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I've recently rolled back from freenect 1:0.1.2 (neurodebian repo) to the less current freenect 1:0.0.1 (ubuntu precise). Nestk wouldn't build anymore halting on the 'ntk/camera/grabber'.

Skimming through the code my preliminary conclusion was that the grabber interface in the freenect back-end has changed and some methods aren't present anymore.

thoughts on this?

greets, thanks, Luuk

Hi,
I have a problem with the handpoint_tracking.cpp sample. It compiles
fine, but does not work. The BodyDetector callback system doesn't work at all. It
doesn't give me any output.

This line:
cv::Point3f handpoint = body_event_listener.getLastHandPosInImage();

returns either zeros or nonsense, but most of the time zeros.
It seems that triggerHandPoint() and triggerEvent() method is never called.

I added skeleton tracking and from the displayed skeleton I know
that the user was detected and is being tracked. Is the MyBodyListener
class OK? Since there is no documentation I don't know how to check
for failures and as I mentioned before, there is no compilation error.

Thanks.

davide [email protected] via googlegroups.com

to rgbdemo
Hi everyone,

I tried to calibrate my kinect with libfreenect backend but I could not get the viewer running with freenect backend (although I started it with ./rgbd-viewer --freenect). It always starts with openni and the ir image could not be shown in the viewer. I've looked in the software files and I could not find a create function for freenect the file rgbd_graber_factory.cpp only manages:

    createKin4winGrabbers(params, grabbers);
    createOpenniGrabbers(params, grabbers);
    createPmdGrabbers(params, grabbers);
    createSoftKineticGrabbers(params, grabbers);

and no freenect grabber.

I'm using the newest version of RGB-Demo 26045e12a3 from the git repository downloaded with "git clone --recursive git://github.com/nburrus/rgbdemo.git"
compiled on Linux Mint 12 Lisa.

Thanks for your help in advance,

Can you update the openni/nite to the latest unstable version? Because the version have now the auto calibration feature, that the user must not do the psi pose. ;)

I have the latest libs from openni/nite/primesence installed. Can i disable openni/nite from nestk and use the unstable versions that i have also installed? I try it with NESTK_USE_EMBEDDED_OPENNi but it dont work. Maybe you can please tell me how i can upgrade the stuff.

Thx!

