Index C, D, E, F I, J

Transcription

1 Index A Ambient light, 12 B Blurring algorithm, 68 Brightness thresholding algorithm float testapp::blur, 70 kinect.update(), 69 void testapp::draw(), 70 void testapp::exit(), 70 void testapp::setup(), 69 void testapp::update(), 69 C, D, E, F Computer vision image anatomy, 65 image comparison, 74 background subtraction, black and white image creation, double image, 85 frame differencing, image storage, 87 tolerance, image processing. see Image processing G Gesture recognition, 89 definiton, 89 multitouch detection assigning and tracking component IDs, camera image, background storing and subtracting, 92 connected components algorithm, fingertip touching, 90 image processing, H infrared emitter and detector, 89 Kinect s depth image, 101 LCD display, 89 minority report style interface, motion, 97 multitouch-capable devices, 96 rotation, scale, 99 shape, 101 threshold filter, 90, Hardware accelerometer, depth sensing, RGB camera. see RGB camera tilting head, volumetric sensing Arduino Sketch, 35, 36, 38 binary distributions, 26 block wiring, 37 //BufferedAsync Setup, 32, 34 CMakeLists.txt file, ///Keyboard Event Tracking, 29, 30 ///Kinect hardware connection class, 27 lit alarm light, 39 ///Mutex Class, 26, 27 //~MyFreenectDevice(), 27 parts, 25 //PCL, 29 //Percentage Change, 30, 32 relay wiring, 35, 36 ///Start the PCL/OK Bridging, I, J Image processing brightest pixel tracking, brightness thresholding algorithm. see Brightness thresholding algorithm 247

2 Image processing (cont.) data simplifying, noise and blurring, situation contriving, 69 Infrared emitter and detector, 89 K Kinect drivers installation:. see OpenKinect driver hardware requirements, 1 2 installation testing, 9 L Linux, 6 7 M, N Mac OS X, 8 9 Mesh Models:, 128 Multiple kinects calibration, 209 calib.yaml file, 229 camera frame, 228 eigen.hpp, 243 OKStereo.cpp, stereo calibration, 228 world frame, 228 depth shadows, occlusions, 208 field of view, 207 hardware requirements, 209 interference, 209 angle and distance, 213, 214 box fan test, 217 calib.yaml file, 226 cloud 1 update, 227 cloud 2 update, 227 combined point clouds, 226 hardware shutter system, 218 holes, 209, 212 IR camera, 218 IR pattern, laser diodes, 217 mechanical shutters, 217 noise, 209 OKShutter.cpp, scene, 213 splotches, 209, 213 single direction, 207 Multitouch detection, gesture recognition assigning and tracking component IDs, camera image, background storing and subtracting, 92 connected components algorithm, fingertip touching, 90 image processing, infrared emitter and detector, 89 Kinect s depth image, 101 LCD display, 89 minority report style interface, motion, 97 multitouch-capable devices, 96 rotation, scale, 99 shape, 101 threshold filter, 90, O Object detection global descriptors CloudRecognizer Class, 201, 202 database model, 202 VFH descriptor computation, pose estimation, Object modeling 3-D camera space, 191 cleaning and cropping, partial views, high-resolution models, 199 Kinect pose estimation, marker-based scanner, Point clouds merging, support builiding, 191 definition, 173 single Kinect image. see Single Kinect image OpenGL drawing points, 135 initialization code, OpenKinect driver Linux, 6 7 Mac OS X, 8 9 Red Hat/Fedora, 7 Ubuntu, 7 Windows, 2 CMake preconfiguration, 5 Git Commands, 3 libfreenect, 3 248

