Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen gezeigt.

--- techniken:kinect [2013/10/15 17:08]
c.jaedicke [KinectPhysics]
+++ techniken:kinect [2016/01/21 12:45]
@@ Zeile 1: / Zeile 1: @@
-====== Kinect ======
-Die Kinect ist eine Hardware zur Steuerung der Xbox360. Mit ihr lassen sich besonders gut Tiefen-Informationen eines Raumes gewinnen und die Silhouette eines Menschen vom Raum trennen.
-Wir wollen zunächst die Kinect unter Windows für Processing einrichten. Dazu müsst ihr folgende Installationen durchführen:
-- Processing
-	- Download [[https://processing.org/download/|Processing 2.0]] oder spätere
-	- Geh in das Menü: Sketch -> Import Library -> Add Library
-	- Installiert "SimpleOpenNI"
-- Kinect SDK
-	- Download [[http://go.microsoft.com/fwlink/?LinkId=275588|Kinect SDK]]
-	- Installer starten
-Es kann sein das ihr zusätzlich noch die .NET Frameworks installieren müsst, aber darauf macht euch der Kinect SDK installier aufmerksam.
-Nach erfolgreicher Installation sollte die Kinect im Gerätemanager auftauchen.
-==== Kinect Physics Tutorial for Processing ====
-<HTML>
-<iframe src="//player.vimeo.com/video/49516871" width="500" height="281" webkitallowfullscreen mozallowfullscreen allowfullscreen></iframe>
-</HTML>
-Auf der Website [[http://www.creativeapplications.net/processing/kinect-physics-tutorial-for-processing/|http://www.creativeapplications.net]] findet ihr ein spektakuläres Tutorial zur Kinect. Da seit erstellen des Tutorials neue Versionen der SimpleOpenNI und Processing erschienen sind, solltet ihr den SourceCode aus unserem Wiki verwenden. Der Code von "creativeApplications" funktioniert leider nicht mehr.
-Außerdem benötigt ihr einige weiter Bibliotheken unter Processing um den Code ausführen zu können. Die Installation erfolgt analog zu der von SimpleOpenNI.
-Geh in das Menü: Sketch -> Import Library -> Add Library
-  * Installiert "v3ga blob detection"
-  * Installiert "Toxiclibs"
-  * Installiert "PBox2D"
-==== UserPixel ====
-Zunächst schauen wir uns eine einfache Möglichkeit an, eine Person vom Rest der Umgebung zu isolieren:
-[[http://www.creativeapplications.net/wp-content/uploads/2012/09/AmnonOwed-KinectPhysics-01.png|{{http://www.creativeapplications.net/wp-content/uploads/2012/09/AmnonOwed-KinectPhysics-01.png}}]]
-<code java>
-// UserPixel Basic Example by Corvin Jaedicke (15.08.13)
-import processing.opengl.*;
-import SimpleOpenNI.*;
-SimpleOpenNI  kinect;
-PImage  userImage;
-int userID;
-int[] userMap;
-int[] user;
-PImage rgbImage;
-void setup() {
-  size(640, 480, OPENGL);
-  kinect = new SimpleOpenNI(this);
-  kinect.enableDepth();
-  kinect.enableUser();
-}
-void draw() {
-  background(0);
-  kinect.update();
-  // if we have detected any users
-  if (kinect.getNumberOfUsers() > 0) {
-    // find out which pixels have users in them
-    user=kinect.userMap();
-    userMap = kinect.userImage().pixels;
-    // populate the pixels array
-    // from the sketch's current contents
-    loadPixels();
-    for (int i = 0; i < userMap.length; i++) {
-      // if the current pixel is on a user
-      if (user[i] > 0) {
-        // make it green
-        pixels[i] = color(0,0,255);
-      }
-    }
-    // display the changed pixel array
-    updatePixels();
-  }
-}
-void onNewUser(int uID) {
-  userID = uID;
-  println("tracking");
-}
-</code>
-==== KinectPhysics ====
-[[http://www.creativeapplications.net/wp-content/uploads/2012/09/AmnonOwed-KinectPhysics-06.png|{{http://www.creativeapplications.net/wp-content/uploads/2012/09/AmnonOwed-KinectPhysics-06.png}}]]
-<code java>
-// Kinect Physics Example by Amnon Owed (15/09/12) modified by Corvin Jaedicke (15.10.13)
-// import libraries
-import processing.opengl.*; // opengl
-import SimpleOpenNI.*; // kinect
-import blobDetection.*; // blobs
-import toxi.geom.*; // toxiclibs shapes and vectors
-import toxi.processing.*; // toxiclibs display
-import pbox2d.*; // shiffman's jbox2d helper library
-import org.jbox2d.collision.shapes.*; // jbox2d
-import org.jbox2d.common.*; // jbox2d
