Kinect
Uses libfreenect from Kinect to grab images from a Kinect or a Xtion (http://Kinect.org/). Non-standard drivers are necessary for the Xtion. In raw-mode, the DEPTH ouput is in the range 0-1, where a lower value means that a detected object is closer to the Kinect. A value of 1 indicates that no object is detected or maximum distance. In mm-mode, the DEPTH output is the distance in mm to any detected object. There is one input to tilt the Kinect sensor and onte to set the color or the LED.
Example XML definition
A simple example
<module
class = "Kinect"
name = "Kinect"
/>
Parameters
| Name | Description | Type | Default |
|---|---|---|---|
| class | The class name for the module; must be "Kinect". | string | |
| name | The name of this instance of the module. | string | |
| mode | The type of depth image | choices: raw mm | |
| xtion | Is the device an Xtion? | bool | false |
| index | The index of the device (0, 1, 2...) | int | 0 |
Module Connections
Inputs
| Name | Description |
|---|---|
| TILT | The tilt of the Kinect (0-1) |
| LED | The color of the LED. Values in the range 0-1 produces: black (0-0.25), red (0.25-0.5), yellow (0.5-0.75), green (0.75-1.0). |
Outputs
| Name | Description |
|---|---|
| DEPTH | The depth image |
| INTENSITY | The gray image |
| RED | The red channel of the image |
| GREEN | The green channel of the image |
| BLUE | The blue channel of the image |
Limitations
The module is not thread safe beacuase of limitations in the libfreenect-libraries. If several Kinect modules are used in thread-mode they have to run in the same thread. This an be done by connecting them to a single module using zero-delay connections.
Author
Christian Balkenius
christian.balkenius@lucs.lu.se
Lund University Cognitive Science
Files
Kinect.h
Kinect.cc
Kinect.ikc