3 P, Q Microsoft Visual Studio 2010 and MinGW, 5 6 updation, 3 Person tracking, Point cloud library (PCL), 129 OpenKinect binary distributions, 57 // Create and setup the viewer, 60 C++ file creation, 56 CMakeLists.txt, 62 ///Kinect Hardware Connection Class, 58 ///Mutex Class, 58 //~MyFreenectDevice(), 58 //More Kinect Setup, 60 ///Start the PCL/OK Bridging, 59 Windows installation cmake-guifor FLANN, 49 CMinPack, 49 Linux, Mac OS X, Qhull, 51 VTK installer, 51 Point clouds coloring depth to color reference frame, 131 image plane, 132 Depth Map, D registration affine transformation, 154 matched features, 152 transformation parameters, 153 translation, 153, D data representation Mesh Models, 128 rendering, 129 scaling pixel count, 127, 128 Voxels, D registration absolute orientation, rigid transformation, 155 rotation computation, 155 outliers, PCL creation, SLAM. See Simultaneous Localization and Mapping surface reconstruction normal estimation, 162 R triangulation method, visualization with OpenGL, with PCL, 133 wind application blue-red gradient, 136 Freenect Thread Code, intensity field, 142 is_frozen, 142 Kinect depth image, libraries, main() function, 139 OpenGL Code, radiohead s video, 136 screenshot, 149 show_visualizer(), 142 structure of, 136 TMyPoint, 142 Random sample consensus (RANSAC), 174 Red Hat/Fedora, 7 RGB camera build/bin/calibrate_kinect_ir execution, 18 calibration target, 13, Capture directory, Combined R T matrix, 23 kinect_calibration.yml file, Linux, 15 Mac OS X, 16 output image, 18, 19 pinhole model, 21, 22 rgb_distortion and depth_distortion, 21, 22 rgb_intrinsics/depth_intrinsics, 21 rgbd-viewer, 17 Windows installation, S Shape gestures, 101 Simultaneous localization and mapping (SLAM) advantages of, 160 conventional camera, 159 Kinect, real-time considerations, 161 simple Kinect C++ classes, 164 camera pose estimation, CTrackingSharedData class,

4 SLAM, simple kinect (cont.) main classes of, median feature computation, 168 Point Map construction, screenshot, 164 SURF, Single Kinect image 3-D Model extruder class, 180 Mesh building, surface point cloud, 181, unseen Voxels, Voxelized representation, parametric model, tabletop object detector background removal, 176 individual object clusters extraction, points lying, prism, 177 sample scene, 174 table plane extraction, Software Kinect drivers Microsoft Kinect SDK, 41 OpenKinect, 41 OpenNI, 41 OpenCV installation Linux, Mac OS X, Windows, point cloud library (PCL) installation // Create and setup the viewer, 60 ///Kinect Hardware Connection Class, 58 ///Mutex Class, 58 ///Start the PCL/OK Bridging, 59 //~MyFreenectDevice(), 58 //More Kinect Setup, 60 binary distributions, 57 C++ file creation, 56 CMakeLists.txt, 62 Structured light pattern, 12 T Tabletop object detector background removal, 176 individual object clusters extraction, points lying, prism, 177 sample scene, 174 table plane extraction, Threshold filter, U Ubuntu, 7 V Volumetric sensing OKFlower.cpp Arduino Sketch, 35, 36, 38 binary distributions, 26 block wiring, 37 //BufferedAsync Setup, 32, 34 CMakeLists.txt file, ///Keyboard Event Tracking, 29, 30 ///Kinect hardware connection class, 27 lit alarm light, 39 ///Mutex Class, 26, 27 //~MyFreenectDevice(), 27 //PCL, 29 //Percentage Change, 30, 32 relay wiring, 35, 36 ///Start the PCL/OK Bridging, parts, 25 Voxelization, 103 clustering voxels, 122 cluster_indices, D flood fill technique, 120 EuclideanClusterExtraction, 121 KdTree line, 122 PCL, setclustertolerance, 122 setminclustersize and setmaxclustersize, 122 dataset, 104 definition, manipulating voxels background cloud, 118 background subtraction, drawing voxel boxes, 108 foreground cloud, 117, 120 full scene cloud, 117, 119 function, background subtraction, getpointindicesfromnewvoxels, 117 leaf nodes, 107 octrees, PCL,

5 tracking people and fitting rectangular prism, Voxels, 128 W, X, Y, Z Wind application animation code, blue-red gradient, 136 Freenect Thread Code, intensity field, 142 is_frozen, 142 Kinect depth image, libraries, main() function, 139 OpenGL Code, screenshot, 149 show_visualizer(), 142 structure of, 136 TMyPoint,