Example Applications

Single Test

The Single Test applications allows to run KinectFusion with Kangaroo in a single computer from one or several cameras at the same time.

Steps:

1. Arrange one or several Kinect2 cameras in fixed positions and connect them to the same computer.

2. Calibrate the infrared cameras of the Kinect2's at the same time. Check the Calibration documentation. Use one of these files instead of the generated by Vicalib to get marks for the Vicon markers: small pattern, medium pattern, large pattern.

3. Run the SingleTest application. For example, to use two Kinect2 cameras with the calibration file cameras.xml obtained in the step 2:

    ./singletest -cam freenect2:[rgb=0,ir=0,depth=1]// -cmod cameras.xml
   

You should see the GUI application with the depth images and the reconstructed 3D volume:

4. Activate the fuse option to run the 3D fusion. Deactivate the view only option at some moment to fully render the reconstructed scene.