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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] (aktuell)
@@ 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.
+Die Kinect ist eine Hardware zur Steuerung der Xbox360. Mit ihr lassen sich besonders gut Tiefen-Informationen eines Raumes gewinnen und die Bewegungen eines Menschen im Raum messen.
-Wir wollen zunächst die Kinect unter Windows für Processing einrichten. Dazu müsst ihr folgende Installationen durchführen:
+Sie misst den Abstand von Oberflächen zur Kamera an vielen verschiedenen Orten im Sichtfeld und erzeugt so eine Art Tiefen-Video, in dem die Farbe eine Pixels dem Abstand zur Kamera in mm entspricht. Zusätzlich erkennt sie Personen im Blickfeld und gibt eine Liste von Gelenkpositionen "Joint coordinates" in mm aus.
+===== Installation =====
+==== Windows ====
+Um die unter Windows für Processing einzurichten,müsst ihr folgende Installationen durchführen:
 - Processing
-	- Download [[https://processing.org/download/|Processing 2.0]] oder spätere
+	- Download [[https://processing.org/download/|Processing 2.0]] oder aktueller
-	- Geh in das Menü: Sketch -> Import Library -> Add Library
+	- Geht in das Menü: Sketch -> Import Library -> Add Library
 	- Installiert "SimpleOpenNI"
 - Kinect SDK
 	- Download [[http://go.microsoft.com/fwlink/?LinkId=275588|Kinect SDK]]
@@ Zeile 15: / Zeile 20: @@
 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.
+===== Nützliche Beispiele =====
+Die SimpleOnenNI Library kommt mit einigen Beispielen, die euch eine Idee davon vermitteln, wie ihr Daten aus der Kinekt in euer Programm bekommt.
+=== Skelettkoordinaten ===
+Wenn Ihr hauptsächlich an der Position eines vor der Kinekt stehenden Menschen interessiert seid, schaut euch mal das Beispiel **//Contributed Libraries/SimpleOpenNI/User//** an.
+In der Funktion drawSkeleton(int userId) gibt es den Abschnitt
+<code Java>
+  // to get the 3d joint data
+  PVector jointPos = new PVector();
+  context.getJointPositionSkeleton(userId,SimpleOpenNI.SKEL_NECK,jointPos);
+  println(jointPos)
+</code>
+der die Position des Kopfes einer erkannten Person ausgibt.
+----
+===== Zusätzliches Spektakel =====
 ==== Kinect Physics Tutorial for Processing ====
@@ Zeile 534: / Zeile 557: @@
   void destroyBody() {
     box2d.destroyBody(body);
+  }
+}
+</code>
+==== KinectFlow ====
+[[http://www.creativeapplications.net/wp-content/uploads/2012/09/AmnonOwed-KinectPhysics-04.png|{{http://www.creativeapplications.net/wp-content/uploads/2012/09/AmnonOwed-KinectPhysics-04.png}}]]
+<code java>
+// Kinect Flow 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
+// this is a regular java import so we can use and extend the polygon class (see PolygonBlob)
+import java.awt.Polygon;
+// declare SimpleOpenNI object
+SimpleOpenNI context;
+// declare BlobDetection object
+BlobDetection theBlobDetection;
+// declare custom PolygonBlob object (see class for more info)
+PolygonBlob poly = new PolygonBlob();
+// 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 color
+color bgColor;
+// 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",
+  "-16711663,-13888933,-9029017,-5213092,-1787063,-11375744,-2167516,-15713402,-5389468,-2064585"
+};
+// an array called flow of 2250 Particle objects (see Particle class)
+Particle[] flow = new Particle[2000];
+// global variables to influence the movement of all particles
+float globalX, globalY;
+void setup() {
+  // it's possible to customize this, for example 1920x1080
+  size(1280, 720, OPENGL);
+  // initialize SimpleOpenNI object
+  context = new SimpleOpenNI(this);
+   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();
+    return;
+  } 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(0.2);
+    setupFlowfield();
+  }
+}
+void draw() {
+  // fading background
+  noStroke();
+  fill(bgColor, 65);
+  rect(0, 0, width, height);
+  // update the SimpleOpenNI object
+  context.update();
+  // put the image into a PImage
+   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);
+      }
+    }
+  // copy the image into the smaller blob imag
+  blobs.copy(cam, 0, 0, cam.width, cam.height, 0, 0, blobs.width, blobs.height);
+  // blur the blob image
+ blobs.filter(BLUR);
+  // detect the blobs
