Kinect=003=skeleton tracking 3d by gary chang

KINECT Skeleton Tracking 3D

READY for 3D?

Letâ&#x20AC;&#x2122;s Start with Looking at the Example.

Open this example to check

Run the Code!

Camera

You

You can pressed your keyboard “up, down, right, left” to change the angle.

But I would like to use “peasyCam” instead.

Letâ&#x20AC;&#x2122;s try to clean up the code, first.

/* -------------------------------------------------------------------------* SimpleOpenNI User3d Test * -------------------------------------------------------------------------* Processing Wrapper for the OpenNI/Kinect 2 library * http://code.google.com/p/simple-openni * -------------------------------------------------------------------------* prog: Max Rheiner / Interaction Design / Zhdk / http://iad.zhdk.ch/ * date: 12/12/2012 (m/d/y) * ---------------------------------------------------------------------------*/

Delete the description.

import SimpleOpenNI.*;

SimpleOpenNI context; float float axis,

zoomF =0.5f; rotX = radians(180); // by default rotate the hole scene 180deg around the x-

Delete the rotation part.

// the data from openni comes upside down float rotY = radians(0); boolean autoCalib=true; PVector PVector PVector PVector color[]

bodyCenter = new PVector(); bodyDir = new PVector(); com = new PVector(); com2d = new PVector(); userClr = new color[]{ color(255,0,0), color(0,255,0), color(0,0,255), color(255,255,0), color(255,0,255), color(0,255,255) };

***before setup();

import SimpleOpenNI.*; SimpleOpenNI context; PVector PVector PVector PVector color[]

Yes, itâ&#x20AC;&#x2122;s like this ***before setup();

void setup(){ size(1024,768,P3D); context = new SimpleOpenNI(this); if(context.isInit() == false) { println("Can't init SimpleOpenNI, maybe the camera is not connected!"); exit(); return; } // disable mirror context.setMirror(false); // enable depthMap generation context.enableDepth(); // enable skeleton generation for all joints context.enableUser(); stroke(255,255,255); smooth(); perspective(radians(45), float(width)/float(height), 10,150000);

Only need to delete these lines.

}

For the setup(); ***setup();

}

Like this ***before setup();

// draw the skeleton if it's available int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) { if(context.isTrackingSkeleton(userList[i])) drawSkeleton(userList[i]);

void draw(){ // update the cam context.update(); background(0,0,0); // set the scene pos translate(width/2, height/2, 0); rotateX(rotX); rotateY(rotY); scale(zoomF);

// draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z);

Delete the default rotation parts.

int[] depthMap = context.depthMap(); int[] userMap = context.userMap(); int steps = 3; // to speed up the drawing, draw every third point int index; PVector realWorldPoint;

vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z);

translate(0,0,-1000); // set the rotation center of the scene 1000 infront of the camera // draw the pointcloud beginShape(POINTS); for(int y=0;y < context.depthHeight();y+=steps) { for(int x=0;x < context.depthWidth();x+=steps) { index = x + y * context.depthWidth(); if(depthMap[index] > 0) { // draw the projected point realWorldPoint = context.depthMapRealWorld()[index]; if(userMap[index] == 0) stroke(100); else stroke(userClr[ (userMap[index] - 1) % userClr.length ]);

vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape(); fill(0,255,100); text(Integer.toString(userList[i]),com.x,com.y,com.z); } } // draw the kinect cam context.drawCamFrustum();

}

point(realWorldPoint.x,realWorldPoint.y,realWorldPoint.z); } } } endShape();

No point cloud at this moment.

***draw();

void draw(){ // update the cam context.update(); background(0,0,0);

// draw the skeleton if it's available int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) { if(context.isTrackingSkeleton(userList[i])) drawSkeleton(userList[i]);

{

Draw the skeleton.

} // draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z);

Draw the Center of Mass.

vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z);

vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape(); //fill(0,255,100); //text(Integer.toString(userList[i]),com.x,com.y,com.z); }

Hide these 2 lines, VERY IMPORTANT! Draw the Camara.

}

// draw the kinect cam context.drawCamFrustum();

***draw();

// draw the skeleton with the selected joints

void drawJointOrientation(int userId,int jointType,PVector pos,float length)

void drawSkeleton(int userId)

{ // draw the joint orientation PMatrix3D orientation = new PMatrix3D(); float confidence = context.getJointOrientationSkeleton(userId,jointType,orientation); if(confidence < 0.001f) // nothing to draw, orientation data is useless return;

{ strokeWeight(3);

// to get the 3d joint data drawLimb(userId, SimpleOpenNI.SKEL_HEAD, SimpleOpenNI.SKEL_NECK); drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_LEFT_SHOULDER); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_LEFT_ELBOW); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, SimpleOpenNI.SKEL_LEFT_HAND);

pushMatrix(); translate(pos.x,pos.y,pos.z); // set the local coordsys applyMatrix(orientation);

drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_RIGHT_SHOULDER); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_RIGHT_ELBOW); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, SimpleOpenNI.SKEL_RIGHT_HAND);

