search

microsoft / Azure_Kinect_ROS_Driver

A ROS sensor driver for the Azure Kinect Developer Kit.
MIT License
302 stars 223 forks source link

3D mesh model of the azure kinect #101

Open bearpaw opened 4 years ago

bearpaw commented 4 years ago

It might be a bit irrelevant but is there a 3D mesh model of the Azure Kinect available? Thanks!

ooeygui commented 4 years ago

Hello @bearpaw , Unfortunately, due to our hardware team's policy, we are unable to provide a high resolution mesh for the Azure Kinect. The packages includes is a low resolution model which can be used for collision, positioning and 'representational' rendering.

bearpaw commented 4 years ago

Hi @ooeygui , thank you very much for your response. Yes I think a low resolution model is very useful for robotics application (like you mentioned for collision, positioning and 'representational' rendering).

Would you please let me know where is this low resolution model located? Thank you!

ooeygui commented 4 years ago

It is currently constructed using boxes in the URDF. Are you looking for a stand alone model or similar?

bearpaw commented 4 years ago

Got it, thanks! Is that the best model publicly available (just to make sure)?

ooeygui commented 4 years ago

While I cannot confirm the accuracy or suitability of the model, this might meet your needs - https://grabcad.com/library/kinect-4-azure-1.

I'm sorry I can't be more helpful here :-(

christian-rauch commented 3 years ago

An alternative mesh model without the cover can be found at: https://grabcad.com/library/camera-azure-kinect-dk-1

I also would like to see proper support for an accurate mesh model of the sensor in this repo.

@ooeygui Is it possible to ask the hardware team to verify this model and maybe ask the creator to include it in this repo?

ooeygui commented 3 years ago

The Azure Kinect team just released a high fidelity model - https://github.com/microsoft/Azure-Kinect-Sensor-SDK/tree/develop/assets.

This needs to be converted to dae, and added as a mesh resource to the URDF.

christian-rauch commented 3 years ago

Is there any progress on this? Converting the camera body to DAE should be quite easy. But someone from the engineering team should verify that the frames and transformations on the model are correct.

vstadnytskyi-FDA commented 1 year ago

The Azure Kinect team just released a high fidelity model - https://github.com/microsoft/Azure-Kinect-Sensor-SDK/tree/develop/assets.

This needs to be converted to dae, and added as a mesh resource to the URDF.

I opened it in SolidWorks and I am getting two errors in the drawing image