OpenNI 2 + Xtion Live Pro

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OpenNI 2 + Xtion Live Pro

Unread postby Vicolaships » Mon Apr 29, 2013 9:52 pm

Hey there,

I'm trying to use a Xtion Live Pro on the ODROID-U2, this first post is a quick tutorial on how-to run an OpenNI 2 example

What you need :

  • ODROID-U2
  • Display screen
  • Internet connection
  • Xtion Live or Xtion Live Pro

My configuration :

  • Kernel 3.0.75, Linaro 12.11, LXDE desktop, Mali400 drivers installed
  • LG HDMI display screen
  • Xtion Live Pro

Compile OpenNI :

  • Install dependencies
    Code: Select all
    sudo apt-get install -y g++ python libusb-1.0-0-dev freeglut3-dev doxygen graphviz

  • Clone OpenNI2 git and enter the folder
    Code: Select all
    git clone https://github.com/OpenNI/OpenNI2 && cd OpenNI2

  • We need to edit two files
    Code: Select all
    find . -iname platform.arm && find . -iname redist.py
    ./ThirdParty/PSCommon/BuildSystem/Platform.Arm
    ./Redist/Redist.py

  • In the Platform.Arm file change (We configure OpenNI2 for the ODROID ARM architecture)
    Code: Select all
    CFLAGS += -march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=softfp #-mcpu=cortex-a8
    to
    Code: Select all
    CFLAGS += -march=armv7-a -mtune=cortex-a9 -mfpu=neon -mfloat-abi=hard

  • In the Redist.py file change : (this is an error in the code :mrgreen: )
    Code: Select all
    compilation_cmd = "make -j" + calc_jobs_number() + " CFG=" + configuration + " PLATFORM=" + platform + " > " + outfile + " 2>&1"
    to
    Code: Select all
    compilation_cmd = "make -j1" + " CFG=" + configuration + " PLATFORM=" + platform + " > " + outfile + " 2>&1"

  • Run
    Code: Select all
    PLATFORM=Arm make

  • When make is done, run
    Code: Select all
    cd Redist && python ReleaseVersion.py arm

  • We know have a tar archive of the OpenNI2 installer, it is located in
    Code: Select all
    ./Redist/Final/
    You can store it for later use !

  • Move the archive to your home folder
    Code: Select all
    mv /Redist/Final/OpenNI-Linux-Arm-2.1.0.tar.bz2 ~

  • Extract the archive and install OpenNI2
    Code: Select all
    tar -xvf OpenNI-Linux-Arm-2.1.0.tar.bz2 && cd OpenNI-2.1.0-arm && sudo sh install.sh

  • Connect the Xtion Live Pro and check it is recognized
    Code: Select all
    demsg | tail

    You should see something talking about PrimeSense, the manufacturer ;)

  • Make an example :
    Code: Select all
    cd Samples/SimpleRead && make

  • Start the example :
    Code: Select all
    cd ../Bin && ./SimpleRead

You should see some information if it works, I get a warning message "USB events thread - failed to set priority. This might cause loss of data ..."
Last edited by Vicolaships on Thu May 16, 2013 6:29 pm, edited 2 times in total.
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Re: OpenNI 2 + Xtion Live Pro

Unread postby Vicolaships » Mon Apr 29, 2013 9:58 pm

Now here are my problems, I'm trying to get the SimpleViewer sample working, it displays the depth bitmap of the Xtion. To display the depth OpenGL is used.

I have installed Mali Drivers and OpenGL ES, I'm getting a glmark2-es2 score of 90 (running LXDE).
But when I run the example, I get only 1 frame/second maximum.

How can I get a higher framerate ?
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Re: OpenNI 2 + Xtion Live Pro

Unread postby odroid » Tue Apr 30, 2013 10:40 am

I think you need to find which portion is the bottle neck.
Do you have any profile?

