Running the Kinect on the Robot.

[catacon]

Framerate isn't the best, but I think that mostly has to do with me displaying both video feeds onto a 1080p monitor. Obviously this won't be done on the robot. When I don't display the video feeds, the "framerate" or rather, the output, is much better.

I am using the IR and depth feeds.

[mwtidd]

Originally Posted by catacon

Framerate isn't the best, but I think that mostly has to do with me displaying both video feeds onto a 1080p monitor. Obviously this won't be done on the robot. When I don't display the video feeds, the "framerate" or rather, the output, is much better.

I am using the IR and depth feeds.

I had the same results with the MS SDK. By disabling the video feed cpu usage dropped by 5%, which on a i7 quad core is a significant drop.

Thanks for the insight on linux vs windows with open kinect. Unfortunately for me right now I don't have a linux box at my disposal.

It seems using the reflective tape is definitely better for finding the center of the target, and I think I'm probably going to use the same strategy. I use the rgb and depth to find distance, because I believe the carpenters tape is more reliable for the depth measurements. I'm curious have you tried you vision tracking with other shiny aluminum objects in the field of view? That's what killed me last year was forgetting about the reflections on the legit field. Also are you using a clear poly or smoked poly backboard. I'm trying to find someone who has taking a shot of the 1/2" smoked poly backboard with the kinect. I have a feeling it will look closer to wood than clear poly.

[catacon]

I am currently just using clear poly.

Since I am using the IR feed, many "shiny" things are of no concern since they are reflecting (humanly) visible light. The biggest issue comes for light sources that produce IR light (e.g. incandescent bulbs). However, this is not hard to deal with since you can easily filter out small object and setup the algorithm to only look for rectangles.

I am using the retroreflective tape to find the target and then I look at the gaffers tape for the depth (the black stuff on the inside). It's not perfect yet, but I think I can sharpen it up a bit.

I did get OpenKinect to work on Windows, but it took some doing. After I used CMake to generate a VisualStudio solution, I had to go through and build each project individually (skipping some since I didn't care about them). And there were some stupid errors like it would try to build a C++ project as a C project, so I would have to set the projects as C++ manually. But...it did finally work.