Using the Kinect for Fun and Profit by Tam Hanna
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Very few devices offer as fascinating features as the Microsoft Kinect. This seminar teaches you what the Kinect can do and how you can develop for it. Attendants are recommended to bring a notebook with Visual C# 2010 express edition and the latest Kinect SDK so that they can fully profit from the talk. A sensor will be available for testing own applications.
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Using the Kinect for Fun and Profit by Tam Hanna
- 1. Using the Kinect for fun and profit
- 2. About /me • Tam HANNA – Director, Tamoggemon Holding k,s – Runs web sites about mobile computing – Writes scientific books
- 3. Agenda • Kinect – what is that? • Streams • Skeletons • Facial tracking • libfreenect • OpenNI
- 4. Slide download • http://www.tamoggemon.com/test/ Codemotion-Kinect.ppt • URL IS case sensitive
- 5. Kinect – what is that?
- 6. History - I • Depth: PrimeSense technology – Not from Redmond • First public mention: 2007 – Bill Gates, D3 conference – „Camera for game control“
- 7. Contrast detection Where does the shirt end?
- 8. Dot matrix
- 9. Shadows / dead areas
- 10. Shadows / dead areas - II
- 11. History - II • 2008: Wii ships – Best-selling console of its generation • 2009: E3 conference – Announcement of „Project Natal“ • 2010: no CPU in sensor – Takes 10% of XBox 360 CPU
- 12. History - III • 4. November 2010 – First shipment – “We will sue anyone who reverse engineers“ • June 2011 – Official SDK
- 13. System overview
- 14. Kinect provides • Video stream • Depth stream – (IR stream) • Accelerometer data • Rest: computedRest: computed
- 15. Family tree • Kinect for XBOX – Normal USB • Kinect bundle – MS-Fucked USB – Needs PSU • Kinect for Windows – Costs more – Legal to deploy
- 16. Cheap from China
- 17. Streams
- 18. Kinect provides „streams“ • Repeatedly updated bitmaps • Push or Pull processes possible – Attention: processing time!!!
- 19. Color stream • Two modes – VGA@30fps – 1280x960@12fps • Simple data format – 8 bits / component – R / G / B / A components
- 20. Depth stream • Two modes – Unlimited range – Reduced range, with player indexing
- 21. Depth stream - II • 16bit words • Special encoding for limited range:
- 22. Depth stream - III
- 23. IR stream • Instead of color data • 640x480@30fps • 16bit words • IR data in 10 MSB bits
- 24. Finding the Kinect • SDK supports multiple Sensors/PC • Find one • Microsoft.Kinect.Toolkit
- 25. XAML part <Window x:Class="KinectWPFD2.MainWindow" xmlns:toolkit="clr- namespace:Microsoft.Kinect.Toolkit;assembly=Microsoft.Kinect.Toolkit" xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation" xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml" Title="MainWindow" Height="759" Width="704"> <Grid> <Image Height="480" HorizontalAlignment="Left" Name="image1" Stretch="Fill" VerticalAlignment="Top" Width="640" /> <toolkit:KinectSensorChooserUI x:Name="SensorChooserUI" IsListening="True" HorizontalAlignment="Center" VerticalAlignment="Top" /> <CheckBox Content="Overlay rendern" Height="16" HorizontalAlignment="Left" Margin="267,500,0,0" Name="ChkRender" VerticalAlignment="Top" /> </Grid> </Window>
