Making Things See by Borenstein, Greg -- Read -- Imperial Library of Trantor

Index

Making Things See

SPECIAL OFFER: Upgrade this ebook with O’Reilly Preface

Why the Kinect Matters Who This Book Is For The Structure of This Book

Working with the Depth Camera Working with Point Clouds Working with the Skeleton Data 3D Scanning for Digital Fabrication Computer Vision for Robotics

Acknowledgments Using Code Examples Conventions Used in This Book Safari® Books Online How to Contact Us

1. What Is the Kinect?

How Does It Work? Where Did It Come From?

What Does the Kinect Do? What’s Inside? How Does It Work? Who Made the Kinect?

Kinect Artists

Kyle McDonald Robert Hodgin Elliot Woods blablabLAB Nicolas Burrus Oliver Kreylos Alejandro Crawford Josh Blake Adafruit

2. Working with the Depth Image

Images and Pixels Project 1: Installing the SimpleOpenNI Processing Library

Installing OpenNI on OS X Installing OpenNI on Windows Installing OpenNI on Linux Installing the Processing Library

Project 2: Your First Kinect Program

Understanding the Code

Project 3: Looking at a Pixel

Color Pixels Depth Pixels

Converting to Real-World Distances Project 4: A Wireless Tape Measure

Higher-Resolution Depth Data

Project 5: Tracking the Nearest Object

Finding the Closest Pixel Using Variable Scope

Projects Project 6: Invisible Pencil Project 7: Minority Report Photos

Basic Version: One Image Advanced Version: Multiple Images and Scale

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

Adding Audio with Minim Connecting Our First Air Drum Filling Out Our Air Drum Kit

Project 9: Virtual Kinect

Displaying a 3D Object 3D Model in the Point Cloud Variation: Visualizing the Kinect’s Line of Sight Camera Control with PeasyCam

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

Orientation from a Single Joint Orientation from Any Vector with Axis-Angle

Background Removal, User Pixels, and the Scene Map Tracking Without Calibration: Hand Tracking and Center of Mass

Hand Tracking Center of Mass

Projects Project 10: Exercise Measurement

The SkeletonRecorder Class Exercises

Project 11: “Stayin’ Alive” Dance Move Triggers MP3

Describing a Pose as Joint Relationships Basic Version Advanced Version The SkeletonPoser and PoseRule Classes Exercises

Conclusion

5. Scanning for Fabrication

Scan and Print: Rapid Prototyping Objects

Scan and Print: Rapid Prototyping Objects From a Point Cloud to an Object Outline of This Chapter

Intro to Modelbuilder Intro to MeshLab

Your First Visit 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

Printing Our Scan

Sending Our Model to Shapeways Conclusion: Comparing Prints

6. Using the Kinect for Robotics

Forward Kinematics

Calculating the Angles of Limbs Getting Started with Arduino: The Brain of Our Robot Arm Acquiring the Arduino and the Servos Plugging in the Servos Downloading the Arduino Development Environment Programming the Arduino Testing Our Arduino Program: Serial in Processing Building Our Robot Arm Putting It All Together: Connecting Our Robot Arm to Our Processing Sketch

Inverse Kinematics

Inverse Kinematics Calculations without the Kinect Controlling Our Robot Arm with Inverse Kinematics Updating Our Hardware Updating Our Code

Conclusion

7. Conclusion: What’s Next?

Beyond Processing: Other Frameworks and Languages

Microsoft C++ Creative Coding Frameworks: openFrameworks and Cinder Data Flow: MAX/MSP and PureData Game Engines: Unity3D

Topics in 3D Programming to Explore

Graphics Programming: OpenGL and Shaders Computer Vision: OpenCV, Feature Tracking, and Beyond 3D Modeling and Animation

Ideas for Projects

A Physical Therapy Game Kinect Stereo Viewer Animated 3D Puppet Rolling Person-Chasing Robot

A. Appendix

SimpleOpenNI Cheat Sheet Chapter 2

Closest Pixel with Running Average Limiting the Depth Range

Chapter 4

Save Calibration Load Calibration Extended SkeletonRecorder That Can Track Multiple Joints

Chapter 6

Complete Forward Kinematics Example Inverse Kinematics Geometrical Proof

Index About the Author Colophon SPECIAL OFFER: Upgrade this ebook with O’Reilly

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