// coordsys lines are 100mm long // x - r stroke(255,0,0,confidence * 200 + 55); line(0,0,0, length,0,0); // y - g stroke(0,255,0,confidence * 200 + 55); line(0,0,0, 0,length,0); // z - b stroke(0,0,255,confidence * 200 + 55); line(0,0,0, 0,0,length); popMatrix();

drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_TORSO); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_TORSO); drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_LEFT_HIP); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_HIP, SimpleOpenNI.SKEL_LEFT_KNEE); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_KNEE, SimpleOpenNI.SKEL_LEFT_FOOT); drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_RIGHT_HIP); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_HIP, SimpleOpenNI.SKEL_RIGHT_KNEE); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_KNEE, SimpleOpenNI.SKEL_RIGHT_FOOT); // draw body direction getBodyDirection(userId,bodyCenter,bodyDir); } bodyDir.mult(200); // 200mm length bodyDir.add(bodyCenter); stroke(255,200,200); line(bodyCenter.x,bodyCenter.y,bodyCenter.z, bodyDir.x ,bodyDir.y,bodyDir.z); strokeWeight(1);

// -----------------------------------------------------------------

// SimpleOpenNI user events void onNewUser(SimpleOpenNI curContext,int userId) { println("onNewUser - userId: " + userId); println("\tstart tracking skeleton");

}

context.startTrackingSkeleton(userId); }

void drawLimb(int userId,int jointType1,int jointType2) { PVector jointPos1 = new PVector(); PVector jointPos2 = new PVector(); float confidence; // draw the joint position confidence = context.getJointPositionSkeleton(userId,jointType1,jointPos1); confidence = context.getJointPositionSkeleton(userId,jointType2,jointPos2); stroke(255,0,0,confidence * 200 + 55); line(jointPos1.x,jointPos1.y,jointPos1.z, jointPos2.x,jointPos2.y,jointPos2.z);

void onLostUser(SimpleOpenNI curContext,int userId) { println("onLostUser - userId: " + userId); } void onVisibleUser(SimpleOpenNI curContext,int userId) { //println("onVisibleUser - userId: " + userId); }

We keep these.

drawJointOrientation(userId,jointType1,jointPos1,50); }

***function & event

void keyPressed() { switch(key) { case ' ': context.setMirror(!context.mirror()); break; } switch(keyCode) { case LEFT: rotY += 0.1f; break; case RIGHT: // zoom out rotY -= 0.1f; break; case UP: if(keyEvent.isShiftDown()) zoomF += 0.01f; else rotX += 0.1f; break; case DOWN: if(keyEvent.isShiftDown()) { zoomF -= 0.01f; if(zoomF < 0.01) zoomF = 0.01; } else rotX -= 0.1f; break; }

We delete this. “Keypressed” function

} void getBodyDirection(int userId,PVector centerPoint,PVector dir) { PVector jointL = new PVector(); PVector jointH = new PVector(); PVector jointR = new PVector(); float confidence; // draw the joint position confidence = context.getJointPositionSkeleton(userId,SimpleOpenNI.SKEL_LEFT_SHOULDER,jointL); confidence = context.getJointPositionSkeleton(userId,SimpleOpenNI.SKEL_HEAD,jointH); confidence = context.getJointPositionSkeleton(userId,SimpleOpenNI.SKEL_RIGHT_SHOULDER,jointR); // take the neck as the center point confidence = context.getJointPositionSkeleton(userId,SimpleOpenNI.SKEL_NECK,centerPoint); /* // manually calc the centerPoint PVector shoulderDist = PVector.sub(jointL,jointR); centerPoint.set(PVector.mult(shoulderDist,.5)); centerPoint.add(jointR); */ PVector up = PVector.sub(jointH,centerPoint); PVector left = PVector.sub(jointR,centerPoint); dir.set(up.cross(left)); dir.normalize(); }

***function & event

Now we need to add the peasyCam.

import SimpleOpenNI.*; import peasy.test.*; import peasy.org.apache.commons.math.*; import peasy.*; import peasy.org.apache.commons.math.geometry.*; import processing.opengl.*; SimpleOpenNI context; PeasyCam cam;

PVector PVector PVector PVector color[]

Yes, itâ&#x20AC;&#x2122;s like this ***before setup();

Set up a PeasyCam.

stroke(255,255,255); smooth();

}

***setup();

RUN IT!!!

