[ros-users] FYI Kinect hacked driver for linux

Hörður Jóhannsson hordurj at gmail.com
Thu Nov 11 21:17:53 UTC 2010

The Kinetic is based on technology from Primesense. They have a spec on
their website http://www.primesense.com/files/FMF_2.PDF
It works by creating stereo with structured light and a single camera. You
get a 640x480 resolution range image. The range resolution is 1cm and the
range is 0.8-3.5m.
It can operate upto 60fps.

This is all just based on the spec, I haven't used this sensor before.


On Thu, Nov 11, 2010 at 3:21 PM, Ivan Dryanovski
<ivan.dryanovski at gmail.com>wrote:

> > Yes, I basically took the glview code and added a PointCloud2
> > publisher that publishes at the end of the depthimg(uint16_t *buf, int
> > width, int height) callback. I think Hector Martin is also working on
> > further optimizing the USB code and the whole driver. I think it's the
> > only publicly available driver, isn't it?
> I believe so. I've been poking around the code and the forums, and I
> have some questions. Maybe you have some insight:
> 1. Is the depth image really 640x480, or is that oversampled? The
> wikipedia page states the depth sensor has an resolution of 320×240
> pixels. If it's oversampled, where does that take place - in the
> driver, or the device itself? I prefer not inflating the point cloud
> with oversampled data
> 2. What is the relationship between the values in the depth_frame and
> the distance in meters? It doesn't appear to be linear
> 3. I read somewhere the device's range can be set dynamically. I'm
> guessing one of the inits in inits.c could be responsible for the
> range.
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