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Work WithDepth Data

Kinect for Windows Video CoursesJan 2013

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Demo: How to get depth data

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Kinect For Windows SDK & Toolkit• Download SDK & Toolkit:

http://www.microsoft.com/en-us/kinectforwindows/• Install SDK & Toolkit.• Install examples provided in toolkit (DepthBasics-WPF)

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4 Steps to Get Depth Data• Find an available Kinect sensor.• Enable depth data stream.• Register stream ready event handler function.• Start capturing data.

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4 Steps to Get Depth Data – Find an available Kinect Sensor• KinectSensor object represents a Kinect sensor entity.• Enumerate all Kinect sensors and find a usable one.

foreach (var potentialSensor in KinectSensor.KinectSensors) { if (potentialSensor.Status == KinectStatus.Connected) { this.sensor = potentialSensor; break; } }

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4 Steps to Get Depth Data – Find an available Kinect Sensor• Status of Kinect sensor:

• Disconnected – Sensor has been plugged off USB port.• Connected – Sensor is ready to use.• Initializing – Sensor is being initialized.• Not powered – Sensor is connected to USB port but power line is disconnected.

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4 Steps to Get Depth Data – Enable depth data stream• KinectSensor.DepthStream implements API functions related to depth data

retrieving and processing.• Initialize to enable depth data stream:

this.sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);

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4 Steps to Get Depth Data – Register Stream Ready Event Handler Function• Register the stream event handler function to Kinect sensor so that when a

new depth frame comes in, the handler function is called to retrieve and process the data.

this.sensor.DepthFrameReady += this.SensorDepthFrameReady;

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4 Steps to Get Depth Data – Start Kinect sensor• Call KienctSensor.Start() to let Kinect sensor begin capturing the data.

try { this.sensor.Start(); } catch (IOException) { this.sensor = null; }

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Retrieve depth data• When new incoming data frame is ready, stream data ready event is

triggered.• Open image frame in stream data ready event handler function.

private void SensorDepthFrameReady(object sender, DepthImageFrameReadyEventArgs e){ using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())

{ if (depthFrame != null) { // Copy the pixel data from the image to a temporary array dpethFrame.CopyDepthImagePixelDataTo(this.depthPixels);

// Do whatever you need to do with the depth data } }

}

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Depth Pixel• In each pixel, there are 2 kinds of important information:

• Depth – The distance in millimeters between the detected objects and the sensor. This information is presented in a “short” type value.

• Player Index – If Kinect successfully detected a human, it assigns an index number to the pixels which belong to the person (called player). Kinect can trace up to 6 players so valid player index is ranged from 1 to 6. 0 is assigned to indicate the pixel does not belong to any player. This information is also presented in a “short” type value.

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• OverviewHardware overview and SDK installation

• Color• Introduction to color stream• Demo: How to get color data• Demo: ColorBasics sample

• Depth• Introduction to depth stream• Demo: How to get depth data• Demo: DepthBasics sample

• Skeleton• Introduction to skeleton stream• Demo: How to get skeleton data• Demo: SkeletonBasics sample

• Audio• Introduction to audio stream• Demo: How to capture audio• Demo: Speech recognition

• Advanced Topics• Streams sync and coordinate mapping• Demo: Streams sync and coordinates

mapping• Accelerometer and tilt angle• Demo: How to get accelerometer and tilt

angle

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Learn More About Kinect for Windows in MSDN

http://msdn.microsoft.com/en-us/library/hh855352

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Thanks

Contact us: http://social.msdn.microsoft.com/Forums/en-US/kinectsdk

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