We actually aren't using the kinect this year (sad for me, but my mentor wanted to get away from it). The genius 120 has a FOV of 117.5x80. Our plan is to have 360 degree vision processing. We have a mentor that is a computer vision professor at a local state university and a kid's dad is the head of the comp sci department at said university who stops by on occasion. Both of them know how to multi tread, and qt apparently has a method of doing it too.
The x2 is slightly slower than the xu according to our tests. A company bought us all these boards and cameras in exchange for us teaching them what we did with them. They are a biomed company and do a decent amount of biomed imaging.
We're apprehensive about relying on ball and robot tracking on the asus xtion entirely because of the amount of ir light that gets pur onto the field.
One task at a time. Field location and oreintation is almost done. Next to ball tracking
We are using 3 or 4 cameras. Through the xu is powerful, I dont want fps to drop below 20, and I think that would happen. So it's easier for each camera to get their own board (especially when you already have the xus on hand).
We had a voltage regulator for our x2 and kinect, which helped. We didn't noticed a problem with justing off the robot as a means of turning the computer off.
Using so many boards is sort of a proof of concept. We could have an autonomous Robot, but it'd be a one mam team, which isnt how we are going to play the game. We are trying as many things as we can while still within reason so we learn more and can do more in the future.