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Home > Business & Other > UI Development > OpenNI Cookbook
OpenNI Cookbook
OpenNI Cookbook

OpenNI Cookbook: Learn how to write NIUI-based applications and motion-controlled games

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OpenNI Cookbook

Chapter 2. OpenNI and C++

In this chapter, we will cover:

  • Creating a project in Visual Studio 2010

  • OpenNI class and error handling

  • Enumerating a list of connected devices

  • Accessing video streams (depth/IR/RGB) and configuring them

  • Retrieving a list of supported video modes for depth stream

  • Selecting a specific device for accessing depth stream

  • Listening to the device connect and disconnect events

  • Opening an already recorded file (ONI file) instead of a device

Introduction

In this chapter, we will introduce primary datatypes of the OpenNI and the NiTE along with some basic information about how to access and select a data stream. Then we will try to show you some examples of events triggered by devices such as connecting or disconnecting an OpenNI supported device from computer.

But first, let's get some background about the whole OpenNI's principle first.

The OpenNI object

OpenNI object is the starting point of everything in the framework. Using the OpenNI class we can access a list of connected devices as well as the version of OpenNI itself. Then using this information we can access a device object and read data.

This class uses the singleton pattern, which means there is only one instance of this class and all of its methods are static.

Also in OpenNI 2 we have the ability to register two callback functions by OpenNI object for capturing device connected and device disconnected events.

The device object

Device object is representing the actual physical...

Creating a project in Visual Studio 2010

In this recipe we will show you how to prepare a project in Visual Studio to start programming with OpenNI 2 and NiTE 2. Using NiTE 2 is optional but it will offer following features to you::

  • The capability to track hands and recognize hand gestures

  • The capability to recognize one or more users and track their movements

  • The capability to recognize different parts of the user's body and extract his/her skeleton map and joint positions

Tip

Please note that you don't need NiTE if you want to simply work with depth/IR or Image stream. But if you want to go one step forward and work with the middleware layer, you need to install NiTE and use it.

Without NiTE, we can only use low-level data such as the output of different physical sensors of one or more devices.

Getting ready

Download and install the free version of Visual Studio 2010 Express Edition from the following link:

http://www.microsoft.com/visualstudio/eng/products/visual-studio-2010-express

Please note...

OpenNI class and error handling

We will show how to create and initialize a context object in C++ and how to use the openni::Status datatype to handle errors thrown by OpenNI core. We will use openni::Status very often in the later recipes and it is a very important part of any successful application.

In this recipe, we try to show the version number of the current OpenNI environment and then initialize the OpenNI framework. This will ask OpenNI to search for any connected device and load their modules and drivers.

Getting ready

Create a project in Visual Studio 2010 and prepare it for working with OpenNI using the Creating a project in Visual Studio 2010 recipe in this chapter.

How to do it...

Have a look at the following steps:

  1. Open your project and then the project's main source code file. Locate this line:

    int _tmain(int argc, _TCHAR* argv[])
{

  2. Write the following code snippet above the preceding line of code:

    char ReadLastCharOfLine()
{
  int newChar = 0;
  int lastChar;
  fflush(stdout);
...

Enumerating a list of connected devices

We learned how to initialize OpenNI and how to retrieve the version number of OpenNI using the openni::OpenNI::getVersion() method and how to ask OpenNI to read all modules and drivers by calling openni::OpenNI::initialize() in the last recipe. In this recipe we will get the list of all the connected devices, their hardware Uri (location), and product ID (that can be used to identify the device).

Getting ready

Create a project in Visual Studio 2010 and prepare it for working with OpenNI using the Creating a project in Visual Studio 2010 recipe in this chapter.

How to do it...

Open your project and then the project's main source code file. Locate this line:

int _tmain(int argc, _TCHAR* argv[])
{

Write the following code snippet above the preceding line of code:

char ReadLastCharOfLine()
{
  int newChar = 0;
  int lastChar;
  fflush(stdout);
  do 
  {
    lastChar = newChar;
    newChar = getchar();
  }
  while ((newChar != '\n') && (newChar != EOF...