-import org.jbox2d.dynamics.*; // jbox2d
-// declare SimpleOpenNI object
-SimpleOpenNI context;
-// declare BlobDetection object
-BlobDetection theBlobDetection;
-// ToxiclibsSupport for displaying polygons
-ToxiclibsSupport gfx;
-// declare custom PolygonBlob object (see class for more info)
-PolygonBlob poly;
-// PImage to hold incoming imagery and smaller one for blob detection
-PImage cam, blobs;
-int[] user;
-// the kinect's dimensions to be used later on for calculations
-int kinectWidth = 640;
-int kinectHeight = 480;
-// to center and rescale from 640x480 to higher custom resolutions
-float reScale;
-// background and blob color
-color bgColor, blobColor;
-// three color palettes (artifact from me storing many interesting color palettes as strings in an external data file ;-)
-String[] palettes = {
-  "-1117720,-13683658,-8410437,-9998215,-1849945,-5517090,-4250587,-14178341,-5804972,-3498634",
-  "-67879,-9633503,-8858441,-144382,-4996094,-16604779,-588031",
-  "-1978728,-724510,-15131349,-13932461,-4741770,-9232823,-3195858,-8989771,-2850983,-10314372"
-};
-color[] colorPalette;
-// the main PBox2D object in which all the physics-based stuff is happening
-PBox2D box2d;
-// list to hold all the custom shapes (circles, polygons)
-ArrayList<CustomShape> polygons = new ArrayList<CustomShape>();
-void setup() {
-  // it's possible to customize this, for example 1920x1080
-  size(1280, 720, OPENGL);
-  context = new SimpleOpenNI(this);
-  // initialize SimpleOpenNI object
-   if(context.isInit() == false) {
-    // if context.enableScene() returns false
-    // then the Kinect is not working correctly
-    // make sure the green light is blinking
-    println("Kinect not connected!");
-    exit();
-  } else {
-    // mirror the image to be more intuitive
-    context.enableDepth();
-     context.enableUser();
-    context.setMirror(true);
-    // calculate the reScale value
-    // currently it's rescaled to fill the complete width (cuts of top-bottom)
-    // it's also possible to fill the complete height (leaves empty sides)
-    reScale = (float) width / kinectWidth;
-    // create a smaller blob image for speed and efficiency
-    blobs = createImage(kinectWidth/3, kinectHeight/3, RGB);
-    // initialize blob detection object to the blob image dimensions
-    theBlobDetection = new BlobDetection(blobs.width, blobs.height);
-    theBlobDetection.setThreshold(0.3);
-    // initialize ToxiclibsSupport object
-    gfx = new ToxiclibsSupport(this);
-    // setup box2d, create world, set gravity
-    box2d = new PBox2D(this);
-    box2d.createWorld();
-    box2d.setGravity(0, -20);
-    // set random colors (background, blob)
-    setRandomColors(1);
-  }
-}
-void draw() {
-  background(bgColor);
-  // update the SimpleOpenNI object
-  context.update();
-  //if (context.getNumberOfUsers() > 0) {
-    // find out which pixels have users in them
-    user = context.userMap();
-    cam = context.userImage();
-    // populate the pixels array
-    // from the sketch's current contents
-    //loadPixels();
-    for (int i = 0; i < cam.pixels.length; i++) {
-      // if the current pixel is on a user
-      if (user[i] > 0) {
-        // make it green
-        cam.pixels[i] = color(0,0,255);
-      }else{
-        cam.pixels[i] = color(0,0,0);
-      }
-    }
-    // display the changed pixel array
-   // updatePixels();
-//}
-  // put the image into a PImage
- // cam = context.userImage();
-  // copy the image into the smaller blob image
-  blobs.copy(cam, 0, 0, cam.width, cam.height, 0, 0, blobs.width, blobs.height);
-  // blur the blob image
-  blobs.filter(BLUR, 1);
-  // detect the blobs
-  theBlobDetection.computeBlobs(blobs.pixels);
-  // initialize a new polygon
-  poly = new PolygonBlob();
-  // create the polygon from the blobs (custom functionality, see class)
-  poly.createPolygon();
-  // create the box2d body from the polygon
-  poly.createBody();
-  // update and draw everything (see method)
-  updateAndDrawBox2D();
-  // destroy the person's body (important!)
