the not so short introduction to kinect
DESCRIPTION
重庆LUG8期聚会KINECT主题PPTTRANSCRIPT
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About Me
Chongqing University bachelor (单身汉)A boy couldn't stop dreamingBike travelling
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About Him
•Dr.•Sensor related•Poet (魔幻现实主义)
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About the Lab
•50% Idle•25% Computer•20% Programmer•5% Student/Paper
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About You?
Programming dummy?Linux || Windows?Understand 3D?Work with the Kinect?
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The Contentswhat u will learn today
体感操作, Kinect , OPENNI 介绍基本程序设计Working with Depth ImageWorking with Point Clouds ( * )Working with Skeleton Data & TrackingKinect Hacks
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昨夜西风凋碧树 , 独上高楼 , 望尽天涯路
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Buy it!
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Inside Kinect
TeardownPrincipleHardwarePerformace
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Hardware & teardown
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http://www.ifixit.com/Teardown/Microsoft-Kinect-Teardown
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Kinect Hardware
•RGB camera•IR depth sensor•IR projector•Audio device
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Take a closer look
Noise at edges(shoulders)Depth shadowsMisalignment between the color and depth imagesFrame rate(30 vs 60)
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Behind Kinect
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TOF
•Time of Flight•以色列公司 3DV ( 09 年微软收购)•光飞行时间,飞秒 (1e−15) 级快门•砷化镓,使其时钟频率提高到上百•高成本,难以适应消费电子品•Natal 并不是基于 ToF 的原理
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Light Coding (光编码)
•连续的照明(而非脉冲)•普通的 CMOS 感光芯片(低成本)•结构光技术(三维纵深的“体编码” )•激光散斑( laser speckle )
http://www.javaforge.com/wiki/103639 http://www.wipo.int/pctdb/en/wo.jsp?WO=2007043036 http://www.freepatentsonline.com/7433024.pdf
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Exemplar
•机器学习系统•TB 计的数据训练集
1.寻找移动部位(背景分离,分割遮罩)2.辨认身体部位可能性3.模型匹配:生成骨架系统
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Audio
•Something we forget•Supported by OpenNI, not by SensorKinect
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More About Audio (题外话)•“Sound Wave”•微软研究院和华盛顿大学•利用多普勒效应,使用笔记本内置的扬声器和麦克风开发出类似 Kinect 的姿势感知系统•低成本•识别精度能达到 90% 以上•用手势玩俄罗斯方块游戏(视频)
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Concepts
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http://en.wikipedia.org/wiki/Natural_user_interface
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Next generation interface
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Wii Remote
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ASUS Xtion
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Kinect
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Project Glass
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Development
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http://www.openni.org/
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http://code.google.com/p/simple-openni/
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http://openkinect.org/wiki/Main_Page
https://github.com/OpenKinect/libfreenect
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Architecture
Quick view(*)
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OpenNI
•Short for “Open Natural Interface”•Multi-langue•Cross-platform•Standard & Infrastructure
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向后兼容
使用 openNI 开发的程序在以后的版本中都可以继续使用 , 因为开发人员可以毫无顾虑的更新 openNI到最新的版本。
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OpenNI Framework(1)
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抽象分层视图
•Top: 代表软件,在 OpenNI 顶部,实现了自然交互的应用程序。•Middle: 代表 OpenNI ,提供通信接口,同时连接传感器和中间件组件,后者分析来自传感器的数据。•Bottom: 硬件设备,捕捉现场的视频和音频内容。
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OpenNI Framework(2)
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通用的框架工具集
•一个 USB 抽象访问层•一些基本数据类型的实现(包括列表,哈希,等等)•系统日志和转储•内存和性能分析•活动(授权要注册的回调函数到一个特定的事件)•任务调度•不是标准 OpenNI 的一部分( * )
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Callback func
•函数指针•注册•事件响应
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OpenNIの构成
Generator Metadata Capability
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Generator
注:绿色已经有,红色计划中,后略
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生产节点
•单位集•生产性角色•使用较低水平的生产节点•“有意义的三位数据”
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Sensor Related
•Device•Depth Generator•Image Generator•IR Generator•Audio Generator
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Middleware Related
•Gesture Generator•Scene Analyzer•Hands Generator•User Generator•//provided by NITE
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Record & Play
•Recoder•Player•Codec
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Matadata
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Capability
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NITEの构成
SessionDetector
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Middleware
•Full body analysis•Hand point analysis•Gesture detection•Scene Analyzer
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Session
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Detector
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衣带渐宽终不悔,为伊消得人憔悴。
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Hello world!
