Towards solving real world vision problems with rgb d cameras
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CPVR 2013 Tutorial. Towards Solving Real-World Vision Problems with RGB-D Cameras. Kinect for Windows SDK+Toolkit Alisson Sol Microsoft. Before I Forget…. Lots of people helped to create the content for this presentation… Not only from K4W, but also DPE, Xbox, MSR, etc.

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Towards Solving Real-World Vision Problems with RGB-D Cameras

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Towards solving real world vision problems with rgb d cameras

CPVR 2013 Tutorial

Towards Solving Real-World Vision Problems with RGB-D Cameras

Kinect for Windows SDK+Toolkit

Alisson SolMicrosoft


Before i forget

Before I Forget…

  • Lots of people helped to create the content for this presentation…

    • Not only from K4W, but also DPE, Xbox, MSR, etc.


Kinect for windows releases

Kinect for Windows releases

  • 1.0: Feb/01/2012

  • 1.5: May/21/2012

  • 1.6: Oct/04/2012

  • 1.7: Mar/18/2013

  • Future

    • 1.X investment

    • New sensor


Environment differences

Environment Differences…

Xbox

Windows

Intel, AMD, …

USB 2.0+

Multiple devices

1 per USB controller

Win32, x64

V1: no GPU requirement

General audience

Unbounded scenarios…

  • Known CPU: PPC

  • Known bus

  • 1 device per machine

    • Only 1 supported

  • Known architecture

  • Known GPU

  • Selected audience

  • Mainly games


K4w sdk block diagram

K4W SDK Block Diagram

Managed

Applications

Runtime

Toolkit

Native

Skeletal Tracking

Drivers


Kinect sensor

KINECT SENSOR

IR Emitter

Color Sensor

IR Depth Sensor

Tilt Motor

Microphone Array


Drivers

Drivers


Runtime

Runtime

  • Sensor discovery, initialization and notification

  • Frame delivery supports event-based notification and polling models

  • Emphasis on low-latency, low per-frame allocations

  • Supports virtual sensors, including test tools and Kinect Studio


Skeletal tracking output

Skeletal Tracking - Output

KinectSensorkinect = null;

voidStartKinectST()

{

kinect= KinectSensor.KinectSensors.FirstOrDefault(s => s.Status== KinectStatus.Connected);

// Get first Kinect Sensor

kinect.SkeletonStream.Enable(); // Enable skeletal tracking

skeletonData = newSkeleton[kinect.SkeletonStream.FrameSkeletonArrayLength]; // Allocate ST data

kinect.SkeletonFrameReady+= new EventHandler<SkeletonFrameReadyEventArgs>(kinect_SkeletonFrameReady);

// Get Ready for Skeleton Ready Events

kinect.Start(); // Start Kinect sensor

}

privatevoidkinect_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)

{

using (SkeletonFrameskeletonFrame = e.OpenSkeletonFrame()) // Open the Skeleton frame

{

if (skeletonFrame != null && this.skeletonData != null) // check that a frame is available

{

skeletonFrame.CopySkeletonDataTo(this.skeletonData); // get the skeletal in this frame

... HANDLE SKELETAL DATA HERE ...

}

}

}


Questions

Questions?

  • K4W links

    • Download the SDK & Toolkithttp://go.Microsoft.com/fwlink/?LinkId=236070

    • Software support forumshttp://go.Microsoft.com/fwlink/?LinkId=236056

    • Sensor support and repairhttp://go.Microsoft.com/fwlink/?LinkId=236069

    • Samples onlinehttp://kinectforwindows.codeplex.com/


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