startar's profile - activity

Hello everybody!

I am working out of Ubuntu 14.04 with ROS Indigo. I want to try Object Recognition Kitchen with Kinect.

I have already done installing ORK from source by following the guide.

The problem is that I'm using a Kinect v2 (Kinect for XBox One). It works with neither OpenNI nor OpenNI2. Finally I made it to work with ROS by using this package: https://github.com/code-iai/iai_kinect2 It is a bridge between libfreenect2 and ROS. It can produce depth, rgb, ir images and PointCloud2 by publishing some topics.

But when I start to follow the Quick Guide:

roslaunch openni_launch openni.launch
rosrun object_recognition_capture orb_template -o my_textured_plane

I found that ORK needs OpenNI to work. Is that right? From the code perspective, I also found this:

source = create_source('image_pipeline', 'OpenNISource', outputs_list=['K_depth', 'K_image', 'image', 'depth', 'mask_depth', 'points3d'], res=options.res, fps=options.fps)
rgb2gray = cvtColor (flag=Conversion.RGB2GRAY)
plasm.connect(source['image'] >> rgb2gray ['image'])

My question is: Is it impossible to use ORK with freenect? Thus I think I should use something like a wrapper but I just don't know what and where to change....

I'm sorry if it is kind of a stupid question. And forgive my poor English...