Recent changes to PCL_Recorder

WikiPage PCL_Recorder modified by Lehment

Lehment — Mon, 20 Feb 2012 16:23:09 -0000

--- v7 
+++ v8 
@@ -48,7 +48,7 @@
 
 BGR output to "bgr_FRAME#.tif". Build from a 3 channel 3 x 8 bit BGR image.
 
-Depth output to "depth_FRAME#.xml". Contains a OpenCV matrix ("depth") of 32 bit float depth values in metres. Access with cv::FileStorage.
+Depth output to "depth_FRAME#.tif". Contains the depth data as a 16bit unsigned integer array. To convert to metric, multiply the data by 0.0001f. Messy, but the cv::Filestorage is just too slow for this job.
 
 Cloud output to "cloud_FRAME#.pcd". Contains a pcl::PointXYZRGB pointcloud. Metric, coordinate system centered on the camera.

WikiPage PCL_Recorder modified by Lehment

Lehment — Fri, 03 Feb 2012 13:57:47 -0000

--- v6 
+++ v7 
@@ -23,31 +23,40 @@
 
     PCL_Recorder.ext -c Kinectconfig.xml -d "C:\NewCapture" --fps 20 --maskuser --bgr --depth
 
+The programm uses buffer files to record data. After recording has finished, these buffer files are converted and split into individual files for each frame. Have patience...
+
+There are two definitions in the sourcecode worth noticing:
+
+    #define UPPER_QUEUE_SIZE 200
+
+Up to 200 data frames are stored in RAM. If you have more memory available, you can permit more frames to be stored here. 
+
+    #define MAX_BUFFER_FILE_SIZE 2000
+
+The maximum size of the buffer files written to disk is 2000 MB. Adjust according to your needs.
+
+
 Output
 ------
 
 Skeleton Output to "skeleton_FRAME#.dat". Tracks first available user only.
 
+- f: frame
 - p: x-y-z position (relative to camera)
 - o: X-Y-Z-W orientation quaternion (relative to camera)
 - c: C tracking confidence (0-1)
 
-BGR output to "bgr_FRAME#.tif". 
-
-Depth output to "depth_FRAME#.tif". Should contain depth in 32 bit float values (meters). **UNTESTED**
-
-Cloud output to "cloud_FRAME#.pcd". Contains a pcl::PointXYZRGB pointcloud.
-
-
-
+BGR output to "bgr_FRAME#.tif". Build from a 3 channel 3 x 8 bit BGR image.
+
+Depth output to "depth_FRAME#.xml". Contains a OpenCV matrix ("depth") of 32 bit float depth values in metres. Access with cv::FileStorage.
+
+Cloud output to "cloud_FRAME#.pcd". Contains a pcl::PointXYZRGB pointcloud. Metric, coordinate system centered on the camera.
 
 Planned Changes
 --------------
 
-- Monitoring of memory occupancy to avoid crashed
-- Faster disk writing by using a single buffer file on disk, later convert to required formats.
-
-
+- Monitoring of memory occupancy to avoid crashes
+- Maybe the second thread (writing from the std::queue to the std::fstream) is not really necessary. Inquire.
 
 Requirements
 -----------

WikiPage PCL_Recorder modified by Lehment

Lehment — Wed, 01 Feb 2012 12:32:37 -0000

--- v5 
+++ v6 
@@ -19,42 +19,49 @@
 Usage
 -----
 
+For recording kinect BGR and depth images with pose tracking and user mask at 20 fps:
+
+    PCL_Recorder.ext -c Kinectconfig.xml -d "C:\NewCapture" --fps 20 --maskuser --bgr --depth
+
 Output
 ------
 
 Skeleton Output to "skeleton_FRAME#.dat". Tracks first available user only.
+
 - p: x-y-z position (relative to camera)
 - o: X-Y-Z-W orientation quaternion (relative to camera)
 - c: C tracking confidence (0-1)
 
 BGR output to "bgr_FRAME#.tif". 
 
 Depth output to "depth_FRAME#.tif". Should contain depth in 32 bit float values (meters). **UNTESTED**
 
 Cloud output to "cloud_FRAME#.pcd". Contains a pcl::PointXYZRGB pointcloud.
 
 
 
 
 Planned Changes
 --------------
 
 - Monitoring of memory occupancy to avoid crashed
 - Faster disk writing by using a single buffer file on disk, later convert to required formats.
 
