The not so short
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Transcript of The not so short
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Chongqing University bachelor(单身汉)
A boy couldn't stop dreaming
Bike travelling
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•Dr.
•Sensor related
•Poet(魔幻现实主义)
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•50% Idle
•25% Computer
•20% Programmer
•5% Student/Paper
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Programming dummy?
Linux || Windows?
Understand 3D?
Work with the Kinect?
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体感操作,Kinect,OPENNI介绍
基本程序设计
Working with Depth Image
Working with Point Clouds(*)
Working with Skeleton Data & Tracking
Kinect 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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Teardown
Principle
Hardware
Performace
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Hardware & teardown
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http://www.ifixit.com/Teardown/Microsoft-Kinect-
Teardown
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•RGB camera
•IR depth sensor
•IR projector
•Audio device
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Noise at edges(shoulders)
Depth shadows
Misalignment between the color and depth images
Frame rate(30 vs 60)
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Behind Kinect
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•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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•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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•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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•Something we forget
•Supported by OpenNI, not by SensorKinect
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•“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://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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•Short for “Open Natural Interface”
•Multi-langue
•Cross-platform
•Standard & Infrastructure
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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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•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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•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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•函数指针
•注册
•事件响应
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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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•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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•Device
•Depth Generator
•Image Generator
•IR Generator
•Audio Generator
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•Gesture Generator
•Scene Analyzer
•Hands Generator
•User Generator
•//provided by NITE
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•Recoder
•Player
•Codec
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Matadata
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Capability
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Session
Detector
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•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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•Preparation
•The program
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•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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•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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•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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•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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Welcome to the Third Dimension
3d reconstruction
E.g:KinectFusion PCL
http://pointclouds.org/
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DEMO
chPC_ex05_rotating_point_cloud
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•User Detection
•Joints & Skeleton
•Distance in 3D
•Scene Map, Com
•Tracking
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•Calibration or not
•Stages in Process
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•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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•Background remove
•User pixels
•Center of Mass
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•chSK_scene_map
•chSK_scene_image
•chSK_center_of_mass
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•kinect.enableScene();
•sceneMap = kinect.sceneMap();
•if(sceneMap[i] == n)
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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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Apps out of box
Create your own cool stuffs
Living coding with VS & Cpp
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Demo: chDE_face_changing
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•Collision detection
•kinect.getJointPositionSkeleton()
•kinect.convertRealWorldToProjective()
•Picture scala
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Demo:Minority Report(*)
Demo:2D TrackPad
Demo:Hotpoint 3D
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•Key event mapping
•Game playing
http://projects.ict.usc.edu/mxr/faast/
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•DEMO: 宅男妄想地带
•Microsoft: NO!!
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Sorry, Bill
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•Map(Joint position + gesture, key event)
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http://www.kinectdevs.com/forums/kinect-virtual-camera-kinect-webcam-f17
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The following demo need a better computer for higher GPU
support
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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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初音妹子
Video
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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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