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Contents
1 System Requirements
1.1 iPi Recorder
1.2 iPi Mocap Studio
2 Software Installation
2.1 iPi Recorder
2.1.1 Components
2.2 iPi Mocap Studio
3 Recording Video from Two Depth Sensors
3.1 Environment
3.2 Actor Clothing
3.3 Recording Process
4 Calibration
4.1 The first configuration
4.1.1 Preparations
4.1.2 Recording Calibration Video
4.1.3 Processing Calibration Video
4.2 The second configuration
4.2.1 Preparations
4.2.2 Recording Calibration Video
4.2.3 Processing Calibration Video
5 Recording Actor's Performance
6 Performance Tips
6.1 Recommended layout of an action video
6.2 T-pose
6.3 Takes
6.4 Iterations
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System Requirements
iPi Recorder
Computer (desktop or laptop):
CPU: x86 compatible (Intel Pentium 4 or higher, AMD Athlon or higher), dual- or quad- core is preferable
Operating system: Windows 8, 7, XP SP3, Vista (x86 or x64)
USB: at least two USB 2.0 or USB 3.0 controllers
For more info see USB controllers
ExpressCard slot (for laptops)
Optional, but highly recommended. It allows to install external USB controller in case of compatibility issues between
cameras and built-in USB controllers, or if all USB ports are in fact connected to a single USB controller
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Storage system: HDD or SSD or RAID with write speed at least 55 MByte/sec
Two Microsoft Kinect sensors, or ASUS Xtion Live sensors, or PrimeSense Carmine 1.08 sensors
To choose see Depth Sensors Comparison
Optional: active USB 2.0 extension cables (http://www.amazon.com/s/ref=nb_sb_noss?url=search-alias%3Daps&fieldkeywords=active+USB+2.0+extension+cable&x=14&y=22)
Optional: Kinect Adjustable Tripod Stands (http://www.amazon.com/gp/product/B004TJSLEK/ref=as_li_tf_tl?ie=UTF8&
tag=wwwipisoftcom-20&linkCode=as2&camp=217145&creative=399373&creativeASIN=B004TJSLEK)
Minimum required space: 3m by 3m (10 by 10 feet)
Software Installation
iPi Recorder
Before installation:
unplug all cameras from computer
Download (http://files.ipisoft.com/iPiRecorderSetup.exe) and run the setup package of the latest version of iPi Recorder. You will be
presented with the following dialog.
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Components
If some of the components is already installed, it has no checkbox and is marked with ALREADY INSTALLED label. You should not
install all optional components in advance, without necessity. All of them can be installed separately at later time. Components
descriptions below contain corresponding download links.
Microsoft .NET Framework 4 - Client. This is required component and cannot be unchecked.
This is basic infrastructure for running .NET programs. iPi Recorder is a .NET program.
Web installer: http://www.microsoft.com/en-us/download/details.aspx?id=17113
Standalone installer: http://www.microsoft.com/en-us/download/details.aspx?id=24872
Playstation3 Eye Webcam :: WinUSB Drivers Registration. Check if you plan to work with Sony PS Eye cameras.
Device drivers for PS Eye camera.
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Download (http://files.ipisoft.com/iPiMocapStudioSetup.exe) and run the latest setup package of iPi Mocap Studio. You will be
presented with the following dialog:
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Environment
For a single or dual depth sensor configuration, you need a minimum of 10 feet by 10 feet space (3 meters by 3 meters). At smaller
space, actor simply wont fit into view of cameras. Capture area is about 7 by 7 feets (or 2 by 2 meters), both for single and dual
configuration.
It is convenient to put each Kinect Sensor on a chair or a table. The picture below will help you to understand sensor field of view and
possible distance from actor:
Side view
Top view
Below in #Calibration section you will find information on 2 recommended sensors' mutual configuratioins.
Actor Clothing
Current version uses only depth information to track motions. So clothes requirements are:
no restrictions on clothes colors (just avoid shiny fabrics)
please use slim clothes to reduce noise in resulted animation
Recording Process
Please record a video using iPi Recorder application. It supports recording with Sony PlayStation Eye cameras, depth sensors (Kinect)
and DirectShow-compatible webcams (USB and FireWire).
iPi Recorder is a stand-alone application and does not require a powerful video card. You may choose to install it on a notebook PC for
portability. Since it is free, you can install it on as many computers as you need.
Please run iPi Recorder and complete setup and background recording steps following the instructions: iPi Recorder Setup
Calibration
Calibration is the process of computing accurate camera positions and orientations from a video of user waving a small glowing object
(called marker). This step is essential and required for multi-camera system setup.