 
 
 Requirements
 -----------
 
 Compiling: 
+
 - boost 1.46.1
 - PCL 1.3
 - OpenNI 1.3.3
 - NITE 1.3
 - OpenCV 2.3
 
 Running:
+
 - PCL 1.3
 - OpenNI 1.3.3
 - NITE 1.3

WikiPage PCL_Recorder modified by Lehment

Lehment — Wed, 01 Feb 2012 12:26:53 -0000

--- v4 
+++ v5 
@@ -23,41 +23,38 @@
 ------
 
 Skeleton Output to "skeleton_FRAME#.dat". Tracks first available user only.
-
 - p: x-y-z position (relative to camera)
 - o: X-Y-Z-W orientation quaternion (relative to camera)
 - c: C tracking confidence (0-1)
 
 BGR output to "bgr_FRAME#.tif". 
 
 Depth output to "depth_FRAME#.tif". Should contain depth in 32 bit float values (meters). **UNTESTED**
 
 Cloud output to "cloud_FRAME#.pcd". Contains a pcl::PointXYZRGB pointcloud.
 
 
 
 
 Planned Changes
 --------------
 
 - Monitoring of memory occupancy to avoid crashed
 - Faster disk writing by using a single buffer file on disk, later convert to required formats.
 
 
 
 Requirements
 -----------
 
 Compiling: 
-
 - boost 1.46.1
 - PCL 1.3
 - OpenNI 1.3.3
 - NITE 1.3
 - OpenCV 2.3
 
 Running:
-
 - PCL 1.3
 - OpenNI 1.3.3
 - NITE 1.3

WikiPage PCL_Recorder modified by Lehment

Lehment — Wed, 01 Feb 2012 12:26:23 -0000

--- v3 
+++ v4 
@@ -23,39 +23,42 @@
 ------
 
 Skeleton Output to "skeleton_FRAME#.dat". Tracks first available user only.
+
 - p: x-y-z position (relative to camera)
 - o: X-Y-Z-W orientation quaternion (relative to camera)
 - c: C tracking confidence (0-1)
 
 BGR output to "bgr_FRAME#.tif". 
 
 Depth output to "depth_FRAME#.tif". Should contain depth in 32 bit float values (meters). **UNTESTED**
 
 Cloud output to "cloud_FRAME#.pcd". Contains a pcl::PointXYZRGB pointcloud.
 
 
 
 
 Planned Changes
 --------------
 
 - Monitoring of memory occupancy to avoid crashed
 - Faster disk writing by using a single buffer file on disk, later convert to required formats.
 
 
 
 Requirements
 -----------
 
 Compiling: 
-    - boost 1.46.1
-    - PCL 1.3
-    - OpenNI 1.3.3
-    - NITE 1.3
-    - OpenCV 2.3
+
+- boost 1.46.1
+- PCL 1.3
+- OpenNI 1.3.3
+- NITE 1.3
+- OpenCV 2.3
 
 Running:
-    - PCL 1.3
-    - OpenNI 1.3.3
-    - NITE 1.3
-    - OpenCV 2.3
+
+- PCL 1.3
+- OpenNI 1.3.3
+- NITE 1.3
+- OpenCV 2.3

WikiPage PCL_Recorder modified by Lehment

Lehment — Wed, 01 Feb 2012 12:25:46 -0000

--- v2 
+++ v3 
@@ -6,41 +6,41 @@
 Parameters
 ----------
 
-    - "--help" - shows help message
-    - "--fps INT" - set the desired fps (1-30) for capturing. **Note:** For higher framerates, images are stored in a queue in memory. If the disk can't keep up, the memory fills up and the program quits.
-    - "--maskuser" or "-m" - set this flag to mask the background, showing only the user
-    - "--posetracking" or "-p" - set this flag to record skeleton pose gained from NITE middleware (skeleton_FRAME#.dat)
-    - "--config_file STRING" or "-c STRING" -path of the OpenNI xml configuration file
-    - "destination_file STRING" or "-d STRING" - path under which all results are to be stored
-    - "--depth" - flag for storing depth images (*.tif)
-    - "--bgr" - flag for storing BGR images (*.tif)
-    - "--cloud" - flag for storing the point cloud (*.pcd)
-
+- "--help" - shows help message
+- "--fps INT" - set the desired fps (1-30) for capturing. **Note:** For higher framerates, images are stored in a queue in memory. If the disk can't keep up, the memory fills up and the program quits.
+- "--maskuser" or "-m" - set this flag to mask the background, showing only the user
+- "--posetracking" or "-p" - set this flag to record skeleton pose gained from NITE middleware (skeleton_FRAME#.dat)
+- "--config_file STRING" or "-c STRING" -path of the OpenNI xml configuration file
+- "destination_file STRING" or "-d STRING" - path under which all results are to be stored
+- "--depth" - flag for storing depth images (*.tif)
+- "--bgr" - flag for storing BGR images (*.tif)
+- "--cloud" - flag for storing the point cloud (*.pcd)
+
 Usage
 -----
 
