XroboToolkit的开发问题

[shengyin1224]

您好，感谢您们团队的贡献！

我有几个问题想咨询下：

1.我们目前想用PICO 4U去同时实现对人类头部和两只手的位姿记录，并且想记录下来ego-view的视频。我看官网提供的视频是支持对手（包括五根手指）的跟踪和记录的，但似乎延迟是要比头部和身体其他部位要更高一些？请问目前这是可以支持的嘛？

2.在第一点的基础上，是否可以实现对头和手的线速度角速度的记录呢？

3.在第一点的基础上，是否可以实现对操纵物体的位姿记录呢？

4.如果去同时遥操人类头部和两只手呢，比如在G1上，目前twist2只支持用手柄控制手的开合（这样的延迟似乎比较低），如果换成识别人手再遥操是不是会比较难做？

如果能回答我将不胜感激。

[yncjdtc]

Hi,
To answer your questions.

1. Finger tracking is based on computer vision and has therefore slightly higher latency and lower frame rate than IMU-based head tracking and Optical-IMU-fused controller tracking.
2. You may calculate the angular or linear velocity based the position. However, as the tracking algorithms are vision-based, the root data is captured in position rather than velocity.
3. Yes, of course. However, occlusions may occur and could potentially affect the precision of the tracking.
4. It is definitely possible. However, as mentioned earlier, the precision, latency and frame rate of CV-based gesture recognition are not as optimal as controller buttons. The choice is eventually based on what you want to prioritize in your own project.