demo: cutout+gesture with kinect

today, I finished a demo, to demonstrate the current work result.

this interesting stuff demonstrates the cutout and gesture control using depth information from Kinect sensor. here is the video hosted by YouTube:

enjoying:)

openNI kinect embedded registration

thanks Nicolas, openNI provided the registration API already!

here is the code:

	nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
	CHECK_RC(nRetVal, "Find depth generator");
	nRetVal = context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator);
	CHECK_RC(nRetVal, "Find image generator");
	g_DepthGenerator.GetAlternativeViewPointCap().SetViewPoint(g_ImageGenerator);

warp depth to color.

then

  for(int j=0; j<kin_h; j++)
   {
	   for(int i=0; i<kin_w; i++)
	   {
		   d = kinDepth.at<ushort>(j, i);
		   Vec3b xyz = depthImage.at<Vec3b>(j, i);
		   	if(xyz[0]>180)
			       cutoutImage.at<Vec3b>(j, i) = kinColor.at<Vec3b>(j, i);
 }
   }
#if showWin
    Mat depth_color(480, 1280, CV_8UC3);
	cutoutImage.copyTo(depth_color(Rect(0, 0, 640, 480)));
	kinColor.copyTo(depth_color(Rect(640, 0, 640, 480)));
	imshow("depth_In_color", depth_color);
	//imwrite("./depth_In_color2.jpg", depth_color);
	waitKey(1);

I just use a simple thresholding, normalized RGB depth >180, get the result, well register! cheers.

cutot result