-  poly.destroyBody();
-  // set the colors randomly every 240th frame
-  setRandomColors(240);
-}
-void updateAndDrawBox2D() {
-  // if frameRate is sufficient, add a polygon and a circle with a random radius
-  if (frameRate >10) {
-    polygons.add(new CustomShape(kinectWidth/2, -50, -1));
-    polygons.add(new CustomShape(kinectWidth/2, -50, random(2.5, 20)));
-  }
-  // take one step in the box2d physics world
-  box2d.step();
-  // center and reScale from Kinect to custom dimensions
-  translate(0, (height-kinectHeight*reScale)/2);
-  scale(reScale);
-  // display the person's polygon
-  noStroke();
-  fill(blobColor);
-  gfx.polygon2D(poly);
-  // display all the shapes (circles, polygons)
-  // go backwards to allow removal of shapes
-  for (int i=polygons.size()-1; i>=0; i--) {
-    CustomShape cs = polygons.get(i);
-    // if the shape is off-screen remove it (see class for more info)
-    if (cs.done()) {
-      polygons.remove(i);
-    // otherwise update (keep shape outside person) and display (circle or polygon)
-    } else {
-      cs.update();
-      cs.display();
-    }
-  }
-}
-// sets the colors every nth frame
-void setRandomColors(int nthFrame) {
-  if (frameCount % nthFrame == 0) {
-    // turn a palette into a series of strings
-    String[] paletteStrings = split(palettes[int(random(palettes.length))], ",");
-    // turn strings into colors
-    colorPalette = new color[paletteStrings.length];
-    for (int i=0; i<paletteStrings.length; i++) {
-      colorPalette[i] = int(paletteStrings[i]);
-    }
-    // set background color to first color from palette
-    bgColor = colorPalette[0];
-    // set blob color to second color from palette
-    blobColor = colorPalette[1];
-    // set all shape colors randomly
-    for (CustomShape cs: polygons) { cs.col = getRandomColor(); }
-  }
-}
-// returns a random color from the palette (excluding first aka background color)
-color getRandomColor() {
-  return colorPalette[int(random(1, colorPalette.length))];
-}
-</code>
-Die CustomShape Klasse
-<code java>
-// usually one would probably make a generic Shape class and subclass different types (circle, polygon), but that
-// would mean at least 3 instead of 1 class, so for this tutorial it's a combi-class CustomShape for all types of shapes
-// to save some space and keep the code as concise as possible I took a few shortcuts to prevent repeating the same code
-class CustomShape {
-  // to hold the box2d body
-  Body body;
-  // to hold the Toxiclibs polygon shape
-  Polygon2D toxiPoly;
-  // custom color for each shape
-  color col;
-  // radius (also used to distinguish between circles and polygons in this combi-class
-  float r;
-  CustomShape(float x, float y, float r) {
-    this.r = r;
-    // create a body (polygon or circle based on the r)
-    makeBody(x, y);
-    // get a random color
-    col = getRandomColor();
-  }
-  void makeBody(float x, float y) {
-    // define a dynamic body positioned at xy in box2d world coordinates,
-    // create it and set the initial values for this box2d body's speed and angle
-    BodyDef bd = new BodyDef();
-    bd.type = BodyType.DYNAMIC;
-    bd.position.set(box2d.coordPixelsToWorld(new Vec2(x, y)));
-    body = box2d.createBody(bd);
-    body.setLinearVelocity(new Vec2(random(-8, 8), random(2, 8)));
-    body.setAngularVelocity(random(-5, 5));
