[ros-users] Kinect for ROS (ccny-ros-pkg)

Stefan Kohlbrecher stefan.kohlbrecher at googlemail.com
Mon Nov 15 07:56:32 UTC 2010


This looks pretty good:
http://www.engadget.com/2010/11/14/hack-turns-kinect-into-mindblowing-3d-video-capture-tool/

The author's own website on his Kinect project:
http://idav.ucdavis.edu/~okreylos/ResDev/Kinect/index.html



2010/11/13 Ivan Dryanovski <ivan.dryanovski at gmail.com>:
> I was thinking the same thing for the calibration. Not sure what
> material to use though. Another idea is to laser-cut a checkerboard
> with square holes to get depth discontinuity. It might require some
> modification to the detection algorithm in the calibration toolkit.
>
> Ivan
>
> On Saturday, November 13, 2010, Stefan Kohlbrecher
> <stefan.kohlbrecher at googlemail.com> wrote:
>> I see, will try that later.
>> Any ideas about how to get a good calibration? The best option coming
>> to my mind would be to find some material that swallows IR and make a
>> checkerboard pattern out of that that shows up in the depth image as
>> well as the normal camera image. Haven't found a material reliably
>> doing that yet though.
>>
>> 2010/11/13 Ivan Dryanovski <ivan.dryanovski at gmail.com>:
>>> Thanks Stefan
>>>
>>> I wrote an rviz patch for the coloring that adds a new color mode (Height map):
>>>
>>> https://code.ros.org/trac/ros-pkg/ticket/4278
>>>
>>> The patch actually allows coloring by "z" value. We tweaked it for the
>>> Kinect video to color by "y". You can change which axis you want to
>>> color by if you edit these lines in the patch:
>>>
>>> 473         min_height_current = std::min(min_height_current, pos.y);
>>> 474         max_height_current = std::max(max_height_current, pos.y);
>>> 475
>>> 476         heights.push_back(pos.y);
>>>
>>> Change the pos.y to pos.x or pos.z for different effects
>>>
>>> Ivan Dryanovski
>>>
>>>
>>> On Sat, Nov 13, 2010 at 11:41 AM, Stefan Kohlbrecher
>>> <stefan.kohlbrecher at googlemail.com> wrote:
>>>> Very nice, especially the first basic depth calibration.
>>>> How do I get the color coding for the point cloud that is visible in
>>>> the video? I can only select "flat color" in my RVIZ.
>>>>
>>>> 2010/11/13 Bill Morris <morris at ee.ccny.cuny.edu>:
>>>>> On Fri, 2010-11-12 at 19:43 -0800, RobotNV wrote:
>>>>>> You guys are so fast! I don't see the bag file in the link in 5. Example on the wiki though.
>>>>>
>>>>> I'm working on getting it uploaded. Should be up in the next few hours,
>>>>> my connection is slow here.
>>>>>
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