Using Orbbec Embedded S camera from ARM with OpenNI - arm

Question

I have an ARM SoC that I've connected an Embedded S camera to. I can see the camera is connected:
$ lsusb
Bus 001 Device 006: ID 2bc5:050b
Bus 001 Device 007: ID 2bc5:060b
I downloaded OpenNI_2.3.0.63.zip from https://orbbec3d.com/develop/ then copied the OpenNI-Linux-Arm64-2.3.0.63 directory to my device and ran install.sh. Now when I plug in the camera I get:
[ 5887.390778] hub 1-1:1.0: 2 ports detected
[ 5887.879656] usb 1-1.1: New USB device found, idVendor=2bc5, idProduct=050b
[ 5887.886538] usb 1-1.1: New USB device strings: Mfr=2, Product=1, SerialNumber=3
[ 5887.894193] usb 1-1.1: Product: USB 2.0 Camera
[ 5887.898757] usb 1-1.1: Manufacturer: Sonix Technology Co., Ltd.
[ 5887.904814] usb 1-1.1: SerialNumber: SN0001
[ 5888.232284] usb 1-1.2: New USB device found, idVendor=2bc5, idProduct=060b
[ 5888.239161] usb 1-1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 5888.246856] usb 1-1.2: Product: ORBBEC Depth Sensor
[ 5888.251853] usb 1-1.2: Manufacturer: Orbbec(R)
I cross-compiled a simple app:
int main(int argc, char** argv)
{
const char* deviceURI = openni::ANY_DEVICE;
Status result = STATUS_OK;
result = OpenNI::initialize();
cout << "OpenNI::initialize() = " << result << endl;
openni::Array<openni::DeviceInfo> deviceList;
openni::OpenNI::enumerateDevices(&deviceList);
cout << "OpenNI::enumerateDevices() = " << deviceList.getSize() << endl;
for (int i = 0; i < deviceList.getSize(); ++i)
{
cout << "Device " << deviceList[i].getUri() << " already connected" << endl;
}
When I ran it first I got:
error while loading shared libraries: libOpenNI2.so: cannot open shared object file: No such file or director
So I copied libOpenNI2.so to /usr/lib. Now when I run it I get:
OpenNI::initialize() = 1
OpenNI::enumerateDevices() = 0
Why isn't the camera being seen? Is there something else I have to do to get it to work?

Answer 1

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.