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'''Note: as of 2014, this page is obsolete. Refer to active projects such as http://structure.io/openni or [http://pointclouds.org/ PCL] instead.''' | |||
This page lists some software instructions for RGBD cameras such as the Microsoft Kinect and Asus Xtion PRO Live. | |||
Available software interfaces to the RGBD cameras: | |||
# [http://openkinect.org/ OpenKinect]/[https://github.com/OpenKinect/libfreenect libfreenect]: fully open source, still lacking some functionality | # [http://openkinect.org/ OpenKinect]/[https://github.com/OpenKinect/libfreenect libfreenect]: fully open source, still lacking some functionality | ||
# [http://www.openni.org/ OpenNI] framework + Prime Sensor drivers + | # [http://www.openni.org/ OpenNI] framework + Prime Sensor drivers + NiTE motion tracking middleware binaries (skeleton tracking, gesture recognition etc.). The last component is closed source, while the first two ones are open source. The OpenNI/NiTE combination is endorsed by the [http://www.ros.org ROS] community and is the most popular | ||
# [http://research.microsoft.com/en-us/um/redmond/projects/kinectsdk/ Kinect for Windows SDK] | # [http://research.microsoft.com/en-us/um/redmond/projects/kinectsdk/ Kinect for Windows SDK] | ||
Here is an explanation of the first two: http://stackoverflow.com/questions/6086981/what-is-the-difference-between-openni-and-openkinect | |||
= OpenKinect/libfreenect = | = OpenKinect/libfreenect = | ||
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See http://openkinect.org/ | See http://openkinect.org/ | ||
== | == YARP wrapper == | ||
See <code>$YARP_ROOT/src/modules/kinect/freenect/README.txt</code> for installation instructions. | See <code>$YARP_ROOT/src/modules/kinect/freenect/README.txt</code> for installation instructions. | ||
= OpenNI + Prime Sensor + | = OpenNI + Prime Sensor + NiTE = | ||
Installing binary files, if you prefer this possibility, is straightforward. | Installing binary files, if you prefer this possibility, is straightforward. | ||
Below we explain how to manually install Kinect programs on Ubuntu 10.04 LTS (officially you need 10.10 | Below we explain how to manually install Kinect programs on Ubuntu 10.04 LTS or higher (officially you need 10.10+, but 10.04 works too). For OpenNI version 2, see [http://www.openni.org/]. For OpenNI version 1, read below. | ||
== | == YARP wrapper == | ||
See <code>$YARP_ROOT/src/modules/kinect/OpenNI/README.txt</code> for installation instructions. | See <code>$YARP_ROOT/src/modules/kinect/OpenNI/README.txt</code> for installation instructions. | ||
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== ROS wrapper == | == ROS wrapper == | ||
# Install ROS - http://www.ros.org/wiki/ | # Install ROS - http://www.ros.org/wiki/ROS/Installation | ||
# Install ROS OpenNI - http://www.ros.org/wiki/openni_kinect | # Install ROS OpenNI - http://www.ros.org/wiki/openni_kinect | ||
| Line 36: | Line 42: | ||
Mandatory: | Mandatory: | ||
sudo apt-get install g++ python git-core libusb-1.0-0-dev freeglut3-dev | sudo apt-get install g++ python git-core libusb-1.0-0-dev freeglut3-dev | ||
sudo adduser $USER video | |||
Optional: | Optional: | ||
| Line 46: | Line 52: | ||
git clone https://github.com/OpenNI/OpenNI.git | git clone https://github.com/OpenNI/OpenNI.git | ||
cd OpenNI | cd OpenNI | ||
git checkout unstable | |||
Now follow instructions on https://github.com/OpenNI/OpenNI/tree/unstable | Now follow instructions on https://github.com/OpenNI/OpenNI/tree/unstable | ||
| Line 55: | Line 62: | ||
* official PrimeSense Sensor Module for OpenNI (http://www.openni.org/downloadfiles/openni-compliant-hardware-binaries/31-latest-unstable); it supports cameras such as PrimeSense SDK and Asus Xtion PRO but '''not''' Kinect | * official PrimeSense Sensor Module for OpenNI (http://www.openni.org/downloadfiles/openni-compliant-hardware-binaries/31-latest-unstable); it supports cameras such as PrimeSense SDK and Asus Xtion PRO but '''not''' Kinect | ||
