Software
Control of multiple Intel RealSense cameras
The software uses the Intel RealSense SDK 2.0 and runs on Windows. The package is divided into two executables:
MultiBagWriter: Display and storage in ROS bags all the streams produced by the cameras at the maximum framerate (up to 30 fps). Each camera works in a free-run mode and, thus, their frames are not temporally synchronized. The software supports cameras for visual odometry (Realsense T265).
MultiBagReader: it opens the bags, divides the RealSense pipelines to have single streams in each pipeline, and then reports all the acquired frames to a global temporal reference, thus performing software synchronization.
Control of multiple Azure Kinect cameras
Multiple Azure Kinect GUI is an MFC-based GUI application for the control of multiple (or a single) Azure Kinect cameras connected to multiple (or a single) working PC (Windows based).
This software is a wrapper of the Azure Kinect SDK and Azure Kinect Body Tracking SDK. Its main features are:
Handling of multiple cameras on single or multiple PCs
A graphical user interface to manage cameras and options
Body Tracking enabled or disabled depending on the aims
Data storage of single multimodal pictures or Matroska (.mkv) videos
Matroska video playback (also multiple videos) and data export
Picture taker from an Azure Kinect with GPS info
The software saves single multimodal pictures on the local drive. Each jpg image is enriched with the position of the acquisition system if a GPS receiver is connected to the PC (Windows based).
Tested with VK-172 USB GPS Dongle receiver (U-Blox module).
Lidar capture for Apple Devices
The software takes color, depth (disparity) and depth (measures) data to the File folder of the device. It requires IOS 16.2+ and a lidar-enabled device.
Tested on Ipad Pro 2022 M2 (11").