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sensors:rgbdcamera [2016/06/15 13:49] mai kinect skeleton data |
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| - | ====== Kinect and other rgbd-cameras ====== | ||
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| - | All the rgb-d cameras we have in the lab | ||
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| - | {{tag>hardware}} | ||
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| - | ===== Kinect v1 : Kinect 360 ===== | ||
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| - | Libraries to use the kinect : | ||
| - | * to retrieve the informations from the kinect via ros [[:opennilaunch]] | ||
| - | * detection of people via ros [[:opennitracker]] | ||
| - | * return the position of the first user torso detected by the kinect [[:opennitrackermodified]] | ||
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| - | ===== Kinect v2 : Kinect One ===== | ||
| - | {{:screen_shot_2015-12-09_at_15.56.21.png?direct&400|}} | ||
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| - | There is a current installation of [[Kinect for Windows SDK]] on the computer DELL. | ||
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| - | ==== References ==== | ||
| - | * To install on a macos : https://github.com/OpenKinect/libfreenect2 | ||
| - | * Librairie Python pyfreenect2 pour utiliser les données libfreenect2 en python : https://github.com/tikiking1/pyfreenect2 | ||
| - | * Librairie Python PyKinect pour utiliser les données Skeleton issues de la Kinect : https://pytools.codeplex.com/wikipage?title=PyKinect | ||
| - | * MichaelBloesch,PéterF ankhauser,MarcoHutter,RalfKaestner,DiegoRodriguez,RolandSiegwart. (2015). Kinect v2 for Mobile Robot Navigation: Evaluation and Modeling | ||
| - | * iFixit, “Xbox One Kinect Teardown,” https://www.ifixit.com/Teardown/ Xbox+One+Kinect+Teardown/19725, (Janvier 2015) | ||
| - | * Zennaro,S.(2014) EvaluationofMicrosoftKinect360andMicrosoftKinectOneforroboticsand computer vision applications. Università degli Studi di Padova. Thesis. | ||
| - | * https://dev.windows.com/en-us/kinect/develop | ||
| - | * Wiedemeyer, T. (2015) IAI Kinect2: Tools for using the Kinect One (Kinect v2) in ROS , https://github.com/code-iai/iaikinect2 | ||
| - | * El-laithy, R.A., Huang, J., Yeh, M. (2012) Study on the Use of Microsoft Kinect for Robotics Applications. Proceedings of IEEE/ION PLANS 2012 , Myrtle Beach, South Carolina , April 2012, pp. 1280- 1288. | ||
| - | * Rosado, J.; Silva, F.; Santos, V. & Lu, Z. (2013), R eproduction of human arm movements using Kinect-based motion capture data., in 'ROBIO' , IEEE, , pp. 885-890 . | ||
| - | * Albrektsen, S. M. (2011) Using the Kinect Sensor for Social Robotics. NTNU – Trondheim. Thesis | ||
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| - | ==== Install on Linux ==== | ||
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| - | ++++ These instructions have not been successfully tested yet| | ||
| - | Bon, vous avez besoin d'abord d'un contrôlleur USB 3.0 sinon la Kinect est même pas détectée ! | ||
| - | Ensuite vérifier que vous avez un noyau linux >3.16 minimum car les versions les plus anciennes ont un bug. | ||
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| - | Ensuite pour continuer, vous utilisez libfreenect2 ? Si c'est le cas, après l'installation de la bibliothèque vous devez utiliser l'accélération matérielle pour pouvoir décoder les frames et vous avez 2 choix | ||
| - | 1. Vous avez une carte NVidia avec le pilote propriétaire installé et vous l'utilisez pour l'accélération | ||
| - | 2. Vous avez un processeur Intel 4ème ou 5ème génération et vous utilisez OpenCL pour le décodage. | ||
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| - | Concernant OpenCL, vous installez beignet dernière version depuis les sources et vous le compilez (le paquetage ubuntu n'est pas mis à jour depuis longtemps) | ||
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| - | Ensuite, dernière étape, si vous avez réussi à lancer l'exemple principal et que vous avez les fenêtres noirs, vous mettez cette ligne et vous relancer | ||
| - | # echo 0 > /sys/module/i915/parameters/enable_cmd_parser | ||
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| - | ++++ | ||
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| - | ===== Kinect Skeletal tracking ===== | ||
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| - | * Joints | ||
| - | {{https://i-msdn.sec.s-msft.com/dynimg/IC584844.png}} | ||
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| - | * Joint hierarchy | ||
| - | {{https://i-msdn.sec.s-msft.com/dynimg/IC584387.png}} | ||
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| - | * Hierarchical bone orientation: Bone rotation is stored in a bone’s child joint. For example, the rotation of the left hip bone is stored in the Hip Left joint. In the hierarchical definition, the rotation of the Hip Center joint provides the absolute orientation of the player in camera space coordinates. This assumes that the player object space has the origin at the Hip Center joint, the y-axis is upright, the x-axis is to the left, and the z-axis faces the camera. | ||
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| - | * Reference to skeletal tracking and joint orientation: | ||
| - | https://msdn.microsoft.com/en-us/library/hh973073.aspx | ||
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| - | ===== x-tion ===== | ||
| - | https://www.asus.com/3D-Sensor/Xtion_PRO_LIVE/ | ||
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| - | ===== Comparison ===== | ||
| - | {{:screen_shot_2015-12-09_at_15.55.12.png?direct&700|}} | ||