Accessing video streams (depth/IR/RGB) and configuring them

In OpenNI 2 there is only one class that is responsible for giving us access to the output of all video-based sensors (depth/IR/RGB) that have made our work very simple compared to the OpenNI 1.x era, where we needed to use three different classes to access sensors. In this recipe we will show you how to access the depth sensor and initialize it. For accessing the IR sensor and RGB sensor we need to follow the same procedure that we will discuss more in the How It Works… section of this recipe. We will show you how to select an output video mode for a sensor too. Also we will show you how to ask a device to see if an output is supported or not.

We will not cover other configurable properties of the openni::VideoStream class including cropping and mirroring in this recipe; read Chapter 4, More about Low-level Outputs about this topic.

Getting ready

Create a project in Visual Studio 2010 and prepare it for working with OpenNI using the...

Retrieving a list of supported video modes for depth stream

From the previous recipe we learned that we can use different video modes for the sensor's output, different resolutions, fps, and pixel formats. We also wrote a table of known supported resolutions and pixel formats. But in case you want to be sure about the list of supported types or if you have a new device and want to know the possible resolutions and pixel formats of one of its sensors, you can easily ask device driver. OpenNI gives us this possibility to retrieve a list of supported video modes for each sensor from the driver itself. In this recipe, we will try to show you how to retrieve a list of supported video modes for the Depth sensor and we will let the user select what video mode to use for our sensor.

Getting ready

Create a project in Visual Studio 2010 and prepare it for working with OpenNI using the Creating a project in Visual Studio 2010 recipe in this chapter.

How to do it...

Have a look at the following steps:

  1. Open...

Selecting a specific device for accessing depth stream

We discussed about how to retrieve a list of connected devices but we never used this data to select one of those devices; we always used ANY_DEVICE as the parameter for the openni::Device::open() method without even asking ourselves what this parameter is.

In this recipe, we will show you how to select your desired device and open it. Then create openni::VideoStream for the depth sensor of this device.

But first let's talk about the openni::Device::open() method. Actually this method has a parameter of type string (actually a character array) containing the hardware location (Uri) of the desired device. We always used ANY_DEVICE as the parameter of this method until now, but actually ANY_DEVICE is equal to null and is used only for better reading of code. When passing null as the parameter of this method, OpenNI automatically selects the first device in the list of loaded and recognized devices. So if we want to select our desired device...

Listening to the device connect and disconnect events

We learned how to get a list of connected devices from OpenNI, but here we want to use one of the new features of OpenNI 2. OpenNI 2 lets us introduce two methods that we want to be executed when there is any new device connected or disconnected. Using this ability we want to define two methods and introduce them to OpenNI as a callback for these two events (connect and disconnect). Our methods will only print a line to the console to show the user what happened, but you can use this feature to wait until the user connects a device or warn the user when a device is disconnected; or you can at least update the list of connected devices without using a timer to refresh it.

Getting ready

Create a project in Visual Studio 2010 and prepare it for working with OpenNI using the Creating a project in Visual Studio 2010 recipe in this chapter.

How to do it...

Have a look at the following steps:

  1. Open your project and then the project's main source code...

Opening an already recorded file (ONI file) instead of a device

Prior to the Selecting a specific device for accessing depth stream recipe of this chapter we used ANY_DEVICE as the parameter of the openni::Device::open() method to open the first device and access its sensors. In the Selecting a specific device for accessing depth stream recipe of this chapter we learned that we can select what device to open by sending its hardware Uri to the openni::OpenNI::open() method. And in this recipe, we will learn another use of the openni::OpenNI::open() method.

You will find out how to record data from different sensors of a device to a file in the later sections of the chapter, but now we want to show how to re-open them as an individual device (just like when we open a physical device) and access saved data streams).

Getting ready

Create a project in Visual Studio 2010 and prepare it for working with OpenNI using the Creating a project in Visual Studio 2010 recipe in this chapter.

You can find a...