Important. Once you calibrated the camera system, you should not move your cameras for subsequent video shoots. If you move at
least one camera, you need to perform calibration again.
There are two possible arrangements of the two sensors:
1. angle between sensors is between 60 and 90 degrees;
2. angle between sensors in near to 180 degrees that means that sensors are placed opposite to each other.
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Top view
http://wiki.ipisoft.com/User_Guide_for_Dual_Depth_Sensor_Configurati...
Side view
Preparations
Please note that starting from version 2.4.1.156, iPi Mocap Studio also supports calibration with the aid of glowing marker
like flashlight. For additional information please see this article.
For calibration purposes flat rectangular veneer/plywood/cardboard/pasteboard/foamboard is used:
horizontal size should be at least 0.5m (1m - 1.3m is recommended);
vertical size should be at least 0.7m (1m - 1.5m is recommended);
hold it vertically in front of yourself on outstretched arms;
make sure that this calibration board is good visible in both sensors (the amount of yellow is low in the area of the board).
Good
good size
good depth data
Bad
too many yellow (no depth data) points
too small
too close to human body
Important! Yellow color in the depth map means "depth here is unknown". Thus it is important to minimize the amount of yellow points
using appropriate materials and clothes.
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Note that is important to have variety in board positions: closer and more far from the sensors.
Good
the calibration plane is good visible in both sensors
Bad
the calibration plane is not visible in the left sensor
Please open the captured video in the iPi Studio and check the following:
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The floor (ground) is good visible on the depth maps from both sensors
The calibration board is good visible on the depth maps most the time
The calibration board is moving and has variety in distances to the sensors
The amount of yellow points is relatively small
After that it is convenient to turn off visualization of background points (View -> Hide Background).
Set the beginning of Region of Interest (ROI) to the point where calibration plane is good visible in both sensors.
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Top view
Side view
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Preparations
In this case flat rectangular veneer/plywood/cardboard/pasteboard is also used. But this box is held in one near-straight arm side by side
with body. Each Kinect sensor sees different sides of board. Thus thickness of the board should not exceed 3 cm.
Good
the calibration plane is good visible in both sensors
Bad
the calibration plane is not visible in the left sensor
After that you can act desired motions. If you make several takes of one actor, you do not need to record T-pose again.
To stop recording, press Stop button.
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Performance Tips
Recommended layout of an action video
Enter the actor.
Strike a T-pose.
Action
T-pose
It is preferable to have actor strike a T-pose before the actual action. The software will need T-pose for building actor appearance
model during tracking. If you make several takes of one actor you do not need to re-record T-pose before each take.
When using the depth sensors, it is recommended to face the palms down, as it corresponds to the default orientation of the model's hand
bones. When using color cameras, it is recommended to face the palms forward, as it helps the software in determining the right color for
the model's hands.
Takes
Take (http://en.wikipedia.org/wiki/Take) is a concept originating from cinematography. In a nutshell, take is a single continuous recorded
performance.
Usually it is a good idea to record multiple takes of the same motion, because a lot of things can go wrong for purely artistic reasons.
Iterations
A common problem with motion capture is clipping in resulting 3D character animation. For example, arms entering the body of
animated computer-generated character. Many CG characters have various items and attachments like a bullet-proof vest, a fantasy
armor or a helmet. It can be easy for an actor to forget about the shape of the CG model.
For this reason, you may need to schedule more than one motion capture session for the same motions. Recommended approach is:
Record the videos
Process the videos in iPiStudio
Import your target character into iPiStudio and review the resulting animation
Give feedback to the actor
Schedule another motion capture session if needed
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(http://www.ipisoft.com/forum/viewtopic.php?f=3&t=5421) based on his experience with motion capture for Clear Skies III.
Well, obviously not quite that much. But anyway, if you dont, youll find the arms clip slightly into the models and they look daft.
If you have a lot of capture to do, you need to strike a balance between short and long recordings. Aim for 30 seconds to 2 minutes. Too
long is a pain to work on later due to the fiddlyness of setting up takes, and too short means you are forever setting up T-poses.
Takes
Because motion capture is not a perfect art, and neither is acting, its best to perform multiple takes. I found that three was the best
amount for most motion capture. Take less if its a basic move, take more if its complex and needs to be more accurate. It will make life
easier for you in the processing stage if you signal the break between takes I did this by reaching out one arm and holding up fingers to
show which take it was.
