I am working on the simulation of care-o-bot technologies (beginner to ROS). I read the ROS documentation and found some two similar things i.e. RVIZ and GAZEBO. Would you please tell me the difference between them...
RViz is a visualization tool for data coming from the Navigation Stack.
Gazebo is a 3D Robot simulator
Gaebo is a robot simulator.
Rviz on the other hand is a limited - though very useful- visualization tool. When I say limited I mean that it is usually one-way. The ROS application publish messages and these are visualized in Rviz
There can be some kind of interactivity in Rviz (I have implemented menus in them for example) but it is not fully interactive
Related
I am very new to Kinect programming and am tasked to understand several methods for 3D point cloud stitching using Kinect and OpenCV. While waiting for the Kinect sensor to be shipped over, I am trying to run the SDK samples on some data sets.
I am really clueless as to where to start now, so I downloaded some datasets here, and do not understand how I am supposed to view/parse these datasets. I tried running the Kinect SDK Samples (DepthBasic-D2D) in Visual Studio but the only thing that appears is a white screen with a screenshot button.
There seems to be very little documentation with regards to how all these things work, so I would appreciate if anyone can point me to the right resources on how to obtain and parse depth maps, or how to get the SDK Samples work.
The Point Cloud Library (or PCL) it is a good starting point to handle point cloud data obtained using Kinect and OpenNI driver.
OpenNI is, among other things, an open-source software that provides an API to communicate with vision and audio sensor devices (such as the Kinect). Using OpenNI you can access to the raw data acquired with your Kinect and use it as a input for your PCL software that can process the data. In other words, OpenNI is an alternative to the official KinectSDK, compatible with many more devices, and with great support and tutorials!
There are plenty of tutorials out there like this, this and these.
Also, this question is highly related.
I've recently adquired a new MS Kinect v2 for Windows, and i'm messing with it in order to learn how it works, and how I would aproach my future ideas for it.
By now, i'm only teasing the samples that comes with the Kinect browser (Downloaded with the new SDK), using an almost new Toshiba C55 NoteBook (i5 2.5GH, 8GB RAM, NVidia 710M).
The fact is that i've tried the "Coordinate Mapping basics" sample, that comes in many forms (D2D, XAML, HTML and WPF). This sample just removes the background using the depth frame.
I've tried the all the versions so far, and the XAML sample runs very very very very slow... while the rest are running very very very smooth...
So i've tried an external code extracted from GitHub which technically does the same, also using XAML. And it also runs too slow.
Due the fact that i'm not used to develop for MS platforms, i don't know if it is really a hardware problem, or if XAML has higer requirements, and I cannot figure out why is it behaving so bad only with XAML.
I tried to find any similar questions, but didn't found any that seemed useful for my case.
I know that is probably my fault, but I don't know why... Maybe a misunderstanding of the whole setup?
The external sample I found: https://github.com/Vangos/kinect-2-background-removal
Also tried the CoordinateMapper from the same GitHub, same issue: https://github.com/Vangos/kinect-2-coordinate-mapping
Thank you all.
UPDATE:
After developing and deploying the WPF app succefully, I'd started to check the performance of the Kinect with Windows RT, and I'd find lots of problems at memory level, W8.1 RT is slow, and does not support Kinect V2 very well, at least in my testing HW. This problems may lead to the symptoms described in this other question I found: Kinect camera freeze
This issue also made me note that the new Kinect V2 is VERY VERY sensitive to ambient temperature.
Hope this helps some Overflowed developars with similar problems :).
The Coordinate Mapper XAML and Coordinate Mapper WPF samples both use XAML. The version marked "XAML" is a Windows Store App. The version marked "WPF" is a Windows Desktop app. I didn't see much of a difference on my machine between the two until I ran the Performance and Diagnostics tools in Visual Studio 2013. I suggest running them and creating an analysis report. That will help you discover what exactly is causing the differences.
I tried using "Kinect for Windows" on my Mac. Environment set-up seems to have gone well, but something seems being wrong. When I start some samples such as
OpenNI-Bin-Dev-MacOSX-v1.5.4.0/Samples/Bin/x64-Release/Sample-NiSimpleViewer
or others, the sample application start and seems working quite well at the beginning but after a few seconds (10 to 20 seconds), the move seen in screen of the application halts and never work again. It seems that the application get to be unable to fetch data from Kinect from certain point where some seconds passed.
I don't know whether the libraries or their dependency, or Kinect's hardware itself is going wrong (as for hardware, invisibly broken or something), and I really want to know how to detect which is it.
Could anybody tell me how can I fix the issue please?
My environment is shown below:
Mac OS X v10.7.4 (MacBook Air, core i5 1.6Ghz, 4GB of memory)
Xcode 4.4.1
Kinect for Windows
OpenNI-Bin-Dev-MacOSX-v1.5.4.0
Sensor-Bin-MacOSX-v5.1.2.1
I followed instruction here about libusb: http://openkinect.org/wiki/Getting_Started#Homebrew
and when I try using libfreenect(I know it's separate from OpenNI+SensorKinect), its sample applications say "Number of devices found: 0", which makes no sense to me since I certainly connected my Kinect to MBA...)