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Key benefits

  • Use OpenNI for all your needs from games and application UI to low-level data processing or motion detection
  • Learn more about the Natural Interaction features of OpenNI
  • The book is useful for both beginners and professionals because it covers the most basic to advanced concepts in the OpenNi technology.
  • Full of illustrations, examples, and tips for understanding different aspects of topics, with clear step-by-step instructions to get different parts of OpenNI working for you

Description

The release of Microsoft Kinect, then PrimeSense Sensor, and Asus Xtion opened new doors for developers to interact with users, re-design their application’s UI, and make them environment (context) aware. For this purpose, developers need a good framework which provides a complete application programming interface (API), and OpenNI is the first choice in this field. This book introduces the new version of OpenNI. "OpenNI Cookbook" will show you how to start developing a Natural Interaction UI for your applications or games with high level APIs and at the same time access RAW data from different sensors of different hardware supported by OpenNI using low level APIs. It also deals with expanding OpenNI by writing new modules and expanding applications using different OpenNI compatible middleware, including NITE. "OpenNI Cookbook" favors practical examples over plain theory, giving you a more hands-on experience to help you learn. OpenNI Cookbook starts with information about installing devices and retrieving RAW data from them, and then shows how to use this data in applications. You will learn how to access a device or how to read data from it and show them using OpenGL, or use middleware (especially NITE) to track and recognize users, hands, and guess the skeleton of a person in front of a device, all through examples.You also learn about more advanced aspects such as how to write a simple module or middleware for OpenNI itself. "OpenNI Cookbook" shows you how to start and experiment with both NIUI designs and OpenNI itself using examples.

Who is this book for?

If you are a beginner or a professional in NIUI and want to write serious applications or games, then this book is for you. Even OpenNI 1 and OpenNI 1.x programmers who want to move to new versions of OpenNI can use this book as a starting point.This book uses C++ as the primary language but there are some examples in C# and Java too, so you need to have about a basic working knowledge of C or C++ for most cases.

What you will learn

  • Retrieve and use depth, vision, and audio from compatible devices
  • Get basic information about the environment
  • Recognize hands, humans, and their skeleton and track their moves
  • Customize frames right from the device itself
  • Identify basic gestures like pushing or swapping
  • Select between devices or use more than one device to read data
  • Recognize pre-defined hand gestures and detect user poses
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Publication date, Length, Edition, Language, ISBN-13
Publication date : Jul 26, 2013
Length: 324 pages
Edition : 1st
Language : English
ISBN-13 : 9781849518468
Category :
Business & Other
Languages :
C++
Concepts :
UI Development
Tools :
OpenNI

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Estimated delivery fee Deliver to Brazil

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Product Details

Publication date : Jul 26, 2013
Length: 324 pages
Edition : 1st
Language : English
ISBN-13 : 9781849518468
Category :
Business & Other
Languages :
C++
Concepts :
UI Development
Tools :
OpenNI

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Table of Contents

7 Chapters
Getting Started Chevron down icon Chevron up icon
Getting Started
Introduction
Downloading and installing OpenNI
Downloading and installing NiTE
Downloading and installing the Microsoft Kinect SDK
Connecting Asus Xtion and PrimeSense sensors
Connecting Microsoft Kinect
OpenNI and C++ Chevron down icon Chevron up icon
OpenNI and C++
Introduction
Creating a project in Visual Studio 2010
OpenNI class and error handling
Enumerating a list of connected devices
Accessing video streams (depth/IR/RGB) and configuring them
Retrieving a list of supported video modes for depth stream
Selecting a specific device for accessing depth stream
Listening to the device connect and disconnect events
Opening an already recorded file (ONI file) instead of a device
Using Low-level Data Chevron down icon Chevron up icon
Using Low-level Data
Introduction
Configuring Visual Studio 2010 to use OpenGL
Initializing and preparing OpenGL
Reading and showing a frame from the image sensor (color/IR)
Reading and showing a frame from the depth sensor
Controlling the player when opening a device from file
Recording streams to file (ONI file)
Event-based reading of data
More about Low-level Outputs Chevron down icon Chevron up icon
More about Low-level Outputs
Introduction
Cropping and mirroring frames right from the buffer
Syncing image and depth sensors to read new frames from both streams at the same time
Overlaying the depth frame over the image frame
Converting the depth unit to millimetre
Retrieving the color of the nearest point without depth over color registration
Enabling/disabling auto exposure and auto white balance
NiTE and User Tracking Chevron down icon Chevron up icon
NiTE and User Tracking
Introduction
Getting a list of all the active users
Identifying and coloring users' pixels in depth map
Reading users' bounding boxes and center of mass
Event-based reading of users' data
NiTE and Hand Tracking Chevron down icon Chevron up icon
NiTE and Hand Tracking
Introduction
Recognizing predefined hand gestures
Tracking hands
Finding the related user ID for each hand ID
Event-based reading of hands' data
Working sample for controlling the mouse by hand
NiTE and Skeleton Tracking Chevron down icon Chevron up icon
NiTE and Skeleton Tracking
Introduction
Detecting a user's pose
Getting a user's skeleton joints and displaying their position in the depth map
Designing a simple pong game using skeleton tracking