Naming conventions
As its the same actor looking exactly the same each and every time, and there is no sound, and the capture is in lowres 320*200, you
really need to name the files very clearly so that you later know which act, scene, character, and line(s) the capture is for.
My naming convention was based on act, scene, character, page number of the scene, line number, and take number. You end up with
something unpleasant to read like A3S1_JR_P2_L41_t3 but its essential when youve got 1500 actions to record.
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Clean-up
Once initial tracking is performed on all (or part) of your video, you can begin cleaning out tracking errors (if any). Post-processing
should be applied after clean-up.
Go toward the last frame of tracking gap, to a frame where actor pose is distinctive (no occlusion, no motion blur etc.).
If necessary, use Rotate, Move and Inverse Kinematics tools to edit character pose to match actor pose on video.
Turn off Trajectory Filtering (set it to zero) so that it does not interfere with your editing.
Click Refit Pose button to get a better fit of character pose.
Click Track Backward button.
Stop backward tracking as soon as it comes close to the nearest good frame.
If necessary, go back to remaining parts of tracking gap and use forward and backward tracking to clean them up.
Tracking refinement
After the primary tracking and cleanup are complete, you can optionally run the Refine pass (see Refine Forward and Refine
Backward buttons). It slightly improves accuracy of pose matching, and can automatically correct minor tracking errors. However, it
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takes a bit more time than the primary tracking, so it is not recommended for quick-and-dirty tests.
Important. Refine should be applied with the same tracking parameters (e.g. feet tracking, head tracking) as the primary tracking in
order not to lose previously tracked data.
Important. Refine should be applied before motion controller data. Also, if you plan to manually edit the animation (not related to
automatic cleanup with Refit Pose), then also do this after applying Refine.
In contrast to the primary tracking, this pass does no pose prediction, and bases its computations solely on the current pose in a frame.
Essentially, running Refine is equal to automatically applying Refit Pose to a range of frames which were previously tracked.
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Default rig
http://wiki.ipisoft.com/User_Guide_for_Dual_Depth_Sensor_Configurati...
Bone names
By default iPi Studio exports a T-pose (or a reasonable default pose for custom rig after motion transfer) in the first frame of animation.
In case when it is not desired switch off "Export T-pose in first frame" checkbox.
MotionBuilder
Use the Export Animation for MotionBuilder menu item to export your motion in MotionBuilder-friendly BVH format. MotionBuilderfriendly skeleton in T-pose has zero rotations for all joints, with bone names consistent with MotionBuilder conventions. This format may
also be convenient for use with other apps like Blender.
3D MAX Biped
Use the Export Animation for 3D MAX menu item to export your motion in 3D MAX-friendly BVH format.
Create a Biped character in 3D MAX (Create->Systems->Biped). Go to Motion tab. Click Motion Capture button and import
your BVH file.
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Step 2
Step 3
Step 4
Our user Cra0kalo created an example Valve Biped rig for use with 3D MAX (http://www.ipisoft.com/forum/viewtopic.php?f=2&
t=4928) . It may be useful if you work with Valve Source Engine characters.
Maya
Latest versions of Maya (starting with Maya 2011) have a powerful biped animation subsystem called "HumanIK". Animations exported
from iPiStudio in MotionBuilder-friendly format (the Export Animation for MotionBuilder menu item) should work fine with Maya
2011 and HumanIK. The following video tutorials can be helpful:
Maya HumanIK Mocap retarget with iPi Mocap Studio, by Wes McDermott (http://vimeo.com/57823600)
Non-Destructive Live Retargeting Maya 2011 New Features (http://www.youtube.com/watch?v=l1hV8BqsCEA)
Motion Capture Workflow With Maya 2011 (http://vimeo.com/24351989)
Humanik Maya 2012 Part 6 (http://www.youtube.com/watch?v=IP6AwFNkmm8)
For older versions of Maya please see the #Motion Transfer and Custom Rigs section. Recommended format for import/export with older
versions of Maya is FBX.
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FBX
iPi Studio supports FBX format for import/export of animations and characters. By default, iPiStudio exports animations in FBX 6.0
format using FBX SDK 2012. If your target character is in FBX 7.0 or newer format, iPiStudio will export retargeted animation in FBX
2012 format.
Some applications do not use latest FBX SDK and may have problems importing newer version FBX files. In case of problems, your can
use Autodesk's free FBX Converter (http://usa.autodesk.com/adsk/servlet/pc/item?siteID=123112&id=10775855) to convert your
animation file to appropriate FBX version.