I also recommend 720p instead of 1080p for faster rendering..
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Re: OpenNI 2 + Xtion Live Pro

Unread postby mdrjr » Tue Apr 30, 2013 12:22 pm

Vicolaships,

If your app is drawing using OpenGL instead of OpenGL ES you'll probably get those really low numbers as the CPU is rendering.
The Mali MP400 GPU on Exynos is only capable of OpenGL ES!
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Re: OpenNI 2 + Xtion Live Pro

Unread postby Vicolaships » Tue Apr 30, 2013 11:42 pm

odroid wrote:I think you need to find which portion is the bottle neck.
Do you have any profile?

I also recommend 720p instead of 1080p for faster rendering..

What do you mean by profile? The CPU is not overloaded so I think the drivers or the OpenGL version in my test is the problem

mdrjr wrote:Vicolaships,

If your app is drawing using OpenGL instead of OpenGL ES you'll probably get those really low numbers as the CPU is rendering.
The Mali MP400 GPU on Exynos is only capable of OpenGL ES!

Any tips on how to build an OpenNI example using OpenGL ES rather than OpenGL ?

I'm looking for an example of an OpenNI application that uses OpenGL ES for rendering !
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Re: OpenNI 2 + Xtion Live Pro

Unread postby moridinbg » Wed May 01, 2013 11:57 am

The Odroid also works with Microsoft Kinect (same sensor). I am using it with freenect for a robotics project. I also run it headless and connect via X11 forwarding. It's less known thing, that this way you run the OpenGL on the client, so you can run full OpenGL stuff off the Odroid and render it on your client (in my case Macbook Pro 13" with NVidia 9400m). It's very choppy for me. I didn't look after it if it is because of the forwarding or CPU limitation of the odroid for the samples, as I have my own program, that processes the data stream.
It's important to note, that the Raspberry Pi works with the Xtion, but not the Kinect, altough they use the same sensor! It has something to do with USB bandwidth and the USB system on the RPi.
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Re: OpenNI 2 + Xtion Live Pro

Unread postby window_licker » Sat May 04, 2013 8:05 am

Great work! Thank you, it works, but
Code: Select all
CFLAGS += -mtune=armv7a -mfpu=cortex-a9 -mfpu=neon -mfloat-abi=hard
is wrong, it should be
Code: Select all
CFLAGS += -march=armv7-a -mtune=cortex-a9 -mfpu=neon -mfloat-abi=hard
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Re: OpenNI 2 + Xtion Live Pro

Unread postby Vicolaships » Mon May 06, 2013 4:42 pm

@window_licker : You are right, I corrected my first post ;)
@moridinbg : Thanks for the further information, your solution is quite intelligent but I would like to run the display part onboard :)

I'm still working on it, I'm going to try building an OpenNI program using OpenGL-ES or improve the OpenCV display :
capture.png
OpenNI display with OpenCV
capture.png (121.18 KiB) Viewed 19085 times

I have no depth, only black & white :roll: The OpenCV example was taken from this blog

Bye bye
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Re: OpenNI 2 + Xtion Live Pro

Unread postby TSC » Sun May 12, 2013 12:13 am

Hi there,

Anyone as already tested the Xtion with ROS on ODROID-X2/U2? If so, can you give some feedback about it?

Thanks!
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Re: OpenNI 2 + Xtion Live Pro

Unread postby Vicolaships » Wed May 15, 2013 4:53 pm

Nope sorry I did not tested ROS for the moment. Everything I do is under Ubuntu for the moment

This script works much better with the Xtion and shows a cool depth image :
Code: Select all
/*
Gather DEPTH stream of the Xtion, compute histogram, invert image and show image
*/