Hey mom, I am upside down!

void draw(){

// draw the kinect cam context.drawCamFrustum();

context.update();

pair

background(0,0,0);

///////////////////////////////flip pushMatrix(); scale(-1,1,1); rotateZ(radians(180)); rotateY(radians(360));

popMatrix();

}

Flip & change the Camera by rotation and scale

// draw the skeleton if it's available int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) { if(context.isTrackingSkeleton(userList[i])) drawSkeleton(userList[i]); // draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z);

The way I fix it. (Not guarantee that itâ&#x20AC;&#x2122;s the best way)

For some reason, you have to hide or delete these 2 lines!!!!!!!!!!!!!!!!!!!!!!!!!!!

vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z); vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape();

//fill(0,255,100); //text(Integer.toString(userList[i]),com.x,com.y,com.z); } }

***draw();

Hey mom, I am BACK!

RUN IT!!! I would like to change colors of my skeleton.

void drawLimb(int userId,int jointType1,int jointType2) { PVector jointPos1 = new PVector(); PVector jointPos2 = new PVector(); float confidence; // draw the joint position confidence = context.getJointPositionSkeleton(userId,jointType1,jointPos1); confidence = context.getJointPositionSkeleton(userId,jointType2,jointPos2); stroke( 0, 255, 255, confidence * 200 + 55); line(jointPos1.x,jointPos1.y,jointPos1.z, jointPos2.x,jointPos2.y,jointPos2.z); drawJointOrientation(userId,jointType1,jointPos1,50);

} Change here for your skeleton colors.

***drawLimbs()

void drawJointOrientation(int userId,int jointType,PVector pos,float length) { // draw the joint orientation PMatrix3D orientation = new PMatrix3D(); float confidence = context.getJointOrientationSkeleton(userId,jointType,orientation); if(confidence < 0.001f) // nothing to draw, orientation data is useless return; pushMatrix(); translate(pos.x,pos.y,pos.z); // set the local coordsys applyMatrix(orientation); // coordsys lines are 100mm long // x - r stroke(255,0,0,confidence * 200 + 55); line(0,0,0, length,0,0); // y - g stroke(0,255,0,confidence * 200 + 55); line(0,0,0, 0,length,0); // z - b stroke(0,0,255,confidence * 200 + 55); line(0,0,0, 0,0,length);

strokeWeight(10); stroke(0, 255, 255); point(0, 0, 0); popMatrix();

strokeWeight(4);

Go here, and add these lines for drawing the joints This is the strokeWeight of the limbs.

} ***drawJointOrientation

Letâ&#x20AC;&#x2122;s make HEAD

joints

RUN IT!!! I would like to change colors of my skeleton.

limbs

// draw the skeleton with the selected joints

void drawSkeleton(int userId) { strokeWeight(3); // to get the 3d joint data drawLimb(userId, SimpleOpenNI.SKEL_HEAD, SimpleOpenNI.SKEL_NECK); drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_LEFT_SHOULDER); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_LEFT_ELBOW); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, SimpleOpenNI.SKEL_LEFT_HAND); drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_RIGHT_SHOULDER); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_RIGHT_ELBOW); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, SimpleOpenNI.SKEL_RIGHT_HAND); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_TORSO); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_TORSO); drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_LEFT_HIP); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_HIP, SimpleOpenNI.SKEL_LEFT_KNEE); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_KNEE, SimpleOpenNI.SKEL_LEFT_FOOT); drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_RIGHT_HIP); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_HIP, SimpleOpenNI.SKEL_RIGHT_KNEE); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_KNEE, SimpleOpenNI.SKEL_RIGHT_FOOT); // draw body direction getBodyDirection(userId,bodyCenter,bodyDir);

bodyDir.mult(200); // 200mm length bodyDir.add(bodyCenter); stroke(255,200,200); line(bodyCenter.x,bodyCenter.y,bodyCenter.z, bodyDir.x ,bodyDir.y,bodyDir.z);

PVector joint_HEAD = new PVector(); context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_HEAD, joint_HEAD); strokeWeight(50); stroke(255); point(joint_HEAD.x, joint_HEAD.y, joint_HEAD.z);

Get the head

Draw the head

strokeWeight(1);

}

***drawSkeleton

Thatâ&#x20AC;&#x2122;s how I like it to be.

Need to get a Boundary.

int boundSize = 2400; PVector PVector PVector PVector color[]

Add the boundSize for defining the boundary size

***before setup();

void draw(){ context.update();

background(0,0,0);

// draw the kinect cam context.drawCamFrustum();

}

pushMatrix(); translate(0, 0, boundSize/2); stroke(255, 0, 255); noFill(); box(boundSize); popMatrix();

pushMatrix(); scale(-1,1,1); rotateZ(radians(180)); rotateY(radians(360)); // draw the skeleton if it's available int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) { if(context.isTrackingSkeleton(userList[i])) drawSkeleton(userList[i]); // draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z); vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z); vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape(); //fill(0,255,100); //text(Integer.toString(userList[i]),com.x,com.y,com.z); } }

***draw();

I looks like a Giant.