-    // depending on the r this combi-code creates either a box2d polygon or a circle
-    if (r == -1) {
-      // box2d polygon shape
-      PolygonShape sd = new PolygonShape();
-      // toxiclibs polygon creator (triangle, square, etc)
-      toxiPoly = new Circle(random(5, 20)).toPolygon2D(int(random(3, 6)));
-      // place the toxiclibs polygon's vertices into a vec2d array
-      Vec2[] vertices = new Vec2[toxiPoly.getNumPoints()];
-      for (int i=0; i<vertices.length; i++) {
-        Vec2D v = toxiPoly.vertices.get(i);
-        vertices[i] = box2d.vectorPixelsToWorld(new Vec2(v.x, v.y));
-      }
-      // put the vertices into the box2d shape
-      sd.set(vertices, vertices.length);
-      // create the fixture from the shape (deflect things based on the actual polygon shape)
-      body.createFixture(sd, 1);
-    } else {
-      // box2d circle shape of radius r
-      CircleShape cs = new CircleShape();
-      cs.m_radius = box2d.scalarPixelsToWorld(r);
-      // tweak the circle's fixture def a little bit
-      FixtureDef fd = new FixtureDef();
-      fd.shape = cs;
-      fd.density = 1;
-      fd.friction = 0.01;
-      fd.restitution = 0.3;
-      // create the fixture from the shape's fixture def (deflect things based on the actual circle shape)
-      body.createFixture(fd);
-    }
-  }
-  // method to loosely move shapes outside a person's polygon
-  // (alternatively you could allow or remove shapes inside a person's polygon)
-  void update() {
-    // get the screen position from this shape (circle of polygon)
-    Vec2 posScreen = box2d.getBodyPixelCoord(body);
-    // turn it into a toxiclibs Vec2D
-    Vec2D toxiScreen = new Vec2D(posScreen.x, posScreen.y);
-    // check if this shape's position is inside the person's polygon
-    boolean inBody = poly.containsPoint(toxiScreen);
-    // if a shape is inside the person
-    if (inBody) {
-      // find the closest point on the polygon to the current position
-      Vec2D closestPoint = toxiScreen;
-      float closestDistance = 9999999;
-      for (Vec2D v : poly.vertices) {
-        float distance = v.distanceTo(toxiScreen);
-        if (distance < closestDistance) {
-          closestDistance = distance;
-          closestPoint = v;
-        }
-      }
-      // create a box2d position from the closest point on the polygon
-      Vec2 contourPos = new Vec2(closestPoint.x, closestPoint.y);
-      Vec2 posWorld = box2d.coordPixelsToWorld(contourPos);
-      float angle = body.getAngle();
-      // set the box2d body's position of this CustomShape to the new position (use the current angle)
-      body.setTransform(posWorld, angle);
-    }
-  }
-  // display the customShape
-  void display() {
-    // get the pixel coordinates of the body
-    Vec2 pos = box2d.getBodyPixelCoord(body);
-    pushMatrix();
-    // translate to the position
-    translate(pos.x, pos.y);
-    noStroke();
-    // use the shape's custom color
-    fill(col);
-    // depending on the r this combi-code displays either a polygon or a circle
-    if (r == -1) {
-      // rotate by the body's angle
-      float a = body.getAngle();
-      rotate(-a); // minus!
-      gfx.polygon2D(toxiPoly);
-    } else {
-      ellipse(0, 0, r*2, r*2);
-    }
-    popMatrix();
-  }
-  // if the shape moves off-screen, destroy the box2d body (important!)
