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If this simulator is used for publication, please cite this in your references. Beling, “Simulating Kinect Infrared and Depth Images,” IEEE Transactions on Cybernetics, vol. The downloadable package includes a demo to exhibit the functionality of the IR and depth image simulator options, which generates images of numerous CAD models (also included).įor a detailed description of how this simulator was developed, please refer to IR emitter emits IR light in a pseudo-random dot pattern Dotted light reflects off different. KINECT RANDOM DOT PATTERN WINDOWSAn idealized binary representation of the Kinect dot pattern is used as default for the simulator, which was constructed by Andreas Reichinger, and can be found here: Components of Kinect sensor Kinect for Windows SDK. ![]() KINECT RANDOM DOT PATTERN CODEThis code was used to simulate line-of-sight vectors emanating from the transmitter coordinate system, which in effect represent the IR laser system that transmits the dot pattern onto the given scene. The wrapper was written by Vipin Vijayan, and can be found here: This package requires the Matlab wrapper for OPCODE, which is a collision detection/ray casting library for triangular 3D meshes. I also provide the option to include a CAD model of a flat wall to function as the scene’s background. Note, the single CAD model input could be an aggregate collection of multiple CAD models of interesting objects and background structures. Normalf - 3xm, m facets, representing the normal direction of each facet. jector of the Kinect emits pseudo-random light pattern through. Vertex - 3xn, n vertices of each 3D coordinate that defines the CAD model.įace - 3xm, m facets, each represented by 3 vertices that defines the CAD model. Recently, Kammerl 15 proposed point cloud compression for the point cloud library. The Kinect simulator functions require the CAD model to include vertex, facet, and facet normal arrays. Our model accounts for important characteristics of Kinect's stereo triangulation system, including depth shadowing, IR dot splitting, spreading, and occlusions, correlation-based disparity estimation between windows of measured and reference IR images, and sub-pixel refinement. The simulator models the physics of the transmitter/receiver system, unique IR dot pattern, disparity/depth processing technology, and random intensity speckle and IR noise in the detectors. This work was motivated by an extensive study of the sensor's underlying mechanisms and performance characteristics, as well as newly constructed empirical models for the intensity, speckle, and detector noise of the received IR dot pattern. The intrinsics of the Kinect color/depth cameras can either be obtained from Kinect Windows SDK or calibrated using a printed checkerboard.This zip-file contains functions to simulate noisy Kinect infrared (IR) and depth images from a user inputted CAD model. In the rest of the article, we focus on calibrating the intrinsic parameters of the projector and the extrinsic parameters between the projector and the Kinect depth camera. Instead, we project a checkerboard pattern to a white flat wall, then move the bound Kinect-projector pair to capture mages from at least three different poses, as shown in the teaser image. In this article, we show that the system can be calibrated using Zhang’s method without a printed checkerboard pattern or a large room. As shown below, we bind them such that their FOVs overlap. In most simple AR applications, the relative rotation and translation between the Kinect and the projector are fixed. Existing methods, such as RGBDdemo and KinectProjectorToolkit either requires printed checkerboard patterns or a large room to calibrate Kinect depth/color cameras and a projector. We want to combine Microsoft Kinect and a projector to create cool Augmented Reality (AR) applications, one prerequisite is system calibration. Projector and Kinect depth camera extrinsics.Geometric interpretation of eigenvectors and Singular Value Decomposition (SVD).Getting the 3D-2D coordinates of the checkerboard corners An infrared (IR) dot-pattern emitter, specically the laser diffractive optical element (DOE) from a Kinect, casts a large number of pseudo-randomly arranged rays into an arbitrary 3D scene, and these rays are observed by an IR camera. ![]()
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