But my issue is while you zoom out, you will lose something. SCALE the Skeleton DOWN

void draw(){ context.update(); background(0,0,0); pushMatrix(); translate(0, 0, boundSize/2); stroke(255, 0, 255); noFill(); box(boundSize); popMatrix();

// draw the kinect cam context.drawCamFrustum();

popMatrix();

}

pushMatrix(); scale(-1,1,1);

scale(0.5); rotateZ(radians(180)); rotateY(radians(360));

int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) { if(context.isTrackingSkeleton(userList[i])) drawSkeleton(userList[i]); // draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z); vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z); vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape(); //fill(0,255,100); //text(Integer.toString(userList[i]),com.x,com.y,com.z);

} }

***draw();

Here you go! Add a fake ground.

void draw(){ context.update(); background(0,0,0); pushMatrix(); translate(0, 0, boundSize/2); stroke(255, 0, 255); noFill(); box(boundSize); popMatrix();

pushMatrix(); scale(-1,1,1); scale(0.5); rotateZ(radians(180)); rotateY(radians(360));

int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) { if(context.isTrackingSkeleton(userList[i])) drawSkeleton(userList[i]);

pushMatrix(); translate(0, boundSize/4, boundSize/2); rotateX(PI/2); stroke(255, 0, 255); noFill(); rectMode(CENTER); rect(0,0,boundSize,boundSize); popMatrix();

// draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z); vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z); vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape(); //fill(0,255,100); //text(Integer.toString(userList[i]),com.x,com.y,com.z);

} } // draw the kinect cam context.drawCamFrustum(); popMatrix();

} ***draw();

Save this file as “Skeleton3D”

Let’s play some

CHINESE RIBBON DANCE!

https://vimeo.com/52096931

Hope you still remember ArrayList();

ArrayList traceR; PVector PVector PVector PVector color[]

***before setup();

traceR = new ArrayList(); stroke(255,255,255); smooth();

}

***setup();

// draw the skeleton with the selected joints

void drawSkeleton(int userId){ strokeWeight(3); // to get the 3d joint data drawLimb(userId, SimpleOpenNI.SKEL_HEAD, SimpleOpenNI.SKEL_NECK); drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_LEFT_SHOULDER); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_LEFT_ELBOW); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, SimpleOpenNI.SKEL_LEFT_HAND); drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_RIGHT_SHOULDER); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_RIGHT_ELBOW); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, SimpleOpenNI.SKEL_RIGHT_HAND); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_TORSO); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_TORSO); drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_LEFT_HIP); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_HIP, SimpleOpenNI.SKEL_LEFT_KNEE); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_KNEE, SimpleOpenNI.SKEL_LEFT_FOOT); drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_RIGHT_HIP); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_HIP, SimpleOpenNI.SKEL_RIGHT_KNEE); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_KNEE, SimpleOpenNI.SKEL_RIGHT_FOOT); // draw body direction getBodyDirection(userId,bodyCenter,bodyDir); bodyDir.mult(200); // 200mm length bodyDir.add(bodyCenter); stroke(255,200,200); line(bodyCenter.x,bodyCenter.y,bodyCenter.z, bodyDir.x ,bodyDir.y,bodyDir.z); PVector joint_HEAD = new PVector(); context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_HEAD, joint_HEAD); strokeWeight(50); stroke(255); point(joint_HEAD.x, joint_HEAD.y, joint_HEAD.z);

Get your right hand

PVector Rhand = new PVector(); context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_HAND, Rhand); traceR.add(Rhand); strokeWeight(1);

}

Put it in the “traceR” bag!

***drawSkeleton

void draw(){ context.update(); background(0,0,0); pushMatrix(); translate(0, 0, boundSize/2); stroke(255, 0, 255); noFill(); box(boundSize); popMatrix();

// draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z);

pushMatrix(); translate(0, boundSize/4, boundSize/2); rotateX(PI/2); stroke(255, 0, 255); noFill(); rectMode(CENTER); rect(0,0,boundSize,boundSize); popMatrix();

vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z); vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape();

pushMatrix(); scale(-1,1,1); scale(0.5); rotateZ(radians(180)); rotateY(radians(360)); int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) {

if(context.isTrackingSkeleton(userList[i])){ drawSkeleton(userList[i]); for(int t =0; t<traceR.size(); t++){ strokeWeight(50); stroke(255,100); PVector rTrace = (PVector)traceR.get(t); pushMatrix(); translate(rTrace.x,rTrace.y,rTrace.z); point(0,0,0); popMatrix(); }

//fill(0,255,100); //text(Integer.toString(userList[i]),com.x,com.y,com.z); } }

// draw the kinect cam context.drawCamFrustum(); popMatrix();

}

***draw();

I can make CLOUD!!!

void draw(){ context.update(); background(0,0,0); pushMatrix(); translate(0, 0, boundSize/2); stroke(255, 0, 255); noFill(); box(boundSize); popMatrix();

// draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z);

pushMatrix(); translate(0, boundSize/4, boundSize/2); rotateX(PI/2); stroke(255, 0, 255); noFill(); rectMode(CENTER); rect(0,0,boundSize,boundSize); popMatrix();

pushMatrix(); scale(-1,1,1); scale(0.5); rotateZ(radians(180)); rotateY(radians(360)); int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) {

if(context.isTrackingSkeleton(userList[i])){ drawSkeleton(userList[i]); for(int t =0; t<traceR.size(); t++){ strokeWeight(50); //stroke(255,100); PVector rTrace = (PVector)traceR.get(t); float rCR = map(rTrace.x,200,2000,50,255); float rCG = map(rTrace.y,200,2000,50,255); float rCB = map(rTrace.z,200,2000,50,255); stroke(rCR, rCG, rCB); pushMatrix(); translate(rTrace.x,rTrace.y,rTrace.z); point(0,0,0); popMatrix(); if(t > 200){ traceR.remove(t-200); }

} }

vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z); vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape(); //fill(0,255,100); //text(Integer.toString(userList[i]),com.x,com.y,com.z); } }

// draw the kinect cam context.drawCamFrustum(); popMatrix();

} Mapping colors

If the trace number is over 200, it will start delete from the first trace

***draw();

THIS IS RIBBON

Now itâ&#x20AC;&#x2122;s your turn to Give me the LEFT hand

ArrayList traceR; ArrayList traceL; PVector PVector PVector PVector color[]

***before setup();

traceR = new ArrayList(); traceL = new ArrayList(); stroke(255,255,255); smooth();

}

***setup();

// draw the skeleton with the selected joints

void drawSkeleton(int userId){ strokeWeight(3); // to get the 3d joint data drawLimb(userId, SimpleOpenNI.SKEL_HEAD, SimpleOpenNI.SKEL_NECK); drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_LEFT_SHOULDER); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_LEFT_ELBOW); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, SimpleOpenNI.SKEL_LEFT_HAND); drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_RIGHT_SHOULDER); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_RIGHT_ELBOW); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, SimpleOpenNI.SKEL_RIGHT_HAND); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_TORSO); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_TORSO); drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_LEFT_HIP); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_HIP, SimpleOpenNI.SKEL_LEFT_KNEE); drawLimb(userId, SimpleOpenNI.SKEL_LEFT_KNEE, SimpleOpenNI.SKEL_LEFT_FOOT); drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_RIGHT_HIP); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_HIP, SimpleOpenNI.SKEL_RIGHT_KNEE); drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_KNEE, SimpleOpenNI.SKEL_RIGHT_FOOT); // draw body direction getBodyDirection(userId,bodyCenter,bodyDir); bodyDir.mult(200); // 200mm length bodyDir.add(bodyCenter); stroke(255,200,200); line(bodyCenter.x,bodyCenter.y,bodyCenter.z, bodyDir.x ,bodyDir.y,bodyDir.z); PVector joint_HEAD = new PVector(); context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_HEAD, joint_HEAD); strokeWeight(50); stroke(255); point(joint_HEAD.x, joint_HEAD.y, joint_HEAD.z);

PVector Rhand = new PVector(); context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_HAND, Rhand); traceR.add(Rhand);

PVector Lhand = new PVector(); context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_HAND, Lhand); traceL.add(Lhand); strokeWeight(1);

}

***drawSkeleton

void draw(){ context.update(); background(0,0,0);

for(int t =0; t<traceL.size(); t++){ strokeWeight(50); PVector lTrace = (PVector)traceL.get(t); float lCR = map(lTrace.x,200,2000,50,255); float lCG = map(lTrace.y,200,2000,50,255); float lCB = map(lTrace.z,200,2000,50,255); stroke(lCR, lCG, lCB); pushMatrix(); translate(lTrace.x,lTrace.y,lTrace.z); point(0,0,0); popMatrix();

pushMatrix(); translate(0, 0, boundSize/2); stroke(255, 0, 255); noFill(); box(boundSize); popMatrix(); pushMatrix(); translate(0, boundSize/4, boundSize/2); rotateX(PI/2); stroke(255, 0, 255); noFill(); rectMode(CENTER); rect(0,0,boundSize,boundSize); popMatrix();

if(t > 200){ traceL.remove(t-200); }

pushMatrix(); scale(-1,1,1); scale(0.5); rotateZ(radians(180)); rotateY(radians(360)); int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) {

if(context.isTrackingSkeleton(userList[i])){ drawSkeleton(userList[i]); for(int t =0; t<traceR.size(); t++){ strokeWeight(50); PVector rTrace = (PVector)traceR.get(t); float rCR = map(rTrace.x,200,2000,50,255); float rCG = map(rTrace.y,200,2000,50,255); float rCB = map(rTrace.z,200,2000,50,255); stroke(rCR, rCG, rCB); pushMatrix(); translate(rTrace.x,rTrace.y,rTrace.z); point(0,0,0); popMatrix(); if(t > 200){ traceR.remove(t-200); }

} } // draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z); vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z); vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape(); //fill(0,255,100); //text(Integer.toString(userList[i]),com.x,com.y,com.z); } }

// draw the kinect cam context.drawCamFrustum(); popMatrix();

}

***draw();

ROCK THE RIBBON!

