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Wow!
Motorized Tilt
RGB Camera
3D Depth Sensors
Microphone Array
openkinect.org
www.openni.org
kinectforwindows.org
Kinect for Windows
That’s not USB
You’ll need this
Xbox Kinect
What you Need
SDK
Demo 0
Hello Tilt
BGR32 Format
width in pixels
heightinpixels
Stride = Bytes Per Row
= bytes per pixel * width
= 4 * width
4 Bytes Per pixel
Byte Array:
Demo 1
Hello Colorful World
Depth data
500mm 500mm 500mm 500mm
2000mm 2030mm 2010mm 2000mm
500mm500mm500mm2500mm
Depth data
Max resolution for raw depth data is 640 x 480
2 bytes per pixel of depth data (short)
11011110
pixel pixel pixel
00001 1110101000000 1110101000001
depthInMM = pixel >> DepthImageFrame.PlayerIndexBitmaskWidth
000 000 000
Demo 2
Depth
Depth + Player Data
500mm 500mm 500mm 500mm
2000mm 2030mm 2010mm 2000mm
500mm500mm500mm2500mm
player 1
player 1
player 1player 1player 1
player 1 player 1
SkeletonStream.Enable();
var player = pixel & DepthImageFrame.PlayerIndexBitmask;
1101111000001010
Demo 3
Depth + Player Data
Skeletal Tracking
skeletonFrame.Skeletons
where skeleton.TrackingState == SkeletonTrackingState.Tracked
skeletonFrame.Skeletons
from skeleton in skeletonFrame.Skeletons
where skeleton.TrackingState == SkeletonTrackingState.PositionOnly
hand_left
wrist_left
elbow_left
shoulder_left
hand_right
wrist_right
elbow_right
shoulder_right
hip_left
head
hip_right
knee_left knee_right
ankle_rightankle_left
foot_left foot_right
hip
center
spine
shoulder_center
Skeleton.Joints[JointType]
Joint.Position (X,Y,Z)
Skeletons are mirrored
X, Y, Z in meters
Origin(0,0,0) = center of camera.
+Z is out
+X is to the right
+Y is up
Demo 3
Skeletal Tracking
Composites
+Color +
Composites
Color
Color
+
+
+
MapDepthFrameToColorFrame
MapDepthToColorImagePoint
MapDepthToSkeletonPoint
MapSkeletonPointToColor
MapSkeletonPointToDepth
Demo 4
Green Screen
Kinect Audio
Echo Cancellation
Echo Cancellation
EchoCancellationMode: None, CancellationOnly, CancellationAndSuppression
int EchoCancellationSpeakerIndex: Index of speaker to cancel
Noise Suppression
Noise Supression
bool NoiseSuppression – true, false
Automatic Gain Control
Automatic Gain Control
bool AutomaticGainControl – true, false
Beam Forming
Beam Forming
-0.875 radians
-50 degrees
0.875 radians
50 degrees
.0175 radians
10 degrees
Demo 5
Speech Recognition
Audio @!%!#!! Gotchas
Use Microsoft.Speech not System.Speech
Must run in an MTA
AEC SystemModes crash if no speaker output.
Must plug Kinect into Wall
DevicePairGuid / Qualitymetrics = crash
Should run in ThreadMode Priority Highest?
Demo 6
Beam Forming
Kinect SDK 1.5!
Seated Skeletal Tracking
Face Tracking Joint Rotation
Kinect Studio
Creative Commons Acknowledgments
• Flickr by Ian Lewis
• Flickr by major nelson
• Flickr by markodesign
• Flickr by stephantom
• Flickr by Abstract Machine
• Flickr By Aixo.co.kr
• Flickr By Andresmh
• Flickr by Antony Bennison
• Flickr by Ars Electronica
• Flickr By bm.iphone
• Flickr by campuspartymexico
• Flickr by Chris Jagers
• Flickr By ci_polla Paola Sucato
• Flickr by creepyhalloweenimages
• Flickr by cvander
• Flickr by IMAL.org
• Flickr by Institut Douglas
• Flickr by Joshua and AmberFlickr by Logon Sakai
• Flickr by openexhibits
• Flickr by Paul_Clarke
• Flickr by petyr.rahl
• Flickr by pt
• Flickr by Stilldavid
• Flickr by y3rdua
• Flickr by yesyesnono
• Flickr by yum9me
• Flickr by Jeff Howard
• Flickr by jhscreenwm
• Flickr by Kyle McDonald
• Flickr by Morten Rand-Hendriksen
• Flickr by Stuart Herbert
• Flickr by Visiophone
• Flickr by orkomedix
• Michael Zöllner and Stephan Huber at the University of Konstanz
• Openclip by J_Alves
• Openclip by jetxee
• Openclip by molumen
• Openclip by shokunin
• Openclip by Jhnri
• Openclip by Machovka
• Adafruit image of Hector Martin
Thanks!!

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Connect with your Kinect

Notes de l'éditeur

  1. When I first saw Kinect…
  2. It’s really something. Whether your 6 or 66 if you remember how to pretend, you can have fun.
  3. The gaming peripheral may have been the end of the story.. But hackers being who they are… Johnny Chung Lee and the Adafruit bounty.
  4. Exploring what the Kinect can do.
  5. Art and puppets
  6. robotics
  7. HUDs and NUIs
  8. The really out there stuff
  9. Open kinect this march just got skeleton tracking committer
  10. Retails for $250. You can develop with the Xbox Kinect, but you’ll need this to go live. But for students, educators, museums and the like – can get for $150. Also includes “near mode”. to see objects as close as 50 centimeters in front of the device without losing accuracy or precision, with graceful degradation down to 40 centimeters
  11. If you got your Kinect in a bundle, you’ll need this add –on.
  12. Our vision is a top down and a bottom up process. We use things like shadows and colors and what we know about the world to infer