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Connect with your. Wow!. 3D Depth Sensors. Microphone Array. Motorized Tilt. RGB Camera. openkinect.org. www.openni.org. kinectforwindows.org. Kinect for Windows. Xbox Kinect. You’ll need this. That’s not USB. What you Need. SDK. Demo 0 Hello Tilt. BGR32 Format. Byte Array:. - PowerPoint PPT Presentation
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Connect with your
Wow!
Motorized TiltRGB Camera
3D Depth SensorsMicrophone Array
openkinect.orgwww.openni.org
kinectforwindows.org
Kinect for Windows
That’s not USB
You’ll need this
Xbox Kinect
What you Need
SDK
Demo 0Hello Tilt
BGR32 Formatwidth in pixels
heig
ht in
pixe
ls
Stride = Bytes Per Row
= bytes per pixel * width = 4 * width
4 Bytes Per pixel
Byte Array:
Demo 1Hello Colorful World
Depth data500mm 500mm500mm 500mm
2000mm2030mm2010mm2000mm
500mm500mm500mm2500mm
Depth dataMax 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 2Depth
Depth + Player Data500mm 500mm500mm 500mm
2000mm2030mm2010mm2000mm
500mm500mm500mm2500mm
player 1
player 1
player 1 player 1player 1
player 1 player 1
SkeletonStream.Enable();
var player = pixel & DepthImageFrame.PlayerIndexBitmask; 11011110
00001010
Demo 3Depth + 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_leftelbow_left
shoulder_left
hand_right
wrist_rightelbow_right
shoulder_right
hip_left
head
hip_right
knee_left knee_right
ankle_rightankle_leftfoot_left foot_right
hip center
spine
shoulder_center
Skeleton.Joints[JointType]Joint.Position (X,Y,Z) Skeletons are mirroredX, Y, Z in metersOrigin(0,0,0) = center of camera.
+Z is out +X is to the right+Y is up
Demo 3Skeletal Tracking
Composites
+Color +
CompositesColor
Color
+
+
+
MapDepthFrameToColorFrameMapDepthToColorImagePoint
MapDepthToSkeletonPoint
MapSkeletonPointToColor
MapSkeletonPointToDepth
Demo 4Green Screen
Kinect Audio
Echo Cancellation
Echo CancellationEchoCancellationMode: None, CancellationOnly, CancellationAndSuppression
int EchoCancellationSpeakerIndex: Index of speaker to cancel
Noise Suppression
Noise Supressionbool 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 5Speech Recognition
Audio @!%!#!! Gotchas
Use Microsoft.Speech not System.Speech
Must run in an MTAAEC SystemModes crash if no speaker output.
Must plug Kinect into Wall
DevicePairGuid / Qualitymetrics = crashShould run in ThreadMode Priority Highest?
Demo 6Beam Forming
Kinect SDK 1.5!Seated Skeletal TrackingFace 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!!