#include <stdio.h>
#include <vector>

#include <OpenNI.h>
#include <opencv2/opencv.hpp>

int main(int argc, char *argv[]) {

    int      resolution_x   = 640;
      int      resolution_y   = 480;
    int      FPS            = 30;
    bool   end_while      = false;
    int      ret;

    try {
      openni::OpenNI::initialize();
      openni::Device device;

      if (device.open(openni::ANY_DEVICE) != openni::STATUS_OK) {
         std::cout << "No PrimeSense (Xtion) device found | Exit" << std::endl;
         return EXIT_FAILURE;
      }
   
      openni::VideoStream Stream;
      Stream.create(device, openni::SENSOR_DEPTH);

      openni::VideoMode mode = Stream.getVideoMode();
      mode.setResolution(resolution_x, resolution_y);
      mode.setFps(FPS);
      Stream.setVideoMode(mode);
      Stream.setMirroringEnabled(false);

      cvNamedWindow   ("Image", CV_WINDOW_NORMAL);
      cvResizeWindow   ("Image", resolution_x, resolution_y);
      cvMoveWindow   ("Image", 600, 300);

      cv::Mat Image;

      if (Stream.start() != openni::STATUS_OK)
      {
         std::cout << "Stream.start() != openni::STATUS_OK" << std::endl;
         return EXIT_FAILURE;
      }

      std::cout << "Press 'q' 'Q' to exit" << std::endl;

      while (!end_while) {
         std::vector < openni::VideoStream * >streams;
         streams.push_back(&Stream);

         int changedIndex;
         openni::OpenNI::waitForAnyStream(&streams[0], streams.size(), &changedIndex);

         openni::VideoFrameRef Frame;
         Stream.readFrame(&Frame);

         if (Frame.isValid()) {
            Image = cv::Mat(   Stream.getVideoMode().getResolutionY(),
                           Stream.getVideoMode().getResolutionX(),
                           CV_16U,
                           (char *) Frame.getData());
            Image.convertTo(Image, CV_8U, 256.0 / 10000);
            cv::equalizeHist(Image, Image);
            bitwise_not(Image, Image);
            cv::imshow("Image", Image);
         }

         char key = (char) cv::waitKey(1);
         switch (key) {
            case 'q':
            case 'Q':
            case 27:
               std::cout << "Exit key hit" << std::endl;
               end_while = true;
               break;
         }
      }
    }
    catch(std::exception &) {
    }

    return EXIT_SUCCESS;
}


Of course, you need to add OpenCV libraries in the makefile :
Code: Select all
USED_LIBS += OpenNI2 opencv_core opencv_highgui opencv_imgproc
Last edited by Vicolaships on Thu May 16, 2013 7:14 pm, edited 3 times in total.
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Re: OpenNI 2 + Xtion Live Pro

Unread postby TSC » Wed May 15, 2013 10:22 pm

Vicolaships wrote:Nope sorry I did not tested ROS for the moment. Everything I do is under Ubuntu for the moment

This script works much better with the Xtion and shows a cool depth image :
Code: Select all
/*
Gather DEPTH stream of the Xtion, compute histogram, invert image and show image
*/

#include <stdio.h>
#include <vector>

#include <OpenNI.h>
#include <opencv2/opencv.hpp>

int main(int argc, char *argv[]) {

    int      resolution_x   = 640;
      int      resolution_y   = 480;
    int      FPS            = 30;
    bool   end_while      = false;
    int      ret;

    try {
      openni::OpenNI::initialize();
      openni::Device device;

      if (device.open(openni::ANY_DEVICE) != openni::STATUS_OK) {
         std::cout << "No PrimeSense (Xtion) device found | Exit" << std::endl;
         return EXIT_FAILURE;
      }
   
      openni::VideoStream Stream;
      Stream.create(device, openni::SENSOR_DEPTH);

      openni::VideoMode mode = Stream.getVideoMode();
      mode.setResolution(resolution_x, resolution_y);
      mode.setFps(FPS);
      Stream.setVideoMode(mode);
      Stream.setMirroringEnabled(false);

      cvNamedWindow   ("Image", CV_WINDOW_NORMAL);
      cvResizeWindow   ("Image", resolution_x, resolution_y);
      cvMoveWindow   ("Image", 600, 300);

      cv::Mat Image;

