KinectSDK 1.0 + OpenNI/NITE at the same time (Part 2)

[Tomoto]

(I created a new post continuing
http://groups.google.com/group/openni-dev/browse_thread/thread/22cd12bc8da97e9e/)

Hello everyone,

I would like to announce that I have released kinect-mssdk-openni-
bridge that supports Kinect SDK 1.0! That means you can use OpenNI/
NITE with Kinect for Windows in your application (through Kinect SDK,
no hack). One particularly cool thing (I think) is it supports Near
Mode and it works with NITE's hand tracking and gesture recognition.

If you are interested, go to http://code.google.com/p/kinect-mssdk-openni-bridge/
. Note the site is moved from the Beta version.

Here is the demo video of NITE hand tracking with K4W Near Mode:
http://www.youtube.com/watch?v=diQyZd1RBAk

Hope it helps your Kinect research and development.
Enjoy!
Tomoto

[Amir Hirsch]

Tomoto is a superhero! This is a fantastic development and will help us to get PrimeSense's high quality hand tracking API's with the skeleton and other features from Microsoft's SDK.

And you really gesture recognition working now!? Did you figure something out because we don't really know why this didn't work before?!? We think it may have had something to do with 128bit alignment of the buffers for SSE vector processing that might be occurring in the gesture library...

Consider how much of an exercise it would be to expose the motors, LEDs and acceleration using get and set property methods, and also to make an OpenNI Audio Generator with the echo cancellation, sound location and voice recognition capabilities...

Tomoto

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[Tomoto]

Hi Amir,

Glad that you find it so helpful!

Yeah, I was also surprised gesture recognition worked pretty slickly
without doing anything special. It just worked. It is confirmed by two
people individually (my friend and I) so I do not think it is
accidentally. Possibly it is caused by the recent changes of Kinect
SDK, NITE, or both, but I cannot tell.

As you suggested, I added the tilt motor control through property and
released it as v1.0.0.2. I tried to do the same for LED and
accelerometer, but had no luck because Kinect SDK did not support
them. I have nothing I can do but wait for them to be supported.

I have not had enough research for OpenNI's audio facility and cannot
design the wrapper right now. Instead, I exposed INuiSensor object
through property so that the application can directly use Kinect SDK's
feature if necessary. I know it is not an ideal solution, but may help
someone who wants to do something advanced.

Thanks,
Tomoto

On Apr 14, 12:52 pm, Amir Hirsch <a...@zigfu.com> wrote:
> Tomoto is a superhero! This is a fantastic development and will help us to
> get PrimeSense's high quality hand tracking API's with the skeleton and
> other features from Microsoft's SDK.
>
> And you really gesture recognition working now!? Did you figure something
> out because we don't really know why this didn't work before?!? We think it
> may have had something to do with 128bit alignment of the buffers for SSE
> vector processing that might be occurring in the gesture library...
>
> Consider how much of an exercise it would be to expose the motors, LEDs
> and acceleration using get and set property methods, and also to make an
> OpenNI Audio Generator with the echo cancellation, sound location and voice
> recognition capabilities...
>
>
>
>
>
>
>
> On Thu, Apr 12, 2012 at 6:24 AM, Tomoto <tom...@gmail.com> wrote:
> > (I created a new post continuing
>

> >http://groups.google.com/group/openni-dev/browse_thread/thread/22cd12...
> > )

[Harel M]

Hi Tomoto,

Can you please list what needs to be installed prior to the bridge in
order to have it working?

Thanks very much,
--harel

On Apr 12, 4:24 pm, Tomoto <tom...@gmail.com> wrote:
> (I created a new post continuinghttp://groups.google.com/group/openni-dev/browse_thread/thread/22cd12...)

>
> Hello everyone,
>
> I would like to announce that I have released kinect-mssdk-openni-
> bridge that supports Kinect SDK 1.0! That means you can use OpenNI/
> NITE with Kinect for Windows in your application (through Kinect SDK,
> no hack). One particularly cool thing (I think) is it supports Near
> Mode and it works with NITE's hand tracking and gesture recognition.
>

> If you are interested, go tohttp://code.google.com/p/kinect-mssdk-openni-bridge/

[Max]

Hi Tomoto,

I have the same question as Harel M.
I got the Windows for Kinect recently, with no previous Kinect
experience.
So I am confused on what needs to be installed beforehand.
I have tried installing OpenNI but it says OpenNI.dll is missing.
Do we need NITE and PrimeSense's KinectSensor drivers?

Still trying to figure this out..

Thanks,
Max

[Max]

And the OpenNI site does not help at all for those of us with lesser
experience.
I don't know what to install.
So I was following a tutorial that I found online.

[Tomoto]

Max,

Possibly you may find the answer in the FAQ of my related project.
http://code.google.com/p/kinect-ultra/wiki/FAQ_en#%22OpenNI.dll_is_missing%22_appears

Harel,

What do you want to achieve and what problem did you have? As readme
says, "This module is compatible with OpenNI 1.5.2.23 32bit and Kinect
SDK V1.0" is pretty much everything for the module itself to work, but
other prerequisites could apply depending on your application.

Thanks,
Tomoto

[Max]

Tomoto,

Thanks, it worked!
Not sure what happened, but it worked.
I have only installed OpenNI and NITE.
I uninstalled everything else, except the SDK, and installed OpenNI
and NITE in that order.
Also restarted computer.

