Hi everybody.
I have installed OpenNI2 on my Jetson Nano and then replugged the ASTRA cam as described in the SDK guidelines.
The example Python script for getting the depth image works fine.
I have modified the example script in order to get the color image, but it doesn’t work.
More precisely, through OpenNI2 I can see that the device does not have the solor sensor: dev.has_sensor(OniSensorType.ONI_SENSOR_COLOR) returns False
The log file contains:
2824 INFO Log XnLog.cpp 349 New log started on 2020-09-04 12:03:23 2880 INFO Log XnLog.cpp 322 --- Filter Info --- Minimum Severity: VERBOSE 2923 VERBOSE OniContext OniContext.cpp 165 OpenNI 2.3.0 (Build 63)-Linux-Arm (May 13 2019 17:45:57) 2937 VERBOSE OniContext OniContext.cpp 168 Configuration file found at '/home/nvidia/OpenNI-2.3.0.63/Redist/OpenNI.ini' 3046 VERBOSE OniContext OniContext.cpp 259 Using '/home/nvidia/OpenNI-2.3.0.63/Redist/OpenNI2/Drivers' as driver path 3059 VERBOSE OniContext OniContext.cpp 267 Looking for drivers at '/home/nvidia/OpenNI-2.3.0.63/Redist/OpenNI2/Drivers' 3252 VERBOSE OniContext OniContext.cpp 309 Loading device driver 'libOniFile.so'... 3280 WARNING xnOS XnLinuxSharedLibs.cpp 107 loading lib from: /home/nvidia/OpenNI-2.3.0.63/Redist/OpenNI2/Drivers/libOniFile.so
3967 VERBOSE OniContext OniContext.cpp 309 Loading device driver 'libPSLink.so'... 4002 WARNING xnOS XnLinuxSharedLibs.cpp 107 loading lib from: /home/nvidia/OpenNI-2.3.0.63/Redist/OpenNI2/Drivers/libPSLink.so
4881 WARNING DriverHandler OniDriverHandler.cpp 85 LibraryHandler: Couldn't find function oniDriverStreamConvertC2DCoordinates in libPSLink.so. Stopping 4930 WARNING OniContext OniContext.cpp 313 Couldn't use file 'libPSLink.so' as a device driver 4949 VERBOSE OniContext OniContext.cpp 309 Loading device driver 'liborbbec.so'... 4975 WARNING xnOS XnLinuxSharedLibs.cpp 107 loading lib from: /home/nvidia/OpenNI-2.3.0.63/Redist/OpenNI2/Drivers/liborbbec.so
6390 INFO Log XnLog.cpp 349 New log started on 2020-09-04 12:03:23 6420 INFO Log XnLog.cpp 322 --- Filter Info --- Minimum Severity: VERBOSE 6436 VERBOSE xnUSB XnLinuxUSB.cpp 383 Initializing USB... 13837 INFO xnUSB XnLinuxUSB.cpp 412 USB is initialized. 14032 INFO OniDeviceDriver OniDeviceDriver.cpp 139 Device connected: Orbbec Astra (2bc5/0403@1/8) 15049 VERBOSE OniContext OniContext.cpp 461 Trying to open device by URI '(NULL)' 16664 VERBOSE DeviceSensor XnSensor.cpp 425 Initializing device sensor... 16817 VERBOSE DDK XnDeviceModule.cpp 601 Configuring module 'Device' from section 'Device' in file '/home/nvidia/OpenNI-2.3.0.63/Redist/OpenNI2/Drivers/orbbec.ini'... 16927 INFO DDK XnProperty.cpp 71 Setting Device.UsbInterface to 2... 16942 INFO DDK XnProperty.cpp 81 Device.UsbInterface value did not change. 18479 INFO DDK XnDeviceModule.cpp 615 Module 'Device' configuration was loaded from file. 18510 VERBOSE DeviceIO XnDeviceSensorIO.cpp 47 Connecting to USB device... 18524 VERBOSE DeviceIO XnDeviceSensorIO.cpp 50 Trying to open sensor '2bc5/0403@1/8'... 18636 INFO xnUSB XnLinuxUSB.cpp 732 USB is high Speed 18655 VERBOSE xnUSB XnLinuxUSB.cpp 426 Starting libusb asynch thread... 19153 WARNING xnOS XnLinuxThreads.cpp 185 Failed to set thread priority (1) 19178 WARNING xnUSB XnLinuxUSB.cpp 444 USB events thread: Failed to set thread priority to critical. This might cause loss of data... 19218 VERBOSE DeviceIO XnDeviceSensorIO.cpp 55 Trying to open endpoint 0x4 for control out (for old firmwares)... 19323 INFO DeviceIO XnDeviceSensorIO.cpp 76 Connected to USB device 24151 VERBOSE DeviceSensorProtocol XnHostProtocol.cpp 1615 Getting hardware versions... 35710 INFO DeviceSensorProtocol XnHostProtocol.cpp 1777 Hardware versions: FW=5.8.22 (14) HW=0 Chip=6 Sensor=0 SYS=12 47232 WARNING DeviceSensorProtocol XnHostProtocol.cpp 1094 Received NACK: 2 47261 INFO DeviceSensorProtocol XnHostProtocol.cpp 3540 Reading CMOS 0 supported presets... 48187 VERBOSE DeviceSensorProtocol XnHostProtocol.cpp 1786 Requesting KeepAlive... 48736 VERBOSE DeviceSensorProtocol XnHostProtocol.cpp 1797 Got KeepAlive Reply. 48759 VERBOSE DeviceSensorProtocol XnHostProtocol.cpp 2121 Setting mode to 3... 