Kinect for Windows in Processing 4

This is the new version of the Kinect for Processing library using the Kinect for Windows 1.5 SDK. In this version, I only implement the skeleton tracking, without the previous RGB image and depth image yet. For all the field, method and constant names, I try to use the same ones as in the SDK. It can have multiple skeletons and comes with three events:

  • appear (new skeleton enters the screen)
  • disappear (existing skeleton leaves the screen)
  • move (existing skeleton stay in the screen)

 

Here is the example Processing code.

import pKinect.PKinect;
 
PKinect kinect;
PFont font;
ArrayList<SkeletonData> bodies;
 
void setup()
{
  size(640, 480);
  background(0);
  kinect = new PKinect(this);
  bodies = new ArrayList<SkeletonData>();
  smooth();
  font = loadFont("LucidaSans-18.vlw");
  textFont(font, 18);
  textAlign(CENTER);
}
 
void draw()
{
  fill(0, 0, 0, 16);
  rect(0, 0, width, height);
  for (int i=0; i<bodies.size(); i++) 
  {
    drawSkeleton(bodies.get(i));
    drawPosition(bodies.get(i));
  }
}
 
void drawPosition(SkeletonData _s) 
{
  noStroke();
  fill(0, 255, 255);
  String s1 = str(_s.dwTrackingID);
  text(s1, _s.position.x*width, _s.position.y*height);
}
 
void drawSkeleton(SkeletonData _s) 
{
  // Body
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_HEAD, 
  PKinect.NUI_SKELETON_POSITION_SHOULDER_CENTER);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_SHOULDER_CENTER, 
  PKinect.NUI_SKELETON_POSITION_SHOULDER_LEFT);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_SHOULDER_CENTER, 
  PKinect.NUI_SKELETON_POSITION_SHOULDER_RIGHT);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_SHOULDER_CENTER, 
  PKinect.NUI_SKELETON_POSITION_SPINE);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_SHOULDER_LEFT, 
  PKinect.NUI_SKELETON_POSITION_SPINE);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_SHOULDER_RIGHT, 
  PKinect.NUI_SKELETON_POSITION_SPINE);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_SPINE, 
  PKinect.NUI_SKELETON_POSITION_HIP_CENTER);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_HIP_CENTER, 
  PKinect.NUI_SKELETON_POSITION_HIP_LEFT);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_HIP_CENTER, 
  PKinect.NUI_SKELETON_POSITION_HIP_RIGHT);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_HIP_LEFT, 
  PKinect.NUI_SKELETON_POSITION_HIP_RIGHT);
 
  // Left Arm
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_SHOULDER_LEFT, 
  PKinect.NUI_SKELETON_POSITION_ELBOW_LEFT);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_ELBOW_LEFT, 
  PKinect.NUI_SKELETON_POSITION_WRIST_LEFT);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_WRIST_LEFT, 
  PKinect.NUI_SKELETON_POSITION_HAND_LEFT);
 
  // Right Arm
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_SHOULDER_RIGHT, 
  PKinect.NUI_SKELETON_POSITION_ELBOW_RIGHT);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_ELBOW_RIGHT, 
  PKinect.NUI_SKELETON_POSITION_WRIST_RIGHT);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_WRIST_RIGHT, 
  PKinect.NUI_SKELETON_POSITION_HAND_RIGHT);
 
  // Left Leg
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_HIP_LEFT, 
  PKinect.NUI_SKELETON_POSITION_KNEE_LEFT);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_KNEE_LEFT, 
  PKinect.NUI_SKELETON_POSITION_ANKLE_LEFT);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_ANKLE_LEFT, 
  PKinect.NUI_SKELETON_POSITION_FOOT_LEFT);
 
  // Right Leg
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_HIP_RIGHT, 
  PKinect.NUI_SKELETON_POSITION_KNEE_RIGHT);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_KNEE_RIGHT, 
  PKinect.NUI_SKELETON_POSITION_ANKLE_RIGHT);
  DrawBone(_s, 
  PKinect.NUI_SKELETON_POSITION_ANKLE_RIGHT, 
  PKinect.NUI_SKELETON_POSITION_FOOT_RIGHT);
}
 
void DrawBone(SkeletonData _s, int _j1, int _j2) 
{
  noFill();
  stroke(255, 200, 0);
  if (_s.skeletonPositionTrackingState[_j1] != PKinect.NUI_SKELETON_POSITION_NOT_TRACKED &&
    _s.skeletonPositionTrackingState[_j2] != PKinect.NUI_SKELETON_POSITION_NOT_TRACKED) {
    line(_s.skeletonPositions[_j1].x*width, 
    _s.skeletonPositions[_j1].y*height, 
    _s.skeletonPositions[_j2].x*width, 
    _s.skeletonPositions[_j2].y*height);
  }
}
 
void appearEvent(SkeletonData _s) 
{
  if (_s.trackingState == PKinect.NUI_SKELETON_NOT_TRACKED) 
  {
    return;
  }
  synchronized(bodies) {
    bodies.add(_s);
  }
  println("appearing ..." + _s.dwTrackingID);
}
 
void disappearEvent(SkeletonData _s) 
{
  synchronized(bodies) {
    for (int i=bodies.size()-1; i>=0; i--) 
    {
      if (_s.dwTrackingID == bodies.get(i).dwTrackingID) 
      {
        bodies.remove(i);
      }
    }
  }
  println("Disappearing ... " + _s.dwTrackingID);
}
 
void moveEvent(SkeletonData _b, SkeletonData _a) 
{
  if (_a.trackingState == PKinect.NUI_SKELETON_NOT_TRACKED) 
  {
    return;
  }
  synchronized(bodies) {
    for (int i=bodies.size()-1; i>=0; i--) 
    {
      if (_b.dwTrackingID == bodies.get(i).dwTrackingID) 
      {
        bodies.get(i).copy(_a);
        break;
      }
    }
  }
}

 
The Processing code and library can be downloaded here.

3 Replies to “Kinect for Windows in Processing 4”

    1. Hi,
      Since the Kinect for Windows SDK is for Windows only, the library is for Windows.

  1. Hi Bryan, It’s an excellent work, I wonder if this is te last version of your library?

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