A few questions..
Does the bridge work on top of SDK libraries, and has access to OpenNI
libraries?
Or the other way around?

I'm asking because I'm having a hard time starting a project.
The SDK samples worked fine and I started a project there.
But the OpenNI projects are confusing; I can't even get most of the
samples to run.
When I create a brand new project, maybe I've done some of the
settings wrong, but I got an error saying "unresolved external symbol
_WinMain@16."

You mentioned the bridge would kick in once the depth node is started,
is that one of the OpenNI examples?
When I try to run the sample NiSimpleViewer, it compiles but wouldn't
run, saying some PDB file is missing.
The only one that ran is the NiSimpleCreate.

I apologize if these are trivial questions.
If you have any resources on how to get started, that would be great.
Again, I got a project to run using the SDK, but not OpenNI.

Thank you,
Max

On Apr 17, 5:19 pm, Tomoto <tom...@gmail.com> wrote:
> Max,
>

> Possibly you may find the answer in the FAQ of my related project.http://code.google.com/p/kinect-ultra/wiki/FAQ_en#%22OpenNI.dll_is_mi...

[RSAbg]

Hi Tomoto,

great work! Is it possible to load an oni-File in openni, and do the
skeleton processing with the Microsoft SDK?
I am trying to use the (in my opinion) superior skeleton tracking of
Microsoft with previously recorded files
from openni. If it is not possible with your bridge, do you have any
other idea?

thanks in advanvce
Benedikt

[Tomoto]

Hi Max,

I wrote up something to answer to your questions.
http://code.google.com/p/kinect-mssdk-openni-bridge/wiki/FAQ_en

If the linker complains WinMain is missing, probably you created Win32
Application project although you intended Win32 "Console" Application.
Win32 Application starts with "WinMain" while Console Application
starts with "main".

PDB file is debugging information and your application should work
fine without it. If it is missing, you may get a warning on the
debugger (because the debugger cannot give you full information) but
it should not mean your application cannot run.

Thanks,
Tomoto

[Tomoto]

Hi Benedikt,

I'm afraid it is not possible. Microsoft's skeleton tracking is built
in Kinect SDK and there is no public interface to feed your own data
to that algorithm. Also I think the license terms say Kinect SDK is
only for the use with Kinect Sensors, i.e. you are not licensed to
feed the data from other sensors to Kinect SDK. (Note I am not a
lawyer and it is only my interpretation.) So I do not see any hope for
this direction from both technical and license points of view.

Best,
Tomoto

[azure]

Is it possible to get the skeletal tracking results from both ms
kinect sdk and primesense nite at the same time ? I need to use them
together. It seems that your code can use ms sdk or nite, but not both
of them?

[Tomoto]

Azure,

That is an interesting question and it seems technically possible by
creating two User nodes, i.e. one from NITE (by default) and the other
from the bridge (by requesting KinectSDKUserSkeletonGenerator). They
should be able to work parallelly and I do not think of any possible
conflict off the top of my head.

Thanks,
Tomoto

[azuretttc]

Thanks, I'll try that, and let you know if there's any results!

 

 

2012-04-21

---

azure

 

---

发件人： Tomoto

发送时间： 2012-04-21  16:51:31

收件人： OpenNI

抄送：

主题： [OpenNI-dev] Re: KinectSDK 1.0 + OpenNI/NITE at the same time (Part 2)

[Tomoto]

Hi All,

As suggested by Amir, now the bridge supports Audio node with access
to the K4W specific features such as audio source detection, echo
cancellation, etc.!
http://code.google.com/p/kinect-mssdk-openni-bridge/

Your OpenNI application can use the K4W features below through
properties.
- Audio source detection
- Beam forming in three modes (adaptive/automatic/manual)
- Automatic gain control (AGC)
- Acoustic echo cancellation (AEC) and suppression of residual signal
(AES)
- Center clipping and noise filling
- Noise suppression

Hope it helps. Happy Hacking!
Tomoto

[azuretttc]

Tomato,

 

   I've tried your suggestion, but sadly does not work. I use this kind of configuration:

 

        <Node type="User" name="User1">

            <Query>

                <Name>KinectSDKUserSkeletonGeneratorWithPsiPoseEmulation</Name>

            </Query>

        </Node>

        <Node type="User" name="User2" />

 

It says "open failed: this operation is invalid".

 

It works if I only use ms kinect user node or nite user node individally.

 

I guess does openni not allow two different user nodes?

 

What's the problem do you think maybe?

 

thanks

 

2012-04-22

---

azure

---

发件人： Tomoto

发送时间： 2012-04-21  16:51:31

收件人： OpenNI

抄送：

主题： [OpenNI-dev] Re: KinectSDK 1.0 + OpenNI/NITE at the same time (Part 2)

Azure,

That is an interesting question and it seems technically possible by

creating two User nodes, i.e. one from NITE (by default) and the other

from the bridge (by requesting KinectSDKUserSkeletonGenerator). They

should be able to work parallelly and I do not think of any possible

conflict off the top of my head.

Thanks,

Tomoto

On Apr 20, 4:23 am, azure <azuret...@gmail.com> wrote:

[Max]

Hi Tomoto,

Thanks for the explanation!