50288 VERBOSE DeviceSensorProtocol XnHostProtocol.cpp 1786 Requesting KeepAlive... 50835 VERBOSE DeviceSensorProtocol XnHostProtocol.cpp 1797 Got KeepAlive Reply. 51314 VERBOSE DeviceSensorProtocol XnHostProtocol.cpp 1955 Getting the fixed params... 51922 INFO DeviceSensorProtocol XnHostProtocol.cpp 3589 Reading sensor serial number... 52431 VERBOSE DeviceSensor XnSensorFixedParams.cpp 80 Sensor serial number: 19110230018 52456 VERBOSE DeviceSensorProtocol XnHostProtocol.cpp 2666 Getting algorithm params 0x7 for resolution 0 and fps 0.... 52957 INFO DeviceSensorProtocol XnHostProtocol.cpp 3624 Reading sensor platform string... 53435 VERBOSE DDK XnProperty.cpp 146 Property Firmware.ReferenceResolution was changed to 2. 53450 VERBOSE DeviceSensor XnSensorFirmwareParams.cpp 295 Reading all params from firmware... 55492 VERBOSE DDK XnProperty.cpp 146 Property Firmware.ImageAutoWhiteBalance (77) was changed to 1. 56476 VERBOSE DDK XnProperty.cpp 146 Property Firmware.ImageLowLightCompensation (82) was changed to 1. 57012 VERBOSE DDK XnProperty.cpp 146 Property Firmware.DepthHoleFilter (22) was changed to 1. 59023 VERBOSE DDK XnProperty.cpp 146 Property Firmware.IRResolution (26) was changed to 1. 60672 VERBOSE DDK XnProperty.cpp 146 Property Firmware.ImageFPS (14) was changed to 30. 61097 VERBOSE DDK XnProperty.cpp 146 Property Firmware.GMCMode (36) was changed to 1. 62215 VERBOSE DDK XnProperty.cpp 146 Property Firmware.ImageAutoExposure (80) was changed to 1. 62765 VERBOSE DDK XnProperty.cpp 146 Property Firmware.DepthFPS (20) was changed to 30. 63971 VERBOSE DDK XnProperty.cpp 146 Property Firmware.DepthWhiteBalance (45) was changed to 1. 65466 VERBOSE DDK XnProperty.cpp 146 Property Firmware.ImageFormat (12) was changed to 5. 67237 VERBOSE DDK XnProperty.cpp 146 Property Firmware.DepthFormat (18) was changed to 3. 68186 VERBOSE DDK XnProperty.cpp 146 Property Firmware.DepthMirror (23) was changed to 1. 70163 VERBOSE DDK XnProperty.cpp 146 Property Firmware.IRFPS (27) was changed to 30. 71503 VERBOSE DDK XnProperty.cpp 146 Property Firmware.ImageQuality (16) was changed to 3. 72073 VERBOSE DDK XnProperty.cpp 146 Property Firmware.ImageSharpness (76) was changed to 32. 73345 VERBOSE DDK XnProperty.cpp 146 Property Firmware.DepthGain (21) was changed to 42. 75210 VERBOSE DDK XnProperty.cpp 146 Property Firmware.IRFormat (25) was changed to 300. 76516 VERBOSE DDK XnProperty.cpp 146 Property Firmware.ImageResolution (13) was changed to 1. 77659 VERBOSE DDK XnProperty.cpp 146 Property Firmware.ImageBacklightCompensation (79) was changed to 1. 78215 VERBOSE DDK XnProperty.cpp 146 Property Firmware.DepthResolution (19) was changed to 1. 80672 VERBOSE DeviceSensor XnSensorFirmwareParams.cpp 304 Firmware params were updated. 80744 INFO DDK XnProperty.cpp 146 Property Device.PhysicalDeviceName was changed to Mx6000 Astra Pro. 80760 INFO DDK XnProperty.cpp 146 Property Device.VendorData was changed to Orbbec(R) Astra(TM) 3D Camera. 80773 INFO DDK XnProperty.cpp 146 Property Device.ID was changed to 19110230018. 80785 INFO DDK XnProperty.cpp 146 Property Device.SensorPlatformString was changed to RD2403. 81799 WARNING DeviceSensorProtocol XnHostProtocol.cpp 1094 Received NACK: 65535 81817 INFO DeviceSensor XnSensor.cpp 467 Device sensor initialized 86645 VERBOSE DeviceSensor XnDeviceSensorIO.cpp 250 Shutting down USB depth read thread... 86684 VERBOSE DeviceSensor XnDeviceSensorIO.cpp 260 Shutting down USB image read thread... 86808 VERBOSE xnUSB XnLinuxUSB.cpp 460 Shutting down USB events thread... 87036 VERBOSE DeviceSensor XnDeviceSensorIO.cpp 307 Device closed successfully 87063 VERBOSE Scheduler XnScheduler.cpp 168 Shutting down Scheduler thread... 88109 VERBOSE DeviceSensor XnDeviceSensorIO.cpp 250 Shutting down USB depth read thread... 88138 VERBOSE DeviceSensor XnDeviceSensorIO.cpp 260 Shutting down USB image read thread... 88179 VERBOSE DeviceSensor XnDeviceSensorIO.cpp 307 Device closed successfully
Maybe there is something relevant at lines 4930 and 19178 but I don’t know what to do about them.
How can I get a frame from the color stream?