      if (Stream.start() != openni::STATUS_OK)
      {
         std::cout << "Stream.start() != openni::STATUS_OK" << std::endl;
         return EXIT_FAILURE;
      }

      std::cout << "Press 'q' 'Q' to exit" << std::endl;

      while (!end_while) {
         std::vector < openni::VideoStream * >streams;
         streams.push_back(&Stream);

         int changedIndex;
         openni::OpenNI::waitForAnyStream(&streams[0], streams.size(), &changedIndex);

         openni::VideoFrameRef Frame;
         Stream.readFrame(&Frame);

         if (Frame.isValid()) {
            Image = cv::Mat(   Stream.getVideoMode().getResolutionY(),
                           Stream.getVideoMode().getResolutionX(),
                           CV_16U,
                           (char *) Frame.getData());
            Image.convertTo(Image, CV_8U, 256.0 / 10000);
            cv::equalizeHist(Image, Image);
            bitwise_not(Image, Image);
            cv::imshow("Image", Image);
         }

         char key = (char) cv::waitKey(1);
         switch (key) {
            case 'q':
            case 'Q':
            case 27:
               std::cout << "Exit key hit" << std::endl;
               end_while = true;
               break;
         }
      }
    }
    catch(std::exception &) {
    }

    return EXIT_SUCCESS;
}


Thanks for your answer! If in the mean time you try it with ROS integration on Ubuntu, please give some feedback if you had any success or not.
Can you confirm that the previous guide you posted is a full guide for completely install and use all Asus Xtion Pro Live features? Can it also be applied to ODROID-X2?
Any luck using OpenGL-ES?

Thanks! Best Regards
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Re: OpenNI 2 + Xtion Live Pro

Unread postby Vicolaships » Thu May 16, 2013 6:36 pm

I don't think I will test it with ROS integration beacause of a lack of time.

The first post is a guide from a fresh Linaro installation (appart from the Mali Drivers and kernel update) to fully working Xtion Live Pro, it should work exactly the same with a Xtion Live. This guide will also work for the ODROID-X2 because it uses the same CPU.

I manage to open and switch between depth stream, color stream and IR stream using a C++ program like the one in my previous post. The only thing that changes is the stream Opened :

Code: Select all
Stream.create(device, openni::SENSOR_DEPTH);
Stream.create(device, openni::SENSOR_COLOR);
Stream.create(device, openni::SENSOR_IR);


And also the processing of the frame. For color you have to switch BGR to RGB (it will work if you don't do this, but red and blue colors will be inverted on the display). You don't have to process the IR stream :)

I will not use OpenGL-ES because the OpenCV display satisfy me.

Here is a screen shot of depth view :
capture2.jpg
OpenNI2 + Xtion Live Pro + OpenCV
capture2.jpg (147.2 KiB) Viewed 18987 times

Its running at ~25 Hz while the Xtion is at 30 Hz :D

Bye
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Re: OpenNI 2 + Xtion Live Pro

Unread postby odroid » Thu May 16, 2013 8:07 pm

I agree the 25fps seems to be enough for most openCV projects... ;)

Thank you for sharing the result. :mrgreen:
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Re: OpenNI 2 + Xtion Live Pro

Unread postby TSC » Thu May 16, 2013 11:33 pm

Vicolaships wrote:I don't think I will test it with ROS integration beacause of a lack of time.

The first post is a guide from a fresh Linaro installation (appart from the Mali Drivers and kernel update) to fully working Xtion Live Pro, it should work exactly the same with a Xtion Live. This guide will also work for the ODROID-X2 because it uses the same CPU.

I manage to open and switch between depth stream, color stream and IR stream using a C++ program like the one in my previous post. The only thing that changes is the stream Opened :

Code: Select all
Stream.create(device, openni::SENSOR_DEPTH);
Stream.create(device, openni::SENSOR_COLOR);
Stream.create(device, openni::SENSOR_IR);


And also the processing of the frame. For color you have to switch BGR to RGB (it will work if you don't do this, but red and blue colors will be inverted on the display). You don't have to process the IR stream :)

I will not use OpenGL-ES because the OpenCV display satisfy me.

