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Re: Running the Kinect on the Robot.
The cRIO is a 400 MHz PPC 603e. There is another FreeScale numbering scheme for it too. It is typically rated at around 780 MIPs I think. These numbers will give you some indication of performance, but keep in mind that benchmarks are often more of a marketing too than an engineering tool. I really don't think that processing the 80x60 depth image on the cRIO would be any sort of issue, and for a virtual LIDAR or obstacle avoidance tool, I think this resolution is more than enough for what you'd need. The most expensive portion of the Kinect is the skeleton tracking. If you aren't worried about that, you are basically using one of the two cameras on the Kinect, not unlike the Axis, but over USB.
As for using Raspberry Pi, I'd personally be a little worried about availability for this season, and then about how new the platform and tools are. I think it sounds amazing, and so does everyone else I know, which is why I'm a little nervous about availability.
Greg McKaskle
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