* avin2 repository: supports Kinect | * avin2 '''SensorKinect''' repository: supports Kinect | ||
cd ~/kinect | cd ~/kinect | ||
git clone https://github.com/avin2/SensorKinect | git clone https://github.com/avin2/SensorKinect | ||
cd SensorKinect | cd SensorKinect | ||
# check the README file in there. You will have to do something along these lines: | |||
cd Platform/Linux/CreateRedist/ | |||
sudo ./RedistMaker | sudo ./RedistMaker | ||
cd ../Redist | cd ../Redist | ||
cd Sensor-Bin-Linux-x64-v5.1.2.1 # or similar | |||
sudo ./install.sh | sudo ./install.sh | ||
* Point Cloud Library (PCL) version, supporting Kinect and with custom debayering algorithms: http://pointclouds.org/downloads/ | * Point Cloud Library (PCL) version, supporting Kinect and with custom debayering algorithms: http://pointclouds.org/downloads/ | ||
| Line 75: | Line 78: | ||
Installation instructions may vary, but keep an eye on https://github.com/PrimeSense/Sensor/tree/unstable | Installation instructions may vary, but keep an eye on https://github.com/PrimeSense/Sensor/tree/unstable | ||
=== | === NiTE === | ||
* http://www.openni.org/downloadfiles "PrimeSense | [[Image:NITE-download.png|500px]] | ||
* http://www.openni.org/downloadfiles "PrimeSense NiTE Unstable Build for Ubuntu" (also known as "OpenNI Compliant Middleware Binaries") | |||
* Latest Unstable | * Latest Unstable | ||
* download, for example, PrimeSense NITE Unstable Build for for Ubuntu 10.10 x64 (64-bit) v1.3.0.18 to <code>~/kinect</code> | * download, for example, PrimeSense NITE Unstable Build for for Ubuntu 10.10 x64 (64-bit) v1.3.0.18 to <code>~/kinect</code> | ||
* extract this archive: | * extract this archive: | ||
tar -jxvf NITE-Bin-Linux64-v1.3.0.18.tar.bz2 | tar -jxvf NITE-Bin-Linux64-v1.3.0.18.tar.bz2 | ||
* edit your <code>Nite-VERSION/Data/Sample-*.xml</code> files by filling in PrimeSense license and preferred resolution as reported by several guides online such as http://www.keyboardmods.com/2010/12/howto-kinect-openninite-skeleton.html | * (''obsolete'') edit your <code>Nite-VERSION/Data/Sample-*.xml</code> files by filling in PrimeSense license '''0KOIk2JeIBYClPWVnMoRKn5cdY4=''' and preferred resolution as reported by several guides online such as http://www.keyboardmods.com/2010/12/howto-kinect-openninite-skeleton.html | ||
== Demos == | == Demos == | ||
| Line 88: | Line 93: | ||
Demos are located in | Demos are located in | ||
* <code>Nite-VERSION/Samples/Bin</code> | * <code>Nite-VERSION/Samples/Bin</code> | ||
* <code>OpenNI/Platform/Linux-x86/Bin/Release</code> | * <code>OpenNI/Platform/Linux/Bin/x64-Release</code> (or <code>OpenNI/Platform/Linux-x86/Bin/Release</code>) | ||
== Conflict with gspca_kinect kernel module == | |||
In early 2012, a new Linux kernel module called '''gspca_kinect''' was introduced: it allows the Kinect to be used as a standard camera, but it conflicts with OpenNI when trying to access the device. SensorKinect automatically blacklists this module, but in case it doesn't work, here is the manual procedure: | |||
* in the current session, rmmod this module (in Ubuntu: <code>sudo modprobe -r gspca_kinect</code>) | |||
* to make the change permanent, blacklist it (<code>sudo sh -c 'echo "blacklist gspca_kinect" > /etc/modprobe.d/blacklist-kinect.conf'</code>) | |||
= See also = | = See also = | ||
Latest revision as of 00:00, 25 March 2015
Note: as of 2014, this page is obsolete. Refer to active projects such as http://structure.io/openni or PCL instead.
This page lists some software instructions for RGBD cameras such as the Microsoft Kinect and Asus Xtion PRO Live.