-  // and return true (which will lead to the removal of this CustomShape object)
-  boolean done() {
-    Vec2 posScreen = box2d.getBodyPixelCoord(body);
-    boolean offscreen = posScreen.y > height;
-    if (offscreen) {
-      box2d.destroyBody(body);
-      return true;
-    }
-    return false;
-  }
-}
-</code>
-Die PolygonBlob Klasse
-<code java>
-// an extended polygon class quite similar to the earlier PolygonBlob class (but extending Toxiclibs' Polygon2D class instead)
-// The main difference is that this one is able to create (and destroy) a box2d body from it's own shape
-import java.util.Collections;
-class PolygonBlob extends Polygon2D {
-  // to hold the box2d body
-  Body body;
-  // the createPolygon() method is nearly identical to the one presented earlier
-  // see the Kinect Flow Example for a more detailed description of this method (again, feel free to improve it)
-  void createPolygon() {
-    ArrayList<ArrayList<PVector>> contours = new ArrayList<ArrayList<PVector>>();
-    int selectedContour = 0;
-    int selectedPoint = 0;
-    // create contours from blobs
-    for (int n=0 ; n<theBlobDetection.getBlobNb(); n++) {
-      Blob b = theBlobDetection.getBlob(n);
-      if (b != null && b.getEdgeNb() > 100) {
-        ArrayList<PVector> contour = new ArrayList<PVector>();
-        for (int m=0; m<b.getEdgeNb(); m++) {
-          EdgeVertex eA = b.getEdgeVertexA(m);
-          EdgeVertex eB = b.getEdgeVertexB(m);
-          if (eA != null && eB != null) {
-            EdgeVertex fn = b.getEdgeVertexA((m+1) % b.getEdgeNb());
-            EdgeVertex fp = b.getEdgeVertexA((max(0, m-1)));
-            float dn = dist(eA.x*kinectWidth, eA.y*kinectHeight, fn.x*kinectWidth, fn.y*kinectHeight);
-            float dp = dist(eA.x*kinectWidth, eA.y*kinectHeight, fp.x*kinectWidth, fp.y*kinectHeight);
-            if (dn > 15 || dp > 15) {
-              if (contour.size() > 0) {
-                contour.add(new PVector(eB.x*kinectWidth, eB.y*kinectHeight));
-                contours.add(contour);
-                contour = new ArrayList<PVector>();
-              } else {
-                contour.add(new PVector(eA.x*kinectWidth, eA.y*kinectHeight));
-              }
-            } else {
-              contour.add(new PVector(eA.x*kinectWidth, eA.y*kinectHeight));
-            }
-          }
-        }
-      }
-    }
-    while (contours.size() > 0) {
-      // find next contour
-      float distance = 999999999;
-      if (getNumPoints() > 0) {
-        Vec2D vecLastPoint = vertices.get(getNumPoints()-1);
-        PVector lastPoint = new PVector(vecLastPoint.x, vecLastPoint.y);
-        for (int i=0; i<contours.size(); i++) {
-          ArrayList<PVector> c = contours.get(i);
-          PVector fp = c.get(0);
-          PVector lp = c.get(c.size()-1);
-          if (fp.dist(lastPoint) < distance) {
-            distance = fp.dist(lastPoint);
-            selectedContour = i;
-            selectedPoint = 0;
-          }
-          if (lp.dist(lastPoint) < distance) {
-            distance = lp.dist(lastPoint);
-            selectedContour = i;
-            selectedPoint = 1;
-          }
-        }
-      } else {
-        PVector closestPoint = new PVector(width, height);
-        for (int i=0; i<contours.size(); i++) {
-          ArrayList<PVector> c = contours.get(i);
-          PVector fp = c.get(0);
-          PVector lp = c.get(c.size()-1);
-          if (fp.y > kinectHeight-5 && fp.x < closestPoint.x) {
-            closestPoint = fp;
-            selectedContour = i;
-            selectedPoint = 0;
-          }
-          if (lp.y > kinectHeight-5 && lp.x < closestPoint.y) {
-            closestPoint = lp;
-            selectedContour = i;
-            selectedPoint = 1;
-          }
-        }
-      }
-      // add contour to polygon
-      ArrayList<PVector> contour = contours.get(selectedContour);
-      if (selectedPoint > 0) { Collections.reverse(contour); }
-      for (PVector p : contour) {
-        add(new Vec2D(p.x, p.y));
-      }
-      contours.remove(selectedContour);
-    }
-  }
-  // creates a shape-deflecting physics chain in the box2d world from this polygon
-  void createBody() {
-    // for stability the body is always created (and later destroyed)
-    BodyDef bd = new BodyDef();
-    body = box2d.createBody(bd);
-    // if there are more than 0 points (aka a person on screen)...
-    if (getNumPoints() > 0) {
-      // create a vec2d array of vertices in box2d world coordinates from this polygon
-      Vec2[] verts = new Vec2[getNumPoints()];
-      for (int i=0; i<getNumPoints(); i++) {
-        Vec2D v = vertices.get(i);
-        verts[i] = box2d.coordPixelsToWorld(v.x, v.y);
-      }
-      // create a chain from the array of vertices
-      ChainShape chain = new ChainShape();
-      chain.createChain(verts, verts.length);
-      // create fixture in body from the chain (this makes it actually deflect other shapes)
-      body.createFixture(chain, 1);
-    }
-  }
-  // destroy the box2d body (important!)
-  void destroyBody() {
-    box2d.destroyBody(body);
-  }
-}
-</code>

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