's initialize, type 'info share')

Thanks,

[ricardborras]

Hi MasWag,

looking at loaded libraries, I have realized that I have not been using the correct version in your github account. Now, with checkout on last commit id and with your fork of libfreenect2, it gives me this errors on OpenNI2 make:

LF2DepthStream.cpp: In member function ‘virtual int LF2::LF2DepthStream::BuildFrame(libfreenect2::Frame_, OniFrame_)’:
LF2DepthStream.cpp:29:37: error: ‘struct libfreenect2::Frame’ has no member named ‘sequence’
frame_out->frameIndex = frame_in->sequence;
^
LF2DepthStream.cpp:45:36: error: ‘struct libfreenect2::Frame’ has no member named ‘sequence’
frame_out->timestamp = frame_in->sequence*33369;

Libfreenect2 compiles correctly and kinect is found

Any clues?

Thanks

[MasWag]

Hi,

OpenNI2 require my libfreenect2's branch 'sequence' (https://github.com/MasWag/libfreenect2/tree/sequence) because oni recording uses timestamp.

Thanks,

[ricardborras]

Hi,

I have downloaded proper branch of libfreenect2 and now it compiles ok.
However, running make on OpenNi2 give me this error:

g++ -o ../../../Bin/x86-Release/libOpenNI2.jni.so
./../../../Bin/Intermediate/x86-Release/libOpenNI2.jni.so/OpenNI.jni.o
./../../../Bin/Intermediate/x86-Release/
libOpenNI2.jni.so/org_openni_NativeMethods.o -L../../../Bin/x86-Release
-lOpenNI2 -Wl,--no-undefined -shared
/usr/lib/i386-linux-gnu/libc_nonshared.a(stack_chk_fail_local.oS): In
function __stack_chk_fail_local': (.text+0x10): undefined reference to__stack_chk_fail'
collect2: error: ld returned 1 exit status
make[1]: *** [../../../Bin/x86-Release/libOpenNI2.jni.so] Error 1
make[1]: Leaving directory `/home/rborras/OpenNI2/Wrappers/java/OpenNI.jni

If I ignore this error (I don't need Java wrappers right now), I run make
samples and compile ok.

However, If I run samples I get OpenGL context errors:

sudo ./SimpleRead
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 15 usb devices connected
[Freenect2Impl] found valid Kinect v2 @3:3 with serial 029000344547
[Freenect2Impl] found 1 devices
[OpenGLContext] failed to initialize glew for the current context!
rborras@rborras-Toshiba:~/OpenNI2/Bin/x86-Release$ sudo ./SimpleViewer
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 15 usb devices connected
[Freenect2Impl] found valid Kinect v2 @3:3 with serial 029000344547
[Freenect2Impl] found 1 devices
[OpenGLContext] failed to initialize glew for the current context!

Any clues?

Thanks

On Thu, Feb 26, 2015 at 12:19 AM, Masaki Waga notifications@github.com
wrote:

Hi,

OpenNI2 require my libfreenect2's branch 'sequence' (
https://github.com/MasWag/libfreenect2/tree/sequence) because oni
recording uses timestamp.

Thanks,

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#168 (comment)
.

Ricard Borràs Navarra

Linkedin: http://www.linkedin.com/in/ricardborras
Twitter: https://twitter.com/RicardBorras

[gaborpapp]

I would try running it with CpuPacketPipeline only first. Does that work with OpenNI?

[ricardborras]

How can I configure OpenNI2 in order to do this?

On Fri, Feb 27, 2015 at 10:13 AM, gaborpapp notifications@github.com
wrote:

I would try running it with CpuPacketPipeline only first. Does that work
with OpenNI?

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#168 (comment)
.

Ricard Borràs Navarra

Linkedin: http://www.linkedin.com/in/ricardborras
Twitter: https://twitter.com/RicardBorras

[gaborpapp]

It's a libfreenect2 thing, use openDefaultDevice(new libfreenect2::CpuPacketPipeline()).

