Depth Camera (seven)--body sense equipment contrast __ Stereo Vision

Intel RealSense R200 (Parameter specification: Resolution: 1080p, depth effective distance: 0.51-4,usb3.0)

Le LeTV Pro xtion (parameter specification: Depth effective Distance: 0.8m to 3.5m,usb2.0)

Orbbec Astr (Parameter specification: Resolution 720p, depth effective distance: 0.5 to 8m,usb2.0/usb3.0)

Intel RealSense F200 (Parameter specification: Resolution: 1080p, depth effective distance: 0.2-1.2,usb3.0) This is primarily a close range of applications, such as in front of a computer notebook.

If you rank according to the quality of the depth chart, you can rank like this: Lettv Pro xtrion≈orbbec astra≫realsense R200

A brief summary and comparison of the information of the company:

PrimeSense: The best companies in the body sense technology, the boss, Microsoft Kinect 1, Asus Xtion, and LeTV xtion, which use the company's chips, are the industry's recognized best, and the experiment proves the conclusion. The company's past and future development: After the Kinect: how PrimeSense plans its own post-Microsoft ERA. But it is now being bought by Apple, and the maker of the chip is facing the search for a new chip replacement, and Orbbec is one of the more targeted.

Kinect 2: Microsoft's second-generation body sense product, detached from the PrimeSense, has independently developed this new product. The Kinect 2 depth chart has a quality and range that is far better than RealSense F200. However, the accuracy of the 3D scanning is slightly lower and there is an unknown cause of plane distortion (surface results when the measurement plane occurs). Expensive and only for Windows platforms. Kind of the second.

RealSense: This year due to the main push of the body-sensing camera, the advantage is small, convenient and portable, but the depth of the image of the poor quality, noise is very large. The factory has two models, one is for the short distance of the F200, close to the depth of the picture is good, the actual effective distance of less than 1 meters, but the laser material requirements very harsh, dark clothes, hair glass can not shine out. The other is used for long-distance R200, the actual effective distance of about two meters, and then far the noise is very big. RGB camera resolution up to 1080P.

Orbbec: A newly growing company, known as the first real time real 3d modeling of the body sense device. The so-called performance is close to PrimeSense, the range is slightly larger than PrimeSense. Many manufacturers consider using the company's chips as a replacement for the PrimeSense chip scheme.

Softkinetic: Similar to the Kinect 2 technology, but with low precision, low range resolution and a slightly higher price. Working with notebook vendors to provide 3D functionality to Tablet PCs with Intel and Dell. With Intel now launching its own realsense, the outlook is worrying. was recently acquired by Sony.

MV4D: Mainly to do mobile equipment, it is relatively close range, low resolution, poor thermal performance. For Google 3D tablet, Tango to provide chip technology suppliers.

and body sense related to have to mention an open source software openni (open nature Interaction), the organization was founded in November 2010, the website was officially opened on December 8. One of the main members is PrimeSense, and the other members are the robotics company Willow Garage, which develops Ros, and the gaming company Side-kick. As Apple acquired PrimeSense, the site and Openni software also stopped updating,

Resources

PrimeSense: Microsoft, Intel, Apple, LeapMotion, Asus Xtion and Microsoft Kinect compare 1. Product appearance

2. Parameter Specification

The following parameters are excerpted from the Asus Xtion Pro Outer packing box:

L Effective Distance: 3.5 m ~0.8 m

L Effective Angle: 70◦

L Power/Interface: USB 2.0

L Sensors: depth detection

L Support Platform: Intel X86 & AMD

L Operating system: Win 32/64:xp,vista,win7linux unubtu 10.10:x86,32/64 bit

L Program Language: c++/c# (Windows), C + +

The following parameters are actual measurement parameters (the actual measurement parameters are partially error):

L Equipment Length: 18cm

L Equipment Width: 3.6cm

L Equipment High (even base): 5cm

L Lens Part Height: 2.6cm
3. Drive support

The installation tests are performed under Windows 7 32-bit systems.

The device package contains the drive is prime sense Drive, during the installation process, observed, found on the CD-ROM version of the program is as follows:

L Openni version for 1.0.0.1

L sensor version for 5.0.0

L Nite version for 1.3.0

After the installation is complete, "PrimeSense PS1080" appears in the PrimeSense directory in the Device Manager.

Can be used normally after installation, open NiViewer.exe, can collect the depth image normally

Figure 3.1 Depth map of Niviewer acquisition

Then try to use the new version of Openni release to drive, using the following version:

L Openni Version 1.1.0.41

L Sensor version 5.0.0.1.32

L Nite Version 1.3.1.5

When the installation is complete, the device is also seen in Device Manager, but when running NiViewer.exe, the following error occurs:

One or more of the following nodes could is enumerated:

Device:primesense/sensorkinect/5.0.1.32:the Device is not connected!

Error information inference should be a sensor driven problem, so the current use of xtion is still using the old version of the driver.
4. Development

Using the old version of the driver, the program developed before running (not using RGB images), can function correctly.

Figure 4.1 The program developed prior to the normal operation

Using the Setmapoutputmode function to adjust the different resolution and FPS, it is found that only the resolution is 640*480,fps 30 when the normal operation, the other parameters, or the black screen, or the program stops responding, or the following figure shows the state:

Figure 4.2 Problems with adjustment parameters

The problem of setting the parameters requires further study. There is little difference between the use of depth map and the original use.
5. asus Xtion Pro and Microsoft Kinect contrast

Figure 5.1 Asus Xtion and hand contrast chart

Figure 5.2 Xtion and Kinect contrast chart

The following table collates the differences between two devices:

Property	ASUS Xtion Pro	Microsoft Kinect
Long	18cm	28cm
Wide	3.6cm	6cm
High (with base)	5cm	7.5cm
Lens part High	2.6cm	4cm
Depth Camera sensing distance	0.8m~3.5m	1.2m~3.5m
Effective perspective	70◦	Level: 57◦ Vertical: 43◦
Power supply/interface	USB2.0	External power supply + USB2.0
Sensor	Depth camera	Depth Camera +rgb camera
Can you control the motor	Whether	Motor base, tilt range: ± 27 degrees
Audio system	No	Voice Microphone Array

6. Feeling of Use

From the purchase point of view, Asus Xtion currently priced at 1399, the mainland region can only be ordered from the Asus Sales department, and the Kinect currently sees the price has dropped below 1000 yuan, the physical store and online can be more convenient to order.

Functionally, the Asus Xtion has only a depth camera, and the Kinect depth camera and RGB camera have, RGB camera, although the pixel is not high, can also use it to take pictures in the game and some useful. The current test found that Asus's depth camera was not as high as the Kinect, and that the depth image would wobble.

Overall, it feels like Asus Xtion is a little pricey, does not provide RGB cameras, no audio systems, no control motors. At present, other aspects of performance have not been tested more than the Kinect to improve and improve. Asus Xtion is a bit more usable than the Kinect: the xtion only needs a USB port to drive it, unlike the Kinect, which requires an external power supply; xtion is less hot, the Kinect starts to burn in a minute, and the xtion looks smaller and easier to place.