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Customer reviews

Rating distribution
Full star icon Full star icon Full star icon Full star icon Half star icon 4.2
(5 Ratings)
5 star 20%
4 star 80%
3 star 0%
2 star 0%
1 star 0%
Chilijung Dec 07, 2013
Full star icon Full star icon Full star icon Full star icon Full star icon 5
I really love the book very much!I've just started to learn OpenNI recently, but I found out there is lack of documentations and tutorials. In the book the author have teach openNI from the basic to advance level. The book also taught some low-level data usage, that makes me easy to know more about the details.But I wish the book could also teach some installation in Linux or MacOS, cause I'm mostly using these two platforms for my project development, otherwise the book is really great.I'll definitely recommend the book to friends that started openNI.
Amazon Verified review Amazon
carles Feb 17, 2014
Full star icon Full star icon Full star icon Full star icon Empty star icon 4
As a previous user of OpenNI I already knew some of the usage of its API. This book has completed my understanding of both the underlying technology and API.This book is a cookbook on OpenNI (version 2.x), so it is basically a structured list of recipes "How to ...". It is structured to be read in a linear way: it covers from the most basic uses (the inner workings of a depth sensor) to the most high level purposes (skeleton tracking), but every recipe is independent enough to be understood alone.Every recipe is structured in the same way: first the goal description, then the code and finally an explanation. While this structure may be useful for the reader that only wants to read a single recipe, I feel that just printing the code on a book is not the best way to put it. Fortunately, the source code is distributed electronically in the original format, so the reader can read it in an appropriate code editor.I found the introduction about the depth sensor technologies present at the beginning of the book to be extremely useful and interesting. It seemed well documented with links to Wikipedia articles allowing the reader to enhance his knowledge of the field. Introductions in other chapters explain not only the most common settings, but all the options. This is also very useful in order to get the whole picture. I would say that this part, the documentation, is where the value of this book lies.On the other side, I think its coding standards are not the best. Use of vectors, for instance, is not consistent through the book and may lead to confusion. Although I understand that this book may be designed to be suited to beginners, I would have recommended better C++ - centered standards, instead of mixing C idioms; after all the book is centered on the C++ bindings of OpenNI, and not its C API. Coding styles apart, the explanation of the code is good enough.A valuable addition included in the book is a step by step guide to setup the programming environment. Newbies will love this, as it guarantees that they will focus on the problem, and not on the some times over-complex configuration system of the IDE.If you are beginning to use OpenNI or you plan to, and want to get a list of common solutions that you may use that also gives the necessary details to go more in depth, this book is for you.
Amazon Verified review Amazon
Googigo Nov 21, 2013
Full star icon Full star icon Full star icon Full star icon Empty star icon 4
This is the kind of book that would be helpful if you just started developing OpenNI applications in Windows. The code in this book uses the OpenNI2 library, which is the latest version of OpenNI. See more review in the link below.[...]
Amazon Verified review Amazon
SeaLark Jan 16, 2014
Full star icon Full star icon Full star icon Full star icon Empty star icon 4
This book looks great and was certainly needed for all the people interested in OpenNI. That said, go to the OpenNI website Blog and read the comments about the absence of the entire staff and total lack of new support. I only report this since anyone considering basing an expensive development on OpenNI should consider the likelihood that the open source code's future is very dark!
Amazon Verified review Amazon
videoman Nov 15, 2013
Full star icon Full star icon Full star icon Full star icon Empty star icon 4
Nice Book; I am a beginner at OPenNi and found this book useful in getting started and understanding the dev. environment along with the details of the API.In the 'Getting Ready' section, there are plenty of screenshots to get you thru the installation, along with background of both the hardware and software tecnology to start you off in Chapter 1.Chapter 2 continues with the step by step 'How To Do It' instructions and screenshot showing how to setup a new visual studio 2010 project.I like the technique of walking you step by step through a procedure, then summarizing the steps afterwards in the 'How it works' section; each 'recipe' has this format.Chapter 2 continues with examples on how to get OpenNi version info, device info etc along with showing how to capture errors. This chapter and following chapters are chock full of code samples; easily cut and pasted from PDF.Another nice touch is the book explains C++ syntax and constructs (things like Templates for example.The book then dives into the details of frame capture and processing.--Being a beginner at openni, chapter 2 thru 4 were of particular interest to me; working thru some of the examples;The rest of the book goes on to discuss and teach the Nite middleware SDK;The author describes the object model in details, followed by many examples in the 'Getty Ready', 'How to do it' and 'How it works' format.All in all, a great tutorial and reference for getting up and running with OpenNi;About Me: I am a long time software engineer who is interested in the latest enabling technologies; always looking for a good foundation to work upon when using new technologies.
Amazon Verified review Amazon

