Documentation.Viewer History
Hide minor edits - Show changes to output
Changed line 91 from:
build/bin/rgbd-viewer --calibration kinect_calibration.yml --image grab1/view0000
to:
build/bin/rgbd-viewer --calibration calibration-SERIAL.yml --image grab1/SERIAL/view0000
Changed line 96 from:
build/bin/rgbd-viewer --calibration kinect_calibration.yml --directory grab1
to:
build/bin/rgbd-viewer --calibration calibration-SERIAL.yml --directory grab1/SERIAL
Changed line 98 from:
This will cycle through the set of viewXXXX images inside the @@grab1@@ directory.
to:
This will cycle through the set of viewXXXX images inside the @@grab1/SERIAL@@ directory, where SERIAL is the serial number of your Kinect.
Changed line 89 from:
* You can grab RGBDImages using the @@File/Grab Frame@@ command. This stores the files into @@viewXXXX@@ directories (see the Calibration section), that can be replayed later using the fake image grabber. This can be activated using the @@--image@@ option:
to:
* You can grab `RGBDImages using the @@File/Grab Frame@@ command. This stores the files into @@viewXXXX@@ directories (see the Calibration section), that can be replayed later using the fake image grabber. This can be activated using the @@--image@@ option:
Added lines 1-100:
!! Running the viewer (rgbd-viewer)
----
* Binaries are in the @@build/bin/@@ directory, you can give it a try without calibration using:
[@
build/bin/rgbd-viewer
@]
If you get an error such as:
[@
libusb couldn't open USB device /dev/bus/usb/001/087: Permission denied.
libusb requires write access to USB device nodes.
FATAL failure: freenect_open_device() failed
@]
Give access rights to your user with:
[@
sudo chmod 666 /dev/bus/usb/001/087
@]
Or install the udev rules provided by libfreenect.
!!! Switching between backends
There are two supported backends for Kinect devices, @@libfreenect@@ and @@OpenNI/Nite@@. By default, if the @@NESTK_USE_OPENNI@@ Cmake variable is enabled, demo programs will choose the `OpenNI backend. If you want to switch to the libfreenect backend, you can use the @@freenect@@ command line option:
[@
build/bin/rgbd-viewer --freenect
@]
!!! High resolution mode
When using the `OpenNI backend, you can enable high RGB resolution mode to get 1280x1024 color images @ 10Hz with the @@highres@@ option:
[@
build/bin/rgbd-viewer --highres
@]
!!! Running the viewer with calibration
* Just give it the path to the calibration file:
[@
build/bin/rgbd-viewer --calibration kinect_calibration.yml
@]
'''New since `RGBDemo v0.4.0''': if there is a @@kinect_calibration.yml@@ file in the current directory, it will be loaded automatically.
* You should get a window similar to this:
%height=240px% Attach:viewer_output_main_v2.png
* The main frame is the color-encoded depth image. By moving the mouse, you can see the distance in meters towards a particular pixel. Images are now undistorted.
* You can filter out some value and normalize the depth color range with the filter window (Show / Filters). The Edge filter is recommended.
%height=240px% Attach:viewer_output_filters.png
* You can get a very simple depth-threshold based segmentation with Show / Object Detector
%height=240px% Attach:viewer_output_detection.png
* You can get a 3D view in Show / 3D Window.
%height=240px% Attach:viewer_output_view3d_cloud.png
* By default you get a grayscale point cloud. You can activate color:
%height=240px% Attach:viewer_output_view3d_cloud_color.png
* And finally textured triangles :
%height=240px% Attach:viewer_output_view3d_triangles.png
* You can also save the mesh using the @@Save current mesh@@ button, it will store in into a @@current_mesh.ply@@ file that you can open with Meshlab [[http://meshlab.sourceforge.net/|Meshlab]]:
%height=320px% Attach:viewer_output_meshlab.png
* Or import into [[http://www.blender.org/|Blender]]:
%height=320px% Attach:viewer_output_blender.png
* The associated texture is written into a @@current_mesh.ply.texture.png@@ file and can be loaded into the UV editor in Blender.
!! Getting Infrared Images
----
* You can activate the IR mode in the capture menu. There is also a dual RGB/IR mode alternating between the two modes.
%height=280px% Attach:viewer_output_ir.png
'''Note: this is currently only available with libfreenect backend'''
!! Moving the Tilt motor
----
This is only possible with the @@libfreenect@@ backend. Open the @@Filters@@ window and you can set the Kinect tilt on the bottom slider.
!! Replay mode
----
* You can grab RGBDImages using the @@File/Grab Frame@@ command. This stores the files into @@viewXXXX@@ directories (see the Calibration section), that can be replayed later using the fake image grabber. This can be activated using the @@--image@@ option:
[@
build/bin/rgbd-viewer --calibration kinect_calibration.yml --image grab1/view0000
@]
* You can also replay a sequence of images stored in a directory with the @@--directory@@ option:
[@
build/bin/rgbd-viewer --calibration kinect_calibration.yml --directory grab1
@]
This will cycle through the set of viewXXXX images inside the @@grab1@@ directory.
'''Note:''' You will also need a calibration file if you used `OpenNI backend to grab the images. You can get one by running the viewer and selecting @@File/Save calibration parameters@@.
----
* Binaries are in the @@build/bin/@@ directory, you can give it a try without calibration using:
[@
build/bin/rgbd-viewer
@]
If you get an error such as:
[@
libusb couldn't open USB device /dev/bus/usb/001/087: Permission denied.
libusb requires write access to USB device nodes.
FATAL failure: freenect_open_device() failed
@]
Give access rights to your user with:
[@
sudo chmod 666 /dev/bus/usb/001/087
@]
Or install the udev rules provided by libfreenect.
!!! Switching between backends
There are two supported backends for Kinect devices, @@libfreenect@@ and @@OpenNI/Nite@@. By default, if the @@NESTK_USE_OPENNI@@ Cmake variable is enabled, demo programs will choose the `OpenNI backend. If you want to switch to the libfreenect backend, you can use the @@freenect@@ command line option:
[@
build/bin/rgbd-viewer --freenect
@]
!!! High resolution mode
When using the `OpenNI backend, you can enable high RGB resolution mode to get 1280x1024 color images @ 10Hz with the @@highres@@ option:
[@
build/bin/rgbd-viewer --highres
@]
!!! Running the viewer with calibration
* Just give it the path to the calibration file:
[@
build/bin/rgbd-viewer --calibration kinect_calibration.yml
@]
'''New since `RGBDemo v0.4.0''': if there is a @@kinect_calibration.yml@@ file in the current directory, it will be loaded automatically.
* You should get a window similar to this:
%height=240px% Attach:viewer_output_main_v2.png
* The main frame is the color-encoded depth image. By moving the mouse, you can see the distance in meters towards a particular pixel. Images are now undistorted.
* You can filter out some value and normalize the depth color range with the filter window (Show / Filters). The Edge filter is recommended.
%height=240px% Attach:viewer_output_filters.png
* You can get a very simple depth-threshold based segmentation with Show / Object Detector
%height=240px% Attach:viewer_output_detection.png
* You can get a 3D view in Show / 3D Window.
%height=240px% Attach:viewer_output_view3d_cloud.png
* By default you get a grayscale point cloud. You can activate color:
%height=240px% Attach:viewer_output_view3d_cloud_color.png
* And finally textured triangles :
%height=240px% Attach:viewer_output_view3d_triangles.png
* You can also save the mesh using the @@Save current mesh@@ button, it will store in into a @@current_mesh.ply@@ file that you can open with Meshlab [[http://meshlab.sourceforge.net/|Meshlab]]:
%height=320px% Attach:viewer_output_meshlab.png
* Or import into [[http://www.blender.org/|Blender]]:
%height=320px% Attach:viewer_output_blender.png
* The associated texture is written into a @@current_mesh.ply.texture.png@@ file and can be loaded into the UV editor in Blender.
!! Getting Infrared Images
----
* You can activate the IR mode in the capture menu. There is also a dual RGB/IR mode alternating between the two modes.
%height=280px% Attach:viewer_output_ir.png
'''Note: this is currently only available with libfreenect backend'''
!! Moving the Tilt motor
----
This is only possible with the @@libfreenect@@ backend. Open the @@Filters@@ window and you can set the Kinect tilt on the bottom slider.
!! Replay mode
----
* You can grab RGBDImages using the @@File/Grab Frame@@ command. This stores the files into @@viewXXXX@@ directories (see the Calibration section), that can be replayed later using the fake image grabber. This can be activated using the @@--image@@ option:
[@
build/bin/rgbd-viewer --calibration kinect_calibration.yml --image grab1/view0000
@]
* You can also replay a sequence of images stored in a directory with the @@--directory@@ option:
[@
build/bin/rgbd-viewer --calibration kinect_calibration.yml --directory grab1
@]
This will cycle through the set of viewXXXX images inside the @@grab1@@ directory.
'''Note:''' You will also need a calibration file if you used `OpenNI backend to grab the images. You can get one by running the viewer and selecting @@File/Save calibration parameters@@.