Letâ&#x20AC;&#x2122;s add a Button & Slider

import controlP5.*; import SimpleOpenNI.*; import peasy.test.*; import peasy.org.apache.commons.math.*; import peasy.*; import peasy.org.apache.commons.math.geometry.*; import processing.opengl.*;

SimpleOpenNI context; PeasyCam cam;

ControlP5 controlP5; PMatrix3D currCameraMatrix; PGraphics3D g3; int boundSize = 2400; ArrayList traceR; ArrayList traceL;

PVector PVector PVector PVector color[]

***before setup();

void setup(){ size(1024,768,P3D); context = new SimpleOpenNI(this); g3 = (PGraphics3D)g; if(context.isInit() == false) { println("Can't init SimpleOpenNI, maybe the camera is not connected!"); exit(); return; } // disable mirror context.setMirror(false); // enable depthMap generation context.enableDepth(); // enable skeleton generation for all joints context.enableUser(); cam = new PeasyCam(this, 0, 0, 1000, 4000); traceR = new ArrayList(); traceL = new ArrayList(); initGUI(); controlP5.setAutoDraw(false);

We donâ&#x20AC;&#x2122;t have this yet. Letâ&#x20AC;&#x2122;s first finish the rest of it and make one

stroke(255,255,255); smooth();

}

***setup();

void draw(){

for(int t =0; t<traceL.size(); t++){ strokeWeight(50); PVector lTrace = (PVector)traceL.get(t);

if (controlP5.window(this).isMouseOver()) { cam.setActive(false); } else { cam.setActive(true); }

float lCR = map(lTrace.x,200,2000,50,255); float lCG = map(lTrace.y,200,2000,50,255); float lCB = map(lTrace.z,200,2000,50,255); stroke(lCR, lCG, lCB); pushMatrix(); translate(lTrace.x,lTrace.y,lTrace.z); point(0,0,0); popMatrix();

context.update(); background(0,0,0); pushMatrix(); translate(0, 0, boundSize/2); stroke(255, 0, 255); noFill(); box(boundSize); popMatrix(); pushMatrix(); translate(0, boundSize/4, boundSize/2); rotateX(PI/2); stroke(255, 0, 255); noFill(); rectMode(CENTER); rect(0,0,boundSize,boundSize); popMatrix();

pushMatrix(); scale(-1,1,1); scale(0.5); rotateZ(radians(180)); rotateY(radians(360)); int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) { if(context.isTrackingSkeleton(userList[i])){ drawSkeleton(userList[i]); for(int t =0; t<traceR.size(); t++){ strokeWeight(50); PVector rTrace = (PVector)traceR.get(t); float rCR = map(rTrace.x,200,2000,50,255); float rCG = map(rTrace.y,200,2000,50,255); float rCB = map(rTrace.z,200,2000,50,255); stroke(rCR, rCG, rCB); pushMatrix(); translate(rTrace.x,rTrace.y,rTrace.z); point(0,0,0); popMatrix(); if(t > 200){ traceR.remove(t-200); } }

if(t > 200){ traceL.remove(t-200); } } } // draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z); vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z); vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape(); //fill(0,255,100); //text(Integer.toString(userList[i]),com.x,com.y,com.z); } } // draw the kinect cam context.drawCamFrustum();

popMatrix();

gui();

We donâ&#x20AC;&#x2122;t have this yet as well

} ***draw();

void gui() { currCameraMatrix = new PMatrix3D(g3.camera); camera(); controlP5.draw(); g3.camera = currCameraMatrix;

Put it somewhere after void draw();

} void drawSkeleton(int userId) { strokeWeight(5); if(userId%5==1){ scale(1, -1, 1);//turn upside down } else{ scale(1, 1, 1); } ……………………… ……………… ………………… …………………. …….. } void drawLimb(int userId, int jointType1, int jointType2) { ………………………. …………. ………………………. } ……………. ……………………… …….. . ………………….. ……… ……………….. …….

I don’t want to list them all.