Here is a screen shot of depth view :
capture2.jpg

Its running at ~25 Hz while the Xtion is at 30 Hz :D

Bye


OK... Thanks for the answers.
And how can the setup of the OpenGL-ES be made to be used with the Xtion? In my case I need the exact 30fps (with the possiblity of advancing the the 60fps) cause I'll be using the camera for fast navigation and SLAM.

In the meantime, if anyone else succeded to use the Xtion (or Kinect) with ROS integration in Odroid X2/U2, please let your feedback =)

Thanks! Best regards
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Re: OpenNI 2 + Xtion Live Pro

Unread postby Vicolaships » Fri May 17, 2013 5:26 pm

I'm really not an expert about OpenGL (I barely know nothing) so I can't tell you.

I reach 25 FPS at most when using 640*480 resolution (Xtion runs at 30 Hz)
I reach 58 FPS at most when using 320*240 resolution (Xtion runs at 60 Hz)
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Re: OpenNI 2 + Xtion Live Pro

Unread postby KurtE » Sat Jul 20, 2013 11:56 pm

First I would like to thank all of you for this posting. I received my Asus XTion Pro Live this week and am still learning, but making some progress.

Note: I am running my Odroid U2 on wheezy.

Some notes, not sure if it will help anyone else, but maybe.

I started off doing the first step of, the sudo apt-get ...

And found it was going to take something like 10-12 hours to download. I found the worst culprit was doxygen and figured out this was just to rebuild the documention. So I did not do this. Instead I simply downloaded the documentation from: http://www.openni.org/openni-sdk/#.UeSju53n-Co

I then did the git clone and the like. Note: the layout of the current version of OpenNI2 has changed some since the original posting, and the directory redist no longer exists. I did the first edit as mentioned. Redist.py file was not found, I had to do a similar edit in another file (can find it again if anyone is interested). I then started the build. Found it went most of the way through, but error-ed when needing doxygen. So I edited a few more scripts, like UpdateVersion.py and Harvest.py, and commented out the sections that created or copied the documentation. It then completed.

I then tried SimpleRead and it worked :). Had to set up a couple of environment variables (OPENNI2_INCLUDE, OPENNI2_REDIST).

I also tried out the sample program that was posted and got it to work great on the main display. I then tried the two other streams and found that the IR one looked good, but the Color Image one did not... Got another test program from a friend up on Trossen Robotics and that one is working good.

Just wondering, if the later test program that shows frames per second and the like was posted somewhere? Would be nice to try out.

Also was wondering about OpenGL ES, so for the fun of it I hacked up the Sample Program Multi Depth Viewer, to only try to output the Depth for one device (I only have one). I was able to get this to work on the main HDMI display. Not overly fast, but not sure yet of reasons as the program does a lot of stuff like histograms, and large memory copy... Will experiment more.

Also not sure if OpenGL ES is the way for me to go. As when I mount this sensor to a robot, I will more likely not plug the ODriod into HDMI and instead use VNC-Viewer on my PC. I currently use Real VNC...

So this morning I tried running the different test programs on the desktop using VNC. When I tried the earlier programs (without Open GL), it came up fine on the display. I am seeing two messages:
Warning: USB events thread - failed to set priority. This might cause loss of data ...
XLib: extension "RANDR" missing on display ":1"

I still need to investigate these. I do see some information about RANDR up on web...

I thought I would try running this using the sudo command, and the program failed, saying client is not authorized to connect to Server...

If I try to run my OpenGL program it fails with an error:
freeglut (./TestOpenNIWithGL): OpenGL GLX extension not supported by display ':1'.

So again maybe OpenGL is not the way for me to go.

That is all for now.

