Is OpenNI2 still supported?

3

Hi @kbarni,

Apologies for the delay. Eventually I found the time to test this more thoroughly.

OpenCV appears to support OpenNI 2, however in my particular case just can’t seem to open the capture device.

The SDK examples run without a hitch.

I haven’t drilled down to see why OpenNI (1 or 2) doesn’t work on Windows 10 (Insider Preview).

I did follow your suggestion, and indeed manually interfacing with OpenNI2 and passing the bytes to a cv::Mat does the trick:

#include <OpenNI.h>

#include "opencv2/highgui/highgui.hpp"
#include "opencv2/videoio/videoio.hpp"

#include <iostream>

using namespace cv;
using namespace std;

int main() {
    cout << "opening device" << endl;

    VideoCapture sensor1;

    sensor1.open(CAP_OPENNI_ASUS);

    if (!sensor1.isOpened()) {
        cout << "CAP_OPENNI_ASUS can not open capture object " << endl;
    }

	sensor1.open(CAP_OPENNI2_ASUS);
    
    if (!sensor1.isOpened()) {
        cout << "CAP_OPENNI2_ASUS can not open capture object " << endl;
    }

    openni::Status rc = openni::STATUS_OK;

    openni::Device device;
    openni::VideoStream depth, color;
    const char* deviceURI = openni::ANY_DEVICE;
    rc = openni::OpenNI::initialize();

    printf("After initialization:\n%s\n", openni::OpenNI::getExtendedError());
    rc = device.open(deviceURI);
    if (rc != openni::STATUS_OK)
    {
        printf("SimpleViewer: Device open failed:\n%s\n", openni::OpenNI::getExtendedError());
        openni::OpenNI::shutdown();
        return 1;
    }

    rc = depth.create(device, openni::SENSOR_DEPTH);
    if (rc == openni::STATUS_OK)
    {
        rc = depth.start();
        if (rc != openni::STATUS_OK)
        {
            printf("SimpleViewer: Couldn't start depth stream:\n%s\n", openni::OpenNI::getExtendedError());
            depth.destroy();
        }
    }
    else
    {
        printf("SimpleViewer: Couldn't find depth stream:\n%s\n", openni::OpenNI::getExtendedError());
    }

    rc = color.create(device, openni::SENSOR_COLOR);
    if (rc == openni::STATUS_OK)
    {
        rc = color.start();
        if (rc != openni::STATUS_OK)
        {
            printf("SimpleViewer: Couldn't start color stream:\n%s\n", openni::OpenNI::getExtendedError());
            color.destroy();
        }
    }
    else
    {
        printf("SimpleViewer: Couldn't find color stream:\n%s\n", openni::OpenNI::getExtendedError());
    }

    if (!depth.isValid() || !color.isValid())
    {
        printf("SimpleViewer: No valid streams. Exiting\n");
        openni::OpenNI::shutdown();
        return 2;
    }

    openni::VideoMode vm = depth.getVideoMode();
    int cols, rows;
    cols = vm.getResolutionX();
    rows = vm.getResolutionY();

	openni::VideoFrameRef frame;
    depth.start();

    for (;;) {
        depth.readFrame(&frame);
        
        openni::DepthPixel* dData = (openni::DepthPixel*)frame.getData();
        Mat depthMat(rows, cols, CV_16UC1, dData);
        Mat depthShow;
        const float scaleFactor = 0.05f;
        depthMat.convertTo(depthShow, CV_8UC1, scaleFactor);
        //Mat depth1;
        
        /*if (!sensor1.grab()) {
            cout << "Sensor1 can not grab images." << endl;
            return -1;
        }
    	
        else if (sensor1.retrieve(depthMat, CAP_OPENNI_DEPTH_MAP)) imshow("depthMat", depthMat);
        */

    	if(!depthMat.empty())
    	{
            imshow("depth", depthShow);
    	}
    	
        if (waitKey(30) == 27)   break;

    }

	depth.stop();

    openni::OpenNI::shutdown();
}

OpenCV fails to open OPENNI and OPENNI2 devices:
manual_openni2_depth_x