***gui();

Add A New Tag “GUI”

These are what we need to add. A button for show/hide Ribbons. A slider for setting up the tailSize.

void initGUI(){ controlP5 = new ControlP5(this);

controlP5.addToggle("showTail",showTail,10,30,20,20).setLabel("show Tail"); controlP5.addSlider("tailSize",50,500,10,10,100,10).setLabel("tail size");

}

Now we need to get back to our main code, declare and put these variables in the code

***initGui();

import controlP5.*; import SimpleOpenNI.*; import peasy.test.*; import peasy.org.apache.commons.math.*; import peasy.*; import peasy.org.apache.commons.math.geometry.*; import processing.opengl.*;

SimpleOpenNI context; PeasyCam cam; ControlP5 controlP5; PMatrix3D currCameraMatrix; PGraphics3D g3; int boundSize = 2400;

int tailSize = 100; boolean showTail = true; ArrayList traceR; ArrayList traceL;

PVector PVector PVector PVector color[]

***before setup();

void draw(){

for(int t =0; t<traceL.size(); t++){ strokeWeight(50); PVector lTrace = (PVector)traceL.get(t);

if (controlP5.window(this).isMouseOver()) { cam.setActive(false); } else { cam.setActive(true); }

context.update(); background(0,0,0);

if(showTail){ point(0,0,0); }

pushMatrix(); translate(0, 0, boundSize/2); stroke(255, 0, 255); noFill(); box(boundSize); popMatrix();

popMatrix();

pushMatrix(); translate(0, boundSize/4, boundSize/2); rotateX(PI/2); stroke(255, 0, 255); noFill(); rectMode(CENTER); rect(0,0,boundSize,boundSize); popMatrix();

if(t > tailSize){ traceL.remove(t-tailSize); } } }

pushMatrix(); scale(-1,1,1); scale(0.5); rotateZ(radians(180)); rotateY(radians(360)); int int[] userList = context.getUsers();

for(int i=0;i<userList.length;i++) { if(context.isTrackingSkeleton(userList[i])){ drawSkeleton(userList[i]); for(int t =0; t<traceR.size(); t++){ strokeWeight(50); PVector rTrace = (PVector)traceR.get(t); float rCR = map(rTrace.x,200,2000,50,255); float rCG = map(rTrace.y,200,2000,50,255); float rCB = map(rTrace.z,200,2000,50,255); stroke(rCR, rCG, rCB); pushMatrix(); translate(rTrace.x,rTrace.y,rTrace.z);

if(showTail){ point(0,0,0); }

popMatrix();

if(t > tailSize){ traceR.remove(t- tailSize); } }

gui();

}

***draw();

You Have Controllers

Finally, We can get rid off RIBBONS

Open your â&#x20AC;&#x153;Skeleton3Dâ&#x20AC;? (which only has your skeleton tracking.) We would like to make some Attraction.

ArrayList grids; PVector PVector PVector PVector color[]

Make an ArrayList embedded all the gridsâ&#x20AC;&#x2122; coordination.

First, I would like to show the Grid points without attraction effect. ***before setup();

grids = new ArrayList();

Declare the Grids ArrayList.

for(int i=-2400; i<=2400; i+=400){ for(int j=0; j<=4800; j+=400){ PVector loc = new PVector(i,0,j); grids.add(loc); } }

Put the grids data inside.

stroke(255,255,255); smooth();

} ***setup();

// draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z);

void draw(){ context.update(); background(0,0,0); pushMatrix(); translate(0, 0, boundSize/2); stroke(255, 0, 255); noFill(); box(boundSize); popMatrix();

vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z);

pushMatrix(); translate(0, boundSize/4, boundSize/2); rotateX(PI/2); stroke(255, 0, 255); noFill(); rectMode(CENTER); rect(0,0,boundSize,boundSize); popMatrix();

pushMatrix(); scale(-1,1,1); scale(0.5); rotateZ(radians(180)); rotateY(radians(360));

vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape(); //fill(0,255,100); //text(Integer.toString(userList[i]),com.x,com.y,com.z); } } // draw the kinect cam context.drawCamFrustum();

int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) { if(context.isTrackingSkeleton(userList[i])){

popMatrix();

}

drawSkeleton(userList[i]); for(int d=0; d<grids.size(); d++){ PVector nLoc = (PVector)grids.get(d); Display the grids data we put from setup(); stroke(255); strokeWeight(10); point(nLoc.x,nLoc.y,nLoc.z); } }

***draw();

But the grids and user don’t interact with each others So we need the “Attraction”

// draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z);

void draw(){ context.update(); background(0,0,0); pushMatrix(); translate(0, 0, boundSize/2); stroke(255, 0, 255); noFill(); box(boundSize); popMatrix();

vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z);

pushMatrix(); translate(0, boundSize/4, boundSize/2); rotateX(PI/2); stroke(255, 0, 255); noFill(); rectMode(CENTER); rect(0,0,boundSize,boundSize); popMatrix(); pushMatrix(); scale(-1,1,1); scale(0.5); rotateZ(radians(180)); rotateY(radians(360)); int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) { if(context.isTrackingSkeleton(userList[i])){

drawSkeleton(userList[i]);

