Put newer OpenNi version on Github?

The SDK from the development page contains a compile OpenNI2 driver for the Astra/Astra Pro. This driver contains some bug fixes (for example a fix for close range artifacts) which haven’t made it to the GitHub repository yet.

So, are you going to publish those changes to GitHub? And if so, when?

Unfortunately, we can’t publish the source for certain bug fixes. Future camera revisions may not need the bug fixes, though.

Is there a specific platform that you need to build OpenNI2 with Orbbec Astra support? Perhaps we can provide the pre-built binaries for you.

I actually modified the Astra OpenNI2 driver to include the UVC RGB images as OpenNI stream. That’s easier to integrate into our code than reading the UVC images outside of OpenNI.
So, a compiled version of the driver without RGB stream won’t do me much good.

May I ask, why is the code for the bug fixes secret?

1 Like

Interesting! Perhaps you could share you code and we could work to integrate.

I’ll PM you to discuss.

1 Like

Hi HenningJ,

I am definitely looking for getting the color stream from the Astra Pro with OpenNI.
I was thinking about modifying the Astra OpenNI driver as well…As you have already done it, would you like to share with us ? This could make us / me safe some time actually.


Yes, I was planing to put it on GitHub, but I didn’t get to it yet. My actual job got in the way. Sadly open-sourcing stuff often takes a back seat to real work. :wink:

You are right. This is hard to join both sides sometimes.
I may have a look at this driver modification then or i can stick to OpenCV while waiting.

I took a few minutes and put it on GitHub: https://github.com/HenningJ/OpenNI2/tree/cc_orbbec

It’s basically just an ugly hack using OpenCV to read the images from the camera and then provide those as OpenNI stream. It works pretty well, but there are still a few annoying problems:

  • Since it’s using OpenCV, so you’ll have to make sure the OpenCV include and linker settings are correct and it needs the corresponding DLLs. I would have liked to use something else, but couldn’t find a lightweight cross-platform UVC capture library.
  • On Windows, it uses the first Astra Pro RGB camera it finds. So, if you have more than one Astra Pro connected, it will only work correctly for one of the sensors. I’m sure there is a way to figure out which RGB cam belongs to which depth sensor, but I haven’t looked into that yet.
  • On non-Windows systems, it will just use the first connected webcam, even if it’s not from the Astra Pro. At least I guess so, I didn’t test it on other systems.
  • It’s based on the ORBBEC code that’s on GitHub, so it’s not the latest version. That’s why I started this thread in the first place.

@josh: sorry about the delay, but here it is. :slight_smile: