Forums > Jitter

Kinect depth data


staxas
Jan 19 2011 | 2:09 pm

Hi all,

I am using the freenect object by Jean-Marc Pelletier to combine depth data and camera video to create a textured mesh. However, the depth data makes it so the video texture isn’t properly aligned with the actual location of whoever is in front of the Kinect. I’m guessing it has something to do with the shadow from the infrared light. Anybody have any ideas of how I could clean this data up?

Regards,
Edwin


laserpilot
Jan 20 2011 | 5:04 am

Yep…just throw a jit.rota on the camera feed and knock it about -33 in the x direction i think..using the offset command

You can check out my example patch here..i think i got that fixed: http://blairneal.com/blog/jit-freenect-examples/


staxas
Jan 20 2011 | 8:58 am

Thanks for the reply laserpilot.

I checked out your patch, it’s almost identical to mine! :)

Changing the offset only moves the problem around. When I shift it to one side I get ‘blind spots’ on the other side and the other way around. When sitting in front of the camera it seems my right hand ‘fits’ in the nurbs mesh, but the left one has part of the background in it (I’ve mirrored my camera inputs by the way).

Is anyone else experimenting with freenect and jit.gl stuff?


Mathieu Chamagne
Jan 20 2011 | 10:11 am

offset is not enough, image needs to be scaled as well.
I guess that these settings are different for each kinect…

to align video to depth input, I use srcdimstart + srcdimend messages to a jit.matrix with these settings :



-- Pasted Max  Patch, click to expand. --  





Mathieu

staxas
Jan 21 2011 | 3:22 pm

Thanks Mathieu, I’ll give it a try!


dtr
Jan 22 2011 | 9:48 am

check this out for the full technical explanation: http://www.ros.org/wiki/kinect_calibration/technical

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