I'm actually simply trying to get NiSimpleViewer to run but it
wouldn't because it cannot find or open many PDB files.
Do you have any leads on this?

If it works better for you, and if you have the time, we can discuss
this in more detail through email?
I am very stuck...

Regards
Max

On Apr 18, 1:56 am, Tomoto <tom...@gmail.com> wrote:
> Hi Max,
>

> I wrote up something to answer to your questions.http://code.google.com/p/kinect-mssdk-openni-bridge/wiki/FAQ_en

[Koichi Senada]

Great job, Tomoto!

I have tried and it works with Kinect for Xbox 360 on Windows 7 x64.

But I have found a bug that I would like to report.

http://code.google.com/p/kinect-mssdk-openni-bridge/issues/detail?id=2

Fails to detect user in Unity Editor after scene restart 

[Harel M]

Thanks Tomoto! I have it working now...

[Pálfalvi József]

In which order do I need to install Kinect SDK, OpenNI and
SensorKinect, Bridge? Do I need to remove some components from the Device
Manager manually?

thanks

2012/4/24 Harel M <hare...@gmail.com>:

> --
> You received this message because you are subscribed to the Google Groups
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> To view this discussion on the web visit
> https://groups.google.com/d/msg/openni-dev/-/jw-AY1TDalkJ.

[Max]

Hi Tomoto,

Found my problem!
Had to set project's properties->debugging to $(TargetDir) for all
configurations.

Regards,
Max

[Harel M]

I already had Kinect Xbox working with OpenNI before installing Kinect SDK and the bridge, so the order was:

1. OpenNI (1.5.2.23 32bit)
2. SensorKinect
3. Kinect SDK
4. the bridge

--harel

> openni-dev+unsubscribe@googlegroups.com.

[Tomoto]

Harel, Max,

Glad to know you solved your problems!

Azure, Koichi,

I will find some time to take a look and let you know if I had any
findings.

Regards,
Tomoto

On 4月24日, 午前1:03, Harel M <harel...@gmail.com> wrote:
> I already had Kinect Xbox working with OpenNI before installing Kinect SDK
> and the bridge, so the order was:
>

>    1. OpenNI (1.5.2.23 32bit)
>    2. SensorKinect
>    3. Kinect SDK
>    4. the bridge

>
> --harel
>
>
>
>
>
>
>
> On Tuesday, April 24, 2012 10:22:01 AM UTC+3, afro wrote:
>
> > In which order do I need to install Kinect SDK, OpenNI and
> > SensorKinect, Bridge? Do I need to remove some components from the Device
> > Manager manually?
>
> > thanks
>

> > 2012/4/24 Harel M <harel...@gmail.com>:

> > > Thanks Tomoto! I have it working now...
>
> > > On Wednesday, April 18, 2012 3:19:51 AM UTC+3, Tomoto wrote:
>
> > >> Max,
>
> > >> Possibly you may find the answer in the FAQ of my related project.
>

> >http://code.google.com/p/kinect-ultra/wiki/FAQ_en#%22OpenNI.dll_is_mi...

> > > openni-dev+...@googlegroups.com.

[Yuyang CHEN]

Hello Tomoto,

I really appreciate your great job! It's really helpful to my project.
But I would like to use Near Mode and OpenNI at the same time? Since
only mssdk provide the way to activate Near Mode, how could openni do
it (I'm still new to everything...). I need to use depth node and hand
node of OpenNI, but meanwhile I could not create a DepthImageStream of
MSSDK, where I could set the DepthRange mode, seems like cause of some
conflict. I just wanna to know how could you do it in your demo.

Thanks very much

Yuyang

On Apr 12, 6:24 am, Tomoto <tom...@gmail.com> wrote:
> (I created a new post continuinghttp://groups.google.com/group/openni-dev/browse_thread/thread/22cd12...)

>
> Hello everyone,
>
> I would like to announce that I have released kinect-mssdk-openni-
> bridge that supports Kinect SDK 1.0! That means you can use OpenNI/
> NITE with Kinect for Windows in your application (through Kinect SDK,

> no hack). One particularly cool thing (I think) is it supportsNearModeand it works with NITE's hand tracking and gesture recognition.
>
> If you are interested, go tohttp://code.google.com/p/kinect-mssdk-openni-bridge/

> . Note the site is moved from the Beta version.
>

> Here is the demo video of NITE hand tracking with K4WNearMode:http://www.youtube.com/watch?v=diQyZd1RBAk

[Tomoto]

Yuyang,

Yes, you can use the near mode. That is exactly one of the reasons why
you might want to use this bridge as stated in the project page. The
readme describes how to achieve it by setting the property.
http://code.google.com/p/kinect-mssdk-openni-bridge/source/browse/README_en.TXT

Hope it helps,
Tomoto

[Tomoto]

It worked by specifying the node type explicitly. You can check the
names of NITE's nodes by niReg -l.