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Mastering PostgreSQL 15
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About the author

Profile icon Soroush Falahati
Soroush Falahati
Soroush Falahati is a Microsoft MCPD certificated C# developer of Web and Windows applications, now preparing for a new MCSD certification from Microsoft. He started programming at the age of 13 with VB5 and then continued to VB.Net, C#, C++, C for microcontrollers, as well as scripting languages such as PHP and JavaScript. He is currently the owner of an e-commerce company that uses web applications and smart phone apps as primary advantages over other competitors. As a hobby, Soroush supports robotic teams by voluntarily training them on how to program microcontrollers.
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On the off chance your printed book arrives damaged, with book material defect, contact our Customer Relation Team on customercare@packt.com within 14 days of receipt of the book with appropriate evidence of damage and we will work with you to secure a replacement copy, if necessary. Please note that each printed book you order from us is individually made by Packt's professional book-printing partner which is on a print-on-demand basis.

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Shipping Details

USA:

'

Economy: Delivery to most addresses in the US within 10-15 business days

Premium: Trackable Delivery to most addresses in the US within 3-8 business days

UK:

Economy: Delivery to most addresses in the U.K. within 7-9 business days.
Shipments are not trackable

Premium: Trackable delivery to most addresses in the U.K. within 3-4 business days!
Add one extra business day for deliveries to Northern Ireland and Scottish Highlands and islands

EU:

Premium: Trackable delivery to most EU destinations within 4-9 business days.

Australia:

Economy: Can deliver to P. O. Boxes and private residences.
Trackable service with delivery to addresses in Australia only.
Delivery time ranges from 7-9 business days for VIC and 8-10 business days for Interstate metro
Delivery time is up to 15 business days for remote areas of WA, NT & QLD.

Premium: Delivery to addresses in Australia only
Trackable delivery to most P. O. Boxes and private residences in Australia within 4-5 days based on the distance to a destination following dispatch.

India:

Premium: Delivery to most Indian addresses within 5-6 business days

Rest of the World:

Premium: Countries in the American continent: Trackable delivery to most countries within 4-7 business days

Asia:

Premium: Delivery to most Asian addresses within 5-9 business days

Disclaimer:
All orders received before 5 PM U.K time would start printing from the next business day. So the estimated delivery times start from the next day as well. Orders received after 5 PM U.K time (in our internal systems) on a business day or anytime on the weekend will begin printing the second to next business day. For example, an order placed at 11 AM today will begin printing tomorrow, whereas an order placed at 9 PM tonight will begin printing the day after tomorrow.


Unfortunately, due to several restrictions, we are unable to ship to the following countries:

  1. Afghanistan
  2. American Samoa
  3. Belarus
  4. Brunei Darussalam
  5. Central African Republic
  6. The Democratic Republic of Congo
  7. Eritrea
  8. Guinea-bissau
  9. Iran
  10. Lebanon
  11. Libiya Arab Jamahriya
  12. Somalia
  13. Sudan
  14. Russian Federation
  15. Syrian Arab Republic
  16. Ukraine
  17. Venezuela