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For Inspiration and Recognition of Science and Technology

For Inspiration and Recognition of Science and Technology. Kinect for FRC 2012 Kevin O’Connor FRC Robotics Engineer, FIRST. Outline. Introduction Kinect Hardware Kinect for Windows Skeleton, depth, image and audio data Kinect for FRC 2012 Default FRC gestures

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For Inspiration and Recognition of Science and Technology

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  1. For Inspiration and Recognition of Science and Technology Kinect for FRC 2012 Kevin O’Connor FRC Robotics Engineer, FIRST

  2. Outline • Introduction • Kinect Hardware • Kinect for Windows • Skeleton, depth, image and audio data • Kinect for FRC 2012 • Default FRC gestures • Programming your own gestures • Additional Resources

  3. Kinect Hardware IR Projector RGB Camera IR Camera Multi-Array Mic Motorized Tilt

  4. Kinect for Windows

  5. Image and Depth Data

  6. Skeleton Data

  7. Audio Data • Four microphone arraywith hardware-basedaudio processing • Multichannel echo cancellation (MEC) • Sound position tracking • Other digital signal processing (noise suppression and reduction)

  8. Kinect for FRC 2012

  9. Default FRC Gestures Buttons: 1) Head to the Left 2) Head to the Right 3) Right Leg Out 4) Left Leg Out 5) Right Leg Forward 6) Right Leg Back 7) Left Leg Forward 8) Left Leg Back 9) Kinect Control “Enabled”

  10. Using the FRC Gestures KinectStickleftArm(1); KinectStickrightArm(2); leftArm.getY() leftArm.getRawButton(#) Labview C++ KinectStickleftArm; KinectStickrightArm; … leftArm = new KinectStick(1); rightArm = new KinectStick(2); … leftArm.getY() leftArm.getRawButton(#) Java

  11. Gesture Programming • Teams may modify the Kinect Server code (C#) using Visual C# Express. • Allows access to depth/RGB data • Easier to display feedback on dashboard • Keeps cRIO processing burden low • Gesture examples available from general Kinect development community • Teams may use the raw skeleton data sent to the robot to process their own gestures in their chosen language (LabVIEW, C/C++ or Java) • Language familiarity

  12. Additional Resources • Official Kinect for Windows Website • FRC Beta Kinect Forum • Kinect SDK Quickstart Video Tutorials • Coding4Fun Kinect Toolkit • Coding4Fun Kinect Projects • Getting Started with Microsoft Kinect for FRC document – released at Kickoff • Kinect Server Code Walkthough – released at Kickoff

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