<Node type="User" name="User_KinectSDK">

<Query>
<Name>KinectSDKUserSkeletonGeneratorWithPsiPoseEmulation</Name>
</Query>
</Node>

<Node type="User" name="User_NITE">
<Query>
<Name>XnVSkeletonGenerator</Name>
</Query>
</Node>

Thanks,
Tomoto

On Apr 21, 8:22 pm, "azuretttc" <azuret...@gmail.com> wrote:
> Tomato,
>
>    I've tried your suggestion, but sadly does not work. I use this kind of configuration:
>
>         <Node type="User" name="User1">
>             <Query>
>                 <Name>KinectSDKUserSkeletonGeneratorWithPsiPoseEmulation</Name>
>             </Query>
>         </Node>
>         <Node type="User" name="User2" />
>
> It says "open failed: this operation is invalid".
>
> It works if I only use ms kinect user node or nite user node individally.
>
> I guess does openni not allow two different user nodes?
>
> What's the problem do you think maybe?
>
> thanks
>
> 2012-04-22
>

> azure

[azuretttc]

Hi, Tomato,

 

  Thanks! It's great!

 

 

2012-04-25

---

azure

 

---

发件人： Tomoto

发送时间： 2012-04-25  20:06:22

.

[Yuyang CHEN]

Thanks very much Tomoto. I was too careless to miss this important part of the README. My problem is solved, thank you again.

yuyang

[roee]

hello,
I tried to use the bridge and I'm getting a strange problem.
when I ran the openNI's execute files it runs perfectly.
however when I try to run my own code it's working smoothly only when
I plug the primesense.
more specific, initialize and creating a depthgenerator works well
with kinect
but it seems that it stop doing well when we call
'RgisterUserCallbacks function
any ideas?

thanks

On 25 אפריל, 21:05, Yuyang CHEN <i.am.chen.yuy...@gmail.com> wrote:
> Thanks very much Tomoto. I was too careless to miss this important part of
> the README. My problem is solved, thank you again.
>
> yuyang
>
>
>
>
>
>
>
> On Tuesday, April 24, 2012 9:29:07 PM UTC-7, Tomoto wrote:
>
> > Yuyang,
>
> > Yes, you can use the near mode. That is exactly one of the reasons why
> > you might want to use this bridge as stated in the project page. The
> > readme describes how to achieve it by setting the property.
>

> >http://code.google.com/p/kinect-mssdk-openni-bridge/source/browse/REA...

[Tomoto]

Hi,

Which user generator did you use, NITE's or bridge's? (See section 3.1
in readme if you are not sure what I am asking.)

And can you elaborate what "stop doing well" means a little bit more?
The application crashed? Frozen? The application was running but the
callbacks were not invoked in an expected sequence? The skeleton
tracking became unstable?

I might be able to give you something helpful if I had the answers to
these questions. The possible cause could be totally different
depending on them. (If you were using NITE's user generator, I might
not be able to give you much help because we have no visibility in
their implementation. If it was bridge's user generator, then we might
be able to fix the bridge so that you could get the expected result.)

Thanks,
Tomoto

[Aleksandra Cerekovic]

Hi,

I want to report that I have similar problem. In my case, I record
depth and image data to ONI files (recorder works in Near mode with
the bridge). When I want to run OpenNI tracker on this data, my
tracking program crashes on the following line:

> xnRegisterUserCallbacks (says: Unhandled exception)

Again, the tracker works perfectly on data which is recorded only with
OpenNi nodes and generators (without the bridge).

I also have one question, although I don't mind the Near mode (but I
might in the future), is there any option to turn this mode off and to
record the "ordinary data coming from depth generator of OpenNI" (like
the one when there is no bridge installed)? I hope you understand my
question :).

My regards,
Aleksandra

[Olav Noeen]

I'm sorry i could not understand your question.  Could you please explain because i would like to understand this controller method.  

[Tomoto]

Hi Aleksandra,

Let me answer to your second question first -- there is no way. The
motivation of the bridge in the first place is "the depth generator of
OpenNI (more precisely, SensorKienct driver) does not work if you have
Kinect SDK installed because they conflict". It is not the bridge who
disables the depth generator of OpenNI. If you want to enable it, only
one way is uninstall Kinect SDK. Then you don't need the bridge
either. :-)

Tomoto


On 5月16日, 午前6:47, Aleksandra Cerekovic

[Tomoto]

Roee, Aleksandra,

When you got an error in RegisterUserCallbacks, did you have a "valid"
UserGenerator node for sure? I mean, didn't you get any error code in
the prior calls of creating/finding the UserGenerator node, or any
error message on the console?

I am asking this because I tried the same as Aleksandra described
(i.e. creating an oni file upon bridge and giving it to
NiUserTracker), and then NiUserTracker failed to create a
UserGenerator node (even before RegisterUserCallbacks) with an error
message "Couldn't get max shift value" outputted on the console. Is
that the same problem you had? I figured out it happened seemingly
because all the necessary information to mock the depth generator was
not written out to the oni file. I do not have a workaround yet.

Thanks,
Tomoto

[Tomoto]

Aleksandar,

I fixed the bridge and now NiUserTracker runs on the oni file created
by it without crash. Can you take the latest DLLs from here and let me
know if it works? I will put it in the next release if it works in
your place.
http://code.google.com/p/kinect-mssdk-openni-bridge/source/browse/bin

Thanks,
Tomoto

[Tomoto]

Hi All,

I updated the bridge for Kinect SDK 1.5.
KinectSDKUserSkeletonGenerator now supports near mode skeleton
tracking (automatically enabled) and seated mode (enabled by
SetSkeletonProfile). The fix for the oni problem reported by
Aleksandra is also included.

