Using Embedded S camera from ARM with OpenNI

I turned on logging using:

OpenNI::setLogMinSeverity(0);
OpenNI::setLogConsoleOutput(true);

and saw:

3774       INFO            Log     XnLog.cpp       349     New log started on 2019-11-25 09:57:11
3864       INFO            Log     XnLog.cpp       322     --- Filter Info --- Minimum Severity: VERBOSE
4044       VERBOSE         OniContext      OniContext.cpp  165     OpenNI 2.3.0 (Build 63)-Linux-Arm (May 13 2019 17:45:57)
4089       VERBOSE         OniContext      OniContext.cpp  259     Using '/usr/lib/OpenNI2/Drivers' as driver path
4112       VERBOSE         OniContext      OniContext.cpp  267     Looking for drivers at '/usr/lib/OpenNI2/Drivers'
4167       ERROR           OniContext      OniContext.cpp  279     Found no drivers matching '/usr/lib/OpenNI2/Drivers/lib*.so'

So I copied the files from OpenNI-Linux-Arm64-2.3.0.63/Redist/OpenNI2/Drivers/ to /usr/lib/OpenNI2/Drivers/. The Readme also says:

*for using with Astra Embedded S/Stereo S, please change the resolution in 'orbbec.ini' to 'Resolution=17' for Depth and IR streams

So I edited this in /usr/lib/OpenNI2/Drivers/orbbec.ini. Now I get:

3924       INFO            Log     XnLog.cpp       349     New log started on 2019-11-25 10:23:55
4010       INFO            Log     XnLog.cpp       322     --- Filter Info --- Minimum Severity: VERBOSE
4185       VERBOSE         OniContext      OniContext.cpp  165     OpenNI 2.3.0 (Build 63)-Linux-Arm (May 13 2019 17:45:57)
4230       VERBOSE         OniContext      OniContext.cpp  259     Using '/usr/lib/OpenNI2/Drivers' as driver path
4254       VERBOSE         OniContext      OniContext.cpp  267     Looking for drivers at '/usr/lib/OpenNI2/Drivers'
4547       VERBOSE         OniContext      OniContext.cpp  309     Loading device driver 'libOniFile.so'...
4588       WARNING         xnOS    XnLinuxSharedLibs.cpp   107     loading lib from: /usr/lib/OpenNI2/Drivers/libOniFile.so

6199       VERBOSE         OniContext      OniContext.cpp  309     Loading device driver 'libPSLink.so'...
6240       WARNING         xnOS    XnLinuxSharedLibs.cpp   107     loading lib from: /usr/lib/OpenNI2/Drivers/libPSLink.so

11412       WARNING         DriverHandler   OniDriverHandler.cpp    85      LibraryHandler: Couldn't find function oniDriverStreamConvertC2DCoordinates in libPSLink.so. Stopping
11539       WARNING         OniContext      OniContext.cpp  313     Couldn't use file 'libPSLink.so' as a device driver
11626       VERBOSE         OniContext      OniContext.cpp  309     Loading device driver 'liborbbec.so'...
11675       WARNING         xnOS    XnLinuxSharedLibs.cpp   107     loading lib from: /usr/lib/OpenNI2/Drivers/liborbbec.so

15571       INFO            Log     XnLog.cpp       349     New log started on 2019-11-25 10:23:55
15615       INFO            Log     XnLog.cpp       322     --- Filter Info --- Minimum Severity: VERBOSE
15645       VERBOSE         xnUSB   XnLinuxUSB.cpp  383     Initializing USB...
19162       INFO            xnUSB   XnLinuxUSB.cpp  412     USB is initialized.
OpenNI::initialize() = 0
OpenNI::enumerateDevices() = 0

which is better but still not successful. I then realised that I hadn’t reconnected the camera after copying the driver files so I did that and it worked.