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Is it possible to merge multiple Kinect streams using vision_opencv?

asked 2014-02-11 11:07:34 -0500

Athoesen gravatar image

updated 2016-10-24 08:35:51 -0500

ngrennan gravatar image

Recently it came to my attention that in the later ROS versions much of the complex image processing/handling has been offloaded to other sources such as OpenCV. The camera_pose_calibration package is hopelessly broken for later distros. I've recently stumbled on vision_opencv so I'm asking if anyone here has used OpenCV tos olve this problem.

I've got three Kinects which I've been using through ROS. I have the ability to access each of their depth/RGB streams through the usual code from the tutorial. However, I want to use RViz or something similar and merge the live streams into one 3D stream using a universal coordinate frame. I've read about using checkerboards and have done intrinsic calibrations with them. Conceptually, I know what to do but as far as coding, most of the repos I find are from 2011 and either deprecated or severely bugged.

Can anyone point me to tutorials or packages in which might help? I'm using two model 1473's and a 1414, so I'm not sure if I can get the 1473's to play nice but I should at least be able to get one 1473 and the 1414 to work. I'm in a time crunch, and I need to be able to get these streams in RViz simultaneously. The last few months I've hit a brick wall, so any knowledge would help.

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answered 2014-02-11 11:29:41 -0500

camera_pose_calibration should do what you want. It isn't currently working in hydro though (not sure about groovy).

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See the part where I said "The camera_pose_calibration package is hopelessly broken for later distros." I'm trying to find an alternate since using that package is a nightmare. And I'm not interested in using Fuerte.

Athoesen gravatar image Athoesen  ( 2014-02-12 07:51:09 -0500 )edit

I don't think writing this from scratch will be any easier than bringing camera_pose_calibration up to date.

Dan Lazewatsky gravatar image Dan Lazewatsky  ( 2014-02-12 09:05:31 -0500 )edit

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Asked: 2014-02-11 11:07:34 -0500

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Last updated: Feb 11 '14