Best Regards,
Marco

I have updated the main.cpp sample from github, Now the previous errors are
removed..
But it is now giving new errors while running make.
[100%] Building CXX object CMakeFiles/main.dir/main.cpp.o
In file included from /home/jr-v/nestk/ntk/camera/openni_grabber.h:24,
from /home/jr-v/nestk/samples/example_external/
main.cpp:22:
/home/jr-v/nestk/ntk/gesture/skeleton.h:112: warning: type qualifiers
ignored on function return type
/home/jr-v/nestk/ntk/gesture/skeleton.h:148: warning: type qualifiers
ignored on function return type
/home/jr-v/nestk/ntk/gesture/skeleton.h:191: warning: type qualifiers
ignored on function return type
/home/jr-v/nestk/ntk/gesture/skeleton.h:226: warning: type qualifiers
ignored on function return type
Linking CXX executable main
CMakeFiles/main.dir/main.cpp.o: In function main': main.cpp:(.text+0x175): undefined reference to ntk::OpenniDriver::OpenniDriver()'
main.cpp:(.text+0x1a1): undefined reference to
ntk::OpenniGrabber::OpenniGrabber(ntk::OpenniDriver&, int)' main.cpp:(.text+0x1f0): undefined reference to ntk::OpenniGrabber::connectToDevice()'
main.cpp:(.text+0x497): undefined reference to
ntk::Skeleton::drawOnImage(cv::Mat&) const' main.cpp:(.text+0x514): undefined reference to ntk::Skeleton::drawOnImage(cv::Mat&) const'
main.cpp:(.text+0x870): undefined reference to
ntk::OpenniDriver::~OpenniDriver()' main.cpp:(.text+0x884): undefined reference to ntk::OpenniDriver::OpenniDriver()'
CMakeFiles/main.dir/main.cpp.o: In function
ntk::OpenniGrabber::~OpenniGrabber()': main.cpp: (.text._ZN3ntk13OpenniGrabberD1Ev[ntk::OpenniGrabber::~OpenniGrabber()] +0x19): undefined reference tovtable for ntk::OpenniGrabber'
main.cpp:
(.text._ZN3ntk13OpenniGrabberD1Ev[ntk::OpenniGrabber::OpenniGrabber()]
+0x27): undefined reference to vtable for ntk::OpenniGrabber' main.cpp: (.text._ZN3ntk13OpenniGrabberD1Ev[ntk::OpenniGrabber::~OpenniGrabber()] +0x39): undefined reference tovtable for ntk::OpenniGrabber'
collect2: ld returned 1 exit status
make[2]: *** [main] Error 1
make[1]: *** [CMakeFiles/main.dir/all] Error 2
make: *** [all] Error 2
jr-v@jr-v-desktop:/nestk/samples/example_external$ clear
jr-v@jr-v-desktop:/nestk/samples/example_external$ make
Linking CXX executable main
CMakeFiles/main.dir/main.cpp.o: In function main': main.cpp:(.text+0x175): undefined reference to ntk::OpenniDriver::OpenniDriver()'
main.cpp:(.text+0x1a1): undefined reference to
ntk::OpenniGrabber::OpenniGrabber(ntk::OpenniDriver&, int)' main.cpp:(.text+0x1f0): undefined reference to ntk::OpenniGrabber::connectToDevice()'
main.cpp:(.text+0x497): undefined reference to
ntk::Skeleton::drawOnImage(cv::Mat&) const' main.cpp:(.text+0x514): undefined reference to ntk::Skeleton::drawOnImage(cv::Mat&) const'
main.cpp:(.text+0x870): undefined reference to
ntk::OpenniDriver::~OpenniDriver()' main.cpp:(.text+0x884): undefined reference to ntk::OpenniDriver::~OpenniDriver()'
CMakeFiles/main.dir/main.cpp.o: In function
ntk::OpenniGrabber::~OpenniGrabber()': main.cpp: (.text._ZN3ntk13OpenniGrabberD1Ev[ntk::OpenniGrabber::~OpenniGrabber()] +0x19): undefined reference tovtable for ntk::OpenniGrabber'
main.cpp:
(.text._ZN3ntk13OpenniGrabberD1Ev[ntk::OpenniGrabber::~OpenniGrabber()]
+0x27): undefined reference to vtable for ntk::OpenniGrabber' main.cpp: (.text._ZN3ntk13OpenniGrabberD1Ev[ntk::OpenniGrabber::~OpenniGrabber()] +0x39): undefined reference tovtable for ntk::OpenniGrabber'
collect2: ld returned 1 exit status
make[2]: *** [main] Error 1
make[1]: *** [CMakeFiles/main.dir/all] Error 2
make: *** [all] Error 2

Reported by mkter [email protected]

Hi,

it's me again. With the changes from 0.6.1 to 0.7 the example
application synchronized_multiple_kinects broke. After starting, there
are two lines with "Setting resolution to VGA" (I use two kinects.)
Then nothing happens. It hangs at synchronized_multiple_kinects.cpp:
63. The needed event is never set.

I use:
Win7 64Bit
VS2010 (compilation is done with 32Bit)
QT 4.7.4
OpenCV 2.3.1
PCL 1.4
OpenNI + SensorKinect (latest from git)
Nite 1.3.1

The other multi kinect applications (rgbd-multikinect and multiple-
kinects) do work.

Hello again!
Sorry for being so annoying :)
I tried running the cmake configuration file ant this time it wouldn't find my libfreenect. I believe that, in line 29 of 'nestk / cmake / FindFreenect.cmake' file it should read NAME libfreenect, and not just freenect.

I am no expert on CMake, but I used the following configuration and it is working for me:

ELSE (WIN32)
FIND_PATH( FREENECT_INCLUDE_DIR libfreenect.h
HINTS ${NESTK_ROOT_DIRS_HINTS}
PATHS /usr /usr/local /sw /opt
PATH_SUFFIXES include include/libfreenect libfreenect
DOC "The directory where libfreenect.h resides")
FIND_LIBRARY( FREENECT_LIBRARIES
NAMES libfreenect.so
PATHS /usr/local/lib64
DOC "The freenect library")
ENDIF (WIN32)

So I just put the final path on the PATHS and the NAMES I also included the .so extension.

