Sorry for the spam... Great job guys! On Tue, Nov 16, 2010 at 11:52 AM, Huan Liu wrote: > you got a kinect?! > > On Tue, Nov 16, 2010 at 11:49 AM, garratt wrote: >> Has anyone gotten the accelerometer to work for the Kinect? >> Stéphane, I have your code (referenced below) with the accelerometer >> support, but libusb_control_transfer segfaults whenever I run acc_get. >> >> I noticed that Oliver Kreylos's code calls read control with the >> following parameters: >> >>  dataSize=readControl(0x40,0x32,0x0000,0x0000,data,sizeof(data)); >> >> instead of: >> libusb_control_transfer(kinect_acc_tilt_dev, 0xC0, 0x32, 0x0, 0x0, buf, >> 8, 0) >> >> but everything still segfaults when I tried to match those parameters. >> >> If anyone has had success with this, I would love to hear about it! >> >> thanks >> Garratt >> >> >> On Mon, 2010-11-15 at 18:10 +0100, Stéphane Magnenat wrote: >>> Hello, >>> >>> I have integrated the accelerometer and tilt support from adafruit [1] >>> into my kinect node. To do so, I have added them to libfreenect, for >>> which I now provide a git with my changes instead of patches in my >>> kinect node [3]. >>> >>> Here at ASL, Deon Sabatta and Davide Scaramuzza have found a more >>> precise depth function than 1/x. It is the following: >>> >>>       depth = k3 * tan(pixVal/k2 + k1) >>> >>> where >>> >>>       k1 = 1.1863 >>>       k2 = 2842.5 >>>       k3 = 0.1236 >>> >>> "The k2 value is very sensitive and may require more/better >>> measurements; however, this is a pretty good approximation for the moment." >>> >>> I would like to raise two questions: >>> >>> 1. Having multiple implementations of Kinect ROS nodes is not harmful as >>> we happily share code. However, to ease the end-user's life I think that >>> we should agree on a naming convention for node and topic naming. Here >>> is a first suggestion: >>>    node name: "kinect" >>>    point cloud frame: "/kinect" >>>    point could topic: "/kinect/cloud" (PointCloud + color in "rgb") >>>    rgb image topic: "/kinect/image" (Image, rgb) >>>    depth (raw in 8bpp) image topic: "/kinect/depth_image" (Image, mono8) >>>    accelerometer topic: "/kinect/acc" (Vector3) >>>    tilt input: "/kinect/tilt" (Int16) >>> Feel free to discuss it and propose more conventions, for instance for >>> the params/etc. >>> >>> 2. I have branched libfreenect to provide updates more easily to the ROS >>> community, but I do not want to fork it. Hector, your input is warmly >>> welcome on my changes. Currently, libfreenect is not reentrant and does >>> not have clean naming prefixes. The reentrance might require a bit of >>> thinking, but the naming is straightforward; do you agree if I put a >>> heading kinect_ before all public functions? >>> >>> I'm looking forward to hearing your comments, dear kinect hackers. >>> >>> Kind regards, >>> >>> Stéphane >>> >>> [1] https://github.com/adafruit/Kinect >>> [2] https://github.com/ethz-asl/ros-drivers/tree/master/microsoft_kinect/ >>> [3] https://github.com/stephanemagnenat/libfreenect >>> >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >