Provides communication with Kinect sensor.
Available parameters:
-
can be set to 'freenect' (default) or 'opencv'
-
<depth_mode> 'rawMap'(default) - which gives unmodified data and - normalized, disparityMap, dM32f, pointCloud, valid - dM32f states for disparity map 32bit float and valid yields a mask of valid pixels
-
<camera_mode> 'rgb' or 'gray'
-
<skip_stop> prevents kinect from shutdown, which often takes long time and can be omitted for debugging purposes
Example is provided with the code
-
OpenKinect/libfreenect with all its dependencies as described here http://openkinect.org/wiki/Getting_Started
-
OpenCv (tested with version 2.3.1) (compiled with WITH_OPENNI option if you want to aquire signal via OpenCv highgui functions)
-
Check WITH_OPENNI option in cmake accordingly here
Kinect acquisition:
- KinectDisplay - Simple Kinect viewer, shows possible depth conversions.
- KinectRGBDViewer - Displays RGB image with the associated depth map, allows saving of both color and depth to png files with a proper data format.
- KinectRGBXYZViewer - Displays RGB image with Depth map. Allows saving of RGB and XYZ (image containing XYZ coordinages) to files (png and yaml respectivelly).
RGB-D sequences from files:
- RGBDSequenceViewer - Displays two windows - with RGB and depth images.
Michal Lisicki
Maciej Stefańczyk
Tomasz Kornuta