- 26. Code - I public partial class MainWindow : Window { KinectSensor mySensor; KinectSensorChooser myChooser; public MainWindow() { InitializeComponent(); myChooser = new KinectSensorChooser(); myChooser.KinectChanged += new EventHandler<KinectChangedEventArgs>(myChooser_KinectChanged); this.SensorChooserUI.KinectSensorChooser = myChooser; myChooser.Start();
- 27. Code - II void myChooser_KinectChanged(object sender, KinectChangedEventArgs e) { if (null != e.OldSensor) { if (mySensor != null) { mySensor.Dispose(); } } if (null != e.NewSensor) { mySensor = e.NewSensor;
- 28. Initialize stream mySensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30); mySensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30); myArray = new short[this.mySensor.DepthStream.FramePixelDataLength]; myColorArray = new byte[this.mySensor.ColorStream.FramePixelDataLength]; mySensor.AllFramesReady += new EventHandler<AllFramesReadyEventArgs>(mySensor_AllFramesReady); try { this.mySensor.Start(); SensorChooserUI.Visibility = Visibility.Hidden; }
- 29. Process stream void mySensor_AllFramesReady(object sender, AllFramesReadyEventArgs e) { ColorImageFrame c = e.OpenColorImageFrame(); DepthImageFrame d = e.OpenDepthImageFrame(); if (c == null || d == null) return; c.CopyPixelDataTo(myColorArray); d.CopyPixelDataTo(myArray);
- 30. Problem: Calibration • Depth and Color sensors are not aligned • Position of data in array does not match
- 31. Solution • CoordinateMapper class • Maps between various frame types – Depth and Color – Skeleton and Color
- 32. On Push mode • Kinect can push data to application • Preferred mode of operation • But: sensitive to proc time • If handler takes too long -> App stops
- 33. Skeletons
- 34. What is tracked? • Data format – Real life coordinates • Color-Mappable
- 35. Initialize stream if (null != e.NewSensor) { mySensor = e.NewSensor; mySensor.SkeletonStream.Enable();
- 36. Get joints void mySensor_AllFramesReady(object sender, AllFramesReadyEventArgs e) { ColorImageFrame c = e.OpenColorImageFrame(); SkeletonFrame s = e.OpenSkeletonFrame(); if (c == null || s == null) return; c.CopyPixelDataTo(myColorArray); s.CopySkeletonDataTo(mySkeletonArray); foreach (Skeleton aSkeleton in mySkeletonArray) { DrawBone(aSkeleton.Joints[JointType.HandLeft], aSkeleton.Joints[JointType.WristLeft], armPen, drawingContext);
- 37. Use joints private void DrawBone(Joint jointFrom, Joint jointTo, Pen aPen, DrawingContext aContext) { if (jointFrom.TrackingState == JointTrackingState.NotTracked || jointTo.TrackingState == JointTrackingState.NotTracked) {} if (jointFrom.TrackingState == JointTrackingState.Inferred || jointTo.TrackingState == JointTrackingState.Inferred) { ColorImagePoint p1 = mySensor.CoordinateMapper.MapSkeletonPointToColorPoint(jointFrom.Pos ition, ColorImageFormat.RgbResolution640x480Fps30); } if (jointFrom.TrackingState == JointTrackingState.Tracked || jointTo.TrackingState == JointTrackingState.Tracked)
- 39. What is tracked - I
- 40. What is tracked - II
- 41. What is tracked - III
- 42. AU‘s? • Research by Paul EKMAN • Quantify facial motion
- 43. Structure • C++ library with algorithms • Basic .net wrapper provided – Incomplete – Might change!!
