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Making.Things.See.pdf

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    Preface
    1. What Is the Kinect?
    How Does It Work? Where Did It Come From?
    Kinect Artists
    2. Working with the Depth Image
    Images and Pixels
    Project 1: Installing the SimpleOpenNI Processing Library
    Project 2: Your First Kinect Program
    Project 3: Looking at a Pixel
    Converting to Real-World Distances
    Project 4: A Wireless Tape Measure
    Project 5: Tracking the Nearest Object
    Projects
    Project 6: Invisible Pencil
    Project 7: Minority Report Photos
    Exercises
    3. Working with Point Clouds
    What You’ll Learn in This Chapter
    Welcome to the Third Dimension
    Drawing Our First Point Cloud
    Making the Point Cloud Move
    Viewing the Point Cloud in Color
    Making the Point Cloud Interactive
    Projects
    Project 8: Air Drum Kit
    Project 9: Virtual Kinect
    Conclusion
    4. Working with the Skeleton Data
    A Note About Calibration
    Stages in the Calibration Process
    User Detection
    Accessing Joint Positions
    Skeleton Anatomy Lesson
    Measuring the Distance Between Two Joints
    Transferring Orientation in 3D
    Background Removal, User Pixels, and the Scene Map
    Tracking Without Calibration: Hand Tracking and Center of Mass
    Projects
    Project 10: Exercise Measurement
    Project 11: “Stayin’ Alive”: Dance Move Triggers MP3
    Conclusion
    5. Scanning for Fabrication
    Intro to Modelbuilder
    Intro to MeshLab
    Making a Mesh from the Kinect Data
    Looking at Our First Scan
    Cleaning Up the Mesh
    Looking at Our Corrected Model
    Prepping for Printing
    Reduce Polygons in MeshLab
    Printing our Model on a MakerBot
    Sending Our Model to Shapeways
    Conclusion: Comparing Prints
    6. Using the Kinect for Robotics
    Forward Kinematics
    Inverse Kinematics
    Conclusion
    7. Conclusion: What’s Next?
    Beyond Processing: Other Frameworks and Languages
    Topics in 3D Programming to Explore
    Ideas for Projects
    A. Appendix
    Index
    Making Things See 3D Vision with Kinect, Processing, Arduino, and MakerBot Greg Borenstein Beijing • Cambridge • Farnham • Köln • Sebastopol • Tokyo
    Making Things See by Greg Borenstein Copyright 2012 © Greg Borenstein. All rights reserved. Printed in Canada. Published by O’Reilly Media, Inc., 1005 Gravenstein Highway North, Sebastopol, CA 95472. O’Reilly Media books may be purchased for educational, business, or sales promotional use. Online editions are also avail- able for most titles (my.safaribooksonline.com). For more information, contact our corporate/institutional sales department: 800-998-9938 or corporate@oreilly.com. Editors: Andrew Odewahn, Brian Jepson Production Editor: Holly Bauer Proofreader: Linley Dolby Indexer: Fred Brown Compositor: Nancy Kotary Cover Designer: Mark Paglietti Interior Designer: Ron Bilodeau Illustrator: Rebecca Demarest January 2012: Revision History for the First Edition: 2012-01-04 First Edition. First release See http://oreilly.com/catalog/errata.csp?isbn=0636920020684 for release details. The O’Reilly logo is a registered trademark of O’Reilly Media, Inc. Many of the designations used by manufacturers and sellers to distinguish their products are claimed as trademarks. Where those designations appear in this book, and O’Reilly Media, Inc., was aware of a trademark claim, the designations have been printed in caps or initial caps. While every precaution has been taken in the preparation of this book, the publisher and author assume no responsibility for errors or omissions, or for damages resulting from the use of the information contained herein. ISBN: 978-1-449-30707-3 [TI]
    For Jacob and Ellie and Sophie and Amalia. The future is yours.
    Contents Preface.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii 1.. What.Is.the.Kinect?.. . . . . . . . . . . . . . . . . . . . . . . . . . 1 How Does It Work? Where Did It Come From? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Kinect Artists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2.. Working.with.the.Depth.Image.. . . . . . . . . . . . 43 Images and Pixels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Project 1: Installing the SimpleOpenNI Processing Library . . . . . . . . . . . . . . . . . . 45 Project 2: Your First Kinect Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Project 3: Looking at a Pixel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Converting to Real-World Distances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Project 4: A Wireless Tape Measure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Project 5: Tracking the Nearest Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 Project 6: Invisible Pencil . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Project 7: Minority Report Photos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 3.. Working.with.Point.Clouds.. . . . . . . . . . . . . . . . 109 What You’ll Learn in This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Welcome to the Third Dimension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Drawing Our First Point Cloud . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Making the Point Cloud Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Viewing the Point Cloud in Color . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 Making the Point Cloud Interactive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 Project 8: Air Drum Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 Project 9: Virtual Kinect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 v
    4.. Working.with.the.Skeleton.Data. . . . . . . . . . 185 A Note About Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 Stages in the Calibration Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 User Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194 Accessing Joint Positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202 Skeleton Anatomy Lesson . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209 Measuring the Distance Between Two Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 Transferring Orientation in 3D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 Background Removal, User Pixels, and the Scene Map . . . . . . . . . . . . . . . . . . . 246 Tracking Without Calibration: Hand Tracking and Center of Mass . . . . . . . . 254 Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263 Project 10: Exercise Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265 Project 11: “Stayin’ Alive”: Dance Move Triggers MP3 . . . . . . . . . . . . . . . . . . . . . . 279 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299 5.. Scanning.for.Fabrication.. . . . . . . . . . . . . . . . . . 301 Intro to Modelbuilder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306 Intro to MeshLab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313 Making a Mesh from the Kinect Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316 Looking at Our First Scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322 Cleaning Up the Mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324 Looking at Our Corrected Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331 Prepping for Printing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333 Reduce Polygons in MeshLab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333 Printing Our Model on a MakerBot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336 Sending Our Model to Shapeways . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340 Conclusion: Comparing Prints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342 6.. Using.the.Kinect.for.Robotics.. . . . . . . . . . . 345 Forward Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347 Inverse Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378 7.. Conclusion:.What’s.Next?.. . . . . . . . . . . . . . . . . 379 Beyond Processing: Other Frameworks and Languages . . . . . . . . . . . . . . . . . . 380 Topics in 3D Programming to Explore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384 Ideas for Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388 A.. Appendix.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393 Index.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411 vi Contents
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