Again Thanks!
Kurt
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Re: OpenNI 2 + Xtion Live Pro

Unread postby iago » Wed Oct 16, 2013 7:27 pm

Like Kurt said, the layout of the current version of OpenNI2 has changed some since the original posting. I had to install libudev-dev and openjdk-6-jdk dependencies in order to get OpenNI2 compiled in Linaro 12.04LTS.
The file Redist.py no longer exists, and that changes had to be made in <Packaging/ReleaseVersion.py> After compiling, It was necessary for me to reboot... and job done!

Thanks a lot for this post!
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Re: OpenNI 2 + Xtion Live Pro

Unread postby 387358 » Fri Mar 28, 2014 12:34 am

Dear all:

I'm tried to follow the above way to build the OpenNi2.
However, the source code of openni2 seem to updated; hence I cannot build it successfully.

The problem occur in the "In the Redist.py file change" step described above,
In the newest version, the "Redist.py" will appear as the name "ReleaseVersion.py" in "Packaging" folder
And I also modify the
Code: Select all
compilation_cmd = "make -j" + calc_jobs_number() + " CFG=" + configuration + " PLATFORM=" + platform + " > " + outfile + " 2>&1"

to
Code: Select all
compilation_cmd = "make -j1" + " CFG=" + configuration + " PLATFORM=" + platform + " > " + outfile + " 2>&1"

but I can't work and it will return error when execute the ReleaseVersion.py using python.

BTW, I'm using ODROID-XU+E.
Is there anyone can help me !?

Thanks very much : )
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Re: OpenNI 2 + Xtion Live Pro

Unread postby blackcoder » Thu Aug 21, 2014 12:46 am

Guys, I can't seem to be able to get more than 12fps on my Odroid U3. It's not code related, the same code on the desktop runs at 30Hz. I am guessing it's the usb port speed because the CPU load is not that great, btw, I am not rendering it, just capturing it using the openni2_camera driver using in ROS, so it should not be a graphics driver issue.
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Re: OpenNI 2 + Xtion Live Pro

Unread postby 1uk3 » Mon Sep 08, 2014 5:15 pm

Guys, I can't seem to be able to get more than 12fps on my Odroid U3. It's not code related, the same code on the desktop runs at 30Hz. I am guessing it's the usb port speed because the CPU load is not that great, btw, I am not rendering it, just capturing it using the openni2_camera driver using in ROS, so it should not be a graphics driver issue.


Did you find any solution? I have the same problem, only 14fps with RGB+D!
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Re: OpenNI 2 + Xtion Live Pro

Unread postby eduard626 » Sat Nov 08, 2014 2:35 am

387358 wrote:Dear all:

I'm tried to follow the above way to build the OpenNi2.
However, the source code of openni2 seem to updated; hence I cannot build it successfully.

The problem occur in the "In the Redist.py file change" step described above,
In the newest version, the "Redist.py" will appear as the name "ReleaseVersion.py" in "Packaging" folder
And I also modify the
Code: Select all
compilation_cmd = "make -j" + calc_jobs_number() + " CFG=" + configuration + " PLATFORM=" + platform + " > " + outfile + " 2>&1"

to
Code: Select all
compilation_cmd = "make -j1" + " CFG=" + configuration + " PLATFORM=" + platform + " > " + outfile + " 2>&1"

but I can't work and it will return error when execute the ReleaseVersion.py using python.

BTW, I'm using ODROID-XU+E.
Is there anyone can help me !?

Thanks very much : )


Hey, did you manage to solve this problem? I'm stuck in the same step although I'm using the ODROID-U3.
Thanks.

I solved the issue by installing sun-java-jdk7, the error was that open-jdk didn't allow the javadoc stage of ReleaseVersion.py to be completed.
eduard626
 
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Re: OpenNI 2 + Xtion Live Pro

Unread postby johanromuald » Sun Apr 19, 2015 10:03 pm

Hi

I would like to know where can download Nite2 for ARM board all I can find on the web is X64 Linux. I have successfully installed OpenNi2 on ODROID-C1 and I can get the Depth frame and IR frame. Now I want to get the skeleton data.

Best regards
Johan
johanromuald
 
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