- 44. Initialize face tracker myFaceTracker = new FaceTracker(mySensor);
- 45. Feed face tracker FaceTrackFrame myFrame = null; foreach (Skeleton aSkeleton in mySkeletonArray) { if (aSkeleton.TrackingState == SkeletonTrackingState.Tracked) { myFrame = myFaceTracker.Track(ColorImageFormat.RgbResolution640x480Fps30, myColorArray, DepthImageFormat.Resolution640x480Fps30, myArray, aSkeleton); if (myFrame.TrackSuccessful == true) { break; } } }
- 46. Calibration • OUCH! – Not all snouts are equal • Maximums vary
- 47. libfreenect
- 48. What is it • Result of Kinect hacking competition • Bundled with most Linux distributions • „Basic Kinect data parser“
- 49. Set-up • /etc/udev/rules.d/66-kinect.rules #Rules for Kinect ############################################# #######SYSFS{idVendor}=="045e", SYSFS{idProduct}=="02ae", MODE="0660",GROUP="video"SYSFS{idVendor}=="045 e", SYSFS{idProduct}=="02ad", MODE="0660",GROUP="video"SYSFS{idVendor}=="045 e", SYSFS{idProduct}=="02b0", MODE="0660",GROUP="video"### END ############################################# ################
- 50. Set-up II • sudo adduser $USER plugdev • sudo usermod -a -G video tamhan • tamhan@tamhan-X360:~$ freenect-glview Kinect camera test Number of devices found: 1 Could not claim interface on camera: -6 Could not open device
- 51. Set-up III
- 52. Problems • gspca-kinect – Kernel module, uses Kinect as webcam – Blocks other libraries – sudo modprobe -r gspca_kinect • Outdated version widely deployed – API not compatible
- 53. Update library • sudo foo • sudo add-apt-repository ppa:floe/libtisch • sudo apt-get update • sudo apt-get install libfreenect libfreenect- dev libfreenect-demos
- 54. libfreenect - II color stream
- 55. Implementing it • libfreenect: C++ library • Question: which framework • Answer: Qt ( what else ;) )
- 56. The .pro file QT += core gui TARGET = QtDepthFrame CONFIG += i386 DEFINES += USE_FREENECT LIBS += -lfreenect
- 57. The freenect thread • Library needs processing time – Does not multithread itself • Should be provided outside of main app
- 58. class QFreenectThread : public QThread { Q_OBJECT public: explicit QFreenectThread(QObject *parent = 0); void run(); signals: public slots: public: bool myActive; freenect_context *myContext; };
- 59. QFreenectThread::QFreenectThread(QObject *parent) : QThread(parent) { } void QFreenectThread::run() { while(myActive) { if(freenect_process_events(myContext) < 0) { qDebug("Cannot process events!"); QApplication::exit(1); } } }
- 60. QFreenect • Main engine module – Contact point between Kinect and app • Fires off signals on frame availability
- 61. • class QFreenect : public QObject • { • Q_OBJECT • public: • explicit QFreenect(QObject *parent = 0); • ~QFreenect(); • void processVideo(void *myVideo, uint32_t myTimestamp=0); • void processDepth(void *myDepth, uint32_t myTimestamp=0); • signals: • void videoDataReady(uint8_t* myRGBBuffer); • void depthDataReady(uint16_t* myDepthBuffer); • public slots:
- 62. • private: • freenect_context *myContext; • freenect_device *myDevice; • QFreenectThread *myWorker; • uint8_t* myRGBBuffer; • uint16_t* myDepthBuffer; • QMutex* myMutex; • public: • bool myWantDataFlag; • bool myFlagFrameTaken; • bool myFlagDFrameTaken; • static QFreenect* mySelf; • };
- 63. Some C++ QFreenect* QFreenect::mySelf; static inline void videoCallback(freenect_device *myDevice, void *myVideo, uint32_t myTimestamp=0) { QFreenect::mySelf->processVideo(myVideo, myTimestamp); } static inline void depthCallback(freenect_device *myDevice, void *myVideo, uint32_t myTimestamp=0) { QFreenect::mySelf->processDepth(myVideo, myTimestamp); }
