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seamanj
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calibrate kinnect v1 on ubuntu
1. remove libfreenect kinnectsensor driverseamanj@seamanj-Blade:~/Software/SensorKinect/Platform/Linux/Redist/Sensor-Bin-Linux-x64-v5.1.2.1$ sudo ./install.sh -u[sudo] password for seamanj: Unins...原创 2017-10-30 08:45:39 · 574 阅读 · 0 评论 -
ElasticFusion: Real-Time Dense SLAM and Light Source Estimation
主要说下图6, vi到vii中camera motion造成的tearing的过程.v中的Loop closure, 是local loop closurevii中loop closure, 是global loop closure原创 2019-04-23 00:57:30 · 834 阅读 · 0 评论 -
ElasticFusion: Dense SLAM without A pose Graph
公式(2)中, vtkv_t^kvtk是当前帧的坐标, vkv^kvk和nkn^knk是当前帧中点转到前一帧坐标系下的位置和向量这里, T会将vtkv_t^kvtk转到前一帧, 所以与kinectfusion中公式(16)不同, 这里的所有比较都在前一帧进行, 而不是在global坐标系下比较...原创 2019-04-20 22:23:41 · 641 阅读 · 0 评论 -
install libfreenect2 on ubuntu 16.04
the install method has been listed in https://github.com/OpenKinect/libfreenect2 After installation, the test project is listed below: CMakeList.txt cmake_minimum_required(VERSION 2...原创 2017-10-23 01:07:49 · 1869 阅读 · 0 评论 -
install openni2 on ubuntu
1.git clonehttps://github.com/occipital/OpenNI2.git2.make -j${nproc}注意这步可以省掉3.go to ./PackagingReleaseVersion.py x644. go to ./FinalextractOpenNI-Linux-x64-2.2.tar.bz2 then go in...原创 2017-10-17 16:10:11 · 1149 阅读 · 0 评论 -
install kinnect senor on ubuntu
To drive kinnect 1 on ubuntu, we nedd to install kinnect sensor.1. clone https://github.com/avin2/SensorKinect.git 2. fixhttps://github.com/avin2/SensorKinect/pull/5 just adding the miss...原创 2017-10-29 22:00:11 · 319 阅读 · 0 评论 -
how to compile kinfu_remake with cuda 9.0 opencv2.4.13.4
1. download from the git :https://github.com/Nerei/kinfu_remake.gitupdate on 15, Oct.before compile opencv, please install libgtk2.0-dev and pkg-config first2. As cuda 9.0 splits nppi in...原创 2017-10-24 21:09:41 · 1137 阅读 · 1 评论 -
KinectFusion: Real-time 3D Reconstruction and Interaction Using a Moving Depth Camera
1) Depth map conversion vi(u)=Di(u)K−1[u,1]v_i(u) = D_i(u)K^{-1}[u,1]可以找出深度图中每 个像素对应的camera view中的坐标2) Camera tracking 这里论文中的算法写得不太清楚 直接对照着源码来看吧 pcl/gpu/kinfu/src/cuda/estimate_combined.cu__device_原创 2017-10-05 04:34:31 · 1466 阅读 · 0 评论 -
安装kinnect v1驱动
1 安装OpenNI https://github.com/OpenNI/OpenNI2 安装sensorkinnect https://github.com/avin2/SensorKinect原创 2018-05-13 20:02:24 · 583 阅读 · 0 评论 -
DynamicFusion: Reconstruction and Tracking of Non-rigid scenes in real-time
1) 3.1Nwarpt={dgv,dgw,dgse3}t" role="presentation">Ntwarp={dgv,dgw,dgse3}tNwarpt={dgv,dgw,dgse3}tN^t_{warp} = \{dg_v, dg_w, dg_{se3}\}_tdgv" role="presentation">dgvdgvdg_v表示该点canonica原创 2017-11-08 05:47:58 · 2858 阅读 · 0 评论 -
kinnect face tracking大概流程
先看SingleFace.cpp初始化InitInstance函数， 返回 return SUCCEEDED(m_FTHelper.Init(m_hWnd, FTHelperCallingBack, this, m_depthType, m_depthRes, m_bNearMode,原创 2018-01-23 01:32:48 · 986 阅读 · 0 评论 -
KinectFusion: Real-Time Dense Surface Mapping and Tracking
1） 3.1 u以像素单位， u∈[0,640]×[0,480]u \in [0,640] \times [0,480]2） 3.2 注意这里Rk(u)R_k(u)和Dk(u)D_k(u)的单位， Kinnect采回来的数据是以millimeter (mm), 在论文中没有考虑单位问题， 实际编程的时候，是要考虑的， kinnect采集的时候存成的是mm, http://wiki.ros原创 2017-11-06 00:45:31 · 1113 阅读 · 0 评论 -
use kinect2 with openni2 on windows10
download openni2 on kinect2 branchgit clone https://github.com/occipital/OpenNI2 -b kinect2download libfreenect2https://github.com/OpenKinect/libfreenect2原创 2019-09-13 00:55:32 · 173 阅读 · 0 评论