EyeTap X demo!

Beginning of the aug-mediated reality system... Showcasing that every Wednesday from 5-7pm! outside 330 Dundas Street West!

Hand Tracking (IMPROVED)

Finally fixed some of the issues in the previous hand tracker, and now it works almost as good as the one provided by NITE.

The algorithm is actually very light in resource, and I've already ported it to run on the Android. Stay tuned. =)

Odroid-X2

Just received the Odroid-X2 from www.hardkernel.com today. I've to first thank HardKernel for supporting my work by sending me the board along with the accessories. They are just simply amazing when it comes to making these decisions of giving out hardware to developers. Quick and simple.

Here I will show the difference between the X2 and X1 and the potential of such powerful devices, particularly in the field of wearable computing.

Stay tuned... =)

Amazing 20 fps on Odroid-U2

The Odroid-U2 (2Ghz!) rocks =) Thanks hardkernel for making this demo video of the real-time blob tracking + 3D rendering apps with OpenNI cameras. I'll be updating the tracker to perform as good as OpenNI hand tracker next. Still have a few bugs to address.

The source is actual opened to public! Feel free to commit or make changes to the code as you wish.

http://svn.pointclouds.org/pcl/trunk/mobile_apps/android/OpenNIRecorder/

The compilation may takes a long while to setup (see my previous blogs and README), but you can always download the apk and the openni driver to your own Android devices, and try it out.


See:

http://odroid.foros-phpbb.com/t1741-odroid-x-android-404-openni-opencv-pcl

Joy! and Thanks HardKernel for reserving the Odroid-U2! =) Donation is the only way to keep this project going.

Odroid-X + Android 4.0.4 + OpenNI + OpenCV + PCL

Finally, I've ported everything to Android! Now it even runs on Odroid-X! ;)
Check out the videos. It runs @ 30fps! with tracking! ;) Cannot ask for more from such a small machine. I will write a tutorial on how to setup these on Odroid-X next. It would be useful?

Using Accelerometer with Kinect/Xtion on Tegra 3

A trivial solution to adding accelerometer to Xtion or Kinect is:

1. Firmly attach the Xtion to the Tegra 3, hot glue is recommended :)
2. Initialize the Accelerometer callbacks (the events) and set it to 30Hz. Can go higher if we would like to smooth the data.
3. Apply a simple lowpass filter to the raw accelerometer data, and use it for the tracking next.

You can found these new implementation on my svn repository! Have fun!

Demo Video:
Coming up next!

-ray

Enable stdout and stderr for debugging Android?

$ adb shell stop
$ adb shell setprop log.redirect-stdio true
$ adb shell start

It is often a pain to output to the terminal using C++ on Android. Here is the best solution I came across!

Source: http://stackoverflow.com/questions/8870174/is-stdcout-usable-in-android-ndk

I/stdout  ( 7105): Saved 5 data points to input:
I/stdout  ( 7105):     0.162692 -0.85557 0.94647
I/stdout  ( 7105):     0.0343666 0.713827 -0.191865
I/stdout  ( 7105):     0.42557 -0.339379 -0.858582
I/stdout  ( 7105):     -0.289159 -0.268988 -0.126301
I/stdout  ( 7105):     0.64959 0.285136 -0.438644
I/stdout  ( 7105): size:5
I/stdout  ( 7105): Transformed 5 data points:
I/stdout  ( 7105):     0.862692 -0.85557 0.94647
I/stdout  ( 7105):     0.734367 0.713827 -0.191865
I/stdout  ( 7105):     1.12557 -0.339379 -0.858582
I/stdout  ( 7105):     0.410841 -0.268988 -0.126301
I/stdout  ( 7105):     1.34959 0.285136 -0.438644
I/stdout  ( 7105): has converged:1 score: 1.28964e-13
I/stdout  ( 7105):            1  2.38419e-07  1.93715e-07          0.7
I/stdout  ( 7105):   2.5332e-07            1 -2.19792e-07  -1.2368e-07
I/stdout  ( 7105): -7.45059e-08 -3.68804e-07     0.999999 -1.38581e-07
I/stdout  ( 7105):            0            0            0            1

P.S. Now Iterative Closest Point (ICP) algorithm is running on Android properly! Slow but it works! :) 3D reconstruction on Android is coming up next!

-ray