Update vision-related config files regarding latest RGBD improvements

[PeterBowman]

We no longer open a OpenNI2 device since roboticslab-uc3m/vision#83. teoBase.xml and teoTools.xml need to be updated accordingly:

teo-configuration-files/share/teoBase/scripts/teoBase.xml

Lines 34 to 38 in 8ced4c9

	<module>
	<name>yarpdev</name>
	<parameters>--device OpenNI2DeviceServer --depthVideoMode 4 --colorVideoMode 9 --noRGBMirror --noDepthMirror</parameters>
	<node>/head</node>
	</module>

teo-configuration-files/share/teoTools/scripts/teoTools.xml

Lines 4 to 23 in 8ced4c9

	<!-- VISION -->
	<module>
	<name>yarpview</name>
	<parameters>--name /yarpview/OpenNI2/imageFrame:i</parameters>
	<node>localhost</node>
	</module>
	<connection>
	<from>/OpenNI2/imageFrame:o</from>
	<to>/yarpview/OpenNI2/imageFrame:i</to>
	</connection>
	<module>
	<name>yarpview</name>
	<parameters>--name /yarpview/OpenNI2/depthFrame:i</parameters>
	<node>localhost</node>
	</module>
	<connection>
	<from>/OpenNI2/depthFrame:o</from>
	<to>/yarpview/OpenNI2/depthFrame:i</to>
	</connection>

Concerning teoBase.xml, more effort will be required in conjunction with roboticslab-uc3m/vision#89 (actually generate a .ini file that resembles the old behavior, upload it to the vision repo and load it from these XMLs in here).

[PeterBowman]

Traceback at robotology-legacy/yarp-deprecated-devices:

• passing YARP parameters to the OpenNI2 interface: ref

• parsing OpenNI2 initialization parameters: ref

Parameters (value [default]):

• userTracking - [false]
• colorON - [true]
• rgbMirrorON - false [true]
• depthMirrorON - false [true]
• oniPlayback - [false]
• oniRecord - [false]
• loop - [false]
• frameSync - [false]
• imageRegistration - [false]
• printMode - [false]
• minConfidence - [0.6]
• depthVideoMode - 4 [0]
• colorVideoMode - 9 [0]

New parameters: depthCameraDriver.

[PeterBowman]

Done, see referenced commits. The xtion.ini configuration file has been uploaded to the vision repo, which must be installed in order to load these new parameters. New .ini files regarding other camera sensors (e.g. kinect.ini, kinect2.ini, rs2.ini and so on) should land in vision/share/sensors. They are meant to be instantiated via yarpdev --context sensors --from <sensor>.ini.

[PeterBowman]

YARP 3.2.0 (not released yet) will force us to do a follow-up on roboticslab-uc3m/vision#94.