[ricardborras]

Hi,

after doing this, libfreenect2 works in cpu mode but OpenNi2 complains with
the same messages as before:

rborras@rborras-Toshiba:/OpenNI2/Bin/x86-Release$ sudo ./SimpleRead
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 15 usb devices connected
[Freenect2Impl] found valid Kinect v2 @3:3 with serial 029000344547
[Freenect2Impl] found 1 devices
[OpenGLContext] failed to initialize glew for the current context!
rborras@rborras-Toshiba:/OpenNI2/Bin/x86-Release$ sudo ./SimpleViewer
[Freenect2Impl] enumerating devices...
[Freenect2Impl] 15 usb devices connected
[Freenect2Impl] found valid Kinect v2 @3:3 with serial 029000344547
[Freenect2Impl] found 1 devices
[OpenGLContext] failed to initialize glew for the current context!

I put here also the libfreenect2 output:

sudo ./Protonect [Freenect2Impl] enumerating devices...
[Freenect2Impl] 15 usb devices connected
[Freenect2Impl] found valid Kinect v2 @3:3 with serial 029000344547
[Freenect2Impl] found 1 devices
[Freenect2DeviceImpl] opening...
[Freenect2DeviceImpl] opened
[Freenect2DeviceImpl] starting...
[Freenect2DeviceImpl] ReadData0x14 response
92 bytes of raw data
0x0000: 00 00 12 00 00 00 00 00 01 00 00 00 43 c1 1f 41 ............C..A
0x0010: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................
0x0020: 0a 21 33 55 20 00 17 ba 00 08 00 00 10 00 00 00 .!3U ...........
0x0030: 00 01 00 00 00 10 00 00 00 00 80 00 01 00 00 00 ................
0x0040: 31 33 00 00 00 00 06 07 47 4b 54 34 31 37 2e 31 13......GKT417.1
0x0050: 58 00 00 00 00 00 00 00 07 00 00 00 X...........

[Freenect2DeviceImpl] ReadStatus0x090000 response
4 bytes of raw data
0x0000: 01 26 00 00 .&..

[Freenect2DeviceImpl] ReadStatus0x090000 response
4 bytes of raw data
0x0000: 03 26 00 00 .&..

[Freenect2DeviceImpl] enabling usb transfer submission...
[Freenect2DeviceImpl] submitting usb transfers...
[Freenect2DeviceImpl] started
device serial: 029000344547
device firmware: 4.3.3913.0.7
[DepthPacketStreamParser::handleNewData] not all subsequences received 0
init done
opengl support available
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[TurboJpegRgbPacketProcessor] avg. time: 28.3791ms -> ~35.2372Hz
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!
[RgbPacketStreamParser::handleNewData] skipping rgb packet!

(ESCAPE PRESSED)

[Freenect2DeviceImpl] stopping...
[Freenect2DeviceImpl] disabling usb transfer submission...
[Freenect2DeviceImpl] canceling usb transfers...
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
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[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
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[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[TransferPool::submit] transfer submission disabled!
[Freenect2DeviceImpl] stopped
[Freenect2DeviceImpl] closing...
[Freenect2DeviceImpl] releasing usb interfaces...
[Freenect2DeviceImpl] deallocating usb transfer pools...
[Freenect2DeviceImpl] closing usb device...
[Freenect2DeviceImpl] closed
[Freenect2DeviceImpl] closing...
[Freenect2DeviceImpl] already closed, doing nothing

On Fri, Feb 27, 2015 at 10:20 AM, gaborpapp notifications@github.com
wrote:

It's a libfreenect2 thing, use openDefaultDevice(new
libfreenect2::CpuPacketPipeline()).

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#168 (comment)
.

Ricard Borràs Navarra

Linkedin: http://www.linkedin.com/in/ricardborras
Twitter: https://twitter.com/RicardBorras