- 64. Bring-up • QFreenect::QFreenect(QObject *parent) : • QObject(parent) • { • myMutex=NULL; • myRGBBuffer=NULL; • myMutex=new QMutex(); • myWantDataFlag=false; • myFlagFrameTaken=true; • mySelf=this; • if (freenect_init(&myContext, NULL) < 0) • { • qDebug("init failed"); • QApplication::exit(1); • }
- 65. Bring-up – II • freenect_set_log_level(myContext, FREENECT_LOG_FATAL); • int nr_devices = freenect_num_devices (myContext); • if (nr_devices < 1) • { • freenect_shutdown(myContext); • qDebug("No Kinect found!"); • QApplication::exit(1); • } • if (freenect_open_device(myContext, &myDevice, 0) < 0) • { • qDebug("Open Device Failed!"); • freenect_shutdown(myContext); • QApplication::exit(1); • }
- 66. • myRGBBuffer = (uint8_t*)malloc(640*480*3); • freenect_set_video_callback(myDevice, videoCallback); • freenect_set_video_buffer(myDevice, myRGBBuffer); • freenect_frame_mode vFrame = freenect_find_video_mode(FREENECT_RESOLUTIO N_MEDIUM,FREENECT_VIDEO_RGB); • freenect_set_video_mode(myDevice,vFrame); • freenect_start_video(myDevice);
- 67. • myWorker=new QFreenectThread(this); • myWorker->myActive=true; • myWorker->myContext=myContext; • myWorker->start();
- 68. Shut-Down • QFreenect::~QFreenect() • { • freenect_close_device(myDevice); • freenect_shutdown(myContext); • if(myRGBBuffer!=NULL)free(myRGBBuffer); • if(myMutex!=NULL)delete myMutex; • }
- 69. Data passing void QFreenect::processVideo(void *myVideo, uint32_t myTimestamp) { QMutexLocker locker(myMutex); if(myWantDataFlag && myFlagFrameTaken) { uint8_t* mySecondBuffer=(uint8_t*)malloc(640*480*3); memcpy(mySecondBuffer,myVideo,640*480*3); myFlagFrameTaken=false; emit videoDataReady(mySecondBuffer); } }
- 70. Format of data word • Array of bytes • Three bytes = one pixel
- 71. Format of data word - II for(int x=2; x<640;x++) { for(int y=0;y<480;y++) { r=(myRGBBuffer[3*(x+y*640)+0]); g=(myRGBBuffer[3*(x+y*640)+1]); b=(myRGBBuffer[3*(x+y*640)+2]); myVideoImage->setPixel(x,y,qRgb(r,g,b)); } }
- 72. libfreenect - III depth stream
- 73. Extra bring-up myDepthBuffer= (uint16_t*)malloc(640*480*2); freenect_set_depth_callback(myDevice, depthCallback); freenect_set_depth_buffer(myDevice, myDepthBuffer); freenect_frame_mode aFrame = freenect_find_depth_mode( FREENECT_RES OLUTION_MEDIUM, FREENECT_DEPTH_REGISTERED); freenect_set_depth_mode(myDevice,aFrame); freenect_start_depth(myDevice);
- 74. Extra processing void QFreenect::processDepth(void *myDepth, uint32_t myTimestamp) { QMutexLocker locker(myMutex); if(myWantDataFlag && myFlagDFrameTaken) { uint16_t* mySecondBuffer=(uint16_t*)malloc(640*480*2); memcpy(mySecondBuffer,myDepth,640*480*2); myFlagDFrameTaken=false; emit depthDataReady(mySecondBuffer); } }
- 75. Data extraction void MainWindow::depthDataReady(uint16_t* myDepthBuffer) { if(myDepthImage!=NULL)delete myDepthImage; myDepthImage=new QImage(640,480,QImage::Format_RGB32); unsigned char r, g, b; for(int x=2; x<640;x++) { for(int y=0;y<480;y++) { int calcval=(myDepthBuffer[(x+y*640)]);
- 76. Data is in meters if(calcval==FREENECT_DEPTH_MM_NO_VALUE) { r=255; g=0;b=0; } else if(calcval>1000 && calcval < 2000) { QRgb aVal=myVideoImage->pixel(x,y); r=qRed(aVal); g=qGreen(aVal); b=qBlue(aVal); } else { r=0;g=0;b=0; } myDepthImage->setPixel(x,y,qRgb(r,g,b));
- 77. Example
- 78. OpenNI
- 79. What is OpenNI? • Open standard for Natural Interfaces – Very Asus-Centric • Provides generic NI framework • VERY complex APIVERY complex API
- 80. Version 1.5 vs Version 2.0
- 81. Supported platforms • Linux • Windows – 32bit only
- 82. Want more? • Book – German language – 30 Euros • Launch – When it‘s done!