Enjoy!
Tomoto

On May 18, 2:22 am, Tomoto <tom...@gmail.com> wrote:
> Aleksandar,
>
> I fixed the bridge and now NiUserTracker runs on the oni file created
> by it without crash. Can you take the latest DLLs from here and let me
> know if it works? I will put it in the next release if it works in

> your place.http://code.google.com/p/kinect-mssdk-openni-bridge/source/browse/bin

[Len Zhong]

Hi Tomoto,
The depth image doesn’t work with QVGA, do you know why?
1. install Bridge - v1.5
2. The Sample-PointViewer works fine(both xtion sensor and k4w)
3. now add one line to the depth node in Sample-Tracking.xml, see below, specifying the depth resolution to QVGA:
<Node type="Depth">
<Configuration>
<MapOutputMode xRes="320" yRes="240" FPS="30"/>
<Mirror on="true"/>
</Configuration>
</Node>
4. now connect xtion sensor, Sample-PointViewer works
5. disconnect xtion sensor, connect k4w, Sample-PointViewer crashes.
6. if I change to VGA(xRes="640" yRes="480"), the Sample-PointViewer works.

Thanks,
Len

[Tomoto]

Hi Len,

Thank you for your report. I tried your steps and experienced the same
problem. The crash happened in XnVHandGenerator_1_5_2.dll -- that
means, unfortunately, identifying the cause is very tricky because
NITE's algorithm is not open source and it often depends on the
undocumented implementations of DepthGenerator. I'm sorry I do not
think I could solve this problem in a short time. Hope you can
workaround by using 640x480 or other solutions.

Regards,
Tomoto

[Aleksandra Cerekovic]

Hi Tomoto,

Sorry, I couldn't test your bridge and reply earlier than this...

So I did it finally and I want to thank you for fixing the issue with
ONI files - OpenNI tracker works smooth now.

My regards,
Aleksandra

[Tomoto]

Hi Aleksandra,

Thanks! I'm glad your problem was solved. Also I appreciate you
reported the issue at the first place; it helped me make the bridge
more helpful and know more about OpenNI.

The fix is already accommodated in the latest release.

Best Regards,
Tomoto


On May 25, 3:28 am, Aleksandra Cerekovic

> ...
>
> read more »

[Carlos Roberto]

Hi Tomoto
I downloaded the latest bridge package and the deployed dlls are working. But when I tried to compile using VS2010, I got a bunch of errors regarding to undefined values.
e.g. NUI_SKELETON_FRAME, NUI_IMAGE_RESOLUTION, INuiSensor, etc
I searched the solution looking for those undefined values but had no success to find them. Is there a missing of something like that? What am I missing here?
Thanks.

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[Tomoto]

Hi Carlos,

They are Kinect SDK's symbols. I suspect the compiler failed to open
Kinect SDK's header file (NuiApi.h) at the first place. My
recommendation is to check the compiler's error message again, see if
there is any trouble in opening the header file, and if yes, figure
out why.

Also note that there are different build configurations such as
V10Debug, V10Release, Beta2Debug, etc. Make sure you select ones that
start with V10 if you are using Kinect SDK 1.0 or 1.5.

Thanks,
Tomoto

On May 31, 6:43 pm, Carlos Roberto <carlo...@gmail.com> wrote:
> Hi Tomoto
> I downloaded the latest bridge package and the deployed dlls are working.
> But when I tried to compile using VS2010, I got a bunch of errors regarding
> to undefined values.
> e.g. NUI_SKELETON_FRAME, NUI_IMAGE_RESOLUTION, INuiSensor, etc
> I searched the solution looking for those undefined values but had no
> success to find them. Is there a missing of something like that? What am I
> missing here?
> Thanks.
>
>
>
>
>
>
>
>
>
> On Wed, Apr 25, 2012 at 1:29 AM, Tomoto <tom...@gmail.com> wrote:
> > Yuyang,
>
> > Yes, you can use the near mode. That is exactly one of the reasons why
> > you might want to use this bridge as stated in the project page. The
> > readme describes how to achieve it by setting the property.
>

> >http://code.google.com/p/kinect-mssdk-openni-bridge/source/browse/REA...

> My Blog <http://kinect-i.blogspot.com/>
> My LinkedIn <http://br.linkedin.com/pub/carlos-lacerda-msc/5/964/378>
> follow me @ twitter <http://twitter.com/#%21/ze_tech>
> My YouTube videos <http://youtu.be/_x6m8IXMTXI>

[David Menard]

Hello Tomoto!

Great work! Bridge works fine. I do have a few questions though.

1. How does it handle OpenNIs recordings & playback? If I use a player node, can I get the resulting skeleton from KinectSDK and not OpenNI?

2. How does it handle Hand/Wrist and Foot/Ankle? OpenNIs skeleton doesn't support wrist and ankles, if I use the bridge, I assume that when I call getSkeletonJoint on the wrist and ankles, the corrcet ones will be returned from the KinectSDK? I am testing this one out as we speak, but with a recording since I don't have my devices with em right now.