COLLADA
iPi Studio supports COLLADA (http://collada.org) format for import/export of animations and characters. Current version of iPi Studio
exports COLLADA animations as matrices. In case if you encounter incompatibilities with other applications' implementation of
COLLADA format, we recommend using Autodesk's free FBX Converter (http://usa.autodesk.com/adsk/servlet
/pc/item?siteID=123112&id=10775855) to convert your data between FBX and COLLADA formats. FBX is known to be more
universally supported in many 3D graphics packages.
LightWave
Recommended format for importing target characters from LightWave to iPi Studio is FBX. Recommended format for bringing
animations from iPi Studio to LightWave is BVH or FBX.
SoftImage|XSI
Our user Eric Cosky published a tutorial on using iPiStudio with SoftImage|XSI:
http://www.ipisoft.com/forum/viewtopic.php?f=13&p=9660#p9660
Poser
Export your poser character in T-pose in BVH format (File->Export). Import your Poser character skeleton into iPi Studio (File->Import
Target Character). Your animation will be transferred to your Poser character. Now you can use File->Export Animation to export your
animation in BVH format for Poser.
Poser 8 has a bug with incorrect wrists animation import. The bug can be reproduced as follows: export Poser 8 character in T-pose in
BVH format; import your character back into Poser 8; note how wrists are twisted unnaturally as the result.
A workaround for wrists bug is to chop off wrists from your Poser 8 skeleton (for instance using BVHacker) before importing Poser 8
target character into iPi Studio. Missing wrists should not cause any problems during motion transfer in iPi Studio if your BVH file is
edited correctly. Poser will ignore missing wrists when importing resulting motion so the resulting motion will look right in Poser (wrists
in default pose as expected).
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Step 1
Step 2
Step 3
Step 4
DAZ 3D
The workflow for DAZ 3D is very similar to Poser. Import your DAZ 3D character skeleton into iPi Studio (File->Import Target
Character). Your animation will be transferred to your DAZ 3D character. Now you can use File->Export Animation to export your
animation in BVH format for DAZ 3D.
IMPORTANT: You can use DAZ character in COLLADA (.dae) format for preview, but it is strongly recommended that you use DAZ
character in BVH format for motion transfer. DAZ3D has a problem with COLLADA (.dae) format: DAZ3D Studio does not export all
bones into COLLADA (.dae). In particular, the following bones are not exported: eyeBrow, bodyMorphs. DAZ3D Studio does not use
bone names when importing motions; instead, DAZ3D Studio just takes rotations from the list of angles as though it was a flat list with
exactly the same positions as in DAZ3D internal skeleton. As the result, when you transfer the motion to a COLLADA character and
import it back into DAZ3D, the motion will look wrong. iPiStudio displays a warning about this. To avoid this problem, import your DAZ
target character in BVH format - DAZ3D Studio is known to export characters in BVH format correctly (with all bones).
You can improve accuracy of motion transfer by doing some additional preparation of your DAZ 3D skeleton in BVH format. For DAZ
3D Michael 4.0 and similar characters, you may need to clamp thigh joint rotation to zero to avoid unnatural leg bending. For DAZ 3D
Victoria 4.0, you may need to adjust foot joint rotation to change the default high heels foot pose to a more natural foot pose.
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Step 2
Step 3
Step 4
Step 5
iClone
Current version of iPi Studio can only export animation in iClone-compatible BVH format. The iMotion format is not supported as of yet.
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That means you will need iClone PRO to be able to import the motion into iClone. Standard and EX versions of iClone do not have BVH
Converter and therefore cannot import BVH files.
Workflow for iClone is straightforward. Export your animation using Export Animation for iClone menu item. Go to Animation tab in
iClone and launch BVH Converter. Import your BVH file with Default profile, click Convert and save the resulting animation in
iMotion format. Now your animation can be applied to iClone characters.
iClone expects an animation sampled at 15 frames per seconds. For other frame rates, you may need to create a custom BVH Converter
profile by copying Default profile and editing Frame Rate setting.
BVH Converted in iClone 4 has a bug that causes distortion of legs animation. iPi Studio exports an iClone-optimized BVH correctly as
can be verified by reviewing exported BVH motion in BVHacker or MotionBuilder or other third-party application. No workaround is
known. We recommend that you contact iClone developers about this bug as it is out of control of iPi Soft.