Available software interfaces to the RGBD cameras:
- OpenKinect/libfreenect: fully open source, still lacking some functionality
- OpenNI framework + Prime Sensor drivers + NiTE motion tracking middleware binaries (skeleton tracking, gesture recognition etc.). The last component is closed source, while the first two ones are open source. The OpenNI/NiTE combination is endorsed by the ROS community and is the most popular
- Kinect for Windows SDK
Here is an explanation of the first two: http://stackoverflow.com/questions/6086981/what-is-the-difference-between-openni-and-openkinect
OpenKinect/libfreenect
YARP wrapper
See $YARP_ROOT/src/modules/kinect/freenect/README.txt for installation instructions.
OpenNI + Prime Sensor + NiTE
Installing binary files, if you prefer this possibility, is straightforward.
Below we explain how to manually install Kinect programs on Ubuntu 10.04 LTS or higher (officially you need 10.10+, but 10.04 works too). For OpenNI version 2, see [1]. For OpenNI version 1, read below.
YARP wrapper
See $YARP_ROOT/src/modules/kinect/OpenNI/README.txt for installation instructions.
ROS wrapper
- Install ROS - http://www.ros.org/wiki/ROS/Installation
- Install ROS OpenNI - http://www.ros.org/wiki/openni_kinect
Ubuntu manual installation
The following instructions refer to the Unstable branch.
Prerequisites
Mandatory:
sudo apt-get install g++ python git-core libusb-1.0-0-dev freeglut3-dev sudo adduser $USER video
Optional:
sudo apt-get install doxygen graphviz
OpenNI
mkdir ~/kinect && cd ~/kinect git clone https://github.com/OpenNI/OpenNI.git cd OpenNI git checkout unstable
Now follow instructions on https://github.com/OpenNI/OpenNI/tree/unstable
Sensor
There are a number of different versions for this driver:
- official PrimeSense Sensor Module for OpenNI (http://www.openni.org/downloadfiles/openni-compliant-hardware-binaries/31-latest-unstable); it supports cameras such as PrimeSense SDK and Asus Xtion PRO but not Kinect
- avin2 SensorKinect repository: supports Kinect
cd ~/kinect git clone https://github.com/avin2/SensorKinect cd SensorKinect # check the README file in there. You will have to do something along these lines: cd Platform/Linux/CreateRedist/ sudo ./RedistMaker cd ../Redist cd Sensor-Bin-Linux-x64-v5.1.2.1 # or similar sudo ./install.sh
- Point Cloud Library (PCL) version, supporting Kinect and with custom debayering algorithms: http://pointclouds.org/downloads/
Installation instructions may vary, but keep an eye on https://github.com/PrimeSense/Sensor/tree/unstable
NiTE
- http://www.openni.org/downloadfiles "PrimeSense NiTE Unstable Build for Ubuntu" (also known as "OpenNI Compliant Middleware Binaries")
- Latest Unstable
- download, for example, PrimeSense NITE Unstable Build for for Ubuntu 10.10 x64 (64-bit) v1.3.0.18 to
~/kinect - extract this archive:
tar -jxvf NITE-Bin-Linux64-v1.3.0.18.tar.bz2
- (obsolete) edit your
Nite-VERSION/Data/Sample-*.xmlfiles by filling in PrimeSense license 0KOIk2JeIBYClPWVnMoRKn5cdY4= and preferred resolution as reported by several guides online such as http://www.keyboardmods.com/2010/12/howto-kinect-openninite-skeleton.html
Demos
Demos are located in
Nite-VERSION/Samples/BinOpenNI/Platform/Linux/Bin/x64-Release(orOpenNI/Platform/Linux-x86/Bin/Release)
Conflict with gspca_kinect kernel module
In early 2012, a new Linux kernel module called gspca_kinect was introduced: it allows the Kinect to be used as a standard camera, but it conflicts with OpenNI when trying to access the device. SensorKinect automatically blacklists this module, but in case it doesn't work, here is the manual procedure:
- in the current session, rmmod this module (in Ubuntu:
sudo modprobe -r gspca_kinect) - to make the change permanent, blacklist it (
sudo sh -c 'echo "blacklist gspca_kinect" > /etc/modprobe.d/blacklist-kinect.conf')
See also
- http://groups.google.com/group/openni-dev mailing list
- http://en.wikipedia.org/wiki/Kinect#Software
- Kinect - OpenCV Wiki
- Kinect and MRPT | The Mobile Robot Programming Toolkit
- Getting Started with PC Kinect
- Xbox Kinect: How the movement tracking works | T3 Magazine Online
- Microsoft Kinect SDK vs PrimeSense OpenNI