3. How do I programmatically specify to use KinectSDK Skeleton tracking instead of OpenNI? I am using multiple Kinects and I do not use config files to initialize my devices, so adding <Query> tags are not an option. Is there a way to do this explicitly in my code?

thanks! Dave

[Xavier Mendez]

XnQuery is your friend.

Pass your own Query to Create()

2012/7/6 David Menard <david....@gmail.com>

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[Wisam]

Tomoto,

I'm getting the following error when I try to install

C:\Users\Wisam\Downloads\kinect-mssdk-openni-bridge-v1.5.0.1-for-1.5.2.23 (1)\ki

nect-mssdk-openni-bridge-v1.5.0.1-for-1.5.2.23>"C:\Program Files (x86)\OpenNI\Bi

n\niReg"  "C:\Users\Wisam\Downloads\kinect-mssdk-openni-bridge-v1.5.0.1-for-1.5.

2.23 (1)\kinect-mssdk-openni-bridge-v1.5.0.1-for-1.5.2.23\install.bat"\..\bin\ki

nect-mssdk-openni-bridge-Release.dll

Failed: File not found!

----------

[en] Error occured. If you see "Failed to write to the file!" message, try again

 "as Administrator" by right-clicking the batch file.

[ja] âGâëü[é¬ö¡É╢é╡é▄é╡é╜üB"Failed to write to the file!" é╞éóéñâüâbâZü[âWé¬Åoé─

éóéΘÅΩìçüAâoâbâ`âtâ@âCâïé≡ëEâNâèâbâNé╡é─üuè╟ù¥Ä╥é╞é╡é─Ä└ìsüvé╡é─é¡é╛é│éóüB

----------

Press any key to continue . . .

I have OpenNi installed from Brekel. I installed Microsoft 1.5 Kinect SDK. I am using Windows 7 x64. I have OpenNI 32 bit installed I believe

I was able to find the niReg under the folder referred to by the command line

Help?

Wisam

On Thursday, April 12, 2012 9:24:44 AM UTC-4, Tomoto wrote:

(I created a new post continuing

http://groups.google.com/group/openni-dev/browse_thread/thread/22cd12bc8da97e9e/)

Hello everyone,

I would like to announce that I have released kinect-mssdk-openni-
bridge that supports Kinect SDK 1.0! That means you can use OpenNI/
NITE with Kinect for Windows in your application (through Kinect SDK,
no hack). One particularly cool thing (I think) is it supports Near

Mode and it works with NITE's hand tracking and gesture recognition.

[David Menard]

Wisam, 

I got the same error when trying to install. If you look @ the install.bat, the path of the file it's trying to copy is incorrect.

To install properly, simply change line 8 of the script to point to the dll:

%NIREG_PATH%  C:\Wherever_You_Extracted_The_Bridge\bin\kinect-mssdk-openni-bridge-V10Release.dll

[Tomoto]

Hi Devid,

Sorry I have not been catching up with this forum for a while. I'm glad that the bridge turned out to be helpful for you. Let me try to answer to your questions although you may have already figured out by yourself.

1. You can record the depth & color data that comes from the bridge, but you cannot feed the recorded data to KinectSDK's skeleton tracking. (KinectSDK's skeleton tracking directly consumes the depth data from the sensor and there is no API to feed the data from outside.) So, when you use a player node, the bridge cannot do anything with it literally.

2. Yes. The bridge gets hand/wrist and foot/ankle separately from KinectSDK's skeleton tracking.

3. Thank you, jmendeth!

Thanks,
Tomoto

On Saturday, July 7, 2012 7:07:53 AM UTC-7, jmendeth wrote:

XnQuery is your friend.

Pass your own Query to Create()

2012/7/6 David Menard

Hello Tomoto!

Great work! Bridge works fine. I do have a few questions though.

1. How does it handle OpenNIs recordings & playback? If I use a player node, can I get the resulting skeleton from KinectSDK and not OpenNI?

2. How does it handle Hand/Wrist and Foot/Ankle? OpenNIs skeleton doesn't support wrist and ankles, if I use the bridge, I assume that when I call getSkeletonJoint on the wrist and ankles, the corrcet ones will be returned from the KinectSDK? I am testing this one out as we speak, but with a recording since I don't have my devices with em right now.

3. How do I programmatically specify to use KinectSDK Skeleton tracking instead of OpenNI? I am using multiple Kinects and I do not use config files to initialize my devices, so adding <Query> tags are not an option. Is there a way to do this explicitly in my code?

thanks! Dave

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[Tomoto]

Hi Wisam, David,

Thanks for reporting the problem. I hope David's workaround worked for Wisam.

The installer checks the existence of %KINECTSDK10_DIR%\lib to identify your KinectSDK version, but it seems not working as intended in your cases. Probably I can remove this check because the bridge no longer supports KinectSDK Beta1/Beta2.

Regards,
Tomoto

[Lorne Covington]

On 7/14/2012 4:40 PM, Tomoto wrote:
> 1. You can record the depth & color data that comes from the bridge,
> but you cannot feed the recorded data to KinectSDK's skeleton
> tracking. (KinectSDK's skeleton tracking directly consumes the depth
> data from the sensor and there is no API to feed the data from
> outside.) So, when you use a player node, the bridge cannot do
> anything with it literally.

What about using Kinect Studio? Can't it be used to record and playback
data? I haven't tried it, but if I read it correctly it should work
with any Kinect application, which I would think the bridge would look
like to it.

