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Use Object Recognition Kitchen with freenect (OpenKinect) ?

asked 2015-01-18 10:23:20 -0600

startar gravatar image

Hello everybody!

I am working out of Ubuntu 14.04 with ROS Indigo. I want to try Object Recognition Kitchen with Kinect.

I have already done installing ORK from source by following the guide.

The problem is that I'm using a Kinect v2 (Kinect for XBox One). It works with neither OpenNI nor OpenNI2. Finally I made it to work with ROS by using this package: https://github.com/code-iai/iai_kinect2 It is a bridge between libfreenect2 and ROS. It can produce depth, rgb, ir images and PointCloud2 by publishing some topics.

But when I start to follow the Quick Guide:

roslaunch openni_launch openni.launch
rosrun object_recognition_capture orb_template -o my_textured_plane

I found that ORK needs OpenNI to work. Is that right? From the code perspective, I also found this:

source = create_source('image_pipeline', 'OpenNISource', outputs_list=['K_depth', 'K_image', 'image', 'depth', 'mask_depth', 'points3d'], res=options.res, fps=options.fps)
rgb2gray = cvtColor (flag=Conversion.RGB2GRAY)
plasm.connect(source['image'] >> rgb2gray ['image'])

My question is: Is it impossible to use ORK with freenect? Thus I think I should use something like a wrapper but I just don't know what and where to change....

I'm sorry if it is kind of a stupid question. And forgive my poor English...

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no this is not necessary to use openni to run ork, u can run: roslaunch freenect_launch freenect.launch instead of opnni_launch. as ive tested with my indigo.

dinesh gravatar imagedinesh ( 2016-06-14 12:30:20 -0600 )edit

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answered 2015-02-09 11:01:39 -0600

TedK gravatar image

Any updates on this subject? I am in the same position: I got the kinect v2 running with iai_kinect2 and I am now trying to do object recognition.

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Please don't "answer" a question to vote for it. There's a button on the left to vote up a question.

tfoote gravatar imagetfoote ( 2015-03-22 04:13:06 -0600 )edit
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answered 2015-01-29 12:11:02 -0600

salsaman gravatar image

I would also like to know how to do object recognition with freenect.

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Please don't "answer" a question to vote for it. There's a button on the left to vote up a question.

tfoote gravatar imagetfoote ( 2015-03-22 04:13:14 -0600 )edit

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Asked: 2015-01-18 10:23:20 -0600

Seen: 866 times

Last updated: Feb 09 '15