The Kinect sensor bar from my Xbox 360 has long been retired from gaming duty. For its second career as robot sensor, I have cut off its proprietary plug and rewired it for computer use. Once I’ve verified the sensor bar is electrically compatible with a computer running Ubuntu, the first order of business was to turn fragile test connections into properly soldered wires protected by heat shrink tube. Here’s my sensor bar with its new standard USB 2.0 connector and a JST-RCY connector for 12 volt power.
With the electrical side settled, attention turns to software. The sensor bar can tell the computer it is a USB device, but we’ll need additional driver software to access all the data it can provide. I chose to start with the Xbox 360 Kinect because of its wider software support, which means I have multiple choices on which software stack to work with.
75 Getting the OpenNI and PrimeSense drivers working on Ubuntu Here’s an overview of the process to get the OpenNI and PrimeSense drivers working with the Kinect and Ubuntu. Begin by installing some dependencies: sudo apt-get install git-core cmake freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev doxygen graphviz mono-complete Make a directory to store the build.
OpenNI is one option. This open source SDK is still around thanks to Occipital, one of the companies that partnered with PrimeSense. PrimeSense was the company that originally developed the technology behind Xbox 360 Kinect sensor, but they have since been acquired by Apple and their technology incorporated into the iPhone X. Occipital itself is still in the depth sensor business with their Structure sensor bar. Available standalone or incorporated into products like Misty.
OpenKinect is another option. It doesn’t have a clear corporate sponsor like OpenNI, and seems to have its roots in the winner of the Adafruit contest to create an open source Kinect driver. Confusingly, it is also sometimes called freenect or variants thereof. (Its software library is libfreenect, etc.)
Both of these appear to still be receiving maintenance updates, and both have been used a lot of cool Kinect projects outside of Xbox 360 games. Ensuring there will be a body of source code available as reference for using either. Neither are focused on ROS, but people have written ROS drivers for both OpenNI and OpenKinect (freenect). (And even an effort to rationalize across both.)
One advantage of OpenNI is that it provides an abstraction layer for many different depth cameras built on PrimeSense technology, making code more portable across different hardware. This does not, however, include the second generation Xbox One Kinect, as that was built with a different (not PrimeSense) technology.
In contrast, OpenKinect is specific to the Xbox 360 Kinect sensor bar. It provides access to parts beyond the PrimeSense sensor: microphone array, tilt motor, and accelerometer. While this means it doesn’t support the second generation Xbox One Kinect either, there’s a standalone sibling project libfreenect2 for meeting that need.
Primesense Kinect Drivers
- Run the script: 'sudo./install.sh' (needs to run as root) The install script copies key files to the following location: Libs into: /usr/lib Bins into: /usr/bin Config files into: /usr/etc/primesense USB rules into: /etc/udev/rules.d Logs will be created in: /var/log/primesense To build the package manually, you can run 'make' in the 'Platform.
- Either compiling and installing OpenNI and Primesense Sensor from source, or installin ros-hydro-openni2-launch via apt-get resolved this problem for me. The source-solution overrides the system driver for all other packages, so you can run ros-independend pclopenni-stuff or the openni-apps that are linked against those drivers/libs.
I don’t foresee using any other PrimeSense-based sensors, so OpenNI’s abstraction doesn’t draw me. The access to other hardware offered by OpenKinect does. Plus I do hope to upgrade to a Xbox One Kinect in the future, so I decided to start my Xbox 360 Kinect experimentation using OpenKinect.
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