Thanks!

- Lorne

--
http://noirflux.com

[Tomoto]

Hi Lorne,

Yes, you are right. Kinect Studio works with the bridge, and, unlike OpenNI's recording & playback, it works with bridge's UserGenerator as well.

I was inaccurate to say "KinectSDK's skeleton tracking directly consumes the depth data from the sensor" if we had Kinect Studio in the picture. Sorry for the confusion.

Thanks,
Tomoto

[roberto]

Hi,
I am using the kinect-mssdk-openni-bridge v1.5.0.0-for-1.5.2.23. I am working with head tracking where I am calculating position and rotation. For position, I can see the x,y,z values when I move my head to front, back, left, right. But when I try to get the rotation values, I only get 0 values for the 3 elements (rotation around y axix). AFAIK, the Microsoft SDK 1.5 now is able to provide head rotation. In this case, why I can not get rotation values? Is is possible that the mssdk-openni bridge still does not map the head orientation? Or there is a trick to capture the head orientation using the bridge? Does anyone knows any idea about this?
Thanks

[RSAbg]

Hi Tomoto,

do you happen to know whether there are any conversion from recorded oni files to k4w video files? I try to apply Microsofts Skeleton Algorithm to pre-recorded oni files...

thanks in advance

Benedikt

[Tomoto]

Hi Benedikt,

Hmm, I do not think I can be helpful. Converting k4w to oni is easy, but it should not be trivial to do the same in reverse. Sorry about that.

Tomoto

[Tomoto]

Roberto,

The bridge has its own orientation calculation and it is still used after Kinect SDK supported orientation. That is the reason why you possibly get different values from what Kinect SDK now supports.

If I find time, I may be able to add a "switch" that you can choose if you use the legacy calculation or Kinect SDK's orientation API.

Thanks,
Tomoto

[Tomoto]

Roberto,

I took a quick survey and have reached to the conclusion where I believe the rotation you wanted -- the head rotation around Y axis -- would not be a part of Kinect SDK's orientation API so the bridge could not provide it anyway. Kinect SDK's orientation API gives you the orientation of bone (= vector between two joints), but not the orientation of the face. Reference: http://msdn.microsoft.com/en-us/library/hh973073.aspx

It is the Face Tracking API included in Kinect Developer Toolkit that supports the head rotation, and it is too much to hide under the OpenNI interface by the bridge. I think you can achieve your goal by using Face Tracking API from your application individually.

Thanks,
Tomoto

[Lorne Covington]

Wow Tomoto, you really go the extra mile!

Thought I'd toss this into the mix:

    http://www.ics.uci.edu/~xzhu/face/

very impressive, but just Matlab code right now.  Would be interesting to see if this could run in real-time off the RGB image to augment the skeleton data.

Cheers!

- Lorne

http://noirflux.com

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[mini]

Hi Tomoto, 

you really did a great job with your bridge project.

I tried to use your code in a C# project and i was very successful in changing the camera elevation angle and using the MS user tracker.

I also wanted to check if I can access the iNuiSensor Pointer but I failed because the INuiSensor class was not recognized, which I expected because NuiApi.h was not included.

Do you know if (and how) it is possible to use MS SDK Features in C# with the help of your bridge?

Thank you very much in advance,

best regards,

Mini

[Tomoto]

Hi Lome,

Thanks for interesting information!

It might be an interesting experiment to put the face orientation recognition in our UserGenerator (whatever we use, MS's Kinect Developer Toolkit or something else). This might make some applications happy as long as the orientation were only they needed from the face recognition and they didn't mind the higher CPU workload for it. Let me think if it could be worthwhile...

Regards,
Tomoto

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[Tomoto]

Hi Mini,

I am so glad to hear that you found the bridge helpful!

As I am not working on C# much, I don't know if or how you can use INuiSensor in C# by converting the pointer returned by the bridge. I don't think it is officially documented at least. But, if you look at Microsoft.Kinect.xml in KinectSDK's assemblies folder, you will notice there are wrapper classes and functions for the native SDK. It might give you some hint to achieve your goal. Good luck!

Thanks,
Tomoto

[Justin Ko]

hi,tomoto

i am now using this bridge to track skeleton both with nite and sdk,but now i need to transform the depth pixel to skeleton coordinate space, i found that openni's DepthGenerator.ConvertProjectiveToRealWorld makes greater deviation than sdk's NuiTransformDepthImageToSkeleton, so i want to add this function to mssdk-openni-bridge.

i add  ConvertProjectiveToRealWorld into the class MSRKinectDepthGenerator,but it does not work.
i am not familiar with the openni framework, would you please give me some hint to solve this problem

thanks.

2012/8/4 Tomoto <tom...@gmail.com>

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[William]

Hi, I have been using this with Primesense's Unity wrapper and it works great!  However, it seems calls to functions such as WaitNoneUpdateAll() takes much longer when using the bridge, than when using the Asus Xtion Pro.  For example, if I plug in the Xtion Pro, calls to WaitNoneUpdateAll() takes 4-5ms.  If I plug in K4W, calls to WaitNoneUpdateAll() jumps to 20-100ms.  This is especially the case when I have enabled both image and depth.  Is it because the Kinect SDK is slower?

