Kinect Skeleton Tracking

skeleton-tracking.png (440×311)

This program uses the depth sensors to track multiple users. It will display the skeleton structure on a tracked user. The “confidence level” is a number between 0 and 1 that the kinect will output to show how confident it is tracking that user. I’ve set the confidence level to be at least 0.5 to start tracking the skeleton. The program will select a color to draw based on the user id and draw the skeleton over the user being tracked. On the previous version of SimpleOpenNI, you had to use the “psy” pose to calibrate the tracked user. This is no longer needed and the user can be instantly tracked as soon as it enters the kinect’s field of vision.

import SimpleOpenNI.*;
 
// create kinect object
SimpleOpenNI  kinect;

// image storage from kinect
PImage kinectDepth;

// int of each user being  tracked
int[] userID;

// user colors
color[] userColor = 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)
};
 
// postion of head to draw circle
PVector headPosition = new PVector();

// turn headPosition into scalar form
float distanceScalar;

// diameter of head drawn in pixels
float headSize = 200;
 
// threshold of level of confidence
float confidenceLevel = 0.5;

// the current confidence level that the kinect is tracking
float confidence;

// vector of tracked head for confidence checking
PVector confidenceVector = new PVector();
 
/*---------------------------------------------------------------
Starts new kinect object and enables skeleton tracking.
Draws window
----------------------------------------------------------------*/
void setup(){
  // start a new kinect object
  kinect = new SimpleOpenNI(this);
 
  // enable depth sensor
  kinect.enableDepth();
 
  // enable skeleton generation for all joints
  kinect.enableUser();
 
  // draw thickness of drawer
  strokeWeight(3);

  // smooth out drawing
  smooth();
 
  // create a window the size of the depth information
  size(kinect.depthWidth(), kinect.depthHeight());
}
 
/*---------------------------------------------------------------
Updates Kinect. Gets users tracking and draws skeleton and
head if confidence of tracking is above threshold
----------------------------------------------------------------*/
void draw(){

  // update the camera
  kinect.update();

  // get Kinect data
  kinectDepth = kinect.depthImage();

  // draw depth image at coordinates (0,0)
  image(kinectDepth,0,0); 
 
   // get all user IDs of tracked users
  userID = kinect.getUsers();
 
  // loop through each user to see if tracking
  for(int i=0;i confidenceLevel){
        // change draw color based on hand id#
        stroke(userColor[(i)]);

        // fill the ellipse with the same color
        fill(userColor[(i)]);

        // draw the rest of the body
        drawSkeleton(userID[i]);
 
      }
    } 
  } 
} 
 
/*---------------------------------------------------------------
Draw the skeleton of a tracked user.  Input is userID
----------------------------------------------------------------*/
void drawSkeleton(int userId){
   // get 3D position of head
  kinect.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_HEAD,headPosition);

  // convert real world point to projective space
  kinect.convertRealWorldToProjective(headPosition,headPosition);

  // create a distance scalar related to the depth in z dimension
  distanceScalar = (525/headPosition.z);

  // draw the circle at the position of the head with the head size scaled by the distance scalar
  ellipse(headPosition.x,headPosition.y, distanceScalar*headSize,distanceScalar*headSize);
 
  //draw limb from head to neck
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_HEAD, SimpleOpenNI.SKEL_NECK);
  //draw limb from neck to left shoulder
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_LEFT_SHOULDER);
  //draw limb from left shoulde to left elbow
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_LEFT_ELBOW);
  //draw limb from left elbow to left hand
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, SimpleOpenNI.SKEL_LEFT_HAND);
  //draw limb from neck to right shoulder
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_RIGHT_SHOULDER);
  //draw limb from right shoulder to right elbow
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_RIGHT_ELBOW);
  //draw limb from right elbow to right hand
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, SimpleOpenNI.SKEL_RIGHT_HAND);
 //draw limb from left shoulder to torso
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_TORSO);
  //draw limb from right shoulder to torso
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_TORSO);
  //draw limb from torso to left hip
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_LEFT_HIP);
  //draw limb from left hip to left knee
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_HIP,  SimpleOpenNI.SKEL_LEFT_KNEE);
  //draw limb from left knee to left foot
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_KNEE, SimpleOpenNI.SKEL_LEFT_FOOT);
  //draw limb from torse to right hip
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_RIGHT_HIP);
  //draw limb from right hip to right knee
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_HIP, SimpleOpenNI.SKEL_RIGHT_KNEE);
  //draw limb from right kneee to right foot
  kinect.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_KNEE, SimpleOpenNI.SKEL_RIGHT_FOOT);
}
 
/*---------------------------------------------------------------
When a new user is found, print new user detected along with
userID and start pose detection.  Input is userID
----------------------------------------------------------------*/
void onNewUser(SimpleOpenNI curContext, int userId){
  println("New User Detected - userId: " + userId);
  // start tracking of user id
  curContext.startTrackingSkeleton(userId);
}
 
/*---------------------------------------------------------------
Print when user is lost. Input is int userId of user lost
----------------------------------------------------------------*/
void onLostUser(SimpleOpenNI curContext, int userId){
  // print user lost and user id
  println("User Lost - userId: " + userId);
}
 
/*---------------------------------------------------------------
Called when a user is tracked.
----------------------------------------------------------------*/
void onVisibleUser(SimpleOpenNI curContext, int userId){
}

Leave a Reply

Your email address will not be published.