The document discusses the Microsoft Kinect sensor and its capabilities. It provides information on the Kinect's resolutions for color, depth and skeletal tracking. It compares the Microsoft Kinect SDK to the OpenNI SDK. It also provides an overview of getting started with the Kinect SDK and examples of basic Kinect API usage in C# for discovering sensors, managing the sensor state, retrieving data, and controlling the tilt motor.

1. Ing. Matteo Valoriani
matteo.valoriani@studentpartner.com
KINECT Programming

2. KINECT SENSORS
IR Emitter Color Sensor
IR Depth Sensor
Tilt Motor
• Depth resolution:
640x480 px
• RGB resolution:
1600x1200 px
Microphone Array
• 60 FPS
KINECT Programming

3. KINECT SENSORS (2)
http://www.ifixit.com/Teardown/Microsoft-
Kinect-Teardown/4066/1
KINECT Programming

4. KINECT SENSORS (3)
Color Sensor IR Depth Sensor IR Emitter
KINECT Programming

5. RESOLUTIONS
• Color
• 12 FPS: 1280X960 RGB
• 15 FPS: Raw YUV 640x480
• 30 FPS: 640x480
• Depth
• 30 FPS: 80x60, 320x240, 640x480
KINECT Programming

6. Microsoft Kinect SDK vs PrimeSense OpenNI
• support for audio • only calculates positions for the joints, not
• support for motor/tilt rotations
• full body tracking: • no gesture recognition system
• does not need a calibration pose • no support for others devices
• includes head, hands, feet, clavicles • only supports Win7/8 (x86 & x64)
• seems to deal better with occluded • no built in support for record/playback to
joints disk
• supports multiple sensors • SDK does not have events for when new
• single installer user enters frame, leaves frame etc
• dedicated Runtime for client
• SDK has events for when a new Video or
new Depth frame is available
KINECT Programming

7. Microsoft Kinect SDK vs PrimeSense OpenNI
Pros Cons
• includes a framework for hand tracking • no support for audio
• includes a framework for hand gesture recognition • no support for motor/tilt (although you can
• can automatically align the depth image stream to simultaneously use the CL-NUI motor drivers)
the color image • lacks rotations for the head, hands, feet, clavicles
• also calculates rotations for the joints • needs a calibration pose to start tracking (although
• support for hands only mode it can be saved/loaded to/from disk for reuse)
• also supports the Primesense and the ASUS WAVI • occluded joints are not estimated
Xtion sensors • supports multiple sensors although setup and
• supports Windows (including Vista&XP), Linux and enumeration is a bit quirky
Mac OSX • three separate installers and a NITE license string
• support for record/playback to/from disk (although the process can be automated with my
• SDK has events for when new User enters frame, auto driver installer)
leaves frame etc • SDK does not have events for when new Video or
new Depth frames is available
KINECT Programming

8. KINECT Programming

9. GET STARTED
• http://kinectforwindows.org
• Order Kinect Hardware
• Download Kinect SDK
KINECT Programming

10. RESOURCES
• Install Kinect Explorer
• KinectWpfViewers
• Coding4Fun Toolkit
• Skeletal scaling
KINECT Programming

11. KINECT Programming

12. KINECT API BASICS
• Manage Kinect state
• Connected
• Enable Color, Depth, Skeleton
• Start Kinect
• Get Data
• Events – AllFramesReady
• Polling – OpenNextFrame
KINECT Programming

13. The Kinect Stack
App
KINECT Programming

14. System Data Flow
Skeletal Tracking
Depth Human Body Part Skeleton
Segmentation App
Processing Finding Classification Model
Identity Not available
Facial Color/Skeleton
Recognition User Identified App
Match
Speech Pipeline
Multichannel Sound
Noise Speech
Echo Position App
Suppression Detection
Cancellation Tracking
KINECT Programming

15. KINECT Programming

16. private KinectSensor _Kinect;
public MainWindow() {
InitializeComponent();
this.Loaded += (s, e) => { DiscoverKinectSensor(); };
this.Unloaded += (s, e) => { this.Kinect = null; };
this.Kinect = KinectSensor.KinectSensors.FirstOrDefault(x =>
x.Status == KinectStatus.Connected);
}
private void DiscoverKinectSensor() {
KinectSensor.KinectSensors.StatusChanged +=
KinectSensors_StatusChanged;
this.Kinect = KinectSensor.KinectSensors.FirstOrDefault(x =>
x.Status == KinectStatus.Connected);
}
KINECT Programming

17. private void KinectSensors_StatusChanged(object sender, StatusChangedEventArgs e) {
switch(e.Status) {
case KinectStatus.Connected:
if(this.Kinect == null) {
this.Kinect = e.Sensor;
}
break;
case KinectStatus.Disconnected:
if(this.Kinect == e.Sensor) {
this.Kinect = null;
this.Kinect = KinectSensor.KinectSensors
.FirstOrDefault(x => x.Status == KinectStatus.Connected);
if(this.Kinect == null){
//Notify the user that the sensor is disconnected
}
}
break;
//Handle all other statuses according to needs
}
}
KINECT Programming

18. public KinectSensor Kinect
{
get { return this._Kinect; }
set {
if(this._Kinect != value) {
if(this._Kinect != null) {
//Uninitialize
this._Kinect = null;
}
if(value != null && value.Status == KinectStatus.Connected) {
this._Kinect = value;
//Initialize
}
}
}
}
KINECT Programming

19. KinectStatus VALUES
KinectStatus What it means
Undefined The status of the attached device cannot be determined.
Connected The device is attached and is capable of producing data from its streams.
DeviceNotGenuine The attached device is not an authentic Kinect sensor.
Disconnected The USB connection with the device has been broken.
Error Communication with the device produces errors.
Error Initializing The device is attached to the computer, and is going through the process of connecting.
InsufficientBandwidth Kinect cannot initialize, because the USB connector does not have the necessary
bandwidth required to operate the device.
NotPowered Kinect is not fully powered. The power provided by a USB connection is not sufficient to
power the Kinect hardware. An additional power adapter is required.
NotReady Kinect is attached, but is yet to enter the Connected state.
KINECT Programming

20. Tilt
private void setAngle(object sender, RoutedEventArgs e){
if (Kinect != null) {
Kinect.ElevationAngle = (Int32)slider1.Value; } }
<Slider Height="33" HorizontalAlignment="Left"
Margin="0,278,0,0" Name="slider1" VerticalAlignment="Top"
Width="308" SmallChange="1 IsSnapToTickEnabled="True" />
<Button Content="OK" Height="29" HorizontalAlignment="Left"
Margin="396,278,0,0" Name="button1" VerticalAlignment="Top"
Width="102" Click="setAngle" />
KINECT Programming