}

PVector joint_HEAD = new PVector(); context.getJointPositionSkeleton(userList[i], SimpleOpenNI.SKEL_HEAD, joint_HEAD); PVector att = new PVector(joint_HEAD.x,joint_HEAD.y,joint_HEAD.z);

for(int d=0; d<grids.size(); d++){ PVector nLoc = (PVector)grids.get(d); stroke(255,255,0); strokeWeight(10); point(nLoc.x,nLoc.y,nLoc.z); }

}

Get the head coordination as a Attraction point

***draw();

// draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z);

void draw(){ context.update(); background(0,0,0); pushMatrix(); translate(0, 0, boundSize/2); stroke(255, 0, 255); noFill(); box(boundSize); popMatrix();

vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z);

pushMatrix(); translate(0, boundSize/4, boundSize/2); rotateX(PI/2); stroke(255, 0, 255); noFill(); rectMode(CENTER); rect(0,0,boundSize,boundSize); popMatrix();

vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape(); //fill(0,255,100); //text(Integer.toString(userList[i]),com.x,com.y,com.z);

pushMatrix(); scale(-1,1,1); scale(0.5); rotateZ(radians(180)); rotateY(radians(360)); int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) {

} } // draw the kinect cam context.drawCamFrustum(); popMatrix();

if(context.isTrackingSkeleton(userList[i])){

}

drawSkeleton(userList[i]);

PVector joint_HEAD = new PVector(); context.getJointPositionSkeleton(userList[i], SimpleOpenNI.SKEL_HEAD, joint_HEAD); PVector att = new PVector(joint_HEAD.x,joint_HEAD.y,joint_HEAD.z);

for(int d=0; d<grids.size(); d++){ PVector nLoc = (PVector)grids.get(d); stroke(255,255,0); strokeWeight(10);

float distance = PVector.dist(nLoc,att);

Calculate the distance and apply them.

point(nLoc.x,sq((distance)/100)-boundSize/2,nLoc.z); }

}

and apply them.

***draw();

// draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z);

void draw(){ context.update(); background(0,0,0); pushMatrix(); translate(0, 0, boundSize/2); stroke(255, 0, 255); noFill(); box(boundSize); popMatrix();

vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z);

for(int i=0;i<userList.length;i++) { if(context.isTrackingSkeleton(userList[i])){

drawSkeleton(userList[i]);

popMatrix();

}

PVector joint_HEAD = new PVector(); context.getJointPositionSkeleton(userList[i], SimpleOpenNI.SKEL_HEAD, joint_HEAD); PVector att = new PVector(joint_HEAD.x,joint_HEAD.y,joint_HEAD.z);

for(int d=0; d<grids.size(); d++){ PVector nLoc = (PVector)grids.get(d); strokeWeight(10);

float distance = PVector.dist(nLoc,att);

stroke(255,0,map(distance,0,6000,50,255)); Of course you can map some colors point(nLoc.x,sq((distance)/100)-boundSize/2,nLoc.z); }

}

***draw();

// draw the center of mass if(context.getCoM(userList[i],com)) { stroke(100,255,0); strokeWeight(1); beginShape(LINES); vertex(com.x - 15,com.y,com.z); vertex(com.x + 15,com.y,com.z);

void draw(){ context.update(); background(0,0,0);

vertex(com.x,com.y - 15,com.z); vertex(com.x,com.y + 15,com.z); vertex(com.x,com.y,com.z - 15); vertex(com.x,com.y,com.z + 15); endShape();

pushMatrix(); scale(-1,1,1); scale(0.5); rotateZ(radians(180)); rotateY(radians(360));

//fill(0,255,100); //text(Integer.toString(userList[i]),com.x,com.y,com.z); } } // draw the kinect cam context.drawCamFrustum();

int[] userList = context.getUsers(); for(int i=0;i<userList.length;i++) { if(context.isTrackingSkeleton(userList[i])){

drawSkeleton(userList[i]);

popMatrix();

}

PVector joint_HEAD = new PVector(); context.getJointPositionSkeleton(userList[i], SimpleOpenNI.SKEL_HEAD, joint_HEAD); PVector att = new PVector(joint_HEAD.x,joint_HEAD.y,joint_HEAD.z);

for(int d=0; d<grids.size(); d++){ PVector nLoc = (PVector)grids.get(d); strokeWeight(10); float distance = PVector.dist(nLoc,att); stroke(255,0,map(distance,0,6000,50,255)); point(nLoc.x,sq((distance)/100)-boundSize/2,nLoc.z); pushMatrix(); translate(0, -boundSize/2, 0); translate(nLoc.x,nLoc.y,nLoc.z); rotateX(PI/2); stroke(0,255,0); ellipse(0,0,map(distance,0,600,0,40),map(distance,0,600,0,40)); popMatrix();

Of course some other patterns.

}

***draw();

It’s your turn to PLAY