Poor framerate about infinitam HOT 9 CLOSED

Two thoughts:

• Try updating the firmware on your Asus. (Probably less necessary in your situation since NiViewer is working fine for you.)
• Decrease the resolution of your RGB input to 320x240.

I encountered similar issues with the Asus (particularly on Windows) and those two steps helped a lot.

from infinitam.

Thanks a lot @sgolodetz, it does the trick ;) I only modifyed the constructor in file InfiniTAM/InfiniTAM/Engine/OpenNIEngine.h and replaced
imageSize_rgb = Vector2i(640, 480) by imageSize_rgb = Vector2i(320, 240). Note that this post helped in changing the RGB resolution.

Though I am not sure I understand why it works, as I thought RGB data was not used in the default ITMLibSettings (see issue #33).

Also, because of this, can you confirm the calib files only contain the registration between the RGB and D sensors and nothing else? (check here and here for a calibration tool for OpenNI sensors).

Regards,

Antoine

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I didn't write the calib file bit - best ask @olafkaehler.

from infinitam.

Understood! Thanks for your relevant help ;)

from infinitam.

Our OpenNI interfacing class still opens both RGB and depth streams by default. The RGB images are not used in the default configuration, and we should probably not request RGB images unless we actually do use colour. The USB-bandwidth problems only appears to occur with certain system configurations, though, I've encountered them on Linux so far.

The calibration files also contain the intrinsic calibration parameters of the depth and RGB cameras. You'll probably get marginally better results if you calibrate your own camera, but in practice it doesn't make a big difference.

from infinitam.

Hello @olafkaehler, I see your point for the RGB stream access. My problem did occur on Ubuntu 14.04 and was solved using @sgolodetz's trick.

For the calibration do you mean that:

1. because I only use the D sensor, the extrinsinc parameters won't be very useful?
2. because the intrinsic parameters don't vary much, the calibration will be of limited impact?

from infinitam.

You are exactly right about the calibration in both points.

from infinitam.

Got it, thanks!

from infinitam.

Hi, I also want to run this code in Xtion. But I got some problem:
1.Did you use "roslaunch openni_launch openni.launch" to start Xition ?
2.after that use "./InfiniTAM calibration.txt" ?
@arennuit

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