•Preparation•The program
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Software Preparation
•OpenNI+NITE•Avin’s SensorKinect•Processing(*)•SimpleOpenNI(*)
https://github.com/avin2/SensorKinect
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Here’s the code,too young too simple
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import SimpleOpenNI.*;SimpleOpenNI kinect;
void setup(){ size(640*2, 480); kinect = new SimpleOpenNI(this);
kinect.enableDepth(); kinect.enableRGB();}
void draw(){ kinect.update();
image(kinect.depthImage(), 0, 0); image(kinect.rgbImage(), 640, 0);}
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Understand the code
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import SimpleOpenNI.*;SimpleOpenNI kinect;
•Import the library•Declare the SimpleOpenNI object
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void setup(){ size(640*2, 480); kinect = new SimpleOpenNI(this);
kinect.enableDepth(); kinect.enableRGB();}
•Declare the size of app•Instantiate the object•Call two method
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void draw(){ kinect.update();
image(kinect.depthImage(), 0, 0); image(kinect.rgbImage(), 640, 0);}
•Get fresh data from kinect•Place the image
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Working with depth map
•R G B•纯黑代表无穷远,纯白代表无穷近•Demo:ex03_basic_depth_plus_rgb
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More about depth map
•Projective•Realworld•Z值相同,代表深度,单位 mm•ConvertProjectiveToRealWorld()
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The Kinect coordinate system
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Demo
chPC_ex12_obj_in_point_cloud
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范围以及精确性
•最近距离: about 0.5(?)•最远距离: 10m•GetDeviceMaxDepth()•官方建议: 1.2 – 3.6米•近远精确性比较
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Working with Point Clouds(*)
Welcome to the Third Dimension3d reconstructionE.g:KinectFusion PCL
http://pointclouds.org/
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DEMO
chPC_ex05_rotating_point_cloud
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Working with Skeleton Data
•User Detection•Joints & Skeleton•Distance in 3D•Scene Map, Com•Tracking
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User Detection
•Calibration or not•Stages in Process
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Joints & Skeleton
•Joints•Distance between two joints in 3D
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WindowsSDK: 20 joints(all)
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OpenNI: 24 joints
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DEMO
chSK_ex02_skel_anatomy
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Scene Map
•Background remove•User pixels•Center of Mass
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Demo
•chSK_scene_map•chSK_scene_image•chSK_center_of_mass
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How
•kinect.enableScene();•sceneMap = kinect.sceneMap();•if(sceneMap[i] == n)
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Tracking
Demo:PointViewer
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众里寻他千百度,蓦然回首,那人却在,灯火阑珊处。
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Kinect Hacks
Apps out of boxCreate your own cool stuffsLiving coding with VS & Cpp
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Media Art
Demo: chDE_face_changing
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How
•Collision detection•kinect.getJointPositionSkeleton()•kinect.convertRealWorldToProjective()•Picture scala
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Computer Interface
Demo:Minority Report(*)Demo:2D TrackPadDemo:Hotpoint 3D
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FAAST
•Key event mapping•Game playing
http://projects.ict.usc.edu/mxr/faast/
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Sex Game Controller
•DEMO: 宅男妄想地带•Microsoft: NO!!
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Sorry, Bill
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Control emacs(*)
•Map(Joint position + gesture, key event)
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Kinect Visual Camera(*)
http://www.kinectdevs.com/forums/kinect-virtual-camera-kinect-webcam-f17
![Page 104: The not so short introduction to Kinect](https://reader035.vdocuments.site/reader035/viewer/2022062312/555600a5d8b42a3f168b466e/html5/thumbnails/104.jpg)
The following demo need a better computer for higher GPU
support
![Page 105: The not so short introduction to Kinect](https://reader035.vdocuments.site/reader035/viewer/2022062312/555600a5d8b42a3f168b466e/html5/thumbnails/105.jpg)
kinect-ultra(*)
一秒钟凹凸曼合体!完成你童年时候的梦想Video
http://code.google.com/p/kinect-ultra/
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kinect-kamehameha(*)
![Page 107: The not so short introduction to Kinect](https://reader035.vdocuments.site/reader035/viewer/2022062312/555600a5d8b42a3f168b466e/html5/thumbnails/107.jpg)
MikuMikuDance(*)
初音妹子Video
![Page 108: The not so short introduction to Kinect](https://reader035.vdocuments.site/reader035/viewer/2022062312/555600a5d8b42a3f168b466e/html5/thumbnails/108.jpg)
http://www.kinect-hacks.com/openni
What do you want to make?
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reference•http://viml.nchc.org.tw•Visualization and Interactive Media Laboratory of NCHC•国家科學視算與互動媒體實驗室
•http://www.javaforge.com/wiki/103532•Kinect for PC Wiki•中文
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Thanks!You are the controller.Q & AHang [email protected]://www.xhbang.com
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This is basic template
Do not delete this page