+  theBlobDetection.computeBlobs(blobs.pixels);
+  // clear the polygon (original functionality)
+  poly.reset();
+  // create the polygon from the blobs (custom functionality, see class)
+  poly.createPolygon();
+  drawFlowfield();
+}
+void setupFlowfield() {
+  // set stroke weight (for particle display) to 2.5
+  strokeWeight(2.5);
+  // initialize all particles in the flow
+  for(int i=0; i<flow.length; i++) {
+    flow[i] = new Particle(i/10000.0);
+  }
+  // set all colors randomly now
+  setRandomColors(1);
+}
+void drawFlowfield() {
+  // center and reScale from Kinect to custom dimensions
+  translate(0, (height-kinectHeight*reScale)/2);
+  scale(reScale);
+  // set global variables that influence the particle flow's movement
+  globalX = noise(frameCount * 0.01) * width/2 + width/4;
+  globalY = noise(frameCount * 0.005 + 5) * height;
+  // update and display all particles in the flow
+  for (Particle p : flow) {
+    p.updateAndDisplay();
+  }
+  // set the colors randomly every 240th frame
+  setRandomColors(240);
+}
+// 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
+    color[] 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 all particle colors randomly to color from palette (excluding first aka background color)
+    for (int i=0; i<flow.length; i++) {
+      flow[i].col = colorPalette[int(random(1, colorPalette.length))];
+    }
+  }
+}
+</code>
+Die Particle Klasse
+<code java>
+// a basic noise-based moving particle
+class Particle {
+  // unique id, (previous) position, speed
+  float id, x, y, xp, yp, s, d;
+  color col; // color
+  Particle(float id) {
+    this.id = id;
+    s = random(2, 6); // speed
+  }
+  void updateAndDisplay() {
+    // let it flow, end with a new x and y position
+    id += 0.01;
+    d = (noise(id, x/globalY, y/globalY)-0.5)*globalX;
+    x += cos(radians(d))*s;
+    y += sin(radians(d))*s;
+    // constrain to boundaries
+    if (x<-10) x=xp=kinectWidth+10;
+    if (x>kinectWidth+10) x=xp=-10;
+    if (y<-10) y=yp=kinectHeight+10;
+    if (y>kinectHeight+10) y=yp=-10;
+    // if there is a polygon (more than 0 points)
+    if (poly.npoints > 0) {
+      // if this particle is outside the polygon
+      if (!poly.contains(x, y)) {
+        // while it is outside the polygon
+        while(!poly.contains(x, y)) {
+          // randomize x and y
+          x = random(kinectWidth);
+          y = random(kinectHeight);
+        }
+        // set previous x and y, to this x and y
+        xp=x;
+        yp=y;
+      }
+    }
+    // individual particle color
+    stroke(col);
+    // line from previous to current position
+    line(xp, yp, x, y);
+    // set previous to current position
+    xp=x;
+    yp=y;
+  }
+}
+</code>
+Die PolygonBlob Klasse
+<code java>
+// an extended polygon class with my own customized createPolygon() method (feel free to improve!)
+import java.util.Collections;
+class PolygonBlob extends Polygon {
+  // took me some time to make this method fully self-sufficient
+  // now it works quite well in creating a correct polygon from a person's blob
+  // of course many thanks to v3ga, because the library already does a lot of the work
+  void createPolygon() {
+    // an arrayList... of arrayLists... of PVectors
+    // the arrayLists of PVectors are basically the person's contours (almost but not completely in a polygon-correct order)
+    ArrayList<ArrayList<PVector>> contours = new ArrayList<ArrayList<PVector>>();
+    // helpful variables to keep track of the selected contour and point (start/end point)
+    int selectedContour = 0;
+    int selectedPoint = 0;
+    // create contours from blobs
+    // go over all the detected blobs
+    for (int n=0 ; n<theBlobDetection.getBlobNb(); n++) {
+      Blob b = theBlobDetection.getBlob(n);
+      // for each substantial blob...
+      if (b != null && b.getEdgeNb() > 100) {
+        // create a new contour arrayList of PVectors
+        ArrayList<PVector> contour = new ArrayList<PVector>();
+        // go over all the edges in the blob
+        for (int m=0; m<b.getEdgeNb(); m++) {
+          // get the edgeVertices of the edge
+          EdgeVertex eA = b.getEdgeVertexA(m);
+          EdgeVertex eB = b.getEdgeVertexB(m);
+          // if both ain't null...
