infotabor23

2023 stuff

Kinect

Control with hand gestures using an Xbox 360 kinect sensor.

Setting up

• Kinect for Windows SDK v1.8
• Kinect for Windows Developer Toolkit v1.8 (not required, very useful)
• .NET framework 4.8

Add the driver to C# project

• in Visual Studio
• under the Solution menu right click References and Add reference...
• navigate to the directory where the xbox driver is installed and select Microsoft.Kinect.dll
• now Microsoft.Kinect can be imported

Controls

Jump to enable/disable the tracking. Left hand operates throttle (raised left hand = more gas, lowered left hand is reverse); wave right hand left/right to steer.

Cube

Follows any ArUco marker.

CLI arguments:

• --nows: do not connect to the robot (display only)
• --host: the websocket connection string of the robot
• --ipcam: VideoCapture source (MJPEG stream connection string)

Fine tuning:

• SANITYCHECK: number of frames after which the tracker is dropped
• MAX_SPEED: [0; 1] speed limit for the robot (distance to target is interpolated between max and base speed - the closer the target is, the slower the robot goes)
• BASE_SPEED: [0; 1] minimal speed to commute with

Human

Follows any person, using opencv's builtin HOG people detector.

CLI arguments & fine tuning: same as Cube

+ MIN_CONFIDENCE: lower bound of detecting a human

Engsim

Sillygoofy engine "simulator" using gamepad input, made with svelte.