 Output
 ------
 
 Skeleton Output to "skeleton_FRAME#.dat". Tracks first available user only.
-    - p: x-y-z position (relative to camera)
-    - o: X-Y-Z-W orientation quaternion (relative to camera)
-    - c: C tracking confidence (0-1)
+- p: x-y-z position (relative to camera)
+- o: X-Y-Z-W orientation quaternion (relative to camera)
+- c: C tracking confidence (0-1)
 
 BGR output to "bgr_FRAME#.tif". 
 
 Depth output to "depth_FRAME#.tif". Should contain depth in 32 bit float values (meters). **UNTESTED**
 
 Cloud output to "cloud_FRAME#.pcd". Contains a pcl::PointXYZRGB pointcloud.
 
 
 
 
 Planned Changes
 --------------
 
-    - Monitoring of memory occupancy to avoid crashed
-    - Faster disk writing by using a single buffer file on disk, later convert to required formats.
+- Monitoring of memory occupancy to avoid crashed
+- Faster disk writing by using a single buffer file on disk, later convert to required formats.

WikiPage PCL_Recorder modified by Lehment

Lehment — Wed, 01 Feb 2012 12:24:50 -0000

--- v1 
+++ v2 
@@ -1,0 +1,61 @@
+Summary
+-------
+
+Program to record PCL point clouds and image series captured with a Microsoft Kinect camera. Stores all data in a newly created directory.
+
+Parameters
+----------
+
+    - "--help" - shows help message
+    - "--fps INT" - set the desired fps (1-30) for capturing. **Note:** For higher framerates, images are stored in a queue in memory. If the disk can't keep up, the memory fills up and the program quits.
+    - "--maskuser" or "-m" - set this flag to mask the background, showing only the user
+    - "--posetracking" or "-p" - set this flag to record skeleton pose gained from NITE middleware (skeleton_FRAME#.dat)
+    - "--config_file STRING" or "-c STRING" -path of the OpenNI xml configuration file
+    - "destination_file STRING" or "-d STRING" - path under which all results are to be stored
+    - "--depth" - flag for storing depth images (*.tif)
+    - "--bgr" - flag for storing BGR images (*.tif)
+    - "--cloud" - flag for storing the point cloud (*.pcd)
+
+Usage
+-----
+
+Output
+------
+
+Skeleton Output to "skeleton_FRAME#.dat". Tracks first available user only.
+    - p: x-y-z position (relative to camera)
+    - o: X-Y-Z-W orientation quaternion (relative to camera)
+    - c: C tracking confidence (0-1)
+
+BGR output to "bgr_FRAME#.tif". 
+
+Depth output to "depth_FRAME#.tif". Should contain depth in 32 bit float values (meters). **UNTESTED**
+
+Cloud output to "cloud_FRAME#.pcd". Contains a pcl::PointXYZRGB pointcloud.
+
+
+
+
+Planned Changes
+--------------
+
+    - Monitoring of memory occupancy to avoid crashed
+    - Faster disk writing by using a single buffer file on disk, later convert to required formats.
+
+
+
+Requirements
+-----------
+
+Compiling: 
+    - boost 1.46.1
+    - PCL 1.3
+    - OpenNI 1.3.3
+    - NITE 1.3
+    - OpenCV 2.3
+
+Running:
+    - PCL 1.3
+    - OpenNI 1.3.3
+    - NITE 1.3
+    - OpenCV 2.3

WikiPage PCL_Recorder modified by Lehment

Lehment — Wed, 01 Feb 2012 11:11:01 -0000