+          if (eA != null && eB != null) {
+            // get next and previous edgeVertexA
+            EdgeVertex fn = b.getEdgeVertexA((m+1) % b.getEdgeNb());
+            EdgeVertex fp = b.getEdgeVertexA((max(0, m-1)));
+            // calculate distance between vertexA and next and previous edgeVertexA respectively
+            // positions are multiplied by kinect dimensions because the blob library returns normalized values
+            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 either distance is bigger than 15
+            if (dn > 15 || dp > 15) {
+              // if the current contour size is bigger than zero
+              if (contour.size() > 0) {
+                // add final point
+                contour.add(new PVector(eB.x*kinectWidth, eB.y*kinectHeight));
+                // add current contour to the arrayList
+                contours.add(contour);
+                // start a new contour arrayList
+                contour = new ArrayList<PVector>();
+              // if the current contour size is 0 (aka it's a new list)
+              } else {
+                // add the point to the list
+                contour.add(new PVector(eA.x*kinectWidth, eA.y*kinectHeight));
+              }
+            // if both distance are smaller than 15 (aka the points are close)
+            } else {
+              // add the point to the list
+              contour.add(new PVector(eA.x*kinectWidth, eA.y*kinectHeight));
+            }
+          }
+        }
+      }
+    }
+    // at this point in the code we have a list of contours (aka an arrayList of arrayLists of PVectors)
+    // now we need to sort those contours into a correct polygon. To do this we need two things:
+    // 1. The correct order of contours
+    // 2. The correct direction of each contour
+    // as long as there are contours left...
+    while (contours.size() > 0) {
+      // find next contour
+      float distance = 999999999;
+      // if there are already points in the polygon
+      if (npoints > 0) {
+        // use the polygon's last point as a starting point
+        PVector lastPoint = new PVector(xpoints[npoints-1], ypoints[npoints-1]);
+        // go over all contours
+        for (int i=0; i<contours.size(); i++) {
+          ArrayList<PVector> c = contours.get(i);
+          // get the contour's first point
+          PVector fp = c.get(0);
+          // get the contour's last point
+          PVector lp = c.get(c.size()-1);
+          // if the distance between the current contour's first point and the polygon's last point is smaller than distance
+          if (fp.dist(lastPoint) < distance) {
+            // set distance to this distance
+            distance = fp.dist(lastPoint);
+            // set this as the selected contour
+            selectedContour = i;
+            // set selectedPoint to 0 (which signals first point)
+            selectedPoint = 0;
+          }
+          // if the distance between the current contour's last point and the polygon's last point is smaller than distance
+          if (lp.dist(lastPoint) < distance) {
+            // set distance to this distance
+            distance = lp.dist(lastPoint);
+            // set this as the selected contour
+            selectedContour = i;
+            // set selectedPoint to 1 (which signals last point)
+            selectedPoint = 1;
+          }
+        }
+      // if the polygon is still empty
+      } else {
+        // use a starting point in the lower-right
+        PVector closestPoint = new PVector(width, height);
+        // go over all contours
+        for (int i=0; i<contours.size(); i++) {
+          ArrayList<PVector> c = contours.get(i);
+          // get the contour's first point
+          PVector fp = c.get(0);
+          // get the contour's last point
+          PVector lp = c.get(c.size()-1);
+          // if the first point is in the lowest 5 pixels of the (kinect) screen and more to the left than the current closestPoint
+          if (fp.y > kinectHeight-5 && fp.x < closestPoint.x) {
+            // set closestPoint to first point
+            closestPoint = fp;
+            // set this as the selected contour
+            selectedContour = i;
+            // set selectedPoint to 0 (which signals first point)
+            selectedPoint = 0;
+          }
+          // if the last point is in the lowest 5 pixels of the (kinect) screen and more to the left than the current closestPoint
+          if (lp.y > kinectHeight-5 && lp.x < closestPoint.y) {
+            // set closestPoint to last point
+            closestPoint = lp;
+            // set this as the selected contour
+            selectedContour = i;
+            // set selectedPoint to 1 (which signals last point)
+            selectedPoint = 1;
+          }
+        }
+      }
+      // add contour to polygon
+      ArrayList<PVector> contour = contours.get(selectedContour);
+      // if selectedPoint is bigger than zero (aka last point) then reverse the arrayList of points
+      if (selectedPoint > 0) { Collections.reverse(contour); }
+      // add all the points in the contour to the polygon
+      for (PVector p : contour) {
+        addPoint(int(p.x), int(p.y));
+      }
+      // remove this contour from the list of contours
+      contours.remove(selectedContour);
+      // the while loop above makes all of this code loop until the number of contours is zero
+      // at that time all the points in all the contours have been added to the polygon... in the correct order (hopefully)
+    }
   }
 }
 </code>

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