Thanks

While compiling nestk on a Fedora 15, I have the following error :

nburrus-nestk-fcd2984/ntk/numeric/levenberg_marquart_minimizer.cpp:66:25: error: reference ‘m_cost_function’ cannot be declared ‘mutable’ [-fpermissive]
[ 62%] Building CXX object ntk/CMakeFiles/nestk.dir/numeric/differential_evolution_solver.o
[ 63%] Building CXX object ntk/CMakeFiles/nestk.dir/numeric/differential_evolution_minimizer.o
make[2]: *** [ntk/CMakeFiles/nestk.dir/numeric/levenberg_marquart_minimizer.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [ntk/CMakeFiles/nestk.dir/all] Error 2
make: *** [all] Error 2

Gcc version :gcc version 4.6.1 20110908 (Red Hat 4.6.1-9) (GCC)

Hello,

i need the automatic calibration via file (saveCalibrationdata(userid,filename)). So i have updated openni, nite and SensorKinect. Now i get many errors :(

Is it possible to update the used libs? or exists any method in nestk to load the calibrationdata via file?

Best Regards,
Marco

estk/ntk/libnestk.a(nite_rgbd_grabber.o): In function xn::ImageGenerator::GetMetaData(xn::ImageMetaData&) const': /workspace/mundus-nestk/nestk/deps/openni/Include/XnCppWrapper.h:3086: undefined reference toxnGetImageMetaData'
nestk/ntk/libnestk.a(nite_rgbd_grabber.o): In function xn::UserGenerator::GetUserPixels(unsigned int, xn::SceneMetaData&) const': /workspace/mundus-nestk/nestk/deps/openni/Include/XnCppWrapper.h:4218: undefined reference toxnGetUserPixels'
nestk/ntk/libnestk.a(nite_rgbd_grabber.o): In function xn::UserGenerator::GetUsers(unsigned int*, unsigned short&) const': /workspace/mundus-nestk/nestk/deps/openni/Include/XnCppWrapper.h:4202: undefined reference toxnGetUsers'
nestk/ntk/libnestk.a(nite_rgbd_grabber.o): In function xn::SkeletonCapability::IsTracking(unsigned int) const': /workspace/mundus-nestk/nestk/deps/openni/Include/XnCppWrapper.h:3827: undefined reference toxnIsSkeletonTracking'
nestk/ntk/libnestk.a(nite_rgbd_grabber.o): In function xn::OutputMetaData::Free()': /workspace/mundus-nestk/nestk/deps/openni/Include/XnCppWrapper.h:211: undefined reference toxnOSFreeAligned'
/workspace/mundus-nestk/nestk/deps/openni/Include/XnCppWrapper.h:211: undefined reference to `xnOSFreeAligned'
/workspace/mundus-nestk/nestk/deps/openni/In

I want to use Pointcloud data.

mesh.vertices[i] is right ???

According to Cristobal Belles:

//=============47 ms en un i7

      for_all_rc(m_image->depthMaskRef())
   {
       float d = m_image->depth()(r,c);
       if (d < 1e-5 || ntk::math::isnan(d))
           m_image->depthMaskRef()(r,c) = 0;
       else
           m_image->depthMaskRef()(r,c) = 255;
   }

//=============

Equivalent code, faster in debug mode:

//=============3 ms

           cv::Mat1b& depth_mask  = m_image->depthMaskRef();
           const cv::Mat1f& depth = m_image->depth();
           for (int r = 0; r < depth_mask.rows; ++r)
           {
              unsigned char* f_depth_mask  = depth_mask.ptr<unsigned char>(r);
              const float* f_depth      = depth.ptr<float>(r);
              for (int c = 0; c < depth_mask.cols; ++c)
              {
                 float d = f_depth[c];
                 if (d < 1e-5 || ntk::math::isnan(d))
                     f_depth_mask[c] = 0;
                 else
                    f_depth_mask[c] = 255;
              }
           }