I am working on sound-source localization for our robot. For our robot vision we use OpenNI.
In my search for software for reading the Kinect microphone array I did not found anything usefull at OpenNI. The old decrepated page says however that OpenNI supports the Kinect microphone array, http://www.ros.org/wiki/kinect.
Offtopic question: Can one read the Kinect microphone array using OpenNI? If so how? And why is there no documentation for it (I looked really hard)?
Now because I could not figure out if OpenNI supported the Kinect microphone array I looked for other solutions. I came in contact with HARK-kinect. Which is in fact a kind of API for ROS to communicate with HARK. HARK comes with a driver for the Kinect to read out the microphone array. Now I have already build some schematics in HARK and tested it with the Kinect.
This morning when bicycling to the university, it came up with me that all the work I am doing now is totally pointless. HARK namely has a own driver for communicating with the Kinect, so does OpenNI (I presume).
Main question: Does anybody know if both HARK and OpenNI can communicate with the Kinect at the same time?
I could imaging namely that both drivers would conflict with each other?
I hope someone can say something clever about this.
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