Thanks!
William

[Tomoto]

Hi William,

I wrote up something about the performance. Hope it helps clarifying your question.

http://code.google.com/p/kinect-mssdk-openni-bridge/wiki/Performance

The bridge comes with the overhead to convert the entire frame from Kinect SDK format to OpenNI format. Especially if you enabled the viewpoint mapping between the RGB camera and the depth sensor, you might experience a fairly large additional latency in Wait*Update* functions because the mapping calculation would be performed in the client thread (but not pre-calculating in the data generation thread). I did not experience such a large drawback as you described, but it might be possible depending on your software/hardware environment especially if you turned on the viewpoint mapping. I hope the above write-up could give you some hint for your analysis.

Thanks,

Tomoto

[William]

Thanks Tomoto for the write-up!  I suppose my large drawback happens in my case because I am using it in Unity, where everything happens in a single thread.  With both Unity and the wrapper needing the same processor it might have slowed down the conversion.  I will have to check if I can add some multithreading somewhere.

William

[Tomoto]

Hi Folks,

Kinect SDK 1.6 is released and it provides additional features such as IR stream, extended depth data, etc.

http://msdn.microsoft.com/en-us/library/jj663803.aspx#SDK_1pt6_M2

Is there anything you want to use through the bridge? I'd be happy to find a way to satisfy the request.

Thanks,

Tomoto

[Tomoto]

Now I have added some of them: IR stream, accelerometer, turning off IR emitters. Enjoy!

Tomoto

[Mourad Boufarguine]

Hi Tomoto,

Is it possible to get remapped depth and RGB maps using the bridge? Do the following lines behave as expected ?

xn::DepthGenerator    depth;
xn::ImageGenerator    image;
....
depth.GetAlternativeViewPointCap().SetViewPoint(image);

Cheers,
Mourad

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[Tomoto]

Hi Mourad,

Yes, it will work as expected. Thanks for your interest.

Tomoto

[tommy]

Hi,

I tried to run the bridge using the KinectSDK but got the following error:

C:\Program Files (x86)\OpenNI\Samples\Bin\Release>NiUserTracker.exe
Reader thread 00e510b0 starting
Reader thread 070cebb8 starting
Failed: Wrong parameter. [80070057] (GetSensor()->NuiSkeletonTrackingEnable(m
_hNextFrameEvent, NUI_SKELETON_TRACKING_FLAG_ENABLE_IN_NEAR_RANGE))
Reader thread 00e510b0 stopping
Reader thread 070cebb8 stopping
Open failed: Error!

In SamplesConfig.xml i wrote the following:

          <Node type="User" name="User_KinectSDK">
               <Query>
                        <Name>KinectSDKUserSkeletonGeneratorWithPsiPoseEmulation</Name>
                </Query>
        </Node>

If i use the XnVSkeletonGenerator-node all is fine.

Thanks,
Tommy

[Tomoto]

Hi Tommy,

Can you let me know which version of Kinect SDK you are using? Is it 1.0?

Thanks,

Tomoto

[tommy]

Hi Tomoto,

Yes, I use KinectSDK-v1.0. And OpenNi 1.5.4.0.

Thanks,
Tommy

[Tomoto]

Hi Tommy,

Thanks for your reply. The bridge is using a flag that is newly supported by Kinect SDK 1.5, and most probably 1.0 does not like it. Can you update Kinect SDK to 1.5 or higher? I will fix the document of the bridge to remove 1.0 from the supported SDK version meanwhile.

Regards,

Tomoto

[tommy]

Finally I installed KinectSDK 1.5 and it works!

Thank you,
Tommy

[tommy]

Hey, me again xD

Well, I used XML and it works. But can I initialize the structure without XML?
I tried the following:

g_Context.Init();
g_DepthGenerator.Create(g_Context);
g_ImageGenerator.Create(g_Context);
Query q;
q.SetName("KinectSDKUserSkeletonGenerator");
g_UserGenerator.Create(g_Context,&q,&errors);
...
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);

The function XnSetSkeletonProfile tries to read on NULL I think. Have I forgotten something?

Thanks,
Tommy

[Pedro Silva]

To start to generate them all?

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[Tomoto]

Pedro,

Thanks for your help.

Tommy,

Pedro is right. Can you try calling StartGeneratingAll() before SetSkeletonProfile()? That will workaround the problem.

This is an implementation issue in the bridge side. The bridge was not tested much under the non-XML initialization scenario. Sorry for inconvenience.

Thanks,

Tomoto

[Pedro Silva]

Glad to help

Pedro

CoVii - Computer vision interaction

To view this discussion on the web visit https://groups.google.com/d/msg/openni-dev/-/T7010nnZkjkJ.

[tommy]

Well, if I call g_Context.StartGeneratingAll() I get an error, too...

[tommy]

I found the reason for the error: I initialized the Image and DepthGenerators two times.

[Christan Huang]

Hi, Tomoto

I am  using Kinect for windows

but I use Openni not SDK1.6

I use your bridge 

that's really good

I thanks a lot

but "GetAlternativeViewPointCap().SetViewPoint( )" still can't use

Do you know some other way to align depthmap to colormap?

 thanks.

[Xavier Mendez]

Your email seems like a poem. :)

2012/11/12 Christan Huang <christ...@gmail.com>

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