Step 1
Step 2
Step 3
Step 4
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Step 1
Step 2
Step 3
Step 4
Step 5
Step 6
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This was used until iPi Mocap Studio got DMX support. And still may be useful in case of any troubles with DMX. Please see the
following video tutorial series:
http://www.youtube.com/playlist?list=PLD4409518E1F04270
Blender
iPiStudio can export animations in Blender-friendly BVH format (File->Export animation for Blender).
Cinema4D
If you have experience with Cinema4D please help to expand this Wiki by posting Cinema4D import/export tips to Community Tutorials
(http://www.ipisoft.com/forum/viewforum.php?f=3) section of our user forum.
Evolver
iPi Studio supports importing of skinned Evolver (http://www.evolver.com) characters in COLLADA or FBX format. Import your
Evolver character skeleton into iPi Studio (File->Import Target Character). Your animation will be retargeted to your Evolver character.
Now you can use File->Export Animation to export your animation.
Evolver offers several different skeletons for Evolver characters. Here is an example motion transfer profile for Evolver "Gaming"
skeleton: evolver_game.profile.xml (http://www.ipisoft.com/downloads/motion_transfer_profiles/evolver_game.profile.xml)
Second Life
Import your Second Life character skeleton into iPi Studio (File->Import Target Character). Your animation will be transferred to your
Second Life character. Now you can use File->Export Animation to export your animation in BVH format for Second Life.
SecondLife documentation (http://wiki.secondlife.com/wiki/How_to_create_animations#Setting_up_Poser) contains a link to useful SL
avatar files (http://static-secondlife-com.s3.amazonaws.com/downloads/avatar/avatar_mesh.zip) . The ZIP file includes a BVH of the
"default pose". Be sure to have that.
See the discussion on our Forum for additional details: http://www.ipisoft.com/forum/viewtopic.php?f=2&p=7845
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Massive
Please see our user forum for a discussion of animation import/export for Massive (http://www.massivesoftware.com/) :
http://ipisoft.com/forum/viewtopic.php?f=12&t=3233
IKinema WebAnimate
Please see the following video tutorial on how to use iPi Studio with IKinema WebAnimate (http://www.ikinema.com/webanimate) :
http://www.youtube.com/watch?v=a-yJ-O02SLU
Jimmy|Rig Pro
Please see the following video tutorial on how to use iPi Studio with Jimmy|Rig Pro (http://www.origamidigital.com/typolight/index.php
/home.html) :
http://www.youtube.com/watch?v=wD1keDh3fCk
Troubleshooting
Installation problems
Potential problem: after installation, iPi Mocap Studio crashes on first start.
Possible cause: very often, this is caused by incompatible video card. Another possible reason is broken .NET Framework installation or
broken DirectX installation.
Solution: check system requirements and make sure your operating system and .NET Framework is up to date.
controller.
Please
refer
to
documentation
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Video Materials
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USB controllers
All modern computers (e.g. dual-core and better) based on Intel, AMD and Nvidia chipsets have two high-speed USB (USB 2.0)
controllers on board. That should give you enough bandwidth to be able to record with:
1. 2 depth sensors (MS Kinect, or ASUS Xtion, or PrimeSense Carmine)
2. or 4 cameras at 640x480 (raw Bayer format) at 60 FPS
3. or 6 cameras at 640x480 (raw Bayer format) at 40 FPS.
You can check how many USB 2.0 controllers you have in the Universal Serial Bus controllers section in Device Manager. Operating
system will display USB 2.0 controllers as USB Enhanced Host Controllers (not to be mistaken with USB 1.0 USB Universal Host
controllers).
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You should make sure that you have depth sensors or cameras evenly distributed between available USB 2.0 controllers. For example, if
you have 4 cameras, you should connect 2 cameras to first controller and 2 cameras to second controller. Device Manager usually shows
USB cameras as USB Composite Device at the Advanced tab of USB controller properties. If you have too many cameras
connected to single USB 2.0 controller, you should re-plug them to different USB ports.
USB hubs
If several devices are connected on the USB hub and working in parallel, then the USB bandwidth is shared among the devices.
Connecting all cameras via single USB 2.0 hub is OK only for low resolution video recording (320x240). To be able to record video at
640x480 and 60 frames per second, you should avoid connecting more than 2 cameras via single USB controller.
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Camera
USB chip
Symptoms
ASUS Xtion
(Live)
ASUS Xtion
(Live)
VIA VT6212L
(USB2)
PrimeSense
Carmine 1.08
PrimeSense
Carmine 1.08
PrimeSense
Carmine 1.08
VIA VT6212L
(USB2)
VIA
VL800(USB3)
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