Multikinect:Qualisys
To increase the quality of the fusion algorithm in the Skeleton suite[1], a simultaneous recording via the Qualisys[2] allows us to test different fusion methods and compare ths result to the hig-quality one.
Setup
A 6 points kinect setup is used. The points are placed at the top of an hexagon.
Saliency map by Julien Leroy, press [SPACE] for RGB view.
Recording test
After 2 days of fine-tuning, meaning debugging the apps, adding the required functionalities and resolving the computers limitations, we are able to make a first complete test with 6 calibrated kinects.
Recording analysis
A skeleton seen by 2 kinects has been recorded.
Each message is time-stamped at emission (streamer[3] level) and also time-stamped at reception (recorder[4] level).
The recording is 16764 milliseconds long and has the same duration as the longest streamer emission received. 488 frames has been received from one streamer[3], 487 from the other.
Remarks:
- Kinect SDK 2.0 is not time-consistent : the delta between 2 frames can go up to 67 milliseconds. This case happened 14 and 15 times.
- Average delay between emission and reception is 2 microseconds in one streamer, 0 in the other. The time of flight seems rather good. The multiple port approach is efficient.
- Strandard deviations:
References
- ↑ Skeletons suite: a suite of software for multi-kinect calibration and realtime tracking. Skeletons repository on bitbucket
- ↑ Qualisys: a marker-based motion tracking system. qualisys.com
- ↑ 3.0 3.1 3.2 3.3 A streamer is a point made of one kinect and one nano-computer type Intel Nuc that retrieves, prepares and sends perceived skeletons throught OSC. It runs the application K2Streamer in this case (folder: kinect_v2_MSDK/app_streamer/ in Skeletons) from the Skeletons suite
- ↑ OscRecorder (folder: osc_recorder/ in Skeletons) is a custom application built to save messages coming from a lot of ports into a single log file. Source Skeletons suite