How to connect xBox kinect to opencv in ubuntu?
I want to work with kinect with openCV in ubuntu (14.04) using C ++. I am installing openni and libfreenect.
when I type lsusb in the terminal, the system response text matches me.
Bus 003 Device 005: ID 045e:02ae Microsoft Corp. Xbox NUI Camera
Bus 003 Device 003: ID 045e:02b0 Microsoft Corp. Xbox NUI Motor
Bus 003 Device 004: ID 045e:02ad Microsoft Corp. Xbox NUI Audio
when I type freenect-glview in terminal, the system response text matches me.
Kinect camera test
Number of devices found: 1
and the system shows RGB and depth.
also, I activated openni when cmake opencv (-D WITH_OPENNI: ON), and after the system shows:
openni: yes
prime-sensor-kinect : yes
I am compiling the code:
g++ -o test1 test1.cpp `pkg-config opencv --cflags --libs`
but when i run the code the system error is:
CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate production trees: Can't create
any node of the requested type!
code:
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include "opencv2/opencv.hpp"
#include <vector>
#include <stdio.h>
using namespace cv;
int main(int, char**)
{
VideoCapture cap(CV_CAP_OPENNI); // open the default camera
if(!cap.isOpened()) // check if we succeeded
return -1;
Mat edges;
namedWindow("edges",1);
for(;;)
{
Mat frame;
cap >> frame; // get a new frame from camera
cvtColor(frame, edges, CV_BGR2GRAY);
GaussianBlur(edges, edges, Size(7,7), 1.5, 1.5);
Canny(edges, edges, 0, 30, 3);
imshow("edges", edges);
if(waitKey(30) >= 0) break;
}
// the camera will be deinitialized automatically in VideoCapture destructor
return 0;
}
and when running python code system error:
CvCapture_OpenNI::CvCapture_OpenNI : Failed to enumerate production trees: Can't create any node of the requested type!
0.0
Unable to Retrieve Disparity Map from camera
python code:
import cv2
import cv2.cv as cv
capture = cv2.VideoCapture(cv.CV_CAP_OPENNI)
capture.set(cv.CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, cv.CV_CAP_OPENNI_VGA_30HZ)
print capture.get(cv.CV_CAP_PROP_OPENNI_REGISTRATION)
while True:
if not capture.grab():
print "Unable to Grab Frames from camera"
break
okay1, depth_map = capture.retrieve(0,cv.CV_CAP_OPENNI_DEPTH_MAP)
if not okay1:
print "Unable to Retrieve Disparity Map from camera"
break
okay2, gray_image = capture.retrieve(0,cv.CV_CAP_OPENNI_GRAY_IMAGE)
if not okay2:
print "Unable to retrieve Gray Image from device"
break
cv2.imshow("depth camera", depth_map)
cv2.imshow("rgb camera", gray_image)
if cv2.waitKey(10) == 27:
break
cv2.destroyAllWindows()
capture.release()
opencv does not recognize kinect as an input device. How to solve this problem?
I apologize for the bad writing because my English is bad.
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If you've installed libfreenect and opencv, you should be able to run the following python script:
import freenect
import cv2
import numpy as np
from functions import *
def nothing(x):
pass
kernel = np.ones((5, 5), np.uint8)
def pretty_depth(depth):
np.clip(depth, 0, 2**10 - 1, depth)
depth >>= 2
depth = depth.astype(np.uint8)
return depth
while 1:
orig = freenect.sync_get_video()[0]
orig = cv2.cvtColor(orig,cv2.COLOR_BGR2RGB)
dst = pretty_depth(freenect.sync_get_depth()[0])#input from kinect
cv2.imshow('Disparity', dst)
cv2.imshow('RGB',orig)
if cv2.waitKey(1) & 0xFF == ord('b'):
break
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I came across this thread while finding myself in a similar situation. I was only able to get sensor data from OpenCV after installing PrimeSense modules for OpenNI, which you can find here here . After following the instructions listed in the README for my system (Ubuntu 14.04.5), I was able to run this code:
#include <cstdio>
#include <opencv2/opencv.hpp>
int main(int argc, char **argv){
cv::VideoCapture capture(CV_CAP_OPENNI);
cv::Mat image;
cv::Mat bgrImage;
while(true){
capture.grab();
capture.retrieve(image, CV_CAP_OPENNI_DEPTH_MAP);
capture.retrieve(bgrImage, CV_CAP_OPENNI_BGR_IMAGE);
imshow("Image", image);
imshow("Color", bgrImage);
if(cv::waitKey(30) >= 0) break;
}
return 0;
}
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