TBD.Psi.ComponentsComponents that turn Platform for Situated Intelligence stores into ROS bags.
Yale IMG · 2022
Challenge
Yale's Interactive Machines Group captures sessions with Microsoft's Platform for Situated Intelligence (\psi), but much of the lab's robotics tooling speaks ROS. Data recorded in \psi stores couldn't be replayed or inspected with ROS tools.
Solution
I altered \psi to export its stores as ROS bags, with converters for Azure Kinect body tracking, point clouds and marker arrays, and released the components publicly.
Credits
What I did
- Psi store to ROS bag export
- Azure Kinect body tracking
- PointCloud and MarkerArray
- Public release
Tools
- C#
- .NET
- ROS
Team
Lab
Yale Interactive Machines Group