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Kinect PF-Localization

Wed, 06/13/2012 - 01:23 — eng.basim

Hi all, Hope you coding fine :)

I'm trying to make a real time Kinect-Encoder Partical Filter application. but, I have some questions about the pf-localization app.



1. What's the benfit of the ground truth function in the app (getGroundTruth)?
2. Can I replace rawlog entry by an infinte counter?
3. what's the rawlog offset and does it have a benfit ?


Thanks for your help in advance :)
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Wed, 06/13/2012 - 03:04 — jlblanco
jlblanco's picture

Hi, 

 

> 1. What's the benfit of the ground truth function in the app (getGroundTruth)?

It's only useful for simulated datasets, to compare the quality of the estimated paths. For real-word datasets just ignore it.


> 2. Can I replace rawlog entry by an infinte counter?

Sure.


> 3. what's the rawlog offset and does it have a benfit ?

It's useful for working with datasets (not live), to skip the first N sensor readings, e.g. if for some reason one wants to skip straight to the middle of the dataset and ignore the first part. 

 

Cheers,
JL

 

 

Wed, 06/13/2012 - 15:33 — eng.basim
eng.basim's picture

Thanks for the reply Dr. Jose :)

Wed, 06/13/2012 - 23:02 — eng.basim
eng.basim's picture

I finished interfacing with the kinect successufully with now errors and it worked,

just the last question, How to open the .Simplemap file? and extract .png or the map image?

Tue, 06/26/2012 - 18:11 — jlblanco
jlblanco's picture

Great!

You can do that with the app observations2map.

Cheers,
JL