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Hacking

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Hacking

the Kinect

Write code and create

interesting projects involving

Microsoft’s ground-breaking

voluMetric sensor

Hacking the Kinect

Jeff Kramer, Nicolas Burrus, Florian Echtler,

Daniel Herrera C.,

and Matt Parker

acking the Kinect is your guide to developing software and

creating projects using the Kinect, Microsoft’s groundbreak-

ing volumetric sensor. This book introduces you to the Kinect

hardware and helps you master using the device in your own pro-

grams. You’ll learn how to set up a software environment, stream

data from the Kinect, and write code to interpret that data.

Featured in the book are hands-on projects that you can build

while following along with the material. These hands-on projects

give you invaluable insights into how the Kinect functions and

how you can apply it to create fun and educational applications.

Hacking the Kinect teaches you everything you need to devel-

op a 3D application and get it running. You’ll learn the ins and

outs of point clouds, voxel occupancy maps, depth images, and

other fundamentals of volumetric sensor technology. You’ll come

to understand how to:

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Turn to Hacking the Kinect and discover an endless world of cre-

ative possibilities. Whether you’re looking to use the Kinect to

drive 3D interactive artwork, create robots capable of responding

to human motion and gesture, or create applications that users

can manipulate with a wave of their hands, Hacking the Kinect

offers you the knowledge and skills you need to get started.

Hacking the Kinect

www.apress.com

US $39.99

Shelve in Computer Hardware/General

User level: Intermediate–Advanced



™

SOURCE CODE ONLINE

Also available:

Kramer

Burrus

Echtler

Herrera C.

Parker

C H A P T E R 1

Introducing the Kinect

Welcome to Hacking the Kinect. This book will introduce you to the Kinect hardware and help you

master using the device in your own programs. We’re going to be covering a large amount of ground—

everything you’ll need to get a 3-D application running—with an eye toward killer algorithms, with no

unusable filler.

Each chapter will introduce more information about the Kinect itself or about the methods to work

with the data. The data methods will be stretched across two chapters: the first introduces the concept

and giving a basic demonstration of algorithms and use, and the second goes into more depth. In that

second chapter, we will show how to avoid or ameliorate common issues, as well as discuss more

advanced algorithms. All chapters, barring this one, will contain a project—some basic, some advanced.

We expect that you will be able to finish each chapter and immediately apply the concepts into a

project of you own; there is plenty of room for ingenuity with the first commercial depth sensor and

camera!

Hardware Requirements and Overview

The Kinect requires the following computer hardware to function correctly. We’ll cover the requirements

more in depth in Chapter 3, but these are the basic requirements:

• A computer with at least one, mostly free, USB 2.0 hub.

• The Kinect takes about 70% of a single hub (not port!) to transmit its data.

• Most systems can achieve this easily, but some palmtops and laptops

cannot. To be certain, flip to Chapter 2, where we give you a quick guide on

how to find out.

• A graphics card capable of handling OpenGL. Most modern computers that have

at least an onboard graphics processor can accomplish this.

• A machine that can handle 20 MB/second of data (multiplied by the number of

Kinects you’re using). Modern computers should be able to handle this easily, but

some netbooks will have trouble.

• A Kinect sensor power supply if your Kinect came with your Xbox 360 console

rather than standalone.

Figure 1-1 shows the Kinect itself. The callouts in the figure identify the major hardware

components of the device. You get two cameras: one infrared and one for standard, visible light. There is

an infrared emitter to provide structured light that the infrared camera uses to calculate the depth

CHAPTER 1  INTRODUCING THE KINECT

Listing 1-1. Git Commands for Pulling the Source Code

C:\> mkdir libfreenect

C:\> cd libfreenect

C:\libfreenect> git clone https://github.com/OpenKinect/libfreenect.git (This will clone into

a new libfreenect directory)

C:\libfreenect> cd libfreenect

C:\libfreenect\libfreenect> git branch –track unstable origin/unstable

3. There are three major dependencies that must be installed for libfreenect to

function: libusb-win32, pthreads-win32, and GLUT. Some of the options you

select in the next section are dependent on your choice of compiler.

a. Download libusb-win32 from http://sourceforge.net/projects/libusb-

win32/.

b. Extract and move the resulting folder into /libfreenect.

c. Download pthreads-win32 from http://sourceware.org/pthreads-win32/.

Find the most recent candidate with release.exe at the end.

d. Extract and store the folder in /libfreenect. If you’re using Microsoft Visual

Studio 2010, copy /Pre-built.2/lib/pthreadVC2.dll to /Windows/System32/. If

using MinGW, copy /Pre-built.2/lib/pthreadGC2.dll to /Windows/System32/

instead.

e. Download GLUT from http://www.xmission.com/~nate/glut.html. Find the

most recent release ending in “-bin.zip”.

f. Extract and store the resulting folder in /libfreenect.

g. Copy glut32.dll to /Windows/System32/. If you’re using Microsoft Visual

Studio 2010, copy glut.h to the /include/GL folder in your Visual Studio tree

and glut32.lib library to /lib in the same tree. If the GL folder does not exist,

create it. However, if you’re using MinGW, copy glut.h to /include/GL folder

in the MinGW root directory.

4. All of the dependencies are in place! Now we can install the low-level Kinect

device driver.

a. Plug in yo

ur Kinect

. After a quick search for drivers, your system should

complain that it cannot find the correct drivers, and the LED on the Kinect

itself will not light. This is normal.

b. Open Device Manager. Start Control Panel Hardware and Sound Device

Manager.

c. Double-click Xbox NUI Motor. Click Update Driver in the new window that

appears.

d. Select “Browse my computer for driver software”, and browse to

/libfreenect/platform/inf/xbox nui motor/.

e. After installation, the LED on the Kinect should be blinking green. Repeat steps

3 and 4 for Xbox NUI Camera and Xbox NUI Audio.

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2015-03-05

机器视觉方面的好教材

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