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KinectFusion with kinect 2 on mac os

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KinectFusion with kinect 2 on mac os

AlexeyIS
This post has NOT been accepted by the mailing list yet.
Hello everyone,
I wanted to try an kinfu from pcl hooked up to a kinect 2. I am at the stage when i'm already getting a point cloud from the kinect, and now i am figuring out the part with kinfu algorithm. Can you please share your experience with that or code snippets for that?
The goal for me is something like here https://www.youtube.com/watch?v=kt8VC82LUqk 
Thanks
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Re: KinectFusion with kinect 2 on mac os

Michael Korn
Hello Alexey,

I coincidentally just found your post. Unfortunately, it was not accepted by the mailing list!
Regarding my video on youtube: I have to tell you, that it is a lot of work to extend KinFu. Sadly, I do not have the time to refactor my source code and publish it.

I also adapted KinFu to the Kinect 2. Likewise it is not working out the box. What you need to do:
1. Change the depth image resolution in KinFu.
2. Implement a distortion model. I created a distortion and undistortion map on the GPU. This is really needed due to the significant lens distortion of the Kinect 2.
3. Handle the higher noise of the Kinect 2. I did it with more smoothing.
4. Handle reflections. I have no solution jet implemented.    

Regards,
Michael

AlexeyIS wrote
Hello everyone,
I wanted to try an kinfu from pcl hooked up to a kinect 2. I am at the stage when i'm already getting a point cloud from the kinect, and now i am figuring out the part with kinfu algorithm. Can you please share your experience with that or code snippets for that?
The goal for me is something like here https://www.youtube.com/watch?v=kt8VC82LUqk 
Thanks
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Re: KinectFusion with kinect 2 on mac os

AlexeyIS
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Hi Michael,

The video is impressive, good job on that and thank you for replying.
I've also looked at your papers about KinFu MOT and Moving Object Detection.
If I may ask few questions:
1) Did you build Moving Object Detection from scratch, or is there anything you can suggest to start looking in to and build on top(like pcl tracking)?
2) How did you integrate Moving Object Detection architecture wise? Is it happening in parallel to KinFu?
3) if you are on mac os, what did you use to connect to Kinect2?

Best,
Alexey
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