Unless you're booting to Windows forget about Kinect for Windows.
Regarding libfreenect and OpenNI in most cases you'll use one or the other, so think of what functionalities you need.
If it's basic RGB+Depth image (and possibly motor and accelerometer ) access libfreenect is your choice.
If you need RGB+Depth image and skeleton tracking and (hand) gestures (but no motor, accelerometer access) use OpenNI. Note that if you use the unstable(dev) versions, you should use Avin's SensorKinect Driver.
Easiest thing to do a nice clean install of OpenNI.
Also, if it helps, you can a creative coding framework like Processing or OpenFrameworks.
For Processing I recommend SimpleOpenNI
For OpenFrameworks you can use ofxKinect which ties to libfreenect or ofxOpenNI. Download the OpenFrameworks packaged on the FutureTheatre Kinect Workshop wiki as it includes both addons and some really nice examples.
When you are connecting the Kinect device to the machine, have you provided external power to it? The device will appear connected to a computer by USB only power but will not be able to tranfer data as it needs the external power supply.
Also what Kinect sensor are you using? If it is a new Kinect device (designed for Windows) they may have a different device signature which may cause the OpenNI drivers to play-up. I'm not a 100% on this one, but I've only ever tried OpenNI with an XBox 360 sensor.
Im planning to build a Embedded system which is almost like an organizer i.e. which handles contacts, games, applications & wifi/2G/3G for internet. I planned to build the UI with QML because of its easy to use and quick application building nature. And to have a linux kernel.
But after reading these articles:
http://qt-project.org/forums/viewthread/5820 &
http://en.roolz.org/Blog/Entries/2010/10/29_Qt_QML_on_embedded_devices.html
I am depressed and reconsidering my idea of using QML!
My hardware will be with these configurations : Processor around 600MHz, RAM 128MB and no GPU.
Please give comments on this and suggest me some alternatives for this.
Thanks in Advance.
inblueswithu
I have created a QML application for Nokia E63 which has 369MHz processor, 128MB RAM. I don't think it has a GPU. The application is a Stop Watch application. I have animated button click events like jumping (jumping balls). The animations are really smooth even when two button jumps at the same time. A 600MHz processor is expected to handle QML easily.
This is the link for the sis file http://store.ovi.com/content/184985. If you have a Nokia mobile you can test it.
May be you should consider building QML elements by hand instead of doing it from Photoshop or Gimp. For example using Item in the place of Rectangle will be optimal. So you can give it a try. May be by creating a rough sketch with good amount of animations to check whether you processor can handle that. Even if it don't work as expected then consider Qt to build your UI.
QML applications work fine on low-specs Nokia devices. I have made one for 5800 XPressMusic smartphone without any problems.
I recently moved from a PC to a MacBook Pro. I'm starting to go through tutorials on Objective-C and developing in Cocoa. I do a lot of image processing algorithm development work (pixel by pixel manipulation) in my day job so I'd like to get create a test image processing app or two for OS X. I'm struggling to figure out where to start - let's say I want to create a simple application (that I could reuse) like the following:
load an image from an open file option within a file menu
display this within the GUI.
Click a button to apply pixel by pixel processing
Update the displayed image
Save the processed image from the save option within the file menu
Any pointers or links would be most appreciated.
Thanks
Other info:
I'm pretty familiar with OpenCV within Linux - haven't looked at using it within Objective-C/Cocoa/Xcode environment yet though - not even sure if this would be a good idea?
I guess it would be nice to use GPU acceleration as well, but I'm not familiar with OpenGL/OpenCL - so I might have to put that one on the long finger for the moment.
As you are looking at the Apple platform, you should look into the CoreImage framework - it will provide you most of pre-baked cookies ready to be consumed in your application.
For more advanced purposes, you can start off with openCV.
Best of luck!!
As samfisher suggests, OpenCV is not that hard to get working on the Mac, and Core Image is a great Cocoa framework for doing GPU-accelerated image processing. I'm working on porting my GPUImage framework from iOS to the Mac, and it's entirely geared around making accelerated image processing easy to work with, but unfortunately that isn't working right now.
If you're just getting started on the Mac, one tool that I can point out which you might overlook is Quartz Composer. You have to download the separate Graphics Tools package from Apple's developer site to install Quartz Composer, because it's no longer shipped with Xcode.
Quartz Composer is a graphical development tool that lets you drag and drop modules, connect inputs and outputs, and do rapid development of some fairly interesting things. One task it's great for is doing rapid prototyping of image processing, either using Core Image or OpenGL shaders. I've even heard of people using OpenCV with this using custom patches. You can easily connect an image or camera source into a filter chain, then edit the filters and see live updates as you work on them, without requiring a compile-run cycle.
If you want some sample QC projects to play with, I have a couple of them linked from this article I wrote a couple of years ago. They both do the same color-based object tracking, with one using Core Image and the other OpenGL shaders. You can dig into that and play around to see how that works, without having to get too far into writing any code.