<html><head><meta http-equiv="Content-Type" content="text/html charset=us-ascii"></head><body style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; ">Have you tried to use kinect4windows with libfreenect yet or is that completely different from the original kinect?<div><br></div><div><br><div><div>On Oct 17, 2012, at 10:04 PM, K Chen <<a href="mailto:chk0105@gmail.com">chk0105@gmail.com</a>> wrote:</div><br class="Apple-interchange-newline"><blockquote type="cite">Thanks for your work and I also encounter the crash problem when I updated to Fuerte under ubuntu 12.04.<div><br></div><div>But I am curious whether anyone has the plan to make Kinect4Windows work on ROS? The newly published sensor provides much better color image and have access to camera parameters, which help a lot in object recognition(without additional camera).</div>
<div><br></div><div><div class="gmail_quote">On Wed, Oct 17, 2012 at 6:52 AM, Piyush <span dir="ltr"><<a href="mailto:piyushk@gmail.com" target="_blank">piyushk@gmail.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
Hey folks,<br>
<br>
The openni driver for the kinect has had some stability issues over<br>
the last 6 months. This is now documented through a few threads on<br>
<a href="http://answers.ros.org/" target="_blank">answers.ros.org</a> and a few bug tickets. I believe some people can still<br>
run the driver successfully, whereas some cannot (including myself).<br>
All my machines are setup similarly, and at this time I cannot get the<br>
OpenNI to work on any of them.<br>
<br>
I have spent a bit of time in the last couple of days throwing<br>
together a libfreenect based substitute. The main goal while writing<br>
this driver was to get the driver to have the same API as the openni<br>
one, allowing transitioning between the 2 drivers with minimum<br>
modifications. For this reason, I've used the current openni driver as<br>
a base rather than the now deprecated kinect_camera stack. The driver<br>
can be found here:<br>
<a href="https://github.com/piyushk/freenect-ros-pkg" target="_blank">https://github.com/piyushk/freenect-ros-pkg</a><br>
<a href="https://raw.github.com/piyushk/freenect-ros-pkg/master/rosinstall/freenect.rosinstall" target="_blank">https://raw.github.com/piyushk/freenect-ros-pkg/master/rosinstall/freenect.rosinstall</a><br>
<br>
The driver works but is quite rough (needs code cleanup and thread<br>
safety), and a registration issue needs to be solved:<br>
<a href="https://github.com/piyushk/freenect-ros-pkg/issues/" target="_blank">https://github.com/piyushk/freenect-ros-pkg/issues/</a><br>
<br>
Is anybody interested in helping me test/maintain/develop this driver<br>
(I can only test it on 12.04/Fuerte)? I could use a bit of information<br>
from someone with a working openni driver to solve the registration<br>
issue above.<br>
<br>
If you want to test the driver above, you need to take the following steps:<br>
1) The rosdeps are currently being pushed, so hand install these<br>
packages if rosdep udpate does not catch them (libxmu-dev libxi-dev)<br>
2) Blacklist gspac-kinect module if you have not done so already<br>
- Temporarily: sudo modprobe -r gspca_kinect<br>
- Permanently: sudo echo "blacklist gspca_kinect" >><br>
/etc/modprobe.d/blacklist.conf<br>
<br>
Thanks!<br>
<span class="HOEnZb"><font color="#888888">Piyush<br>
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</font></span></blockquote></div><br><br clear="all"><div><br></div>-- <br>Regards<br><br>University of Science and Technology of China<br>School of Computer Science and Technology<div>Multi-Agent System Lab<br><br>K.Chen</div>
<br>
</div>
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