Running the Kinect package¶

Step 1: Find all connected Kinect devices¶

Run

./bin/KinectUtil list

to list all Kinect devices connected to the host computer.

Step 2: Camera calibration¶

Option 1: Factory calibration¶

Run

sudo ./bin/KinectUtil getCalib <camera index>

to download factory calibration data from the <camera index>-th Kinect device on the host's USB bus (with the first device having index 0) and create an intrinsic camera calibration file for that device in the Kinect package's configuration file directory.

Option 2: Intrinsic calibration¶

Run

./bin/RawKinectViewer <camera index>

to intrinsically calibrate the <camera index>-th Kinect device on the host's USB bus (with the first device having index 0), using a semi-transparent checkerboard calibration target (see next section for details). This generates a binary IntrinsicParameters-<serial number>.dat file in <Vrui install dir>/etc/Kinect-<version>, where <serial number> is the unique factory-assigned serial number of the Kinect device as displayed in step 1.

Note

Either of the above options only have to be performed once for each Kinect device, unless the resulting calibration proves unsatisfactory. Kinect devices typically retain their intrinsic calibration over time.

Step 3¶

Run

./bin/KinectViewer -c <camera index>

where <camera index> is the zero-based index of the Kinect device to use if there are multiple ones.