[ros-users] libfreenect based Kinect driver

[Brian Gerkey]

hi Piyush,

That sounds great, and thanks for volunteering to take on that
important piece of code!

    brian.

On Wed, Oct 17, 2012 at 10:28 AM, Piyush <piyushk at gmail.com> wrote:
> To add to Brian's email:
> 1) The libfreenect API is sufficient to replicate the OpenNI ROS
> driver. As Brian mentioned, OpenNI itself supports more functionality
> (see openni.org). I actually don't know how well this extended
> functionality was supported in ROS, since I have never touched it.
> 2) I am willing to take ownership/maintenance of a libfreenect based
> driver. The Kinect is the primary sensor on our robots, and I don't
> want to find an alternative at this stage. If you plan on using this
> libfreenect based driver on a platform other than Ubuntu, I will need
> help with testing/patches.
>
> About the audio:
> 1) libfreenect mentions the audio, but it is not well documented.
> 2) This won't be very high on my priority list. Patches enabling
> support will be more than welcome.
>
> In either case, I'll move ahead with the driver as I find time later
> this week and work on a rosrelease.
>
> Thanks!
> Piyush
>
> On Wed, Oct 17, 2012 at 11:02 AM, Patrick Goebel <patrick at pirobot.org> wrote:
>> I hope this isn't too far off topic, but if the driver gurus out there do
>> some work on either the openni or freenect versions, it would be awesome to
>> get some audio support for the Kinect's microphones (ditto for the Xtion if
>> possible).  This thread on ros-kinect seems to suggest that audio support is
>> still in a state of flux.  I can think of three aspects of driver support
>> (not having a clue how to write a driver myself) that would be nice to have
>> in ROS:
>>
>> * basic audio (used as a regular audio input source)
>> * noise canceling (not sure if that takes place in the firmware or driver)
>> * sound localization
>>
>> --patrick
>>
>>
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