Using a Kinect sensor to monitor arm movements and update robotic arm accordingly

1. Install libfreenect, gfreenect, and Skeltrack as per these instructions: http://tayyabnaseer.blogspot.com/2012/05/installing-skeltrack-on-ubuntu.html

   Note: I had trouble installing this on Ubuntu 13.10. If you do too, follow these instructions: http://openkinect.org/wiki/Getting_Started#Ubuntu_Manual_Install The important part for me was the bit after the "Quick copy-paste instructions to get up-and-running instantly:" code.

   If you're having trouble getting it to build, refer to the solution on this page: joaquimrocha/Skeltrack#15

2. Make sure your common.mk in /eecs467/src is unchanged from the eecs467 repository. To check this, run "git diff /eecs467/src/common.mk". If there's any output, run "git checkout /eecs467/src/common.mk"

3. Run "make clean all"

Output binaries:

kinectarm_app: Accepts LCM messages on joint positions and actuates arm servos

kinectvision_app:

To record a set of data simply run:

fakenect-record <directory-to-record>

After recording, you should be able to play it back like this using glview:

LD_PRELOAD="/usr/local/lib64/fakenect/libfreenect.so" FAKENECT_PATH="<path-into-directory>" freenect-glview 

For some reason this doesn't work with the cpp wrapper, so we might want to use the c version of the code.

valgrind --dsymutil=yes --tool=callgrind ../../bin/kinectvision_app callgrind_annotate callgrind.out.5285 callgrind_annotate callgrind.out.5381 filter.cpp | less valgrind --tool=cachegrind ../../bin/kinectvision_app cg_annotate --show=Dr,Dw cachegrind.out.5481 | less kachegrind callgrind.out.5381