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Transmits a depth-image stream over a TCP network from the Orbbec Persee.


Note that the Makefiles are copied from one of the Sample applications from orbbec's OpenNI SDK. The script was added for development purposes (to build the application on OSX, with mock-replacements for the OpenNI and OpenCV dependencies).


Install Ubuntu

This application needs to run on Ubuntu, not Android which the comes pre-installed on the Persee. These are the instruction to install Orbbec's Ubuntu 16.04 image on the Persee.

There is very little official documentation and your best source for information is orbbec's forum: "Universal download thread" where you can find the Ubuntu image (instructions included). Spoiler: you'll need a windows machine to run the tools necessary to install the image (running window inside VirtualBox didn't work for me) \o/

Once you've installed Ubuntu you can SSH into the device (default user: ubuntu, default password: ' ' [a single space]), and continue with a common linux command-line workflow (when using OpenFrameworks you'll need to grab the "linux armv7" version of OpenFrameworks);

Install and build de OpenNI SDK

Download "OpenNI 2 for Linux" from, extract the zip file and then extract the file cd into the extracted folder.

# install
chmod +x ./
sudo ./
# verify by trying to build a and a sample application
source OpenNIDevEnvironment
cd Samples/SimpleRead
cd Bin/Arm-Release/

Build OrbbecPerseeTransmitter app

Next copy the entire ofxDepthStream folder onto the persee (you can checkout the addon's git repo directly, or use scp: scp -r ../ofxDepthStream ubuntu@<persee's IP address>:~/).

First, make sure you have sourced the OpenNIDevEnvironment by running source OpenNIDevEnvironment from the OpenNI SDK folder (see instructions above) do this in the same terminal session in which you run the build commands below.

Next run the following from the ofxDepthStream folder:

cd tools/OrbbecPerseeTransmitter

Run OrbbecPerseeTransmitter app

cd Bin/Arm-Release

OrbbecPerseeTransmitter args

Currently de OrbbecPerseeTransmitter only streams the depth image (color stream is a work in progress).

Command-line arguments:

./OrbbecPerseeTransmitter --convert-32bit # enables 32-bit conversion, disabled by default (sends 16-bit)
./OrbbecPerseeTransmitter -c
./OrbbecPerseeTransmitter --depth-port 4445 # sets port from which depth image is streamed, 4445 by default
./OrbbecPerseeTransmitter -d 4445
./OrbbecPerseeTransmitter --fps 30 # configures the framerate (frames/second) to transmit (60 by default, though it's not guaranteed that this framerate is achieved)
./OrbbecPerseeTransmitter -f 30
./OrbbecPerseeTransmitter --verbose # enables verbose mode, disabled by default
./OrbbecPerseeTransmitter -v

Run OrbbecPerseeTransmitter at startup

Our prefered method is to create a script in our user's home folder, and call that from /etc/rc.local, so it's easy to change the startup script (without needing to use SUDO after the initial setup). The instructions below assume you are using the default ubuntu user account.

create a script in your user's home folder

Create a file at /home/ubuntu/ with the below content. This is the script we'll configure to be executed at startup. It will run in the backgorund and log the application's output to a log file in the /var/log/ system folder.

cd /home/ubuntu/ofxDepthStream/tools/OrbbecPerseeTransmitter/Bin/Arm-Release && ./OrbbecPerseeTransmitter >> /var/log/OrbbecPerseeTransmitter
register to run at startup

Add the content below to the file /etc/rc.local on the persee. You'll have to use sudo to edit the file. Make sure to add these lines BEFORE the exit 0 line at then end of the file. Note that this script will first check if the script exists, so if it (accidentally?) gets (re-)moved, this will not cause any startup issues.

if [ -f /home/ubuntu/ ]; then
  /home/ubuntu/ &

Color Stream through OpenCV; (Status: Work In Progress)

Follow these instructions to download, build and install the opencv library on the persee

Make sure to check that the OpenNI2 libraries are found, by first running source OpenNIDevEnvironment from inside the OpenNI folder (in the same terminal session in which you run the cmake commands), so in my case that looked like;

# make sure opencv's cmake can find our OpenNI2 library
cd ~/code/OpenNI-Linux-Arm-2.3
source ./OpenNIDevEnvironment
# create make build-files using cmake
cd ~/opencv
mkdir build
cd build
# build opencv with OpenNI2 support
sudo make install