Dear Thiemo,

Thanks for the heads up and for this work. This sounds really
interesting and we'll definitely have a look into it.

Kind regards,
Sebastian

Am 09.09.2014 10:50, schrieb Thiemo Wiedemeyer:
> Dear ROS Community,
>
> I am Thiemo from the Institute for Artificial Intelligence at the
> University of Bremen. I am currently a PhD Student under the
> supervision of Prof. Michael Beetz. I'm writing this together with
> Alexis Maldonado, another PhD Student at our lab, who has helped
> mainly with the hardware aspects.
>
> In the past few months I developed a toolkit for the Kinect v2
> including: a ROS interface to the device (driver) using libfreenect2,
> an intrinsics/extrinsics calibration tool, an improved depth
> registration method using OpenCL, a lightweight pointcloud/images
> viewer based on the PCL visualizer and OpenCV.
>
> The system has been developed for and tested in both ROS Hydro and
> Indigo (Ubuntu 12.04 and 14.04)
>
> The driver has been improved to reach high performance, meaning to be
> able to process the sensor's information at full framerate (30Hz) on
> acceptable hardware (not only high-end machines). This was achieved
> through parallelization of the image pipeline. Care has also been
> taken to be able to transfer the complete data over compressed topics
> to other PCs (30Hz data uses approx. 40Mbytes/s on the network).
>
> Specially interesting for other people with a PR2 robot: we have built
> a small mITX computer using an AMD A10-7850K processor, and a PicoPSU.
> It is installed as a backpack on our PR2, and a Kinect v2 on the head
> above the cameras. This 'backpack-PC' is necessary because the
> built-in computers on the PR2 don't support USB3 and they are quite
> loaded with their normal workload.
>
> We are glad to announce the release of the software for ROS community,
> hoping it will be useful for others, specially people working in
> robotics research. Please see the following GitHub repository:
>
>   https://github.com/code-iai/iai_kinect2
>
> You will need a slightly patched version of libfreenect2, as indicated
> on the README. It is here:
>   https://github.com/wiedemeyer/libfreenect2
>
> Screenshots are also on the GitHub page.
>
> We are looking forward to improvements and/or bug reports. Please use
> the GitHub tools for that.
>
> Best regards,
>
> Thiemo and Alexis
>
> Institute for Artificial Intelligence
> University of Bremen
>
> https://ai.uni-bremen.de
>
>
>
>
>
>
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